Method, device and electronic device for preventing lateral collision of driving training vehicle

Abstract

The present invention provides a method for preventing lateral collisions of driving training vehicles, including: calculating the motion state of the host vehicle based on the position information and heading azimuth angle of the host vehicle; calculating the distances between the host vehicle and surrounding vehicles at the current moment to obtain the surrounding vehicles within a preset range; calculating their quadrant positions relative to the host vehicle and their relationship with the heading azimuth angle of the host vehicle to obtain the surrounding vehicles that laterally cross relative to the host vehicle; judging the motion relationship between the laterally crossing surrounding vehicles and the host vehicle, and judging whether there is a risk of lateral collision according to the motion relationship. If there is a risk, a preset avoidance action is triggered and executed. The present invention realizes the prediction of the host vehicle for potential surrounding vehicles that laterally cross through the sharing of the position information, heading azimuth angle, motion state, etc. of the vehicle, thereby solving the safety problem of vehicle lateral crossing.

Description

Technical Field

[0001] The invention relates to a method for preventing a lateral collision of a driving training vehicle, and belongs to the technical field of vehicle collision safety. Background Art

[0002] As people's living standards continue to improve, convenient transportation has become a major demand of people, and travel safety is of paramount importance. Motor vehicle driving skills are receiving more and more attention from people. Every year, tens of thousands of students participate in professional driving skills training and obtain a driver's license after passing the motor vehicle driving skills test; passing the driving skills test can help drivers avoid traffic accidents while driving vehicles. The occurrence of accidents will not only have a certain impact on the vehicle itself, but also pose a very serious threat to people's safety and economy.

[0003] In the field of driving training, the robot coach training model has gradually replaced the traditional coach-led training model, thereby greatly reducing the cost of training. Currently, the robot coaches on the market are based on millimeter-wave radar to solve the problem of anti-collision with obstacles in front of the training. However, on the one hand, the millimeter-wave radar cannot provide timely feedback for vehicles crossing the front of the vehicle at a faster speed. On the other hand, this method is costly and requires higher vehicle modification, which greatly increases the difficulty and cost of on-site implementation. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides a method for preventing lateral collision of a driving training vehicle, so as to solve the safety problem caused by the lateral close crossing of the front vehicle during the existing driving training process. Furthermore, the present invention also provides a device and electronic equipment for preventing lateral collision of a driving training vehicle.

[0005] In order to achieve the above object, the technical solution adopted by the present invention includes:

[0006] Solution 1: A method for preventing lateral collision of driving training vehicles, mainly including:

[0007] Step S1, calculating the motion state of the vehicle according to the position information and the heading azimuth of the vehicle; the motion state includes stationary, forward, and backward; the position information and the heading azimuth are obtained in real time by the vehicle-mounted GPS dual antenna installed on the vehicle, and the position information refers to the latitude and longitude coordinates of the main antenna in the vehicle-mounted GPS dual antenna;

[0008] Step S2, obtaining the position information, heading azimuth and motion status of surrounding vehicles in the driving training venue, calculating the distance between the vehicle and the surrounding vehicles at the current moment according to the position information, heading azimuth and motion status, and obtaining surrounding vehicles whose distance is within a preset range;

[0009] Step S3: For the surrounding vehicles within the preset distance range, calculate their quadrant positions relative to the host vehicle and their heading azimuth angle relationship with the host vehicle, and obtain the surrounding vehicles that laterally cross relative to the host vehicle according to the heading angle relationship;

[0010] Step S4: For the surrounding vehicles that laterally cross, obtain the motion relationship between the laterally crossing surrounding vehicles and the host vehicle according to their quadrant positions relative to the host vehicle and their motion state information, and judge whether there is a risk of lateral collision according to the motion relationship. If so, trigger the execution of a preset avoidance action.

[0011] As a preferred solution, in step S1, calculating the motion state of the host vehicle according to the position information and heading azimuth angle of the host vehicle specifically includes:

[0012] Calculate the change distance between two consecutive GPS frames in the position information through formula (1):

[0013]

[0014] In the formula, d is the change distance between two consecutive frames, (x1, y1) is the coordinate of the main antenna of the vehicle in the current frame, and (x2, y2) is the coordinate of the main antenna of the vehicle in the next frame;

[0015] When the change distance value between two consecutive frames is less than the first preset value, then this vehicle is in a stationary state; when the change distance value between two consecutive frames is greater than or equal to the first preset value, then this vehicle is in a non-stationary state;

[0016] If the vehicle is in a non-stationary state, calculate the azimuth angle of the non-stationary vehicle's GPS between two consecutive frames through formula (2):

[0017]

[0018] In the formula, angle is the azimuth angle of the vehicle's GPS between two consecutive frames, (x1, y1) is the coordinate of the main antenna of the vehicle in the current frame, and (x2, y2) is the coordinate of the main antenna of the vehicle in the next frame;

[0019] Take the difference between the azimuth angle of the non-stationary vehicle's GPS between two consecutive frames and the heading azimuth angle. If the absolute value of the difference is within the range of 0 - 60 degrees, it is considered to be in the same direction and in a forward state, otherwise the vehicle is in a backward state.

[0020] As a preferred solution, step 1 further includes: If the change distance value between two consecutive frames is greater than the second preset value, then filter and delete it.

[0021] As a preferred solution, the first preset value is 0.03 meters, and the second preset value is 0.8 meters.

[0022] As a preferred solution, in the step S2, the distance between the host vehicle and surrounding vehicles at the current moment is calculated according to the position information, the heading azimuth angle, and the motion state, which specifically includes:

[0023] According to the position information and the length and width values of the vehicle stored in advance, the coordinates of the four corner points of each vehicle body are calculated;

[0024] The distances from the four corner points of the host vehicle to the four corner points of each surrounding vehicle are calculated respectively, and the minimum distance among them is taken as the distance between the host vehicle and the surrounding vehicle, so as to obtain the distances between the host vehicle and each surrounding vehicle;

[0025] d min1 = min{d 11 , d 12 , d 13 , d 14}

[0026] d min2 = min{d 21 , d 22 , d 23 , d 24}

[0027] d min3 = min{d 31 , d 32 , d 33 , d 34}

[0028] d min4 = min{d 41 , d 42 , d 43 , d 44}

[0029] d min = min{d min1 , d min2 , d min3 , d min4}

[0030] In the formula, d ij respectively represent the distance values between the i-th corner point of the host vehicle and the j-th corner point of the surrounding vehicle, where i = 1, 2, 3, 4; j = 1, 2, 3, 4; d min1 , d min2 , d min3 , d min4 represent the minimum distance values between the first, second, third, and fourth corner points of the host vehicle and the surrounding vehicle; d min represents the minimum distance value between the host vehicle and the surrounding vehicle.

[0031] As a preferred solution, the preset range in the step S2 is 10 meters.

[0032] As a preferred solution, step S3 specifically includes:

[0033] S31. Calculate the four-quadrant position of the surrounding vehicles within a preset range of the distance relative to the host vehicle;

[0034] Establish a rectangular coordinate system with the center point of the host vehicle body as the origin, and convert the absolute coordinates of the surrounding vehicles into the rectangular coordinate system. The algorithm for converting the coordinate system is as follows:

[0035] x4 = x3 cosθ - y3 sinθ

[0036] y4 = x3 sinθ + y3 cosθ

[0037] In the formula, (x3, y3) is the main antenna coordinate of the surrounding vehicle, (x4, y4) is the main antenna coordinate of the surrounding vehicle in the coordinate system of the host vehicle, and θ is the difference in the course azimuth angle between the host vehicle and the surrounding vehicle;

[0038] In the coordinate system of the host vehicle, the judgment method for the four-quadrant position of the surrounding vehicle is as follows:

[0039] If x4 > 0 and y4 > 0, the surrounding vehicle is located in the front right of the host vehicle;

[0040] If x4 < 0 and y4 > 0, the surrounding vehicle is located in the front left of the host vehicle;

[0041] If x4 < 0 and y4 < 0, the surrounding vehicle is located in the rear left of the host vehicle;

[0042] If x4 > 0 and y4 < 0, the surrounding vehicle is located in the rear right of the host vehicle;

[0043] S32. Calculate the relationship between the course angles of the surrounding vehicles within a preset range of the distance and the host vehicle. For the surrounding vehicles within the range of plus or minus 45 degrees in the direction perpendicular to the host vehicle body, it is determined as the vehicles crossing horizontally, specifically as follows:

[0044] The surrounding vehicle travels to the right relative to the host vehicle: angle1 + 45° < angle2 < angle1 + 135°;

[0045] The surrounding vehicle travels to the left relative to the host vehicle: angle1 + 225° < angle2 < angle1 + 315°;

[0046] In the formula, angle1 is the course azimuth angle of the host vehicle, and angle2 is the course azimuth angle of the surrounding vehicle.

[0047] As a preferred solution, in step S4, it is determined whether there is a risk of lateral collision according to the motion relationship, specifically including:

[0048] In the scenario of the host vehicle moving forward, the situations where a lateral collision risk is determined to exist include:

[0049] A surrounding vehicle is located in the front left of the host vehicle, is moving forward with a direction to the right relative to the host vehicle;

[0050] A surrounding vehicle is located in the front left of the host vehicle, is moving backward with a direction to the left relative to the host vehicle;

[0051] A surrounding vehicle is located in the front right of the host vehicle, is moving backward with a direction to the right relative to the host vehicle;

[0052] A surrounding vehicle is located in the front right of the host vehicle, is moving forward with a direction to the left relative to the host vehicle;

[0053] In the scenario of the host vehicle moving backward, the situations where a lateral collision risk is determined to exist include:

[0054] A surrounding vehicle is located in the rear right of the host vehicle, is moving backward with a direction to the right relative to the host vehicle;

[0055] A surrounding vehicle is located in the rear right of the host vehicle, is moving forward with a direction to the left relative to the host vehicle;

[0056] A surrounding vehicle is located in the rear left of the host vehicle, is moving forward with a direction to the right relative to the host vehicle;

[0057] A surrounding vehicle is located in the rear left of the host vehicle, is moving backward with a direction to the left relative to the host vehicle.

[0058] Solution 2: Discloses a device for preventing lateral collisions of a driving training vehicle, mainly including:

[0059] A vehicle information acquisition module, configured to obtain the position information and heading azimuth angle of the vehicle in real time through the on-vehicle GPS dual antennas installed on the vehicle, and obtain the position information, heading azimuth angle and motion state of the surrounding vehicles in the driving training ground through the cloud server;

[0060] A vehicle motion state determination module, configured to calculate the motion state of the vehicle according to the position information and heading azimuth angle;

[0061] A vehicle determination module within a preset range, configured to calculate the distance between the host vehicle and the surrounding vehicles at the current moment according to the position information, heading azimuth angle and motion state, and obtain the surrounding vehicles whose distances are within the preset range;

[0062] A lateral crossing vehicle determination module, configured to calculate the four-quadrant position of the surrounding vehicles within the preset range relative to the host vehicle and the relationship between the heading azimuth angle and the host vehicle, and obtain the surrounding vehicles that laterally cross relative to the host vehicle according to the heading angle relationship;

[0063] The collision risk judgment module is used to obtain the motion relationship between the surrounding vehicles during the lateral crossing and the host vehicle based on the four - quadrant position and motion state information of the surrounding vehicles during the lateral crossing relative to the host vehicle, judge whether there is a lateral collision risk according to the motion relationship, and control the actuator to execute a preset avoidance action when there is a lateral collision risk;

[0064] The storage module is used to store the length and width values of the vehicle, as well as the position information, heading azimuth angle, and motion state.

[0065] Solution three: Discloses an electronic device, mainly including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the method for preventing lateral collision of a driving training vehicle described in Solution one or any one of its preferred solutions.

[0066] The method of the present invention can make a prediction of potential surrounding vehicles during lateral crossing by the host vehicle through the sharing of the vehicle's position information, heading azimuth angle, motion state, etc., thereby solving the safety problems caused by vehicle lateral crossing. And through the use of this method, there is no need to add the number of radars or other electronic devices, nor the extra surveying and deployment work of on - site personnel in the driving training ground, which greatly saves the economic cost and improves the operation efficiency. Brief Description of the Drawings

[0067] Figure 1 It is a schematic flowchart of the method for preventing collision of a driving training vehicle described in Embodiment 1;

[0068] Figure 2 It is a schematic diagram for converting the absolute coordinates of surrounding vehicles into the rectangular coordinate system of the host vehicle. Detailed Embodiments

[0069] For the convenience of those skilled in the art, the present invention will be further described below in conjunction with embodiments and drawings. The content mentioned in the embodiments does not limit the present invention.

[0070] Combined with Figure 1 As shown, Embodiment 1 discloses a method for preventing collision of a driving training vehicle, mainly including the following steps:

[0071] Step 1: Calculate the motion state of the host vehicle according to the obtained position information (specifically referring to longitude and latitude information) and heading azimuth angle (abbreviated as "heading angle") information of the host vehicle. Among them, the motion state of the vehicle includes: stationary, forward, and backward (i.e., reverse state).

[0072] On each vehicle within the driving training ground, an in-vehicle GPS dual antenna is installed, as well as an in-vehicle terminal that can communicate with the in-vehicle GPS dual antenna and the cloud server. Through the in-vehicle GPS dual antenna, differential positioning technology can be implemented to obtain the heading azimuth angle. The in-vehicle GPS dual antenna usually includes a main antenna and a secondary antenna, and the longitude and latitude information of the main antenna is usually selected when obtaining position information. The in-vehicle GPS dual antenna real-time collects the position information and heading azimuth angle information of the vehicle and transmits them to the in-vehicle terminal. The in-vehicle terminal is mainly used for data acquisition, data processing, as well as data upload and download. The in-vehicle terminal of the self-vehicle calculates the motion state of the vehicle based on the obtained vehicle position information and heading azimuth angle, and uploads information such as the vehicle position information, heading azimuth angle, and motion state of the self-vehicle to the cloud server for other in-vehicle terminals to download and use. Here, the cloud server mainly plays the role of data transfer, collecting the data uploaded by each in-vehicle terminal and providing relevant data for each in-vehicle terminal to download.

[0073] The specific calculation method in step 1 mainly includes:

[0074] 11) Calculate the distance value between two consecutive frames of vehicle GPS data. Specifically, the change distance between two consecutive frames can be calculated through the Pythagorean theorem as follows:

[0075]

[0076] In the formula, d is the change distance between two consecutive frames, (x1, y1) is the coordinate of the main antenna of the vehicle in the current frame, and (x2, y2) is the coordinate of the main antenna of the vehicle in the next frame.

[0077] 12) When the change distance value between the two consecutive frames is greater than 0.8 meters, deletion processing is performed. Usually, a distance exceeding 0.8 meters between two consecutive frames is considered a gross error caused by GPS frame skipping. The gross error is filtered and deleted to avoid affecting the judgment of the vehicle state; when the change distance value between the two consecutive frames is less than 0.03 meters, then this vehicle is in a stationary state; when the change distance value between the two consecutive frames is greater than or equal to 0.03 meters, then this vehicle is in a non-stationary state, and step 13) is entered to further determine whether the vehicle is in a forward state or a backward state; here, 0.8 meters and 0.03 meters are empirical values and can also be adjusted according to actual situations in other embodiments.

[0078] 13) Calculate the azimuth angle between two consecutive frames of vehicle GPS, that is, the angle generated after the change between two consecutive frames. The azimuth angle calculation formula is as follows:

[0079]

[0080] In the formula, angle is the azimuth angle between two consecutive frames of vehicle GPS, (x1, y1) is the coordinate of the main antenna of the vehicle in the current frame, and (x2, y2) is the coordinate of the main antenna of the vehicle in the next frame.

[0081] 14) Calculate the difference between the azimuth angles of the front and rear frames of the vehicle's GPS and the heading azimuth angle. If the absolute value of the difference is in the range of 0 - 60 degrees, it is considered the same direction and the vehicle is in the forward state; otherwise, the vehicle is in the reverse state.

[0082] Step 2: Obtain the position information, heading azimuth angle, and motion state of the surrounding vehicles within the driving training ground. Calculate the distance between the host vehicle and the surrounding vehicles at the current moment based on the position information, heading azimuth angle, and vehicle motion state, and obtain the vehicles within a distance range of 0 - 10 meters from the host vehicle.

[0083] The specific implementation plan of Step 2 mainly includes:

[0084] 21) Obtain the position information, heading azimuth angle, and motion state of the surrounding vehicles within the driving training ground.

[0085] 22) Calculate the coordinates of the four corner points of the vehicle body based on the longitude and latitude coordinates of the main antenna of the vehicle GPS and the length and width values of each vehicle pre - stored in the vehicle terminal. Here, the corner points refer to the four vertices of the left - front, right - front, left - rear, and right - rear of the vehicle body.

[0086] 23) Calculate the distances from the four corner points of the host vehicle to the four corner points of each surrounding vehicle respectively, and take the minimum distance as the distance value between the host vehicle and the surrounding vehicle. Thus, the distances between the host vehicle and each surrounding vehicle can be obtained;

[0087] d min1 =min{d 11 ,d 12 ,d 13 ,d 14}

[0088] d min2 =min{d 21 ,d 22 ,d 23 ,d 24}

[0089] d min3 =min{d 31 ,d 32 ,d 33 ,d 34}

[0090] d min4 =min{d 41 ,d 42 ,d 43 ,d 44}

[0091] d min =min{d min1 ,d min2 ,dmin3 , d min4}

[0092] In the formula, d 11 , d 12 , d 13 , d 14 respectively represent the distance values between the first corner point of the host vehicle and the first, second, third, and fourth corner points of the surrounding vehicles. And so on, d 41 , d 42 , d 43 , d 44 respectively represent the distance values between the fourth corner point of the host vehicle and the first, second, third, and fourth corner points of the surrounding vehicles; d min1 , d min2 , d min3 , d min4 represents the minimum distance between the first, second, third, and fourth corner points of the host vehicle and the surrounding vehicles; d min represents the minimum distance between the host vehicle and the surrounding vehicles.

[0093] 24) Obtain information about surrounding vehicles within a distance range of 0 - 10 meters from the host vehicle. The vehicle information includes: the position of the vehicle (latitude and longitude information), the heading azimuth angle, and the vehicle motion state.

[0094] Step 3: For surrounding vehicles within a distance range of 0 - 10 meters from the host vehicle, calculate the four - quadrant position information of the surrounding vehicles relative to the host vehicle and the relationship between the heading angles with the host vehicle, and determine which of these surrounding vehicles belong to the vehicles crossing horizontally according to the heading angle relationship.

[0095] Among them, the method for calculating the four - quadrant position of surrounding vehicles relative to the host vehicle within a preset distance range is as follows:

[0096] Combined with Figure 2 shown, establish a rectangular coordinate system with the center point of the host vehicle body as the origin, and convert the absolute coordinates of the surrounding vehicles into the rectangular coordinate system; the coordinate conversion algorithm is:

[0097] x4 = x3 cosθ - y3 sinθ

[0098] y4 = x3 sinθ + y3 cosθ

[0099] In the formula, (x3, y3) is the main antenna coordinate of the surrounding vehicle, (x4, y4) is the main antenna coordinate of the surrounding vehicle in the host vehicle coordinate system, and θ is the difference in heading angles between the host vehicle and the surrounding vehicle;

[0100] In the host vehicle coordinate system, the method for judging the position of the surrounding vehicle is as follows:

[0101] If x4 > 0 and y4 > 0, the surrounding vehicle is located in the front right of the host vehicle;

[0102] If x4 < 0 and y4 > 0, the surrounding vehicle is located in the front left of the host vehicle;

[0103] If x4 < 0 and y4 < 0, the surrounding vehicle is located in the rear left of the host vehicle;

[0104] If x4 > 0 and y4 < 0, the surrounding vehicle is located in the rear right of the host vehicle;

[0105] Among them, when calculating the heading azimuth angle relationship between the surrounding vehicles within a preset range from the host vehicle, for the surrounding vehicles within the range of plus or minus 45 degrees in the vertical direction of the host vehicle, they are considered as vehicles crossing horizontally, specifically as follows:

[0106] The surrounding vehicle is moving right relative to the host vehicle: angle1 + 45° < angle2 < angle1 + 135°;

[0107] The surrounding vehicle is moving left relative to the host vehicle: angle1 + 225° < angle2 < angle1 + 315°;

[0108] In the formula, angle1 is the heading angle of the host vehicle, and angle2 is the heading angle of the surrounding vehicle;

[0109] Step 4: For the surrounding vehicles crossing horizontally, judge the motion relationship between the surrounding vehicles and the host vehicle in four quadrants, that is, whether the surrounding vehicle is moving away from or approaching the host vehicle, and judge whether there is a risk of lateral collision between the host vehicle and the surrounding vehicle. If there is, perform a braking action.

[0110] Among them, in the scenario where the host vehicle is moving forward, the situations where a risk of lateral collision is determined to exist include:

[0111] The surrounding vehicle is located in the front left of the host vehicle, moving right relative to the host vehicle and in a forward state;

[0112] The surrounding vehicle is located in the front left of the host vehicle, moving left relative to the host vehicle and in a backward state;

[0113] The surrounding vehicle is located in the front right of the host vehicle, moving right relative to the host vehicle and in a backward state;

[0114] The surrounding vehicle is located in the front right of the host vehicle, moving left relative to the host vehicle and in a forward state;

[0115] In the scenario where the host vehicle is moving backward, the situations where a risk of lateral collision is determined to exist include:

[0116] The surrounding vehicle is located in the rear right of the host vehicle, moving right relative to the host vehicle and in a backward state;

[0117] The surrounding vehicle is located at the right rear of the host vehicle, moving forward relative to the host vehicle with a leftward direction.

[0118] The surrounding vehicle is located at the left rear of the host vehicle, moving forward relative to the host vehicle with a rightward direction.

[0119] The surrounding vehicle is located at the left rear of the host vehicle, moving backward relative to the host vehicle with a leftward direction.

[0120] Furthermore, Embodiment 2 discloses an in-vehicle terminal that can be used to implement the method for preventing lateral collisions of a driver training vehicle described above. It mainly includes a vehicle information acquisition module, a vehicle motion state determination module, a vehicle determination module within a preset range, a lateral crossing vehicle determination module, a collision risk judgment module, and a storage module.

[0121] Among them, the vehicle information acquisition module: obtains the position information and heading azimuth angle of the vehicle in real time through the in-vehicle GPS dual antennas installed on the vehicle, and obtains the position information, heading azimuth angle, and motion state of the surrounding vehicles within the driver training site through the cloud server.

[0122] The vehicle motion state determination module: calculates the motion state of the vehicle based on the position information and heading azimuth angle.

[0123] The vehicle determination module within a preset range: calculates the distance between the host vehicle and the surrounding vehicles at the current moment based on the position information, heading azimuth angle, and motion state, and obtains the surrounding vehicles whose distances are within the preset range.

[0124] The lateral crossing vehicle determination module: calculates the four-quadrant position of the surrounding vehicles within the preset range relative to the host vehicle and the relationship between the heading azimuth angles with the host vehicle, and obtains the surrounding vehicles that cross laterally relative to the host vehicle based on the heading angle relationship.

[0125] The collision risk judgment module: obtains the motion relationship between the laterally crossing surrounding vehicles and the host vehicle based on the four-quadrant position and motion state information of the laterally crossing surrounding vehicles relative to the host vehicle, judges whether there is a lateral collision risk based on the motion relationship, and controls the actuator to execute a preset avoidance action, such as braking, when there is a lateral collision risk.

[0126] The storage module: stores the length and width values of the vehicle, as well as information such as position information, heading azimuth angle, and motion state.

[0127] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0128] Based on the same inventive concept, Embodiment 3 also discloses an electronic device, which at least includes a processor and a memory. The processor is mainly used to call a computer program in the memory. When the processor executes the computer program, each step in the method provided in Embodiment 1 is implemented. For example, the motion state of the host vehicle is calculated based on the position information and the heading azimuth angle of the host vehicle; the position information, the heading azimuth angle, and the motion state of the surrounding vehicles in the driving training ground are obtained, and the distance between the host vehicle and the surrounding vehicles at the current moment is calculated according to the position information, the heading azimuth angle, and the motion state, and the surrounding vehicles with the distance within a preset range are obtained; the quadrant position of the surrounding vehicles relative to the host vehicle and the relationship between its heading azimuth angle and the host vehicle are calculated, and the surrounding vehicles that laterally cross the host vehicle are obtained according to the heading angle relationship; the motion relationship between the laterally crossing surrounding vehicles and the host vehicle is obtained according to the quadrant position of the surrounding vehicles relative to the host vehicle and its motion state information, and whether there is a risk of lateral collision is judged according to the motion relationship. If so, a preset avoidance action is triggered to be executed.

[0129] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0130] Finally, it should be noted that although the above embodiments of the present invention have been described, the present invention is not limited to the above specific embodiments and application fields. The above specific embodiments are merely illustrative and guiding, rather than restrictive. Under the inspiration of this specification, those of ordinary skill in the art can also make many forms without departing from the scope protected by the claims of the present invention, and these all belong to the scope of protection of the present invention.

Claims

1. A method for preventing lateral collisions of driving training vehicles, characterized in that, Including: Step S1: Calculate the motion state of the host vehicle based on the position information and the heading azimuth angle of the host vehicle; the motion state includes stationary, forward, and reverse. The position information and the heading azimuth angle are obtained in real time by the vehicle-mounted GPS dual antennas installed on the vehicle, and the position information refers to the longitude and latitude coordinates of the main antenna in the vehicle-mounted GPS dual antennas. Step S2: Obtain the position information, the heading azimuth angle, and the motion state of the surrounding vehicles in the driving training ground, calculate the distance between the host vehicle and the surrounding vehicles at the current moment according to the position information, the heading azimuth angle, and the motion state, and obtain the surrounding vehicles whose distances are within a preset range. Step S3: For the surrounding vehicles whose distances are within the preset range, calculate their quadrant positions relative to the host vehicle and their heading azimuth angle relationships with the host vehicle, and obtain the surrounding vehicles that cross horizontally relative to the host vehicle according to the heading azimuth angle relationships. Step S4: For the surrounding vehicles that cross horizontally, obtain the motion relationship between the surrounding vehicles that cross horizontally and the host vehicle according to their quadrant positions relative to the host vehicle and their motion states, determine whether there is a risk of lateral collision according to the motion relationship, and if so, trigger and execute a preset avoidance action; the motion relationship includes the position, the motion direction, and the motion state of the surrounding vehicle relative to the host vehicle.

2. The method according to claim 1, characterized in that, In step S1, calculating the motion state of the host vehicle according to the position information and the heading azimuth angle of the host vehicle specifically includes: Calculate the GPS change distance between two consecutive frames in the position information through formula (1): In the formula, d is the change distance between two consecutive frames, (x1, y1) is the coordinate of the main antenna of the vehicle in the current frame, and (x2, y2) is the coordinate of the main antenna of the vehicle in the next frame. When the change distance value between two consecutive frames is less than the first preset value, then this vehicle is in a stationary state; when the change distance value between two consecutive frames is greater than or equal to the first preset value, then this vehicle is in a non-stationary state. If the vehicle is in a non-stationary state, calculate the azimuth angle of the non-stationary vehicle's GPS between two consecutive frames through formula (2): In the formula, angle is the azimuth angle of the vehicle's GPS between two consecutive frames, (x1, y1) is the coordinate of the main antenna of the vehicle in the current frame, and (x2, y2) is the coordinate of the main antenna of the vehicle in the next frame. Take the difference between the azimuth angle of the non-stationary vehicle's GPS between two consecutive frames and the heading azimuth angle. If the absolute value of the difference is within the range of 0 - 60 degrees, it is considered to be in the same direction and in the forward state, otherwise the vehicle is in the reverse state.

3. The method according to claim 2, characterized in that, Also including: If the change distance value between two consecutive frames is greater than the second preset value, then perform filtering and deletion.

4. The method according to claim 3, wherein The first preset value is 0.03 meters, and the second preset value is 0.8 meters.

5. The method according to claim 1, characterized in that In step S2, calculating the distance between the host vehicle and the surrounding vehicles at the current moment according to the position information, the heading azimuth angle, and the motion state specifically includes: Calculate the coordinates of the four corner points of each vehicle body according to the position information and the pre-stored length and width values of the vehicle. Calculate the distances from the four corner points of the host vehicle to the four corner points of each surrounding vehicle respectively, and take the minimum distance as the distance between the host vehicle and the surrounding vehicle to obtain the distances between the host vehicle and each surrounding vehicle. d min1 = min{d 11 , d 12 , d 13 , d 14} d min2 = min{d 21 , d 22 , d 23 , d 24} d min3 = min{d 31 , d 32 , d 33 , d 34} d min4 = min{d 41 , d 42 , d 43 , d 44} d min = min{d min1 , d min2 , d min3 , d min4} where d ij respectively represent the distance values between the i-th corner point of the host vehicle and the j-th corner point of the surrounding vehicle, where i = 1, 2, 3, 4; j = 1, 2, 3, 4; d min1 , d min2 , d min3 , d min4 represent the minimum distance values between the first, second, third, and fourth corner points of the host vehicle and the surrounding vehicle; d min represents the minimum distance between the host vehicle and the surrounding vehicle.

6. The method according to claim 1, characterized in that, The preset range in step S2 is 10 meters.

7. The method according to claim 1, characterized in that Step S3 specifically includes: S31. Calculate the quadrant positions of surrounding vehicles within a preset range of the distance relative to the host vehicle; Establish a rectangular coordinate system with the center point of the host vehicle body as the origin, and convert the absolute coordinates of the surrounding vehicles into the rectangular coordinate system. The algorithm for converting the coordinate system is as follows: x4 = x3 cosθ - y3 sinθ y4 = x3 sinθ + y3 cosθ In the formula, (x3, y3) are the coordinates of the main antenna of the surrounding vehicle, (x4, y4) are the coordinates of the main antenna of the surrounding vehicle in the coordinate system of the host vehicle, and θ is the difference in the heading azimuth angle between the host vehicle and the surrounding vehicle; In the coordinate system of the host vehicle, the judgment method for the quadrant position of the surrounding vehicle is as follows: If x4 > 0 and y4 > 0, the surrounding vehicle is located in the front right of the host vehicle; If x4 < 0 and y4 > 0, the surrounding vehicle is located in the front left of the host vehicle; If x4 < 0 and y4 < 0, the surrounding vehicle is located in the rear left of the host vehicle; If x4 > 0 and y4 < 0, the surrounding vehicle is located in the rear right of the host vehicle; S32. Calculate the relationship between the heading azimuth angles of the surrounding vehicles within a preset range of the distance and the host vehicle. For surrounding vehicles within the range of plus or minus 45 degrees in the direction perpendicular to the body of the host vehicle, it is determined as vehicles crossing horizontally, specifically as follows: The surrounding vehicle travels to the right relative to the host vehicle: angle1 + 45° < angle2 < angle1 + 135°; The surrounding vehicle travels to the left relative to the host vehicle: angle1 + 225° < angle2 < angle1 + 315°; In the formula, angle1 is the heading azimuth angle of the host vehicle, and angle2 is the heading azimuth angle of the surrounding vehicle.

8. The method according to claim 1, characterized in that, In step S4, judging whether there is a risk of lateral collision according to the motion relationship specifically includes: In the scenario where the host vehicle is moving forward, the situations where it is determined that there is a risk of lateral collision include: The surrounding vehicle is located in the front left of the host vehicle, traveling to the right relative to the host vehicle and in the forward state; The surrounding vehicle is located in the front left of the host vehicle, traveling to the left relative to the host vehicle and in the backward state; The surrounding vehicle is located in the front right of the host vehicle, traveling to the right relative to the host vehicle and in the backward state; The surrounding vehicle is located in the front right of the host vehicle, traveling to the left relative to the host vehicle and in the forward state; In the scenario where the host vehicle is moving backward, the situations where it is determined that there is a risk of lateral collision include: The surrounding vehicle is located in the rear right of the host vehicle, traveling to the right relative to the host vehicle and in the backward state; The surrounding vehicle is located in the rear right of the host vehicle, traveling to the left relative to the host vehicle and in the forward state; The surrounding vehicle is located in the rear left of the host vehicle, traveling to the right relative to the host vehicle and in the forward state; The surrounding vehicle is located in the rear left of the host vehicle, traveling to the left relative to the host vehicle and in the backward state.

9. A device for preventing lateral collisions of driving training vehicles, characterized in that, It includes: A vehicle information acquisition module, which is used to obtain the position information and heading azimuth angle of the vehicle in real time through the in-vehicle GPS dual antennas installed on the vehicle, and obtain the position information, heading azimuth angle and motion state of the surrounding vehicles in the driving training ground through the cloud server; A vehicle motion state determination module, configured to calculate the motion state of the vehicle based on the position information and the heading azimuth angle; a vehicle determination module within a preset range, configured to calculate the distance between the host vehicle and surrounding vehicles at the current moment according to the position information, the heading azimuth angle, and the motion state, and obtain the surrounding vehicles whose distances are within the preset range; A lateral crossing vehicle determination module, configured to calculate the four-quadrant position of the surrounding vehicles whose distances are within the preset range relative to the host vehicle and the relationship with the heading azimuth angle of the host vehicle, and obtain the surrounding vehicles that laterally cross relative to the host vehicle according to the heading azimuth angle relationship; A collision risk judgment module, configured to obtain the motion relationship between the laterally crossing surrounding vehicles and the host vehicle according to the four-quadrant position and the motion state information of the laterally crossing surrounding vehicles relative to the host vehicle, judge whether there is a lateral collision risk according to the motion relationship, and control the actuator to execute a preset avoidance action when there is a lateral collision risk; the motion relationship includes the position, motion direction, and motion state of the surrounding vehicle relative to the host vehicle; A storage module, configured to store the length and width values of the vehicle, as well as the position information, the heading azimuth angle, and the motion state.

10. An electronic device, comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, characterized in that When executing the computer program, the processor implements the method for preventing lateral collision of a driver training vehicle according to any one of claims 1 to 8.

Images