Vehicle safety distance monitoring and early warning system and method

Abstract

The invention provides a vehicle safety distance monitoring and early warning system and method, and relates to the technical field of intelligent driving, and the system comprises a data collection module which is configured to obtain vehicle driving data; the vehicle driving data comprises a real-time driving speed, a real-time relative speed and a real-time distance of the driving vehicle; the driving behavior monitoring module is configured to: determine a speed adjustment value for driving the vehicle based on the vehicle travel data; calculating an average deceleration of the driving vehicle according to the speed adjustment value; according to the speed adjustment value, the average deceleration and the real-time driving speed, the safe distance between the driving vehicle and the vehicle in front of the driving vehicle is calculated; the early warning module is configured to trigger the voice module to play a set audio if the real-time distance is smaller than the safety distance, so that the problem that the early warning accuracy is low due to the fact that a dynamic mapping mechanism between driver behavior characteristics and a safety threshold value cannot be established through an existing safety vehicle distance calculation method, and personalized early warning service is difficult to achieve is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a vehicle safety distance monitoring and warning system and method. BACKGROUND

[0002] With the rapid development of intelligent transportation systems and autonomous driving technology, vehicle active safety warning function has become a key technical means to reduce the rate of traffic accidents. In the process of vehicle driving, it is of great significance to avoid rear-end accidents and improve road traffic efficiency to monitor the safety distance between the host vehicle and the preceding vehicle in real time and provide personalized warning according to the driver's operation characteristics.

[0003] At present, the calculation of safe vehicle distance is mainly based on the model of fixed physical formula (such as collision time TTC and headway HMW), which is calculated by the linear relationship of "safe distance = fixed time threshold value x vehicle speed"; there is also a dynamic time threshold method, which obtains the relative speed difference by radar to calculate the speed of the front and rear vehicles, and then uses the experience coefficients k1 and k2 set by humans to construct a linear model of "safe distance = k1 x vehicle speed + k2 x relative speed" to calculate the safe vehicle distance.

[0004] However, the above technical solutions have significant limitations. The fixed physical formula model uses unified parameters, which cannot adapt to the differences in braking habits of different drivers. Although the dynamic threshold method introduces real-time data, the experience coefficients k1 and k2 still rely on manual setting, lack of real driving behavior data for verification, and cannot establish a dynamic mapping mechanism between driver behavior characteristics and safety threshold. It is difficult to achieve personalized warning service, resulting in low warning accuracy. SUMMARY

[0005] The present application provides a vehicle safety distance monitoring and warning system and method to solve the technical problem that the existing safe vehicle distance calculation method cannot establish a dynamic mapping mechanism between driver behavior characteristics and safety threshold, making it difficult to achieve personalized warning service and resulting in low warning accuracy.

[0006] The first aspect of the present application provides a vehicle safety distance monitoring and warning system, comprising: a data acquisition module, a driving behavior monitoring module, a warning module and a voice module connected in communication; The data acquisition module is configured to: acquire vehicle driving data; the vehicle driving data includes: real-time driving speed of a driving vehicle, real-time relative speed and real-time distance between the driving vehicle and the preceding vehicle of the driving vehicle; The driving behavior monitoring module is configured to: determine the speed adjustment value of the driving vehicle based on the vehicle driving data; calculating an average deceleration of the ego vehicle according to the speed adjustment value; calculating a safety distance between the ego vehicle and a preceding vehicle of the ego vehicle according to the speed adjustment value, the average deceleration, and a real-time driving speed; the pre-warning module is configured to: trigger the voice module to play a preset audio if the real-time distance is less than the safety distance.

[0007] In some embodiments, the driving behavior monitoring module is further configured to: determining a speed limiting value according to a minimum value between the real-time driving speed and the real-time relative speed; determining a speed adjustment value of the ego vehicle according to the speed limiting value; the speed adjustment value is: rv_adjust = min(min(r_v,v_ego),90); wherein v_ego is the real-time driving speed and r_v is the real-time relative speed.

[0008] In some embodiments, the driving behavior monitoring module is further configured with a deceleration model; the deceleration model is generated by training historical vehicle driving data; the deceleration model is configured to: calculating an average deceleration of the ego vehicle according to the speed adjustment value; the average deceleration is: a_ave = rv_adjust ÷ 3.6 × 0.1 + a; wherein a is a deceleration setting value determined by the deceleration model.

[0009] In some embodiments, the driving behavior monitoring module is configured with a database; the database is configured to store the vehicle driving data; the driving behavior monitoring module is further configured to: updating the deceleration setting value in the deceleration model according to the vehicle driving data.

[0010] In some embodiments, the driving behavior monitoring module is further configured with a safety distance model; the safety distance model is generated by training historical vehicle driving data; the safety distance model is configured to: determining a first safety distance compensation value of the ego vehicle under a first working condition; calculating a second safety distance compensation value of the ego vehicle under a second working condition according to the real-time driving speed, the speed adjustment value, and the average deceleration; calculating a third safety distance compensation value of the ego vehicle under a third working condition according to the speed adjustment value; According to the first safety distance compensation value, the second safety distance compensation value, and the third safety distance compensation value, a safety distance between the driving vehicle and a preceding vehicle of the driving vehicle is calculated; the safety distance is: dynamic_dist_thr = hmw_thr + min(X1, X2 - X3); In the formula, hmw_thr is a safety distance threshold value, which is determined by the safety distance model; X1 is the first safety distance compensation value; X2 is the second safety distance compensation value; and X3 is the third safety distance compensation value.

[0011] In some embodiments, the first safety distance compensation value is: X1 = min(0.3, hmw_thr x 0.5); In the formula, hmw_thr is a safety distance threshold value.

[0012] In some embodiments, the second safety distance compensation value is: X2 = (0.1 ÷ v_ego + (0.5 ÷ (3.6 x 3.6)) x rv_adjust 2 ÷ ((v_ego ÷ 3.6) x a_ave)).

[0013] In some embodiments, the third safety distance compensation value is: X3 = min(0.15, max(hmw_thr x 0.5, (min(1.0, hmw_thr) - 0.2)) ÷ max(1.0, rv_adjust ÷ 3.6).

[0014] In some embodiments, the driving behavior monitoring module is further configured to: According to the vehicle driving data, the safety distance threshold value in the safety distance model is updated.

[0015] The second aspect of the present application provides a vehicle safety distance monitoring and warning method, applied to the vehicle safety distance monitoring and warning system of any one of the first aspect, comprising: Obtaining vehicle driving data; the vehicle driving data includes: real-time driving speed of a driving vehicle, real-time relative speed and real-time distance between the driving vehicle and a preceding vehicle of the driving vehicle; Based on the vehicle driving data, a speed adjustment value of the driving vehicle is determined; According to the speed adjustment value, an average deceleration of the driving vehicle is calculated; According to the speed adjustment value and the average deceleration, a safety distance between the driving vehicle and the preceding vehicle of the driving vehicle is calculated; triggering a voice module to play a set audio if the real-time distance is less than the safety distance.

[0016] The application provides a vehicle safety distance monitoring and early warning system and method, the system comprising: a data acquisition module, a driving behavior monitoring module, an early warning module and a voice module connected in communication; the data acquisition module is configured to acquire vehicle driving data; the vehicle driving data comprises: a real-time driving speed of a driving vehicle, a real-time relative speed between the driving vehicle and a preceding vehicle of the driving vehicle and a real-time distance; the driving behavior monitoring module is configured to determine a speed adjustment value of the driving vehicle based on the vehicle driving data, calculate an average deceleration of the driving vehicle according to the speed adjustment value, and calculate a safety distance between the driving vehicle and the preceding vehicle of the driving vehicle according to the speed adjustment value, the average deceleration and the real-time driving speed; the early warning module is configured to trigger the voice module to play a set audio if the real-time distance is less than the safety distance, so as to establish a dynamic mapping mechanism between a driver behavior feature and a safety threshold through the vehicle safety distance monitoring and early warning system, thereby realizing personalized early warning service and improving early warning accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 A flow chart of the vehicle safety distance monitoring and early warning system in the present application when running; Figure 2 A three-dimensional schematic diagram of driving speed, relative speed and safety distance in the present application.

[0019] Explanation of reference signs: 1 - data acquisition module; 2 - driving behavior monitoring module; 3 - early warning module; 4 - voice module. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely 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, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0021] Due to the fact that in some technologies, the safe distance calculation method cannot establish a dynamic mapping mechanism between the driver behavior characteristics and the safety threshold, it is difficult to realize personalized early warning service, resulting in low early warning accuracy, in order to solve the technical problem, the present application provides a vehicle safety distance monitoring and early warning system and method, the vehicle safety distance monitoring and early warning system and method are described below: As Figure 1 shown, it is the flow chart of the vehicle safety distance monitoring and early warning system in the present application.

[0022] The first aspect of the present application provides a vehicle safety distance monitoring and early warning system, comprising: The data acquisition module 1, the driving behavior monitoring module 2, the early warning module 3 and the voice module 4 are connected in communication. Among them, the data acquisition module 1 can be an on-board OBD (on-board diagnostic system) and a millimeter wave radar.

[0023] The data acquisition module 1 is configured to: Obtain vehicle driving data; the vehicle driving data includes: the real-time driving speed of the driving vehicle, the real-time relative speed and the real-time distance between the driving vehicle and the front vehicle of the driving vehicle; the real-time driving speed of the driving vehicle is the real-time driving speed of the vehicle equipped with the vehicle safety distance monitoring and early warning system (unit: km / h); the real-time relative speed between the driving vehicle and the front vehicle of the driving vehicle is the speed difference (unit: km / h) between the vehicle equipped with the vehicle safety distance monitoring and early warning system and the front vehicle.

[0024] The driving behavior monitoring module 2 is configured to: Determine the speed adjustment value rv_adjust of the driving vehicle based on the vehicle driving data.

[0025] Specifically, the driving behavior monitoring module 2 is further configured to: Determine the speed limiting value min(r_v, v_ego) according to the minimum value between the real-time driving speed and the real-time relative speed, that is, select a minimum value from the real-time driving speed and the real-time relative speed.

[0026] Determine the speed adjustment value of the driving vehicle according to the speed limiting value; the speed adjustment value is: rv_adjust = min(min(r_v,v_ego),90); In the formula, v_ego is the real-time driving speed; r_v is the real-time relative speed. The speed adjustment value is a speed limit, and the final output result is the minimum value between the real-time driving speed, the real-time relative speed, and the speed limit setting value 90; the speed adjustment value is mainly used to cope with the scene that the relative speed is greater than the speed of the ego vehicle when the oncoming vehicle arrives. The speed limit setting value can be adjusted to any value in the interval [85, 95].

[0027] According to the speed adjustment value, the average deceleration a_ave of the driving vehicle is calculated.

[0028] Specifically, the driving behavior monitoring module 2 is also configured with a deceleration model; the deceleration model is generated by training historical vehicle driving data; the deceleration model is configured to: According to the speed adjustment value, the average deceleration of the driving vehicle is calculated; the average deceleration is: a_ave = rv_adjust ÷ 3.6 × 0.1 + a; In the formula, a is a deceleration setting value, and the deceleration setting value is determined by the deceleration model. In this embodiment, the deceleration setting value a is 3.742; the deceleration setting value is a default ideal deceleration, which represents that the vehicle is at an ideal target deceleration under the relative speed of the speed adjustment value, that is, the vehicle speed corresponding to the optimal safe distance can be reached.

[0029] The driving behavior monitoring module 2 is configured with a database; the database is configured to store the vehicle driving data; the driving behavior monitoring module 2 is further configured to: According to the vehicle driving data, the deceleration setting value in the deceleration model is updated. It can be understood that the deceleration model of the driving vehicle is initially applied, and the deceleration setting value a is a factory setting, which is generally set based on 100,000 kilometers of driving data. However, under the condition that the driving mileage of the driving vehicle is continuously increasing, the brake system and the like of the driving vehicle will be worn to a certain extent, resulting in that the average deceleration of the driving vehicle cannot be calculated according to the original deceleration model. Therefore, the vehicle driving data is continuously stored in the database during the operation of the driving vehicle, so that the deceleration setting value a in the deceleration model is continuously updated through the vehicle driving data in the database, so that the deceleration setting value a in the deceleration model is continuously updated according to the vehicle itself. The accuracy of the final average deceleration result of the driving vehicle is improved.

[0030] According to the speed adjustment value, average deceleration, real-time driving speed, the safety distance between the driving vehicle and the vehicle in front of the driving vehicle is calculated, and the average deceleration of the driving vehicle is dynamic_dist_th.

[0031] Specifically, the driving behavior monitoring module 2 is also configured with a safety distance model; the safety distance model is generated by training historical vehicle driving data; and the safety distance model is configured to: determine a first safety distance compensation value of the driving vehicle in a first working condition; the first safety distance compensation value is: X1=min(0.3,hmw_thr×0.5); In the formula, hmw_thr is a safety distance threshold.

[0032] According to the real-time driving speed, the speed adjustment value, and the average deceleration, a second safety distance compensation value of the driving vehicle in a second working condition is calculated; the second safety distance compensation value is: X2=(0.1÷v_ego + (0.5÷(3.6×3.6)) × rv_adjust 2 ÷((v_ego÷3.6) ×a_ave))).

[0033] According to the speed adjustment value, a third safety distance compensation value of the driving vehicle in a third working condition is calculated; the third safety distance compensation value is: X3=min(0.15,max(hmw_thr×0.5,(min(1.0,hmw_thr)-0.2)))÷max(1.0,rv_adjust÷3.6).

[0034] According to the first safety distance compensation value, the second safety distance compensation value, and the third safety distance compensation value, the safety distance between the driving vehicle and the vehicle in front of the driving vehicle is calculated; the safety distance is: dynamic_dist_thr=hmw_thr+min(X1,X2-X3). In the formula, hmw_thr is a safety distance threshold, which is determined by the safety distance model; X1 is the first safety distance compensation value; X2 is the second safety distance compensation value; and X3 is the third safety distance compensation value. The hmw_thr related item adapts to the driving style (aggressive driving hmw_thr is small).

[0035] dynamic_dist_thr=hmw_thr+min(min(0.3,hmw_thr×0.5),(0.1÷v_ego+(0.5÷(3.6×3.6)) min(0.15, max(hmw_thr x 0.5, (min(1.0, hmw_thr) - 0.2))) ÷ max(1.0, rv_adjust ÷ 3.6). Finally, the safety distance is determined on the basis of the relative speed and the travel speed data of the driving vehicle, as shown in Figure 2 The three working conditions are switched freely and smoothly to finally obtain the value of the safety distance.

[0036] Specifically, hmw_thr is a safety distance threshold; min(0.3, hmw_thr x 0.5) in the first working condition represents compensation based on 0.5 times the safety distance threshold, but the maximum value cannot exceed 0.3 s; (0.1 ÷ v_ego + (0.5 ÷ (3.6 x 3.6)) x rv_adjust 2 ÷ ((v_ego ÷ 3.6) x a_ave)) in the second working condition represents the compensation amount of the safety distance threshold hmw_thr calculated based on the driving speed of the ego vehicle and the relative speed and the average deceleration; and min(0.15, max(hmw_thr x 0.5, (min(1.0, hmw_thr) - 0.2))) ÷ max(1.0, rv_adjust ÷ 3.6) in the third working condition represents a negative safety distance threshold hmw_thr compensation amount, and the safety distance threshold hmw_thr will decrease when the relative speed is large. The final technical effect is that when the relative speed is large, the safety distance will increase, and the braking system needs to start earlier; when the relative speed is small, the safety distance will decrease, and the braking system will start later.

[0037] The driving behavior monitoring module 2 is further configured to: update the safety distance threshold in the safety distance model according to the vehicle travel data. It can be understood that the safety distance threshold hmw_thr in the safety distance model of the driving vehicle is a factory setting when it is first applied, which is generally set based on 100,000 kilometers of driving data. However, the driving habits of each driver are different, such as the following distance of each driver, some drivers have a closer following distance, and some drivers have a farther following distance. Therefore, according to the driving habits of each driver, the safety distance threshold in the safety distance model is updated through the vehicle travel data, the safety distance threshold is updated to the following distance habituated by the driver, thereby establishing a dynamic mapping mechanism between the driving behavior characteristics of the driver and the safety distance threshold, and realizing personalized early warning services.

[0038] The early warning module 3 is configured to: If the real-time distance is less than the safety distance, the voice module 4 is triggered to play a set audio. When the real-time distance is less than the safety distance, the voice module 4 configured in the driving vehicle plays "the distance between the current vehicle and the preceding vehicle is too close, which is easy to cause an accident, please increase the driving distance from the preceding vehicle", so as to remind the driver to increase the driving distance from the preceding vehicle and improve the safety of the driver.

[0039] The application provides a vehicle safety distance monitoring and warning system applied to a vehicle. The speed adjustment value and the average deceleration of the driving vehicle are calculated in real time by acquiring vehicle driving data. The distance compensation value of the safety distance of the driving vehicle is calculated based on the speed adjustment value and the average deceleration, and the target safety distance of the driving vehicle and the preceding vehicle is finally obtained. The real-time distance between the driving vehicle and the preceding vehicle is compared, so as to remind the user whether to increase the driving distance from the preceding vehicle.

[0040] The average deceleration is determined by a deceleration model, and the deceleration model is continuously trained by the vehicle driving data of the driving vehicle, so that the obtained average deceleration is relatively accurate. The safety distance is determined by a safety distance model, and the safety distance model is also continuously trained according to the vehicle driving data of the driving vehicle, so that the safety distance model establishes a dynamic mapping mechanism between the driving behavior characteristics and the safety threshold, so as to meet the following habits of the driver and realize personalized warning service.

[0041] The second aspect of the application provides a vehicle safety distance monitoring and warning method applied to the vehicle safety distance monitoring and warning system in any of the above embodiments, which comprises the following steps: Acquiring vehicle driving data; the vehicle driving data comprises the real-time driving speed of the driving vehicle, the real-time relative speed and the real-time distance between the driving vehicle and the preceding vehicle of the driving vehicle; Determining the speed adjustment value of the driving vehicle based on the vehicle driving data; Calculating the average deceleration of the driving vehicle according to the speed adjustment value; Calculating the safety distance between the driving vehicle and the preceding vehicle of the driving vehicle according to the speed adjustment value and the average deceleration; If the real-time distance is less than the safety distance, the voice module is triggered to play a set audio.

[0042] It is worth noting that the effects of the above method embodiments can be referred to the effects of the above system embodiments, which will not be repeated here.

[0043] The above detailed description of the embodiments of the present application is merely intended to provide a further detailed description of the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A vehicle safety distance monitoring and early warning system, characterized in that: include: Communication-connected data acquisition module (1), driving behavior monitoring module (2), warning module (3), and voice module (4); The data acquisition module (1) is configured to: Obtain vehicle driving data; The vehicle driving data includes: the real-time driving speed of the driving vehicle, the real-time relative speed and the real-time distance between the driving vehicle and the vehicle in front of the driving vehicle; The driving behavior monitoring module (2) is configured to: determining a speed adjustment value of the driving vehicle based on the vehicle driving data; calculating an average deceleration of the driving vehicle according to the speed adjustment value; Calculating a safe distance between the driving vehicle and a preceding vehicle according to the speed adjustment value, the average deceleration, and the real-time driving speed; The early warning module (3) is configured to: If the real-time distance is less than the safety distance, the voice module (4) is triggered to play the set audio.

2. A vehicle safety distance monitoring and warning system according to claim 1, characterized in that: The driving behavior monitoring module (2) is further configured to: determining a speed limit value according to a minimum value between the real-time driving speed and the real-time relative speed; Determine a speed adjustment value of the driving vehicle according to the speed limit value; the speed adjustment value is: rv_adjust = min(min(r_v,v_ego),90); Wherein, v_ego is the real-time driving speed; r_v is the real-time relative speed.

3. A vehicle safety distance monitoring and warning system according to claim 2, characterized in that: The driving behavior monitoring module (2) is further configured with a deceleration model; the deceleration model is generated by training historical vehicle driving data; the deceleration model is configured as follows: The average deceleration of the driving vehicle is calculated according to the speed adjustment value; the average deceleration is: a_ave = rv_adjust÷3.6 ×0.1+a; Wherein, a is the deceleration setting value, and the deceleration setting value is determined by the deceleration model.

4. A vehicle safety distance monitoring and warning system according to claim 3, characterized in that: The driving behavior monitoring module (2) is configured with a database; the database is configured to store the vehicle travel data; the driving behavior monitoring module (2) is further configured to: The deceleration setting value in the deceleration model is updated according to the vehicle driving data.

5. A vehicle safety distance monitoring and warning system according to claim 4, characterized in that: The driving behavior monitoring module (2) is further configured with a safety distance model; the safety distance model is generated by training with historical vehicle driving data; the safety distance model is configured as follows: determining a first safety distance compensation value for the driving vehicle under a first operating condition; Calculating a second safety distance compensation value for the driving vehicle under a second operating condition according to the real-time driving speed, the speed adjustment value, and the average deceleration; calculating a third safety distance compensation value for the driving vehicle under a third working condition according to the speed adjustment value; The safety distance between the driving vehicle and the vehicle ahead of the driving vehicle is calculated based on the first safety distance compensation value, the second safety distance compensation value, and the third safety distance compensation value; the safety distance is: dynamic_dist_thr=hmw_thr+min(X1,X2-X3); Wherein, hmw_thr is the safety distance threshold, which is determined by the safety distance model; X1 is the first safety distance compensation value; X2 is the second safety distance compensation value; and X3 is the third safety distance compensation value.

6. A vehicle safety distance monitoring and warning system according to claim 5, characterized in that: The first safety distance compensation value is: X1=min(0.3,hmw_thr×0.5); Where hmw_thr is the safety distance threshold.

7. The vehicle safety distance monitoring and warning system according to claim 5, characterized in that: The second safety distance compensation value is: X2=(0.1÷v_ego + (0.5÷(3.6×3.6)) × rv_adjust 2 ÷((v_ego÷3.6) ×a_ave))。 8. The vehicle safety distance monitoring and warning system according to claim 5, characterized in that: The third safety distance compensation value is: X3=min(0.15,max(hmw_thr×0.5,(min(1.0,hmw_thr)-0.2)))÷max(1.0,rv_adjust÷3.6).

9. The vehicle safety distance monitoring and warning system according to claim 5, characterized in that: The driving behavior monitoring module (2) is further configured to: The safety distance threshold in the safety distance model is updated according to the vehicle driving data.

10. A vehicle safety distance monitoring and early warning method, applied to a vehicle safety distance monitoring and early warning system according to any one of claims 1 to 9, characterized in that: include: Obtain vehicle driving data; The vehicle driving data includes: the real-time driving speed of the driving vehicle, the real-time relative speed and the real-time distance between the driving vehicle and the vehicle in front of the driving vehicle; determining a speed adjustment value of the driving vehicle based on the vehicle driving data; calculating an average deceleration of the driving vehicle according to the speed adjustment value; calculating a safe distance between the driving vehicle and a vehicle ahead of the driving vehicle based on the speed adjustment value and the average deceleration; If the real-time distance is less than the safety distance, the voice module is triggered to play the set audio.

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