Method for uploading vehicle anti-collision early warning information to background

Abstract

The invention discloses a method for uploading vehicle anti-collision early warning information to a background, and relates to the field of traffic transportation, and the method comprises the following steps: information collection: collecting information including vehicle basic information, vehicle surrounding obstacle information and left and right steering information; data calculation: calculating predicted collision time, vehicle running speed, distance between the vehicle and an obstacle, inner wheel difference, front outer wheel turning angle and rear suspension outer shift difference; risk judgment: judging whether the vehicle in the form has a collision risk or not according to a data calculation result, if the risk exists, performing early warning prompt, and if the risk does not exist, continuing detection; and information uploading: when the early warning prompt is triggered, alarm information is collected and uploaded to a background monitoring center. According to the invention, real-time monitoring and early warning can be carried out on the front, back, left and right obstacles of the running vehicle, and accidents or scratches are avoided to the greatest extent.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of transportation, and specifically to a method for uploading vehicle anti-collision warning information to a background. Background Art

[0002] The vehicle collision warning system, also known as the car collision warning system or pre-collision warning system, monitors the environment around the vehicle in real time through on-board sensors (such as radar, camera or laser sensor) and control systems, such as the road ahead, traffic conditions and the position of other vehicles. Once a potential dangerous situation is detected, the system will immediately send a warning signal to remind the driver to take appropriate measures. Most car collision accidents are caused by the driver's inaccurate estimation of the distance around the vehicle, misjudgment of the possibility of collision, untimely braking, or vehicle blind spots. The vehicle blind spot refers to the part of the driver's normal driving position whose line of sight is blocked by the vehicle body and cannot be directly observed. Due to the design requirements of the car body, the A, B, and C pillars of the car are usually thicker and the rearview mirrors are smaller. Therefore, vehicles usually have A, B, and C pillar blind spots, rearview mirror blind spots, front and rear blind spots, etc. When the vehicle is going straight, changing lanes, reversing, turning, etc., the driver will have a certain visual blind spot. Because the driver's line of sight is blocked, the situation in the blind spot cannot be observed, and it is very easy to cause scratches and collisions.

[0003] A vehicle anti-collision warning system based on the prior art includes a basic information collection module: obtaining vehicle size data related to the vehicle model; a direction information collection module: obtaining the turning angle of the vehicle when turning; a speed measurement module: obtaining the driving speed of the vehicle; a distance measurement module: when the vehicle is traveling straight, detecting the distance between the obstacle in front of or behind the vehicle and the vehicle, and when the vehicle is turning, detecting the distance between the obstacle on the side of the vehicle and the vehicle; a collision risk calculation module: evaluating the risk of collision between the vehicle and the obstacle based on the data provided by the above modules; and an early warning reminder module: when there is a risk of collision between the vehicle and the obstacle, issuing an early warning to the driver.

[0004] There are many states when a vehicle is driving, such as going straight, turning, changing lanes, overtaking, and reversing. The existing technology uses cameras or radar sensors to detect moving targets in front of and behind the vehicle, calculate the distance and expected collision time, and give reminders when the vehicle is at risk of collision with the vehicles in front and behind. However, when the vehicle turns, the distance and expected collision time of pedestrians and vehicles on the inside of the vehicle relative to the camera and sensor do not change, so the above method cannot be applied. Moreover, due to the maneuverability of the vehicle, there will be inner wheel difference and rear overhang outward displacement difference when the vehicle turns. During driving, the inner wheel difference and rear overhang outward displacement difference may cause the vehicle to run off the road or collide. Existing vehicle collision avoidance technology cannot warn of possible scratches and collision risks when the vehicle turns. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a method for uploading vehicle anti-collision warning information to the background to solve the technical problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for uploading vehicle anti-collision warning information to a background, comprising the following steps:

[0008] S1. Information collection: Information collection includes basic vehicle information, obstacle information around the vehicle, and left and right turn information;

[0009] S2. Data calculation: calculate the estimated collision time, vehicle speed, distance between the vehicle and the obstacle, inner wheel difference, front outer wheel turning angle, and rear overhang outward displacement difference;

[0010] S3, risk judgment: judge whether the vehicle has a collision risk based on the result of data calculation. If there is a risk, issue a warning. If there is no risk, continue the test;

[0011] S4. Information upload: When the early warning prompt is triggered, the alarm information will be collected and uploaded to the background monitoring center.

[0012] Preferably, the basic vehicle information specifically includes the vehicle body length, width, wheelbase, rear track, front overhang, and rear overhang; the obstacle information around the vehicle includes obstacles in front and behind the vehicle, and obstacles on the left and right of the vehicle; the left and right steering information includes vehicle turn signal information and vehicle turning angle information obtained through the vehicle CAN bus and O-sensor equipment;

[0013] The vehicle turning angle information is specifically the inner wheel turning angle.

[0014] Preferably, the specific calculation formula of the estimated collision time is as follows:

[0015]

[0016] in,

[0017] t: indicates the estimated collision time; s: indicates the distance between the vehicle and the obstacle; v: indicates the vehicle's speed;

[0018] The distance between the vehicle and the obstacle is acquired in real time through a radar sensor, and the vehicle speed is acquired in real time through an on-board OBD device.

[0019] Preferably, the inner wheel difference calculation formula is as follows:

[0020]

[0021] in,

[0022] l: indicates wheelbase; c: indicates front overhang; m: indicates front overhang a : represents the inner wheel difference; α: represents the inner wheel turning angle.

[0023] Preferably, the front outer wheel turning angle calculation formula is as follows:

[0024]

[0025] in,

[0026] β: represents the front outer wheel turning angle; l: represents the wheelbase; d: represents the rear track.

[0027] Preferably, the rear overhang outward displacement difference calculation formula is as follows:

[0028]

[0029] in,

[0030] β: indicates the front outer wheel turning angle; b: indicates the rear overhang; l: indicates the wheelbase; n β : Indicates the rear overhang outward displacement difference.

[0031] Preferably, the alarm information includes basic vehicle information, obstacle information around the vehicle, left and right turn information; expected collision time, vehicle speed, distance between the vehicle and the obstacle, inner wheel difference, front outer wheel turning angle, and rear overhang outward displacement difference.

[0032] Preferably, the early warning prompt is issued by receiving a signal through a warning device arranged in the vehicle.

[0033] In summary, the present invention mainly has the following beneficial effects:

[0034] The present invention calculates the expected collision time of obstacles in front and behind the vehicle in real time during vehicle driving to monitor whether the vehicle is in danger of collision, and cooperates with a warning device to remind the driver to avoid traffic accidents during driving; the present invention calculates the inner wheel difference and rear overhang outward displacement difference of the vehicle in real time when the vehicle is turning for obstacles on the left and right sides of the vehicle. When an obstacle is detected near the range of the inner wheel difference or rear overhang outward displacement difference of the vehicle, an early warning is issued to the driver in time, which can effectively avoid the occurrence of collision accidents.

[0035] In addition, when warning information is generated, the background monitoring center can perform real-time monitoring and management after receiving this information, and the stored and backed-up data can be downloaded to generate reports, which is convenient for subsequent adjustment of the parameters of the detection device and better improvement of the detection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a framework diagram of the implementation steps of the present invention;

[0037] Figure 2 It is a real-time detection process framework diagram of the present invention. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0039] Example

[0040] like Figure 1 and Figure 2 As shown, a method for uploading vehicle anti-collision warning information to the background, the operation includes collecting basic information of the vehicle, information about obstacles around the vehicle, and left and right steering information; calculating the expected collision time, vehicle speed, distance between the vehicle and the obstacle, inner wheel difference, front outer wheel turning angle, and rear overhang outward displacement difference; judging whether the vehicle has a collision risk through the result of data calculation, and issuing a warning prompt if there is a risk, and continuing the detection if there is no risk;

[0041] When the early warning prompt is triggered, the alarm information will be collected and uploaded to the background monitoring center. After receiving this information, the background monitoring center can conduct real-time monitoring and management to ensure driving safety.

[0042] The specific calculation formula for the estimated collision time is as follows:

[0043]

[0044] in,

[0045] t: indicates the estimated collision time; s: indicates the distance between the vehicle and the obstacle; v: indicates the vehicle's speed;

[0046] The distance between the vehicle and the obstacle is acquired in real time through a radar sensor, and the vehicle speed is acquired in real time through an on-board OBD device.

[0047] The formula for calculating the inner wheel difference is as follows:

[0048]

[0049] in,

[0050] l: indicates wheelbase; c: indicates front overhang; m: indicates front overhang a : represents the inner wheel difference; α: represents the inner wheel turning angle.

[0051] The calculation formula of the front outer wheel turning angle is as follows:

[0052]

[0053] in,

[0054] β: represents the front outer wheel turning angle; l: represents the wheelbase; d: represents the rear track.

[0055] The rear overhang displacement calculation formula is as follows:

[0056]

[0057] in,

[0058] β: indicates the front outer wheel turning angle; b: indicates the rear overhang; l: indicates the wheelbase; n β : Indicates the rear overhang outward displacement difference.

[0059] The alarm information includes basic vehicle information, obstacle information around the vehicle, left and right turn information; estimated collision time, vehicle speed, distance between the vehicle and the obstacle, inner wheel difference, front outer wheel turning angle, rear overhang outward displacement difference

[0060] It should be noted that, in this embodiment, the basic vehicle information of the detected vehicle is directly obtained based on the vehicle model, including body length, width, wheelbase, rear track, front overhang, and rear overhang, where body length = wheelbase + front overhang + rear overhang. The basic information of the vehicle is an important factor for subsequent detection.

[0061] Direction information collection is to obtain the vehicle's turn signal information and vehicle corner information through the vehicle's CAN bus and O-sensor equipment. The vehicle's CAN bus connects various controllers on the vehicle. The vehicle's electronic control unit is connected to the central control unit through the CAN bus and exchanges information according to the CAN protocol. When the turn signal switch is turned on, the signal will be transmitted to the instrument control unit, and the instrument control unit will transmit the information to the module control unit. After receiving the signal, the module control unit will light up the turn signal. The information exchange is transmitted through the CAN bus, so the vehicle's turn signal information can be obtained by decoding the interface of the vehicle's CAN bus.

[0062] Obtain the maximum turning angle of the inner and outer front wheels of the vehicle and the maximum turning angle of the steering wheel. The direction sensor, namely the O-sensor, is installed on the steering wheel, returns the angle data of the three axes, and converts it to the rotation angle of the vehicle steering wheel; or obtain the steering wheel turning angle information through the car steering angle sensor installed at the bottom of the vehicle steering column, and read the angle information from the CAN bus interface. According to the proportional relationship between the maximum turning angle of the inner and outer front wheels and the maximum turning angle of the steering wheel, the steering angles of the inner and outer front wheels can be calculated according to the angle information of the steering wheel.

[0063] The vehicle speed is obtained through a GPS device or an on-board OBD device, namely an on-board diagnostic system.

[0064] Cameras or radar sensors are installed in front, rear and on both sides of the vehicle. When the vehicle is moving forward or backward, the distance between the vehicle, pedestrians and obstacles in front and behind is detected. When the direction information acquisition module feedbacks the driver's turn signal or the steering wheel angle changes, the distance between the side pedestrians, vehicles, obstacles and the vehicle is detected.

[0065] Combining the vehicle speed v obtained above and the distance data s obtained by the ranging module, the formula t=s / v is used to calculate the time t required for the vehicle to collide with the front and rear vehicles, pedestrians, and obstacles.

[0066] The steering wheel angle is constantly changing when the car is driving. The vehicle dimensions, such as wheelbase l, rear track d, front overhang c and rear overhang b, are obtained by the vehicle information acquisition module, as well as the vehicle turning angle α obtained by the direction information acquisition module. The inner wheel difference and rear overhang outward displacement difference of the vehicle can be calculated in real time. It should also be noted that the inner wheel difference and rear overhang outward displacement difference of the vehicle are both zero when driving straight.

[0067] When it is calculated that the rear of the vehicle is at risk of colliding with an obstacle due to the inner wheel difference or the rear overhang outward displacement difference during the vehicle's forward movement, the warning device in the vehicle issues a warning prompt. The specific prompting method is as follows:

[0068] The time required for the vehicle to collide with the vehicle in front, behind, pedestrians, and obstacles calculated by the collision risk is compared with the pre-set safety time. When the actual time is less than the pre-set safety time, a warning sound is issued to the driver. When it is detected that the rear of the vehicle is at risk of scratching an obstacle due to the inner wheel difference or rear overhang outward displacement difference, a warning sound is issued to the driver.

[0069] The working principle of the present invention is:

[0070] Combining vehicle information, speed information and direction information, the distance and relative speed between the front and rear vehicles, pedestrians, obstacles and the vehicle are calculated, and the collision risk is determined after calculation; and the inner wheel difference and rear overhang outward difference of the vehicle's cornering are calculated in real time. When an obstacle is detected near the range of the vehicle's inner wheel difference or rear overhang outward difference, an early warning is issued to the driver in time, which can effectively avoid the occurrence of collision accidents.

[0071] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for uploading vehicle anti-collision warning information to a backend, characterized in that , including the following steps: S1. Information collection: Information collection includes basic vehicle information, obstacle information around the vehicle, and left and right turn information; S2. Data calculation: calculate the estimated collision time, vehicle speed, distance between the vehicle and the obstacle, inner wheel difference, front outer wheel turning angle, and rear overhang outward displacement difference; S3, risk judgment: judge whether the vehicle has a collision risk based on the result of data calculation. If there is a risk, issue a warning. If there is no risk, continue the test; S4. Information upload: When the early warning prompt is triggered, the alarm information will be collected and uploaded to the background monitoring center.

2. The method for uploading vehicle anti-collision warning information to the background according to claim 1, characterized in that: The basic vehicle information specifically includes the vehicle body length, width, wheelbase, rear track, front overhang, and rear overhang; the obstacle information around the vehicle includes obstacles in front and behind the vehicle, and obstacles on the left and right of the vehicle; the left and right steering information includes vehicle turn signal information and vehicle turning angle information obtained through the vehicle CAN bus and O-sensor equipment; The vehicle turning angle information is specifically the inner wheel turning angle.

3. The method for uploading vehicle anti-collision warning information to the background according to claim 1, characterized in that: The specific calculation formula of the estimated collision time is as follows: in, t: indicates the estimated collision time; s: indicates the distance between the vehicle and the obstacle; v: indicates the vehicle's speed; The distance between the vehicle and the obstacle is acquired in real time through a radar sensor, and the vehicle speed is acquired in real time through an on-board OBD device.

4. The method for uploading vehicle anti-collision warning information to the background according to claim 1, characterized in that: The inner wheel difference calculation formula is as follows: in, l: indicates wheelbase; c: indicates front overhang; m a : represents the inner wheel difference; α: represents the inner wheel turning angle.

5. The method for uploading vehicle anti-collision warning information to the background according to claim 1, characterized in that: The front outer wheel turning angle calculation formula is as follows: in, β: represents the front outer wheel turning angle; l: represents the wheelbase; d: represents the rear track.

6. The method for uploading vehicle anti-collision warning information to the background according to claim 1, characterized in that: The rear overhang outward displacement calculation formula is as follows: in, β: represents the front outer wheel turning angle; b: indicates rear overhang; l: indicates wheelbase; n β : Indicates the rear overhang outward displacement difference. According to the method for uploading vehicle anti-collision warning information to the background as described in claim 1, it is characterized in that the alarm information includes basic vehicle information, obstacle information around the vehicle, left and right turning information; expected collision time, vehicle speed, distance between the vehicle and the obstacle, inner wheel difference, front outer wheel turning angle, and rear overhang outward displacement difference.

7. The method for uploading vehicle anti-collision warning information to the background according to claim 1, characterized in that: The early warning prompt is issued by receiving a signal through a warning device arranged in the vehicle.

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