CN102225692B - Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof - Google Patents
Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof Download PDFInfo
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- CN102225692B CN102225692B CN201110105830.7A CN201110105830A CN102225692B CN 102225692 B CN102225692 B CN 102225692B CN 201110105830 A CN201110105830 A CN 201110105830A CN 102225692 B CN102225692 B CN 102225692B
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Abstract
The invention discloses an automobile anti-collision method as well as a corresponding mobile terminal and a corresponding anti-collision system thereof. The automobile anti-collision method comprises the following steps: obtaining related data when an automobile is in travelling, wherein the related data comprises an angle acceleration, a forward acceleration and an instant speed which are measured once at each first determined time slot when the automobile is in travelling, and a plurality of instant distances between the automobile and surroundings; processing the related data measured at two adjacent time points corresponding to the first predetermined time slot and judging whether the automobile is in a safe state; when judging that the automobile is not in the safe state, obtaining automatic driving parameters according to the related data and outputting an automatic driving starting signal and an automatic driving parameter to an automatic driving control device so as to prevent the automobile from collision, wherein the automatic driving parameters comprise braking power and a torque applied to a steering wheel. The anti-collision method can be used for accurately judging whether the automobile is in the safe state so as to effectively prevent the traffic accident.
Description
Technical field
The present invention relates to a kind of safety detection device, particularly relate to the anticollision of motor vehicles method and corresponding mobile terminal and the collision avoidance system that in motor-driven vehicle going process, prevent and reduce that collision of motor-driven vehicles accident occurs.
Background technology
Along with the continuous progress of society and the raising of people's living standard, self-propelled vehicle (for example automobile, motor bike or battery-driven car etc.) is constantly by people's popularization and application.Along with the continuous increase of vehicles number, the continuous increase of people's operation pressure and the continuous quickening of rhythm of life, the incidence of traffic accident rises thereupon sharp.Therefore, traffic safety has become the emphasis that the whole society gazes at.Improving motor vehicle running safe reliability and avoid to greatest extent navigating mate due to the collision case that the impacts such as human element or road surface accident cause, is the key subjects that world today's self-propelled vehicle industry and society very pay close attention to and be badly in need of solving.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of anticollision of motor vehicles method and corresponding mobile terminal and collision avoidance system, and whether it can judge self-propelled vehicle accurately in a safe condition, the generation avoiding traffic accident.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of anticollision of motor vehicles method is provided, it comprises the related data while obtaining this motor-driven vehicle going, itself and a plurality of instant distance between object around when angle acceleration/accel, forward acceleration and instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every the first predetermined amount of time and this motor-driven vehicle going; Process corresponding two related datas that adjacent time point is measured of this first predetermined amount of time, and judge that according to two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition; When this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and this automatic Pilot parameter to automatic Pilot control setup to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.Wherein, the related data that corresponding two the adjacent time points of this first predetermined amount of time of step process are measured also judges that whether this self-propelled vehicle is in a safe condition, comprise: from put measured a plurality of instant distance in this corresponding very first time of the first predetermined amount of time, find out this self-propelled vehicle and the nearest instant distance of the first minimum between object around, according to this first minimum distance immediately, obtain the angle that this nearest object around departs from the travel direction of this self-propelled vehicle; According to put this measured angle acceleration/accel, this forward acceleration, this instantaneous velocity and this angle that object departs from the travel direction of this self-propelled vehicle recently around in this very first time, obtain in this very first time and put this self-propelled vehicle towards this First Speed of object around recently; According to the angle that departs from the travel direction of this self-propelled vehicle at this measured angle acceleration/accel of corresponding the second time point of this first predetermined amount of time, this forward acceleration, this instantaneous velocity and this nearest object around, obtain at this this self-propelled vehicle of the second time point towards this nearest second speed of object around; Obtain the second minimum instant distance between object around this this self-propelled vehicle of the second time point is nearest apart from this; According to this first minimum instant distance, this second minimum instant distance, this very first time put this self-propelled vehicle towards this recently around the First Speed of object and this this self-propelled vehicle of the second time point towards this recently around second speed of object obtain this second time point this recently around object towards the speed of this self-propelled vehicle; According to this this self-propelled vehicle of the second time point towards this recently around object second speed, this second time point this recently around object towards speed and second predetermined amount of time of this self-propelled vehicle, obtain this self-propelled vehicle at the safety distance of this second time point; And relatively this second minimum instant distance with this safety distance with judgement at this this self-propelled vehicle of the second time point whether in this safe condition.
Wherein, step according to described related data obtain automatic drive parameter comprise according to this this self-propelled vehicle of the second time point towards this recently around object second speed, this second time point this recently around object towards speed and this second minimum instant distance of this self-propelled vehicle, calculate the forward acceleration that braking should have, and this forward acceleration that should have according to braking obtains the dynamics of this braking; And obtain according to this angle that recently around object departs from the travel direction of this self-propelled vehicle the steering angle acceleration/accel that this self-propelled vehicle avoids collision to have, and the steering angle acceleration/accel of avoiding collision to have according to this self-propelled vehicle obtains the moment of torsion that this gives bearing circle.
Wherein, when judging this self-propelled vehicle not in this safe condition, export alarm enable signal with activation siren horn, thereby give the alarm to remind driver to carry out hedging operation in the reserved manual operation time.And after this reserved manual operation time, further judge that whether this self-propelled vehicle is in a safe condition, when this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter and send to automatic Pilot control setup, to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
For solving the problems of the technologies described above, another technical solution used in the present invention is: a kind of mobile terminal is provided, and it comprises treater.This treater comprises that running data obtains module, computing and judgement module and automatic Pilot calculation of parameter is processed module.Wherein, running data obtains the related data of module when obtaining motor-driven vehicle going, itself and a plurality of instant distance between object around when angle acceleration/accel, forward acceleration and instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every the first predetermined amount of time and this motor-driven vehicle going.Computing for the treatment of corresponding two related datas that adjacent time point is measured of this first predetermined amount of time, and judges that according to two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition with judgement module.And automatic Pilot calculation of parameter is processed module for when this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and this automatic Pilot parameter to automatic Pilot control setup to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.Wherein, this computing comprises deflection angle generation unit, the first calculation processing unit, the second calculation processing unit, the 3rd calculation processing unit and judging unit with judgement module.Wherein, deflection angle generation unit is found out this self-propelled vehicle and the nearest instant distance of the first minimum between object around for put measured a plurality of instant distance in this corresponding very first time of the first predetermined amount of time, and obtains according to this first minimum distance immediately the angle that this nearest object around departs from the travel direction of this self-propelled vehicle.The first calculation processing unit respectively according to obtaining in corresponding this point of this first predetermined amount of time and measured this angle acceleration/accel of adjacent the second time point, this forward acceleration, this instantaneous velocity and this angle that around object departs from the travel direction of this self-propelled vehicle recently at this very first time point and this this self-propelled vehicle of the second time point towards this around First Speed and the second speed of object recently very first time.The second calculation processing unit according to this first minimum instant distance, this self-propelled vehicle of the second time point with this recently around the second minimum instant distance between object and this very first time point and this this self-propelled vehicle of the second time point towards this recently around this First Speed of object and this second speed obtain the second time point this nearest around object towards the speed of this self-propelled vehicle.The 3rd calculation processing unit according to this this self-propelled vehicle of the second time point towards this recently around object this second speed, this second time point this recently around object towards this speed and second predetermined amount of time of this self-propelled vehicle, obtain this self-propelled vehicle at the safety distance of this second time point.Judging unit is for relatively whether this second minimum instant distance is in a safe condition at this this self-propelled vehicle of the second time point with judgement with this safety distance.
Wherein, this treater further comprises that alarm signal produces module, and for when this self-propelled vehicle of judgement is not in a safe condition, enable signal gives the alarm.
Wherein, this mobile terminal utilizes data line to be connected with this self-propelled vehicle, the described related data when obtaining this motor-driven vehicle going.
For solving the problems of the technologies described above, the another technical scheme that the present invention adopts is: a kind of collision avoidance system is provided, and it comprises data acquisition unit, treater and automatic Pilot control setup.Related data when data acquisition unit is used for gathering motor-driven vehicle going.Thereby treater connects this data acquisition unit judges that with the described related data that receives and process this data acquisition unit and gathered whether this self-propelled vehicle is in a safe condition.Automatic Pilot control setup connects this treater to determine whether to start this automatic Pilot control setup according to above-mentioned judged result.This treater comprises that running data obtains module, computing and judgement module and automatic Pilot calculation of parameter is processed module.Wherein, running data obtains the related data of module when obtaining motor-driven vehicle going, itself and a plurality of instant distance between object around when angle acceleration/accel, forward acceleration and instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every the first predetermined amount of time and this motor-driven vehicle going.Computing for the treatment of corresponding two related datas that adjacent time point is measured of this first predetermined amount of time, and judges that according to two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition with judgement module.And automatic Pilot calculation of parameter is processed module for when this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and this automatic Pilot parameter to automatic Pilot control setup to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.Wherein, this computing comprises deflection angle generation unit, the first calculation processing unit, the second calculation processing unit, the 3rd calculation processing unit and judging unit with judgement module.Wherein, deflection angle generation unit is found out this self-propelled vehicle and the nearest instant distance of the first minimum between object around for put measured a plurality of instant distance in this corresponding very first time of the first predetermined amount of time, and obtains according to this first minimum distance immediately the angle that this nearest object around departs from the travel direction of this self-propelled vehicle.The first calculation processing unit respectively according to obtaining in corresponding this point of this first predetermined amount of time and measured this angle acceleration/accel of adjacent the second time point, this forward acceleration, this instantaneous velocity and this angle that around object departs from the travel direction of this self-propelled vehicle recently at this very first time point and this this self-propelled vehicle of the second time point towards this around First Speed and the second speed of object recently very first time.The second calculation processing unit according to this first minimum instant distance, this self-propelled vehicle of the second time point with this recently around the second minimum instant distance between object and this very first time point and this this self-propelled vehicle of the second time point towards this recently around this First Speed of object and this second speed obtain the second time point this nearest around object towards the speed of this self-propelled vehicle.The 3rd calculation processing unit according to this this self-propelled vehicle of the second time point towards this recently around object this second speed, this second time point this recently around object towards this speed and second predetermined amount of time of this self-propelled vehicle, obtain this self-propelled vehicle at the safety distance of this second time point.Judging unit is for relatively whether this second minimum instant distance is in a safe condition at this this self-propelled vehicle of the second time point with judgement with this safety distance.
The invention has the beneficial effects as follows: be different from prior art, anticollision of motor vehicles method provided by the invention, mobile terminal and collision avoidance system can obtain the nearest surrounding's object of longitudinal maneuver car exactly, self-propelled vehicle towards speed that recently around object travels and recently around object towards the speed of motor-driven vehicle going, therefore its whether can judge exactly self-propelled vehicle in a safe condition, thereby within the sufficient time, carry out the generation of hedging operation to avoid traffic accident.And anticollision of motor vehicles method of the present invention can be applied in mobile terminal, and mobile terminal is easy to carry, field of application is wider, therefore as long as mobile terminal is connected with self-propelled vehicle, can implement the generation of disclosed anticollision of motor vehicles method to avoid traffic accident.
Accompanying drawing explanation
Fig. 1 is the box structure schematic diagram of an embodiment of collision avoidance system in the embodiment of the present invention;
Fig. 2 is the box structure schematic diagram of an embodiment of the treater of mobile terminal in the embodiment of the present invention;
Fig. 3 is the diagram of circuit of an embodiment of anticollision of motor vehicles method in the embodiment of the present invention; And
Fig. 4 is the diagram of circuit of another embodiment of anticollision of motor vehicles method in the embodiment of the present invention.
The specific embodiment
Fig. 1 is the box structure schematic diagram of an embodiment of collision avoidance system in the embodiment of the present invention.As shown in Figure 1, collision avoidance system 200 of the present invention can be applicable in self-propelled vehicle, and self-propelled vehicle of the present invention can be automobile, motor bike or battery-driven car etc.Wherein self-propelled vehicle comprises bearing circle 110 and brake gear 120.Certainly, it will be appreciated by persons skilled in the art that self-propelled vehicle also comprises the element of the self-propelled vehicle that other is common, for example motor, tire etc., do not repeat them here.
As shown in Figure 1, collision avoidance system 200 comprises data acquisition unit 210, automatic Pilot control setup 220 and mobile terminal 230.Wherein, data acquisition unit 210 is for harvester motor-car Various types of data in motion.Mobile terminal 230 is connection data harvester 210 and automatic Pilot control setup 220 by data line 240, the related data being gathered to receive data acquisition unit 210, and mobile terminal 230 comprises the related data that treater 2300 is received with handle mobile terminal 230 and produces corresponding control command.In addition, further by data line 240, connection automatic Pilot control setup 220 determines whether start automatic Pilot control setup 220 with the control command being produced according to the treater 2300 of mobile terminal 230 to mobile terminal 230.
Particularly, data acquisition unit 210 comprises gyro sensor 211, acceleration pick-up 212, rate meter 213 and apomecometer 214.Wherein, angle acceleration/accel R when gyro sensor 211 is measured a motor turning every the first predetermined amount of time T0, forward acceleration G when acceleration pick-up 212 is measured a motor-driven vehicle going every the first predetermined amount of time T0, instantaneous velocity V when rate meter 213 is measured a motor-driven vehicle going every the first predetermined amount of time T0, and apomecometer 214 itself and instant distance D 1 between object around while measuring a motor-driven vehicle going every the first predetermined amount of time T0, D2 ... Dn, wherein apomecometer 214 can be laser rangefinder, thereby utilize laser and accurately judge self-propelled vehicle and the instant distance between object around.Due to the speed of self-propelled vehicle, therefore the first predetermined amount of time T0 is generally set to Millisecond.
Automatic Pilot control setup 220 comprises bearing circle motor controller 221 and brake motor controller 222, and wherein bearing circle motor controller 221 is connected to the rotation direction of controlling bearing circle 110 between the bearing circle 110 of mobile terminal 230 and self-propelled vehicle with the control command being produced according to the treater 2300 of mobile terminal 230.And brake motor controller 222 is connected between the brake gear 120 of mobile terminal 230 and self-propelled vehicle and controls with the control command being produced according to the treater 2300 of mobile terminal 230 braking strength that brake gear 120 is relevant.
Fig. 2 is the box structure schematic diagram of an embodiment of the treater of mobile terminal in the embodiment of the present invention.See also Fig. 1-2, the treater 2300 of mobile terminal 230 comprises that running data obtains module 2310, computing and judgement module 2320 and automatic Pilot calculation of parameter is processed module 2330.
Running data obtains the related data of module 2310 when obtaining motor-driven vehicle going, for example itself and instant distance D 1, the D2 between object around when angle acceleration/accel R, forward acceleration G during the above-mentioned motor-driven vehicle going of measuring every the first predetermined amount of time and instantaneous velocity V and this motor-driven vehicle going ... Dn.
Computing comprises deflection angle generation unit 2321, the first calculation processing unit 2322, the second calculation processing unit 2323, the 3rd calculation processing unit 2324 and judging unit 2325 with judgement module 2320.Wherein, computing is processed respectively corresponding two the adjacent time points of the first predetermined amount of time T0 with the unit of judgement in module 2320, for example the measured above-mentioned related data of very first time point t and the second time point t+T0 judge that whether self-propelled vehicle is in a safe condition.
Automatic Pilot calculation of parameter is processed module 2330 for judging self-propelled vehicle when not in a safe condition when computing with judging module 2320, according to above-mentioned related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and automatic Pilot parameter to the automatic Pilot control setup 220 shown in Fig. 1 to avoid self-propelled vehicle to crash.
Fig. 3 is the diagram of circuit of an embodiment of anticollision of motor vehicles method in the embodiment of the present invention.See also Fig. 1-3, the anticollision of motor vehicles method that the embodiment of the present invention discloses comprises the following steps:
Step S1: the related data while obtaining motor-driven vehicle going, itself and instant distance D 1, the D2 between object around when angle acceleration/accel R, forward acceleration G when wherein said related data comprises the motor-driven vehicle going of measuring every the first predetermined amount of time T0 and instantaneous velocity V and this motor-driven vehicle going ... Dn.
At this, mobile terminal 230 can be connected with the collision avoidance system 200 being arranged on self-propelled vehicle by data line 240, thus the related data that data acquisition unit 210 in collision avoidance system 200 can be gathered every the first predetermined amount of time and the running data that is passed to treater 2300 in mobile terminal 230 obtains module 2310.
Step S2: process the measured related data of corresponding two the adjacent time points of the first predetermined amount of time T0 and judge that whether self-propelled vehicle is in a safe condition.At this, corresponding two the adjacent time points of the first predetermined amount of time T0 are defined as to very first time point t and the second time point t+T0, to facilitate, introduce the present invention.Wherein, the second time point t+T0 is later than very first time point t.
Particularly, above-mentioned steps S2 comprises the following steps:
Step S21: from putting measured a plurality of instant distance D 1t, the D2t of t in the first corresponding very first time of predetermined amount of time T0 ... in Dnt, find out self-propelled vehicle and nearest around the first minimum instant distance D tmin between object A, according to the first minimum instant distance D tmin, obtain recently the angle w that object A around departs from the travel direction of self-propelled vehicle.
At this, it will be understood by those skilled in the art that, because apomecometer 214 is arranged on position on self-propelled vehicle, be fixing and known, thus the deflection angle generation unit 2321 in treater 2300 can according to running data obtain module 2310 record the first minimum instant distance D tmin obtain very first time point t motor-driven vehicle going direction with recently around deviation angle w between object A.
Step S22: obtain at very first time point t self-propelled vehicle towards the nearest First Speed Vta of object A around according to the angle w that departs from the travel direction of self-propelled vehicle at very first time point t measured angle acceleration/accel Rt, forward acceleration Gt, instantaneous velocity Vt and nearest object A around.
Step S23: obtain at the second time point t+T0 self-propelled vehicle towards nearest second speed V (t+T0) a of object A around according to the angle w that departs from the travel direction of self-propelled vehicle at the measured angle acceleration/accel R (t+T0) of the second time point t+T0, forward acceleration G (t+T0), instantaneous velocity V (t+T0) and nearest object A around.
Wherein, the first calculation processing unit 2322 of treater 2300 obtains according to running data the related data that module 2310 obtains at very first time point t and the second time point t+T0, coordinate motor-driven vehicle going direction that deflection angle generation unit 2321 produces and the deviation angle w between object A around recently, thereby calculate and obtain respectively First Speed Vta and second speed V (t+T0) a towards object A around nearest at very first time point t and the second time point t+T0 self-propelled vehicle by vector.
Step S24: obtain at nearest the second minimum instant distance D (t+T0) min between object A around of the second time point t+T0 self-propelled vehicle.
At this, it should be noted that, because the first predetermined amount of time T0 is very of short duration, for example it can be set to Millisecond, therefore at the second time point t+T0, can assert longitudinal maneuver car nearest be still nearest around object A, and motor-driven vehicle going direction and not variation of the deviation angle w between object A around recently.
Step S25: according to the first minimum instant distance D tmin, the second minimum instant distance D (t+T0) min, very first time point t self-propelled vehicle towards recently around the First Speed Vta of object A and the second time point t+T0 self-propelled vehicle towards recently around second speed V (t+T0) a of object A obtain the second time point t+T0 recently around object A towards speed V (t+T0) x of self-propelled vehicle.
Now, around object A can obtain by following formula by the second calculation processing unit 2323 at the speed V of the second time point t+T0 (t+T0) x towards self-propelled vehicle recently:
V(t+T0)x={[Dtmin-D(t+T0)min]-{[Vta+V(t+T0)a]×T0/2}}/T0 （1）
At this, it is to be noted, because nearest object A around may be also mobile in the process of motor-driven vehicle going, so the present invention can carry out above-mentioned steps S25 and obtain at the nearest object A around of the second time point t+T0 towards speed V (t+T0) x of self-propelled vehicle by the second calculation processing unit 2323.That is to say, the present invention takes into account the possibility that object A moves in motor-driven vehicle going process simultaneously recently around.
Step S26: according to the second time point t+T0 self-propelled vehicle towards second speed V (t+T0) a of nearest around object A, the second time point t+T0 recently around object A towards speed V (t+T0) x and the second predetermined amount of time T of self-propelled vehicle, obtain self-propelled vehicle at the safety distance S of the second time point t+T0 (t+T0).
Wherein, the 3rd calculation processing unit 2324 can obtain by following formula according to above-mentioned related data:
S(t+T0)=[V(t+T0)a+V(t+T0)x]×T (2)
In the present embodiment, the second predetermined amount of time T can be set as a preset parameter, and it is mainly time, treater 2300 processing data that transmitted by the first predetermined amount of time T0, signal and produces the time of automatic Pilot parameter and the automatic Pilot control setup of collision avoidance system 200 200 is controlled the summation that bearing circle 110 and brake gear 120 carry out the time of automatic Pilot operation.At this, time, treater 2300 processing data that transmit due to the first predetermined amount of time T0, signal and the time that produces automatic Pilot parameter are all very of short duration, and therefore the second predetermined amount of time T mainly controls by the automatic Pilot control setup 220 of collision avoidance system 200 time that bearing circle 110 and brake gear 120 carry out automatic Pilot operation and determines.
Step S27: relatively whether the second minimum instant distance D (t+T0) min and safety distance S (t+T0) be in a safe condition to judge at the second time point t+T0 self-propelled vehicle.
That is to say, when the second minimum instant distance D (t+T0) min is greater than safety distance S (t+T0), represent that at the second time point t+T0 self-propelled vehicle be in a safe condition; And minimum instant distance D (t+T0) min is non-while being greater than safety distance S (t+T0) when second, represent that at the second time point t+T0 self-propelled vehicle be not in a safe condition.
After correlation step S21～S27 of treater 2300 execution of step S2, and judge self-propelled vehicle when not in a safe condition, carry out following step S3: according to described related data obtain automatic drive parameter and export automatic Pilot actuation signal and automatic Pilot parameter to automatic Pilot control setup 220 to avoid this self-propelled vehicle to crash, wherein automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
Wherein, the automatic Pilot calculation of parameter in treater 2300 process module 2330 can according to the self-propelled vehicle of current (i.e. the second time point) towards recently around speed V (t+T0) a of object A, around object A calculates brake motor controller 222 towards speed V (t+T0) x of self-propelled vehicle and distance D between the two (t+T0) min and operates brake gears 120 and brake needed indicating brake action recently.Simultaneously automatic Pilot calculation of parameter process module 2330 can according to self-propelled vehicle with recently around the angle w between object A provide turning to of avoiding that object A should have around collision recently, thereby the angle acceleration/accel that is converted into self-propelled vehicle is to extrapolate the moment of torsion that give bearing circle 110.
Then, execution step S4: startup automatic Pilot control setup 220 and automatic Pilot control setup 220 control bearing circle 110 according to the automatic Pilot parameter of obtaining and brake gear 120 carries out automatic Pilot operation.
In addition, it is to be noted, because disclosed anticollision of motor vehicles method is the related data when the first predetermined amount of time T0 measures a motor-driven vehicle going, therefore, it will be understood by those skilled in the art that, for the corresponding very first time point of next the first predetermined amount of time, it is exactly corresponding the second time point of upper first predetermined amount of time.Therefore, although anticollision of motor vehicles method of the present invention is to judge that at corresponding the second time point of the first predetermined amount of time whether self-propelled vehicle is in a safe condition, it in fact still judge that every the first predetermined amount of time whether a self-propelled vehicle is in a safe condition.
Separately, please continue to refer to Fig. 1-2, collision avoidance system 200 of the present invention further comprises siren horn 250, and accordingly, the treater 2300 in mobile terminal 230 further comprises that alarm signal produces module 2340.When treater 2300 is judged self-propelled vehicle when not in a safe condition, the alarm signal in treater 2300 produces module 2340 and can produce alarm intelligent signal, and exports siren horn 250 to so that siren horn 250 gives the alarm to remind driver to carry out hedging operation by data line 240.
Fig. 4 is the diagram of circuit of another embodiment of anticollision of motor vehicles method in the embodiment of the present invention.The anticollision of motor vehicles method that the present embodiment discloses is similar to the anticollision of motor vehicles method shown in Fig. 3, its difference is, after execution of step S1～S2, and judge self-propelled vehicle when not in a safe condition, perform step S3a: by alarm signal produces module 2340, export alarm enable signal with the siren horn 250 in activation collision avoidance system 200, thereby make siren horn 250 give the alarm to remind driver to carry out hedging operation at reserved manual operation time T m.
Wherein, it is to be noted, in execution step during S26, the second predetermined amount of time T can be set as controlling bearing circle 110 and brake gear 120 carries out the time of automatic Pilot operation and forms by the manual operation time T m reserving and by the automatic Pilot control setup 220 of collision avoidance system 200.
Then, after reserved manual operation time T m, return to execution step S1～S2 whether in a safe condition further to judge self-propelled vehicle, judge within the reserved manual operation time, driver whether has carried out hedging operation and whether the operation of this hedging is that self-propelled vehicle is in a safe condition.That is to say, very first time point is now t+Tm, and the second time point is t+Tm+T0.When returning to execution step S1～S2, further judge self-propelled vehicle when still in a safe condition, perform step S3～S4 to carry out automatic Pilot operation.
What wherein, the time of above-mentioned automatic Pilot operation can be for the second predetermined amount of time T and reserved manual operation time T m is poor.
In sum, anticollision of motor vehicles method of the present invention and corresponding mobile terminal thereof and collision avoidance system can obtain exactly the nearest surrounding's object of longitudinal maneuver car, self-propelled vehicle towards object travels recently speed around and recently object towards the speed of motor-driven vehicle going, therefore its whether can judge exactly self-propelled vehicle in a safe condition, thereby within the sufficient time, carry out the generation of hedging operation to avoid traffic accident.And anticollision of motor vehicles method of the present invention can be applied in mobile terminal, and mobile terminal is easy to carry, field of application is wider, therefore as long as mobile terminal is connected with self-propelled vehicle, can implement the generation of disclosed anticollision of motor vehicles method to avoid traffic accident.
It is pointed out that the terms such as " first " mentioned in embodiments of the present invention, " second " are only the indentification marks adopting as required, in practice, be not limited to this, and described indentification mark can exchange use.
These are only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes specification sheets of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (8)
1. an anticollision of motor vehicles method, is characterized in that, comprising:
Related data while obtaining this motor-driven vehicle going, itself and a plurality of instant distance between object around when angle acceleration/accel, forward acceleration and instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every the first predetermined amount of time and this motor-driven vehicle going;
Process corresponding two related datas that adjacent time point is measured of this first predetermined amount of time, and judge that according to described two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition;
When this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and this automatic Pilot parameter to automatic Pilot control setup to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle;
Wherein, corresponding two related datas that adjacent time point is measured of this first predetermined amount of time of step process, and judge that according to described two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition, comprising:
From put measured a plurality of instant distance in this corresponding very first time of the first predetermined amount of time, find out this self-propelled vehicle and the nearest instant distance of the first minimum between object around, according to this first minimum distance immediately, obtain the angle that this nearest object around departs from the travel direction of this self-propelled vehicle;
According to put this measured angle acceleration/accel, this forward acceleration, this instantaneous velocity and this angle that object departs from the travel direction of this self-propelled vehicle recently around in this very first time, obtain in this very first time and put this self-propelled vehicle towards this First Speed of object around recently;
According to the angle that departs from the travel direction of this self-propelled vehicle at this measured angle acceleration/accel of corresponding the second time point of this first predetermined amount of time, this forward acceleration, this instantaneous velocity and this nearest object around, obtain at this this self-propelled vehicle of the second time point towards this nearest second speed of object around;
Obtain the second minimum instant distance between object around this this self-propelled vehicle of the second time point is nearest apart from this;
According to this first minimum instant distance, this second minimum instant distance, this very first time put this self-propelled vehicle towards this recently around the First Speed of object and this this self-propelled vehicle of the second time point towards this recently around second speed of object obtain this second time point this recently around object towards the speed of this self-propelled vehicle;
According to this this self-propelled vehicle of the second time point towards this recently around object second speed, this second time point this recently around object towards speed and second predetermined amount of time of this self-propelled vehicle, obtain this self-propelled vehicle at the safety distance of this second time point; And
Relatively this second minimum instant distance with this safety distance with judgement at this this self-propelled vehicle of the second time point whether in this safe condition.
2. anticollision of motor vehicles method according to claim 1, is characterized in that, step is obtained automatic drive parameter according to described related data and comprised:
According to this this self-propelled vehicle of the second time point towards this recently around object second speed, this second time point this recently around object towards speed and this second minimum instant distance of this self-propelled vehicle, calculate the forward acceleration that braking should have, and this forward acceleration that should have according to braking obtains the dynamics of this braking; And
The angle that departs from the travel direction of this self-propelled vehicle according to this nearest object is around obtained the steering angle acceleration/accel that this self-propelled vehicle avoids collision to have, and the steering angle acceleration/accel of avoiding collision to have according to this self-propelled vehicle obtains the moment of torsion that this gives bearing circle.
3. anticollision of motor vehicles method according to claim 1, it is characterized in that, when judging this self-propelled vehicle not in this safe condition, export alarm enable signal with activation siren horn, thereby give the alarm to remind driver to carry out hedging operation in the reserved manual operation time.
4. anticollision of motor vehicles method according to claim 3, it is characterized in that, after this reserved manual operation time, further judge that whether this self-propelled vehicle is in a safe condition, when this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter and send to automatic Pilot control setup, to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle.
5. a mobile terminal, is characterized in that, comprising:
Treater, comprising:
Running data obtains module, related data while obtaining motor-driven vehicle going, itself and a plurality of instant distance between object around when angle acceleration/accel, forward acceleration and instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every the first predetermined amount of time and this motor-driven vehicle going;
Computing and judgement module, process corresponding two related datas that adjacent time point is measured of this first predetermined amount of time, and judge that according to described two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition; And
Automatic Pilot calculation of parameter is processed module, for when this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and this automatic Pilot parameter to automatic Pilot control setup to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle;
Wherein, this computing comprises with judgement module:
Deflection angle generation unit, in putting measured a plurality of instant distance in this corresponding very first time of the first predetermined amount of time, find out this self-propelled vehicle and the nearest instant distance of the first minimum between object around, according to this first minimum distance immediately, obtain the angle that this nearest object around departs from the travel direction of this self-propelled vehicle;
The first calculation processing unit, respectively according to obtaining in corresponding this point of this first predetermined amount of time and measured this angle acceleration/accel of adjacent the second time point, this forward acceleration, this instantaneous velocity and this angle that around object departs from the travel direction of this self-propelled vehicle recently at this very first time point and this this self-propelled vehicle of the second time point towards this around First Speed and the second speed of object recently very first time;
The second calculation processing unit, according to this first minimum instant distance, this self-propelled vehicle of the second time point with this recently around the second minimum instant distance between object and this very first time point and this this self-propelled vehicle of the second time point towards this recently around this First Speed of object and this second speed obtain the second time point this nearest around object towards the speed of this self-propelled vehicle;
The 3rd calculation processing unit, according to this this self-propelled vehicle of the second time point towards this recently around object this second speed, this second time point this recently around object towards this speed and second predetermined amount of time of this self-propelled vehicle, obtain this self-propelled vehicle at the safety distance of this second time point; And
Judging unit, relatively whether this second minimum instant distance is in a safe condition at this this self-propelled vehicle of the second time point with judgement with this safety distance.
6. mobile terminal according to claim 5, is characterized in that, this treater further comprises:
Alarm signal produces module, and for when this self-propelled vehicle of judgement is not in a safe condition, enable signal gives the alarm.
7. mobile terminal according to claim 5, is characterized in that, this mobile terminal utilizes data line to be connected with this self-propelled vehicle, the described related data when obtaining this motor-driven vehicle going.
8. a collision avoidance system, it comprises:
Data acquisition unit, the related data when gathering motor-driven vehicle going;
Treater, judges that with the described related data that receives and process this data acquisition unit and gathered whether this self-propelled vehicle is in a safe condition thereby connect this data acquisition unit; And
Automatic Pilot control setup, connects this treater to determine whether to start this automatic Pilot control setup according to above-mentioned judged result;
It is characterized in that, this treater comprises:
Running data obtains module, related data while obtaining this motor-driven vehicle going, itself and a plurality of instant distance between object around when angle acceleration/accel, forward acceleration and instantaneous velocity when described related data comprises this motor-driven vehicle going of measuring every the first predetermined amount of time and this motor-driven vehicle going;
Computing and judgement module, process corresponding two related datas that adjacent time point is measured of this first predetermined amount of time, and judge that according to described two measured related datas of adjacent time point whether this self-propelled vehicle is in a safe condition; And
Automatic Pilot calculation of parameter is processed module, for when this self-propelled vehicle of judgement is not in a safe condition, according to described related data, obtain automatic drive parameter, and export automatic Pilot actuation signal and this automatic Pilot parameter to automatic Pilot control setup to avoid this self-propelled vehicle to crash, wherein this automatic Pilot parameter comprises the dynamics of braking and the moment of torsion that gives bearing circle;
Wherein, this computing comprises with judgement module:
Deflection angle generation unit, in putting measured a plurality of instant distance in this corresponding very first time of the first predetermined amount of time, find out this self-propelled vehicle and the nearest instant distance of the first minimum between object around, according to this first minimum distance immediately, obtain the angle that this nearest object around departs from the travel direction of this self-propelled vehicle;
The first calculation processing unit, respectively according to obtaining in corresponding this point of this first predetermined amount of time and measured this angle acceleration/accel of adjacent the second time point, this forward acceleration, this instantaneous velocity and this angle that around object departs from the travel direction of this self-propelled vehicle recently at this very first time point and this this self-propelled vehicle of the second time point towards this around First Speed and the second speed of object recently very first time;
The second calculation processing unit, according to this first minimum instant distance, this self-propelled vehicle of the second time point with this recently around the second minimum instant distance between object and this very first time point and this this self-propelled vehicle of the second time point towards this recently around this First Speed of object and this second speed obtain the second time point this nearest around object towards the speed of this self-propelled vehicle;
The 3rd calculation processing unit, according to this this self-propelled vehicle of the second time point towards this recently around object this second speed, this second time point this recently around object towards this speed and second predetermined amount of time of this self-propelled vehicle, obtain this self-propelled vehicle at the safety distance of this second time point; And
Judging unit, relatively whether this second minimum instant distance is in a safe condition at this this self-propelled vehicle of the second time point with judgement with this safety distance.
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