Vehicle-mounted laser detection emergency risk avoiding method, device, equipment, medium and product

Abstract

The invention discloses a vehicle-mounted laser detection emergency risk avoiding method, device and equipment, a medium and a product, and relates to the field of driving safety. Road surface detection is carried out based on the laser detection method, whether the front road surface collapses or obstacles occurs or not is recognized based on the detection results of the two adjacent moments, and when collapse or obstacles occur, alarm information is output to prompt a driver to avoid danger or control a vehicle to avoid danger. According to the method, the road condition in front can be pre-judged in time, danger avoiding can be carried out in time, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of driving safety technology, and in particular to a vehicle-mounted laser detection emergency avoidance method, device, equipment, medium and product. Background Art

[0002] Accidents of motor vehicles falling due to highway damage occur frequently. According to analysis, these accidents are caused by the driver's inability to predict the road conditions in time due to limitations in vision or personal reaction speed. Therefore, it is crucial to driving safety to predict the road conditions ahead in time and take timely risk avoidance. Summary of the invention

[0003] The purpose of this application is to provide a vehicle-mounted laser detection emergency avoidance method, device, equipment, medium and product, which can realize timely prediction of the road conditions ahead and timely avoidance, thereby improving driving safety.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a vehicle-mounted laser detection emergency avoidance method, comprising:

[0006] The laser detection method is used to obtain the laser detection distance at the current time t; the laser detection distance is the distance between the incident point of the laser emitted at a preset position at a preset angle on the road surface and the preset position, the preset position is the installation position of the laser detector, which is located directly in front of the vehicle, and the preset angle is determined based on the maximum braking distance of the vehicle;

[0007] Calculate the difference between the laser detection distance at the current time t and the laser detection distance at the previous time t-1;

[0008] When the absolute value of the difference is greater than the height difference threshold, an alarm message is output to prompt the driver to avoid danger or control the vehicle to avoid danger;

[0009] When the absolute value of the difference is not greater than the height difference threshold, the value of t is increased by 1, and the process returns to the step of using the laser detection method to obtain the laser detection distance at the current moment t.

[0010] Optionally, the preset angle satisfies the following formula:

[0011] h·tanα≥D

[0012] Among them, h is the installation height of the laser detector, α is the preset angle, that is, the angle between the laser emission direction and the vertical direction, and D is the maximum braking distance of the vehicle.

[0013] Optionally, the height difference threshold satisfies the following formula:

[0014]

[0015] Among them, h max is the height difference threshold, v is the speed of the laser, Δt is the time difference between two adjacent moments, h 底盘 is the chassis height of the vehicle, L 底盘 is the distance between the front and rear wheels of the vehicle.

[0016] Optionally, when the absolute value of the difference is not greater than the height difference threshold, the vehicle-mounted laser detection emergency avoidance method includes:

[0017] Adding the difference to the cumulative difference, and determining whether the cumulative number of times is greater than a number threshold, to obtain a first determination result;

[0018] If the first judgment result indicates yes, then judging whether the absolute value of the accumulated difference is greater than the accumulated height threshold, and obtaining a second judgment result;

[0019] If the second judgment result is yes, a warning message is output to remind the driver to pay attention to the road conditions ahead, and the accumulated difference is cleared.

[0020] In a second aspect, the present application provides a vehicle-mounted laser detection emergency avoidance device, which applies the above-mentioned vehicle-mounted laser detection emergency avoidance method, and the vehicle-mounted laser detection emergency avoidance device includes:

[0021] A detection distance acquisition module, used to obtain the laser detection distance at the current time t by using a laser detection method; the laser detection distance is the distance between the incident point of the laser emitted at a preset position at a preset angle on the road surface and the preset position, the preset position is the installation position of the laser detector, located directly in front of the vehicle, and the preset angle is determined based on the maximum braking distance of the vehicle;

[0022] A difference calculation module is used to calculate the difference between the laser detection distance at the current time t and the laser detection distance at the previous time t-1;

[0023] A risk avoidance module, configured to output an alarm message to prompt the driver to avoid danger or control the vehicle to avoid danger when the absolute value of the difference is greater than a height difference threshold;

[0024] The return module is used to increase the value of t by 1 when the absolute value of the difference is not greater than the height difference threshold, and return to the step of using the laser detection method to obtain the laser detection distance at the current moment t.

[0025] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned vehicle-mounted laser detection emergency avoidance method.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned vehicle-mounted laser detection emergency avoidance method.

[0027] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above-mentioned vehicle-mounted laser detection emergency avoidance method.

[0028] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0029] The present application provides a vehicle-mounted laser detection emergency avoidance method, device, equipment, medium and product. The present application detects the road surface based on the laser detection method, and based on the detection results of two adjacent moments, identifies whether there is a landslide or obstacle on the road ahead. When a landslide or obstacle occurs, an alarm message is output to prompt the driver to avoid the danger or control the vehicle to avoid the danger. The present application can realize timely prediction of the road conditions ahead and timely avoidance, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of a process flow of a vehicle-mounted laser detection emergency avoidance method provided in one embodiment of the present application;

[0032] Figure 2 A schematic diagram of the principle of a vehicle-mounted laser detection emergency avoidance method provided in one embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0036] In an exemplary embodiment, a vehicle-mounted laser detection emergency avoidance method is provided, such as Figure 1 As shown, the method includes the following steps 101 to 104. Among them:

[0037] Step 101, using a laser detection method to obtain a laser detection distance at a current time t; the laser detection distance is the distance between an incident point on a road surface of a laser emitted at a preset position at a preset angle and the preset position, the preset position is the installation position of the laser detector, located directly in front of the vehicle, and the preset angle is determined based on the maximum braking distance of the vehicle.

[0038] Step 102, calculating the difference between the laser detection distance at the current time t and the laser detection distance at the previous time t-1.

[0039] Step 103: When the absolute value of the difference is greater than the height difference threshold, an alarm message is output to prompt the driver to avoid danger or control the vehicle to avoid danger.

[0040] Step 104, when the absolute value of the difference is not greater than the height difference threshold, the value of t is increased by 1, and the process returns to the step of using the laser detection method to obtain the laser detection distance at the current moment t.

[0041] By implementing the above steps 101 to 104, it is possible to make a timely prediction of the road conditions ahead and take timely risk avoidance actions, thereby improving driving safety.

[0042] like Figure 2 As shown, this application installs a laser detector in front of the vehicle to identify, judge and warn the road conditions. Once an abnormal situation is found in front of the road, an alarm message will be issued, and the vehicle will be automatically controlled to stop when the conditions are met. The specific working process is as follows:

[0043] After starting the laser detector, a laser (the frequency range can be infrared) is emitted to the front and lower part of the vehicle. When the laser hits the road surface, the distance from the vehicle to the road surface can be obtained, that is, the laser detection distance.

[0044] When the road surface is normal, the vehicle will operate according to normal road conditions. If the laser detection distance changes suddenly (suddenly increases or decreases), it means there is a landslide or roadblock ahead, and the alarm will be activated immediately, or the vehicle will stop in an emergency.

[0045] In another exemplary embodiment, in order to ensure sufficient braking time, a sufficient predicted distance is required. The present application limits the angle of laser emission (i.e., the preset angle) to ensure a sufficient predicted distance. The preset angle is limited as shown in the following formula.

[0046] h·tanα≥D

[0047] Among them, h is the installation height of the laser detector, α is the preset angle, that is, the angle between the laser emission direction and the vertical direction, and D is the maximum braking distance of the vehicle.

[0048] Among them, for the sake of safety, the maximum braking distance is the distance required to decelerate the vehicle from 140km / h to 0km / h by pressing the brake to the 1 / 2 position. The maximum braking distance can also be adjusted in other ways and is not limited here.

[0049] In another exemplary embodiment, in order to determine whether a vehicle can pass normally, the present application defines the height difference threshold as follows:

[0050]

[0051] Among them, h max is the height difference threshold, v is the speed of the laser, Δt is the time difference between two adjacent moments, h 底盘 is the chassis height of the vehicle, L 底盘 is the distance between the front and rear wheels of the vehicle.

[0052] In another exemplary embodiment, in order to further ensure driving safety, the cumulative height difference is also judged, that is, whether the road section ahead is a continuous downhill section or an uphill section is judged to give a warning, specifically including: adding the above difference to the cumulative difference, and judging whether the cumulative number of times is greater than the number threshold, to obtain a first judgment result; if the first judgment result indicates yes, then judging whether the absolute value of the cumulative difference is greater than the cumulative height threshold, to obtain a second judgment result; if the second judgment result is yes, then outputting a warning message to prompt the driver to pay attention to the road conditions ahead, and clearing the cumulative difference.

[0053] Based on the same inventive concept, the embodiment of the present application also provides a vehicle-mounted laser detection emergency avoidance device for implementing the vehicle-mounted laser detection emergency avoidance method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle-mounted laser detection emergency avoidance device embodiments provided below can refer to the limitations of the vehicle-mounted laser detection emergency avoidance method above, and will not be repeated here.

[0054] The vehicle-mounted laser detection emergency avoidance device includes:

[0055] The detection distance acquisition module is used to obtain the laser detection distance at the current time t by using a laser detection method; the laser detection distance is the distance between the incident point of the laser on the road surface emitted at a preset position at a preset angle and the preset position, the preset position is the installation position of the laser detector, which is located directly in front of the vehicle, and the preset angle is determined based on the maximum braking distance of the vehicle.

[0056] The difference calculation module is used to calculate the difference between the laser detection distance at the current time t and the laser detection distance at the previous time t-1.

[0057] The risk avoidance module is used to output an alarm message to prompt the driver to avoid danger or control the vehicle to avoid danger when the absolute value of the difference is greater than the height difference threshold.

[0058] The return module is used to increase the value of t by 1 when the absolute value of the difference is not greater than the height difference threshold, and return to the step of using the laser detection method to obtain the laser detection distance at the current moment t.

[0059] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data determined by complementarity. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle-mounted laser detection emergency avoidance method is implemented.

[0060] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0061] In an exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned vehicle-mounted laser detection emergency avoidance method embodiment are implemented.

[0062] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the steps in the above-mentioned vehicle-mounted laser detection emergency avoidance method embodiment.

[0063] In an exemplary embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in the above-mentioned vehicle-mounted laser detection emergency avoidance method embodiment.

[0064] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0065] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, etc., but is not limited thereto.

[0066] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A vehicle-mounted laser detection emergency avoidance method, characterized in that: The vehicle-mounted laser detection emergency avoidance method comprises: The laser detection method is used to obtain the laser detection distance at the current time t; the laser detection distance is the distance between the incident point of the laser emitted at a preset position at a preset angle on the road surface and the preset position, the preset position is the installation position of the laser detector, which is located directly in front of the vehicle, and the preset angle is determined based on the maximum braking distance of the vehicle; Calculate the difference between the laser detection distance at the current time t and the laser detection distance at the previous time t-1; When the absolute value of the difference is greater than the height difference threshold, an alarm message is output to prompt the driver to avoid danger or control the vehicle to avoid danger; When the absolute value of the difference is not greater than the height difference threshold, the value of t is increased by 1, and the process returns to the step of using the laser detection method to obtain the laser detection distance at the current moment t.

2. The vehicle-mounted laser detection emergency avoidance method according to claim 1 is characterized in that: The preset angle satisfies the following formula: h·tanα≥D Among them, h is the installation height of the laser detector, α is the preset angle, that is, the angle between the laser emission direction and the vertical direction, and D is the maximum braking distance of the vehicle.

3. The vehicle-mounted laser detection emergency avoidance method according to claim 1 is characterized in that: The height difference threshold satisfies the following formula: Among them, h max is the height difference threshold, v is the speed of the laser, Δt is the time difference between two adjacent moments, h 底盘 is the chassis height of the vehicle, L 底盘 is the distance between the front and rear wheels of the vehicle.

4. The vehicle-mounted laser detection emergency avoidance method according to claim 1, characterized in that: When the absolute value of the difference is not greater than the height difference threshold, the vehicle-mounted laser detection emergency avoidance method further includes: Adding the difference to the cumulative difference, and determining whether the cumulative number of times is greater than a number threshold, to obtain a first determination result; If the first judgment result indicates yes, then judging whether the absolute value of the accumulated difference is greater than the accumulated height threshold, and obtaining a second judgment result; If the second judgment result is yes, a warning message is output to remind the driver to pay attention to the road conditions ahead, and the accumulated difference is cleared.

5. A vehicle-mounted laser detection emergency avoidance device, characterized in that: The vehicle-mounted laser detection emergency avoidance device applies the vehicle-mounted laser detection emergency avoidance method according to any one of claims 1 to 4, and the vehicle-mounted laser detection emergency avoidance device comprises: A detection distance acquisition module, used to obtain the laser detection distance at the current time t by using a laser detection method; the laser detection distance is the distance between the incident point of the laser emitted at a preset position at a preset angle on the road surface and the preset position, the preset position is the installation position of the laser detector, located directly in front of the vehicle, and the preset angle is determined based on the maximum braking distance of the vehicle; A difference calculation module is used to calculate the difference between the laser detection distance at the current time t and the laser detection distance at the previous time t-1; A risk avoidance module, configured to output an alarm message to prompt the driver to avoid danger or control the vehicle to avoid danger when the absolute value of the difference is greater than a height difference threshold; The return module is used to increase the value of t by 1 when the absolute value of the difference is not greater than the height difference threshold, and return to the step of using the laser detection method to obtain the laser detection distance at the current moment t.

6. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle-mounted laser detection emergency avoidance method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle-mounted laser detection emergency avoidance method described in any one of claims 1 to 4 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle-mounted laser detection emergency avoidance method described in any one of claims 1 to 4 is implemented.

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