CN108198461A - Vehicle rear-end collision method for early warning and device - Google Patents
Vehicle rear-end collision method for early warning and device Download PDFInfo
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- CN108198461A CN108198461A CN201810168540.9A CN201810168540A CN108198461A CN 108198461 A CN108198461 A CN 108198461A CN 201810168540 A CN201810168540 A CN 201810168540A CN 108198461 A CN108198461 A CN 108198461A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The present invention discloses a kind of vehicle rear-end collision method for early warning and device, belongs to technical field of intelligent traffic.Method includes：Obtain the basic security information of the first vehicle and the basic security information of at least one second vehicle, basic security information includes at least latitude and longitude information, driving speed information, travel acceleration information and travel direction angle information, determine the second vehicle of target, determine the first vehicle and the second vehicle of target whether in identical track according to the latitude and longitude information of the second vehicle of the first vehicle and target, when in identical track, according to the driving speed information of the second vehicle of the first vehicle and target, traveling acceleration information and latitude and longitude information calculate safe class coefficient to carry out vehicle rear-end collision early warning processing.The present invention according to safe class coefficient to carry out early warning, improves the accuracy for early warning of knocking into the back so that the driving experience of driver and comfort are preferable after determining two vehicles whether on identical track.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly to a kind of vehicle rear-end collision method for early warning and device.
Background technology
With rapid economic development, automobile production amount and ownership sharp increase, traffic accident on road also increasingly frequency
Hair, wherein since driver attention do not concentrate, due to fatigue driving etc., is easy to cause Ben Che and rear-end impact occurs with front truck,
Then cause traffic accident, can this situation be coped with according to a kind of vehicle rear-end collision method for early warning.
In the relevant technologies, which includes；Obtain surface friction coefficient, this vehicle vehicle wheel rotational speed and sheet
Traveling spacing data between vehicle and front truck；With predetermined time interval, acquire between this vehicle and front truck under continuous time series
Traveling spacing data；The data are analyzed and processed, judge whether there can be the risk that knocks into the back；When risk is knocked into the back in presence,
Just early warning is carried out to driver, driver to be reminded to pay attention to surrounding enviroment.
In the implementation of the present invention, inventor has found that the relevant technologies have at least the following problems：
It is analyzed and processed in the relevant technologies according to the traveling spacing data between Ben Che and front truck, to determine whether there is
Knock into the back risk, there are Ben Che and front truck in the case of the risk that do not knock into the back, still can also send out the prompting letter for early warning of knocking into the back
Breath, the accuracy for the early warning that causes to knock into the back is relatively low, and the driving experience of driver and comfort are poor.
Invention content
This application provides a kind of vehicle rear-end collision method for early warning and device, the accuracy for the early warning that can solve to knock into the back is relatively low,
The problem of driving experience of driver and poor comfort.
The technical solution is as follows：
In a first aspect, a kind of vehicle rear-end collision method for early warning is provided, the method includes：
Obtain the basic security information of the first vehicle and the basic security information of at least one second vehicle, the basic peace
Full information includes at least latitude and longitude information, driving speed information, traveling acceleration information and travel direction angle information；
According to the travel direction angle information of first vehicle and each second vehicle from second vehicle determine with
First vehicle is in the second vehicle of target of preset direction；
First vehicle and described is determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
Whether the second vehicle of target is in identical track；
When determining that first vehicle and the second vehicle of the target are in identical track, according to first vehicle and
Driving speed information, traveling acceleration information and the latitude and longitude information of second vehicle of target calculate safe class coefficient；
Vehicle rear-end collision early warning processing is carried out according to the safe class coefficient.
Optionally, it is described according to the travel direction angle information of first vehicle and each second vehicle from second vehicle
Determining the second vehicle of target that preset direction is in first vehicle in, including：
For any second vehicle, according to the travel direction angle information of first vehicle and any second vehicle
The orientation angle that travel direction angle information calculates first vehicle and any second vehicle is poor；
When the orientation angle difference meets predetermined angle difference range, any second vehicle is determined as and described
One vehicle is in the second vehicle of target of preset direction.
Optionally, the latitude and longitude information according to the second vehicle of first vehicle and the target determines described first
Whether vehicle and the second vehicle of the target are in identical track, including：
According to the latitude and longitude information of the second vehicle of first vehicle and the target determine first vehicle with it is described
The air line distance of the second vehicle of target；
Two vehicle lines and described first are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The angle of vehicle heading；
According to two vehicle lateral distance of the air line distance and the angle calcu-lation；
When the lateral distance meets lateral distance threshold value, determine at the second vehicle of first vehicle and the target
In identical track.
Optionally, the driving speed information according to the second vehicle of first vehicle and the target, traveling accelerate
It spends information and latitude and longitude information calculates safe class coefficient, including：
According to the latitude and longitude information of the second vehicle of first vehicle and the target determine first vehicle with it is described
The air line distance of the second vehicle of target；
Two vehicle lines and described first are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The angle of vehicle heading；
According to two vehicle fore-and-aft distance of the air line distance and the angle calcu-lation；
When determining expected collision according to the fore-and-aft distance, the driving speed information and the traveling acceleration information
Between, according to the expected Collision time calculation safe class coefficient.
Optionally, the method further includes：
When the safe class coefficient is more than the predetermined threshold value, early warning alarm is sent out, and show the safe class
Coefficient, the early warning alarm are used to that driver to be reminded to pay attention to surrounding enviroment；
When the safe class coefficient is not more than the predetermined threshold value, the safe class coefficient is shown.
A kind of vehicle rear-end collision prior-warning device is also provided, described device includes：Locating module, communication module, data processing mould
Block and warning module, the data processing module are connect respectively with the locating module and the warning module, the positioning mould
Block is connect with the communication module；
The locating module, is configured to determine that the basic security information of the first vehicle, and the basic security information includes
Latitude and longitude information, driving speed information, traveling acceleration information and travel direction angle；
The communication module is configured as receiving the basic security information of at least one second vehicle；
The data processing module is configured as being believed according to the travel direction angle of first vehicle and each second vehicle
It ceases and the second vehicle of target that preset direction is in first vehicle is determined from second vehicle；According to first vehicle
And the latitude and longitude information of second vehicle of target determine first vehicle and the second vehicle of the target whether in phase
Same track；When determining that first vehicle and the second vehicle of the target are in identical track, according to first vehicle and
Driving speed information, traveling acceleration information and the latitude and longitude information of second vehicle of target calculate safe class coefficient；
The warning module is configured as carrying out vehicle rear-end collision early warning processing according to the safe class coefficient.
Optionally, the data processing module is configured as any second vehicle, according to the row of first vehicle
The travel direction angle information for sailing direction angle information and any second vehicle calculates first vehicle and described any second
The orientation angle of vehicle is poor；When the orientation angle difference meets predetermined angle difference range, any second vehicle is determined
To be in the second vehicle of target of preset direction with first vehicle.
Optionally, the data processing module is configured as according to the second vehicle of first vehicle and the target
Latitude and longitude information determines the air line distance of first vehicle and second vehicle of target；According to first vehicle and described
The latitude and longitude information of the second vehicle of target determines the angle of two vehicle lines and first vehicle heading；According to the straight line
Distance and two vehicle lateral distance of the angle calcu-lation；When the lateral distance meets lateral distance threshold value, described first is determined
Vehicle and the second vehicle of the target are in identical track.
Optionally, the data processing module is configured as according to the second vehicle of first vehicle and the target
Latitude and longitude information determines the air line distance of first vehicle and second vehicle of target；According to first vehicle and described
The latitude and longitude information of the second vehicle of target determines the angle of two vehicle lines and first vehicle heading；According to the straight line
Distance and two vehicle fore-and-aft distance of the angle calcu-lation；According to the fore-and-aft distance, the driving speed information and the traveling
Acceleration information determines expected collision time, according to the expected Collision time calculation safe class coefficient.
Optionally, the warning module when being configured as the safe class coefficient more than the predetermined threshold value, is sent out
Early warning alarm, and show the safe class coefficient, the early warning alarm is used to that driver to be reminded to pay attention to surrounding enviroment；When described
When safe class coefficient is not more than the predetermined threshold value, the safe class coefficient is shown.
The advantageous effect that technical solution provided by the invention is brought is：
After the basic security information of basic security information and at least one second vehicle of the first vehicle is obtained, first root
Determine to be in the second vehicle of target of preset direction according to the travel direction angle information in basic security information with the first vehicle, later
The first vehicle and the second vehicle of target are determined again whether in identical track, when determining that the first vehicle and the second vehicle of target be in
Behind identical track, based on driving speed information, traveling acceleration information and the warp according to the second vehicle of the first vehicle and target
The safe class coefficient that latitude information calculates carries out vehicle rear-end collision early warning processing.In the case of considering direction and track,
Further according to driving speed information, traveling acceleration information and and latitude and longitude information etc. carry out early warning processing, thus improve and chase after
The accuracy of tail early warning so that the driving experience of driver and comfort are preferable.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of method flow diagram of vehicle rear-end collision method for early warning provided by one embodiment of the present invention；
Fig. 2 is a kind of method flow diagram of determining the second vehicle of target provided by one embodiment of the present invention；
Whether Fig. 3 is a kind of determining first vehicle and the second vehicle of target provided by one embodiment of the present invention in identical
The method flow diagram in track；
Fig. 4 is that a kind of distance provided by one embodiment of the present invention illustrates schematic diagram；
Fig. 5 is a kind of method flow diagram for calculating safe class coefficient provided by one embodiment of the present invention；
Fig. 6 is the method flow diagram of another vehicle rear-end collision method for early warning provided by one embodiment of the present invention；
Fig. 7 is a kind of block diagram of vehicle rear-end collision prior-warning device provided by one embodiment of the present invention；
Fig. 8 is the structure diagram of another vehicle rear-end collision prior-warning device provided by one embodiment of the present invention.
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing into
It is described in detail to one step, it is clear that described embodiment is only the implementation of part of the embodiment of the present invention rather than whole
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, shall fall within the protection scope of the present invention.
It please refers to Fig.1, it illustrates a kind of method streams of vehicle rear-end collision method for early warning provided by one embodiment of the present invention
Cheng Tu, this method can be applied on the first vehicle, and referring to Fig. 1, which can include following several steps
Suddenly：
In a step 101, the basic security information of the first vehicle and the basic security letter of at least one second vehicle are obtained
Breath, basic security information include at least latitude and longitude information, driving speed information, traveling acceleration information and travel direction angle letter
Breath.
Can be equipped with for the step, on vehicle GPS used for positioning (Global Positioning System, entirely
Ball alignment system) positioning device, by using high-precision GPS positioning device, choose GPRMC (recommending location information) form
Location data, the location data include but not limited to the latitude and longitude information of the first vehicle and the second vehicle, driving speed information, row
Sail the basic securities information such as acceleration information and travel direction angle information.
It should be noted that travel direction angle can also be determined according to latitude and longitude information after latitude and longitude information is got
Information, the embodiment of the present invention is to this without limiting.
In a step 102, it is true from the second vehicle according to the travel direction angle information of the first vehicle and each second vehicle
Fixed the second vehicle of target that preset direction is in the first vehicle.
Due to current first vehicle in the process of moving, there may be multiple other vehicles in addition to the first vehicle on the road
, it is smaller with the possibility of the first vehicle rear-end collision for apart from the vehicle of the first vehicle distances farther out, thus the present invention
The a certain range of vehicle of first vehicle can be determined as the second vehicle by embodiment.Furthermore, it is contemplated that second in the range of being somebody's turn to do
Some may be not belonging to same track or travel direction is entirely different with the first vehicle with vehicle, then with the first vehicle rear-end collision can
Energy property is also little, for this purpose, the embodiment of the present invention is screened in the second vehicle again, default side is in the first vehicle to select
To the second vehicle of target, that is, determine consistent the second vehicle of target of travel direction.Again since travel direction angle information can
For embodying direction, thus the embodiment of the present invention according to the travel direction angle information of the first vehicle and each second vehicle from second
Determining the second vehicle of target that preset direction is in the first vehicle in vehicle.Specific choice mode can refer to shown in following Fig. 2
Process, wouldn't repeat herein.
In step 103, the first vehicle and target are determined according to the latitude and longitude information of the second vehicle of the first vehicle and target
Whether the second vehicle is in identical track.
After determining to be in the second vehicle of target of preset direction with the first vehicle, it is contemplated that even if direction is identical, for
For vehicle in different tracks, the possibility to knock into the back is also little, thus the embodiment of the present invention is on the basis of step 102,
Further determine that first the second vehicle of vehicle-to-target whether in identical track.Due to latitude and longitude information can embody vehicle it
Between different directions distance, track is may further determine that without equidirectional distance, for this purpose, the embodiment of the present invention is according to
Whether the latitude and longitude information of the second vehicle of one vehicle and target determines the first vehicle and the second vehicle of target in identical track.
The second vehicle of the first vehicle and target is determined about according to the latitude and longitude information of the second vehicle of the first vehicle and target
The mode in identical track whether is in, can refer to following processes shown in Fig. 3, the embodiment of the present invention wouldn't repeat herein.
At step 104, when determining that the first vehicle and the second vehicle of target are in identical track, according to the first vehicle and
Driving speed information, traveling acceleration information and the latitude and longitude information of the second vehicle of target calculate safe class coefficient.
When determining that the first vehicle and the second vehicle of target are in identical track, since the relative position distance of two vehicles can
Reflect the degree of danger to knock into the back, thus for the accuracy for further improving early warning of knocking into the back, method provided in an embodiment of the present invention
Further according to the driving speed information of the second vehicle of the first vehicle and target, traveling acceleration information and latitude and longitude information meter
Safe class coefficient is calculated, the degree of danger of vehicle rear-end collision is reflected by different safe class coefficients.
About driving speed information, traveling acceleration information and the longitude and latitude according to the second vehicle of the first vehicle and target
Information calculates the mode of safe class coefficient, can refer to following processes shown in Fig. 4, the embodiment of the present invention wouldn't repeat.
In step 105, vehicle rear-end collision early warning processing is carried out according to safe class coefficient.
Reflect the degree of danger of vehicle rear-end collision, thus different safe class coefficients due to safe class coefficient, it can be with
Using different vehicle rear-end collision alarm modes.About the mode that vehicle rear-end collision early warning processing is carried out according to safe class coefficient, sheet
Inventive embodiments are not specifically limited, for example, can refer to the mode in following Fig. 5.
In conclusion vehicle rear-end collision method for early warning provided in an embodiment of the present invention, in the basic security for obtaining the first vehicle
After information and the basic security information of at least one second vehicle, the first travel direction angle information in basic security information
Determine be in the second vehicle of target of preset direction with the first vehicle, later again determining first vehicle and the second vehicle of target whether
In identical track, after determining that the first vehicle and the second vehicle of target are in identical track, based on according to the first vehicle and mesh
Safe class coefficient that the driving speed information, traveling acceleration information and latitude and longitude information of the second vehicle calculate is marked into driving
It knocks into the back early warning processing.In the case of considering direction and track, early warning is carried out further according to travel speed and longitude and latitude etc.
Processing, thus improve the accuracy for early warning of knocking into the back so that the driving experience of driver and comfort are preferable.
Optionally, it please refers to Fig.2, it illustrates a kind of determining the second vehicles of target provided by one embodiment of the present invention
Method flow diagram, this determines that the second method for vehicles of target is used for a kind of illustrative realization method for illustrating above-mentioned steps 102, can
To include the following steps：
In step 201, for any second vehicle, according to the travel direction angle information of the first vehicle and any second vehicle
Travel direction angle information calculate the first vehicle and any second vehicle orientation angle it is poor.
In embodiments of the present invention, the calculation formula of orientation angle difference is：Δ θ=θ1-θ2, wherein, Δ θ is orientation angle
Difference, θ1For the travel direction angle of first vehicle, obtained by the travel direction angle information of the first vehicle；θ2For the second vehicle
Travel direction angle is obtained by the travel direction angle information of the second vehicle.Illustratively, the travel direction angle of the first vehicle is
30 ° (degree), the travel direction angle of the second vehicle is 40 °, and it is -10 ° that can calculate and obtain direction differential seat angle.
In step 202, when orientation angle difference meets predetermined angle difference range, any second vehicle is determined as and the
One vehicle is in the second vehicle of target of preset direction.
Direction differential seat angle has been calculated in step 201, it is poor to judge whether direction differential seat angle meets predetermined angle
In the range of, when direction differential seat angle meets predetermined angle difference range, by this, any one second vehicle is determined as and first vehicle
Be in preset direction the second vehicle of target.Illustratively, the orientation angle difference of the first vehicle and the second vehicle is -10 °, is preset
Differential seat angle ranging from [- 30 °, 30 °], it is known that direction angular difference is in the range of predetermined angle, therefore second vehicle is target the
Two vehicles.Wherein, which is the direction for meeting predetermined angle difference range.Wherein, predetermined angle difference range refers to two vehicles
The permissible error of the same direction is travelled on, if orientation angle difference within the scope of the predetermined angle difference, illustrates that two vehicles travel
It is larger in the probability of (being in) same direction, it is necessary to carry out subsequent early warning operation of knocking into the back；On the contrary, if orientation angle is poor
Not within the scope of the predetermined angle difference, then illustrate two vehicles travel on the same direction probability it is smaller, the possibility to knock into the back also just compared with
It is small, thus subsequent early warning operation of knocking into the back also need not be just carried out, accidentally early warning is also avoided, thus improves the standard for early warning of knocking into the back
True property.Judge unidirectional accuracy to improve, which can set smaller, practical application
When, it can be configured according to actual conditions or practical experience or be configured by user.Certainly, predetermined angle difference model is set
After enclosing, it can also be adjusted according to subsequent early warning effect, the embodiment of the present invention does not limit predetermined angle difference range
It is fixed.
Optionally, it please refers to Fig.3, it illustrates a kind of determining first vehicle provided by one embodiment of the present invention and targets
Whether the second vehicle is in the method flow diagram in identical track, and this method is used for a kind of exemplary reality for illustrating above-mentioned steps 103
Existing mode, can include the following steps：
In step 301, the first vehicle-to-target is determined according to the latitude and longitude information of the second vehicle of the first vehicle and target
The air line distance of second vehicle.
In embodiments of the present invention, the air line distance can be calculated according to equation below：
X=p1-p2 (3)
Wherein, p can be calculated according to formula (1) and formula (2)1And p2, determined according to formula (3) and formula (4)
To x and y,For the latitude of the first vehicle,For the latitude of the second vehicle of target, λ1For the longitude of the first vehicle, λ2For target
The longitude of two vehicles, R are earth radius, and s is the air line distance of first the second vehicle of vehicle-to-target.
Illustratively, it please refers to Fig.4, it illustrates a kind of distances provided by one embodiment of the present invention to illustrate schematic diagram, and A is
First vehicle, B are the second vehicle of target, using the latitude and longitude information of first vehicle and the central point of second vehicle of target as
The latitude and longitude information of the two, according to the latitude and longitude information of first vehicle and second vehicle of target can determine the first vehicle with
The air line distance s of the second vehicle of target.
In step 302, two vehicle lines and first are determined according to the latitude and longitude information of the second vehicle of the first vehicle and target
The angle of vehicle heading.
In embodiments of the present invention, it is first determined the line of the second vehicle of the first vehicle and target and direct north (N)
Angle theta：
In embodiments of the present invention, s1And s2Above-mentioned formula (including formula (1) to formula (5)) can be referred to determine：
Determine s1When, it needs the λ in formula (4)2Change λ into1, other formula without modification, can obtain：
When determining s2, needing will be in formula (1) and formula (2)It changes intoOther formula without modification, can obtain：
And, determine the angle α of two vehicle lines and the first vehicle heading again：
E and f is obtained according to formula (7) and formula (8), angle α can determine according to formula (9) later, wherein,It is
The latitude of one vehicle,For the latitude of the second vehicle of target, λ1For the longitude of the first vehicle, λ2For the longitude of the second vehicle of target,
A is the travel direction constant of the first vehicle, the travel direction of first vehicle and the angle of direct north is represented, specifically, root
The travel direction constant for determining the first vehicle according to the latitude and longitude information of the first vehicle can refer to the relevant technologies, the embodiment of the present invention
Details are not described herein.
In step 303, according to two vehicle lateral distance of air line distance and angle calcu-lation.
In embodiments of the present invention, two vehicle lateral distance d can determine according to equation below：
D=| s × sin α | (10)
Illustratively, the lateral distance d of two vehicles can be as shown in Figure 4.
In step 304, it when lateral distance meets lateral distance threshold value, determines at the second vehicle of the first vehicle and target
In identical track.
In embodiments of the present invention, lateral distance is obtained according to step 303, judge the lateral distance whether meet laterally away from
From threshold value, when lateral distance meets lateral distance threshold value, it may be determined that the first vehicle and the second vehicle of target are in identical vehicle
Road；When lateral distance is unsatisfactory for lateral distance threshold value, it may be determined that the first vehicle and the second vehicle of target are not at identical vehicle
Road.
Wherein, lateral distance threshold value is for limiting the range of the lateral distance for the early warning that knock into the back, the lateral distance
Threshold value can rule of thumb set or is configured by user, and the embodiment of the present invention is not specifically limited this.Practical application
When, it can also be adjusted according to early warning effect.
Optionally, Fig. 5 is please referred to, it illustrates a kind of calculating safe class coefficients provided by one embodiment of the present invention
Method flow diagram, this method are used for a kind of example implementations for illustrating above-mentioned steps 104, can include following several steps
Suddenly：
In step 401, according to the latitude and longitude information of the second vehicle of the first vehicle and the target determine the first vehicle with
The air line distance of second vehicle of target.
In embodiments of the present invention, first the second vehicle of vehicle-to-target can be determined in the way of above-mentioned steps 301
Air line distance will can also directly determine during identical track the air line distance that is calculated as the air line distance in the step,
Details are not described herein for the embodiment of the present invention.
In step 402, two vehicle lines and first are determined according to the latitude and longitude information of the second vehicle of the first vehicle and target
The angle of vehicle heading.
In embodiments of the present invention, first the second vehicle of vehicle-to-target can be determined in the way of above-mentioned steps 302
The angle of two vehicle lines and the first vehicle heading, the two vehicle lines that will directly can also be calculated when determining identical track
Angle with the first vehicle heading is as the two vehicle lines and the angle of the first vehicle heading in the step, the present invention
Details are not described herein for embodiment.
In step 403, according to two vehicle fore-and-aft distance of air line distance and angle calcu-lation.
In embodiments of the present invention, two vehicle fore-and-aft distance l can determine according to equation below：
L=| s × cos α | (11)
Illustratively, the fore-and-aft distance l of two vehicles can be as shown in Figure 4.
In step 404, when determining expected collision according to fore-and-aft distance, driving speed information and traveling acceleration information
Between, according to expected Collision time calculation safe class coefficient.
In embodiments of the present invention, expected collision time t is calculated according to equation below first：
Wherein, v1For the travel speed of the first vehicle, v2For the travel speed of the second vehicle of target, a1For the first vehicle
Travel acceleration, a2For the traveling acceleration of the second vehicle of target, l is fore-and-aft distance, the travel speed (v1, v2) and traveling plus
Speed (a1, a2) determined all in accordance with basic security message.
And, according to collision time t and the correspondence of safe class coefficient, determine the safe class factor beta, example again
Ground, correspondence can be as shown in table 1 below：
Table 1
| Collision time t | Safe class factor beta |
| (0,3) | 2 |
| (3,5) | 1 |
| (5,+∞) | 0 |
Reference table 1, illustratively, when collision time is 2, you can it is 2 to obtain safe class coefficient at this time, when collision
Between be 4 when, you can obtain at this time safe class coefficient be 1, when collision time be 6 when, you can obtain safe class coefficient at this time
Be 0, i.e., no rear end collision.
Wherein, the foundation of the correspondence can rule of thumb set or by user setting, i.e., by user according to the time
Determine corresponding safe class coefficient, to take different alerting patterns, it is of course also possible to have other set-up modes, the present invention
Details are not described herein for embodiment.
Optionally, Fig. 6 is please referred to, it illustrates another vehicle rear-end collision method for early warning provided by one embodiment of the present invention
Method flow diagram, on the basis of Fig. 1, this method can include the following steps：
In step 501, the basic security information of the first vehicle and the basic security letter of at least one second vehicle are obtained
Breath, basic security information include at least latitude and longitude information, driving speed information, traveling acceleration information and travel direction angle letter
Breath.
In embodiments of the present invention, which can determine to obtain according to the latitude and longitude information.
In step 502, it is true from the second vehicle according to the travel direction angle information of the first vehicle and each second vehicle
Fixed the second vehicle of target that preset direction is in the first vehicle.
The mode of above-mentioned determining the second vehicle of target shown in Fig. 2 is can refer to, details are not described herein for the embodiment of the present invention.
In step 503, the first vehicle and target are determined according to the latitude and longitude information of the second vehicle of the first vehicle and target
Whether the second vehicle is in identical track.
It can refer to the mode that above-mentioned Fig. 3 determines the first vehicle and whether the second vehicle of target is in identical track, the present invention
Details are not described herein for embodiment.
In step 504, when determining that the first vehicle and the second vehicle of target are in identical track, according to the first vehicle and
Driving speed information, traveling acceleration information and the latitude and longitude information of the second vehicle of target calculate safe class coefficient.
The mode that above-mentioned Fig. 4 calculates safe class coefficient is can refer to, details are not described herein for the embodiment of the present invention.
In step 505, when safe class coefficient is more than predetermined threshold value, early warning alarm is sent out, and show safe class
Coefficient, early warning alarm are used to that driver to be reminded to pay attention to surrounding enviroment.
Safe class coefficient can be determined in step 504, which is compared with predetermined threshold value, when
When safe class coefficient is more than predetermined threshold value, early warning alarm is sent out, and show safe class coefficient, which can be the tinkle of bells
Or speech message, for driver to be reminded to pay attention to surrounding enviroment.For example, speech message can be " to ask Reduced Speed Now, pay attention to periphery
Environment ".
Wherein, predetermined threshold value can rule of thumb set or by user setting, with this realize user voluntarily set whether
Early warning more meets user demand.Certainly, which after the setup, can also subsequently be adjusted, and the present invention is implemented
Example is not specifically limited this.
In step 506, when safe class coefficient is not more than predetermined threshold value, safe class coefficient is shown.
Safe class coefficient can be determined in step 504, which is compared with predetermined threshold value, when
When safe class coefficient is not more than predetermined threshold value, safe class coefficient is shown.
The alternative embodiment that any combination forms the present invention may be used, herein no longer in above-mentioned all optional technical solutions
It repeats one by one.
In conclusion vehicle rear-end collision method for early warning provided in an embodiment of the present invention, due to considering the feelings in direction and track
Under condition, further according to driving speed information, traveling acceleration information and and latitude and longitude information etc. carry out early warning processing, thus improve
The accuracy of early warning of knocking into the back so that the driving experience of driver and comfort are preferable.
In addition, carry out vehicle rear-end collision early warning according to different safe class coefficient, it can cause the mode of early warning area
Point, so as to remind more targeted.
Following is apparatus of the present invention embodiment, can be used for performing the method for the present invention embodiment.For apparatus of the present invention reality
The details not disclosed in example is applied, please refers to the method for the present invention embodiment.
Fig. 7 is please referred to, it illustrates a kind of frames of vehicle rear-end collision prior-warning device 700 provided by one embodiment of the present invention
Figure, the vehicle rear-end collision prior-warning device device 700 include：Locating module 701, communication module 702, data processing module 703 and pre-
Alert module 704, data processing module 703 are connect respectively with locating module 701 and warning module 704, and locating module 701 is with communicating
Module 702 connects, and can be used for performing the method that any illustrated embodiment provides in Fig. 1-Fig. 6.Referring to Fig. 7, the vehicle rear-end collision
Prior-warning device 700 can include but is not limited to：
Locating module 701, is configured to determine that the basic security information of the first vehicle, and basic security information includes longitude and latitude
Information, driving speed information, traveling acceleration information and travel direction angle.
Communication module 702 is configured as receiving the basic security information of at least one second vehicle.
Data processing module 703, be configured as according to the travel direction angle information of the first vehicle and each second vehicle from
Determining the second vehicle of target that preset direction is in the first vehicle in second vehicle；According to the second vehicle of the first vehicle and target
Latitude and longitude information determine the first vehicle and the second vehicle of target whether in identical track；When determining the first vehicle and target
When two vehicles are in identical track, according to the driving speed information of the second vehicle of the first vehicle and target, traveling acceleration information
And latitude and longitude information calculates safe class coefficient.
Warning module 704 is configured as carrying out vehicle rear-end collision early warning processing according to safe class coefficient.
Optionally, data processing module 703 are configured as any second vehicle, according to the traveling side of the first vehicle
The orientation angle that the first vehicle and any second vehicle are calculated to the travel direction angle information of angle information and any second vehicle is poor；
When orientation angle difference meets predetermined angle difference range, any second vehicle is determined as to be in preset direction with the first vehicle
The second vehicle of target.
Optionally, data processing module 703 are configured as the latitude and longitude information according to the second vehicle of the first vehicle and target
Determine the air line distance of first the second vehicle of vehicle-to-target；It is true according to the latitude and longitude information of the second vehicle of the first vehicle and target
The angle of fixed two vehicle lines and the first vehicle heading；According to two vehicle lateral distance of air line distance and angle calcu-lation；Work as transverse direction
When distance meets lateral distance threshold value, determine that the first vehicle and the second vehicle of target are in identical track.
Optionally, data processing module 703 are configured as the latitude and longitude information according to the second vehicle of the first vehicle and target
Determine the air line distance of first the second vehicle of vehicle-to-target；It is true according to the latitude and longitude information of the second vehicle of the first vehicle and target
The angle of fixed two vehicle lines and the first vehicle heading；According to two vehicle fore-and-aft distance of air line distance and angle calcu-lation；According to vertical
Expected collision time is determined to distance, driving speed information and traveling acceleration information, is pacified according to expected Collision time calculation
Full equivalent coefficient.
Optionally, warning module 704 when being configured as safe class coefficient more than predetermined threshold value, send out early warning alarm,
And showing safe class coefficient, early warning alarm is used to that driver to be reminded to pay attention to surrounding enviroment；When safe class coefficient is no more than pre-
If during threshold value, show safe class coefficient.
In conclusion vehicle rear-end collision prior-warning device provided in an embodiment of the present invention, due to considering the feelings in direction and track
Under condition, early warning processing is carried out further according to driving speed information, traveling acceleration information and latitude and longitude information etc., thus is improved
Knock into the back the accuracy of early warning so that the driving experience of driver and comfort are preferable.
In addition, carry out vehicle rear-end collision early warning according to different safe class coefficient, it can cause the mode of early warning area
Point, so as to remind more targeted.
Fig. 8 is please referred to, it illustrates a kind of knots of the terminal 800 of vehicle rear-end collision early warning provided by one embodiment of the present invention
Structure block diagram.The terminal 800 can be：Smart mobile phone, tablet computer, MP3 player (Moving Picture Experts
GroupAudio Layer III, dynamic image expert's compression standard audio level 3), MP4 (Moving Picture
Experts Group Audio Layer IV, dynamic image expert's compression standard audio level 4) player, laptop
Or desktop computer.Terminal 800 is also possible to be referred to as other names such as user equipment, portable terminal, laptop terminal, terminal console
Claim.
In general, terminal 800 includes：Processor 801 and memory 802.
Processor 801 can include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field- may be used in reason device 801
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 801 can also include primary processor and coprocessor, main
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.
In some embodiments, processor 801 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 801 can also wrap
AI (Artificial Intelligence, artificial intelligence) processor is included, which is used to handle related machine learning
Calculating operation.
Memory 802 can include one or more computer readable storage mediums, which can
To be non-transient.Memory 802 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 802 can
Storage medium is read for storing at least one instruction, at least one instruction is for performed to realize this Shen by processor 801
Please in embodiment of the method provide vehicle rear-end collision method for early warning.
In some embodiments, terminal 800 is also optional includes：Peripheral device interface 803 and at least one peripheral equipment.
It can be connected between processor 801, memory 802 and peripheral device interface 803 by bus or signal wire.Each peripheral equipment
It can be connected by bus, signal wire or circuit board with peripheral device interface 803.Specifically, peripheral equipment includes：Radio circuit
804th, at least one of touch display screen 805, camera 806, voicefrequency circuit 807, positioning component 808 and power supply 809.
Peripheral device interface 803 can be used for I/O (Input/Output, input/output) is relevant at least one outer
Peripheral equipment is connected to processor 801 and memory 802.In some embodiments, processor 801, memory 802 and peripheral equipment
Interface 803 is integrated on same chip or circuit board；In some other embodiments, processor 801, memory 802 and outer
Any one or two in peripheral equipment interface 803 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Radio circuit 804 is used to receive and emit RF (Radio Frequency, radio frequency) signal, also referred to as electromagnetic signal.It penetrates
Frequency circuit 804 is communicated by electromagnetic signal with communication network and other communication equipments.Radio circuit 804 turns electric signal
It is changed to electromagnetic signal to be sent, alternatively, the electromagnetic signal received is converted to electric signal.Optionally, radio circuit 804 wraps
It includes：Antenna system, RF transceivers, one or more amplifiers, tuner, oscillator, digital signal processor, codec chip
Group, user identity module card etc..Radio circuit 804 can be carried out by least one wireless communication protocol with other terminals
Communication.The wireless communication protocol includes but not limited to：Metropolitan Area Network (MAN), each third generation mobile communication network (2G, 3G, 4G and 5G), wireless office
Domain net and/or WiFi (Wireless Fidelity, Wireless Fidelity) network.In some embodiments, radio circuit 804 may be used also
To include the related circuits of NFC (NearField Communication, wireless near field communication), the application is not subject to this
It limits.
Display screen 805 is used to show UI (User Interface, user interface).The UI can include figure, text, figure
Mark, video and its their arbitrary combination.When display screen 805 is touch display screen, display screen 805 also there is acquisition to show
The surface of screen 805 or the ability of the touch signal of surface.The touch signal can be used as control signal to be input to processor
801 are handled.At this point, display screen 805 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 805 can be one, set the front panel of terminal 800；In other embodiments
In, display screen 805 can be at least two, be separately positioned on the different surfaces of terminal 800 or in foldover design；In still other reality
It applies in example, display screen 805 can be flexible display screen, be arranged on the curved surface of terminal 800 or on fold plane.Even, it shows
Display screen 805 can also be arranged to non-rectangle irregular figure namely abnormity screen.LCD (Liquid may be used in display screen 805
Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, Organic Light Emitting Diode)
Etc. materials prepare.
CCD camera assembly 806 is used to acquire image or video.Optionally, CCD camera assembly 806 include front camera and
Rear camera.In general, front camera is arranged on the front panel of terminal, rear camera is arranged on the back side of terminal.One
In a little embodiments, rear camera at least two is main camera, depth of field camera, wide-angle camera, focal length camera shooting respectively
Any one in head, to realize that main camera and the fusion of depth of field camera realize background blurring function, main camera and wide-angle
Camera fusion realizes that pan-shot and VR (Virtual Reality, virtual reality) shooting functions or other fusions are clapped
Camera shooting function.In some embodiments, CCD camera assembly 806 can also include flash lamp.Flash lamp can be monochromatic warm flash lamp,
It can also be double-colored temperature flash lamp.Double-colored temperature flash lamp refers to the combination of warm light flash lamp and cold light flash lamp, can be used for not
With the light compensation under colour temperature.
Voicefrequency circuit 807 can include microphone and loud speaker.Microphone is used to acquire the sound wave of user and environment, and will
Sound wave, which is converted to electric signal and is input to processor 801, is handled or is input to radio circuit 804 to realize voice communication.
For stereo acquisition or the purpose of noise reduction, microphone can be multiple, be separately positioned on the different parts of terminal 800.Mike
Wind can also be array microphone or omnidirectional's acquisition type microphone.Loud speaker is then used to that processor 801 or radio circuit will to be come from
804 electric signal is converted to sound wave.Loud speaker can be traditional wafer speaker or piezoelectric ceramic loudspeaker.When
When loud speaker is piezoelectric ceramic loudspeaker, the audible sound wave of the mankind can be not only converted electrical signals to, it can also be by telecommunications
The sound wave that the mankind do not hear number is converted to carry out the purposes such as ranging.In some embodiments, voicefrequency circuit 807 can also include
Earphone jack.
Positioning component 808 is used for the current geographic position of positioning terminal 800, to realize navigation or LBS (Location
Based Service, location based service).Positioning component 808 can be the GPS (Global based on the U.S.
Positioning System, global positioning system), the dipper system of China, Russia Gray receive this system or European Union
The positioning component of Galileo system.
Power supply 809 is used to be powered for the various components in terminal 800.Power supply 809 can be alternating current, direct current,
Disposable battery or rechargeable battery.When power supply 809 includes rechargeable battery, which can support wired charging
Or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
In some embodiments, terminal 800 further include there are one or multiple sensors 810.The one or more sensors
810 include but not limited to：Acceleration transducer 811, gyro sensor 812, pressure sensor 813, fingerprint sensor 814,
Optical sensor 815 and proximity sensor 816.
The acceleration that acceleration transducer 811 can be detected in three reference axis of the coordinate system established with terminal 800 is big
It is small.For example, acceleration transducer 811 can be used for detecting component of the acceleration of gravity in three reference axis.Processor 801 can
With the acceleration of gravity signal acquired according to acceleration transducer 811, control touch display screen 805 is regarded with transverse views or longitudinal direction
Figure carries out the display of user interface.Acceleration transducer 811 can be also used for game or the acquisition of the exercise data of user.
Gyro sensor 812 can be with the body direction of detection terminal 800 and rotational angle, and gyro sensor 812 can
Acquisition user to be cooperateed with to act the 3D of terminal 800 with acceleration transducer 811.Processor 801 is according to gyro sensor 812
The data of acquisition can implement function such as：When action induction (for example changing UI according to the tilt operation of user), shooting
Image stabilization, game control and inertial navigation.
Pressure sensor 813 can be arranged on the side frame of terminal 800 and/or the lower floor of touch display screen 805.Work as pressure
When sensor 813 is arranged on the side frame of terminal 800, gripping signal of the user to terminal 800 can be detected, by processor 801
Right-hand man's identification or prompt operation are carried out according to the gripping signal that pressure sensor 813 acquires.When pressure sensor 813 is arranged on
During the lower floor of touch display screen 805, the pressure operation of touch display screen 805 is realized to UI circle according to user by processor 801
Operability control on face is controlled.Operability control includes button control, scroll bar control, icon control, menu
At least one of control.
Fingerprint sensor 814 is used to acquire the fingerprint of user, collected according to fingerprint sensor 814 by processor 801
The identity of fingerprint recognition user, alternatively, by fingerprint sensor 814 according to the identity of collected fingerprint recognition user.It is identifying
When the identity for going out user is trusted identity, the user is authorized to perform relevant sensitive operation, the sensitive operation packet by processor 801
Solution lock screen is included, encryption information is checked, downloads software, payment and change setting etc..Terminal can be set in fingerprint sensor 814
800 front, the back side or side.When being provided with physical button or manufacturer Logo in terminal 800, fingerprint sensor 814 can be with
It is integrated with physical button or manufacturer Logo.
Optical sensor 815 is used to acquire ambient light intensity.In one embodiment, processor 801 can be according to optics
The ambient light intensity that sensor 815 acquires controls the display brightness of touch display screen 805.Specifically, when ambient light intensity is higher
When, the display brightness of height-regulating touch display screen 805；When ambient light intensity is relatively low, the display for turning down touch display screen 805 is bright
Degree.In another embodiment, the ambient light intensity that processor 801 can also be acquired according to optical sensor 815, dynamic adjust
The acquisition parameters of CCD camera assembly 806.
Proximity sensor 816, also referred to as range sensor are generally arranged at the front panel of terminal 800.Proximity sensor 816
For acquiring the distance between user and the front of terminal 800.In one embodiment, when proximity sensor 816 detects use
When the distance between family and the front of terminal 800 taper into, touch display screen 805 is controlled from bright screen state by processor 801
It is switched to breath screen state；When proximity sensor 816 detects that the distance between user and the front of terminal 800 become larger,
Touch display screen 805 is controlled to be switched to bright screen state from breath screen state by processor 801.
It will be understood by those skilled in the art that the restriction of the structure shown in Fig. 8 not structure paired terminal 800, can wrap
It includes and either combines certain components or using different component arrangements than illustrating more or fewer components.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vehicle rear-end collision method for early warning, which is characterized in that the method includes：
Obtain the basic security information of the first vehicle and the basic security information of at least one second vehicle, the basic security letter
Breath is including at least latitude and longitude information, driving speed information, traveling acceleration information and travel direction angle information；
According to the travel direction angle information of first vehicle and each second vehicle from second vehicle determine with it is described
First vehicle is in the second vehicle of target of preset direction；
First vehicle and the target are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
Whether the second vehicle is in identical track；
When determining that first vehicle and the second vehicle of the target are in identical track, according to first vehicle and described
Driving speed information, traveling acceleration information and the latitude and longitude information of the second vehicle of target calculate safe class coefficient；
Vehicle rear-end collision early warning processing is carried out according to the safe class coefficient.
It is 2. according to the method described in claim 1, it is characterized in that, described according to first vehicle and each second vehicle
Travel direction angle information determines to be in the second vehicle of target of preset direction, packet with first vehicle from second vehicle
It includes：
For any second vehicle, according to the traveling of the travel direction angle information of first vehicle and any second vehicle
The orientation angle that direction angle information calculates first vehicle and any second vehicle is poor；
When the orientation angle difference meets predetermined angle difference range, any second vehicle is determined as and first vehicle
Be in preset direction the second vehicle of target.
It is 3. according to the method described in claim 1, it is characterized in that, described according to the second vehicle of first vehicle and the target
Latitude and longitude information whether determine first vehicle and the second vehicle of the target in identical track, including：
First vehicle and the target are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The air line distance of second vehicle；
Two vehicle lines and first vehicle are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The angle of travel direction；
According to two vehicle lateral distance of the air line distance and the angle calcu-lation；
When the lateral distance meets lateral distance threshold value, determine that first vehicle and the second vehicle of the target are in phase
Same track.
It is 4. according to the method described in claim 1, it is characterized in that, described according to the second vehicle of first vehicle and the target
Driving speed information, traveling acceleration information and latitude and longitude information calculate safe class coefficient, including：
First vehicle and the target are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The air line distance of second vehicle；
Two vehicle lines and first vehicle are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The angle of travel direction；
According to two vehicle fore-and-aft distance of the air line distance and the angle calcu-lation；
Expected collision time is determined according to the fore-and-aft distance, the driving speed information and the traveling acceleration information,
According to the expected Collision time calculation safe class coefficient.
5. according to the method any in claim 1-4, which is characterized in that the method further includes：
When the safe class coefficient is more than the predetermined threshold value, early warning alarm is sent out, and show the safe class coefficient,
The early warning alarm is used to that driver to be reminded to pay attention to surrounding enviroment；
When the safe class coefficient is not more than the predetermined threshold value, the safe class coefficient is shown.
6. a kind of vehicle rear-end collision prior-warning device, which is characterized in that described device includes：Locating module, communication module, data processing
Module and warning module, the data processing module are connect respectively with the locating module and the warning module, the positioning
Module is connect with the communication module；
The locating module, is configured to determine that the basic security information of the first vehicle, and the basic security information includes longitude and latitude
Spend information, driving speed information, traveling acceleration information and travel direction angle；
The communication module is configured as receiving the basic security information of at least one second vehicle；
The data processing module, be configured as according to the travel direction angle information of first vehicle and each second vehicle from
Determining the second vehicle of target that preset direction is in first vehicle in second vehicle；According to first vehicle and
Whether the latitude and longitude information of second vehicle of target determines first vehicle and the second vehicle of the target in identical vehicle
Road；When determining that first vehicle and the second vehicle of the target are in identical track, according to first vehicle and described
Driving speed information, traveling acceleration information and the latitude and longitude information of the second vehicle of target calculate safe class coefficient；
The warning module is configured as carrying out vehicle rear-end collision early warning processing according to the safe class coefficient.
7. device according to claim 6, which is characterized in that the data processing module is configured as any
Two vehicles are calculated according to the travel direction angle information of the travel direction angle information of first vehicle and any second vehicle
The orientation angle of first vehicle and any second vehicle is poor；When the orientation angle difference meets predetermined angle difference range
When, any second vehicle is determined as being in first vehicle to the second vehicle of target of preset direction.
8. device according to claim 6, which is characterized in that the data processing module is configured as according to described
The latitude and longitude information of the second vehicle of one vehicle and the target determines the straight line of first vehicle and second vehicle of target
Distance；Two vehicle lines and first vehicle are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The angle of travel direction；According to two vehicle lateral distance of the air line distance and the angle calcu-lation；When the lateral distance meets
During lateral distance threshold value, determine that first vehicle and the second vehicle of the target are in identical track.
9. device according to claim 6, which is characterized in that the data processing module is configured as according to described
The latitude and longitude information of the second vehicle of one vehicle and the target determines the straight line of first vehicle and second vehicle of target
Distance；Two vehicle lines and first vehicle are determined according to the latitude and longitude information of the second vehicle of first vehicle and the target
The angle of travel direction；According to two vehicle fore-and-aft distance of the air line distance and the angle calcu-lation；According to the fore-and-aft distance, institute
It states driving speed information and the traveling acceleration information determines expected collision time, according to the expected Collision time calculation
Safe class coefficient.
10. according to any devices of claim 6-9, which is characterized in that the warning module is configured as the peace
When full equivalent coefficient is more than the predetermined threshold value, early warning alarm is sent out, and show the safe class coefficient, the early warning alarm
For driver to be reminded to pay attention to surrounding enviroment；When the safe class coefficient is not more than the predetermined threshold value, the peace is shown
Full equivalent coefficient.
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