Intelligent Prevention Method and Device for Emergency Braking Events of Vehicles at the Junction where the Main Road Merges into the Feeder Road

Abstract

The present invention discloses an intelligent prevention method and device for vehicle emergency braking events at the intersection where the main road merges into the auxiliary road, including the following steps: obtaining the operation data of the main road vehicle and the auxiliary road vehicle; judging whether the main road vehicle has the intention of driving into the auxiliary road according to the operation data of the main road vehicle; predicting the movement trajectory through the operation data of the main road vehicle and the auxiliary road vehicle; determining the range of the dangerous area of the auxiliary road according to the operation data of the auxiliary road vehicle; judging whether the auxiliary road vehicle will have an emergency braking behavior when the main road vehicle reaches the exit of the main-auxiliary road intersection; if an emergency braking behavior will occur, starting the warning device to give a warning to the auxiliary road vehicle. In the technical solution of the present invention, the intention of the main road vehicle to drive into the auxiliary road is identified, the operation trajectories of the main road vehicle and the auxiliary road vehicle are dynamically predicted, and the auxiliary road vehicle that is predicted to have an emergency braking behavior is warned in advance, so that the auxiliary 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-road and auxiliary-road intersection warning, and particularly relates to an intelligent prevention method and device for vehicle emergency braking events at the intersection where the main road merges into the auxiliary road. Background Art

[0002] As an important part of urban traffic, due to the existence of obstacles such as green belts and the narrow area around the intersection of the main road and the auxiliary road, the formed driving vision blind area makes it impossible for the auxiliary-road vehicles to effectively observe the driving conditions of the main road, and they can only identify and avoid within a very short time during the process of the main-road vehicles merging into the auxiliary road. The existing collision prevention systems at the main-road and auxiliary-road intersections mainly consider the optimization of the intersection structure, and at the same time, by setting devices such as signs and convex mirrors, the alertness of the auxiliary-road drivers to the main-road vehicles is improved, in order to enable the drivers to detect the merging of the main-road vehicles as early as possible and decelerate. However, it still only leaves a short time for the auxiliary-road vehicle drivers to perform deceleration and braking operations, which leads to emergency braking behaviors of the auxiliary-road vehicles during the braking process, easily bringing adverse effects to the drivers and passengers. At the same time, the short emergency handling time has high requirements for the drivers' experience and reaction. Drivers with insufficient driving experience may make operation mistakes, resulting in accidents. Summary of the Invention

[0003] The main object of the present invention is to provide an intelligent prevention method and device for vehicle emergency braking events 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 main-road and auxiliary-road intersection leaves a short reserved time, resulting in emergency braking behaviors of the auxiliary-road vehicles during the braking process.

[0004] To achieve the above object, an intelligent prevention method for vehicle emergency braking events at the intersection where the main road merges into the auxiliary road proposed by the present invention includes the following steps:

[0005] Obtain the operation data of the main-road vehicle and the auxiliary-road vehicle. The operation data of the main-road vehicle includes the driving speed of the main-road vehicle, the distance between the vehicle head and the main-road and auxiliary-road intersection, the deceleration, and the behavior data; the operation data of the auxiliary-road vehicle includes the driving speed of the auxiliary-road vehicle and the distance between the vehicle head and the main-road and auxiliary-road intersection.

[0006] Judge whether the main-road vehicle has the intention of driving into the auxiliary road according to the operation data of the main-road vehicle.

[0007] If the main-road vehicle has the intention of driving into the auxiliary road, predict the movement trajectory through the operation data of the main-road vehicle and the auxiliary-road vehicle.

[0008] Determine the dangerous area range of the auxiliary road according to the operation data of the auxiliary-road vehicle.

[0009] Based on the predicted movement trajectory of the vehicle on the secondary road and the range of the dangerous area, determine whether the vehicle on the secondary road will perform an emergency braking behavior when the vehicle on the main road reaches the exit of the main-secondary road intersection;

[0010] If the vehicle on the secondary road will perform an emergency braking behavior, activate the warning device to give a warning to the vehicle on the secondary road.

[0011] Preferably, the step of determining whether the vehicle on the main road has the intention of driving into the secondary road according to the operation data of the vehicle on the main road includes the steps of:

[0012] Determine whether the operation data of the vehicle on the main road meets the judgment conditions, and the judgment conditions include:

[0013] The first condition: the driving speed of the vehicle on the main road is less than the preset speed;

[0014] The second condition: the deceleration of the vehicle on the main road is greater than the preset deceleration;

[0015] The third condition: the right turn signal of the vehicle on the main road is in the on state;

[0016] The fourth condition: there is a lane change into the rightmost lane in the behavior data of the vehicle on the main road;

[0017] If the operation data of the vehicle on the main road meets at least one of the judgment conditions, the vehicle on the main road has the intention of driving into the secondary road.

[0018] Preferably, the step of predicting the movement trajectory through the operation data of the vehicle on the main road and the vehicle on the secondary road when the vehicle on the main road has the intention of driving into the secondary road includes the following steps:

[0019] Predict the first time required for the vehicle on the main road to reach the exit of the intersection;

[0020] Predict the displacement of the vehicle on the secondary road within the first time.

[0021] Preferably, the step of predicting the displacement of the vehicle on the secondary road within the first time includes the following formula:

[0022] ;

[0023] ;

[0024] ;

[0025] In the formula, represents the length of the main-secondary road intersection section; represents the distance from the license plate position at the front end of the vehicle head of the vehicle on the main road to the exit of the intersection; represents the driving speed of the vehicle on the main road; Indicates the deceleration of the main-road vehicle, Indicates the distance between the front license plate position of the main-road vehicle and the main-auxiliary road intersection section, and Indicates the driving speed of the auxiliary-road vehicle, Indicates the distance between the front license plate position of the vehicle and the main-auxiliary road intersection section; Indicates the time required for the main-road vehicle to reach the intersection exit from the current position; Indicates the auxiliary-road vehicle within Displacement within.

[0026] Preferably, the step of determining the dangerous area range of the auxiliary road according to the running data of the auxiliary-road vehicle includes the following calculation formula:

[0027] ;

[0028] In the formula, Indicates the dangerous area range; Is the moving distance of the auxiliary-road vehicle during the reaction time after the driver sees the warning; Is the moving distance of the auxiliary-road vehicle during the deceleration change period; Is the moving distance of the auxiliary-road vehicle during deceleration.

[0029] Preferably, the step of determining the dangerous area range of the auxiliary road according to the running data of the auxiliary-road vehicle includes the following calculation formula:

[0030] ;

[0031] ;

[0032] ;

[0033] ;

[0034] ;

[0035] ;

[0036] ;

[0037] In the formula, Indicates the dangerous area range; Is the reaction time from when the driver sees the warning to when braking is applied; Is the moving distance of the auxiliary-road vehicle during the driver's reaction time; Is the critical value of the braking deceleration that the driver feels comfortable with; Is the critical value of the deceleration change rate that the driver feels comfortable with; is the duration of the deceleration change; is the driving speed of the vehicle after the deceleration change; is the moving distance of the vehicle during the deceleration change; is the time required for the vehicle on the secondary road to decelerate to a stop at a comfortable deceleration; is the moving distance of the vehicle on the secondary road during deceleration; represents the driving speed of the vehicle on the secondary road.

[0038] Preferably, the step of judging whether the vehicle on the secondary road will perform an emergency braking behavior when the vehicle on the main road reaches the exit of the main-secondary road intersection according to the predicted movement trajectory of the vehicle on the secondary road and the range of the danger zone includes the following steps:

[0039] Obtain the predicted displacement of the vehicle on the secondary road according to the predicted movement trajectory of the vehicle on the secondary road and the range of the danger zone;

[0040] Judge whether the predicted displacement of the vehicle on the secondary road is not greater than the distance from the vehicle on the secondary road to the exit of the main-secondary road intersection; and whether the predicted displacement of the vehicle on the secondary road is not less than the difference between the distance from the vehicle on the secondary road to the exit of the main-secondary road intersection and the range of the danger zone;

[0041] If so, it is determined that the vehicle on the secondary road will perform an emergency braking behavior when the vehicle on the main road reaches the exit of the main-secondary road intersection.

[0042] Preferably, after the step of judging whether the vehicle on the secondary road will perform an emergency braking behavior when the vehicle on the main road reaches the exit of the main-secondary road intersection according to the predicted movement trajectory of the vehicle on the secondary road and the range of the danger zone, the following steps are further included:

[0043] If the predicted movement trajectory of the vehicle on the secondary road does not enter the range of the danger zone;

[0044] Judge whether the vehicle on the main road enters the secondary road:

[0045] If the vehicle on the main road does not enter the secondary road; then update the operation data of the vehicle on the main road and the vehicle on the secondary road;

[0046] Return to the step of predicting the movement trajectory through the operation data of the vehicle on the main road and the vehicle on the secondary road.

[0047] An intelligent prevention device for emergency braking events of vehicles at the intersection where the main road merges into the secondary road proposed by the present invention includes a control device, an information acquisition device and an early warning device both connected to the control device. The information acquisition device is used to acquire vehicle information on the main road and the secondary road; the early warning device is used to give an early warning to the vehicle on the secondary road; the control device is used to judge whether the vehicle on the main road turns right and whether the vehicle on the secondary road performs an emergency braking behavior through the vehicle information on the main road and the secondary road, and controls whether the early warning device is enabled.

[0048] Preferably, the control device includes an information processing device, a memory, and a communication networking device. A computer program or instruction is stored on the memory. When the computer program or instruction is executed by the information processing device, the information processing device is caused to execute 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.

[0049] In the technical solution of the present invention, an intelligent prevention method and device for emergency braking events of vehicles at the intersection where the main road merges into the secondary road are provided. Compared with the collision prevention system in the prior art, the technical solution of the present invention can identify the intention of the main road vehicle to enter the secondary road, dynamically predict the running trajectories of the main road vehicle and the secondary road vehicle, and when the main road vehicle has the intention to enter the secondary road, give an early warning to the secondary road vehicle that is predicted to perform an emergency braking behavior, so that the secondary road vehicle can have sufficient distance and time to decelerate and avoid, prevent the occurrence of emergency braking behavior of the secondary road vehicle, and improve the safety of the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on the structures shown in these drawings without creative efforts.

[0051] Figure 1 It is a schematic layout diagram of the application scenario of an intelligent prevention method and device for emergency braking events of vehicles at the intersection where the main road merges into the secondary road of the present invention.

[0052] Figure 2 It is a schematic diagram of the overall structure of an intelligent prevention device for emergency braking events of vehicles at the intersection where the main road merges into the secondary road of the present invention.

[0053] Explanation of the reference numerals in the drawings:

[0054] 101, main pole; 102, speed measurement radar; 103, monitoring camera; 104, pole body; 105, side cross bar; 106, base; 107, maintenance window; 201, lighting device; 202, circuit interface; 3, underground circuit.

[0055] The realization, functional characteristics, and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0057] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0059] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions conflicts with each other or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0060] Please refer to Figure 1 and Figure 2 , the present invention provides an intelligent prevention method for vehicle emergency braking events at the intersection where the main road merges into the secondary road, including the following steps:

[0061] S100. Obtain the operation data of the main-road vehicle and the secondary-road vehicle. The operation data of the main-road vehicle includes the driving speed of the main-road vehicle, the distance between the vehicle head and the main-secondary road intersection, the deceleration, and the behavior data; the operation data of the secondary-road vehicle includes the driving speed of the secondary-road vehicle and the distance between the vehicle head and the main-secondary road intersection.

[0062] S200. Judge whether the main-road vehicle has the intention to drive into the secondary road according to the operation data of the main-road vehicle.

[0063] S300. If the main road vehicle intends to drive into the auxiliary road, predict the movement trajectory through the operation data of the main road vehicle and the auxiliary road vehicle;

[0064] S400. Determine the range of the dangerous area of the auxiliary road according to the operation data of the auxiliary road vehicle;

[0065] S500. According to the predicted movement trajectory of the auxiliary road vehicle and the range of the dangerous area, judge whether the auxiliary road vehicle will perform an emergency braking behavior when the main road vehicle reaches the exit of the main-auxiliary road intersection;

[0066] S600. If the auxiliary road vehicle will perform an emergency braking behavior, activate the warning device to give a warning to the auxiliary road vehicle.

[0067] In the technical solution of the present invention, an intelligent prevention method and device for emergency braking events of vehicles at the intersection where the main road merges into the auxiliary road are provided. Compared with the collision prevention system in the prior art, the technical solution of the present invention can identify the intention of the main road vehicle to drive into the auxiliary road, dynamically predict the movement trajectories of the main road vehicle and the auxiliary road vehicle, and when the main road vehicle has the intention to drive into the auxiliary road, give an early warning to the auxiliary road vehicle that is predicted to perform an emergency braking behavior, so that the auxiliary road vehicle can have sufficient distance and time to decelerate and avoid, prevent the occurrence of the emergency braking behavior of the auxiliary road vehicle, and improve the safety of the road.

[0068] Specifically, through the speed measurement radar 102 and the monitoring camera 103, the information acquisition device uses the license plate position at the front end of the vehicle head as the trajectory point, and takes as the video frame length, records the operation data of the vehicles driving in the two rightmost lanes of the main road and the vehicles driving in the leftmost lane of the auxiliary road once per frame, and transmits the vehicle operation data to the control device. The control device judges whether it has the intention to drive into the auxiliary road based on the received operation data of the main road vehicle.

[0069] In the second embodiment of the present invention, step S200 includes the following steps:

[0070] S210. Judge whether it meets the judgment conditions according to the operation data of the main road vehicle. The judgment conditions include:

[0071] The first condition: The driving speed of the main road vehicle is less than the preset speed;

[0072] The second condition: The deceleration of the main road vehicle is greater than the preset deceleration;

[0073] The third condition: The right turn signal of the main road vehicle is in the on state;

[0074] The fourth condition: There is a lane change into the rightmost lane in the behavior data of the main road vehicle;

[0075] S220. When the operation data of the main-road vehicle meets at least one of the judgment conditions, it is intended that the main-road vehicle drives into the auxiliary road.

[0076] Specifically, the operation data of the main-road vehicle includes the driving speed of the main-road vehicle, the distance between the front end of the vehicle head license plate and the main-auxiliary road intersection, the deceleration during deceleration, and the behavior data of the main-road vehicle; the operation data of the auxiliary-road vehicle includes the driving speed of the auxiliary-road vehicle and the distance between the vehicle head and the main-auxiliary road intersection; the judgment conditions include turning on the right turn signal, changing lanes into the rightmost lane, and the deceleration being greater than the preset deceleration. The preset deceleration is and above. When the main-road vehicle meets one of the above discrimination conditions, it is determined that the main-road vehicle has the intention of driving into the auxiliary road.

[0077] More specifically, the preset speed is the minimum speed limit of the current road.

[0078] More specifically, the preset speed is fifty percent of the maximum speed limit of the current road.

[0079] In the third embodiment of the present invention, the step S300 includes the following steps:

[0080] S310. Predict the first time required for the main-road vehicle to reach the exit of the intersection.

[0081] S320. Predict the displacement of the auxiliary-road vehicle within the first time.

[0082] Specifically, predict the first time required for the main-road vehicle to reach the exit of the intersection and predict the displacement of the auxiliary-road vehicle within the first time.

[0083] In the fourth embodiment of the present invention, the step S320 includes the following formula:

[0084] ;

[0085] ;

[0086] ;

[0087] In the formula, represents the length of the main-auxiliary road intersection section; represents the distance from the front end of the vehicle head license plate of the main-road vehicle to the exit of the intersection; represents the driving speed of the main-road vehicle; represents the deceleration of the main-road vehicle, represents the distance between the front end of the vehicle head license plate of the main-road vehicle and the main-auxiliary road intersection section, and represents the driving speed of the auxiliary-road vehicle, Indicates the distance between the license plate position at the front end of the vehicle's head and the section of the main and auxiliary road intersection; Indicates the time required for the vehicle on the main road to reach the exit of the intersection from the current position; Indicates the displacement of the vehicle on the auxiliary road within .

[0088] Specifically, predict the displacement of the vehicle on the auxiliary road within the first time.

[0089] In the fifth embodiment of the present invention, the steps of S400 include the following calculation formula:

[0090] ;

[0091] In the formula, Indicates the range of the dangerous area (from the exit of the main and auxiliary road intersection section to the direction of the vehicle on the auxiliary road); Is the moving distance of the vehicle on the auxiliary road during the reaction time after the driver sees the warning; Is the moving distance of the vehicle on the auxiliary road during the deceleration change period; Is the moving distance of the vehicle on the auxiliary road during the deceleration period.

[0092] Specifically, the range of the dangerous area is calculated by including the moving distance of the vehicle on the auxiliary road during the reaction time after the driver sees the warning, the moving distance of the vehicle on the auxiliary road during the deceleration change period, and the moving distance of the vehicle on the auxiliary road during the deceleration period.

[0093] In the sixth embodiment of the present invention, the steps of S400 include the following calculation formula:

[0094] ;

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] ;

[0100] ;

[0101] In the formula, Indicates the range of the dangerous area; Is the reaction time from when the driver sees the warning to when braking is applied; Is the moving distance of the vehicle on the auxiliary road during the driver's reaction time; The critical value of the braking deceleration for the driver to feel comfortable; The critical value of the deceleration change rate for the driver to feel comfortable; The duration of the deceleration change; The driving speed of the vehicle after the deceleration change; The moving distance of the vehicle during the deceleration change; The time required for the vehicle on the secondary road to decelerate to a stop at a comfortable deceleration; The moving distance of the vehicle on the secondary road during deceleration; Represents the driving speed of the vehicle on the secondary road.

[0102] In another embodiment of the present invention, The value range of , The value range of .

[0103] In another embodiment of the present invention, The value of , The value range of .

[0104] In another embodiment of the present invention, The value of , The value range of .

[0105] In another embodiment of the present invention, The value of , The value range of .

[0106] In the seventh embodiment of the present invention, the S500 step includes the following steps:

[0107] Obtain the predicted displacement of the vehicle on the secondary road according to the predicted movement trajectory of the vehicle on the secondary road and the range of the dangerous area;

[0108] Judge whether the predicted displacement of the vehicle on the secondary road is not greater than the distance from the vehicle on the secondary road to the exit of the main-secondary road intersection; and whether the predicted displacement of the vehicle on the secondary road is not less than the difference between the distance from the vehicle on the secondary road to the exit of the main-secondary road intersection and the range of the dangerous area;

[0109] If so, it is determined that the vehicle on the secondary road will perform an emergency braking behavior when the vehicle on the main road reaches the exit of the main-secondary road intersection.

[0110] Specifically, according to the predicted displacement of the vehicle on the secondary road and the range of the dangerous area , the control device determines whether the vehicle on the secondary road will perform an emergency braking behavior when the vehicle on the main road reaches the exit of the main-secondary road intersection. If or , then the vehicle on the secondary road will not enter the danger zone, and it is determined that the vehicle on the secondary road will not perform an emergency braking behavior; if , then the vehicle on the secondary road will enter the danger zone, and it is determined that the vehicle on the secondary road will perform an emergency braking behavior.

[0111] In the eighth embodiment of the present invention, after the step of S500, the following steps are further included:

[0112] If the predicted movement trajectory of the vehicle on the secondary road does not enter the danger zone range;

[0113] Judge whether the vehicle on the main road enters the secondary road:

[0114] If the vehicle on the main road does not enter the secondary road; then update the operation data of the vehicle on the main road and the vehicle on the secondary road;

[0115] Return to the step of predicting the movement trajectory through the operation data of the vehicle on the main road and the vehicle on the secondary road.

[0116] Specifically, before the vehicle on the main road enters the secondary road, the judgment is made cyclically.

[0117] More specifically, using the data of the monitoring camera 103 and the speed measurement radar 102 as the operation data of the vehicle on the main road and the vehicle on the secondary road, the operation data of the vehicles traveling in the two rightmost lanes of the main road and the vehicle traveling in the leftmost lane of the secondary road are recorded once per frame. When updating the operation data of the vehicle on the main road and the vehicle on the secondary road, the operation data of the vehicle on the main road and the vehicle on the secondary road recorded in the next frame are used.

[0118] In the ninth embodiment of the present invention, through the speed measurement radar 102 and the monitoring camera 103 of the information acquisition device, using the license plate position at the front end of the vehicle as the trajectory point, with being the video frame length, the operation data of the vehicles traveling in the two rightmost lanes of the main road and the vehicle traveling in the leftmost lane of the secondary road are recorded once per frame, and the vehicle operation data is transmitted to the control device. The control device determines whether there is an intention to drive into the secondary road based on the received operation data of the vehicle on the main road.

[0119] When it is detected that the deceleration of a vehicle traveling in the rightmost lane of the main road is greater than the preset deceleration, which is , it is determined that the vehicle on the main road has an intention to drive into the secondary road.

[0120] The control device records the operation data of the vehicle on the main road with the intention of driving into the secondary road and the vehicle on the secondary road closest to the main-secondary road intersection section recorded by the information acquisition device in this frame. The recorded data includes the traveling speed of the vehicle on the main road Main road vehicle deceleration Distance between the front license plate position of the main road vehicle and the main - auxiliary road intersection section , and the driving speed of the auxiliary road vehicle Distance between the front license plate position and the main - auxiliary road intersection section .

[0121] According to the formula:

[0122] ;

[0123] ;

[0124] ;

[0125] ;

[0126] Predict the time required for the main road vehicle to reach the intersection exit from the current position , and the displacement of the auxiliary road vehicle within time . Obtain , .

[0127] According to the formula:

[0128] ;

[0129] ;

[0130] ;

[0131] ;

[0132] ;

[0133] ;

[0134] ;

[0135] Calculate the dangerous area range , where , , , obtain the dangerous area range as .

[0136] After calculation, obtain , , , compare , with The size relationship to obtain , , Satisfy the relational expression , the vehicle on the secondary road will not enter the dangerous area, it is determined that the vehicle on the secondary road will not perform an emergency braking behavior, and the control device continues to perform the prediction and determination work for the next frame.

[0137] The control device records the running data of the main road vehicle with the intention of driving into the secondary road and the secondary road vehicle closest to the main-secondary road intersection section recorded in the next frame by the information acquisition device. The recorded data includes the driving speed of the main road vehicle , deceleration , the distance between the front end license plate position of the vehicle head and the main-secondary road intersection section , and the driving speed of the secondary road vehicle , the distance between the front end license plate position of the vehicle head and the main-secondary road intersection section .

[0138] According to the formula:

[0139] ;

[0140] ;

[0141] ;

[0142] ;

[0143] Predict the time required for the main road vehicle to reach the intersection exit from the current position , and the displacement of the secondary road vehicle within time . Obtain , .

[0144] According to the formula:

[0145] ;

[0146] ;

[0147] ;

[0148] ;

[0149] ;

[0150] ;

[0151] ;

[0152] Calculating the range of the dangerous area , where , , , the obtained range of the dangerous area is .

[0153] After calculation, it is obtained that , , , comparing , with to obtain the size relationship, and it is obtained that , satisfies the relational expression . The vehicle on the secondary road will enter the dangerous area. It is determined that the vehicle on the secondary road will perform an emergency braking behavior. The control device stops the prediction and determination work of the next frame, controls the warning light strip through the underground circuit 3, turns on the light warning, reminds the vehicle on the secondary road to slow down and avoid the vehicle coming from the main road, and prevents the occurrence of the emergency braking behavior of the vehicle on the secondary road. Until the vehicle turning right on the main road enters the secondary road, when the information acquisition device detects that the position of the front end license plate of the vehicle reaches the bottom edge line of the video detection area, the device stops working and the warning light goes out.

[0154] This application also includes an intelligent prevention device for emergency braking events of vehicles at the intersection where the main road merges into the secondary road, including a control device, an information acquisition device and a warning device both connected to the control device. The information acquisition device is used to acquire vehicle information on the main road and the secondary road; the warning device is used to give a warning to the vehicle on the secondary road; the control device is used to judge whether the vehicle on the main road turns right and whether the vehicle on the secondary road has an emergency braking behavior through the vehicle information on the main road and the secondary road, and controls whether the warning device is enabled.

[0155] In the tenth embodiment of the present invention, the control device includes an information processing device, a memory and a communication networking device. A computer program or instruction is stored on the memory. 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 above.

[0156] 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, a speed measurement radar 102 and a monitoring camera 103 arranged on the main pole 101. The main pole 101 includes a pole body 104, side crossbars 105 and a base 106. Two side crossbars 105 are arranged at the top of the pole body 104, and the two side crossbars 105 extend towards the main lane and the auxiliary lane respectively. The base 106 includes a planar square flange structure. The speed measurement radar and the monitoring camera 103 are arranged on each of the side crossbars 105. The speed measurement radar 102 is installed in the middle of the side crossbar 105, and the monitoring camera 103 is installed at one end of the side crossbar 105 far from the pole body 104.

[0157] The speed measurement radar 102 is used to obtain the vehicle acceleration and speed, and the monitoring camera 103 is used to obtain the vehicle image information and the location. Both the speed measurement radar 102 and the monitoring camera 103 are facing the measured lane. The speed measurement radar 102 and the monitoring camera 103 on the same side are connected through the internal circuit of the main pole 101. At the same time, the speed measurement radar 102 can directly communicate with the monitoring camera 103 group to reduce the error of information acquisition.

[0158] The warning device includes a warning light strip. The warning light strip includes a lighting device 201 and a circuit interface 202. The lighting device 201 includes a strip-shaped light belt with a rectangular 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.

[0159] 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 electrically connected to the speed measurement radar 102 and the monitoring camera 103 of the information acquisition device. The information acquisition device acquires the operation data of the main and auxiliary road vehicles and transmits it to the control device.

[0160] The control device first identifies whether the main road vehicle has the intention to drive into the auxiliary road based on the received data. After identifying the main road vehicle with the intention to drive into the auxiliary road, it predicts the time when the main road vehicle reaches the exit of the main and auxiliary road intersection. At the same time, it predicts the position of the auxiliary road vehicle when the main road vehicle reaches the exit of the main and auxiliary road intersection, and judges whether the auxiliary road vehicle will perform an emergency braking behavior due to being too close to the main and auxiliary road intersection when the main road vehicle reaches the exit of the main and auxiliary road intersection. The auxiliary road vehicle predicted to perform an emergency braking is warned through the warning light strip to prevent the occurrence of the emergency braking behavior of the auxiliary road vehicle. The control device is connected to the warning light strip through the underground circuit 3.

[0161] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields is 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; The range of the danger zone of the auxiliary road is determined according to the operation data of the auxiliary road vehicle, including 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; is the distance travelled by the auxiliary road vehicle during deceleration; 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; 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 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.

6. 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 5, 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.

7. 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 1-6, 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.

8. The intelligent prevention device for emergency braking incidents of vehicles at the intersection where the main road merges into the auxiliary road as claimed in claim 7, 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 1-6.

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