CN106740463B - Vehicle starting safety early warning method and device - Google Patents
Vehicle starting safety early warning method and device Download PDFInfo
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- CN106740463B CN106740463B CN201611222622.4A CN201611222622A CN106740463B CN 106740463 B CN106740463 B CN 106740463B CN 201611222622 A CN201611222622 A CN 201611222622A CN 106740463 B CN106740463 B CN 106740463B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention discloses a vehicle starting safety early warning method and a vehicle starting safety early warning device, wherein the method comprises the following steps: when the starting of a local vehicle is detected, the local vehicle supports a V2X technology, position information of the local vehicle is obtained based on a roadside unit, and a region to be driven for starting the local vehicle is obtained according to the position information; acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle; generating a predicted travel track within a first preset time length from the driving obstacle to the current moment according to the position information and the travel information of the driving obstacle; judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting of the local vehicle; and outputting preset starting safety early warning information when the travel intersection exists. The technical problem that starting safety early warning can be given according to surrounding traffic conditions when a vehicle starts because the roadside unit cannot be passed through in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic systems and automobile safety, in particular to a vehicle starting safety early warning method and device.
Background
With the rapid development of the traffic industry, the number of road vehicles is increased rapidly, in order to avoid traffic accidents, when a driver starts a vehicle, the driver generally needs to watch whether barriers which influence the normal starting of the vehicle exist at the front and the rear of the local vehicle through a reflector, and then determines whether the vehicle can be started safely, the driver needs to watch the reflector repeatedly in the process, and because a plurality of sight blind areas exist in the vehicle when the driver watches the vehicle, the traffic accidents still frequently occur when the vehicle starts, and the personal safety of the driver and passengers is greatly threatened.
Disclosure of Invention
The invention mainly aims to provide a vehicle starting safety early warning method, and aims to solve the technical problems that in the prior art, safety early warning is not provided in a vehicle starting stage, so that traffic accidents frequently occur during vehicle starting, and personal safety of drivers and passengers is greatly threatened.
In order to achieve the above object, the present invention provides a vehicle starting safety early warning method, which comprises:
when the starting of a local vehicle is detected, the local vehicle supports a V2X technology, position information of the local vehicle is obtained based on a roadside unit, and a region to be driven for starting the local vehicle is obtained according to the position information;
acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle;
generating a predicted travel track within a first preset time length from the driving obstacle to the current moment according to the position information and the travel information of the driving obstacle;
judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting of the local vehicle;
and outputting preset starting safety early warning information when the travel intersection exists.
Preferably, the trip information includes position information and an azimuth, and the step of generating the predicted trip trajectory of the driving obstacle within a first preset duration from the current time to the current time according to the position information and the trip information of the driving obstacle includes:
based on the roadside unit, acquiring position information and an azimuth angle of a remote vehicle within a preset distance at intervals of a second preset time length;
acquiring speed information of the remote vehicle at intervals of a second preset time according to the position information and the azimuth angle of the remote vehicle;
and acquiring a predicted travel track of the remote vehicle within a first preset time from the current time according to the position information, the azimuth angle and the speed information of the remote vehicle.
Preferably, when there is a trip intersection, the step of outputting the preset starting safety early warning information includes:
when the travel intersection exists, acquiring the time length of the remote vehicle reaching the travel intersection, and taking the time length as the remote time length;
and when the remote time length is less than the preset time threshold, outputting starting safety early warning information.
Preferably, the step of obtaining the position information of the local vehicle and obtaining the area to be driven for starting the local vehicle according to the position information includes:
acquiring the position information of a local vehicle, and acquiring the lane information of a lane where the local vehicle is located according to the position information;
and acquiring a to-be-driven area for starting the local vehicle according to the lane information.
Preferably, the vehicle starting safety early warning method further comprises the following steps:
and when the driving barrier does not influence the starting safety any more, playing a corresponding audio file to prompt a driver to start safely.
In addition, in order to achieve the above object, the present invention further provides a vehicle start safety warning device, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for supporting a V2X technology by a local vehicle when the local vehicle is detected to be started, acquiring the position information of the local vehicle based on a roadside unit, and acquiring a region to be driven for starting the local vehicle according to the position information;
the second acquisition module is used for acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle;
the generating module is used for generating a predicted travel track within a first preset time length from the current moment to the driving obstacle according to the position information and the travel information of the driving obstacle;
the judging module is used for judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting the local vehicle;
and the output module is used for outputting preset starting safety early warning information when the travel intersection exists.
Preferably, the trip information includes position information and azimuth,
the generation module comprises:
the acquisition unit is used for acquiring the position information and the azimuth angle of the remote vehicle within the preset distance at intervals of a second preset duration based on the roadside unit;
the first acquisition unit is used for acquiring the speed information of the remote vehicle at intervals of a second preset time length according to the position information and the azimuth angle of the remote vehicle;
and the second acquisition unit is used for acquiring the predicted travel track of the remote vehicle within a first preset time from the current time according to the position information, the azimuth angle and the speed information of the remote vehicle.
Preferably, the output module includes:
the third acquisition unit is used for acquiring the time length of the remote vehicle reaching the travel intersection point when the travel intersection point exists, and taking the time length as the remote time length;
and the output unit is used for outputting the starting safety early warning information when the remote duration is less than the preset time threshold.
Preferably, the second obtaining module includes:
the fourth acquisition unit is used for acquiring the position information of the local vehicle and acquiring the lane information of the lane where the local vehicle is located according to the position information;
and the fifth acquisition unit is used for acquiring a to-be-driven area for starting the local vehicle according to the lane information.
Preferably, the vehicle starting safety early warning device further comprises:
and the prompting module is used for playing a corresponding audio file when the driving barrier does not influence the starting safety any more so as to prompt the driver to start safely.
According to the invention, when the local vehicle is detected to be started, the local vehicle supports V2X communication, based on a roadside unit, the position information of the local vehicle is obtained, and the area to be driven for starting the local vehicle is obtained according to the position information; acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle; generating a predicted travel track within a first preset time length from the driving obstacle to the current moment according to the position information and the travel information of the driving obstacle; judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting of the local vehicle; and outputting preset starting safety early warning information when the travel intersection exists. When the vehicle is started, the peripheral situation in the preset distance is judged based on the local roadside unit, the peripheral vehicle situation is sent to the starting vehicle, if the situation affecting the safe starting of the local vehicle occurs, early warning information is sent out to remind a driver of paying attention to the starting safety, whether the vehicle can be started normally is determined not only by the fact that the driver artificially watches the factors influencing the starting safety of the vehicle in the front and the rear of the vehicle, and therefore the technical problem that the personal safety of passengers threatens frequently when the vehicle starts due to the fact that people have a plurality of sight blind areas in the vehicle in the watching process is solved, and the driving experience of the driver is further improved.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a vehicle starting safety warning method according to the present invention;
FIG. 2 is a schematic flow chart of a step of generating a predicted travel track within a first preset time from a driving obstacle to a current time according to position information and travel information of the driving obstacle in a second embodiment of the vehicle starting safety early warning method of the present invention;
FIG. 3 is a detailed flowchart of the step of outputting the preset starting safety warning information when the trip intersection exists;
FIG. 4 is a functional block diagram of a first embodiment of the vehicle starting safety warning device according to the present invention;
FIG. 5 is a functional module diagram of a generating module in a second embodiment of the vehicle starting safety pre-warning device according to the invention;
FIG. 6 is a schematic diagram of detailed functional modules of an output module in a third embodiment of the vehicle starting safety early warning device according to the invention;
fig. 7 is a scene schematic diagram of the vehicle starting safety early warning method and device according to the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a vehicle starting safety early warning method, and in the embodiment of the vehicle starting safety early warning method, referring to fig. 1, the method comprises the following steps:
step S10, when detecting that the local vehicle is started, the local vehicle supports the V2X technology, acquires the position information of the local vehicle based on the roadside unit, and acquires the area to be driven for starting the local vehicle according to the position information;
when the local vehicle is detected to start, namely when the vehicle engine works, the vehicle correspondingly shakes, or the ground pressure and the information before the start are different, the roadside unit acquires the information to know that the vehicle starts, and at the moment, the vehicle does not run, and acquires the position information of the local vehicle based on the roadside unit, wherein the position information of the local vehicle comprises the coordinate of the local vehicle, or the longitude and latitude and other information, and the area to be driven for starting the local vehicle is acquired according to the position information, and because the vehicle speed is slow when the vehicle starts, the area to be driven of the local vehicle can be acquired according to the position information and peripheral obstacles and the like, as shown in fig. 7, particularly, when the vehicle is in a forward state and a reverse state, the area to be driven of the local vehicle is different.
Step S20, acquiring the position information and the travel information of the driving obstacles within the preset distance of the local vehicle;
based on the roadside unit, as shown in fig. 7, position information and travel information of a driving obstacle within a preset distance of a local vehicle are acquired, where the driving obstacle is a remote vehicle or a pedestrian that affects starting and running of the local vehicle, and animals around or under the vehicle body, etc., as shown in fig. 7, the driving obstacle may be stationary or moving, and when the driving obstacle is a remote vehicle, the driving obstacle is in motion, the position information of the driving obstacle within the preset distance of the local vehicle comprises historical position information of the driving obstacle, the travel information comprises azimuth angles, speeds, accelerations, historical tracks and the like of the driving obstacle at different historical position information, in the step process, as long as the influence on the starting and running of the local vehicle is achieved, the vehicle-mounted radar or the safety early warning system in the local vehicle can acquire corresponding information.
And step S30, generating a predicted travel track within a first preset time length from the current time to the driving obstacle according to the position information and the travel information of the driving obstacle.
When the driving obstacle is a remote vehicle, based on the roadside unit, the historical track of the remote vehicle is generated by using the position information of the remote vehicle, the historical track and the travel information of the remote vehicle, namely the azimuth angle and the speed, are used, interpolation is carried out by using an extrapolation method in mathematics, and the predicted travel track within a first preset time length from the current moment is predicted. To assist in understanding the above description, for example, the extrapolation method in mathematics may use polynomial interpolation and trend prediction outwards, and perform 2 rd or 3 rd order polynomial interpolation fitting according to the historical track coordinate points of the remote vehicle, which selects the position coordinates of the closest 4-8 points in time from the current time. The calculation method of the fitting is a minimum quadratic method; and carrying out time extrapolation according to the fitted polynomial to obtain the position of a coordinate point of the remote vehicle within a preset time length from the current time, further obtaining a remote predicted driving track within a first preset time length from the current time, and when the driving obstacle is a pedestrian, obtaining the walking direction and the walking speed of the pedestrian, wherein the walking direction can be the azimuth angle of the walking direction, or can be the relative direction obtained by taking the local vehicle as a reference object, obtaining the predicted travel track of the pedestrian, namely the walking track, and animals at the bottom of the local vehicle can predict the travel track according to the animal behaviors or treat the travel track as a static state.
Step S40, judging whether the predicted travel track and the area to be driven for starting the local vehicle have a travel intersection point;
when the predicted travel track and the area to be driven for starting the local vehicle do not have a travel intersection, the travel obstacle does not influence the traveling of the local vehicle, the local vehicle is safe to start, when the predicted travel track and the area to be driven for starting the local vehicle have the travel intersection, the presence of the travel obstacle influences the starting safety of the local vehicle, meanwhile, when the local vehicle is detected to start, whether an animal exists at the bottom of the vehicle or in a preset distance of the vehicle body can be detected through an infrared detector, and when the animal exists, in order to avoid the animal, preset starting safety early warning information is output to the local vehicle through a V2X communication technology so as to remind a driver of finding the animal in time.
And step S50, outputting preset starting safety early warning information when the travel intersection exists.
Because the starting safety of the vehicle is influenced by the existence of the driving obstacles when the travel intersection point exists, preset starting safety early warning information is output to the local vehicle based on the V2X communication technology, the output early warning information can describe the event influencing safe driving, namely, the event influencing safe driving is that a corresponding audio file is output besides early warning, so that the safety factors influencing starting are clear for a driver, when the condition is critical, the vehicle can be controlled to carry out emergency braking and the like, and when the travel intersection point does not exist, the preset starting safety early warning information is not output.
In the embodiment, when the local vehicle is detected to be started, the local vehicle supports the V2X technology, and based on a roadside unit, the position information of the local vehicle is acquired, and the area to be driven for starting the local vehicle is acquired according to the position information; acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle; generating a predicted travel track within a first preset time length from the driving obstacle to the current moment according to the position information and the travel information of the driving obstacle; judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting of the local vehicle; and outputting preset starting safety early warning information when the travel intersection exists. When the vehicle is started, the circumstance of the inner periphery of the preset distance is judged based on the roadside unit, if the circumstance influencing the safe starting of the local vehicle appears, early warning information is sent to the local vehicle through a V2X communication technology to remind a driver of paying attention to the starting safety, and whether the vehicle can be started normally is determined not only by the fact that the driver artificially watches factors influencing the starting safety of the vehicle in the front and the rear of the vehicle, so that the technical problems that in the watching process, multiple sight blind areas exist in the vehicle, traffic accidents frequently occur when the vehicle is started, the driver and the personal safety of passengers are greatly threatened are solved, and the driving experience of the driver is further improved.
Further, on the basis of the first embodiment of the vehicle starting safety early warning method of the present invention, a second embodiment of the vehicle starting safety early warning method is provided, in a third embodiment, referring to fig. 2, the travel information includes position information and an azimuth, and the step of generating a predicted travel track within a first preset time from the driving obstacle to the current time according to the position information and the travel information of the driving obstacle includes:
step S31, based on the roadside units, acquiring the position information and the azimuth angle of the remote vehicle within the preset distance every second preset time interval;
step S32, acquiring the speed information of the remote vehicle at intervals of a second preset time according to the position information and the azimuth angle of the remote vehicle;
based on the roadside unit, acquiring the position information and the azimuth angle of the remote vehicle within the preset distance at intervals of second preset time, and acquiring the speed information of the remote vehicle at intervals of the second preset time according to the position information and the azimuth angle of the remote vehicle because the interval time is fixed.
And step S33, acquiring the predicted travel track of the remote vehicle within a first preset time from the current time according to the position information, azimuth angle and speed information of the remote vehicle.
And determining a model for acquiring the predicted travel track according to the position information, the azimuth angle and the speed information of the remote vehicle and different contextual models, and acquiring the predicted travel track of the remote vehicle within a first preset time length from the current time according to the model.
In the embodiment, based on the roadside unit, the position information and the azimuth angle of the remote vehicle within the preset distance are collected every second preset time interval; acquiring speed information of the remote vehicle at intervals of a second preset time according to the position information and the azimuth angle of the remote vehicle; and acquiring a predicted travel track of the remote vehicle within a first preset time from the current time according to the position information, the azimuth angle and the speed information of the remote vehicle. The predicted travel track within the first preset time length from the remote vehicle to the current moment is accurately obtained based on the roadside unit, so that a foundation can be laid for accurately judging whether the track exists, and further whether early warning information is output to a local vehicle is timely determined based on a V2X communication technology so as to avoid possible danger in a starting stage and improve user experience.
Further, on the basis of the first embodiment of the vehicle starting safety early warning method of the present invention, a third embodiment of the vehicle starting safety early warning method is provided, as shown in fig. 3, in the third embodiment, the step of outputting the preset starting safety early warning information when the trip intersection exists includes:
when the travel intersection exists, acquiring the time length of the remote vehicle reaching the travel intersection, and taking the time length as the remote time length;
and when the remote time length is less than the preset time threshold, outputting starting safety early warning information.
The driver has stronger acutance to time, so that the distance from the remote vehicle to the intersection of the journey can be obtained according to the predicted journey track, the time length of the local vehicle to reach the intersection of the track is obtained according to the driving speed of the remote vehicle, and when the remote time length is smaller than a preset time threshold, starting safety early warning information is timely output to the local vehicle based on the V2X technology.
In the embodiment, when the travel intersection exists, the time length of the remote vehicle reaching the travel intersection is obtained, and the time length is used as the remote time length; and when the remote time length is less than the preset time threshold value, outputting preset starting safety early warning information. The preset starting safety early warning information is output when the remote time is less than the preset time threshold, so that the starting safety early warning information can be output in time, and factors influencing starting safety are avoided.
Further, on the basis of the first embodiment of the vehicle starting safety early warning method of the present invention, a fourth embodiment of the vehicle starting safety early warning method is provided, in the fourth embodiment, the step of acquiring the position information of the local vehicle and acquiring the area to be driven for starting the local vehicle according to the position information includes:
acquiring the position information of a local vehicle, and acquiring the lane information of a lane where the local vehicle is located according to the position information;
and acquiring a to-be-driven area for starting the local vehicle according to the lane information.
The method comprises the steps of obtaining position information of a local vehicle, and obtaining lane information of a lane where the local vehicle is located according to the position information, wherein the lane information comprises the driving direction of the vehicle on the lane, whether the lane is a muddy road, a curve road and the like. And acquiring the area to be driven for starting the local vehicle according to the lane information, wherein the areas to be driven of the vehicle are different due to different lane information, and if the lane only allows the vehicle to drive leftwards, the driving direction of the vehicle after starting is necessarily consistent with the requirement of the lane, so that the area to be driven of the vehicle can be correspondingly reduced.
In the embodiment, by acquiring the position information of the local vehicle, the lane information of the local vehicle is acquired according to the position information; and acquiring a to-be-driven area for starting the local vehicle according to the lane information. The area to be driven of the local vehicle is obtained according to the lane information, so that the area to be driven can be more accurately obtained, whether the predicted travel track of the obstacle and the area to be driven of the local vehicle are in a travel intersection or not can be accurately judged according to the area to be driven, and early warning information is output.
Further, on the basis of the first embodiment of the vehicle starting safety early warning method, a fifth embodiment of the vehicle starting safety early warning method is provided, and in the fifth embodiment, the vehicle starting safety early warning method further includes:
and when the driving barrier does not influence the starting safety any more, playing a corresponding audio file to prompt a driver to start safely.
Because the driving obstacles comprise pedestrians, remote vehicles, animals and the like, and because the pedestrians, the remote vehicles and the animals move, the influence of the driving obstacles on the starting safety can be eliminated, when the driving obstacles do not influence the starting safety any more, corresponding audio files are played to prompt a driver to start safely.
In this embodiment, through when the driving obstacle no longer influences the safety of starting, play corresponding audio file to the suggestion driver carries out safe starting, because when the driving obstacle no longer influences the safety of starting, the suggestion driver can safe starting, consequently corresponding promotion driver's experience.
The present invention also provides a vehicle start safety warning device, in a first embodiment of the vehicle start safety warning device of the present invention, referring to fig. 4, the vehicle start safety warning device includes:
the first obtaining module 10 is configured to, when it is detected that a local vehicle is started, support a V2X technology by the local vehicle, obtain position information of the local vehicle based on a roadside unit, and obtain a to-be-driven area where the local vehicle is started according to the position information;
when the local vehicle is detected to start, namely when the vehicle engine works, the vehicle correspondingly shakes, or the ground pressure and the information before the start are different, the roadside unit acquires the information to know that the vehicle starts, and at the moment, the vehicle does not run, and acquires the position information of the local vehicle based on the roadside unit, wherein the position information of the local vehicle comprises the coordinate of the local vehicle, or the longitude and latitude and other information, and the area to be driven for starting the local vehicle is acquired according to the position information, and because the vehicle speed is slow when the vehicle starts, the area to be driven of the local vehicle can be acquired according to the position information and peripheral obstacles and the like, as shown in fig. 7, particularly, when the vehicle is in a forward state and a reverse state, the area to be driven of the local vehicle is different.
The second obtaining module 20 is configured to obtain position information and travel information of a driving obstacle within a preset distance of a local vehicle;
based on the roadside unit, acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle is a remote vehicle and a pedestrian which influence the starting and running of the local vehicle, and animals around or under the vehicle body, etc., as shown in fig. 7, the driving obstacle may be stationary or moving, and when the driving obstacle is a remote vehicle, the driving obstacle is in motion, the position information of the driving obstacle within the preset distance of the local vehicle comprises historical position information of the driving obstacle, the travel information comprises azimuth angles, speeds, accelerations, historical tracks and the like of the driving obstacle at different historical position information, in the step process, as long as the influence on the starting and running of the local vehicle is achieved, the vehicle-mounted radar or the safety early warning system in the local vehicle can acquire corresponding information.
The generating module 30 is configured to generate a predicted travel track within a first preset duration from the driving obstacle to the current time according to the position information and the travel information of the driving obstacle.
When the driving obstacle is a remote vehicle, based on the roadside unit, the historical track of the remote vehicle is generated by using the position information of the remote vehicle, the historical track and the travel information of the remote vehicle, namely the azimuth angle and the speed, are used, interpolation is carried out by using an extrapolation method in mathematics, and the predicted travel track within a first preset time length from the current moment is predicted. To assist in understanding the above description, for example, the extrapolation method in mathematics may use polynomial interpolation and trend prediction outwards, and perform 2 rd or 3 rd order polynomial interpolation fitting according to the historical track coordinate points of the remote vehicle, which selects the position coordinates of the closest 4-8 points in time from the current time. The calculating device for fitting is a minimum quadratic method; and carrying out time extrapolation according to the fitted polynomial to obtain the position of a coordinate point of the remote vehicle within a preset time length from the current time, further obtaining a remote predicted driving track within a first preset time length from the current time, and when the driving obstacle is a pedestrian, obtaining the walking direction and the walking speed of the pedestrian, wherein the walking direction can be the azimuth angle of the walking direction, or can be the relative direction obtained by taking the local vehicle as a reference object, obtaining the predicted travel track of the pedestrian, namely the walking track, and animals at the bottom of the local vehicle can predict the travel track according to the animal behaviors or treat the travel track as a static state.
The judging module 40 is used for judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting the local vehicle;
when the predicted travel track and the area to be driven for starting the local vehicle do not have a travel intersection, the travel obstacle does not influence the traveling of the local vehicle, the local vehicle is safe to start, when the predicted travel track and the area to be driven for starting the local vehicle have the travel intersection, the presence of the travel obstacle influences the starting safety of the local vehicle, meanwhile, when the local vehicle is detected to start, whether an animal exists at the bottom of the vehicle or in a preset distance of the vehicle body can be detected through an infrared detector, and when the animal exists, in order to avoid the animal, preset starting safety early warning information is output to the local vehicle through a V2X communication technology so as to remind a driver of finding the animal in time.
And the output module 50 is used for outputting preset starting safety early warning information when the travel intersection exists.
Because the starting safety of the vehicle is influenced by the existence of the driving obstacles when the travel intersection point exists, preset starting safety early warning information is output to the local vehicle based on the V2X communication technology, the output early warning information can describe the event influencing safe driving, namely, the event influencing safe driving is that a corresponding audio file is output besides early warning, so that the safety factors influencing starting are clear for a driver, when the condition is critical, the vehicle can be controlled to carry out emergency braking and the like, and when the travel intersection point does not exist, the preset starting safety early warning information is not output.
In this embodiment, the first obtaining module 10 is configured to, when it is detected that a local vehicle is started, support the V2X technology by the local vehicle, obtain location information of the local vehicle based on a roadside unit, and obtain a to-be-driven area where the local vehicle is started according to the location information; the second obtaining module 20 is configured to obtain position information and travel information of a driving obstacle within a preset distance of a local vehicle, where the driving obstacle includes a remote vehicle; the generating module 30 is configured to generate a predicted travel track of the driving obstacle within a first preset duration from the current time according to the position information and the travel information of the driving obstacle; the judging module 40 is used for judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting the local vehicle; and the output module 50 is used for outputting preset starting safety early warning information when the travel intersection exists. When the vehicle is started, the circumstance of the inner periphery of the preset distance is judged based on the roadside unit, if the circumstance influencing the safe starting of the local vehicle appears, early warning information is sent to the local vehicle through a V2X communication technology to remind a driver of paying attention to the starting safety, and whether the vehicle can be started normally is determined not only by the fact that the driver artificially watches factors influencing the starting safety of the vehicle in the front and the rear of the vehicle, so that the technical problems that in the watching process, multiple sight blind areas exist in the vehicle, traffic accidents frequently occur when the vehicle is started, the driver and the personal safety of passengers are greatly threatened are solved, and the driving experience of the driver is further improved.
Further, on the basis of the first embodiment of the vehicle start safety warning device of the present invention, a second embodiment of the vehicle start safety warning device is provided, and in a third embodiment, referring to fig. 5, the generating module includes:
the acquisition unit 31 is used for acquiring the position information and the azimuth angle of the remote vehicle within the preset distance at intervals of a second preset duration based on the roadside unit;
the first obtaining unit 32 is configured to obtain speed information of the remote vehicle every second preset time according to the position information and the azimuth angle of the remote vehicle;
based on the roadside unit, acquiring the position information and the azimuth angle of the remote vehicle within the preset distance at intervals of second preset time, and acquiring the speed information of the remote vehicle at intervals of the second preset time according to the position information and the azimuth angle of the remote vehicle because the interval time is fixed.
And a second obtaining unit 33, configured to obtain, according to the position information, the azimuth angle, and the speed information of the remote vehicle, a predicted travel track of the remote vehicle within a first preset time from the current time.
And determining a model for acquiring the predicted travel track according to the position information, the azimuth angle and the speed information of the remote vehicle and different contextual models, and acquiring the predicted travel track of the remote vehicle within a first preset time length from the current time according to the model.
In this embodiment, the acquisition unit 31 is configured to acquire, based on the roadside unit, position information and an azimuth angle of a remote vehicle within a preset distance at intervals of a second preset duration; the first obtaining unit 32 is configured to obtain speed information of the remote vehicle every second preset time according to the position information and the azimuth angle of the remote vehicle; and a second obtaining unit 33, configured to obtain, according to the position information, the azimuth angle, and the speed information of the remote vehicle, a predicted travel track of the remote vehicle within a first preset time from the current time. The predicted travel track within the first preset time length from the remote vehicle to the current moment is accurately obtained based on the roadside unit, so that a foundation can be laid for accurately judging whether the track exists, and further whether early warning information is output to a local vehicle is timely determined based on a V2X communication technology so as to avoid possible danger in a starting stage and improve user experience.
Further, on the basis of the first embodiment of the vehicle start safety warning device of the present invention, a third embodiment of the vehicle start safety warning device is provided, and referring to fig. 6, in the third embodiment, the output module includes:
a third obtaining unit 51, configured to, when there is a travel intersection, obtain a time length for the remote vehicle to reach the travel intersection, and use the time length as a remote time length;
and the output unit 52 is configured to output the starting safety early warning information when the remote duration is less than the preset time threshold.
The driver has stronger acutance to time, so that the distance from the remote vehicle to the intersection of the journey can be obtained according to the predicted journey track, the time length of the local vehicle to reach the intersection of the track is obtained according to the driving speed of the remote vehicle, and when the remote time length is smaller than a preset time threshold, starting safety early warning information is timely output to the local vehicle based on the V2X technology.
In the present embodiment, the third obtaining unit 51 is configured to, when there is a trip intersection, obtain a time length of the remote vehicle reaching the trip intersection, and use the time length as a remote time length; and the output unit 52 is configured to output preset starting safety early warning information when the remote duration is less than the preset time threshold. The preset starting safety early warning information is output when the remote time is less than the preset time threshold, so that the starting safety early warning information can be output in time, and factors influencing starting safety are avoided.
Further, on the basis of the first embodiment of the vehicle starting safety early warning device, a fourth embodiment of the vehicle starting safety early warning device is provided, and in the fourth embodiment, the second obtaining module includes:
the fourth acquisition unit is used for acquiring the position information of the local vehicle and acquiring the lane information of the lane where the local vehicle is located according to the position information;
and the fifth acquisition unit is used for acquiring a to-be-driven area for starting the local vehicle according to the lane information.
The method comprises the steps of obtaining position information of a local vehicle, and obtaining lane information of a lane where the local vehicle is located according to the position information, wherein the lane information comprises the driving direction of the vehicle on the lane, whether the lane is a muddy road, a curve road and the like. And acquiring the area to be driven for starting the local vehicle according to the lane information, wherein the areas to be driven of the vehicle are different due to different lane information, and if the lane only allows the vehicle to drive leftwards, the driving direction of the vehicle after starting is necessarily consistent with the requirement of the lane, so that the area to be driven of the vehicle can be correspondingly reduced.
In this embodiment, the fourth obtaining unit is configured to obtain position information of the local vehicle, and obtain lane information where the local vehicle is located according to the position information; and the fifth acquisition unit is used for acquiring a to-be-driven area for starting the local vehicle according to the lane information. The area to be driven of the local vehicle is obtained according to the lane information, so that the area to be driven can be more accurately obtained, whether the predicted travel track of the obstacle and the area to be driven of the local vehicle are in a travel intersection or not can be accurately judged according to the area to be driven, and early warning information is output.
Further, on the basis of the first embodiment of the vehicle start safety warning device of the present invention, a fifth embodiment of the vehicle start safety warning device is provided, and in the fifth embodiment, the vehicle start safety warning device further includes:
and the prompting module is used for playing a corresponding audio file when the driving barrier does not influence the starting safety any more so as to prompt the driver to start safely.
Because the driving obstacles comprise pedestrians, remote vehicles, animals and the like, and because the pedestrians, the remote vehicles and the animals move, the influence of the driving obstacles on the starting safety can be eliminated, when the driving obstacles do not influence the starting safety any more, corresponding audio files are played to prompt a driver to start safely.
In this embodiment, through the suggestion module for when driving obstacle no longer influences the safety of starting, broadcast corresponding audio file to the suggestion driver carries out the safety of starting, because when driving obstacle no longer influences the safety of starting, the suggestion driver can start safely, consequently corresponding promotion driver's experience.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A vehicle starting safety early warning method is characterized in that travel information comprises position information and an azimuth angle, and the vehicle starting safety early warning method comprises the following steps:
when the starting of a local vehicle is detected, the local vehicle supports a V2X technology, position information of the local vehicle is obtained based on a roadside unit, and a region to be driven for starting the local vehicle is obtained according to the position information;
acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle, an animal and a pedestrian;
based on the roadside unit, acquiring position information and an azimuth angle of a remote vehicle within a preset distance at intervals of a second preset time length;
acquiring speed information of the remote vehicle at intervals of a second preset time according to the position information and the azimuth angle of the remote vehicle;
according to the position information, the azimuth angle and the speed information of the remote vehicle, obtaining a predicted travel track of the remote vehicle within a first preset time from the current time, wherein the predicted travel track comprises a remote predicted driving track and a remote predicted walking track;
judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting of the local vehicle;
and when the travel intersection exists, outputting preset starting safety early warning information, and when an emergency condition exists, carrying out emergency braking treatment.
2. The vehicle starting safety early warning method according to claim 1, wherein the step of outputting the preset starting safety early warning information when the trip intersection exists comprises the steps of:
when the travel intersection exists, acquiring the time length of the remote vehicle reaching the travel intersection, and taking the time length as the remote time length;
and when the remote time length is less than the preset time threshold, outputting starting safety early warning information.
3. The vehicle starting safety early warning method according to claim 1, wherein the step of obtaining the position information of the local vehicle and obtaining the area to be driven for starting the local vehicle according to the position information comprises the following steps:
acquiring the position information of a local vehicle, and acquiring the lane information of a lane where the local vehicle is located according to the position information;
and acquiring a to-be-driven area for starting the local vehicle according to the lane information.
4. The vehicle launch safety pre-warning method of claim 1, further comprising:
and when the driving barrier does not influence the starting safety any more, playing a corresponding audio file to prompt a driver to start safely.
5. The utility model provides a vehicle start safety precaution device which characterized in that, vehicle start safety precaution device includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for supporting a V2X technology by a local vehicle when the local vehicle is detected to be started, acquiring the position information of the local vehicle based on a roadside unit, and acquiring a region to be driven for starting the local vehicle according to the position information;
the second acquisition module is used for acquiring position information and travel information of a driving obstacle within a preset distance of a local vehicle, wherein the driving obstacle comprises a remote vehicle, an animal and a pedestrian;
the generating module comprises a collecting unit, a processing unit and a display unit, wherein the collecting unit is used for collecting the position information and the azimuth angle of the remote vehicle within the preset distance at intervals of a second preset time length on the basis of the roadside unit;
the first acquisition unit is used for acquiring the speed information of the remote vehicle at intervals of a second preset time length according to the position information and the azimuth angle of the remote vehicle;
the second obtaining unit is used for obtaining a predicted travel track of the remote vehicle within a first preset time length from the current time according to the position information, the azimuth angle and the speed information of the remote vehicle, wherein the predicted travel track comprises a remote predicted travelling track and a travelling track;
the judging module is used for judging whether a travel intersection point exists between the predicted travel track and a to-be-driven area for starting the local vehicle;
and the output module is used for outputting preset starting safety early warning information when a travel intersection exists, and carrying out emergency braking processing when an emergency situation exists.
6. The vehicle launch safety pre-warning apparatus of claim 5, wherein the output module comprises:
the third acquisition unit is used for acquiring the time length of the remote vehicle reaching the travel intersection point when the travel intersection point exists, and taking the time length as the remote time length;
and the output unit is used for outputting the starting safety early warning information when the remote duration is less than the preset time threshold.
7. The vehicle launch safety pre-warning apparatus of claim 5, wherein the second obtaining module comprises:
the fourth acquisition unit is used for acquiring the position information of the local vehicle and acquiring the lane information of the lane where the local vehicle is located according to the position information;
and the fifth acquisition unit is used for acquiring a to-be-driven area for starting the local vehicle according to the lane information.
8. The vehicle launch safety pre-warning apparatus of claim 5, wherein the vehicle launch safety pre-warning apparatus further comprises:
and the prompting module is used for playing a corresponding audio file when the driving barrier does not influence the starting safety any more so as to prompt the driver to start safely.
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| CN108162759B (en) * | 2017-12-11 | 2019-09-17 | 吉利汽车研究院（宁波）有限公司 | Automobile starting method, control system and automobile |
| CN108200552B (en) * | 2017-12-14 | 2020-08-25 | 华为技术有限公司 | V2X communication method and device |
| US11769402B2 (en) | 2018-03-29 | 2023-09-26 | Intel Corporation | Augmenting mobile device operation with intelligent external sensors |
| CN108535023B (en) * | 2018-04-03 | 2021-08-03 | 中汽研（天津）汽车工程研究院有限公司 | Method for evaluating vehicle starting shake |
| US11117572B2 (en) | 2018-08-29 | 2021-09-14 | International Business Machines Corporation | Cognition enabled driving pattern detection |
| CN113022441B (en) * | 2019-12-09 | 2023-05-16 | 深圳云天励飞技术有限公司 | Detection method and device for dead zone of vehicle, electronic equipment and storage medium |
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