CN108520639B - Early warning method and system for preventing vehicle collision - Google Patents
Early warning method and system for preventing vehicle collision Download PDFInfo
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- CN108520639B CN108520639B CN201810622333.6A CN201810622333A CN108520639B CN 108520639 B CN108520639 B CN 108520639B CN 201810622333 A CN201810622333 A CN 201810622333A CN 108520639 B CN108520639 B CN 108520639B
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- G—PHYSICS
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Abstract
The embodiment of the invention provides an early warning method and system for preventing a vehicle from collision. The method comprises the following steps: determining whether the third vehicle meets the first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to the second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative speed, the relative angle and the relative distance relative to the first vehicle; and if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, sending an early warning signal to the first vehicle. The method and the system provided by the embodiment of the invention mainly pay attention to the transfer of the transverse dangerous state, solve the defect that the existing vehicle-mounted safety system has very low coping capacity for emergency lane change, and simultaneously ensure the timeliness and the accuracy of early warning.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor vehicle driving safety, in particular to an early warning method and system for preventing a vehicle from collision.
Background
In multilane driving, the movement condition of adjacent lanes may have some influence on the movement of the own vehicle, for example, three vehicles travel forward on the same direction on three lanes at the same time. Assuming that the vehicle is on the leftmost lane, when the vehicle on the rightmost lane suddenly makes an emergency lane change to the middle lane in the running process, the vehicle on the middle lane inevitably needs to change the lane on which the vehicle is located, and the lane change process is usually urgent, so that potential safety hazards are often caused to the running of the vehicle. The existing vehicle-mounted safety system has low coping capability for emergency lane changing, or has high early warning accuracy but not enough time so that high potential safety hazard exists in the running process of the vehicle, or has early warning time but low early warning accuracy.
Disclosure of Invention
The embodiment of the invention provides an early warning method and system for preventing a vehicle from collision, which are used for solving the defect that the existing vehicle-mounted safety system has very low coping capacity for emergency lane changing, and ensuring timeliness and accuracy of early warning.
The embodiment of the invention provides an early warning method for preventing a vehicle from collision, which comprises the following steps:
determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative speed, the relative angle and the relative distance relative to the first vehicle
If the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, an early warning signal is sent to the first vehicle;
the first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence.
The embodiment of the invention provides an early warning system for preventing a vehicle from collision, which comprises the following steps:
the judging module is used for judging whether the third vehicle meets the first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to the second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative speed, the relative angle and the relative distance relative to the first vehicle
The early warning module is used for sending an early warning signal to the first vehicle if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition;
the first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence.
The embodiment of the invention provides early warning equipment for preventing a vehicle from collision, which comprises a memory and a processor, wherein the processor and the memory are communicated with each other through a bus; the memory stores program instructions executable by the processor, which are called by the processor to perform the method described above.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the above-described method.
The method and the system for early warning for preventing the collision of the vehicles mainly pay attention to the transition of the lateral dangerous state, for the first vehicle, whether the third vehicle suddenly makes an emergency lane change to the lane where the second vehicle is located or not is judged by judging whether the vehicle running next to the lane and the vehicle running on the nearest lane meet the first safe driving condition, if the third vehicle suddenly makes an emergency lane change to the lane where the second vehicle is located and the second vehicle and the first vehicle do not meet the second safe driving condition, the second vehicle is judged to be forced to run to the lane where the first vehicle is located due to the emergency lane change of the third vehicle, and at the moment, the first vehicle generates early warning to enable a driver in the first vehicle to make corresponding operation according to the early warning signal so as to avoid the first vehicle from being collided due to the lane change of the first vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method for early warning of a vehicle collision;
FIG. 2 is a schematic diagram of an embodiment of a simulated driving scenario of a vehicle according to the present invention;
FIG. 3 is a block diagram illustrating an exemplary embodiment of an early warning apparatus for preventing a collision of a vehicle according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of an embodiment of an early warning method for preventing a vehicle collision according to the present invention, as shown in fig. 1, the method includes:
determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; and judging whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle. And if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, sending an early warning signal to the first vehicle. The first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence.
It should be noted that, the application scenario of the embodiment of the present invention is a road with at least three co-directional lanes. The first vehicle, the second vehicle, the third vehicle and the early warning method for preventing the collision of the vehicles in the embodiment of the invention will be described with reference to the accompanying drawings.
Fig. 2 is a schematic diagram of an embodiment of a simulated driving scenario of a vehicle according to the present invention, as shown in fig. 2, where the road has three co-directional lanes, and the directions are indicated in fig. 2 as arrow directions. Three lanes from left to right are defined as a first lane, a second lane, and a third lane, respectively, and for a first vehicle traveling on the first lane, a vehicle traveling on the second lane that is located diagonally ahead of and closest to the first vehicle is referred to as a second vehicle. Similarly, a vehicle traveling on the third lane that is located diagonally ahead of and closest to the second vehicle is referred to as a third vehicle.
If the third vehicle on the third lane suddenly makes an emergency lane change to the second lane during the driving process, the second vehicle on the second lane inevitably needs to change lanes to the first lane where the first vehicle is located, if the first lane is the edge-most lane, the first vehicle will not avoid the situation if the second vehicle changes lanes to the first lane because of avoiding the third vehicle, and in general, serious consequences are caused to the first vehicle in this case.
The method provided by the embodiment of the invention mainly focuses on the transition of the transverse dangerous state, for the first vehicle, whether the third vehicle has a trend of suddenly switching lanes to the second vehicle where the second vehicle is located is judged by judging whether the third vehicle meets the first safe driving condition, if the third vehicle has a trend of suddenly switching lanes to the second vehicle and the first vehicle do not meet the second safe driving condition, the normal running of the second vehicle is influenced due to the trend of suddenly switching lanes of the third vehicle, the second vehicle cannot be decelerated and the collision of the third vehicle can be avoided only by switching lanes to the first lane, namely, the trend of switching lanes of the second vehicle to the first lane is explained, at the moment, an early warning signal is sent to the first vehicle, and a driver of the first vehicle makes corresponding operations according to the early warning signal to avoid the first vehicle being collided due to the emergency switching lanes of the third vehicle.
It should be noted that, the number of the same-directional lanes in the application scenario of the embodiment of the present invention is not limited to three, and four or five … may be pre-warning determined according to the above method.
It should be noted that, the execution main body of the embodiment of the present invention is a processing module disposed on the first vehicle, and the processing module is preferably a single-chip microcomputer. The way that the singlechip sends the early warning signal to the first vehicle can be: and sending an early warning signal to an early warning device arranged on the first vehicle, so that the light or voice sent by the early warning device reminds a driver on the first vehicle to make corresponding operation, and the first vehicle is prevented from being collided due to the emergency lane change of the third vehicle. The early warning device can be integrated with an indicator lamp or a buzzer, and the early warning device carries out early warning through the indicator lamp or the buzzer. If the early warning device is integrated with the pilot lamp, then the pilot lamp is red LED lamp, installs in the region that the driver easily notices in the upper left side of instrument panel.
The method provided by the embodiment of the invention mainly focuses on the transition of the transverse dangerous state, for the own vehicle (first vehicle), whether the third vehicle has a trend of suddenly switching lanes to the lanes of the second vehicle is judged by judging whether the vehicles (third vehicle) running next to the lanes meet the first safe driving condition, if the third vehicle has the trend of suddenly switching lanes to the lanes of the second vehicle and the first vehicle of the own vehicle does not meet the second safe driving condition, the second vehicle is judged to have the trend of being forced to switch lanes to the lanes of the own vehicle due to the urgent switching lanes of the third vehicle, and at the moment, the own vehicle generates early warning to enable a driver in the own vehicle to perform corresponding operation according to early warning signals so as to avoid the situation that the own vehicle is crashed due to the urgent switching lanes of the third vehicle.
Based on the above embodiment, a warning method for preventing a collision of a vehicle determines whether a third vehicle satisfies a first safe driving condition according to a speed of the third vehicle, and a relative speed, a relative angle, and a relative distance with respect to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative speed, the relative angle and the relative distance relative to the first vehicle, and further comprising:
acquiring running information of each vehicle with a distance from the first vehicle within a preset range;
and determining the vehicle which is positioned in front of and closest to the first vehicle on the second lane as the second vehicle and the vehicle which is positioned in front of and closest to the second vehicle on the third lane as the third vehicle according to the running information of all the vehicles. Wherein the travel information of each vehicle includes a relative speed, a relative angle, and a relative distance of each vehicle with respect to the first vehicle.
It should be noted that an object of an embodiment of the present invention is to determine a second vehicle and a third vehicle among a plurality of vehicles around a first vehicle.
Specifically, a millimeter wave radar may be installed inside or outside a first vehicle, and travel information of each vehicle within a preset range of the first vehicle may be acquired by the millimeter wave radar. The millimeter wave radar sends the obtained running information of all the vehicles to the singlechip, and the singlechip screens the received running information of all the vehicles to determine a second vehicle and a third vehicle. Wherein the travel information of each vehicle includes a relative speed of the vehicle with respect to the first vehicle, a relative angle of the vehicle with respect to the first vehicle, and a relative distance of the vehicle with respect to the first vehicle. It should be noted that the millimeter wave radar performs data communication with the singlechip through the CAN bus, and preferably, the model of the CAN bus is RS422-CAN.
Preferably, the millimeter wave radar adopts an ESR millimeter wave radar which is fixedly arranged in the center below the mounting position of the license plate number in front of the first vehicle, the front surface of the millimeter wave radar is horizontally and frontward arranged, and the scanning area of the millimeter wave radar is sector-shaped.
Based on the above embodiment, a warning method for preventing a collision of a vehicle, determining whether a third vehicle satisfies a first safe driving condition according to a speed of the third vehicle, and a relative speed, a relative angle, and a relative distance with respect to a second vehicle, further includes:
according to the relative angle and the relative distance of the third vehicle relative to the second vehicle, acquiring a longitudinal relative distance and a transverse relative distance between the third vehicle and the second vehicle;
acquiring the transverse speed of the third vehicle moving to the second vehicle channel according to the relative angle and the relative speed of the third vehicle relative to the second vehicle;
if the longitudinal relative distance between the third vehicle and the second vehicle is smaller than or equal to a first preset longitudinal relative distance, the speed of the third vehicle is larger than a first preset speed, the transverse relative distance between the third vehicle and the second vehicle is smaller than or equal to a first preset transverse relative distance, and the transverse speed of the third vehicle moving towards the second vehicle is larger than the first preset transverse speed, the third vehicle is judged to not meet the first safe driving condition.
Preferably, the first preset longitudinal relative distance is 20m, the first preset speed is 40km/h, the first preset transverse relative distance is 3m, and the first preset transverse speed is 1m/s.
Based on the above embodiment, a pre-warning method for preventing a vehicle collision, determining whether a third vehicle meets a first safe driving condition according to a speed of the third vehicle, and a relative speed, a relative angle, and a relative distance with respect to a second vehicle, further includes:
acquiring a longitudinal relative distance between the third vehicle and the second vehicle according to the relative angle and the relative distance of the third vehicle relative to the second vehicle;
acquiring the transverse speed of the third vehicle moving to the second vehicle channel according to the relative angle and the relative speed of the third vehicle relative to the second vehicle;
if the longitudinal relative distance between the third vehicle and the second vehicle is smaller than or equal to a second preset longitudinal relative distance, the speed of the third vehicle is larger than a second preset speed, the transverse speed of the third vehicle moving towards the second road is larger than the second preset transverse speed, and TTC is smaller than a second preset threshold, the third vehicle is judged to not meet the first safe driving condition; wherein,,
TTC＝L/v；
l is the longitudinal relative distance between the third vehicle and the second vehicle, and v is the lateral speed of movement of the third vehicle to the second vehicle.
Preferably, the second preset longitudinal relative distance is 20m, the second preset speed is 40km/h, the second preset transverse speed is 1m/s, and the second preset threshold is 2.5s.
Based on the above embodiment, a warning method for preventing a collision of a vehicle, determining whether the second vehicle satisfies a second safe driving condition according to a speed of the second vehicle, and a relative speed, a relative angle, and a relative distance with respect to the first vehicle, further includes:
according to the relative angle and the relative distance of the second vehicle relative to the first vehicle, acquiring a longitudinal relative distance and a transverse relative distance between the second vehicle and the first vehicle;
acquiring the transverse speed of the second vehicle moving towards the first vehicle according to the relative angle and the relative speed of the second vehicle relative to the first vehicle;
if the longitudinal relative distance between the second vehicle and the first vehicle is smaller than or equal to a third preset longitudinal relative distance, the speed of the second vehicle is larger than a third preset speed, the transverse relative distance between the second vehicle and the first vehicle is smaller than or equal to a third preset transverse relative distance, and the transverse speed of the second vehicle moving towards the first vehicle is larger than the third preset transverse speed, the second vehicle is judged to not meet the second safe driving condition.
Preferably, the third preset longitudinal relative distance is 20m, the third preset speed is 40km/h, the third preset transverse relative distance is 3m, and the third preset transverse speed is 1m/s.
Based on the above embodiment, a pre-warning method for preventing a vehicle collision, determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and a relative speed, a relative angle, and a relative distance with respect to the first vehicle, further includes:
acquiring a longitudinal relative distance between the second vehicle and the first vehicle according to the relative angle and the relative distance of the second vehicle relative to the first vehicle;
acquiring the transverse speed of the second vehicle moving towards the first vehicle according to the relative angle and the relative speed of the second vehicle relative to the first vehicle;
if the second isThe longitudinal relative distance between the vehicle and the first vehicle is smaller than or equal to a fourth preset longitudinal relative distance, the speed of the second vehicle is larger than a fourth preset speed, the transverse speed of the second vehicle moving to the first vehicle is larger than a fourth preset transverse speed, and TTC (time to flight) is higher than a fourth preset transverse speed 1 If the vehicle speed is smaller than a fourth preset threshold value, judging that the second vehicle does not meet a second safe driving condition; wherein,,
TTC 1 ＝L 1 /v 1 ；
L 1 v, the longitudinal relative distance between the second vehicle and the first vehicle 1 Is the lateral speed of the second vehicle toward the first vehicle.
Preferably, the fourth preset longitudinal relative distance is 20m, the fourth preset speed is 40km/h, the fourth preset transverse speed is 1m/s, and the fourth preset threshold is 2.5s.
The embodiment of the invention provides an early warning system for preventing a vehicle from collision, which comprises the following steps:
a determining module, configured to determine whether a third vehicle satisfies a first safe driving condition according to a speed of the third vehicle, and a relative distance and a relative speed with respect to a second vehicle; and judging whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative distance and the relative speed of the second vehicle relative to the first vehicle. And the early warning module is used for sending an early warning signal to the first vehicle if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition. The first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence.
It should be noted that, the system of the embodiment of the present invention may be used to execute the technical scheme of the early warning method embodiment for preventing the collision of the vehicle shown in fig. 1, and its implementation principle and technical effects are similar, and will not be repeated here.
In order to ensure the safety of the first vehicle, the system starts to work when the first vehicle starts.
The system provided by the embodiment of the invention mainly focuses on the transition of the transverse dangerous state, for the first vehicle, whether the third vehicle has a trend of suddenly switching lanes to the second lane where the second vehicle is located is judged by judging whether the third vehicle meets the first safe driving condition, if the third vehicle has a trend of suddenly switching lanes to the second lane and the second vehicle and the first vehicle do not meet the second safe driving condition, the normal running of the second vehicle is influenced due to the trend of suddenly switching lanes of the third lane, the second vehicle cannot be prevented from being crashed by the third vehicle only by switching lanes to the first lane, namely, the trend of switching lanes of the second vehicle to the first lane is explained, at the moment, an early warning signal is sent to the first vehicle, and a driver of the first vehicle makes corresponding operation according to the early warning signal to avoid the first vehicle from being crashed due to the emergency switching lanes of the third vehicle.
Based on the above embodiment, an early warning system for preventing a vehicle collision further includes:
and the driving information acquisition module is used for acquiring driving information of each vehicle with the distance from the first vehicle being in a preset range. The vehicle determining module is used for determining a vehicle which is positioned in front of the first vehicle and closest to the first vehicle on the second lane as the second vehicle according to the running information of all vehicles, and determining a vehicle which is positioned in front of the second vehicle and closest to the second vehicle on the third lane as the third vehicle. Wherein the travel information of each vehicle includes a relative speed, a relative angle, and a relative distance of each vehicle with respect to the first vehicle.
Fig. 3 is a block diagram of an embodiment of an early warning apparatus for preventing a collision of a vehicle according to the present invention, as shown in fig. 3, the apparatus includes: a processor (processor) 301, a memory (memory) 302, and a bus 303; wherein the processor 301 and the memory 302 complete communication with each other through the bus 303; the processor 301 is configured to invoke the program instructions in the memory 302 to perform the methods provided in the above method embodiments, for example, including: determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle; and if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, sending an early warning signal to the first vehicle.
Embodiments of the present invention disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the method embodiments described above, for example comprising: determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle; and if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, sending an early warning signal to the first vehicle.
Embodiments of the present invention provide a non-transitory computer readable storage medium storing computer instructions that cause a computer to perform the methods provided by the above-described method embodiments, for example, including: determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle; and if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, sending an early warning signal to the first vehicle.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
In summary, according to the early warning method and system for preventing the collision of the vehicles provided by the embodiment of the invention, the second vehicle nearest to the lane and the third vehicle nearest to the lane are detected through the millimeter wave radar arranged in the first vehicle in the lane, and according to the motion states of the second vehicle and the third vehicle, when the second vehicle and the third vehicle are recognized to generate lane change conflict and influence the first vehicle, namely, when the third vehicle is recognized to be changed to the lane where the second vehicle is located in an emergency manner, and the first vehicle has a great influence on normal running, the early warning is sent to the driver of the first vehicle to remind the driver of the first vehicle to avoid the lane change conflict. Therefore, more reaction time is reserved for the driver, collision accidents of the second vehicle and the first vehicle are avoided, and immature parts in the current vehicle lane change research are made up.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An early warning method for preventing a collision of a vehicle, comprising:
determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle;
if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, an early warning signal is sent to the first vehicle;
the first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence;
the method further includes determining whether the third vehicle satisfies a first safe driving condition according to a speed of the third vehicle, and a relative speed, a relative angle, and a relative distance with respect to the second vehicle, and further includes:
according to the relative angle and the relative distance of the third vehicle relative to the second vehicle, acquiring a longitudinal relative distance and a transverse relative distance between the third vehicle and the second vehicle;
acquiring the transverse speed of the third vehicle moving to the second vehicle channel according to the relative angle and the relative speed of the third vehicle relative to the second vehicle;
if the longitudinal relative distance between the third vehicle and the second vehicle is smaller than or equal to a first preset longitudinal relative distance, the speed of the third vehicle is larger than a first preset speed, the transverse relative distance between the third vehicle and the second vehicle is smaller than or equal to a first preset transverse relative distance, and the transverse speed of the third vehicle moving towards the second vehicle is larger than the first preset transverse speed, the third vehicle is judged to not meet the first safe driving condition.
2. The method of claim 1, wherein the determining whether the third vehicle meets the first safe driving condition is based on a speed of the third vehicle, and a relative speed, a relative angle, and a relative distance with respect to the second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle and the relative speed, the relative angle and the relative distance relative to the first vehicle, and further comprising:
acquiring running information of each vehicle with a distance from the first vehicle within a preset range;
according to the running information of all vehicles, determining the vehicle which is positioned in front of and closest to the first vehicle on the second lane as the second vehicle, and determining the vehicle which is positioned in front of and closest to the second vehicle on the third lane as the third vehicle;
wherein the travel information of each vehicle includes a relative speed, a relative angle, and a relative distance of each vehicle with respect to the first vehicle.
3. The method of claim 1, wherein determining whether the second vehicle meets a second safe driving condition based on the speed of the second vehicle and a relative speed, a relative angle, and a relative distance with respect to the first vehicle, further comprises:
according to the relative angle and the relative distance of the second vehicle relative to the first vehicle, acquiring a longitudinal relative distance and a transverse relative distance between the second vehicle and the first vehicle;
acquiring the transverse speed of the second vehicle moving towards the first vehicle according to the relative angle and the relative speed of the second vehicle relative to the first vehicle;
if the longitudinal relative distance between the second vehicle and the first vehicle is smaller than or equal to a third preset longitudinal relative distance, the speed of the second vehicle is larger than a third preset speed, the transverse relative distance between the second vehicle and the first vehicle is smaller than or equal to a third preset transverse relative distance, and the transverse speed of the second vehicle moving towards the first vehicle is larger than the third preset transverse speed, the second vehicle is judged to not meet the second safe driving condition.
4. The method of claim 1, wherein determining whether the second vehicle meets a second safe driving condition based on the speed of the second vehicle and a relative speed, a relative angle, and a relative distance with respect to the first vehicle, further comprises:
acquiring a longitudinal relative distance between the second vehicle and the first vehicle according to the relative angle and the relative distance of the second vehicle relative to the first vehicle;
acquiring the transverse speed of the second vehicle moving towards the first vehicle according to the relative angle and the relative speed of the second vehicle relative to the first vehicle;
if the longitudinal relative distance between the second vehicle and the first vehicle is smaller than or equal to a fourth preset longitudinal relative distance, the speed of the second vehicle is larger than a fourth preset speed, the transverse speed of the second vehicle moving to the first vehicle is larger than a fourth preset transverse speed, and TTC 1 If the vehicle speed is smaller than a fourth preset threshold value, judging that the second vehicle does not meet a second safe driving condition; wherein,,
TTC 1 ＝L 1 /v 1 ；
L 1 v, the longitudinal relative distance between the second vehicle and the first vehicle 1 Is the lateral speed of the second vehicle toward the first vehicle.
5. An early warning method for preventing a collision of a vehicle, comprising:
determining whether a third vehicle meets a first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to a second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle;
if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition, an early warning signal is sent to the first vehicle;
the first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence;
the method further includes determining whether the third vehicle satisfies a first safe driving condition according to a speed of the third vehicle, and a relative speed, a relative angle, and a relative distance with respect to the second vehicle, and further includes:
acquiring a longitudinal relative distance between the third vehicle and the second vehicle according to the relative angle and the relative distance of the third vehicle relative to the second vehicle;
acquiring the transverse speed of the third vehicle moving to the second vehicle channel according to the relative angle and the relative speed of the third vehicle relative to the second vehicle;
if the longitudinal relative distance between the third vehicle and the second vehicle is smaller than or equal to a second preset longitudinal relative distance, the speed of the third vehicle is larger than a second preset speed, the transverse speed of the third vehicle moving towards the second road is larger than the second preset transverse speed, and TTC is smaller than a second preset threshold, the third vehicle is judged to not meet the first safe driving condition; wherein,,
TTC＝L/v；
l is the longitudinal relative distance between the third vehicle and the second vehicle, and v is the lateral speed of movement of the third vehicle to the second vehicle.
6. An early warning system for preventing a collision of a vehicle, comprising:
the judging module is used for judging whether the third vehicle meets the first safe driving condition according to the speed of the third vehicle and the relative speed, the relative angle and the relative distance of the third vehicle relative to the second vehicle; determining whether the second vehicle meets a second safe driving condition according to the speed of the second vehicle, and the relative speed, the relative angle and the relative distance of the second vehicle relative to the first vehicle;
the early warning module is used for sending an early warning signal to the first vehicle if the third vehicle is judged to not meet the first safe driving condition and the second vehicle is judged to not meet the second safe driving condition;
the first vehicle, the second vehicle and the third vehicle are vehicles which run on a first lane, a second lane and a third lane respectively, and the first lane, the second lane and the third lane are adjacent in sequence;
the judging module is specifically configured to:
according to the relative angle and the relative distance of the third vehicle relative to the second vehicle, acquiring a longitudinal relative distance and a transverse relative distance between the third vehicle and the second vehicle;
acquiring the transverse speed of the third vehicle moving to the second vehicle channel according to the relative angle and the relative speed of the third vehicle relative to the second vehicle;
if the longitudinal relative distance between the third vehicle and the second vehicle is smaller than or equal to a first preset longitudinal relative distance, the speed of the third vehicle is larger than a first preset speed, the transverse relative distance between the third vehicle and the second vehicle is smaller than or equal to a first preset transverse relative distance, and the transverse speed of the third vehicle moving towards the second vehicle is larger than the first preset transverse speed, the third vehicle is judged to not meet the first safe driving condition.
7. The system of claim 6, further comprising:
the driving information acquisition module is used for acquiring driving information of each vehicle with the distance from the first vehicle being in a preset range;
a vehicle determining module configured to determine, as the second vehicle, a vehicle that is located in front of and closest to the first vehicle on the second lane, and determine, as the third vehicle, a vehicle that is located in front of and closest to the second vehicle on the third lane, according to traveling information of all vehicles;
wherein the travel information of each vehicle includes a relative speed, a relative angle, and a relative distance of each vehicle with respect to the first vehicle.
8. The early warning device for preventing the vehicle collision is characterized by comprising a memory and a processor, wherein the processor and the memory are communicated with each other through a bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-5.
9. A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the method of any one of claims 1 to 5.
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