TWI760719B - Method of controlling traffic safety, vehicle-mounted device - Google Patents

Abstract

The present invention provides a method of controlling traffic safety. The method includes: obtaining first related information of a road on which a vehicle is driving, wherein the first related information includes whether there is an intersection in front of a vehicle; obtaining second related information sensed by a sensing device of the vehicle when there is the intersection in front of the vehicle; and controlling the vehicle according to the first related information and the second related information. The present invention also provides a vehicle-mounted device for implementing the method of controlling traffic safety. The present invention can effectively improve driving safety.

Description

Traffic safety control method and vehicle-mounted device

The invention relates to the technical field of traffic safety management and control, in particular to a traffic safety management and control method and a vehicle-mounted device.

The prior art generally utilizes Front Cross Traffic Alert (FCTA) to prevent collisions at intersections. Specifically, the radar sensor mounted on the vehicle itself is used to detect the left and right vehicles ahead to prevent collisions according to the detection results. However, in the process of implementing the present invention, the inventor found that the technology has disadvantages: the detection range of the radar sensor is limited, and the vehicle may not be able to stop safely without collision when the vehicle speed is high.

For example, as shown in FIG. 1A , when a vehicle 210 on the main road 21 and a vehicle 220 on the side road 22 pass through the intersection 200 at the same time, it is likely that the vehicle 220 on the side road 22 does not decelerate according to the traffic rules. Vehicle 220 and vehicle 210 collide.

In view of the above, it is necessary to provide a traffic safety management and control method and a vehicle-mounted device, which can automatically control the vehicle according to the actual road conditions of the road where the vehicle is located, thereby effectively improving the driving safety factor.

The traffic safety management and control method includes: acquiring first relevant information of the road where the vehicle is currently located, the first relevant information including whether there is an intersection in front of the road where the vehicle is currently located; when the first relevant information indicates the vehicle When the front of the current road includes an intersection, get the second related information sensed by a sensing device of the vehicle; and controlling the vehicle according to the first related information and the second related information.

The in-vehicle device includes a memory and at least one processor, wherein at least one instruction is stored in the memory, and the at least one instruction is executed by the at least one processor to implement the traffic safety management and control method.

Compared with the prior art, the traffic safety control method and the vehicle-mounted device can automatically control the vehicle according to the actual road conditions of the road where the vehicle is located, thereby effectively improving the driving safety factor.

100, 210, 220: Vehicles

21: Main Road

22: Branch Road

200: intersection

3: Vehicle device

32: Processor

31: Storage

30: Traffic safety management and control system

301: Get Mods

302: Judgment Module

303: Execute the module

34: Sensing Devices

35: Display screen

36: Positioning Devices

38: Buzzer

39: High-precision map

Figure 1A illustrates a situation where a collision occurs at an intersection.

FIG. 1B is a structural diagram of a vehicle-mounted device according to a preferred embodiment of the present invention.

FIG. 2 is a functional module diagram of a traffic safety management and control system according to a preferred embodiment of the present invention.

FIG. 3 is a flowchart of a traffic safety management and control method according to a preferred embodiment of the present invention.

FIG. 4 is a detailed flow chart of step S4 shown in FIG. 3 according to a preferred embodiment of the present invention.

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict.

In the following description, many specific details are set forth in order to facilitate a full understanding of the present invention, and the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

Referring to FIG. 1B , it is a structural diagram of a vehicle-mounted device provided by a preferred embodiment of the present invention.

In this embodiment, the in-vehicle device 3 is installed on the vehicle 100 . The in-vehicle device 3 can also be called an in-vehicle computer. The vehicle-mounted device 3 includes, but is not limited to, a storage 31 , at least one processor 32 , a sensing device 34 , a display screen 35 , a positioning device 36 , and a buzzer 38 that are electrically connected to each other.

Those skilled in the art should understand that the structure of the vehicle-mounted device 3 shown in FIG. 1B does not constitute a limitation of the embodiment of the present invention, and the vehicle-mounted device 3 may also include more or less other hardware or software than that shown in FIG. 1B , Or a different component arrangement.

It should be noted that the vehicle-mounted device 3 is only an example, and other existing or future vehicle-mounted devices that can be adapted to the present invention should also be included within the protection scope of the present invention, and are incorporated herein by reference.

In some embodiments, the storage 31 may be used to store program codes and various data of computer programs. For example, the storage 31 can be used to store the traffic safety management and control system 30 and the high-precision map 39 installed in the vehicle-mounted device 3 , and realize the high-speed and automatic completion of the program or data during the operation of the vehicle-mounted device 3 . access. The storage 31 may include a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (Erasable). Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other non-volatile computer capable of carrying or storing data readable storage medium.

In some embodiments, the at least one processor 32 may be comprised of an integrated circuit. For example, it can be composed of a single packaged integrated circuit, or it can be composed of a plurality of integrated circuits packaged with the same function or different functions, including one or more central processing units (Central Processing Unit, CPU), microprocessor A combination of computer, digital word processing chip, graphics processor and various control chips, etc. The at least one processor 32 is the control core (Control Unit) of the in-vehicle device 3, and uses various interfaces and lines to connect various components of the entire in-vehicle device 3, and executes programs or modules stored in the storage 31 by executing the program or module. Or instructions, and call the data stored in the storage 31 to execute various functions of the vehicle-mounted device 3 and process data, for example, the function of managing and controlling traffic safety (for details, please refer to the introduction to FIG. 3 later).

In this embodiment, the sensing device 34 may be a light sensor, a visibility sensor, a camera, a radar sensor, or a combination of one or more of them. The in-vehicle device 3 can use the sensing device 34 to sense the ambient brightness of the environment where the vehicle 100 is located, the visibility of the environment where the vehicle 100 is located, whether the front of the vehicle 100 includes objects, and the distance between the objects. the distance. The display screen 35 can be a touch display screen for displaying various data of the vehicle-mounted device 3 , such as displaying a user interface of the high-precision map 39 . In this embodiment, the high-precision map 39 may be a Baidu high-precision map or other maps such as a Google high-precision map.

In this embodiment, the high-precision map 39 indicates the location information corresponding to each road (such as the latitude and longitude information corresponding to the range of each road), the type of each road, the intersections included in each road, the The location information corresponding to each intersection (such as the latitude and longitude information corresponding to the range of each intersection), whether each intersection is a trouble-prone intersection, and other information.

In this embodiment, the types of the roads can be divided into main roads and secondary main roads (branch roads). In this embodiment, the traffic-prone intersection refers to the intersection where the number of traffic accidents is greater than a preset value (eg, 5 times, 10 times). The high-precision map 39 records the number of traffic accidents that occur at each intersection, and defines whether each intersection is an accident-prone intersection according to the number of traffic accidents that occur.

In this embodiment, the positioning device 36 may be used to locate the current position of the vehicle 100 (eg, latitude and longitude information). In one embodiment, the positioning device 36 may be a global positioning system Global Positioning System (GPS), Assisted Global Positioning System (AGPS), BeiDou Navigation Satellite System (BDS), or GLOBAL A combination of one or more of NAVIGATION SATELLITE SYSTEM, GLONASS).

In this embodiment, the traffic safety management and control system 30 may include one or more modules, and the one or more modules are stored in the storage 31 and processed by at least one or more processors (this embodiment It is executed by the processor 32) to realize the function of managing and controlling traffic safety (for details, please refer to the introduction to FIG. 3 later).

In this embodiment, the traffic safety management and control system 30 may be divided into multiple modules according to the functions performed by the traffic safety management and control system 30 . Referring to FIG. 2 , the multiple modules include an acquisition module 301 , a judgment module 302 , and an execution module 303 . The module referred to in the present invention refers to a series of computer-readable instruction segments that can be executed by at least one processor (such as the processor 32 ) and can perform fixed functions, which are stored in a memory (such as the in-vehicle device 3 ). storage 31). In this embodiment, the functions of each module will be described in detail with reference to FIG. 3 later.

In this embodiment, the integrated unit implemented in the form of a software function module can be stored in a non-volatile readable storage medium. The above-mentioned software function module includes one or more computer-readable instructions, and the in-vehicle device 3 or a processor (processor) implements part of the method of each embodiment of the present invention by executing the one or more computer-readable instructions, For example, the method for managing and controlling traffic safety as shown in FIG. 3 .

In a further embodiment, referring to FIG. 2 , the at least one processor 32 can execute the operating device of the in-vehicle device 3 and various installed applications (such as the traffic safety management and control system 30 ), code, etc. .

In a further embodiment, the storage 31 stores the code of a computer program, and the at least one processor 32 can call the code stored in the storage 31 to execute related functions. For example, each module of the traffic safety management and control system 30 in FIG. 2 is stored in the storage The program code in 31 is executed by the at least one processor 32, so as to realize the functions of the various modules to achieve the purpose of managing and controlling traffic safety (see the description of FIG. 3 below for details).

In one embodiment of the present invention, the storage 31 stores one or more computer-readable instructions, and the one or more computer-readable instructions are executed by the at least one processor 32 to implement traffic safety. purpose of control. Specifically, for the specific implementation method of the above computer-readable instructions by the at least one processor 32, please refer to the description of FIG. 3 below.

FIG. 3 is a flowchart of a traffic safety management and control method provided by a preferred embodiment of the present invention.

In this embodiment, the traffic safety management and control method can be applied to the vehicle-mounted device 3 . For the vehicle-mounted device 3 that needs to perform traffic safety management and control, the vehicle-mounted device 3 provided by the method of the present invention can be directly integrated into the vehicle-mounted device 3 . The function of security management and control may run on the vehicle-mounted device 3 in the form of a software development kit (Software Development Kit, SDK).

As shown in FIG. 3 , the traffic safety management and control method specifically includes the following steps. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

Step S1 , when the vehicle 100 is running, the obtaining module 301 obtains the first relevant information of the road where the vehicle 100 is currently located.

In one embodiment, the first related information includes the type of the road the vehicle 100 is currently on, whether there is an intersection in front of the road where the vehicle 100 is currently located, and whether the intersection is an accident-prone intersection. In one embodiment, the front of the road where the vehicle 100 is currently located may refer to a range of a preset distance (within 150m and 200m) ahead of the road where the vehicle 100 is currently located.

In the first embodiment, the obtaining module 301 may use the positioning device 36 in combination with the high-precision map 39 to obtain the first relevant information of the road where the vehicle 100 is currently located.

Specifically, the obtaining the first relevant information of the road where the vehicle 100 is currently located includes: using the positioning device 36 to obtain the current position coordinates of the vehicle 100; locating the vehicle 100 at a high altitude based on the current position coordinates of the vehicle 100 The position on the precise map 39 ; and the first relevant information of the road where the vehicle 100 is currently located is obtained from the high-precision map 39 .

In the second embodiment, the acquisition module 301 can use the data sensed by the sensing device 34 to determine whether the road ahead of the vehicle 100 currently includes an intersection.

Specifically, the acquisition module 301 can use the sensing device 34 to capture an image (as described above, the sensing device 34 can be a camera), and the image includes the front of the road where the vehicle 100 is currently located scene. The acquisition module 301 uses an image recognition algorithm to identify whether the image includes a traffic light sign; and when the traffic light sign is recognized from the image, the acquisition module 301 determines the traffic light sign. The front of the road where the vehicle 100 is currently located includes an intersection.

In this embodiment, the image recognition algorithm includes a template matching method. The acquisition module 301 can use images of various types of traffic light signs as templates in advance, so that the acquisition module 301 can use the template matching method to identify whether the captured images include traffic light signs. .

Step S2, the determination module 302 determines from the first relevant information whether the front of the road where the vehicle 100 is currently located includes an intersection. When the front of the road where the vehicle 100 is currently located includes an intersection, step S3 is executed. When the front of the road where the vehicle 100 is currently located does not include an intersection, go back to step S1.

In one embodiment, when it is determined from the first relevant information that the road ahead of the vehicle 100 currently includes an intersection, and the intersection is an accident-prone intersection, the judging module 302 also sends out a preset method. Warning.

In one embodiment, the preset manner may refer to displaying text information on the display screen 35, and using the text information to prompt the driver of the vehicle 100 that the intersection in front of the vehicle 100 is an accident-prone intersection.

In other embodiments, the preset manner may further include controlling the buzzer 38 to generate a warning sound, so as to simultaneously remind the driver of the vehicle 100 that the intersection ahead of the vehicle 100 is an accident-prone intersection.

In one embodiment, when the first related information indicates that the road ahead of the vehicle 100 currently includes an intersection, the execution module 303 further adjusts the sensing device of the vehicle 100 For example, the sensing range of the sensing device 34 is increased from the first range to the second range. The second range is a wider range than the first range.

For example, after the execution module 303 increases the sweep range of the radar sensor, since the sweep range of the radar sensor is wider, sweep results in a wider range can be obtained.

Step S3 , when the front of the road where the vehicle 100 is currently located includes an intersection, the acquiring module 301 acquires the second related information sensed by the sensing device 34 of the vehicle 100 .

In one embodiment, the second related information includes, but is not limited to, ambient brightness and visibility of the current location of the vehicle 100 .

As previously mentioned, the sensing device 34 may be a light sensor, a visibility sensor, a camera, a radar sensor, or a combination of one or more thereof. Therefore, the obtaining module 301 can use the light sensor to sense the ambient brightness of the environment where the vehicle 100 is currently located and/or use the visibility sensor to sense the visibility of the environment where the vehicle 100 is currently located.

Step S4, the execution module 303 controls the vehicle 100 according to the first related information and the second related information.

In one embodiment, for the step of controlling the vehicle 100 according to the first related information and the second related information, please refer to the description of FIG. 4 below.

In step S41 , the execution module 303 determines whether the vehicle 100 needs to perform preparatory braking based on the second related information. When it is determined that the preparatory braking needs to be performed on the vehicle 100, step S42 is performed. When it is determined that it is not necessary to perform the preparatory braking on the vehicle 100, step S43 is performed.

In one embodiment, when the second related information indicates that the ambient brightness of the environment where the vehicle 100 is currently located is lower than the first preset value (50cd/m ² ), and/or the visibility of the environment where the vehicle 100 is currently located When the value is lower than the second preset value (for example, 100m), the execution module 303 determines that the vehicle 100 needs to be subjected to preparatory braking.

When the second related information indicates that the ambient brightness of the environment where the vehicle 100 is currently located is greater than or equal to the first preset value (50cd/m ² ), and the visibility of the environment where the vehicle 100 is currently located is greater than or equal to the first preset value (50cd/m 2 ) When two preset values (for example, 100 m) are used, the execution module 303 determines that the vehicle 100 does not need to perform preparatory braking.

Step S42 , the execution module 303 executes the preparatory braking on the vehicle 100 .

In this embodiment, performing preparatory braking on the vehicle 100 refers to increasing the oil pressure of brake fluid (also known as brake fluid or force oil) on the vehicle 100 , so that the brake disc and the brake pads of the vehicle 100 are in slight contact state. On the premise that the preparatory braking is performed on the vehicle 100, if the driver of the vehicle 100 depresses the brake pedal, the vehicle 100 can obtain better braking capability and reduce the required braking distance.

Step S43 , the execution module 303 determines whether the vehicle 100 needs to be braked immediately based on the first related information.

In one embodiment, when the first relevant information indicates that the category of the road that the vehicle 100 is currently on is a secondary road (branch road), the execution module 303 determines that the vehicle 100 needs to be braked immediately, and step S44 is executed . When the first relevant information indicates that the type of the road where the vehicle 100 is currently located is an arterial road, the execution module 303 determines that the vehicle 100 does not need to be braked, and step S45 is executed.

It should be noted here that the reason why it is determined that the vehicle 100 needs to brake immediately when the road type is a secondary road is that, according to traffic rules, a vehicle on a secondary road needs to slow down to give way to a vehicle on the main road.

Step S44 , when it is determined that the vehicle 100 needs to be braked immediately, the execution module 303 controls the vehicle 100 to brake. After step S44 is performed, step S45 is performed.

Step S45, the judgment module 302 judges whether the current speed of the vehicle 100 is 0. When the current speed of the vehicle 100 is not 0, step S46 is executed. When the current speed of the vehicle 100 is 0, the process ends.

Step S46 , the execution module 303 uses the sensing device 34 to detect whether there is an object at the intersection, and controls the speed of the vehicle 100 passing through the intersection based on the sensing result of the sensing device 34 .

Specifically, when the detection result of the sensing device 34 is that there is an object at the intersection, the execution module 303 uses the sensing device 34 to sense the distance S between the vehicle 100 and the object; the execution The module 303 also determines whether the vehicle 100 will collide with the object according to the distance S and the current speed V of the vehicle 100; when it is determined that the vehicle 100 will not collide with the object, the The execution module 303 controls the vehicle 100 to pass through the intersection according to the current speed V; when it is determined that the vehicle 100 will collide with the object, the execution module 303 controls the vehicle 100 to decelerate and pass through the intersection .

When the detection result of the sensing device 34 is that there is no object at the intersection, the execution module 303 controls the vehicle 100 to pass through the intersection according to the current speed V.

In this embodiment, the determining whether the vehicle 100 will collide with the object according to the distance S and the current speed V of the vehicle 100 includes: calculating and obtaining according to the distance S and the estimated travel time T an estimated speed V', where V'=S/T; and comparing the magnitude between the current speed V of the vehicle 100 and the estimated speed V', when V is greater than or equal to V', determine the vehicle 100 will collide with the object; when V is less than V', it is determined that the vehicle 100 will not collide with the object.

In this embodiment, the execution module 303 may obtain the estimated travel time T from the high-precision map 39 .

In one embodiment, the controlling the vehicle 100 to decelerate through the intersection includes controlling the vehicle 100 to reduce from the current speed V to a speed value V" that is less than or equal to the V'.

In one embodiment, the execution module 303 further determines from the high-precision map 39 whether the vehicle 100 has passed through the intersection, and when the vehicle 100 has passed through the intersection, the execution module 303 also down-adjusts the sensing range of the sensing device 34 from the second range to the first range.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative In nature, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

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

In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of hardware plus software function modules.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and is therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates. Furthermore, it is clear that the word "comprising" does not exclude other units or steps and the singular does not exclude the plural. The unit or device stated in the device claim may be implemented by software or hardware. The terms first, second, etc. are used to denote names and do not denote any particular order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should The technical solutions can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims (9)

A traffic safety management and control method, wherein the method comprises: acquiring first related information of a road where a vehicle is currently located, the first related information including whether the road ahead of the vehicle currently located includes an intersection; when the first related information indicates When the front of the road where the vehicle is currently located includes an intersection, second relevant information sensed by the sensing device of the vehicle is acquired; and the vehicle is controlled according to the first relevant information and the second relevant information, It includes: performing preparatory braking or not performing preset braking on the vehicle based on the second related information; and immediately performing braking or not performing braking based on the category of the road where the vehicle is currently located as indicated by the first related information. The traffic safety control method according to claim 1, wherein the acquiring the first relevant information of the road where the vehicle is currently located comprises: using a positioning device to acquire the current position coordinates of the vehicle; obtaining the position of the vehicle on the high-precision map; and obtaining the first relevant information of the road where the vehicle is currently located from the high-precision map. The traffic safety management and control method according to claim 1, wherein the acquiring the first relevant information of the road where the vehicle is currently located comprises: using the sensing device to capture an image, wherein the image includes the information of the road where the vehicle is currently located. The scene ahead; identify from the image whether the front of the road where the vehicle is currently located includes an intersection. The traffic safety management and control method according to claim 1, wherein the first related information further includes the category of the road the vehicle is currently on, and whether the intersection is an accident-prone intersection. The traffic safety management and control method according to claim 1, wherein the second related information includes ambient brightness and visibility of the current location of the vehicle. The traffic safety management and control method according to claim 1, wherein the controlling the vehicle further comprises: When the vehicle is braked and the current speed of the vehicle is not 0, use the sensing device to detect whether there is an object at the intersection; and control the vehicle to pass through based on the sensing result of the sensing device the speed of the intersection. The traffic safety management and control method according to claim 6, wherein the controlling the speed of the vehicle passing through the intersection based on the sensing result of the sensing device comprises: when the detection result of the sensing device is the When there is an object at the intersection, use the sensing device to sense the distance S between the vehicle and the object; determine whether the vehicle will collide with the object according to the distance S and the current speed V of the vehicle ; When it is determined that the vehicle will not collide with the object, control the vehicle to pass through the intersection according to the current speed V; when it is determined that the vehicle will collide with the object, control the vehicle to decelerate and pass through the intersection; and when the detection result of the sensing device is that there is no object at the intersection, controlling the vehicle to pass through the intersection according to the current speed. The traffic safety control method according to claim 1, wherein the method further comprises: when the first relevant information indicates that the road ahead of the vehicle currently is including an intersection, increasing the sensing range of the sensing device. An in-vehicle device, wherein the in-vehicle device comprises a memory and at least one processor, the memory stores at least one instruction, and when the at least one instruction is executed by the at least one processor, implements as claimed in items 1 to 8 The traffic safety control method of any one of the above.

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