Intelligent prevention method and device for vehicle emergency braking event when main road converges into side road intersection

Abstract

The invention discloses an intelligent prevention method and device for a vehicle emergency braking event at an intersection where a main road converges into an auxiliary road. The method comprises the following steps: obtaining operation data of main road vehicles and auxiliary road vehicles; according to the operation data of the main road vehicle, judging whether the main road vehicle has the intention of driving into a side road or not; motion trail prediction is carried out through the operation data of the main road vehicle and the side road vehicle; determining a danger area range of the side road according to the operation data of the side road vehicle; judging whether the side road vehicle has an emergency braking behavior or not when the main road vehicle arrives at the exit of the main and side road intersection; and if an emergency braking behavior occurs, an early warning device is started to give an early warning to the side road vehicle. According to the technical scheme, the intention that the main road vehicle drives into the side road is recognized, the moving tracks of the main road vehicle and the side road vehicle are dynamically predicted, the side road vehicle which is predicted to conduct the emergency braking behavior is early warned in advance, and the side road vehicle can have sufficient distance and time to decelerate and avoid.

Description

Technical Field

[0001] The present invention relates to the technical field of main-side road intersection warning, and in particular to an intelligent prevention method for vehicle emergency braking events at an intersection where a main road merges into an auxiliary road, and an intelligent prevention device for vehicle emergency braking events at an intersection where a main road merges into an auxiliary road. Background Art

[0002] As an important part of urban traffic, the main and auxiliary roads have a narrow area and obstacles such as green belts around the intersection of the main and auxiliary roads, which form a blind spot in the driving vision, so that the auxiliary road vehicles cannot effectively observe the driving conditions of the main road. They can only identify and avoid the main road vehicles in a very short time. The existing main and auxiliary road intersection collision prevention system mainly considers the optimization of the intersection structure, and at the same time, through the installation of signs, convex mirrors and other devices to improve the alertness of the auxiliary road drivers to the main road vehicles, so that the drivers can detect the main road vehicles as soon as possible and slow down. However, it still only reserves a short time for the auxiliary road vehicle drivers to slow down and brake, which leads to emergency braking behavior of the auxiliary road vehicles during the braking process, which is easy to have adverse effects on the drivers and passengers. At the same time, the short emergency handling time has high requirements on the driver's experience and reaction. Drivers with insufficient driving experience may make operational errors, resulting in accidents. Summary of the invention

[0003] The main purpose of the present invention is to provide an intelligent prevention method and device for emergency braking events of vehicles at the intersection where the main road merges into the auxiliary road, aiming to solve the problem that the existing collision prevention system at the intersection of the main and auxiliary roads has a short reserved time, resulting in emergency braking behavior of vehicles on the auxiliary road during the braking process.

[0004] To achieve the above-mentioned purpose, the present invention proposes an intelligent prevention method for emergency braking events of vehicles at an intersection where a main road merges into a secondary road, comprising the following steps: Obtaining the operating data of the main road vehicle and the auxiliary road vehicle, wherein the operating data of the main road vehicle includes the driving speed of the main road vehicle, the distance between the front of the vehicle and the intersection of the main and auxiliary roads, the deceleration, and the behavior data; the operating data of the auxiliary road vehicle includes the driving speed of the auxiliary road vehicle, the distance between the front of the vehicle and the intersection of the main and auxiliary roads; Determining whether the main road vehicle intends to enter the auxiliary road according to the operation data of the main road vehicle; If the main road vehicle intends to enter the auxiliary road, a motion trajectory is predicted based on the operating data of the main road vehicle and the auxiliary road vehicle; Determine the range of the danger zone of the auxiliary road according to the operation data of the vehicle on the auxiliary road; According to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone, it is determined whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection; If the auxiliary road vehicle performs emergency braking, the warning device is activated to warn the auxiliary road vehicle.

[0005] Preferably, the step of judging whether the main road vehicle has the intention to enter the auxiliary road according to the operation data of the main road vehicle comprises the steps of: Determine whether the judgment condition is met according to the operation data of the main road vehicle, and the judgment condition includes: The first condition: the driving speed of the vehicle on the main road is less than the preset speed; Second condition: the deceleration of the main road vehicle is greater than the preset deceleration; The third condition: the right turn signal of the vehicle on the main road is turned on; Fourth condition: the behavior data of the main road vehicle includes lane change into the rightmost lane; If the operation data of the main road vehicle meets at least one of the judgment conditions, the main road vehicle has the intention to enter the auxiliary road.

[0006] Preferably, if the main road vehicle intends to enter the auxiliary road, the step of predicting the motion trajectory through the operating data of the main road vehicle and the auxiliary road vehicle comprises the following steps: Predicting the first time required for the main road vehicle to reach the intersection exit; Predicting the displacement of the auxiliary road vehicle within the first time.

[0007] Preferably, the step of predicting the displacement of the auxiliary road vehicle within the first time comprises the following formula: ; ; ; In the formula, Indicates the length of the section where the main and auxiliary roads meet; Indicates the distance from the front license plate position of the vehicle on the main road to the exit of the intersection; Indicates the driving speed of vehicles on the main road; Indicates the deceleration of vehicles on the main road. Indicates the distance between the front license plate position of the vehicle on the main road and the intersection of the main and auxiliary roads, and Indicates the speed of vehicles on the auxiliary road. Indicates the distance between the front license plate of the vehicle and the intersection of the main and auxiliary roads; Indicates the time required for a vehicle on the main road to reach the exit of the intersection from its current position; Indicates that vehicles on the auxiliary road are Internal displacement.

[0008] Preferably, the step of determining the range of the danger zone of the auxiliary road according to the operating data of the auxiliary road vehicle comprises the following calculation formula: ; In the formula, Indicates the scope of the danger zone; The distance that the vehicle on the auxiliary road moves within the driver's reaction time after seeing the warning; is the distance traveled by the vehicle on the auxiliary road during the deceleration change; It is the distance traveled by the auxiliary road vehicle during deceleration.

[0009] Preferably, the step of determining the range of the danger zone of the auxiliary road according to the operating data of the auxiliary road vehicle comprises the following calculation formula: ; ; ; ; ; ; ; In the formula, Indicates the scope of the danger zone; The driver's reaction time from seeing the warning to applying the brakes; is the distance travelled by the vehicle on the auxiliary road within the driver’s reaction time; The critical value of braking deceleration that is comfortable for the driver; The critical value of the deceleration rate that the driver feels comfortable with; is the duration of the deceleration change; is the vehicle's speed after the deceleration changes; is the distance traveled by the vehicle during the deceleration change; The time required for auxiliary road vehicles to decelerate to a stop at a comfortable deceleration rate; is the distance travelled by the auxiliary road vehicle during deceleration; Indicates the speed of vehicles on the auxiliary road.

[0010] Preferably, the step of judging whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main-auxiliary road intersection based on the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone includes the following steps: Acquiring a predicted displacement of the auxiliary road vehicle according to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone; Determine whether the predicted displacement of the auxiliary road vehicle is not greater than the distance from the auxiliary road vehicle to the exit of the main and auxiliary road intersection; and whether the predicted displacement of the auxiliary road vehicle is not less than the difference between the distance from the auxiliary road vehicle to the exit of the main and auxiliary road intersection and the range of the danger zone; If so, it is determined that the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection.

[0011] Preferably, after the step of judging whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main-auxiliary road intersection according to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone, the following steps are also included: If the predicted motion trajectory of the auxiliary road vehicle does not enter the danger zone; Determine whether the main road vehicle enters the auxiliary road: If the main road vehicle does not enter the auxiliary road, the operation data of the main road vehicle and the auxiliary road vehicle are updated; Return to step 16 to predict the motion trajectory using the operating data of the main road vehicle and the auxiliary road vehicle.

[0012] The present invention proposes an intelligent prevention device for emergency braking incidents of vehicles at the intersection where a main road merges into an auxiliary road, comprising a control device and an information acquisition device and an early warning device both connected to the control device, wherein the information acquisition device is used to acquire vehicle information on the main road and the auxiliary road; the early warning device is used to issue early warnings to vehicles on the auxiliary road; the control device is used to determine whether a vehicle on the main road turns right and whether a vehicle on the auxiliary road performs emergency braking based on the vehicle information on the main road and the auxiliary road, and to control whether the early warning device is enabled.

[0013] Preferably, the control device includes an information processing device, a memory and a communication networking device, and the memory stores a computer program or instructions. When the computer program or instructions are executed by the information processing device, the information processing device executes the intelligent prevention method for emergency braking events of vehicles at the intersection where the main road merges into the secondary road as described above.

[0014] The technical solution of the present invention provides an intelligent prevention method and device for emergency braking events of vehicles at the intersection where the main road merges into the auxiliary road. Compared with the collision prevention system under the prior art, the technical solution of the present invention can identify the intention of the main road vehicle to enter the auxiliary road, and dynamically predict the running trajectory of the main and auxiliary road vehicles. When the main road vehicle intends to enter the auxiliary road, the auxiliary road vehicle predicted to perform emergency braking behavior will be warned in advance, and the auxiliary road vehicle will have sufficient distance and time to slow down and avoid, preventing the occurrence of emergency braking behavior of the auxiliary road vehicle, thereby improving road safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 The present invention is a schematic diagram of the application scenario layout of a method and device for intelligently preventing emergency braking events of vehicles at an intersection where a main road merges into a secondary road.

[0017] Figure 2 The present invention is a schematic diagram of the overall structure of an intelligent prevention device for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road.

[0018] Description of Figure Numbers: 101. Main pole; 102. Speed ​​radar; 103. Surveillance camera; 104. Pole body; 105. Side cross bar; 106. Base; 107. Inspection window; 201. Lighting device; 202. Circuit interface; 3. Underground circuit.

[0019] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] Please refer to Figure 1 and Figure 2 The present invention proposes an intelligent prevention method for emergency braking events of vehicles at an intersection where a main road merges into a secondary road, comprising the following steps: S100, obtaining operation data of a main road vehicle and an auxiliary road vehicle, wherein the operation data of the main road vehicle includes the driving speed of the main road vehicle, the distance between the front of the vehicle and the intersection of the main and auxiliary roads, the deceleration, and the behavior data; the operation data of the auxiliary road vehicle includes the driving speed of the auxiliary road vehicle, the distance between the front of the vehicle and the intersection of the main and auxiliary roads; S200, judging whether the main road vehicle intends to enter the auxiliary road according to the operation data of the main road vehicle; S300: If the main road vehicle intends to enter the auxiliary road, predict the motion trajectory based on the operation data of the main road vehicle and the auxiliary road vehicle; S400, determining the range of the danger zone of the auxiliary road according to the operation data of the vehicle on the auxiliary road; S500, judging whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection according to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone; S600: If the auxiliary road vehicle is about to perform emergency braking, activate the warning device to warn the auxiliary road vehicle.

[0025] The technical solution of the present invention provides an intelligent prevention method and device for emergency braking events of vehicles at the intersection where the main road merges into the auxiliary road. Compared with the collision prevention system under the prior art, the technical solution of the present invention can identify the intention of the main road vehicle to enter the auxiliary road, and dynamically predict the running trajectory of the main and auxiliary road vehicles. When the main road vehicle intends to enter the auxiliary road, the auxiliary road vehicle predicted to perform emergency braking behavior will be warned in advance, and the auxiliary road vehicle will have sufficient distance and time to slow down and avoid, preventing the occurrence of emergency braking behavior of the auxiliary road vehicle, thereby improving road safety.

[0026] Specifically, through the speed radar 102 and the monitoring camera 103, the information acquisition device uses the license plate position at the front of the vehicle as the trajectory point. The length of the video frame is recorded once in each frame, and the operation data of the vehicles traveling in the two rightmost lanes of the main road and the leftmost lane of the auxiliary road are transmitted to the control device. The control device determines whether there is an intention to enter the auxiliary road based on the received operation data of the main road vehicles.

[0027] In the second embodiment of the present invention, step S200 includes the following steps: S210: Determine whether a determination condition is met based on the operation data of the main road vehicle, wherein the determination condition includes: The first condition: the driving speed of the vehicle on the main road is less than the preset speed; Second condition: the deceleration of the main road vehicle is greater than the preset deceleration; The third condition: the right turn signal of the vehicle on the main road is turned on; Fourth condition: the behavior data of the main road vehicle includes lane change into the rightmost lane; S220: If the operation data of the main road vehicle meets at least one of the judgment conditions, the main road vehicle has the intention to enter the auxiliary road.

[0028] Specifically, the main road vehicle operation data includes the main road vehicle speed, the distance between the front license plate position and the main and auxiliary road intersection, the deceleration, and the main road vehicle behavior data; the auxiliary road vehicle operation data includes the auxiliary road vehicle speed, the distance between the front and the main and auxiliary road intersection; the judgment conditions include turning on the right turn signal, changing lanes to enter the rightmost lane, and the deceleration is greater than the preset deceleration, and the preset deceleration is within When the main road vehicle meets one of the above-mentioned determination conditions, it is determined that the main road vehicle has the intention to enter the auxiliary road.

[0029] More specifically, the preset speed is the minimum speed limit of the current road.

[0030] More specifically, the preset speed is fifty percent of the maximum speed limit of the current road.

[0031] In the third embodiment of the present invention, the step S300 includes the following steps: S310, predicting the first time required for the main road vehicle to reach the intersection exit; S320: predicting the displacement of the auxiliary road vehicle within the first time.

[0032] Specifically, a first time required for the main road vehicle to reach the intersection exit is predicted, and the displacement of the auxiliary road vehicle within the first time is predicted.

[0033] In the fourth implementation of the present invention, the step S320 includes the following formula: ; ; ; In the formula, Indicates the length of the section where the main and auxiliary roads meet; Indicates the distance from the front license plate position of the vehicle on the main road to the exit of the intersection; Indicates the driving speed of vehicles on the main road; Indicates the deceleration of vehicles on the main road. Indicates the distance between the front license plate position of the vehicle on the main road and the intersection of the main and auxiliary roads, and Indicates the speed of vehicles on the auxiliary road. Indicates the distance between the front license plate of the vehicle and the intersection of the main and auxiliary roads; Indicates the time required for a vehicle on the main road to reach the exit of the intersection from its current position; Indicates that vehicles on the auxiliary road are Internal displacement.

[0034] Specifically, the displacement of the auxiliary road vehicle within the first time is predicted.

[0035] In the fifth embodiment of the present invention, the step S400 includes the following calculation formula: ; In the formula, Indicates the scope of the danger zone (from the exit of the main and auxiliary road intersection to the direction of vehicles on the auxiliary road); The distance the vehicle on the auxiliary road moves during the driver's reaction time after seeing the warning; is the distance traveled by the vehicle on the auxiliary road during the deceleration change; It is the distance traveled by the auxiliary road vehicle during deceleration.

[0036] Specifically, the range of the danger zone includes the moving distance of the auxiliary road vehicle within the reaction time after the driver sees the warning, the moving distance of the auxiliary road vehicle during the deceleration change, and the moving distance of the auxiliary road vehicle during the deceleration period.

[0037] In the sixth embodiment of the present invention, the step S400 includes the following calculation formula: ; ; ; ; ; ; ; In the formula, Indicates the scope of the danger zone; The driver's reaction time from seeing the warning to applying the brakes; is the distance travelled by the vehicle on the auxiliary road within the driver’s reaction time; The critical value of braking deceleration that is comfortable for the driver; The critical value of the deceleration rate that the driver feels comfortable with; is the duration of the deceleration change; is the vehicle's speed after the deceleration changes; is the distance traveled by the vehicle during the deceleration change; The time required for auxiliary road vehicles to decelerate to a stop at a comfortable deceleration rate; is the distance travelled by the auxiliary road vehicle during deceleration; Indicates the speed of vehicles on the auxiliary road.

[0038] In another embodiment of the present invention, The value range is , The value range is .

[0039] In another embodiment of the present invention, The value of , The value range is .

[0040] In another embodiment of the present invention, The value of , The value range is .

[0041] In another embodiment of the present invention, The value of , The value range is .

[0042] In the seventh embodiment of the present invention, the step S500 includes the following steps: Acquiring a predicted displacement of the auxiliary road vehicle according to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone; Determine whether the predicted displacement of the auxiliary road vehicle is not greater than the distance from the auxiliary road vehicle to the exit of the main and auxiliary road intersection; and whether the predicted displacement of the auxiliary road vehicle is not less than the difference between the distance from the auxiliary road vehicle to the exit of the main and auxiliary road intersection and the range of the danger zone; If so, it is determined that the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection.

[0043] Specifically, based on the predicted displacement of vehicles on the auxiliary road and danger zone range , the control device determines whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection. or , then the auxiliary road vehicle will not enter the danger zone, and it is determined that the auxiliary road vehicle will not perform emergency braking; if , then the auxiliary road vehicle will enter the danger zone and it is determined that the auxiliary road vehicle will perform emergency braking.

[0044] In the eighth embodiment of the present invention, after the step S500, the following steps are further included: If the predicted motion trajectory of the auxiliary road vehicle does not enter the danger zone; Determine whether the main road vehicle enters the auxiliary road: If the main road vehicle does not enter the auxiliary road, the operation data of the main road vehicle and the auxiliary road vehicle are updated; Return to step 16 to predict the motion trajectory using the operating data of the main road vehicle and the auxiliary road vehicle.

[0045] Specifically, before the vehicle on the main road enters the auxiliary road, the judgment is performed cyclically.

[0046] More specifically, the data from the monitoring camera 103 and the speed radar 102 are used as the operating data of the main road vehicles and the auxiliary road vehicles, and the operating data of the vehicles traveling in the two rightmost lanes of the main road and the vehicles traveling in the leftmost lane of the auxiliary road are recorded once in each frame. When the operating data of the main road vehicles and the auxiliary road vehicles are updated, the operating data of the main road vehicles and the auxiliary road vehicles recorded in the next frame are used.

[0047] In the ninth embodiment of the present invention, the speed radar 102 and the monitoring camera 103 of the information acquisition device are used to obtain the position of the front license plate of the vehicle as the trajectory point. The length of the video frame is recorded once in each frame, and the operation data of the vehicles traveling in the two rightmost lanes of the main road and the leftmost lane of the auxiliary road are transmitted to the control device. The control device determines whether the vehicles have the intention to enter the auxiliary road based on the received operation data of the vehicles on the main road.

[0048] When a vehicle driving in the rightmost lane of the main road is detected with a deceleration greater than the preset deceleration, , determine whether the vehicle on the main road intends to enter the auxiliary road.

[0049] The control device records the running data of the main road vehicle intending to enter the auxiliary road and the auxiliary road vehicle closest to the intersection of the main and auxiliary roads in this frame, and the recorded data includes the running speed of the main road vehicle. , Main road vehicle deceleration , the distance between the front license plate position of the vehicle on the main road and the intersection of the main and auxiliary roads , and the speed of vehicles on the auxiliary road , the distance between the front license plate position and the intersection of the main and auxiliary roads .

[0050] According to the formula: ; ; ; ; Predict the time required for vehicles on the main road to reach the intersection exit from the current location , and auxiliary road vehicles Displacement in time . , .

[0051] According to the formula: ; ; ; ; ; ; ; Calculate the danger zone ,in , , , the range of the danger zone is .

[0052] After calculation , , ,Compare , and The size relationship is obtained , , Satisfy the relationship , the auxiliary road vehicle will not enter the danger zone, and it is determined that the auxiliary road vehicle will not perform emergency braking. The control device continues to perform the prediction and judgment work for the next frame.

[0053] The control device records the running data of the main road vehicle intending to enter the auxiliary road and the auxiliary road vehicle closest to the main and auxiliary road intersection section in the next frame according to the information acquisition device, and the recorded data includes the running speed of the main road vehicle , Deceleration , the distance between the front license plate position and the intersection of the main and auxiliary roads , and the speed of vehicles on the auxiliary road , the distance between the front license plate position and the intersection of the main and auxiliary roads .

[0054] According to the formula: ; ; ; ; Predict the time required for vehicles on the main road to reach the intersection exit from the current location , and auxiliary road vehicles Displacement in time . , .

[0055] According to the formula: ; ; ; ; ; ; ; Calculate the danger zone ,in , , , the range of the danger zone is .

[0056] After calculation , , ,Compare , and The size relationship is obtained , Satisfy the relationship , the auxiliary road vehicle will enter the danger zone, and it is determined that the auxiliary road vehicle will perform emergency braking. The control device stops the prediction and judgment work of the next frame, controls the early warning light strip through the underground circuit 3, turns on the light warning, reminds the auxiliary road vehicle to slow down and avoid the main road vehicle, and prevents the auxiliary road vehicle from emergency braking. Until the vehicle turning right from the main road enters the auxiliary road, the information acquisition device detects that the license plate position at the front end of the vehicle reaches the bottom edge line of the video detection area, the device stops working and the warning light goes out.

[0057] The present application also includes an intelligent device for preventing emergency braking incidents of vehicles at the intersection where the main road merges into the auxiliary road, including a control device and an information acquisition device and an early warning device both connected to the control device, the information acquisition device being used to acquire vehicle information on the main road and the auxiliary road; the early warning device being used to issue early warnings to vehicles on the auxiliary road; the control device being used to determine whether a vehicle on the main road turns right and whether a vehicle on the auxiliary road performs emergency braking based on the vehicle information on the main road and the auxiliary road, and to control whether the early warning device is enabled.

[0058] In the tenth embodiment of the present invention, the control device includes an information processing device, a memory and a communication networking device, and the memory stores a computer program or instructions. When the computer program or instructions are executed by the information processing device, the information processing device executes the intelligent prevention method for emergency braking events of vehicles at the intersection where the main road merges into the secondary road as described above.

[0059] In the eleventh embodiment of the present invention, the information acquisition device includes a main pole 101 arranged between the main road and the auxiliary road, and a speed radar 102 and a monitoring camera 103 arranged on the main pole 101, the main pole 101 includes a pole body 104, a side cross bar 105 and a base 106, two side cross bars 105 are arranged on the top of the pole body 104, and the two side cross bars 105 extend to the main lane and the auxiliary road lane respectively, and the base 106 includes a flat square flange structure, and the side cross bars 105 are provided with speed radars and monitoring cameras 103, the speed radar 102 is installed in the middle of the side cross bar 105, and the monitoring camera 103 is installed at the end of the side cross bar 105 away from the pole body 104.

[0060] The speed measuring radar 102 is used to obtain the acceleration and speed of the vehicle, and the monitoring camera 103 is used to obtain the image information and position of the vehicle. The speed measuring radar 102 and the monitoring camera 103 are both facing the measured lane. The speed measuring radar 102 is connected to the monitoring camera 103 on the same side through the internal circuit of the main pole 101. At the same time, the speed measuring radar 102 can directly exchange data with the monitoring camera 103 group to reduce the error of information acquisition.

[0061] The warning device includes a warning light strip, which includes a lighting device 201 and a circuit interface 202. The lighting device 201 includes a light strip with a rectangular strip structure. The lighting device 201 and the circuit interface 202 are connected through a circuit, and the circuit interface 202 is connected to the control device through an underground circuit 3.

[0062] The control device includes an information processing device and a communication networking device at the bottom of the main pole 101. The information processing device is connected to the speed radar 102 and the monitoring camera 103 of the information acquisition device. The information acquisition device acquires the vehicle operation data of the main and auxiliary roads and transmits it to the control device.

[0063] The control device first identifies whether the main road vehicle intends to enter the auxiliary road based on the received data. After identifying the main road vehicle with the intention to enter the auxiliary road, it predicts the time when the main road vehicle arrives at the exit of the main-auxiliary road intersection, and at the same time predicts the position of the auxiliary road vehicle when the main road vehicle arrives at the exit of the main-auxiliary road intersection. It determines whether the auxiliary road vehicle will perform emergency braking when the main road vehicle arrives at the exit of the main-auxiliary road intersection because it is too close to the main-auxiliary road intersection. The auxiliary road vehicle predicted to perform emergency braking is warned by the warning light strip to prevent the occurrence of emergency braking of the auxiliary road vehicle. The control device is connected to the warning light strip through the underground circuit 3.

[0064] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An intelligent method for preventing emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road, characterized in that The steps include: Obtaining the operating data of the main road vehicle and the auxiliary road vehicle, wherein the operating data of the main road vehicle includes the driving speed of the main road vehicle, the distance between the front of the vehicle and the intersection of the main and auxiliary roads, the deceleration, and the behavior data; the operating data of the auxiliary road vehicle includes the driving speed of the auxiliary road vehicle, the distance between the front of the vehicle and the intersection of the main and auxiliary roads; Determining whether the main road vehicle intends to enter the auxiliary road according to the operation data of the main road vehicle; If the main road vehicle intends to enter the auxiliary road, a motion trajectory is predicted based on the operating data of the main road vehicle and the auxiliary road vehicle; Determine the danger zone range of the auxiliary road according to the operation data of the auxiliary road vehicle; According to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone, it is determined whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection; If the auxiliary road vehicle performs emergency braking, the warning device is activated to warn the auxiliary road vehicle.

2. The intelligent prevention method for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 1, characterized in that: The step of judging whether the main road vehicle intends to enter the auxiliary road according to the operation data of the main road vehicle comprises the following steps: Determine whether the judgment condition is met according to the operation data of the main road vehicle, and the judgment condition includes: The first condition: the driving speed of the vehicle on the main road is less than the preset speed; Second condition: the deceleration of the main road vehicle is greater than the preset deceleration; The third condition: the right turn signal of the vehicle on the main road is turned on; Fourth condition: the behavior data of the main road vehicle includes lane change into the rightmost lane; If the operation data of the main road vehicle meets at least one of the judgment conditions, the main road vehicle has the intention to enter the auxiliary road.

3. The intelligent prevention method for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 1, characterized in that: The step of predicting the motion trajectory of the main road vehicle and the auxiliary road vehicle based on the operating data of the main road vehicle and the auxiliary road vehicle if the main road vehicle intends to enter the auxiliary road comprises the following steps: Predicting the first time required for the main road vehicle to reach the intersection exit; Predicting the displacement of the auxiliary road vehicle within the first time.

4. The intelligent prevention method for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 3, characterized in that: The step of predicting the displacement of the auxiliary road vehicle within the first time includes the following formula: ； ； ； In the formula, Indicates the length of the intersection section of the main and auxiliary roads; Indicates the distance from the front license plate position of the vehicle on the main road to the exit of the intersection; Indicates the driving speed of vehicles on the main road; Indicates the deceleration of vehicles on the main road. Indicates the distance between the front license plate position of the vehicle on the main road and the intersection of the main and auxiliary roads, and Indicates the speed of vehicles on the auxiliary road. Indicates the distance between the front license plate of the vehicle and the intersection of the main and auxiliary roads; Indicates the time required for a vehicle on the main road to reach the exit of the intersection from its current position; Indicates that vehicles on the auxiliary road are Internal displacement.

5. The intelligent prevention method for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 1, characterized in that: The step of determining the range of the danger zone of the auxiliary road according to the operating data of the auxiliary road vehicle includes the following calculation formula: ； In the formula, Indicates the scope of the danger zone; The distance the vehicle on the auxiliary road moves during the driver's reaction time after seeing the warning; is the distance traveled by the vehicle on the auxiliary road during the deceleration change; It is the distance traveled by the auxiliary road vehicle during deceleration.

6. The intelligent prevention method for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 1, characterized in that: The step of determining the range of the danger zone of the auxiliary road according to the operating data of the auxiliary road vehicle includes the following calculation formula: ； ； ； ； ； ； ； In the formula, Indicates the scope of the danger zone; The driver's reaction time from seeing the warning to applying the brakes; is the distance travelled by the vehicle on the auxiliary road within the driver’s reaction time; The critical value of braking deceleration that is comfortable for the driver; The critical value of the deceleration rate that the driver feels comfortable with; is the duration of the deceleration change; is the vehicle's speed after the deceleration changes; is the distance traveled by the vehicle during the deceleration change; The time required for auxiliary road vehicles to decelerate to a stop at a comfortable deceleration rate; is the distance travelled by the auxiliary road vehicle during deceleration; Indicates the speed of vehicles on the auxiliary road.

7. The intelligent prevention method for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 1, characterized in that: The step of judging whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main-auxiliary road intersection based on the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone includes the following steps: Acquiring a predicted displacement of the auxiliary road vehicle according to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone; Determine whether the predicted displacement of the auxiliary road vehicle is not greater than the distance from the auxiliary road vehicle to the exit of the main and auxiliary road intersection; and whether the predicted displacement of the auxiliary road vehicle is not less than the difference between the distance from the auxiliary road vehicle to the exit of the main and auxiliary road intersection and the range of the danger zone; If so, it is determined that the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the exit of the main and auxiliary road intersection.

8. An intelligent method for preventing emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as described in any one of claims 1 to 7, characterized in that: After the step of judging whether the auxiliary road vehicle will perform emergency braking when the main road vehicle reaches the main-auxiliary road intersection exit according to the predicted motion trajectory of the auxiliary road vehicle and the range of the danger zone, the following steps are also included: If the predicted motion trajectory of the auxiliary road vehicle does not enter the danger zone; Determining whether the main road vehicle enters the auxiliary road; If the main road vehicle does not enter the auxiliary road, the operation data of the main road vehicle and the auxiliary road vehicle are updated; Return to step 16 to predict the motion trajectory using the operating data of the main road vehicle and the auxiliary road vehicle.

9. An intelligent prevention device for emergency braking events of vehicles at an intersection where a main road merges into an auxiliary road, used to implement an intelligent prevention method for emergency braking events of vehicles at an intersection where a main road merges into an auxiliary road as described in any one of claims 1 to 8, characterized in that: It includes a control device and an information acquisition device and an early warning device both connected to the control device, wherein the information acquisition device is used to acquire vehicle information on the main road and the auxiliary road; the early warning device is used to issue an early warning to vehicles on the auxiliary road; The control device is used to determine whether the vehicle on the main road turns right and whether the vehicle on the auxiliary road performs emergency braking based on the vehicle information on the main road and the auxiliary road, and to control whether the early warning device is enabled.

10. An intelligent prevention device for emergency braking incidents of vehicles at an intersection where a main road merges into a secondary road as claimed in claim 9, characterized in that: The control device includes an information processing device, a memory and a communication networking device, wherein the memory stores a computer program or instruction, and when the computer program or instruction is executed by the information processing device, the information processing device executes the intelligent prevention method for emergency braking events of vehicles at the intersection where the main road merges into the secondary road as described in any one of claims 1-8.

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