CN114506331B - Collision risk early warning method, device and storage medium - Google Patents
Collision risk early warning method, device and storage medium Download PDFInfo
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- CN114506331B CN114506331B CN202210255435.5A CN202210255435A CN114506331B CN 114506331 B CN114506331 B CN 114506331B CN 202210255435 A CN202210255435 A CN 202210255435A CN 114506331 B CN114506331 B CN 114506331B
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- 238000012937 correction Methods 0.000 claims description 74
- 238000003705 background correction Methods 0.000 claims description 43
- 238000012360 testing method Methods 0.000 claims description 43
- 230000008451 emotion Effects 0.000 claims description 39
- 230000008569 process Effects 0.000 claims description 24
- 230000004044 response Effects 0.000 claims description 24
- 230000036651 mood Effects 0.000 claims description 7
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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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- 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
- 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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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2540/00—Input parameters relating to occupants
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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Abstract
The invention belongs to the technical field of vehicles, and discloses a collision risk early warning method, equipment and a storage medium. The method comprises the following steps: acquiring driving information corresponding to a current vehicle and environment information corresponding to the current moment; correcting the initial reaction time according to the driving information and the environment information to obtain target reaction time; correcting the initial braking time according to the driving information and the environmental information to obtain target braking time; determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle; and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe driving distance, sending out an early warning prompt. By means of the method, the early warning parameters are corrected according to different driving information and different environment information, early warning time matched with the current driving situation is determined according to the corrected early warning parameters, appropriate safety early warning guarantee is provided, and driving safety and driving experience of a driver are improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a collision risk early warning method, device, and storage medium.
Background
V2X, vehicle-to-evaluation, is one of the supporting technologies of intelligent automobiles and intelligent traffic, and front collision early warning can be realized based on the V2X communication Vehicle, wherein early warning time is related to reaction time and pedal time of a driver, a host factory or an algorithm provider usually averages the reaction time and the brake time according to an empirical value or a statistics value to determine the early warning time, but the early warning time determined in the way is shorter for aged drivers, longer for young people with sensitive reaction, the safety distance difference caused by the difference of the early warning time can reach 50-80m, and the early warning time is unchanged under different working conditions to negatively influence the experience of the customer automobile. In the existing collision early warning mode, the early warning time and the actual driving situation are not consistent, and proper safety early warning guarantee cannot be provided.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a collision risk early warning method, equipment and a storage medium, and aims to solve the technical problem that the early warning time and the actual driving situation are inconsistent and proper safety early warning guarantee cannot be provided in the existing collision early warning mode.
In order to achieve the above object, the present invention provides a collision risk early warning method, which includes the following steps:
acquiring driving information corresponding to a current vehicle and environment information corresponding to the current moment;
Correcting the initial reaction time according to the driving information and the environmental information to obtain target reaction time;
Correcting the initial braking time according to the driving information and the environmental information to obtain target braking time;
Determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle;
and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe driving distance, sending out an early warning prompt.
Optionally, the driving information includes driver information, driving time information and road condition information, and the environment information includes time information and weather information;
the correcting the initial reaction time according to the driving information and the environmental information to obtain a target reaction time includes:
Searching a correction coefficient corresponding to the response time according to the driver information, the driving time information, the road condition information, the time information and the weather information to obtain a first emotion coefficient, a first driving coefficient, a first road condition coefficient, a first time coefficient and a first air coefficient;
Determining a reaction time correction coefficient according to the first mood coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient;
and correcting the initial reaction time according to the reaction time correction coefficient to obtain the target reaction time.
Optionally, the determining the reaction time correction coefficient according to the first mood coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient, and the first mood coefficient includes:
Acquiring weights corresponding to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient respectively;
and determining a response time correction coefficient according to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient, the first weather coefficient and the corresponding weight.
Optionally, the correcting the initial braking time according to the driving information and the environmental information to obtain a target braking time includes:
Searching a correction coefficient corresponding to the braking time according to the driver information, the driving time information, the road condition information, the time information and the weather information to obtain a second emotion coefficient, a second driving coefficient, a second road condition coefficient, a second time coefficient and a second weather coefficient;
acquiring weights corresponding to the second emotion coefficient, the second driving coefficient, the second road condition coefficient, the second time coefficient and the second weather coefficient respectively;
determining a braking time correction coefficient according to the second emotion coefficient, the second driving coefficient, the second road condition coefficient, the second time coefficient, the second weather coefficient and the corresponding weight;
and correcting the initial braking time according to the braking time correction coefficient to obtain target braking time.
Optionally, after correcting the initial braking time according to the driving information and the environmental information to obtain the target braking time, the method further includes:
Obtaining a reaction time background correction coefficient and a braking time background correction coefficient;
Correcting the target reaction time based on the reaction time background correction coefficient to obtain an adjusted target reaction time;
correcting the target braking time based on the braking time background correction coefficient to obtain adjusted target braking time;
Determining a target safe driving distance according to the adjusted target reaction time, the adjusted target braking time and the driving speed corresponding to the current vehicle;
And when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the target safe driving distance, sending out an early warning prompt.
Optionally, before the obtaining the reaction time background correction coefficient and the braking time background correction coefficient, the method further includes:
recording target driving information, target environment information and target video data under N emergency braking working conditions, wherein N is more than or equal to 1;
analyzing the target video data to determine the actual reaction time and the actual braking time under each emergency braking working condition;
correcting the initial reaction time according to the target driving information and the target environment information to obtain estimated reaction time;
Correcting the initial braking time according to the target driving information and the target environment information to obtain estimated braking time;
determining a reaction time background correction coefficient according to the actual reaction time and the estimated reaction time under the N emergency braking working conditions;
And determining a braking time background correction coefficient according to the actual braking time and the estimated braking time under the N emergency braking working conditions.
Optionally, before the driving information corresponding to the current vehicle and the environmental information corresponding to the current time are obtained, the method further includes:
Recording test response time and test braking time corresponding to a current driver in the process of multiple tests;
Calculating an average value according to the test reaction time in the multiple test processes to obtain an initial reaction time;
and calculating an average value according to the test braking time in the multiple test processes to obtain initial braking time.
Optionally, before the safe driving distance is determined according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle, the method further includes:
Judging whether the target reaction time is greater than a preset reaction time threshold value or not, and judging whether the target braking time is greater than a preset braking time threshold value or not;
And executing the step of determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle when the target reaction time is less than or equal to the preset reaction time threshold and the target braking time is less than or equal to the preset braking time threshold.
In addition, to achieve the above object, the present invention also provides a collision risk early-warning apparatus, including: the system comprises a memory, a processor and a collision risk early warning program stored on the memory and capable of running on the processor, wherein the collision risk early warning program is configured to realize the collision risk early warning method.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a collision risk early-warning program that, when executed by a processor, implements the collision risk early-warning method as described above.
The invention obtains the driving information corresponding to the current vehicle and the environment information corresponding to the current moment; correcting the initial reaction time according to the driving information and the environment information to obtain target reaction time; correcting the initial braking time according to the driving information and the environmental information to obtain target braking time; determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle; and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe driving distance, sending out an early warning prompt. By means of the method, the early warning parameters are corrected according to different driving information and different environment information, early warning time matched with the current driving situation is determined according to the corrected early warning parameters, appropriate safety early warning guarantee is provided, and driving safety and driving experience of a driver are improved.
Drawings
FIG. 1 is a schematic structural diagram of a collision risk early warning device for a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a collision risk early warning method according to a first embodiment of the present invention;
FIG. 3 is a flowchart of a collision risk early warning method according to a second embodiment of the present invention;
Fig. 4 is a flowchart of a third embodiment of the collision risk early warning method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a collision risk early warning device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the collision risk early warning apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the collision risk warning apparatus, and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a collision risk warning program may be included in the memory 1005 as one type of storage medium.
In the collision risk early warning device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the collision risk early-warning device of the present invention may be disposed in the collision risk early-warning device, where the collision risk early-warning device invokes a collision risk early-warning program stored in the memory 1005 through the processor 1001, and executes the collision risk early-warning method provided by the embodiment of the present invention.
The embodiment of the invention provides a collision risk early warning method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the collision risk early warning method.
In this embodiment, the collision risk early warning method includes the following steps:
step S10: and acquiring driving information corresponding to the current vehicle and environment information corresponding to the current moment.
It is to be understood that the execution body of the embodiment may be a vehicle-mounted terminal mounted on a vehicle, or may be other devices having the same or similar functions. In this embodiment, a vehicle-mounted terminal is taken as an example to describe, the vehicle-mounted terminal obtains driving information of a current vehicle through a sensor mounted on the vehicle, and obtains environmental information at a current moment through a networking function.
It should be noted that, preferably, the driving information includes driver information, driving time information, and road condition information, and the environmental information includes time information and weather information. The driver information includes sex information, age information and emotion information, the driving time information includes driving total duration and ACC (Adaptive Cruise Control ) mode on time, the road condition information is any one of normal working condition, long downhill road section, intersection and accident multiple road section, the time information is any one of early, middle, late and night, and the weather information is any one of sunny, rainy and snowy days and foggy days. And classifying the information acquired by the sensor and the information acquired by networking based on preset classifying logic, so as to determine corresponding driving information and environment information.
Further, before the step S10, the method further includes: recording test response time and test braking time corresponding to a current driver in the process of multiple tests; calculating an average value according to the test reaction time in the multiple test processes to obtain an initial reaction time; and calculating an average value according to the test braking time in the multiple test processes to obtain initial braking time.
It should be noted that, in this embodiment, the response time and the braking time corresponding to the driver are obtained through multiple tests, and specifically, when no data of the current driver is detected in the database, the data collection is prompted. The data acquisition process comprises the following steps: setting a driving distance of a preset distance, popping up a caption under test on a screen in the driving process, determining a time difference between the pop-up time of the caption and the brake stepping time of a driver, obtaining test response time, and determining a time difference between the brake stepping time of the driver and the bottom stepping time of a brake pedal, thus obtaining test brake time. And averaging the test reaction time recorded in the multiple test processes to obtain initial reaction time, and averaging the test braking time recorded in the multiple test processes to obtain initial braking time. In the embodiment, the response time and the braking time corresponding to each driver are determined through multiple tests in advance, and the response time and the braking time are corrected according to the actual condition of the vehicle at the current moment, so that the early warning time which is more matched with the driving habit of the driver is determined, and the driving safety and the driving experience of the driver are further improved.
Step S20: and correcting the initial reaction time according to the driving information and the environment information to obtain target reaction time.
It should be understood that in this embodiment, correction coefficients corresponding to various driving information and various environmental information are set in advance, a database is searched according to the currently collected driving information and environmental information, the driving information correction coefficient and the environmental information correction coefficient corresponding to the reaction time are determined, the driving information correction coefficient and the environmental information correction coefficient are collected according to a preset collection policy to obtain a reaction time correction coefficient, and the initial reaction time is corrected based on the reaction time correction coefficient to obtain the target reaction time. In one implementation, the preset aggregate strategy is an average value, and the reaction time correction coefficient is obtained by averaging the driving information correction coefficient and the environmental information correction coefficient. In another implementation manner, because the influence intensities of the driving information and the environment information on the reaction time and the braking time are different, weights corresponding to the driving information correction coefficient and the environment information correction coefficient are set in advance, and the reaction time correction coefficient is obtained by multiplying the weights by the driving information correction coefficient and the environment information correction coefficient respectively and adding the weights.
Step S30: and correcting the initial braking time according to the driving information and the environmental information to obtain target braking time.
The determination logic of the target braking time is consistent with the determination logic of the target reaction time: searching a database according to the currently acquired driving information and environmental information, determining driving information correction coefficients and environmental information correction coefficients corresponding to the braking time, collecting the driving information correction coefficients and the environmental information correction coefficients according to a preset collection strategy to obtain braking time correction coefficients, and correcting the initial braking time based on the braking time correction coefficients to obtain target braking time.
Step S40: and determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle.
It is understood that, alternatively, the safe running distance is calculated by the following formula without considering the moving speed of the obstacle ahead in the present embodiment:
Wherein S represents a safe travel distance, V represents a travel speed, t 1 represents a target reaction time, and t 2 represents a target braking time.
Optionally, considering the moving speed of the target obstacle, determining the moving speed of the target obstacle through a sensor installed on the internet of vehicles platform or the vehicle, and determining the safe driving distance according to the target reaction time, the target braking time, the driving speed corresponding to the current vehicle and the moving speed of the target obstacle, see the following formula:
Wherein S represents a safe driving distance, V 1 represents a driving speed, V 2 represents a moving speed of a target obstacle, t 1 represents a target reaction time, and t 2 represents a target braking time, wherein V 2 may be positive, a moving direction of the target obstacle is consistent with a driving direction of a current vehicle, V 2 may be negative, a moving direction of the target obstacle is opposite to the driving direction of the current vehicle, and V 2 may be 0, and the target obstacle is in a stationary state.
Further, before the step S40, the method further includes: judging whether the target reaction time is greater than a preset reaction time threshold value or not, and judging whether the target braking time is greater than a preset braking time threshold value or not; and when the target reaction time is less than or equal to the preset reaction time threshold and the target braking time is less than or equal to the preset braking time threshold, performing the step S40.
It should be noted that, the preset reaction time threshold is a maximum reaction time determined according to related regulations, for example, 2.5 seconds, the preset braking time threshold is a maximum braking time determined according to related regulations, and if the target reaction time obtained after correcting the initial reaction time according to the method of the embodiment is greater than the preset reaction time threshold, the collected initial reaction time is represented to be wrong or the correction process is wrong; if the target braking time obtained after the initial braking time is corrected according to the method of the embodiment is larger than the preset braking time threshold, the collected initial braking time is represented to be wrong or the correction process is wrong.
In a specific implementation, when the target reaction time is greater than the preset reaction time threshold and/or the target braking time is greater than the preset braking time threshold, the preset reaction time threshold is used as the adjusted target reaction time and/or the preset braking time threshold is used as the adjusted target braking time, and the safe driving distance is determined according to the adjusted target reaction time and/or the adjusted target braking time. For example, if the target reaction time is greater than 2.5 seconds and the target braking time is less than the preset braking time threshold, 2.5 seconds is taken as the adjusted target reaction time, and the safe driving distance is determined according to the reaction time of 2.5 seconds, the target braking time and the driving speed corresponding to the current vehicle.
Step S50: and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe driving distance, sending out an early warning prompt.
It can be understood that the distance between the current vehicle and surrounding obstacles is detected by radar and/or camera equipment installed around the vehicle, the obstacles comprise vehicles, pedestrians, road facilities and the like, the target obstacle is mainly an obstacle in the running direction of the vehicle, and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe running distance, the driver is prompted to run at a reduced speed, and the driver is reminded to avoid.
It should be noted that, during the running process of the vehicle, the driving information and the environmental information of the vehicle are collected according to the first preset frequency to update the reaction time and the braking time, and the running speed of the vehicle is collected according to the second preset frequency to update the safe running distance, wherein the first preset frequency is greater than the second preset collection frequency, that is, the reaction time and the braking time do not need to be frequently updated in a certain period of time, but the speed of the vehicle changes fast, the safe running distance needs to be frequently updated, so that the calculation resources are saved under the condition of providing a proper safety pre-warning guarantee.
The method comprises the steps of obtaining driving information corresponding to a current vehicle and environment information corresponding to the current moment; correcting the initial reaction time according to the driving information and the environment information to obtain target reaction time; correcting the initial braking time according to the driving information and the environmental information to obtain target braking time; determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle; and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe driving distance, sending out an early warning prompt. By means of the method, the early warning parameters are corrected according to different driving information and different environment information, early warning time matched with the current driving situation is determined according to the corrected early warning parameters, appropriate safety early warning guarantee is provided, and driving safety and driving experience of a driver are improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a collision risk early warning method according to a second embodiment of the present invention.
Based on the first embodiment, in the collision risk early warning method of the present embodiment, the driving information includes driver information, driving time information, and road condition information, and the environmental information includes time information and weather information;
The step S20 includes:
step S201: and searching a correction coefficient corresponding to the response time according to the driver information, the driving time information, the road condition information, the time information and the weather information respectively to obtain a first emotion coefficient, a first driving coefficient, a first road condition coefficient, a first time coefficient and a first air coefficient.
It is understood that the driver information includes sex information, age information and emotion information, wherein the sex information is male or female, the age information may be any of young, middle-aged and aged, and the emotion information may be any of normal, happy, melancholy and agitation. In a specific implementation, the driver information is obtained in the following manner: the method comprises the steps of collecting a driver image through a camera arranged in a vehicle, and respectively carrying out sex identification, age identification and emotion identification on the driver image, so as to determine sex information, age information and emotion information of the driver, and optionally, inquiring a database according to a face ID of the driver to determine the corresponding sex information and age information of the driver. The driving time information comprises driving total duration and ACC (Adaptive Cruise Control ) mode starting time, and the driving total duration and the ACC mode starting time are determined by acquiring record information in the driving process of the vehicle. The road condition information is any one of a normal working condition, a long downhill road section, an intersection and a plurality of accident road sections, and the road condition information is obtained by the following steps: and determining the road condition corresponding to the current road section through the navigation information. The time information is any one of early, middle, late and night, and the time information is obtained by the following steps: the method comprises the steps of obtaining current time, determining time periods corresponding to the early, middle, late and night respectively, comparing the current time with a plurality of time periods, and determining time information corresponding to the current time, for example: early = 6:00-12:00, medium = 12:00-18:00, late = 18:00-24:00, night = 00:00-6:00. The weather information is any one of sunny days, rainy days and snowy days.
It should be noted that, coefficients corresponding to various driver information, various driving time information, various road condition information, various time information and various weather information are set in advance, and searching is performed according to the information types corresponding to the currently acquired driver information, driving time information, road condition information, time information and weather information, so as to determine the corresponding coefficients.
Optionally, the first mood coefficient is determined in the following manner: searching according to the currently acquired gender information, determining a corresponding gender coefficient, searching according to the currently acquired age information, determining a corresponding age coefficient, searching according to the currently acquired emotion information, determining a corresponding emotion coefficient, and taking an average value of the gender coefficient, the age coefficient and the emotion coefficient to obtain a first emotion coefficient. For example, the sex coefficients of the various types are set to be male and female=1:1.2; the set age coefficients are that young, middle-aged and elderly people are 1.3:1.2:1.1:1; the set emotional coefficients are normal, happy, and worry, namely, violence=1:1.1:1.2:1.3, and if the driver is middle-aged male, the first emotional coefficient k 1 = (1+1.2+1.1)/3=1.1 is determined.
Optionally, the first driving coefficient is determined in the following manner: and determining a plurality of driving time ranges according to the currently acquired ACC mode starting time and a preset range threshold value, wherein different driving time ranges correspond to different driving coefficients, and judging the driving time range to which the currently acquired driving total duration belongs, so as to determine the corresponding first driving coefficient. For example, setting different driving ranges to be 1+x hours, 1+x hours to 4 hours and more than 4 hours, wherein x represents ACC mode on time, if there is no ACC function, determining x=0, wherein when the total driving duration is within 1+x hours, characterizing that the current driving state does not belong to fatigue driving, determining a first driving coefficient k 2 =1; when the total driving duration is between 1+x hours and 4 hours, the fatigue driving sense is gradually enhanced, and the fatigue sense is increased in a nonlinear way along with the time increase, and the first driving coefficient k 2 is increased linearly along with the total driving duration between 1 and 2; and when the total driving duration is 4 hours or more, representing that the current driving state is fatigue driving, and determining a first driving coefficient k 2 =2.
It should be noted that, the first road condition coefficient is determined by, for example: the set road condition coefficients are normal conditions, namely long downhill road sections are intersections, namely accident multiple road sections=1:1.1:1.2:1.3, and if the current road condition is the intersections, the first road condition coefficient k 3 =1.2 is determined. The first time coefficient is determined by, for example: the set time coefficients are early, late, night=1:1.1:1.2:1.5, and if the current moment is between 6:00 and 12:00, the first time coefficient k 4 =1 is determined. The first atmospheric coefficient is determined by, for example: the set weather coefficients are sunny days, rainy days, snowy days, and foggy days=1:1.5:1.8:1.6, and if the current environment is sunny, the first time coefficient k 5 =1 is determined.
Step S202: and determining a response time correction coefficient according to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient.
Optionally, the first mood coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first day air coefficient are averaged to obtain the reaction time correction coefficient. Preferably, because the emotion, the driving time, the road condition, the current time and the influence intensity of weather on the response time and the braking time are different, weights respectively corresponding to the emotion coefficient, the driving coefficient, the road condition coefficient, the time coefficient and the weather coefficient are set in advance, and the response time correction coefficient is obtained by multiplying the corresponding weights by the various coefficients and adding the coefficients.
Preferably, the step S202 includes: acquiring weights corresponding to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient respectively; and determining a response time correction coefficient according to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient, the first weather coefficient and the corresponding weight.
It should be understood that weights corresponding to different coefficients are determined in advance according to experiments and stored in a preset storage area, when an emotion coefficient, a driving coefficient, a road condition coefficient, a time coefficient and a weather coefficient corresponding to the current driving condition are obtained, the corresponding weights are obtained from the preset storage area, and the response time correction coefficients are obtained by multiplying the corresponding weights by the various coefficients and adding the coefficients. For example: the weights corresponding to the emotion coefficient k 1, the driving coefficient k 2, the road condition coefficient k3, the time coefficient k4 and the weather coefficient k5 are respectively as follows: k1:k2:k3:k4:k5=0.2:0.3:0.1:0.2:0.2. The calculation mode of the reaction time correction coefficient is as follows:
K＝0.2k1+0.3k2+0.1k3+0.2k4+0.2k5；
Wherein K is a reaction time correction coefficient, K 1 is a first emotion coefficient, K 2 is a first driving coefficient, K 3 is a first road condition coefficient, K 4 is a first time coefficient, and K5 is a first weather coefficient.
Step S203: and correcting the initial reaction time according to the reaction time correction coefficient to obtain the target reaction time.
The target reaction time was determined by the following formula:
T＝t*K；
wherein K is a reaction time correction coefficient, T is an initial reaction time, and T is a target reaction time.
Accordingly, the step S30 includes: searching a correction coefficient corresponding to the braking time according to the driver information, the driving time information, the road condition information, the time information and the weather information to obtain a second emotion coefficient, a second driving coefficient, a second road condition coefficient, a second time coefficient and a second weather coefficient; acquiring weights corresponding to the second emotion coefficient, the second driving coefficient, the second road condition coefficient, the second time coefficient and the second weather coefficient respectively; determining a braking time correction coefficient according to the second emotion coefficient, the second driving coefficient, the second road condition coefficient, the second time coefficient, the second weather coefficient and the corresponding weight; and correcting the initial braking time according to the braking time correction coefficient to obtain target braking time.
It should be appreciated that the determination logic of the target braking time in this embodiment remains consistent with the determination logic of the target reaction time. Optionally, considering that the influence of emotion, driving time, road condition, current time and weather on the reaction time is similar to the influence of corresponding braking time, the braking time correction coefficient is set to be the same as the reaction time correction coefficient, namely, the second emotion coefficient is equal to the first emotion coefficient, the second driving coefficient is equal to the first driving coefficient, the second road condition coefficient is equal to the first road condition coefficient, the second time coefficient is equal to the first time coefficient, the second weather coefficient is equal to the first weather coefficient, the weight corresponding to each coefficient is the same as the weight of each coefficient in the correction process of the target reaction time, in a specific implementation, the reaction time and the braking time are corrected by using the reaction time correction coefficient respectively, and the target reaction time and the target braking time are obtained.
Preferably, the various coefficients corresponding to the response time correction and the weights corresponding to the coefficients are determined in advance according to the experimental result, the various coefficients corresponding to the braking time correction and the weights corresponding to the coefficients are determined, the coefficients corresponding to the braking time set at the moment are possibly different from the coefficients corresponding to the response time, and the weights corresponding to the coefficients are also different.
It should be noted that, the initial reaction time is a test reaction time obtained through a plurality of test procedures, and the initial braking time is an average value of test braking times obtained through a plurality of test procedures. Because emotion, driving time, road condition, current time and weather will also influence the test result when the collection test is performed, preferably, in the test process, five-dimensional data are also collected: the method comprises the steps of analyzing data of five dimensions, determining a response time correction coefficient and a brake time correction coefficient, correcting test response time or test brake time through the following formula, and determining the most common response time and brake time in a driving scene, wherein the test response time or test brake time is determined by the following formula:
Wherein, T 1 is the corrected reaction time or braking time, T 2 is the test reaction time or the test braking time, and K T is the reaction time correction coefficient or the braking time correction coefficient.
And the average value of the multiple corrected reaction times and the braking time obtained by multiple tests is taken, so that the accuracy of the initial reaction time and the initial braking time is further improved, and the influence of non-random test conditions on the acquisition of the initial reaction time and the initial braking time is avoided.
The driving information in the embodiment includes driver information, driving time information and road condition information, and the environmental information includes time information and weather information; searching a correction coefficient corresponding to the response time according to the driver information, the driving time information, the road condition information, the time information and the weather information respectively to obtain a first emotion coefficient, a first driving coefficient, a first road condition coefficient, a first time coefficient and a first air coefficient; determining a reaction time correction coefficient according to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient; and correcting the initial reaction time according to the reaction time correction coefficient to obtain the target reaction time. Through the mode, the early warning parameters are corrected from five dimensions of the driver, the driving time, the road condition, the time and the weather, the early warning time matched with the current driving situation is determined according to the corrected early warning parameters, the safety early warning guarantee matched with the actual driving situation is provided, and the driving safety and the driving experience of the driver are improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a collision risk early warning method according to a third embodiment of the present invention.
Based on the first embodiment, after step S30 in the collision risk early warning method of the present embodiment, the method further includes:
step S301: and acquiring a reaction time background correction coefficient and a braking time background correction coefficient.
It can be understood that the reaction time background correction coefficient is a correction coefficient determined according to the multiple estimated reaction time and the corresponding actual reaction time, and the braking time background correction coefficient is a correction coefficient determined according to the multiple estimated braking time and the corresponding actual braking time, and is stored in the background coefficient for carrying out secondary correction on the reaction time and the braking time.
Further, before the step S301, the method further includes: recording target driving information, target environment information and target video data under N emergency braking working conditions, wherein N is more than or equal to 1; analyzing the target video data to determine the actual reaction time and the actual braking time under each emergency braking working condition; correcting the initial reaction time according to the target driving information and the target environment information to obtain estimated reaction time; correcting the initial braking time according to the target driving information and the target environment information to obtain estimated braking time; determining a reaction time background correction coefficient according to the actual reaction time and the estimated reaction time under the N emergency braking working conditions; and determining a braking time background correction coefficient according to the actual braking time and the estimated braking time under the N emergency braking working conditions.
When the emergency braking of the driver is detected, calling a 10s video before the braking of the automobile data recorder to obtain target video data, and simultaneously recording data of five dimensions during the emergency braking: the driver information, the driving time information, the road condition information, the time information and the weather information are recorded for a long time to form a five-dimensional database. And analyzing the target video data, calculating the time difference between the starting time and the ending time as the actual reaction time from the time when an obstacle appears right in front to the time when the driver steps on the brake, and recording the corresponding actual brake time from the time when the driver steps on the brake to the time when the speed of the vehicle falls to 0 or the time when the brake steps on the bottom. The estimated reaction time and the estimated braking time during each emergency braking are determined according to the collected five-dimension data, and the determination process of the estimated reaction time and the estimated braking time is as follows: searching corresponding five dimension coefficients according to the five dimension data respectively; obtaining weights corresponding to the five dimension coefficients respectively; determining corresponding reaction time correction coefficients and/or braking time correction coefficients according to the five dimension coefficients and the corresponding weights; and correcting the initial reaction time and the initial braking time according to the reaction time correction coefficient and/or the braking time correction coefficient to obtain the estimated reaction time and the estimated braking time.
In a specific implementation, the reaction time background correction coefficient or the braking time background correction coefficient after a single emergency braking situation is determined by the following formula:
wherein k 6n is a reaction time background correction coefficient or a braking time background correction coefficient corresponding to the nth emergency braking condition, a is an actual reaction time or an actual braking time, and T a is an estimated reaction time or an estimated braking time.
Carrying out proportion balancing on the reaction time background correction coefficient and the braking time background correction coefficient which are recorded for many times, and specifically carrying out balancing through the following formula:
Wherein k 6 is a reaction time background correction coefficient or a braking time background correction coefficient, k 6n is a reaction time background correction coefficient or a braking time background correction coefficient corresponding to the nth emergency braking condition, and n is the background data acquisition times of the emergency braking working condition.
Step S302: and correcting the target reaction time based on the reaction time background correction coefficient to obtain the adjusted target reaction time.
It should be appreciated that the adjusted target reaction time is obtained from the reaction time background correction factor multiplied by the target reaction time.
Step S303: and correcting the target braking time based on the braking time background correction coefficient to obtain the adjusted target braking time.
The adjusted target braking time is obtained by multiplying the target braking time by the braking time background correction coefficient.
Step S304: and determining a target safe driving distance according to the adjusted target reaction time, the adjusted target braking time and the driving speed corresponding to the current vehicle.
It should be understood that, regardless of the moving speed of the forward obstacle, the target safe driving distance S is determined by substituting the adjusted target reaction time as t 1 and the target braking time as t 2 into the following formula:
Where S represents a target safe travel distance, V represents a travel speed, t 1 represents an adjusted target reaction time, and t 2 represents an adjusted target braking time.
Optionally, considering the moving speed of the target obstacle, substituting the adjusted target reaction time as t 1 and the target braking time as t 2 into the following formula to determine the target safe driving distance S:
Where S represents a safe travel distance, V 1 represents a travel speed, V 2 represents a movement speed of the target obstacle, t 1 represents an adjusted target reaction time, and t 2 represents an adjusted target braking time.
Step S305: and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the target safe driving distance, sending out an early warning prompt.
In this embodiment, the background correction coefficient is determined according to the difference between the multiple estimated time and the actual time acquired by the background, and the reaction time and the braking time are secondarily corrected by using the background correction coefficient, so that the accuracy of the early warning time is further improved.
The distance between the current vehicle and surrounding obstacles is detected through radar and/or camera equipment arranged around the vehicle, and when the distance between the detected target obstacle and the current vehicle is smaller than or equal to the target safe driving distance, the driver is prompted to run at a reduced speed and pay attention to avoidance.
The method comprises the steps of obtaining driving information corresponding to a current vehicle and environment information corresponding to the current moment; correcting the initial reaction time according to the driving information and the environment information to obtain target reaction time; correcting the initial braking time according to the driving information and the environmental information to obtain target braking time; obtaining a reaction time background correction coefficient and a braking time background correction coefficient; correcting the target reaction time based on the reaction time background correction coefficient to obtain an adjusted target reaction time; correcting the target braking time based on the braking time background correction coefficient to obtain adjusted target braking time; determining a target safe driving distance according to the adjusted target reaction time, the adjusted target braking time and the driving speed corresponding to the current vehicle; and when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the target safe driving distance, sending out an early warning prompt. The early warning parameters are corrected according to different driving information and different environmental information, secondary correction is carried out according to the background correction coefficient, and early warning time matched with the current driving situation is determined according to the early warning parameters after the secondary correction, so that the accuracy of the early warning time is further improved, proper safety early warning guarantee is provided, and the driving safety and driving experience of a driver are improved.
In addition, the embodiment of the invention also provides a storage medium, wherein a collision risk early-warning program is stored on the storage medium, and the collision risk early-warning program realizes the collision risk early-warning method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The collision risk early warning method is characterized by comprising the following steps of:
acquiring driving information corresponding to a current vehicle and environment information corresponding to the current moment;
Correcting the initial reaction time according to the driving information and the environmental information to obtain target reaction time;
Correcting the initial braking time according to the driving information and the environmental information to obtain target braking time;
Determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle;
When the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the safe driving distance, sending out an early warning prompt;
The method further comprises the steps of:
Obtaining a reaction time background correction coefficient and a braking time background correction coefficient;
Correcting the target reaction time based on the reaction time background correction coefficient to obtain an adjusted target reaction time;
correcting the target braking time based on the braking time background correction coefficient to obtain adjusted target braking time;
Determining a target safe driving distance according to the adjusted target reaction time, the adjusted target braking time and the driving speed corresponding to the current vehicle;
And when the distance between the target obstacle and the current vehicle is detected to be smaller than or equal to the target safe driving distance, sending out an early warning prompt.
2. The collision risk warning method according to claim 1, wherein the driving information includes driver information, driving time information, and road condition information, and the environmental information includes time information and weather information;
the correcting the initial reaction time according to the driving information and the environmental information to obtain a target reaction time includes:
Searching a correction coefficient corresponding to the response time according to the driver information, the driving time information, the road condition information, the time information and the weather information to obtain a first emotion coefficient, a first driving coefficient, a first road condition coefficient, a first time coefficient and a first air coefficient;
Determining a reaction time correction coefficient according to the first mood coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient;
and correcting the initial reaction time according to the reaction time correction coefficient to obtain the target reaction time.
3. The collision risk warning method according to claim 2, wherein the determining a reaction time correction coefficient based on the first mood coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient, and the first weather coefficient includes:
Acquiring weights corresponding to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient and the first weather coefficient respectively;
and determining a response time correction coefficient according to the first emotion coefficient, the first driving coefficient, the first road condition coefficient, the first time coefficient, the first weather coefficient and the corresponding weight.
4. The collision risk warning method according to claim 2, wherein the correcting the initial braking time according to the driving information and the environmental information to obtain the target braking time includes:
Searching a correction coefficient corresponding to the braking time according to the driver information, the driving time information, the road condition information, the time information and the weather information to obtain a second emotion coefficient, a second driving coefficient, a second road condition coefficient, a second time coefficient and a second weather coefficient;
acquiring weights corresponding to the second emotion coefficient, the second driving coefficient, the second road condition coefficient, the second time coefficient and the second weather coefficient respectively;
determining a braking time correction coefficient according to the second emotion coefficient, the second driving coefficient, the second road condition coefficient, the second time coefficient, the second weather coefficient and the corresponding weight;
and correcting the initial braking time according to the braking time correction coefficient to obtain target braking time.
5. The collision risk warning method of claim 4, wherein prior to the obtaining the reaction time background correction coefficient and the brake time background correction coefficient, the method further comprises:
recording target driving information, target environment information and target video data under N emergency braking working conditions, wherein N is more than or equal to 1;
analyzing the target video data to determine the actual reaction time and the actual braking time under each emergency braking working condition;
correcting the initial reaction time according to the target driving information and the target environment information to obtain estimated reaction time;
Correcting the initial braking time according to the target driving information and the target environment information to obtain estimated braking time;
determining a reaction time background correction coefficient according to the actual reaction time and the estimated reaction time under the N emergency braking working conditions;
And determining a braking time background correction coefficient according to the actual braking time and the estimated braking time under the N emergency braking working conditions.
6. The collision risk warning method according to any one of claims 1 to 5, wherein before the driving information corresponding to the current vehicle and the environmental information corresponding to the current time are acquired, the method further comprises:
Recording test response time and test braking time corresponding to a current driver in the process of multiple tests;
Calculating an average value according to the test reaction time in the multiple test processes to obtain an initial reaction time;
and calculating an average value according to the test braking time in the multiple test processes to obtain initial braking time.
7. The collision risk warning method according to any one of claims 1 to 5, wherein before the determination of the safe travel distance from the target reaction time, the target braking time, and the travel speed corresponding to the current vehicle, the method further comprises:
Judging whether the target reaction time is greater than a preset reaction time threshold value or not, and judging whether the target braking time is greater than a preset braking time threshold value or not;
And executing the step of determining a safe driving distance according to the target reaction time, the target braking time and the driving speed corresponding to the current vehicle when the target reaction time is less than or equal to the preset reaction time threshold and the target braking time is less than or equal to the preset braking time threshold.
8. A collision risk early warning apparatus, characterized in that the apparatus comprises: a memory, a processor, and a collision risk warning program stored on the memory and executable on the processor, the collision risk warning program configured to implement the collision risk warning method of any one of claims 1 to 7.
9. A storage medium having stored thereon a collision risk warning program which, when executed by a processor, implements the collision risk warning method according to any one of claims 1 to 7.
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