Vehicle curve anti-collision early warning method and device

Abstract

The invention provides an early warning method and device for vehicle curve collision avoidance, and the method comprises the steps: obtaining a first distance between a first vehicle and relay equipment, and a second distance between the second vehicle and the relay equipment under the condition that the first vehicle and the second vehicle are in a visual range, the third distance between the first vehicle and the second vehicle is determined, and the first vehicle and the second vehicle run in opposite directions; calculating the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle; selecting a minimum value from the third distance and the first distance measurement distance to obtain a target distance measurement distance; and if the target distance measurement distance is smaller than a preset distance threshold value, carrying out anti-collision early warning. According to the invention, by introducing the relay device, the problem that two UWB devices cannot measure the distance or may obtain the wrong distance through reflection in the prior art can be solved, and the effect of improving the accuracy of anti-collision early warning is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle collision avoidance, and in particular to an early warning method and device for vehicle curve collision avoidance. Background Art

[0002] At present, the operation safety of rail vehicles is often ensured by the following scheme: Ultra Wide Band (UWB) devices are installed on two trains respectively, and each train uses the UWB installed on it to complete the distance measurement with the UWB installed on other trains, and performs anti-collision warning according to the distance measurement value.

[0003] However, in non-line-of-sight scenarios such as curves, the two UWB devices cannot measure distance or may obtain incorrect distance through reflection, resulting in low accuracy of anti-collision warnings and posing great safety risks. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a vehicle curve collision avoidance warning method and device, which can solve the problem in the prior art that two UWB devices cannot measure distance or may obtain incorrect distance through reflection, so as to improve the accuracy of collision avoidance warning.

[0005] In a first aspect, an embodiment of the present application provides an early warning method for vehicle collision avoidance on a curve, wherein vehicle-mounted devices are installed at both ends of the vehicle, and a relay device is installed at a target position of a track outside the curve, wherein the target position is the middle position of a circular curve segment of the curve, and the distance between the two end positions of the circular curve segment of the curve and the middle position is the same, and the early warning method includes:

[0006] Under the condition that the first vehicle and the second vehicle are in a visual range, obtaining a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle, the first vehicle and the second vehicle are traveling towards each other;

[0007] Calculating the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle;

[0008] Select a minimum value from the third distance and the first ranging distance to obtain a target ranging distance;

[0009] If the target distance is less than the preset distance threshold, an anti-collision warning is performed.

[0010] In an optional implementation manner, the early warning method further includes:

[0011] Under the condition that the first vehicle and the second vehicle are in an invisible range, acquiring a fourth distance between the first vehicle and the relay device and a fifth distance between the second vehicle and the relay device;

[0012] Calculating a sum of the fourth distance and the fifth distance to obtain a second ranging distance between the first vehicle and the second vehicle;

[0013] If the second ranging distance is less than a preset distance threshold, an anti-collision warning is performed.

[0014] In an optional implementation manner, it is determined that the first vehicle and the second vehicle are in a visible range by the following steps:

[0015] If the radius of the curved circular curve segment is less than a preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is less than a first visible distance threshold;

[0016] If the radius of the curved circular segment is greater than the preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is greater than the first visible distance threshold and less than the second visible distance threshold.

[0017] In an optional implementation, the vehicle-mounted device includes a first antenna, a second antenna, a first UWB chip, a second UWB chip, a first CPU, a second CPU, a power module and a data IO module, the first antenna is connected to the first UWB chip, the first UWB chip is connected to the first CPU, the second antenna is connected to the second UWB chip, the second UWB chip is connected to the second CPU, the power module is respectively connected to the first UWB chip, the second UWB chip, the first CPU and the second CPU, and the data IO module is respectively connected to the first CPU and the second CPU;

[0018] The first distance between the first vehicle and the relay device is obtained by the following steps:

[0019] Calculating a first spacing distance by the first CPU and calculating a second spacing distance by the second CPU, wherein the first spacing distance refers to the distance between the first UWB chip and the relay device, and the second spacing distance refers to the distance between the second UWB chip and the relay device;

[0020] If the distance difference between the first spacing distance and the second spacing distance is within a preset distance threshold, outputting the first spacing distance through the data IO module;

[0021] A first spacing distance output by the data IO module is acquired as a first distance between the first vehicle and the relay device.

[0022] In an optional implementation manner, the step of calculating the first interval distance by the first CPU includes:

[0023] Calling the first UWB chip through the first CPU to send a ranging signal to the relay device through the first antenna, and recording a first timestamp at the same time;

[0024] When the CPU of the relay device calls the UWB chip to receive the ranging signal, recording a second timestamp;

[0025] After the CPU of the relay device processes the received ranging signal into a response signal, the response signal is returned to the first UWB chip, and a third timestamp is recorded at the same time;

[0026] Calling the first UWB chip by the first CPU to receive the response signal and simultaneously recording a fourth timestamp;

[0027] A first interval distance is calculated according to the first timestamp, the second timestamp, the third timestamp, the fourth timestamp and the speed of light.

[0028] In an optional implementation manner, the first spacing distance is calculated by the following formula:

[0029] dis=((Tse-Tss)-(Tre-Trs))÷2×c;

[0030] Wherein, dis represents the first interval distance, c represents the speed of light, Tss represents the first timestamp, Trs represents the second timestamp, Tre represents the third timestamp, and Tse represents the fourth timestamp.

[0031] In an optional embodiment, the first antenna and the second antenna of the vehicle-mounted device are directional antennas, the first antenna is installed at the front end of the vehicle, the second antenna is installed at the rear end of the vehicle, the first antenna transmitting surface and the second antenna transmitting surface are facing the front direction of the vehicle, and the first antenna transmitting surface and the second antenna transmitting surface are both perpendicular to the track;

[0032] Wherein, the preset distance threshold is greater than the body length of the first vehicle.

[0033] In an optional embodiment, the transmitting antenna of the relay device is a directional antenna, the installation height of the transmitting antenna is the same as the installation height of the first antenna and the installation height of the second antenna, and the transmitting antenna of the relay device is opposite to the back of the first antenna, and the transmitting surface of the transmitting antenna faces the direction of the track.

[0034] In an optional implementation manner, the early warning method further includes:

[0035] If it is detected that the first vehicle or the second vehicle does not receive the driver's anti-collision control instruction within the warning time, the first vehicle or the second vehicle is controlled to stop within the braking time; the braking time is determined according to the target ranging distance and the current vehicle speed.

[0036] In a second aspect, an embodiment of the present application further provides a warning device for vehicle curve collision avoidance, the warning device comprising:

[0037] a distance acquisition module, configured to acquire, under the condition that the first vehicle and the second vehicle are in a visual range, a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle, the first vehicle and the second vehicle traveling towards each other;

[0038] a distance calculation module, configured to calculate the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle;

[0039] A distance selection module, used to select a minimum value from the third distance and the first ranging distance to obtain a target ranging distance;

[0040] The anti-collision warning module is used to issue an anti-collision warning if the target ranging distance is less than a preset distance threshold.

[0041] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned vehicle curve collision avoidance warning method are performed.

[0042] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle curve collision avoidance warning method are executed.

[0043] The embodiment of the present application provides a warning method and device for vehicle curve collision avoidance, wherein vehicle-mounted devices are installed at both ends of the vehicle, and a relay device is installed at a target position of the outer track of the curve, the target position is the middle position of a circular curve segment of the curve, and the distance between the two end positions of the circular curve segment of the curve is the same as the middle position. The warning method includes: under the condition that the first vehicle and the second vehicle are in a visible range, obtaining a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle, and the first vehicle and the second vehicle are traveling towards each other; calculating the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle; selecting the minimum value from the third distance and the first ranging distance to obtain a target ranging distance; if the target ranging distance is less than a preset distance threshold, performing a collision avoidance warning. The embodiment of the present application installs a relay device at the target position of the outer track of the curve, collects the distance between the relay device and the on-board device and the distance between the on-board devices to obtain the distance between the two vehicles traveling on the curve, and uses the shortest distance obtained as the basis for judging the anti-collision warning, thereby performing an anti-collision warning. The embodiment of the present application can solve the problem in the prior art that the two UWB devices cannot measure the distance or may obtain the wrong distance through reflection, thereby achieving the effect of improving the accuracy of the anti-collision warning, thereby reducing the safety hazards in vehicle driving.

[0044] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A flow chart of a vehicle curve collision warning method provided in an embodiment of the present application;

[0047] Figure 2 A flowchart of another vehicle curve collision warning method provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the structure of a vehicle curve collision warning device provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0051] First, the application scenarios to which the present application can be applied are introduced. The present application can be applied to the field of vehicle collision avoidance technology. Specifically: The operation safety of rail vehicles is often carried out using the following scheme: Ultra Wide Band (UWB) devices are installed on two trains respectively, and each train uses the UWB installed on it to complete the distance measurement with the UWB installed on other trains, and performs collision avoidance warning according to the distance measurement value. However, in non-line-of-sight scenarios such as curves, the two UWB devices cannot measure the distance or may obtain the wrong distance through reflection, resulting in low accuracy of collision avoidance warning and great safety hazards.

[0052] Based on this, an embodiment of the present application provides a warning method for vehicle curve collision avoidance, which can solve the problem in the prior art that two UWB devices cannot measure distance or may obtain incorrect distance through reflection, thereby achieving the effect of improving the accuracy of collision avoidance warning.

[0053] When the vehicle curve collision avoidance warning method provided in the embodiment of the present application is actually applied, it is necessary to rely on the ranging signal transmitted between the vehicle-mounted device and the relay device. Therefore, when performing collision avoidance warning for two vehicles, it is necessary to install the vehicle-mounted device on the vehicle in advance and install the relay device at the target position on the outer track of the curve, wherein the target position is the middle position of the circular curve segment of the curve, and the distance between the two end points of the circular curve segment and the middle position is the same.

[0054] Specifically, the relay device can measure the distance with all the vehicle-mounted devices within its line of sight, so the relay device can send the distance between all the vehicle-mounted devices within its line of sight to all the vehicle-mounted devices within its line of sight, so as to determine the distance between the two vehicles as quickly as possible.

[0055] Optionally, the relay device and the on-board device here are both SIL4 devices with a safety integrity level, so as to ensure the output of a safe distance value to avoid the problem that the UWB device may reflect the wrong distance on a curved road section, thereby improving the accuracy of the anti-collision warning.

[0056] See also Figure 1 , Figure 1 This is a flow chart of a vehicle curve collision warning method provided by an embodiment of the present application. Figure 1 As shown in , the early warning method provided by the embodiment of the present application includes:

[0057] S101, under the condition that the first vehicle and the second vehicle are in a visual range, obtaining a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle, and the first vehicle and the second vehicle are traveling towards each other;

[0058] S102, calculating the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle;

[0059] S103, selecting a minimum value from the third distance and the first ranging distance to obtain a target ranging distance;

[0060] S104: If the target distance is less than a preset distance threshold, an anti-collision warning is performed.

[0061] In the above steps S101 to S104, the distance between the two vehicles traveling on the curve is obtained by collecting the distance between the relay device and the vehicle-mounted device and the distance between the vehicle-mounted devices, and the shortest distance obtained is used as the basis for judging the anti-collision warning, so as to perform an anti-collision warning, thereby solving the problem in the prior art that the two UWB devices cannot measure the distance or may obtain the wrong distance through reflection, thereby achieving the effect of improving the accuracy of the anti-collision warning, thereby effectively and timely reducing the safety hazards in vehicle driving.

[0062] The above steps S101 to S104 are exemplarily described below:

[0063] In step S101, the visible range can also be expressed as the visible distance, which refers to the maximum distance that can be directly connected from one point to another without any obstacles. For a curve, the smaller the radius of the curve, the more obvious the blocking and attenuation effect on the signal, which shortens the visible distance.

[0064] Specifically, the embodiment of the present application determines that the first vehicle and the second vehicle are within the visible range through the following steps:

[0065] 101a. If the radius of the curved circular curve segment is less than a preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is less than a first visible distance threshold;

[0066] 101b. If the radius of the curved circular curve segment is greater than a preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is greater than a first visible distance threshold and less than a second visible distance threshold.

[0067] That is to say, whether the first vehicle and the second vehicle are in the visible range is affected by the radius of the curved circular segment. The radius of the curved circular segment is positively correlated with the visible distance between the first vehicle and the second vehicle in the visible range. However, no matter how large the radius of the curved circular segment is, there will be an invisible range. Therefore, the visible distance between the first vehicle and the second vehicle in the visible range is less than the second visible distance threshold, and the second visible distance threshold is the critical value for judging the visible range and the invisible range.

[0068] For example, for a curve with a radius of less than 500 meters, the visible distance may be shortened to about 100 meters to 300 meters; while for a curve with a larger radius, such as more than 1000 meters, the visible distance may be relatively far, at about 300 meters to 500 meters.

[0069] When the first vehicle and the second vehicle are traveling toward each other, if the first vehicle and the second vehicle are within the visual range, the UWB devices installed on the first vehicle and the second vehicle can directly measure the distance, thereby obtaining the third distance between the first vehicle and the second vehicle. In addition, since the relay device is installed at the target position of the outer track of the curve, the first distance between the first vehicle and the second vehicle can also be indirectly obtained through the relay device. The specific implementation method is to obtain the first distance between the first vehicle and the relay device and the second distance between the second vehicle and the relay device, and then add the first distance to the second distance to obtain the first distance.

[0070] Optionally, the vehicle-mounted device includes a first antenna, a second antenna, a first UWB chip, a second UWB chip, a first CPU, a second CPU, a power module and a data IO module. The first antenna is connected to the first UWB chip, the first UWB chip is connected to the first CPU, the second antenna is connected to the second UWB chip, the second UWB chip is connected to the second CPU, the power module is connected to the first UWB chip, the second UWB chip, the first CPU and the second CPU respectively, and the data IO module is connected to the first CPU and the second CPU respectively.

[0071] Here, the structure of the relay device is the same as that of the vehicle-mounted device, that is, the relay device also includes two antennas, two UWB chips, two CPUs, a power module and a data IO module.

[0072] The vehicle-mounted devices are installed on the two vehicles respectively, and the relay device is installed at the target position of the outer track of the curve. Based on the installation conditions of the vehicle-mounted devices and the relay device, step S101 obtains the first distance between the first vehicle and the relay device through the following steps:

[0073] Step 1011: Calculate a first spacing distance through the first CPU and calculate a second spacing distance through the second CPU, where the first spacing distance refers to the distance between the first UWB chip and the relay device, and the second spacing distance refers to the distance between the second UWB chip and the relay device.

[0074] Here, the step of calculating the first interval distance by the first CPU includes:

[0075] The first CPU calls the first UWB chip to send a ranging signal to the relay device through the first antenna, and records the first timestamp at the same time; when the CPU of the relay device calls the UWB chip to receive the ranging signal, the second timestamp is recorded; after the CPU of the relay device processes the received ranging signal into a response signal, the response signal is returned to the first UWB chip, and the third timestamp is recorded at the same time; the first CPU calls the first UWB chip to receive the response signal, and records the fourth timestamp at the same time; and the first interval distance is calculated according to the first timestamp, the second timestamp, the third timestamp, the fourth timestamp and the speed of light.

[0076] Exemplarily, the first spacing distance may be calculated by the following formula:

[0077] dis=((Tse-Tss)-(Tre-Trs))÷2×c;

[0078] Wherein, dis represents the first interval distance, c represents the speed of light, Tss represents the first timestamp, Trs represents the second timestamp, Tre represents the third timestamp, and Tse represents the fourth timestamp.

[0079] The step of calculating the second interval distance by the second CPU is the same as the step of calculating the first interval distance by the first CPU, and will not be repeated here.

[0080] Step 1012: If the distance difference between the first spacing distance and the second spacing distance is within a preset distance threshold, the first spacing distance is output through a data IO module.

[0081] Here, the first antenna and the second antenna of the vehicle-mounted device are directional antennas, which can significantly improve the signal transmission and reception performance in a specific direction. The first antenna is installed at the front end of the vehicle, and the second antenna is installed at the rear end of the vehicle. The first antenna transmitting surface and the second antenna transmitting surface are facing the front direction of the vehicle, and the first antenna transmitting surface and the second antenna transmitting surface are both perpendicular to the track.

[0082] Under the installation conditions of the first antenna and the second antenna, the preset distance threshold is greater than the body length of the first vehicle. For example, the preset distance threshold may be greater than the body length of the first vehicle and less than 1.1 times the body length of the first vehicle.

[0083] In addition, the transmitting antenna of the relay device adopts a directional antenna, the installation height of the transmitting antenna is the same as the installation height of the first antenna and the installation height of the second antenna, and the transmitting antenna of the relay device is opposite to the back of the first antenna, and the transmitting surface of the transmitting antenna faces the direction of the track.

[0084] Through the above-mentioned antenna installation method of the vehicle-mounted device and the relay device, it can be ensured that the antenna signal strength of the vehicle-mounted device and the relay device remains good, thereby ensuring that the ranging communication is more stable.

[0085] Step 1013: Acquire a first spacing distance output by the data IO module as a first distance between the first vehicle and the relay device.

[0086] Similarly, the method of obtaining the second distance between the second vehicle and the relay device, and the method of obtaining the third distance between the first vehicle and the second vehicle are the same as the above steps 1011 to 1013, which will not be repeated here.

[0087] The embodiment of the present application obtains the ranging distance between the first vehicle and the second vehicle by introducing a relay device, which can be widely used in curved road sections and helps to improve the overall operating efficiency and safety of the rail transit system.

[0088] In the relevant scheme, in the curve scene, if the distance exceeds a certain level, the on-board equipment of the two vehicles cannot be seen, the first vehicle cannot detect the second vehicle in front, and then the first vehicle cannot get the distance to the second vehicle in front. It is not until the first vehicle and the second vehicle are visible that the distance measurement warning can be carried out. Based on this, if Figure 2 As shown, the early warning method provided in the embodiment of the present application also includes:

[0089] S201. Under the condition that the first vehicle and the second vehicle are in an invisible range, obtaining a fourth distance between the first vehicle and the relay device and a fifth distance between the second vehicle and the relay device;

[0090] S202, calculating the sum of the fourth distance and the fifth distance to obtain a second ranging distance between the first vehicle and the second vehicle;

[0091] S203: If the second ranging distance is less than a preset distance threshold, an anti-collision warning is performed.

[0092] That is to say, under the condition that the first vehicle and the second vehicle are out of sight, the on-board equipment of the first vehicle and the on-board equipment of the second vehicle cannot directly measure the distance, and can only detect the distance between them and the first vehicle and the second vehicle respectively through the relay equipment, and then the relay equipment sends the distance to the first vehicle and the second vehicle, and the first vehicle and the second vehicle respectively calculate the ranging distance between them and the other vehicles for collision avoidance warning.

[0093] Specifically, the relay device obtains the fourth distance between itself and the first vehicle and the fifth distance between itself and the second vehicle, and then sends the fourth distance and the fifth distance to the first vehicle and the second vehicle respectively, so that the first vehicle and the second vehicle respectively calculate the second ranging distance between the first vehicle and the second vehicle, and if the second ranging distance is less than a preset distance threshold, an anti-collision warning is performed.

[0094] Under the condition that the first vehicle and the second vehicle are in the invisible range, the distance detection of the two vehicles in the invisible range at the curve is completed in combination with the relay equipment, thereby improving the safety of the anti-collision warning of the curve vehicles.

[0095] In an optional embodiment, the warning method provided in the embodiment of the present application also includes: if it is detected that the first vehicle or the second vehicle has not received the driver's anti-collision control instruction within the warning time, the first vehicle or the second vehicle is controlled to stop within the braking time; the braking time is determined based on the target ranging distance and the current vehicle speed.

[0096] In this way, it can be ensured that if the driver does not take over the vehicle within the warning time, the first vehicle or the second vehicle can stop within the braking time to achieve the purpose of collision avoidance. Among them, the braking time is determined according to the ratio between the target ranging distance and the current vehicle speed. During the braking time, the driver needs to decelerate according to the actual situation of the vehicle operation to achieve the purpose of collision avoidance. If there is no control, the vehicle will stop automatically to reduce the safety hazards during vehicle driving.

[0097] The vehicle curve collision avoidance warning method provided in the embodiment of the present application installs a relay device at the target position of the outer track of the curve, collects the distance between the relay device and the vehicle-mounted device and the distance between the vehicle-mounted devices to obtain the distance between two vehicles traveling on the curve, and uses the shortest distance obtained therefrom as the basis for judging the collision avoidance warning, thereby performing a collision avoidance warning. The embodiment of the present application can solve the problem in the prior art that two UWB devices cannot measure distance or may obtain an erroneous distance through reflection through the above-mentioned scheme, thereby achieving the effect of improving the accuracy of the collision avoidance warning, thereby reducing the safety hazards in vehicle driving.

[0098] Based on the same inventive concept, an embodiment of the present application also provides a vehicle curve collision warning device corresponding to the vehicle curve collision warning method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned vehicle curve collision warning method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0099] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a vehicle curve collision warning device provided in an embodiment of the present application. Figure 3 As shown in , the early warning device 300 includes:

[0100] The distance acquisition module 301 is used to acquire a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle under the condition that the first vehicle and the second vehicle are in a visual range, and the first vehicle and the second vehicle are traveling towards each other;

[0101] A distance calculation module 302 is used to calculate the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle;

[0102] A distance selection module 303 is used to select a minimum value from the third distance and the first ranging distance to obtain a target ranging distance;

[0103] The anti-collision warning module 304 is used to issue an anti-collision warning if the target ranging distance is less than a preset distance threshold.

[0104] In an optional embodiment, the distance acquisition module 301 is further used to: acquire a fourth distance between the first vehicle and the relay device and a fifth distance between the second vehicle and the relay device under the condition that the first vehicle and the second vehicle are in an invisible range;

[0105] The distance calculation module 302 is further used to: calculate the sum of the fourth distance and the fifth distance to obtain a second ranging distance between the first vehicle and the second vehicle;

[0106] The anti-collision warning module 304 is further configured to: issue an anti-collision warning if the second ranging distance is less than a preset distance threshold.

[0107] In an optional embodiment, the distance acquisition module 301 is further configured to determine whether the first vehicle and the second vehicle are within the visible range by the following steps:

[0108] If the radius of the curved circular curve segment is less than a preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is less than a first visible distance threshold;

[0109] If the radius of the curved circular segment is greater than the preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is greater than the first visible distance threshold and less than the second visible distance threshold.

[0110] In an optional embodiment, the vehicle-mounted device includes a first antenna, a second antenna, a first UWB chip, a second UWB chip, a first CPU, a second CPU, a power module and a data IO module, the first antenna is connected to the first UWB chip, the first UWB chip is connected to the first CPU, the second antenna is connected to the second UWB chip, the second UWB chip is connected to the second CPU, the power module is respectively connected to the first UWB chip, the second UWB chip, the first CPU and the second CPU, and the data IO module is respectively connected to the first CPU and the second CPU;

[0111] The distance acquisition module 301 is further configured to acquire a first distance between the first vehicle and the relay device through the following steps:

[0112] Calculating a first spacing distance by the first CPU and calculating a second spacing distance by the second CPU, wherein the first spacing distance refers to the distance between the first UWB chip and the relay device, and the second spacing distance refers to the distance between the second UWB chip and the relay device;

[0113] If the distance difference between the first spacing distance and the second spacing distance is within a preset distance threshold, outputting the first spacing distance through the data IO module;

[0114] A first spacing distance output by the data IO module is acquired as a first distance between the first vehicle and the relay device.

[0115] In an optional embodiment, the distance acquisition module 301 is further configured to calculate the first interval distance through the first CPU:

[0116] Calling the first UWB chip through the first CPU to send a ranging signal to the relay device through the first antenna, and recording a first timestamp at the same time;

[0117] When the CPU of the relay device calls the UWB chip to receive the ranging signal, recording a second timestamp;

[0118] After the CPU of the relay device processes the received ranging signal into a response signal, the response signal is returned to the first UWB chip, and a third timestamp is recorded at the same time;

[0119] Calling the first UWB chip by the first CPU to receive the response signal and simultaneously recording a fourth timestamp;

[0120] A first interval distance is calculated according to the first timestamp, the second timestamp, the third timestamp, the fourth timestamp and the speed of light.

[0121] In an optional embodiment, the distance acquisition module 301 is further configured to calculate the first interval distance by using the following formula:

[0122] dis=((Tse-Tss)-(Tre-Trs))÷2×c;

[0123] Wherein, dis represents the first interval distance, c represents the speed of light, Tss represents the first timestamp, Trs represents the second timestamp, Tre represents the third timestamp, and Tse represents the fourth timestamp.

[0124] In an optional embodiment, the first antenna and the second antenna of the vehicle-mounted device are directional antennas, the first antenna is installed at the front end of the vehicle, the second antenna is installed at the rear end of the vehicle, the first antenna transmitting surface and the second antenna transmitting surface are facing the front direction of the vehicle, and the first antenna transmitting surface and the second antenna transmitting surface are both perpendicular to the track;

[0125] Wherein, the preset distance threshold is greater than the body length of the first vehicle.

[0126] In an optional embodiment, the transmitting antenna of the relay device is a directional antenna, the installation height of the transmitting antenna is the same as the installation height of the first antenna and the installation height of the second antenna, and the transmitting antenna of the relay device is opposite to the back of the first antenna, and the transmitting surface of the transmitting antenna faces the direction of the track.

[0127] In an optional embodiment, the anti-collision warning module 304 is also used to: if it is detected that the first vehicle or the second vehicle has not received the driver's anti-collision control instruction within the warning time, then control the first vehicle or the second vehicle to stop within the braking time; the braking time is determined based on the target ranging distance and the current vehicle speed.

[0128] The vehicle curve collision avoidance warning device provided in the embodiment of the present application installs a relay device at the target position of the outer track of the curve, collects the distance between the relay device and the vehicle-mounted device and the distance between the vehicle-mounted devices to obtain the distance between two vehicles traveling on the curve, and uses the shortest distance obtained therefrom as the basis for judging the collision avoidance warning, thereby performing a collision avoidance warning. The embodiment of the present application can solve the problem in the prior art that two UWB devices cannot measure distance or may obtain an erroneous distance through reflection through the above-mentioned scheme, thereby achieving the effect of improving the accuracy of the collision avoidance warning, thereby reducing the safety hazards in vehicle driving.

[0129] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in FIG. 4 , the electronic device 400 includes a processor 401 , a memory 402 and a bus 403 .

[0130] The memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device 400 is running, the processor 401 communicates with the memory 402 via the bus 403. When the machine-readable instructions are executed by the processor 401, the above-mentioned Figure 1 as well as Figure 2 The steps of the vehicle curve collision avoidance warning method in the method embodiment shown in the method embodiment and the specific implementation method can be found in the method embodiment, which will not be repeated here.

[0131] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 as well as Figure 2 The steps of the vehicle curve collision avoidance warning method in the method embodiment shown in the method embodiment and the specific implementation method can be found in the method embodiment, which will not be repeated here.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0136] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle curve collision avoidance warning method, characterized in that: On-board devices are installed at both ends of the vehicle, and relay devices are installed at the target position of the outer track of the curve, the target position is the middle position of the curved circular curve segment, and the distance between the two end positions of the curved circular curve segment and the middle position is the same. The early warning method includes: Under the condition that the first vehicle and the second vehicle are in a visual range, obtaining a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle, the first vehicle and the second vehicle are traveling towards each other; Calculating the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle; Select a minimum value from the third distance and the first ranging distance to obtain a target ranging distance; If the target distance is less than the preset distance threshold, an anti-collision warning is performed.

2. The early warning method according to claim 1, characterized in that: The early warning method also includes: Under the condition that the first vehicle and the second vehicle are in an invisible range, acquiring a fourth distance between the first vehicle and the relay device and a fifth distance between the second vehicle and the relay device; Calculating a sum of the fourth distance and the fifth distance to obtain a second ranging distance between the first vehicle and the second vehicle; If the second ranging distance is less than a preset distance threshold, an anti-collision warning is performed.

3. The early warning method according to claim 1, characterized in that: Determine whether the first vehicle and the second vehicle are within the visual range by following the steps below: If the radius of the curved circular curve segment is less than a preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is less than a first visible distance threshold; If the radius of the curved circular segment is greater than the preset radius threshold, the visible distance between the first vehicle and the second vehicle in the visible range is greater than the first visible distance threshold and less than the second visible distance threshold.

4. The early warning method according to claim 1, characterized in that: The vehicle-mounted device includes a first antenna, a second antenna, a first UWB chip, a second UWB chip, a first CPU, a second CPU, a power module and a data IO module, the first antenna is connected to the first UWB chip, the first UWB chip is connected to the first CPU, the second antenna is connected to the second UWB chip, the second UWB chip is connected to the second CPU, the power module is respectively connected to the first UWB chip, the second UWB chip, the first CPU and the second CPU, and the data IO module is respectively connected to the first CPU and the second CPU; The first distance between the first vehicle and the relay device is obtained by the following steps: Calculating a first spacing distance by the first CPU and calculating a second spacing distance by the second CPU, wherein the first spacing distance refers to the distance between the first UWB chip and the relay device, and the second spacing distance refers to the distance between the second UWB chip and the relay device; If the distance difference between the first spacing distance and the second spacing distance is within a preset distance threshold, outputting the first spacing distance through the data IO module; A first spacing distance output by the data IO module is acquired as a first distance between the first vehicle and the relay device.

5. The early warning method according to claim 4, characterized in that: The step of calculating the first interval distance by the first CPU comprises: Calling the first UWB chip through the first CPU to send a ranging signal to the relay device through the first antenna, and recording a first timestamp at the same time; When the CPU of the relay device calls the UWB chip to receive the ranging signal, recording a second timestamp; After the CPU of the relay device processes the received ranging signal into a response signal, the response signal is returned to the first UWB chip, and a third timestamp is recorded at the same time; Calling the first UWB chip by the first CPU to receive the response signal and simultaneously recording a fourth timestamp; A first interval distance is calculated according to the first timestamp, the second timestamp, the third timestamp, the fourth timestamp and the speed of light.

6. The early warning method according to claim 5, characterized in that: The first separation distance is calculated by the following formula: dis=((Tse-Tss)-(Tre-Trs))÷2×c; Wherein, dis represents the first interval distance, c represents the speed of light, Tss represents the first timestamp, Trs represents the second timestamp, Tre represents the third timestamp, and Tse represents the fourth timestamp.

7. The early warning method according to claim 4, characterized in that: The first antenna and the second antenna of the vehicle-mounted device are directional antennas, the first antenna is installed at the front end of the vehicle, and the second antenna is installed at the rear end of the vehicle, the first antenna transmitting surface and the second antenna transmitting surface are facing the front direction of the vehicle, and the first antenna transmitting surface and the second antenna transmitting surface are both perpendicular to the track; Wherein, the preset distance threshold is greater than the body length of the first vehicle.

8. The early warning method according to claim 4, characterized in that: The transmitting antenna of the relay device is a directional antenna, the installation height of the transmitting antenna is the same as the installation height of the first antenna and the installation height of the second antenna, and the transmitting antenna of the relay device is opposite to the back of the first antenna, and the transmitting surface of the transmitting antenna faces the direction of the track.

9. The early warning method according to claim 1, characterized in that: The early warning method also includes: If it is detected that the first vehicle or the second vehicle does not receive the driver's anti-collision control instruction within the warning time, the first vehicle or the second vehicle is controlled to stop within the braking time; the braking time is determined according to the target ranging distance and the current vehicle speed.

10. A vehicle curve collision warning device, characterized in that: The early warning device comprises: a distance acquisition module, configured to acquire, under the condition that the first vehicle and the second vehicle are in a visual range, a first distance between the first vehicle and the relay device, a second distance between the second vehicle and the relay device, and a third distance between the first vehicle and the second vehicle, the first vehicle and the second vehicle traveling towards each other; a distance calculation module, configured to calculate the sum of the first distance and the second distance to obtain a first ranging distance between the first vehicle and the second vehicle; A distance selection module, used to select a minimum value from the third distance and the first ranging distance to obtain a target ranging distance; The anti-collision warning module is used to issue an anti-collision warning if the target ranging distance is less than a preset distance threshold.

Images