Large transport vehicle forward collision risk safety early warning method and device considering early braking and storage medium

Abstract

The invention discloses a large-scale transport vehicle forward collision risk safety early warning method and device considering early braking and a storage medium, and the method comprises the following steps: collecting video data of a road in front of a large-scale transport vehicle, and detecting a forward fleet of the large-scale transport vehicle; the vehicles are numbered; the speed of the large transport vehicle is obtained, and safety braking deceleration is set; identifying motion parameter information of vehicles in the forward motorcade; according to the speed of the large transport vehicle, the safety braking deceleration and the motion parameter information of the vehicles in the forward motorcade, a potential collision risk assessment index is constructed, and an index threshold value is set; and judging whether a potential collision risk exists between the large transport vehicle and the forward motorcade or not, and performing early warning according to the risk type. On the basis of the motion parameters of the large transport vehicle and the forward fleet vehicle, the braking early warning information is provided for the large transport vehicle in advance, so that the situation of emergency braking of the large transport vehicle is reduced, and the driving safety of the large transport vehicle can be remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of traffic safety technology, and in particular to a method, device and storage medium for safety warning of forward collision risk of large transport vehicles taking into account early braking. Background Art

[0002] Emergency braking is a very risky driving behavior in transportation, especially for large transport vehicles carrying goods and passengers. The main purpose of emergency braking is to avoid a collision, but even if a collision is successfully avoided, the goods and passengers in the vehicle may suffer damage due to emergency braking, which is the so-called non-collision injury.

[0003] To address this problem, current technical solutions mainly identify the risk of forward collision and provide early warning based on the driver's driving style to reduce the occurrence of emergency braking. However, these technical solutions mainly focus on the motion state of the vehicle in front to provide risk warning, and their effects may not be ideal when faced with the emergency braking of the car in front. This is because the braking performance of large transport vehicles is significantly different from that of small cars, especially in terms of braking response time and braking distance.

[0004] It is worth noting that when large transport vehicles are driving, even if there is no direct risk of collision with the vehicle in front, they need to pay close attention to the following relationship of the forward convoy, because the unsafe following relationship between vehicles in the convoy may pose a potential collision risk. According to the following theory, the braking behavior of the vehicle in front will be transmitted backward along the convoy. If this transmission causes the vehicle in front of the large transport vehicle to brake urgently, and the large transport vehicle fails to respond in time, a collision may occur. Therefore, it is very important for drivers of large transport vehicles to identify the potential collision risk of the forward convoy. It can not only remind the driver to brake in advance before the vehicle in front brakes, reducing the need for emergency braking, but also effectively avoid collision accidents and ensure road safety.

[0005] With the development of intelligent networked vehicles and technologies, under ideal conditions, vehicles in the intelligent networked fleet can exchange information and use safety field theory to detect potential collision risks, and then achieve collision avoidance through automatic vehicle control, thus effectively avoiding emergency braking. However, this technology has high requirements for the penetration rate of intelligent networked vehicles, and it is difficult to achieve effective early warning under road conditions with low penetration rates. Summary of the invention

[0006] In response to the problem of non-collision injuries to cargo and passengers in large transport vehicles caused by emergency braking, the present application proposes a forward collision risk safety warning method and device for large transport vehicles that takes into account advance braking. The method and device can identify potential collision risks during the operation of large transport vehicles in advance, remind the driver to brake or perform advance braking, and improve the safety of large transport vehicles.

[0007] In a first aspect, the present application provides a forward collision risk safety warning method for large transport vehicles taking into account early braking, including the following potential collision risk assessment index calculation steps: S1, collecting road video data in front of the large transport vehicle, and detecting the forward convoy in the same lane as the large transport vehicle based on the road video data; S2, numbering the large transport vehicle and the vehicles in the forward convoy; the large transport vehicle itself is numbered 0, and the vehicles in the forward convoy are numbered in order of distance from the large transport vehicle from near to far, and the numbering order is , represents the total number of vehicles in the forward convoy; S3, obtaining the own speed of the large transport vehicle ; Set the safe braking deceleration of the large transport vehicle ; S4, identifying the motion parameter information of the vehicles in the forward convoy, wherein the motion parameter information includes The speed of the vehicle ahead , and number The distance between the rear vehicles , Maximum deceleration , ; S5, constructing a potential collision risk assessment index and setting its index threshold, wherein the potential collision risk assessment index is used to characterize the collision risk between the large transport vehicle and the forward convoy; specifically, the following contents are included: S51, according to the large transport vehicle's own speed , safe braking deceleration The following risk index is calculated based on the motion parameter information of the vehicles in the forward convoy: : ; ; In the formula, Indicates that the number is in the current following state. To avoid collision with the vehicle behind The deceleration required for a collision with the vehicle ahead, Indicates the number The maximum deceleration that the vehicle behind can achieve; S52, according to the following risk indicator The segment stability index of the vehicles in the forward convoy is calculated by using the index threshold : ; ; in, is the weight coefficient, is the weight base, is an integer, To follow the risk indicator The indicator threshold.

[0008] In an optional implementation of the first aspect, in step S2, the safety braking deceleration and / or maximum deceleration Determined by the vehicle model information.

[0009] In an optional implementation of the first aspect, the following risk indicator The value range of the indicator threshold is [0.8, 1].

[0010] In an optional implementation of the first aspect, the segment stability index The value range of the indicator threshold is [0,0.3].

[0011] In an optional implementation of the first aspect, the weight base The value is 3.

[0012] In an optional implementation of the first aspect, the large transport vehicle forward collision risk safety warning method further includes the following risk assessment and warning steps: S6, comparing the potential collision risk assessment index with its index threshold to determine whether there is a potential collision risk between the large transport vehicle and the forward convoy that requires braking; if there is a potential collision risk, issuing a braking warning or an early braking warning to the large transport vehicle until the risk disappears; if there is no potential collision risk, no warning is issued.

[0013] Specifically, in step S6, the following risk index of each vehicle in the forward convoy is , segment stability index With its indicator threshold , The comparison includes the following: S61, for the forward convoy numbered Vehicles, if any and , a braking warning is issued to the large transport vehicle; otherwise, no warning is issued; S62, for the forward convoy numbered of vehicles, , if any and An early braking warning is issued to the large transport vehicle; otherwise, no warning is issued.

[0014] In a second aspect, the present application provides a device for executing the large transport vehicle forward collision risk safety warning method, comprising: The vehicle-mounted video acquisition module is installed on a large transport vehicle and is used to collect video data of the road ahead of the large transport vehicle; The vehicle speed collection module is used to collect the speed of large transport vehicles; The vehicle-mounted detection and tracking module is used to receive the road video data in front of the large transport vehicle and the large transport vehicle's own speed; the vehicle-mounted detection and tracking module detects the forward convoy based on the road video data, identifies the vehicle model information of each vehicle in the forward convoy, tracks the movement status of the forward convoy, numbers the vehicles in the forward convoy based on the distance, and calculates the movement parameter information of each vehicle in the forward convoy through the large transport vehicle's own speed and the target tracking algorithm; The vehicle-mounted data center includes an information storage unit and a risk assessment unit; the information storage unit is used to receive motion parameter information of each vehicle in the forward convoy and the own speed of the large transport vehicle; the information storage unit stores a preset following risk index threshold, a segment stability index threshold and a safe braking deceleration of the large transport vehicle; the risk assessment unit calculates the following risk index of each vehicle in the forward convoy according to the motion parameter information of each vehicle in the forward convoy, the own speed of the large transport vehicle and the safe braking deceleration, and then calculates the segment stability index according to the following risk index and the following risk index threshold; The vehicle-mounted joint control module is used to ensure the communication connection between the data center and the vehicle-mounted detection and tracking module and the vehicle-mounted speed collection module.

[0015] In an optional implementation of the second aspect, the device further includes: The early warning module is connected to the vehicle data center through the vehicle joint control module; The risk assessment unit determines whether there is a potential collision risk requiring braking between the large transport vehicle and the forward convoy by comparing the potential collision risk assessment index with its index threshold; the warning module issues a warning message based on the potential collision risk determined by the risk assessment unit.

[0016] In a third aspect, the present application provides a computer-readable storage medium, wherein at least one executable instruction is stored in the storage medium. When the executable instruction is executed on an electronic device, the electronic device executes the forward collision risk safety warning method for large transport vehicles that takes into account early braking.

[0017] Compared with the existing methods, this application has the following beneficial effects: This application takes advantage of the wide field of view of large transport vehicles and uses video detection technology to conduct real-time motion monitoring of the forward convoy through video detection technology to identify potential forward collision risks and issue early warnings; this application only needs to consider the type and motion status of large transport vehicles and each vehicle in the forward convoy, without relying on intelligent network technology; by collecting the type and motion status of each vehicle, a potential risk assessment index is constructed using numerical analysis methods, which can accurately assess the potential collision risk in front of large transport vehicles, realize forward collision risk prediction and type judgment, and can issue a braking warning or early braking warning to the driver before the collision risk occurs, so that the driver has enough time to take measures to avoid or reduce the occurrence of emergency braking behavior. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flowchart of the steps of a large transport vehicle forward collision risk safety warning method considering early braking according to an embodiment of the present application; Figure 2 A schematic diagram of the installation position and detection range of the on-board video acquisition module of a forward collision risk safety warning device for large transport vehicles taking into account early braking according to an embodiment of the present application; Figure 3 This is a module schematic diagram of a large transport vehicle forward collision risk safety warning device considering early braking according to an embodiment of the present application; Figure 4 A communication and joint control flow chart of a vehicle-mounted joint control module according to an embodiment of the present application; Description of reference numerals: 1: Vehicle-mounted video acquisition module; 2: Other vehicle-mounted equipment. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings.

[0020] It should be clear that 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 the present application.

[0021] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0022] It should be understood that the term "and / or" used in this article is merely a way to describe the same field of associated objects, indicating that three relationships may exist.

[0023] First, as Figure 1-Figure 2 As shown, the present application provides a forward collision risk safety warning method for large transport vehicles taking into account early braking, including the following potential collision risk assessment index calculation steps: S1, collects road video data in front of the large transport vehicle, and detects the forward convoy based on the road video data. The forward convoy refers to a convoy composed of forward vehicles in the same lane as the large transport vehicle that can be detected.

[0024] S2, number large transport vehicles and vehicles in the forward convoy. The numbering method is: The large transport vehicle itself is numbered 0, and the vehicle closest to the large transport vehicle in the forward convoy is numbered 1, followed by 2, and so on. There are a total of Vehicles.

[0025] S3, obtain the speed of the large transport vehicle ; Set the safe braking deceleration of the large transport vehicle ;Optional, safe braking deceleration Determined according to the type of large transport vehicle.

[0026] S4, tracking the movement status of the forward convoy, identifying the movement parameter information of the vehicles in the forward convoy, and the movement parameter information Including number The speed of the vehicle ahead , numbered The vehicle in front of The distance between the rear vehicles , numbered Maximum deceleration of the vehicle ahead ,Right now , ; Optionally, identify the vehicle type information of each vehicle in the forward convoy based on the road video data, and determine the maximum deceleration of the corresponding vehicle based on the vehicle type information .

[0027] S5, construct potential collision risk assessment indicators and set their indicator thresholds. The collision risk assessment indicators include the following risk indicators and segmental stability index , using the following risk indicator and segmental stability index Characterize the collision risk between large transport vehicles and the forward convoy; specifically include the following: S51, according to the large transport vehicle's own speed , safe braking deceleration And the motion parameter information of the vehicles in the forward convoy Calculate the following risk indicator : ; ; In the formula, Indicates that the number is in the current following state. To avoid collision with the vehicle behind The deceleration required for a collision with the vehicle ahead, Indicates the number The maximum deceleration that the vehicle behind can achieve; S52, according to the risk indicator The segment stability index of the vehicles in the forward convoy is calculated by using the index threshold : ; ; in, is the weight coefficient, is the weight base, is an integer, To follow the risk indicator The indicator threshold.

[0028] Following the risk indicator , segment stability index The indicator threshold , are all preset values; preferably, the indicator threshold The recommended value range is [0.8,1], and the indicator threshold The recommended value range is [0,0.3], and the weight base The recommended value of is 3. It should be noted that the specific values ​​of the above index thresholds and weight bases have nothing to do with the vehicle's motion parameters and are determined by simulation experiments or real vehicle experiments; the threshold value directly reflects the risk level, and different threshold settings are used to provide relatively conservative or radical warning styles.

[0029] Further, based on the above steps S1-S5, the forward collision risk safety warning method of the present application also includes the following risk assessment and warning steps: S6, compare the potential collision risk assessment index corresponding to each vehicle in the forward convoy with its index threshold, and determine whether there is a potential collision risk between the large transport vehicle and the forward convoy that requires braking; if so, issue a braking warning or an early braking warning to the large transport vehicle according to the risk type, and notify the driver to brake or brake in advance until the risk disappears; if not, no warning is issued.

[0030] Specifically, in the risk assessment and warning step S6, the following risk index corresponding to the vehicle in the forward convoy is , segment stability index Respectively with their index thresholds , For comparison: S61, for the forward convoy numbered Vehicles, if any and , a braking warning is issued to the large transport vehicle, informing it to brake until the risk disappears and the warning stops; otherwise, no warning is issued.

[0031] S62, for the forward convoy numbered Vehicles, if any and , an early braking warning is issued to the large transport vehicle, notifying it to brake in advance until the risk disappears and the warning is stopped; otherwise, no warning is issued.

[0032] Second, as Figure 3 As shown, the present application provides a device for executing the forward collision risk safety warning method, comprising the following modules: The vehicle-mounted video acquisition module is used to collect road video data in front of the large transport vehicle; preferably, the vehicle-mounted video acquisition module is installed at the top midpoint of the front windshield of the large transport vehicle, and the detection distance for .

[0033] On-board speed acquisition module, used to collect the speed of large transport vehicles .

[0034] The vehicle detection and tracking module is connected to the vehicle video acquisition module and the vehicle speed acquisition module to receive the road video data in front of the large transport vehicle and the speed of the large transport vehicle. The vehicle detection and tracking module detects the forward convoy based on the road video data, identifies the vehicle model information of each vehicle in the forward convoy, tracks the movement status of the forward convoy, numbers the vehicles in the forward convoy according to the distance, and uses the speed of the large transport vehicle to The target tracking algorithm calculates the motion parameter information of each vehicle in the forward convoy It should be noted that, since the target tracking algorithm can only calculate the relative speed between the forward convoy and the large transport vehicle itself, the large transport vehicle's own speed needs to be transmitted to the on-board detection and tracking module to calculate the absolute speed of the forward convoy.

[0035] On-board data center, including information storage unit and risk assessment unit; The information storage unit is connected to the vehicle detection and tracking module and the vehicle speed acquisition module to receive the motion parameter information of each vehicle in the forward convoy. , the speed of large transport vehicles ; The information storage unit stores the preset follow-up risk indicator threshold , Segmental stability index threshold and safe braking deceleration for large transport vehicles ; The risk assessment unit is connected to the information storage unit and based on the motion parameter information of each vehicle in the forward convoy , the speed of large transport vehicles And safe braking deceleration Calculate the following risk index of each vehicle in the forward convoy , and then follow the risk indicator and follow the risk indicator threshold Calculation of segmental stability index .

[0036] The vehicle-mounted joint control module is used to ensure the communication connection between the data center and the vehicle-mounted detection and tracking module and the vehicle-mounted speed collection module.

[0037] Furthermore, the device also includes: The early warning module is connected to the risk assessment unit of the vehicle data center through the vehicle joint control module; The risk assessment unit will follow the risk indicators , segment stability index With its indicator threshold , Compare and determine whether there is a potential collision risk between the large transport vehicle and the forward convoy that requires braking; the warning module issues a braking warning or an early braking warning based on the risk assessment result output by the risk assessment unit.

[0038] Reference Figure 4 The communication and joint control method of the vehicle-mounted joint control module of an embodiment of the present application is as follows: (1) The information storage unit of the vehicle data center reads the preset follow-up risk indicator threshold , Segmental stability index threshold and safe braking deceleration of large transport vehicles and save; (2) The vehicle speed collection module collects the speed of large transport vehicles , respectively transmitted to the vehicle detection and tracking module and the information storage unit of the vehicle data center; in the vehicle detection and tracking module, the speed of the large transport vehicle itself It will be used to calculate the absolute speed of the forward convoy; in the on-board data center, the speed of the large transport vehicle itself Used to calculate potential collision risk assessment indicators; (3) The vehicle-mounted video acquisition module collects video data of the road ahead and transmits it to the vehicle-mounted detection and tracking module; (4) The vehicle detection and tracking module detects the forward convoy based on the road video data in front of the large transport vehicle, identifies the vehicle model information of each vehicle in the forward convoy, tracks the movement status of the forward convoy, and obtains the movement parameters of each vehicle in the forward convoy. And transmit to the information storage unit of the vehicle data center; (5) The risk assessment unit of the on-board data center reads the information in the information storage unit and calculates the follow-up risk index respectively. and segmental stability index , and conduct risk assessment based on the set indicator thresholds; (6) The warning module executes three instructions according to the evaluation results of the risk assessment unit: issuing a braking warning, issuing an early braking warning, and not issuing a warning.

[0039] In a third aspect, the present application provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on an electronic device, the electronic device executes the forward collision risk safety warning method for large transport vehicles that takes into account early braking.

[0040] For example, it can be achieved Figure 1 The steps of the large transport vehicle forward collision risk safety warning method are shown.

[0041] Computer readable storage media can be tangible devices that can hold and store instructions used by instruction execution devices. Computer readable storage media can be, for example, but not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the above.

[0042] The computer program instructions used to perform the operations of the present application may be source code or object code written in any combination of one or more programming languages, and the computer-readable program instructions may be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. The above embodiments are only for illustrating the technical concept and features of the present application, and their purpose is to enable technicians familiar with the technical field to understand the content of the present application and implement it accordingly, and they cannot be used to limit the scope of protection of the present application. For ordinary technicians in the technical field, without departing from the principles of the present application, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the scope of protection of the present application.

[0043] The above embodiments are only for illustrating the technical concept and features of the present application, and their purpose is to enable technicians familiar with the technical field to understand the content of the present application and implement it accordingly, and they cannot be used to limit the protection scope of the present application. For ordinary technicians in the technical field, they can make several improvements and modifications without departing from the principles of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A safety warning method for forward collision risk of large transport vehicles considering early braking, characterized in that: The calculation steps of potential collision risk assessment index are as follows: S1, collecting road video data in front of the large transport vehicle, and detecting the forward convoy in the same lane as the large transport vehicle based on the road video data; S2, numbering the large transport vehicle and the vehicles in the forward convoy; the large transport vehicle itself is numbered 0, and the vehicles in the forward convoy are numbered in order of distance from the large transport vehicle from near to far, and the numbering order is , represents the total number of vehicles in the forward convoy; S3, obtaining the own speed of the large transport vehicle ; Set the safe braking deceleration of the large transport vehicle ; S4, identifying the motion parameter information of the vehicles in the forward convoy, wherein the motion parameter information includes The speed of the vehicle ahead , and number The distance between the rear vehicles , Maximum deceleration , ; S5, constructing a potential collision risk assessment index and setting its index threshold, wherein the potential collision risk assessment index is used to characterize the collision risk between the large transport vehicle and the forward convoy; specifically, the following contents are included: S51, according to the large transport vehicle's own speed , safe braking deceleration The following risk index is calculated based on the motion parameter information of the vehicles in the forward convoy: : ； ； In the formula, Indicates that the number is in the current following state. To avoid collision with the vehicle behind The deceleration required for a collision with the vehicle ahead, Indicates the number The maximum deceleration that the vehicle behind can achieve; S52, according to the following risk indicator The segment stability index of the vehicles in the forward convoy is calculated by using the index threshold : ； ； in, is the weight coefficient, is the weight base, is an integer, To follow the risk indicator The indicator threshold.

2. The large transport vehicle forward collision risk safety warning method according to claim 1 is characterized in that: In step S2, the safety braking deceleration and / or maximum deceleration Determined by the vehicle model information.

3. The large transport vehicle forward collision risk safety warning method according to claim 1 is characterized in that: The following risk indicator The value range of the indicator threshold is [0.8, 1].

4. The large transport vehicle forward collision risk safety warning method according to claim 1 is characterized in that: Segmental stability index The value range of the indicator threshold is [0,0.3].

5. The large transport vehicle forward collision risk safety warning method according to claim 1 is characterized in that: The weight base The value is 3.

6. The large transport vehicle forward collision risk safety warning method according to claim 1 is characterized in that: It also includes the following risk assessment and early warning steps: S6, comparing the potential collision risk assessment index with its index threshold to determine whether there is a potential collision risk between the large transport vehicle and the forward convoy that requires braking; if there is a potential collision risk, issuing a braking warning or an early braking warning to the large transport vehicle until the risk disappears; if there is no potential collision risk, no warning is issued.

7. The method for safety early warning of forward collision risk of large transport vehicles according to claim 6 is characterized in that: In step S6, the following risk index of each vehicle in the forward convoy is , segment stability index With its indicator threshold , The comparison includes the following: S61, for the forward convoy numbered Vehicles, if any and , a braking warning is issued to the large transport vehicle; otherwise, no warning is issued; S62, for the forward convoy numbered of vehicles, , if any and An early braking warning is issued to the large transport vehicle; otherwise, no warning is issued.

8. A device for executing the large transport vehicle forward collision risk safety warning method as claimed in any one of claims 1 to 7, characterized in that: include: The vehicle-mounted video acquisition module is installed on a large transport vehicle and is used to collect video data of the road ahead of the large transport vehicle; The vehicle speed collection module is used to collect the speed of large transport vehicles; The vehicle-mounted detection and tracking module is used to receive the road video data in front of the large transport vehicle and the large transport vehicle's own speed; the vehicle-mounted detection and tracking module detects the forward convoy based on the road video data, identifies the vehicle model information of each vehicle in the forward convoy, tracks the movement status of the forward convoy, numbers the vehicles in the forward convoy based on the distance, and calculates the movement parameter information of each vehicle in the forward convoy through the large transport vehicle's own speed and the target tracking algorithm; The vehicle-mounted data center includes an information storage unit and a risk assessment unit; the information storage unit is used to receive motion parameter information of each vehicle in the forward convoy and the own speed of the large transport vehicle; the information storage unit stores a preset following risk index threshold, a segment stability index threshold and a safe braking deceleration of the large transport vehicle; the risk assessment unit calculates the following risk index of each vehicle in the forward convoy according to the motion parameter information of each vehicle in the forward convoy, the own speed of the large transport vehicle and the safe braking deceleration, and then calculates the segment stability index according to the following risk index and the following risk index threshold; The vehicle-mounted joint control module is used to ensure the communication connection between the data center and the vehicle-mounted detection and tracking module and the vehicle-mounted speed collection module.

9. The device according to claim 8, characterized in that Also includes: The early warning module is connected to the vehicle data center through the vehicle joint control module; The risk assessment unit determines whether there is a potential collision risk requiring braking between the large transport vehicle and the forward convoy by comparing the potential collision risk assessment index with its index threshold; the warning module issues a warning message based on the potential collision risk determined by the risk assessment unit.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction. When the executable instruction is executed on the electronic device, the electronic device executes the forward collision risk safety warning method for large transport vehicles considering early braking as described in any one of claims 1 to 7.

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