CN112046499A - Vehicle starting reminding method, vehicle starting reminding device and vehicle - Google Patents
Vehicle starting reminding method, vehicle starting reminding device and vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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Abstract
The invention discloses a vehicle starting reminding method, a vehicle starting reminding device and a vehicle. The vehicle starting reminding method comprises the following steps: judging whether the vehicle is in a brake standby state or not; when the vehicle is in a brake standby state, judging whether the driving speed of the following vehicle exceeds a first preset threshold value or not; when the driving-away speed of the following vehicle exceeds a first preset threshold value, timing is started and first driving-away time of the following vehicle is obtained; and when the first driving-off time is greater than a second preset threshold value, alarming. The vehicle starting reminding method, the vehicle starting reminding device and the vehicle provided by the invention have the advantages that the driver is reminded in time after the front vehicle is driven away, and the vehicle passing efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of auxiliary driving, in particular to a vehicle starting reminding method, a vehicle starting reminding device and a vehicle.
Background
With the development of science and technology and the progress of automobile industry, automobiles become necessary transportation tools for each family, and drivers need to pay attention to the driving state of vehicles on roads in real time in the driving process so as to control the normal driving of the automobiles.
Meanwhile, the traffic light time at part of traffic intersections is set to be longer, or a traffic manager actively controls the traffic light due to traffic jam and other scenes so that the red light time is longer. Therefore, when the driver waits for the traffic lights, traffic jam and other working conditions of stopping along with the front vehicle in the driving process, the driver is easy to pay attention to other things, such as checking a mobile phone, paying attention to scenery outside a window, chatting with the same people and the like, and the attention is not in front of the driving of the vehicle, so that the driver does not pay attention to and drive the vehicle to drive in time after the front vehicle normally starts and leaves, and the rear vehicle whistles to remind and even complain, so that the jam condition is more serious, the normal traffic rate is influenced, and a traffic accident may be caused in serious cases.
Disclosure of Invention
The invention provides a vehicle starting reminding method, a vehicle starting reminding device and a vehicle, which are used for reminding a driver in time after a front vehicle is driven away and improving the vehicle passing efficiency.
In a first aspect, an embodiment of the present invention provides a vehicle start reminding method, including:
judging whether the vehicle is in a brake standby state or not;
when the vehicle is in the brake standby state, judging whether the driving speed of the following vehicle exceeds a first preset threshold value or not;
when the driving-away speed of the following vehicle exceeds the first preset threshold value, timing is started and first driving-away time of the following vehicle is obtained;
and when the first driving-off time is greater than a second preset threshold value, alarming.
Optionally, after determining whether the driving-away speed of the following vehicle exceeds a first preset threshold, the method further includes:
when the driving-away speed of the following vehicle does not exceed a first preset threshold value, judging whether the driving-away distance of the following vehicle exceeds a third preset threshold value or not;
when the distance of the following vehicle exceeds the third preset threshold value, timing is started and second driving time of the following vehicle is obtained;
and when the second driving-off time is greater than a fourth preset threshold value, alarming.
Optionally, after the first driving-off time is greater than a second preset threshold, and/or after the second driving-off time is greater than a fourth preset threshold, the method further includes:
judging whether a driver is in a monitoring environment state;
and when the driver is not in the monitoring environment state, giving an alarm.
Optionally, judge whether the vehicle is in the state of stopping standby at the brake, include:
judging whether the vehicle speed of the vehicle is less than a fifth preset threshold value or not;
when the speed of the vehicle is smaller than the fifth preset threshold value, judging whether the vehicle is started for the first time;
and if the vehicle is not started for the first time, judging that the vehicle is in a brake-stop standby state.
Optionally, before determining whether the driving-away speed of the following vehicle exceeds a first preset threshold, the method further includes:
acquiring image information and point cloud information in front of the vehicle;
judging whether the following vehicle exists in front of the vehicle according to the image information and the point cloud information;
when the following vehicle exists in front of the vehicle, acquiring the driving-away speed of the following vehicle.
Optionally, acquiring a driving-away speed of the following vehicle includes:
acquiring image information and point cloud information of the following vehicle;
and acquiring the driving-away speed of the following vehicle according to the image information and the point cloud information of the following vehicle.
Optionally, determining whether the driving distance of the following vehicle exceeds a third preset threshold includes:
acquiring image information and point cloud information of the following vehicle;
acquiring the driving distance of the following vehicle according to the image information and the point cloud information of the following vehicle;
and judging whether the driving distance exceeds a third preset threshold value.
Optionally, obtaining the driving distance of the following vehicle according to the image information and the point cloud information of the following vehicle includes:
acquiring the distance between the vehicle and the following vehicle in real time according to the image information and the point cloud information of the following vehicle;
and calculating a change value of the distance between the vehicle and the following vehicle to obtain the driving distance of the following vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle start reminding device, including:
the first judgment module is used for judging whether the vehicle is in a brake standby state or not;
the second judging module is used for judging whether the driving speed of the following vehicle exceeds a first preset threshold value or not when the vehicle is in the brake standby state;
the timing module starts timing and obtains first driving-away time when the driving-away speed of the following vehicle exceeds the first preset threshold;
and the alarm module is used for giving an alarm when the first driving-off time is greater than a second preset threshold value.
In a third aspect, an embodiment of the present invention further provides a vehicle, including the vehicle start reminding device in the second aspect.
According to the vehicle starting reminding method provided by the embodiment of the invention, when the vehicle is in a brake standby state, whether the driving speed of the following vehicle exceeds a first preset threshold value or not is judged, an alarm is given when the driving speed of the following vehicle exceeds the first preset threshold value and the first driving time of the following vehicle is greater than a second preset threshold value, and a driver is reminded to pay attention to the fact that the following vehicle in front is driven away and pay attention to the driving safety of the vehicle, so that the driver is reminded to start to drive in time, and the vehicle passing efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of a vehicle start reminding method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle start reminding device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another vehicle start reminding device provided in the embodiment of the present invention;
fig. 4 is a schematic structural diagram of another vehicle start reminding device provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of another vehicle start reminding device provided in the embodiment of the present invention;
fig. 6 is a schematic working flow diagram of a vehicle start reminding device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of a vehicle start reminding method provided by an embodiment of the present invention, and as shown in fig. 1, the vehicle start reminding method provided by the embodiment of the present invention includes:
and step 110, judging whether the vehicle is in a brake-stop standby state.
The brake-stop standby state is a state when the vehicle stops after starting, and exemplarily, the vehicle is in the brake-stop standby state after stopping along with a front vehicle at a traffic light intersection, and the speed of the vehicle is 0 at the moment. The vehicle state information can be acquired by controllers such as an electronic stability module ESC and an engine control unit EMS in the vehicle, and whether the vehicle is in a brake-off standby state is judged according to the vehicle state information, for example, the acquired vehicle state information comprises the wheel speed of the vehicle, whether a hand brake is pulled up or not, and when the wheel speed of the vehicle is 0 and the hand brake is pulled up, the vehicle is judged to be in the brake-off standby state. It should be noted that the condition for determining whether the vehicle is in the brake-off standby state may be set according to actual requirements, for example, when the wheel speed of the vehicle is reduced to 0 and the engine speed is greater than a preset threshold, the vehicle is determined to be in the brake-off standby state, or when the vehicle is detected to be parked and the parking brake is pulled, the vehicle is determined to be in the brake-off standby state, and the like, which is not limited in the embodiment of the present invention.
And step 120, when the vehicle is in the brake standby state, judging whether the driving-off speed of the following vehicle exceeds a first preset threshold value.
Specifically, when the vehicle stops during the driving process and waits for the traffic light in front to be changed into a green light state or the vehicle following the front starts to continue driving after driving away, the vehicle is in a stop standby state. At the moment, the driving-away speed information of a following vehicle in front of the vehicle can be acquired through a sensor on the vehicle, wherein the following vehicle is the vehicle followed by the vehicle, the following vehicle and the vehicle are located in the same lane, and the distance between the following vehicle and the vehicle is smaller than a preset threshold value; the driving-away speed is a speed at which the following vehicle drives in a direction away from the host vehicle. After the driving-away speed of the following vehicle is acquired, whether the driving-away speed of the following vehicle exceeds a first preset threshold value or not is judged, and when the driving-away speed of the following vehicle exceeds the first preset threshold value, the next judgment can be carried out to carry out warning reminding.
And step 130, when the driving-away speed of the following vehicle exceeds the first preset threshold value, starting timing and obtaining first driving-away time.
Specifically, when the driving away speed value of the following vehicle in front is judged to be larger than a first preset threshold value, a timer is started to start timing, first driving away time of the following vehicle is obtained, and the first driving away time is obtained in real time to be compared in the next step.
And 140, when the first driving-off time is greater than a second preset threshold value, giving an alarm.
Specifically, after the timer starts to time, acquiring first driving-off time in real time, comparing the first driving-off time with a second preset threshold, and if the first driving-off time does not exceed the second preset threshold, not giving an alarm; if the acquired first driving-away time is larger than a second preset threshold value, an alarm is given to remind a driver of paying attention to the fact that a following vehicle in front drives away, the driving safety of the vehicle is paid attention to, the driver is reminded of starting to drive in time, and the vehicle passing efficiency is improved. The alarm may be one or more of an audio alarm, an optical alarm, and a steering wheel vibration alarm, and those skilled in the art may set the alarm according to actual needs, which is not limited in the embodiments of the present invention.
It should be noted that the first preset threshold and the second preset threshold can be set according to actual requirements, for example, the first preset threshold is V1, the second preset threshold is T1, 5km/h ≦ V1 ≦ 10km/h, and 1s ≦ T1 ≦ 2 s. The driving speed of the following vehicle in front is not too high when starting, so that a first preset threshold value V1 can be set to be less than or equal to 10 km/h; by setting the first preset threshold value V1 to be more than or equal to 5km/h, the condition that the following vehicle in front moves forward slightly to give an alarm frequently can be avoided, and a reasonable and safe distance is reserved for the starting operation of a driver. In addition, through the reasonable range of setting up second preset threshold value T1, under the prerequisite that can in time remind the driver, guarantee that the following vehicle in the place ahead has driven away from certain distance, reserved reasonable, safe distance for driver's start operation. The first preset threshold and the second preset threshold are only examples, and in other embodiments, a person skilled in the art may set the first preset threshold and the second preset threshold according to actual needs, which is not limited in the embodiment of the present invention.
According to the vehicle starting reminding method provided by the embodiment of the invention, when the vehicle is in a brake standby state, whether the driving speed of the following vehicle exceeds a first preset threshold value or not is judged, an alarm is given when the driving speed of the following vehicle exceeds the first preset threshold value and the first driving time of the following vehicle is greater than a second preset threshold value, and a driver is reminded to pay attention to the fact that the following vehicle in front is driven away and pay attention to the driving safety of the vehicle, so that the driver is reminded to start to drive in time, and the vehicle passing efficiency is improved.
Optionally, after determining whether the driving-away speed of the following vehicle exceeds a first preset threshold, the method further includes:
and when the driving-away speed of the following vehicle does not exceed a first preset threshold value, judging whether the driving-away distance of the following vehicle exceeds a third preset threshold value.
And when the driving distance of the following vehicle exceeds the third preset threshold value, timing is started and second driving time is obtained.
And when the second driving-off time is greater than a fourth preset threshold value, alarming.
Specifically, when the driving-away speed of the following vehicle does not exceed a first preset threshold, judging whether the driving-away distance of the following vehicle exceeds a third preset threshold, wherein the driving-away distance of the following vehicle is a distance change value between the following vehicle and the vehicle when the vehicle is in a brake standby state, starting a timer to start timing to obtain a second driving-away time of the following vehicle when the driving-away distance of the following vehicle exceeds the third preset threshold, obtaining the second driving-away time in real time, comparing the second driving-away time with a fourth preset threshold, and if the second driving-away time does not exceed the fourth preset threshold, not giving an alarm; if the obtained second driving-away time is larger than a fourth preset threshold value, an alarm is given to remind a driver of paying attention to the fact that a following vehicle in front drives away, the driving safety of the vehicle is paid attention to, the driver is further reminded of starting to drive in time, and the vehicle passing efficiency is improved.
It should be noted that the third preset threshold and the fourth preset threshold can be set according to actual requirements, for example, the third preset threshold is S1, the fourth preset threshold is T2, 5m ≦ S1 ≦ 6m, and 1S ≦ T2 ≦ 2S. The condition that the following vehicle in front moves forward slightly and then frequently gives an alarm can be avoided by setting a proper third preset threshold value S1, and a reasonable and safe distance is reserved for the starting operation of a driver. In addition, through the reasonable range of setting up second preset threshold value T2, under the prerequisite that can in time remind the driver, guarantee that the following vehicle in the place ahead has driven away from certain distance, reserved reasonable, safe distance for driver's start operation. The third preset threshold and the fourth preset threshold are only examples, and in other embodiments, a person skilled in the art may set the third preset threshold and the fourth preset threshold according to actual needs, which is not limited in the embodiment of the present invention.
By adopting the vehicle starting reminding method provided by the embodiment of the invention, when the driving distance of the following vehicle does not exceed the first preset threshold value, the driving distance of the following vehicle exceeds the third preset threshold value, and the second driving time of the following vehicle is greater than the fourth preset threshold value, so that when the following vehicle in front moves a long distance at a low speed, a driver is reminded to follow the following vehicle in time, the promotion of the following vehicle is avoided, and the urban traffic efficiency is improved.
Optionally, after the first driving-off time is greater than a second preset threshold, and/or after the second driving-off time is greater than a fourth preset threshold, the method further includes:
and judging whether the driver is in the monitoring environment state.
And when the driver is not in the monitoring environment state, giving an alarm.
Specifically, after the first driving-off time is greater than a second preset threshold value, before alarming, and/or after the second driving-off time is greater than a fourth preset threshold value, before alarming, judging whether the driver is in a monitoring environment state, wherein the monitoring environment state is a state when the attention of the driver is in front of the driving of the vehicle, acquiring image information of the driver through a monitoring camera, and identifying whether the driver is in the monitoring environment state according to the image information, for example, identifying whether the driver is closed, whether eyes face the front or whether the driver is playing a mobile phone, and the like, and when the driver is not in the monitoring environment state, alarming to remind the driver of driving off along with the vehicle; when the driver is in the monitoring environment state, the alarm is not given, the driver can drive conveniently according to own will, and the driving experience of the driver is improved.
Optionally, judge whether the vehicle is in the state of stopping standby at the brake, include:
and judging whether the vehicle speed of the vehicle is less than a fifth preset threshold value.
And when the vehicle speed of the vehicle is less than the fifth preset threshold value, judging whether the vehicle is started for the first time.
And if the vehicle is not started for the first time, judging that the vehicle is in a brake-stop standby state.
Specifically, when judging whether the vehicle is in a brake-stop standby state, firstly judging whether the vehicle speed of the vehicle is less than a fifth preset threshold value so as to determine whether the vehicle is braked and stopped, and when the vehicle speed of the vehicle is less than the fifth preset threshold value, judging whether the vehicle is started for the first time, wherein the fifth preset threshold value can be set according to actual requirements so as to determine whether the vehicle is braked and stopped. The vehicle state information can be acquired through controllers such as an electronic stability module (ESC) and an engine control unit (EMS) in the vehicle so as to assist in judging whether the vehicle is started for the first time, and therefore the accuracy of judging the first start is improved. If the vehicle is not started for the first time, the vehicle is judged to be in the brake-stop standby state, and therefore the vehicle is prevented from being judged to be in the brake-stop standby state by mistake when ignition is started.
Optionally, before determining whether the driving-away speed of the following vehicle exceeds a first preset threshold, the method further includes:
and acquiring image information and point cloud information in front of the vehicle.
And judging whether the following vehicle exists in front of the vehicle according to the image information and the point cloud information.
When the following vehicle exists in front of the vehicle, acquiring the driving-away speed of the following vehicle.
Specifically, before judging whether the driving-away speed of the following vehicle exceeds a first preset threshold, image information in front of the vehicle can be acquired through a front-view camera mounted on the vehicle, point cloud information in front of the vehicle can be acquired through a radar mounted on the vehicle, and whether the following vehicle exists in front of the vehicle can be judged through fusion processing of the image information and the point cloud information, wherein the radar can be a millimeter wave radar, a laser radar or other types of radars, and the embodiment of the invention is not limited to this. For example, if the distance between the recognized vehicle in front of the vehicle and the vehicle is less than the preset distance, and the azimuth angle of the vehicle in front of the vehicle relative to the vehicle is less than the preset angle, it is determined that the vehicle in front is the following vehicle. And when the following vehicle exists in front of the vehicle, acquiring the driving speed of the following vehicle and carrying out subsequent judgment. Whether the front vehicle is the following vehicle or not is confirmed in advance, and the problem that mistaken reminding or inaccurate reminding is caused when the vehicle with a long front distance or other non-following vehicles drive away is avoided. Whether a following vehicle exists in front of the vehicle is judged by carrying out fusion processing on image information and point cloud information in front of the vehicle so as to improve the accuracy of following vehicle identification.
Optionally, acquiring a driving-away speed of the following vehicle includes:
and acquiring image information and point cloud information of the following vehicle.
And acquiring the driving-away speed of the following vehicle according to the image information and the point cloud information of the following vehicle.
Specifically, image information of the following vehicle can be acquired through a front-view camera carried by the vehicle, point cloud information of the following vehicle can be acquired through a radar carried by the vehicle, and the driving-away speed of the following vehicle can be acquired through fusion processing of the image information and the point cloud information, so that the accuracy of the driving-away speed measurement is improved.
Optionally, determining whether the driving distance of the following vehicle exceeds a third preset threshold includes:
and acquiring image information and point cloud information of the following vehicle.
And acquiring the driving distance of the following vehicle according to the image information and the point cloud information of the following vehicle.
And judging whether the driving distance exceeds a third preset threshold value.
Specifically, image information of the following vehicle can be acquired through a front-view camera carried by the vehicle, point cloud information of the following vehicle can be acquired through a radar carried by the vehicle, and the distance to the following vehicle can be acquired through fusion processing of the image information and the point cloud information, so that accurate distance measurement is realized.
Optionally, obtaining the driving distance of the following vehicle according to the image information and the point cloud information of the following vehicle includes:
and acquiring the distance between the vehicle and the following vehicle in real time according to the image information and the point cloud information of the following vehicle.
And calculating a change value of the distance between the vehicle and the following vehicle to obtain the driving distance of the following vehicle.
Specifically, when the driving-away speed of the following vehicle does not exceed a first preset threshold, an initial distance between the following vehicle and the vehicle before driving away is obtained according to image information and point cloud information of the following vehicle, then a distance between the following vehicle and the vehicle is obtained in real time according to the image information and the point cloud information of the following vehicle, a difference value is made between the distance obtained in real time and the initial distance, and a change value of the distance between the following vehicle and the vehicle is obtained, wherein the change value is the driving-away distance.
According to the vehicle starting reminding method provided by the embodiment of the invention, when the vehicle is in a brake standby state, whether the driving speed of the following vehicle exceeds a first preset threshold value or not is judged, an alarm is given when the driving speed of the following vehicle exceeds the first preset threshold value and the first driving time of the following vehicle is greater than a second preset threshold value, and a driver is reminded to pay attention to the fact that the following vehicle in front is driven away and pay attention to the driving safety of the vehicle, so that the driver is reminded to start to drive in time, and the vehicle passing efficiency is improved. When the driving-away speed of the following vehicle does not exceed the first preset threshold value, the driving-away distance of the following vehicle exceeds the third preset threshold value, and the second driving-away time of the following vehicle is greater than the fourth preset threshold value, and then the alarm is given, so that when the following vehicle in front moves a long distance at a low speed, the driver is reminded to follow timely, the rear vehicle is prevented from urging, and the urban traffic efficiency is improved. The front-view camera and the radar carried by the vehicle are used for acquiring image information and point cloud information in front of the vehicle, and the state of the front following vehicle is judged by fusing the image information and the point cloud information, so that the starting reminding accuracy is improved.
Based on the same inventive concept, an embodiment of the present invention further provides a vehicle start reminding device, fig. 2 is a schematic structural diagram of the vehicle start reminding device provided by the embodiment of the present invention, and as shown in fig. 2, the vehicle start reminding device 20 provided by the embodiment of the present invention includes:
the first judging module 21 is configured to judge whether the vehicle is in a brake-stop standby state.
And the second judging module 22 is used for judging whether the driving-away speed of the following vehicle exceeds a first preset threshold value when the vehicle is in the brake standby state.
And the first timing module 23 starts timing and obtains a first driving-away time when the driving-away speed of the following vehicle exceeds the first preset threshold.
And the alarm module 24 is used for giving an alarm when the first driving-off time is greater than a second preset threshold value.
Fig. 3 is a schematic structural diagram of another vehicle start reminding device according to an embodiment of the present invention, and as shown in fig. 3, optionally, the vehicle start reminding device 20 further includes:
and a third judging module 25, configured to judge whether the driving distance of the following vehicle exceeds a third preset threshold when the driving speed of the following vehicle does not exceed the first preset threshold.
The first timing module 23 is further configured to start timing and obtain a second driving-away time of the following vehicle when the driving-away distance of the following vehicle exceeds the third preset threshold. The alarm module 24 is further configured to alarm when the second driving-off time is greater than a fourth preset threshold.
Fig. 4 is a schematic structural diagram of another vehicle start reminding device according to an embodiment of the present invention, and as shown in fig. 4, optionally, the vehicle start reminding device 20 further includes:
and a fourth judging module 26 for judging whether the driver is in the monitoring environment state.
The warning module 24 is also configured to warn when the driver is not in the monitored environmental condition.
With continuing reference to fig. 4, optionally, the first determining module 21 includes:
and a first judging unit 211, configured to judge whether the vehicle speed of the vehicle is less than a fifth preset threshold.
A second determining unit 212, configured to determine whether the vehicle is started for the first time when the vehicle speed of the vehicle is less than the fifth preset threshold, and determine that the vehicle is in a brake-stop standby state if the vehicle is not started for the first time.
With continued reference to fig. 4, optionally, the vehicle start reminding device 20 further includes:
and a front view camera 27 for acquiring image information in front of the vehicle.
And the radar 28 is used for acquiring point cloud information in front of the vehicle.
And a fifth judging module 29, configured to judge whether the following vehicle exists in front of the vehicle according to the image information and the point cloud information.
A driving-away speed obtaining module 30, configured to obtain a driving-away speed of the following vehicle when the following vehicle is present in front of the vehicle.
With continued reference to fig. 4, optionally, the drive-off speed acquisition module 30 includes:
a first information acquisition unit 301 for acquiring image information and point cloud information of the following vehicle.
A second information obtaining unit 302 configured to obtain a driving-away speed of the following vehicle based on the image information and the point cloud information of the following vehicle.
With continued reference to fig. 4, optionally, the third determining module 25 includes:
a third information acquisition unit 251 for acquiring image information and point cloud information of the following vehicle.
The fourth information acquisition unit 252 acquires the distance traveled by the following vehicle from the image information and the point cloud information of the following vehicle.
A third determining unit 253, configured to determine whether the driving-away distance exceeds a third preset threshold.
With continuing reference to fig. 4, optionally, the fourth information obtaining unit 252 includes:
an information obtaining subunit 2521, configured to obtain, in real time, a distance between the vehicle and the following vehicle according to the image information and the point cloud information of the following vehicle.
A calculation subunit 2522, configured to calculate a variation value of the distance between the vehicle and the following vehicle, to obtain a distance traveled by the following vehicle.
To sum up, an embodiment of the present invention provides a vehicle start reminding device, fig. 5 is a schematic structural diagram of another vehicle start reminding device provided by an embodiment of the present invention, fig. 6 is a schematic work flow diagram of a vehicle start reminding device provided by an embodiment of the present invention, as shown in fig. 5 and fig. 6, for example, the modules for implementing the determining and controlling functions, such as the first determining module 21, the second determining module 22, the first timing module 23, and the like, are collectively represented by a vehicle state determining and controlling module, the radar mounted on the vehicle is a forward millimeter wave radar, the alarm module is an audible and visual alarm module, and the vehicle is further mounted with a forward camera and a driver monitoring camera. In the vehicle start reminding device provided by the embodiment of the invention, the vehicle state judging and controlling module is used for confirming that the vehicle is in a stop standby state through interaction with other controllers of the whole vehicle, judging and monitoring the vehicle state in real time, and judging that the vehicle is not in the stop standby state when the vehicle is started for the first time, namely the vehicle is in a first power-on ignition state, wherein at the moment, the vehicle start reminding device is in the standby state and does not give an alarm. The vehicle state judging and controlling module receives signals of other finished vehicle controllers such as an electronic stability module ESC and an engine control unit EMS to judge whether the finished vehicle is in a first power-on ignition state, and specifically, the vehicle state judging and controlling module CAN be connected with the other finished vehicle controllers such as the electronic stability module ESC and the engine control unit EMS through a CAN bus of the vehicle.
And after the vehicle is normally started, when the driver brakes the vehicle, the vehicle is confirmed to be in a brake standby state. Meanwhile, the vehicle state judging and controlling module receives signals of a front-view camera and a millimeter wave radar which are carried by the vehicle, identifies and judges whether a following vehicle exists in front of the vehicle, and stops the following vehicle. If the vehicle state judging and controlling module judges that the front non-following vehicle stops, the vehicle starting reminding device does not give an alarm and is in a standby state, and meanwhile, the vehicle can be prevented from mistakenly reminding and giving an alarm when the front non-following vehicle drives away.
If a following vehicle exists in front of the vehicle, a front-view camera and a millimeter wave radar carried by the vehicle acquire image information and point cloud information of the following vehicle and send related signals to a vehicle state judgment and control module, and the vehicle state judgment and control module receives signals of other controllers of the whole vehicle and target signals sent by the front-view camera and the millimeter wave radar so as to judge whether to send an alarm signal to the sound-light alarm module.
Specifically, after the vehicle is in a brake standby state, when the following vehicle drives away, the vehicle state judging and controlling module does not give an alarm and is in a standby state when judging that the driving-away speed of the following vehicle does not exceed a first preset threshold value based on the received speed signal of the front following vehicle sensed by the front-view camera and the millimeter wave radar; when the driving-away speed of the following vehicle is judged to be larger than a first preset threshold value, the vehicle state judging and controlling module starts the timing module to time and obtain first driving-away time, and if the first driving-away time is judged not to exceed a second preset threshold value, the vehicle starting reminding device does not give an alarm and is in a standby state; if the first driving-away time exceeds the second preset threshold value, the following vehicle is judged to be normally driven and driven away, at the moment, the image information of the driver acquired by the driver monitoring camera is judged, whether the driver is in the monitoring environment state or not is judged according to the image information of the driver, the vehicle state judging and controlling module receives a driver state signal sent by the driver monitoring camera, when the driver monitoring camera identifies that the driver is not in the monitoring environment state, the vehicle state judging and controlling module triggers an alarm signal, and when the sound-light alarm module receives the alarm signal sent by the vehicle state judging and controlling module, the sound-light alarm is activated, and the driver is reminded of driving away the following vehicle through triggering sound and optical alarm.
Based on the above technical solution, optionally, when the driving-away speed of the front following vehicle does not exceed the first preset threshold, the vehicle state judgment and control module does not alarm and is in a standby state when judging that the driving-away distance of the front following vehicle does not exceed the third preset threshold based on the received driving-away distance signal (the difference between the distance of the following vehicle relative to the vehicle after driving away and the distance of the following vehicle relative to the vehicle before driving away) of the front following vehicle sensed by the front-looking camera and the millimeter wave radar; when the driving distance of the front following vehicle is judged to be larger than a third preset threshold value, the vehicle state judging and controlling module starts the timing module to time and obtain second driving time, and if the second driving time of the following vehicle is judged not to exceed the fourth preset threshold value, the vehicle starting reminding device does not give an alarm and is in a standby state; and if the second driving-away time of the following vehicle is judged to exceed the fourth preset threshold value, the following vehicle is judged to be normally driven away. At the moment, the image information of the driver acquired by the driver monitoring camera is judged whether the driver is in a monitoring environment state or not according to the image information of the driver, the vehicle state judging and controlling module receives a driver state signal sent by the driver monitoring camera, when the driver monitoring camera identifies that the driver is not in the monitoring environment state, the vehicle state judging and controlling module triggers an alarm signal, and when the acousto-optic alarm module receives the alarm signal sent by the vehicle state judging and controlling module, the acousto-optic alarm module activates acousto-optic alarm and reminds the driver to drive away from the following vehicle by triggering sound and optical alarm.
The vehicle starting reminding device provided by the embodiment of the invention is compatible with an indoor driver monitoring camera to identify the monitoring state of a driver, after a following vehicle normally starts and drives away, the driving away speed, the acceleration, the driving away time and other information of the following vehicle (motor vehicles such as cars, motorcycles and the like) are identified, when the driving away speed of the following vehicle exceeds a first preset threshold value and the first driving away time exceeds a second preset threshold value, the vehicle state judging and controlling module outputs an alarm signal to the sound-light alarm module to carry out sound-light alarm to remind the driver of driving away, pay attention to the safety of the following vehicle, and avoid the problem of error reminding or inaccurate reminding caused by starting reminding only depending on distance change. Accurate range finding is realized through the cooperation of foresight camera and millimeter wave radar, avoids utilizing ultrasonic radar to realize that the rate of accuracy is low, the problem that the range finding is close in the starting warning scheme.
Based on the same inventive concept, an embodiment of the present invention further provides a vehicle, where the vehicle includes the vehicle start reminding device provided in any one of the embodiments, and therefore, the vehicle provided in the embodiment of the present invention has the technical effects of the technical solutions in any one of the embodiments, and the explanations of the structures and terms that are the same as or correspond to those in the embodiments are not repeated herein.
The vehicle provided by the embodiment of the invention also comprises other functional modules for realizing the required functions, such as an electronic stability module ESC, an engine control unit EMS, a CAN bus, other controllers of the whole vehicle and the like, and the technical personnel in the field CAN set the functional modules according to the actual requirements.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle starting reminding method is characterized by comprising the following steps:
judging whether the vehicle is in a brake standby state or not;
when the vehicle is in the brake standby state, judging whether the driving speed of the following vehicle exceeds a first preset threshold value or not;
when the driving-away speed of the following vehicle exceeds the first preset threshold value, timing is started and first driving-away time of the following vehicle is obtained;
and when the first driving-off time is greater than a second preset threshold value, alarming.
2. The vehicle starting reminding method according to claim 1, wherein after judging whether the driving-away speed of the following vehicle exceeds a first preset threshold value, the method further comprises the following steps:
when the driving-away speed of the following vehicle does not exceed a first preset threshold value, judging whether the driving-away distance of the following vehicle exceeds a third preset threshold value or not;
when the distance of the following vehicle exceeds the third preset threshold value, timing is started and second driving time of the following vehicle is obtained;
and when the second driving-off time is greater than a fourth preset threshold value, alarming.
3. The vehicle start reminding method according to claim 2, further comprising, after the first driving-off time is greater than a second preset threshold and/or after the second driving-off time is greater than a fourth preset threshold:
judging whether a driver is in a monitoring environment state;
and when the driver is not in the monitoring environment state, giving an alarm.
4. The vehicle starting reminding method according to claim 1, wherein judging whether the vehicle is in a brake-stop standby state comprises:
judging whether the vehicle speed of the vehicle is less than a fifth preset threshold value or not;
when the speed of the vehicle is smaller than the fifth preset threshold value, judging whether the vehicle is started for the first time;
and if the vehicle is not started for the first time, judging that the vehicle is in a brake-stop standby state.
5. The vehicle starting reminding method according to claim 1, wherein before judging whether the driving-away speed of the following vehicle exceeds a first preset threshold, the method further comprises the following steps:
acquiring image information and point cloud information in front of the vehicle;
judging whether the following vehicle exists in front of the vehicle according to the image information and the point cloud information;
when the following vehicle exists in front of the vehicle, acquiring the driving-away speed of the following vehicle.
6. The vehicle start reminding method according to claim 5, wherein the obtaining of the driving-away speed of the following vehicle comprises:
acquiring image information and point cloud information of the following vehicle;
and acquiring the driving-away speed of the following vehicle according to the image information and the point cloud information of the following vehicle.
7. The vehicle starting reminding method according to claim 2, wherein the step of judging whether the driving distance of the following vehicle exceeds a third preset threshold value comprises the following steps:
acquiring image information and point cloud information of the following vehicle;
acquiring the driving distance of the following vehicle according to the image information and the point cloud information of the following vehicle;
and judging whether the driving distance exceeds a third preset threshold value.
8. The vehicle starting reminding method according to claim 3, wherein obtaining the driving distance of the following vehicle according to the image information and the point cloud information of the following vehicle comprises:
acquiring the distance between the vehicle and the following vehicle in real time according to the image information and the point cloud information of the following vehicle;
and calculating a change value of the distance between the vehicle and the following vehicle to obtain the driving distance of the following vehicle.
9. A vehicle start reminding device is characterized by comprising:
the first judgment module is used for judging whether the vehicle is in a brake standby state or not;
the second judging module is used for judging whether the driving speed of the following vehicle exceeds a first preset threshold value or not when the vehicle is in the brake standby state;
the timing module starts timing and obtains first driving-away time when the driving-away speed of the following vehicle exceeds the first preset threshold;
and the alarm module is used for giving an alarm when the first driving-off time is greater than a second preset threshold value.
10. A vehicle characterized by comprising the vehicle start warning device according to claim 9.
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