CN103832434A - Traveling safety control system and method - Google Patents
Traveling safety control system and method Download PDFInfo
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- CN103832434A CN103832434A CN201210480242.6A CN201210480242A CN103832434A CN 103832434 A CN103832434 A CN 103832434A CN 201210480242 A CN201210480242 A CN 201210480242A CN 103832434 A CN103832434 A CN 103832434A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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Abstract
The invention provides a traveling safety control system and method. The traveling safety control system comprises a road condition information collecting device, a road condition information processing device and a traveling safety control device. The road condition information collecting device is used for collecting first road condition information within a sight distance range and second road condition information beyond the sight distance range. The road condition information processing device is used for processing the first road condition information and the second road condition information to obtain processing results. The traveling safety control device is used for generating control signals according to the processing results and controlling vehicles according to the control signals. The scheme of the traveling safety control system and method can achieve safety traveling control over vehicles.
Description
Technical field
The present invention relates to the communications field, refer to especially a kind of traffic safety control system and method.
Background technology
Along with the development of auto-industry and Eltec, vehicle intellectualized technology will progressively be applied, also first meeting clue of automatic Pilot technology.This wherein, traffic safety is the focus receiving much concern always, intellectualized technology will be used for traffic safety control system.At present, in some high-end cars, adopted infra-red radar Detection Techniques be vehicle in the time of night running, pedestrian is carried out active probe and driving safety prompt is provided; And in the research of automatic Pilot technology, mainly adopt digital camera head and trailer-mounted radar road conditions to be surveyed and processed in real time, automatically control Vehicle Speed.
Existing technology is the safety control based within the scope of sighting distance or radar direct projection mainly, but still will rely on the subjective judgement of chaufeur to being detected the differentiation of thing, and system intelligent degree is still lower.Distinguished although can carry out graphical analysis to imaging object, cannot be reached all the time the degree of people's exceptionally high degree of trust of allowing.Therefore in current design, traffic safety control system is only made the steered reference of chaufeur.
In addition, in the case of some traffic accidents, the generation of many severe traffic accidents causes mainly due to the burst factor in some invisible scopes, pedestrian as precipitate in cross roads or self-propelled vehicle, easily send out location in these accidents, the driving safety system of realizing by Detection Techniques is difficult to effectively work.
To sum up, in prior art, there are the following problems:
1) monitor by infra-red radar detection system road pavement, cannot carry out highly reliable differentiation in real time to pedestrian and other biological.
2) safety factor that cannot easily send out location to some accidents is carried out anticipation and advanced warning.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of traffic safety control system and method, can provide safety traffic control for vehicle.
For solving the problems of the technologies described above, embodiments of the invention provide a kind of traffic safety control system, comprising:
Road conditions information gathering device, for gathering the second traffic information outside the first traffic information and the horizon range in horizon range;
Traffic information processing equipment, for described the first traffic information and described the second traffic information are processed, obtains result;
Traffic safety control setup, for according to described result, produces control signal, and according to described control signal, vehicle is controlled.
Wherein, described road conditions information gathering device comprises:
Multiple biology sensors, for gathering the first traffic information in horizon range;
Road information of forecasting obtains module, the second traffic information gathering for the Internet of Things monitoring MAT terminal of obtaining in a preset range of vehicle position periphery.
Wherein, described traffic information processing equipment comprises:
The first road conditions message processing module, for described the first traffic information is processed, obtains the state of various real-time roads in described the first traffic information;
The second traffic information processing module, for described the second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, described the first road conditions message processing module comprises:
First processes submodule, for described the first traffic information is processed, identify pedestrian, other biology, vehicle and obstacle in various real-time roads, and determine pedestrian, other biology, vehicle and obstacle in various real-time roads size and and distance between any 1;
Second processes submodule, for described the first traffic information is processed, identifies the traffic sign on the road surface in various real-time roads and the state of definite traffic signal lamp.
Wherein, described the second traffic information processing module comprises:
The 3rd processes submodule, for described the second traffic information is processed, obtains and is having crossing or the corner of intersection, the information of forecasting of the path of motion of the personnel to outfit MAT terminal or the MAT terminal of vehicle;
The 4th processes submodule, and for described the second traffic information is processed, the personnel that obtain being equipped with MAT terminal pass through the information of forecasting of the possibility of cross walk.
Wherein, described traffic information processing equipment also comprises:
Information of vehicles obtains module, for obtaining the real time running status information of vehicle; Wherein, described real time running status information comprises: the real time running location information of vehicle and/or real time running velocity information;
Described the first road conditions message processing module specifically for: according to the real time running status information of described vehicle, when obtaining biology sensor and detecting described vehicle front and have pedestrian, other biology, vehicle and/or obstacle, the collision probability of vehicle and pedestrian, other biology, vehicle and/or obstacle; And the real-time road of described vehicle front while there is not pedestrian, other biology, vehicle and/or obstacle;
Described the second traffic information processing module specifically for: according to the real time running status information of described vehicle, described the second traffic information is processed, is obtained the road condition predicting information at various crossings in the second traffic information.
Wherein, described traffic safety control setup comprises:
The first control module, for judging according to described result: described vehicle front does not exist the real-time road of pedestrian, other biology, vehicle and obstacle, or described traffic sign represents to pass through, or when traffic signal lamp are clearance state, produce the first control signal, and start traffic safety guide control hierarchy according to described the first control signal, and guide control hierarchy to control vehicle according to described traffic safety;
The second control module, be used for according to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled;
The 3rd control module; for judging according to described result: if described collision probability is greater than the 3rd predetermined threshold; or described in described vehicle distances, the path of motion of MAT terminal or the distance apart from four corners are less than warning distance; or the state of traffic sign or traffic signal lamp requires when forbidden; produce the 3rd control signal; and start emergency braking control hierarchy according to described the 3rd control signal, and according to described emergency braking control hierarchy, vehicle is controlled.
Wherein, described the second control module specifically for:
According to the judgement of described result: if the path of motion of described vehicle and described MAT terminal or be less than early warning distance with the distance of four corners; judge whether to remind according to the current real time running speed of vehicle and slow down; if real time running speed is greater than alarm threshold; remind and slow down; waiting for after the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; produce the second control signal; and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, described the 3rd control module is braked control according to following braking acceleration to vehicle:
Wherein, the real time running speed that v is vehicle, s is the distance between vehicle and pedestrian, α is braking acceleration.
Embodiments of the invention also provide a kind of traffic safety control method, comprising:
The first traffic information in collection horizon range and the second traffic information outside horizon range;
Described the first traffic information and described the second traffic information are processed, obtained result;
According to described result, produce control signal, and according to described control signal, vehicle is controlled.
Wherein, the step of the first traffic information in described collection horizon range and the second traffic information outside horizon range comprises:
Gather the first traffic information in horizon range by multiple biology sensors;
Obtain the second traffic information that the Internet of Things monitoring MAT terminal in a preset range of vehicle position periphery gathers.
Wherein, described described the first traffic information and described the second traffic information are processed, the step that obtains result comprises:
Described the first traffic information is processed, obtained the state of various real-time roads in described the first traffic information;
Described the second traffic information is processed, obtained the road condition predicting information at various crossings in the second traffic information.
Wherein, described described the first traffic information is processed, the step that obtains the state of various real-time roads in described the first traffic information comprises:
Described the first traffic information is processed, identify pedestrian, other biology, vehicle and obstacle in various real-time roads, and determine pedestrian, other biology, vehicle and obstacle in various real-time roads size and and distance between any 1;
Described the first traffic information is processed, identified the traffic sign on the road surface in various real-time roads and the state of definite traffic signal lamp.
Wherein, described described the second traffic information is processed, the step that obtains the road condition predicting information at various crossings in the second traffic information comprises:
Described the second traffic information is processed, obtained and having crossing or the corner of intersection, the information of forecasting of the path of motion of the personnel to outfit MAT terminal or the MAT terminal of vehicle;
Described the second traffic information is processed, and the personnel that obtain being equipped with MAT terminal pass through the information of forecasting of the possibility of cross walk.
Wherein, said method also comprises:
Obtain the real time running status information of vehicle; Wherein, described real time running status information comprises: the real time running location information of vehicle and/or real time running velocity information;
Described the first traffic information is processed, the step that obtains the state of various real-time roads in described the first traffic information specifically comprises: according to the real time running status information of described vehicle, when obtaining biology sensor and detecting described vehicle front and have pedestrian, other biology, vehicle and/or obstacle, the collision probability of vehicle and pedestrian, other biology, vehicle and/or obstacle; And the real-time road of described vehicle front while there is not pedestrian, other biology, vehicle and/or obstacle;
Described the second traffic information is processed, the step that obtains the road condition predicting information at various crossings in the second traffic information specifically comprises: according to the real time running status information of described vehicle, described the second traffic information is processed, obtained the road condition predicting information at various crossings in the second traffic information.
Wherein, described according to described result, produce control signal, and the step of vehicle being controlled according to described control signal comprises:
Judge according to described result: described vehicle front does not exist the real-time road of pedestrian, other biology, vehicle and obstacle, or described traffic sign represents to pass through, or when traffic signal lamp are clearance state, produce the first control signal, and start traffic safety guide control hierarchy according to described the first control signal, and guide control hierarchy to control vehicle according to described traffic safety;
According to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled;
Judge according to described result: if described collision probability is greater than the 3rd predetermined threshold; or described in described vehicle distances, the path of motion of MAT terminal or the distance apart from four corners are less than warning distance; or the state of traffic sign or traffic signal lamp requires when forbidden; produce the 3rd control signal; and start emergency braking control hierarchy according to described the 3rd control signal, and according to described emergency braking control hierarchy, vehicle is controlled.
Wherein, described according to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and the step of vehicle being controlled according to described automatic safe control hierarchy comprises:
According to the judgement of described result: if the path of motion of described vehicle and described MAT terminal or be less than early warning distance with the distance of four corners; judge whether to remind according to the current real time running speed of vehicle and slow down; if real time running speed is greater than alarm threshold; remind and slow down; waiting for after the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; produce the second control signal; and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, described when vehicle is controlled according to described emergency braking control hierarchy, according to following braking acceleration, vehicle is braked to control:
Wherein, the real time running speed that v is vehicle, s is the distance between vehicle and pedestrian, α is braking acceleration.
The beneficial effect of technique scheme of the present invention is as follows:
In such scheme, gather by the second traffic information outside the first traffic information and horizon range in horizon range, and this first traffic information and the second traffic information are processed, according to result, vehicle is controlled automatically, thereby provided safety traffic control for vehicle.
Accompanying drawing explanation
Fig. 1 is the system architecture schematic diagram of traffic safety control system of the present invention;
Fig. 2 is the schematic flow sheet of traffic safety control method of the present invention;
Fig. 3 is the specific embodiment schematic diagram of traffic safety control program of the present invention;
Fig. 4 is the specific embodiment schematic flow sheet of traffic safety control program of the present invention.
The specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
As shown in Figure 1, a kind of traffic safety control system, comprising:
Road conditions information gathering device, for gathering the second traffic information outside the first traffic information and the horizon range in horizon range;
Traffic information processing equipment, for described the first traffic information and described the second traffic information are processed, obtains result;
Traffic safety control setup, for according to described result, produces control signal, and according to described control signal, vehicle is controlled.
This embodiment gathers by the second traffic information outside the first traffic information and horizon range in horizon range, and this first traffic information and the second traffic information are processed, according to result, vehicle is controlled automatically, thereby provided safety traffic control for vehicle.
In the above-described embodiments, described road conditions information gathering device comprises:
Multiple biology sensors, for gathering the first traffic information in horizon range;
Road information of forecasting obtains module, the second traffic information gathering for the Internet of Things monitoring MAT terminal of obtaining in a preset range of vehicle position periphery.
In above-described embodiment, described traffic information processing equipment comprises:
The first road conditions message processing module, for described the first traffic information is processed, obtains the state of various real-time roads in described the first traffic information;
The second traffic information processing module, for described the second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, described the first road conditions message processing module comprises:
First processes submodule, for described the first traffic information is processed, identify pedestrian, other biology, vehicle and obstacle in various real-time roads, and determine pedestrian, other biology, vehicle and obstacle in various real-time roads size and and distance between any 1;
Second processes submodule, for described the first traffic information is processed, identifies the traffic sign on the road surface in various real-time roads and the state of definite traffic signal lamp.
Wherein, described the second traffic information processing module comprises:
The 3rd processes submodule, for described the second traffic information is processed, obtains and is having crossing or the corner of intersection, the information of forecasting of the path of motion of the personnel to outfit MAT terminal or the MAT terminal of vehicle;
The 4th processes submodule, and for described the second traffic information is processed, the personnel that obtain being equipped with MAT terminal pass through the information of forecasting of the possibility of cross walk.
In the above embodiment of the present invention, described traffic information processing equipment also comprises:
Information of vehicles obtains module, for obtaining the real time running status information of vehicle; Wherein, described real time running status information comprises: the real time running location information of vehicle and/or real time running velocity information;
Described the first road conditions message processing module specifically for: according to the real time running status information of described vehicle, when obtaining biology sensor and detecting described vehicle front and have pedestrian, other biology, vehicle and/or obstacle, the collision probability of vehicle and pedestrian, other biology, vehicle and/or obstacle; And the real-time road of described vehicle front while there is not pedestrian, other biology, vehicle and/or obstacle;
Described the second traffic information processing module specifically for: according to the real time running status information of described vehicle, described the second traffic information is processed, is obtained the road condition predicting information at various crossings in the second traffic information.
Wherein, described traffic safety control setup comprises:
The first control module, for judging according to described result: described vehicle front does not exist the real-time road of pedestrian, other biology, vehicle and obstacle, or described traffic sign represents to pass through, or when traffic signal lamp are clearance state, produce the first control signal, and start traffic safety guide control hierarchy according to described the first control signal, and guide control hierarchy to control vehicle according to described traffic safety;
The second control module, be used for according to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled;
The 3rd control module; for judging according to described result: if described collision probability is greater than the 3rd predetermined threshold; or described in described vehicle distances, the path of motion of MAT terminal or the distance apart from four corners are less than warning distance; or the state of traffic sign or traffic signal lamp requires when forbidden; produce the 3rd control signal; and start emergency braking control hierarchy according to described the 3rd control signal, and according to described emergency braking control hierarchy, vehicle is controlled.
Wherein, described the second control module specifically for:
According to the judgement of described result: if the path of motion of described vehicle and described MAT terminal or be less than early warning distance with the distance of four corners; judge whether to remind according to the current real time running speed of vehicle and slow down; if real time running speed is greater than alarm threshold; remind and slow down; waiting for after the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; produce the second control signal; and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, described the 3rd control module is braked control according to following braking acceleration to vehicle:
Wherein, the real time running speed that v is vehicle, s is the distance between vehicle and pedestrian, α is braking acceleration.
Below in conjunction with particular flow sheet, above-described embodiment is elaborated:
As shown in Figure 3 and Figure 4, in said system embodiment of the present invention, in horizon range, the first road conditions information gathering can be surveyed by the pedestrian of vehicle-mounted biology sensor road pavement, in conjunction with the physiological characteristic such as heartbeat and respiratory rate, pedestrian, other biology, vehicle or obstacle are distinguished, can also pass through vehicle-mounted camera or other imaging techniques to traffic mark thing, as the information such as traffic lights and cross walk is carried out real-time detection simultaneously.
The second traffic information outside horizon range, mainly reports by the collection of MAT terminal, the satellite positioning devices such as the integrated GPS of MAT terminal or the Big Dipper, MEMS acceleration pick-up and gyroscope.For the pedestrian who has focused protection demand in traffic system, as the portability such as children and old man MAT terminal, and need to guarantee the vehicle of traffic safety, as school bus or carriage of dangerous goods car etc. also can be installed MAT terminal.MAT terminal, except relevant information in position such as the position, direction, speed and the historical tracks that report, also will report the personage's who carries MAT terminal safety precaution grade.To carrying the MAT that indicates high-risk grade, the traffic information processing equipment of intelligence traffic platform will be taked the strategy of priority processing and alarm.
Above-mentioned traffic information processing equipment, in the time processing concrete traffic information, comprising: the processing of the first traffic information that biology sensor is detected, and the processing of the second traffic information to MAT terminal to report;
Wherein, during to the first road conditions information processing, the information gathering according to biology sensor, carries out the model of pedestrian, other biological, vehicle and obstacle etc. and distinguishes, and determines the attribute such as size and distance of each model simultaneously; And the traffic sign of road pavement is distinguished and the state of definite traffic signal lamp, as lights state etc.
When the second traffic information is processed, mainly comprise state and the situation of change of the traffic signal information such as the traffic lights that the traffic information processing equipment of intelligent transportation platform provides, and intelligent transportation platform traffic information processing equipment to being housed, the personnel of MAT terminal and information that vehicle reports is processed.Traffic information processing equipment can be followed according to the attribute information of MAT terminal itself and be distinguished personnel or the vehicle that this terminal is used for, simultaneously due to information such as MAT terminal meeting real-time report position, direction, speed, platform in conjunction with generalized information system cartographic information, is predicted the track of terminal, is specifically comprised:
1) comprise in the predictable information in crossing or corner that has intersection:
To being equipped with the pedestrian of MAT terminal, the intelligent transportation system time that information is passed through the possibility at crossing to pedestrian and arrived crossing is according to the map carried out trajectory predictions.
To being equipped with the vehicle of MAT terminal, intelligent transportation system is information and vehicle present speed according to the map, and vehicle is arrived the time at crossing and predicted by track.
2) comprise in the predictable information in cross walk place:
To being equipped with the pedestrian of MAT terminal, the intelligent transportation platform possibility that information is passed through cross walk to pedestrian according to the map, and the possibility of pedestrian being passed through to cross walk by traffic indication according to historic records is predicted.
When vehicle is controlled, can the other safety control of hierarchical layered, in the time opening safe driving Based Intelligent Control, traffic safety control system is carried out safety control in conjunction with real-time road condition information to Vehicle Driving Cycle.On road conditions level, be divided into: actual measurement traffic information and predicting road conditions information.On level of security, be divided into: emergency braking control hierarchy, automatic safe control hierarchy and traffic safety are guided rank.Safety control system switches between three safe classes by constitution diagram as shown in Figure 3.
Be directed to common road conditions, as on the road that there is no vehicles or pedestrians or between vehicle, keep enough safety distance in situation, vehicle guides construction quality in traffic safety.Now, vehicle-mounted biology sensor is surveyed with cycle T _ scan, vehicle periodically reports the real time running state of vehicle with T_poi time gap simultaneously, and wherein, this real time running state comprises: the real time running location information of vehicle and/or the real time running velocity information of vehicle.Intelligent transportation platform is according to the current real time running of vehicle position, judge whether this region exists the trajectory predictions information of MAT terminal (trajectory predictions information all refers to the trajectory predictions in the following T_mat time) and this trace information whether to be less than L_mat+ Δ L_mat apart from the shortest distance of vehicle, if meet, push this trace information to vehicle; If route or travel by vehicle front L_cross+ Δ L_cross exists the route informations such as traffic alarm information or four corners simultaneously, intelligent transportation platform also will push this information to vehicle.
The MAT terminal track information of forecasting that vehicle pushes according to intelligent transportation platform, judge whether vehicle current location and the MAT predictably terminal imagination track shortest distance receiving are less than predetermined threshold L_mat, if be less than this threshold value, vehicle explanation vehicle enters road conditions complex region, and vehicle will enter automatic safe construction quality; In addition, traffic alarm or road signs information that vehicle pushes according to intelligent transportation platform, judge whether vehicle is less than predetermined threshold values L_cross apart from four corners, if be less than this threshold value, vehicle also will enter automatic safe construction quality.When vehicle reenters after common road conditions, vehicle will come back to traffic safety and guide construction quality.
Under automatic safe construction quality, the flow process by is as shown in Figure 4 carried out the auxiliary control of traffic safety by vehicle.In this stage, vehicle will judge that the value that whether is less than early warning distance S1(S1 apart from prediction locus or four corners can distinguish to some extent for prediction locus or four corners).When being less than after early warning distance S1, vehicle will judge whether to remind chaufeur to slow down according to current vehicle speed, if the speed of a motor vehicle is greater than alarm threshold V1, remind chaufeur to slow down.Waiting for that after t1 second, chaufeur does not reduce to the speed of a motor vehicle alarm threshold V1 yet, reminds chaufeur vehicle will enter automatic safe control hierarchy, vehicle is by automatic retarding.During this period, vehicle real-time update self run routing information, simultaneously with the periodically traffic information renewal (comprising MAT terminal track information of forecasting, traffic alarm and traffic mark thing information) of receiving platform of T_update time gap.
In the time that vehicle is less than warning apart from S2 apart from prediction locus or four corners; vehicle central control system judges whether traffic indication information requires forbidden or vehicle whether to be less than warning distance S3 apart from MAT predictably terminal imagination track shortest distance; if there is above situation; there is potential safety hazard in explanation, and prompting chaufeur is carried out to car brakeing.Meanwhile, will automatically start biology sensor and carry out pedestrian detection.
In the time that biology sensor detects front and exists pedestrian and collision probability to be greater than certain threshold value P1, vehicle will enter emergency control braking rank.Now, vehicle carries out emergency braking according to present speed v with pedestrian apart from s, and the acceleration alpha of braking need meet:
When biology sensor detect front without pedestrian after, will determine vehicle safety construction quality according to current traffic information, common road conditions if, vehicle will enter traffic safety and guide grade;
If one of met the following conditions:
1) vehicle current location is less than predetermined threshold L_mat with the MAT predictably terminal imagination track shortest distance receiving; 20 vehicle fronts are less than predetermined threshold values L_cross apart from four corners; Vehicle will enter automatic safe construction quality.
In addition, vehicle is under driving safety guidance grade, and vehicle-mounted biology sensor carries out road surface pedestrian's detection with cycle T _ scan.Now, in the time that biology sensor detects front and exists pedestrian and collision probability to be greater than certain threshold value P1, also will automatically take above-mentioned brake mode to brake vehicle.Therefore, emergency braking control is only determined by biology sensor actual measurement traffic information.
The above embodiment of the present invention is by biology sensor and biological detection technology, as: bioradar technology (can adopt wireless mode to gather breathing and the heartbeat message of human body), road pavement pedestrian and other biological are surveyed differentiation, realize vehicle specific aim in case of emergency and automatically control;
By the multisensor judgement of biology sensor and MAT terminal, thereby adopt method at different levels to feed back to driving controller, thereby guarantee the safety traffic of vehicle;
Position by the pedestrian to MAT terminal and vehicle, and the driving trace of prediction pedestrian and vehicle, for providing safety traffic in the traffic information situation that exceeds sighting distance or radar direct projection scope, guides by vehicle;
The traffic safety control information that this programme proposes is by biology sensor, and the multi-sensor collection such as acceleration pick-up and the gyroscope flow process of MAT terminal gathers, and actv. is distinguished being detected thing, automatically controls thereby carry out driving at different levels; And by method at different levels, from actual measurement traffic information and two levels of predicting road conditions information, vehicle is carried out: emergency braking control, automatic safe control and traffic safety are guided the control of three different stages, thereby greatly degree has improved travel safety; And by MAT terminal is installed on emphasis article, to as: the emphasis article such as school bus, old man, children, pregnant woman carry out high-intensity absolute protection, key monitoring object and communicating by letter without MANET of the vehicle around; The processing of traffic information is comprised to the processing of real-time road condition information in horizon range, comprise again intelligent transportation platform to the pedestrian with MAT terminal and vehicle positions and trajectory predictions, thereby according to the current driving situation of these tracks and vehicle, vehicle is carried out to actv. safety control.
As shown in Figure 2, embodiments of the invention also provide a kind of traffic safety control method, comprising:
Wherein, step 11 comprises:
Step 111, gathers the first traffic information in horizon range by multiple biology sensors;
Step 112, obtains the second traffic information that the Internet of Things monitoring MAT terminal in a preset range of vehicle position periphery gathers.
Wherein, step 12 comprises:
Step 121, processes described the first traffic information, obtains the state of various real-time roads in described the first traffic information;
Step 122, processes described the second traffic information, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, step 121 comprises:
Step 1211, described the first traffic information is processed, identify pedestrian, other biology, vehicle and obstacle in various real-time roads, and determine pedestrian, other biology, vehicle and obstacle in various real-time roads size and and distance between any 1;
Step 1212, processes described the first traffic information, identifies the traffic sign on the road surface in various real-time roads and the state of definite traffic signal lamp.
Wherein, step 122 comprises:
Step 1221, processes described the second traffic information, obtains and is having crossing or the corner of intersection, the information of forecasting of the path of motion of the personnel to outfit MAT terminal or the MAT terminal of vehicle;
Step 1222, processes described the second traffic information, and the personnel that obtain being equipped with MAT terminal pass through the information of forecasting of the possibility of cross walk.
Wherein, said method also comprises:
Step 14, the real time running status information of acquisition vehicle; Wherein, described real time running status information comprises: the real time running location information of vehicle and/or real time running velocity information;
Step 121 comprises: according to the real time running status information of described vehicle, when obtaining biology sensor and detecting described vehicle front and have pedestrian, other biology, vehicle and/or obstacle, the collision probability of vehicle and pedestrian, other biology, vehicle and/or obstacle; And the real-time road of described vehicle front while there is not pedestrian, other biology, vehicle and/or obstacle;
Step 122 comprises: according to the real time running status information of described vehicle, described the second traffic information is processed, obtained the road condition predicting information at various crossings in the second traffic information.
Wherein, step 13 comprises:
Step 131, judge according to described result: described vehicle front does not exist the real-time road of pedestrian, other biology, vehicle and obstacle, or described traffic sign represents to pass through, or when traffic signal lamp are clearance state, produce the first control signal, and start traffic safety guide control hierarchy according to described the first control signal, and guide control hierarchy to control vehicle according to described traffic safety;
Step 132, according to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled;
Step 133; judge according to described result: if described collision probability is greater than the 3rd predetermined threshold; or described in described vehicle distances, the path of motion of MAT terminal or the distance apart from four corners are less than warning distance; or the state of traffic sign or traffic signal lamp requires when forbidden; produce the 3rd control signal; and start emergency braking control hierarchy according to described the 3rd control signal, and according to described emergency braking control hierarchy, vehicle is controlled.
Wherein, step 132 comprises: according to the judgement of described result: if the path of motion of described vehicle and described MAT terminal or be less than early warning distance with the distance of four corners, judge whether to remind according to the current real time running speed of vehicle and slow down, if real time running speed is greater than alarm threshold, remind and slow down, waiting for after the t1 time, the real time running speed of vehicle does not reduce to described alarm threshold yet, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, in step 133, described when vehicle is controlled according to described emergency braking control hierarchy, according to following braking acceleration, vehicle is braked to control:
Wherein, the real time running speed that v is vehicle, s is the distance between vehicle and pedestrian, α is braking acceleration.
The embodiment of the method equally also can gather the second traffic information outside the first traffic information and horizon range in horizon range, and this first traffic information and the second traffic information are processed, according to result, vehicle is controlled automatically, thereby provided safety traffic control for vehicle.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (18)
1. a traffic safety control system, is characterized in that, comprising:
Road conditions information gathering device, for gathering the second traffic information outside the first traffic information and the horizon range in horizon range;
Traffic information processing equipment, for described the first traffic information and described the second traffic information are processed, obtains result;
Traffic safety control setup, for according to described result, produces control signal, and according to described control signal, vehicle is controlled.
2. traffic safety control system according to claim 1, is characterized in that, described road conditions information gathering device comprises:
Multiple biology sensors, for gathering the first traffic information in horizon range;
Road information of forecasting obtains module, the second traffic information gathering for the Internet of Things monitoring MAT terminal of obtaining in a preset range of vehicle position periphery.
3. traffic safety control system according to claim 2, is characterized in that, described traffic information processing equipment comprises:
The first road conditions message processing module, for described the first traffic information is processed, obtains the state of various real-time roads in described the first traffic information;
The second traffic information processing module, for described the second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
4. traffic safety control system according to claim 3, is characterized in that, described the first road conditions message processing module comprises:
First processes submodule, for described the first traffic information is processed, identify pedestrian, other biology, vehicle and obstacle in various real-time roads, and determine pedestrian, other biology, vehicle and obstacle in various real-time roads size and and distance between any 1;
Second processes submodule, for described the first traffic information is processed, identifies the traffic sign on the road surface in various real-time roads and the state of definite traffic signal lamp.
5. traffic safety control system according to claim 4, is characterized in that, described the second traffic information processing module comprises:
The 3rd processes submodule, for described the second traffic information is processed, obtains and is having crossing or the corner of intersection, the information of forecasting of the path of motion of the personnel to outfit MAT terminal or the MAT terminal of vehicle;
The 4th processes submodule, and for described the second traffic information is processed, the personnel that obtain being equipped with MAT terminal pass through the information of forecasting of the possibility of cross walk.
6. traffic safety control system according to claim 5, is characterized in that, described traffic information processing equipment also comprises:
Information of vehicles obtains module, for obtaining the real time running status information of vehicle; Wherein, described real time running status information comprises: the real time running location information of vehicle and/or real time running velocity information;
Described the first road conditions message processing module specifically for: according to the real time running status information of described vehicle, when obtaining biology sensor and detecting described vehicle front and have pedestrian, other biology, vehicle and/or obstacle, the collision probability of vehicle and pedestrian, other biology, vehicle and/or obstacle; And the real-time road of described vehicle front while there is not pedestrian, other biology, vehicle and/or obstacle;
Described the second traffic information processing module specifically for: according to the real time running status information of described vehicle, described the second traffic information is processed, is obtained the road condition predicting information at various crossings in the second traffic information.
7. traffic safety control system according to claim 6, is characterized in that, described traffic safety control setup comprises:
The first control module, for judging according to described result: described vehicle front does not exist the real-time road of pedestrian, other biology, vehicle and obstacle, or described traffic sign represents to pass through, or when traffic signal lamp are clearance state, produce the first control signal, and start traffic safety guide control hierarchy according to described the first control signal, and guide control hierarchy to control vehicle according to described traffic safety;
The second control module, be used for according to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled;
The 3rd control module; for judging according to described result: if described collision probability is greater than the 3rd predetermined threshold; or described in described vehicle distances, the path of motion of MAT terminal or the distance apart from four corners are less than warning distance; or the state of traffic sign or traffic signal lamp requires when forbidden; produce the 3rd control signal; and start emergency braking control hierarchy according to described the 3rd control signal, and according to described emergency braking control hierarchy, vehicle is controlled.
8. traffic safety control system according to claim 7, is characterized in that, described the second control module specifically for:
According to the judgement of described result: if the path of motion of described vehicle and described MAT terminal or be less than early warning distance with the distance of four corners; judge whether to remind according to the current real time running speed of vehicle and slow down; if real time running speed is greater than alarm threshold; remind and slow down; waiting for after the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; produce the second control signal; and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
9. traffic safety control system according to claim 7, is characterized in that, described the 3rd control module is braked control according to following braking acceleration to vehicle:
Wherein, the real time running speed that v is vehicle, s is the distance between vehicle and pedestrian, α is braking acceleration.
10. a traffic safety control method, is characterized in that, comprising:
The first traffic information in collection horizon range and the second traffic information outside horizon range;
Described the first traffic information and described the second traffic information are processed, obtained result;
According to described result, produce control signal, and according to described control signal, vehicle is controlled.
11. traffic safety control methods according to claim 10, is characterized in that, the step of the second traffic information outside the first traffic information and horizon range in described collection horizon range comprises:
Gather the first traffic information in horizon range by multiple biology sensors;
Obtain the second traffic information that the Internet of Things monitoring MAT terminal in a preset range of vehicle position periphery gathers.
12. traffic safety control methods according to claim 11, is characterized in that, described described the first traffic information and described the second traffic information are processed, and the step that obtains result comprises:
Described the first traffic information is processed, obtained the state of various real-time roads in described the first traffic information;
Described the second traffic information is processed, obtained the road condition predicting information at various crossings in the second traffic information.
13. traffic safety control methods according to claim 12, is characterized in that, described described the first traffic information are processed, and the step that obtains the state of various real-time roads in described the first traffic information comprises:
Described the first traffic information is processed, identify pedestrian, other biology, vehicle and obstacle in various real-time roads, and determine pedestrian, other biology, vehicle and obstacle in various real-time roads size and and distance between any 1;
Described the first traffic information is processed, identified the traffic sign on the road surface in various real-time roads and the state of definite traffic signal lamp.
14. traffic safety control methods according to claim 13, is characterized in that, described described the second traffic information are processed, and the step that obtains the road condition predicting information at various crossings in the second traffic information comprises:
Described the second traffic information is processed, obtained and having crossing or the corner of intersection, the information of forecasting of the path of motion of the personnel to outfit MAT terminal or the MAT terminal of vehicle;
Described the second traffic information is processed, and the personnel that obtain being equipped with MAT terminal pass through the information of forecasting of the possibility of cross walk.
15. traffic safety control methods according to claim 14, is characterized in that, also comprise:
Obtain the real time running status information of vehicle; Wherein, described real time running status information comprises: the real time running location information of vehicle and/or real time running velocity information;
Described the first traffic information is processed, the step that obtains the state of various real-time roads in described the first traffic information specifically comprises: according to the real time running status information of described vehicle, when obtaining biology sensor and detecting described vehicle front and have pedestrian, other biology, vehicle and/or obstacle, the collision probability of vehicle and pedestrian, other biology, vehicle and/or obstacle; And the real-time road of described vehicle front while there is not pedestrian, other biology, vehicle and/or obstacle;
Described the second traffic information is processed, the step that obtains the road condition predicting information at various crossings in the second traffic information specifically comprises: according to the real time running status information of described vehicle, described the second traffic information is processed, obtained the road condition predicting information at various crossings in the second traffic information.
16. traffic safety control methods according to claim 15, is characterized in that, described according to described result, produce control signal, and the step of vehicle being controlled according to described control signal comprise:
Judge according to described result: described vehicle front does not exist the real-time road of pedestrian, other biology, vehicle and obstacle, or described traffic sign represents to pass through, or when traffic signal lamp are clearance state, produce the first control signal, and start traffic safety guide control hierarchy according to described the first control signal, and guide control hierarchy to control vehicle according to described traffic safety;
According to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled;
Judge according to described result: if described collision probability is greater than the 3rd predetermined threshold; or described in described vehicle distances, the path of motion of MAT terminal or the distance apart from four corners are less than warning distance; or the state of traffic sign or traffic signal lamp requires when forbidden; produce the 3rd control signal; and start emergency braking control hierarchy according to described the 3rd control signal, and according to described emergency braking control hierarchy, vehicle is controlled.
17. traffic safety control methods according to claim 16, it is characterized in that, described according to described result and according to the distance between distance or described vehicle and front four corners between described vehicle and the path of motion of described MAT terminal, produce the second control signal, and start automatic safe control hierarchy according to described the second control signal, and the step of vehicle being controlled according to described automatic safe control hierarchy comprises:
According to the judgement of described result: if the path of motion of described vehicle and described MAT terminal or be less than early warning distance with the distance of four corners; judge whether to remind according to the current real time running speed of vehicle and slow down; if real time running speed is greater than alarm threshold; remind and slow down; waiting for after the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; produce the second control signal; and start automatic safe control hierarchy according to described the second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
18. traffic safety control methods according to claim 16, is characterized in that, described when vehicle is controlled according to described emergency braking control hierarchy, according to following braking acceleration, vehicle are braked to control:
Wherein, the real time running speed that v is vehicle, s is the distance between vehicle and pedestrian, α is braking acceleration.
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