CN104143269B - Vehicle is brought to a halt warning devicess and its method - Google Patents

Vehicle is brought to a halt warning devicess and its method Download PDF

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Publication number
CN104143269B
CN104143269B CN201410111753.XA CN201410111753A CN104143269B CN 104143269 B CN104143269 B CN 104143269B CN 201410111753 A CN201410111753 A CN 201410111753A CN 104143269 B CN104143269 B CN 104143269B
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vehicle
halt
vehicles
information
bringing
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CN104143269A (en
Inventor
曺长铉
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Hyundai Mobis Co Ltd
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Hyundai Mobis Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/192Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R2021/01311Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring the braking system, e.g. ABS
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146Display means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/18Braking system

Abstract

The present invention discloses a kind of vehicle and brings to a halt warning devicess and its method.The vehicle of the present invention brings to a halt warning devicess it is characterised in that including:Other information of vehicles acceptance divisions, it contains the train safety information of global positioning system receive information from other vehicle receiver;This information of vehicles collection portion, it collects this information of vehicles containing global positioning system receive information from this vehicle;Control unit, when the train safety information being received by other information of vehicles acceptance divisions described includes bringing to a halt event signal, according to described train safety information and described information of vehicles, judge whether described vehicle meets, with respect to other vehicles described, the condition sending alarm of bringing to a halt;And output section, it exports, according to the judged result of described control unit, alarm of bringing to a halt.

Description

Vehicle is brought to a halt warning devicess and its method
Technical field
Warning devicess and its method the present invention relates to a kind of vehicle is brought to a halt, more particularly, to a kind of car when traveling in front When bringing to a halt, this being produced cognitive, judging whether to send alarm, thus being brought to a halt according to the vehicle that judged result sends alarm Warning devicess and its method.
Background technology
Now by based on wireless access (the Wireless Access in Vehicular under vehicle environment Environments, hereinafter referred to as " WAVE ") vehicle and inter-vehicular communication (Vehicle to Vehicle, V2V), vehicle with Communicate (Vehicle to Infrastructure, V2I) between infrastructure, exploitation bring to a halt alarm, front knock into the back alarm, Emergency vehicle priority signal controls multiple technology with regard to traffic safety service such as service.
WAVE frequency is a kind of to realize vehicle with inter-vehicular communication, vehicle and the intelligent high-speed that communicates between infrastructure is public The core technology on road, it is different from WLAN, with the speed that is up to 180/h mobile when also can interactive information, and be used for Short distance private communication (Dedicated Short Range Communication, the DSRC) technology of Korea S's high pass etc. is compared, its Transmittability improves 10 times, is spoken highly of as technology of new generation.
Correlation technique is serviced by this traffic safety based on WAVE, when and where can obtain road friendship in real time Communication breath, and assist vehicle so that also can travel safely under vile weather and emergency freely.
According to the above it is believed that the generation that can take precautions against vehicle accident in advance necessarily can be developed, effectively relieve traffic congestion The optimal traffic system of flow.
The background technology of the present invention is disclosed in No. 10-1997-0037713 (July 24 in 1997 of Korean Patent Laid Day is open, denomination of invention:The emergency alarm lamp device brought to a halt) in.
Content of the invention
Technical problem
General when vehicle travels, if weather condition deterioration etc. former thus result in field of front vision unsharp in the case of Front vehicles are made and being brought to a halt, then counter-measure do not taken in time by the vehicle due to its rear, usually can cause rear-end collision. It is thus desirable to solving the problems, such as relevant this respect.
In order to solve problem as above, it is an object of the invention to provide one kind from other vehicle receiver to emergency brake During car event, by sending global positioning system (GPS) data of the vehicle of event of bringing to a halt, judge whether it is same in front The vehicle of one lanes, judges whether that startup is brought to a halt alarm, and is brought to a halt police according to the vehicle that judged result sends alarm Reporting device and its method.
Another object of the present invention is to offer is a kind of sending out in many ways in the vehicle receiving event signal of bringing to a halt Go out alarm, warning devicess and its method thus the vehicle of advance preventing rear-end collision is brought to a halt.
Technical scheme
The vehicle of present invention warning devicess of bringing to a halt include:Other information of vehicles acceptance divisions, it contains from other vehicle receiver There is the train safety information of global positioning system receive information;This information of vehicles collection portion, it is collected containing the whole world from this vehicle This information of vehicles of alignment system receive information;Control unit, when the vehicle being received by other information of vehicles acceptance divisions described Safety information include bringing to a halt event signal when, according to described train safety information and described information of vehicles, judge described Whether this vehicle meets, with respect to other vehicles described, the condition sending alarm of bringing to a halt;And output section, it is according to described control The judged result in portion processed exports alarm of bringing to a halt.
In the present invention, the condition that described vehicle sends alarm of bringing to a halt is that the speed of described vehicle is more than and sets speed Degree, and the distance between other vehicles described and described vehicle are less than setpoint distance, and other vehicles described with described This vehicle is in same lanes.
In the present invention, described control unit is wrapped by the global positioning system receive information of described train safety information The latitude containing, longitude calculate institute with the latitude included in the global positioning system receive information of described information of vehicles, longitude State the distance between other vehicles and described vehicle, and judge other vehicles described and described vehicle whether in same track Travel.
In the present invention, described control unit determines whether, by described information of vehicles, the state of bringing to a halt, and according to institute State State- output of bringing to a halt and include the described train safety information of event signal of bringing to a halt, and also include sending described control unit This information of vehicles sending part of the described train safety information of output.
In the present invention, if for described state of bringing to a halt, subtracted by the longitudinal direction judging to be calculated according to speed and time Whether velocity amplitude is determined more than setting deceleration.
In the present invention, other information of vehicles acceptance divisions described and described information of vehicles sending part pass through under vehicle environment Wireless access (Wireless Access in Vehicular Environments, WAVE) communication protocol send or receive Information.
In the present invention, described output section optionally starts according to separation between vehicles when bringing to a halt alarm described in sending At least one in alarm tone, warning light and electric brake.
In the present invention, described control unit judges whether described vehicle meets all clear condition of bringing to a halt, to release The output of described alarm of bringing to a halt.
The vehicle of the present invention brings to a halt alarming method it is characterised in that including:Control unit is received by other information of vehicles The train safety information that global positioning system receive information is contained from other vehicle receiver in portion judges wherein whether include bringing to a halt The step of event signal;When include described in bring to a halt event signal when, believe according to described train safety information and by this vehicle This information of vehicles containing global positioning system receive information that breath collection portion is collected, judges this vehicle with respect to other cars described The step whether meeting the condition sending alarm of bringing to a halt;And when the condition of alarm of bringing to a halt described in satisfaction sends, to The step that described vehicle exports alarm of bringing to a halt.
In the present invention, described judge whether this vehicle meets, with respect to other vehicles described, the bar sending alarm of bringing to a halt The step of part includes judging whether the speed of described vehicle is more than between setting speed, other vehicles described and described vehicle Distance whether less than setpoint distance, other vehicles described and described vehicle whether in the step of same lanes.
In the present invention, the latitude included in the global positioning system receive information by described train safety information, Latitude included in the global positioning system receive information of longitude and described information of vehicles, longitude, calculate other cars described The distance between with described vehicle, and judge other vehicles described with described vehicle whether in same lanes.This Invention also includes judging all clear condition of bringing to a halt of described vehicle, with the step of the output of alarm of bringing to a halt described in releasing Suddenly.
In the present invention, described event signal of bringing to a halt is more than in the longitudinal deceleration angle value being calculated according to speed and time It is contained in described train safety information when setting deceleration.
Technique effect
The vehicle of the present invention is brought to a halt warning devicess and its method, from other vehicle receiver to the event of bringing to a halt During (emergency stop events) signal, by sending whether the gps data of the vehicle of event signal of bringing to a halt judges it It is the vehicle in the same lanes in front, judge whether that startup is brought to a halt alarm, and alarm is started according to judged result, thus Only real it may happen that starting alarm in the case of knocking into the back, therefore, it is possible to improve the reliability of device.
And according to the present invention, the vehicle receiving event signal of bringing to a halt sends in many ways for prompting front car The alarm brought to a halt, and whether monitoring brake has been turned on such that it is able to improve the prevention to rear-end collision after sending alarm Effect.
Brief description
Fig. 1 is that the vehicle of one embodiment of the invention is brought to a halt the composition block diagram of warning devicess;
Fig. 2 is to bring to a halt in warning devicess in the vehicle of one embodiment of the invention, for judging other vehicles and this car Whether same lanes mathematical expression with reference to figure;
Fig. 3 is that the vehicle of one embodiment of the invention is brought to a halt the schematic diagram of the situation that warning devicess may start;
Fig. 4 to Fig. 7 brings to a halt the schematic diagram of the not actuated situation of warning devicess for the vehicle of one embodiment of the invention;
Fig. 8 be one embodiment of the invention vehicle bring to a halt alarming method workflow flow chart.
Description of reference numerals
10:Other information of vehicles acceptance divisions 20:This information of vehicles collection portion
30:Input unit 40:Control unit
50:Output section 60:This information of vehicles sending part
100:This vehicle 200:Front vehicles
300:Other vehicles
Specific embodiment
The vehicle of explanation one embodiment of the invention is brought to a halt warning devicess and its method referring to the drawings.In this process In, for the ease of clearly stating, in accompanying drawing, the live width of diagram or the size of element may slightly be exaggerated.
And function that term described later is incorporated in the present invention and the term that defines, this may be according to user, fortune The purpose of user or convention and difference.Accordingly, with respect to the definition of this term, should entire content based on this specification.
Fig. 1 is that the vehicle of one embodiment of the invention is brought to a halt the composition block diagram of warning devicess.
As shown in figure 1, the present invention include other information of vehicles acceptance divisions 10, this information of vehicles collection portion 20, input unit 30, Control unit 40, output section 50 and this information of vehicles sending part 60.
Additionally, this vehicle 100 being previously mentioned in this specification and claims book represents bringing to a halt in front vehicles 200 When, export the object output vehicle of the alarm for informing danger, other vehicles 300 represent to be sent out to nearby vehicle when bringing to a halt Send the vehicle of event signal of bringing to a halt.
Now, this vehicle 100 in the present invention and other vehicles 300 are by based on WAVE (Wireless Access in Vehicular Environments, WAVE) vehicle that communicates is real with inter-vehicular communication (Vehicle to Vehicle, V2V) Shi Jinhang communicates.
Other information of vehicles acceptance divisions 10 receive the train safety information containing GPS receiver information from other vehicles 300.
Therefore, this vehicle 100 passes through the train safety information that other vehicles 300 of WAVE communications reception send.
Other vehicles 300, with setting cycle for being spaced (being set as 100ms in the present invention), send to nearby vehicle and contain Vehicle location and the train safety information of event signal of bringing to a halt, wherein said vehicle location includes giving the intrinsic of each vehicle Vehicles identifications (ID) and the latitude of vehicle, longitude and the vehicle that are received by GPS (not shown) direct of travel.
This information of vehicles collection portion 20 collects this information of vehicles containing GPS receiver information from this vehicle 100.
Specifically, this information of vehicles includes vehicle location and vehicle-state, and wherein said vehicle location includes giving often The intrinsic vehicles identifications (ID) of individual vehicle and the direct of travel of the latitude of vehicle, longitude and the vehicle that are arrived by GPS receiver, institute State vehicle-state and include the speed by vehicle controller local area network (CAN) communication input and brake (not shown) brake value.
Input unit 30 has the input function of input setting value.
Specifically, input unit 30 can input, to other information of vehicles acceptance divisions 10, the setting sending train safety information Period distances, for generate bring to a halt event signal setting deceleration, this vehicle 100 and other vehicles 300 between setting away from From, set speed etc., set.
Control unit 40 judges whether include emergency brake from the train safety information that other information of vehicles acceptance divisions 10 receive Car event signal.
In the present invention, when the longitudinal deceleration angle value being calculated according to the speed being inputted by vehicle CAN communication and time During more than setting deceleration (being set as 0.4g in the present invention), generating and bringing to a halt event signal and and be included in vehicle safety letter In breath.
Control unit 40 analysis is received for interval from other vehicles 300 with setting cycle by other information of vehicles acceptance divisions 10 The train safety information arriving, when train safety information includes bringing to a halt event signal, according to train safety information and Ben Che Information, judges whether this vehicle 100 meets, with respect to other vehicles 300, the condition sending alarm of bringing to a halt.
The condition sending alarm of bringing to a halt in the present invention is as follows:
First, when receiving the train safety information including event signal of bringing to a halt, this is judged by this information of vehicles The speed of vehicle 100, judges whether the speed of this vehicle 100 is more than setting speed.
When the speed of this vehicle 100 is more than setting speed, included in the GPS receiver information by train safety information The GPS receiver information of latitude, longitude and this information of vehicles included in latitude, longitude, calculate other vehicles and 300 with this The distance between vehicle 100, judges whether the distance between other vehicles 300 and this vehicle 100 are less than setpoint distance.
Specifically, using the method calculating earth surface distance between two points, i.e. haversine formula (Haversine Formula) calculated as below:
A=sin2(Δφ/2)+cos(φ1)*cos(φ2)*sin2(Δλ/2)
C=2*atan2 (√ a, √ (1-a))
D=R*c
Wherein, φ represents latitude, and λ represents longitude, and R is earth radius (6371km).
Now, setpoint distance is set as the rear bumper of other vehicles 300 to this vehicle of rear 100 front bumper it Between fore-and-aft distance, and within 300m.
When the distance between other vehicles 300 being calculated as above and this vehicle 100 are less than setpoint distance, by vehicle Latitude included in the GPS receiver information of latitude, longitude and this information of vehicles included in the GPS receiver information of safety information Degree, longitude, judge the place direction of other vehicles 300, judge that other vehicles 300 with the linear direction of travel of this vehicle 100 are The degree that benchmark is separated by, thus judge whether other vehicles 300 are exercised in same track with this vehicle 100.
Fig. 2 is to bring to a halt in warning devicess in the vehicle of one embodiment of the invention, for judging other vehicles and this car Whether same lanes mathematical expression with reference to figure.
That is, as shown in Fig. 2 when setting makes relative distance=A, sin (relative direction)=C/A, sin (relative direction) * Relative distance=C.
Be computed, if other vehicles 300 are on the basis of the front of this vehicle 100, with respect to it within 20 degree, 2.8m with Interior, then it is judged as that other vehicles 300 are the front vehicles 200 in the same lanes in the front of vehicle 100.
In the present invention, it is judged as when three described conditions are satisfied by that satisfaction is brought to a halt alert consitions, and to this car 100 outputs are brought to a halt alarm.
Its reason is, when the underspeed setting speed of this vehicle 100, that is, this vehicle 100 when running at a low speed, that is, So that other vehicles 300 is brought to a halt, also be enough to take braking, therefore do not export alarm of bringing to a halt, when the after insurance of other vehicles 300 When the fore-and-aft distance to the front bumper of this vehicle of rear 100 for the thick stick is more than 300m, because spacing is greatly it is sufficient to take braking, Therefore do not export alarm of bringing to a halt, when other vehicles 300 with respect to this vehicle 100 not within 20 degree, within 2.8m when, judge For other vehicles 300 in different lanes, therefore do not export alarm of bringing to a halt.
With reference to Fig. 3 to Fig. 7, contribute to understanding and which kind of starts bring to a halt alarm in the present invention in the case of.
Fig. 3 is that the vehicle of one embodiment of the invention is brought to a halt the schematic diagram of the situation that warning devicess may start.
As shown in figure 3, when other vehicles 300 positioned at the same track in front are brought to a halt, being located at setpoint distance at rear Within, and alarm of bringing to a halt is started with this vehicle 100 travelling more than the speed of setting speed.
Fig. 4 to Fig. 7 brings to a halt the schematic diagram of the not actuated situation of warning devicess for the vehicle of one embodiment of the invention.
As shown in figure 4, when general braking taken by other vehicles 300 positioned at the same track in front, in behind This vehicle 100 is judged as therefore can not starting, enough to tackle, alarm of bringing to a halt.
And, as shown in figure 5, when in different tracks, rather than bring to a halt in other vehicles 300 of same lanes When, even if spacing is excluded within setpoint distance it is also possible to from the risk factor of this vehicle 100, therefore this vehicle 100 does not open Dynamic alarm of bringing to a halt.
And, as shown in fig. 6, when other different vehicles 300 of the direct of travel in different lanes are brought to a halt, class It is similar to shown in Fig. 5, even if spacing is excluded within setpoint distance it is also possible to from the risk factor of this vehicle 100, therefore this car 100 do not start alarm of bringing to a halt.
And, as shown in fig. 7, when with more than setpoint distance standoff distance traveling ahead other vehicle 300 emergency brakes Che Shi, this vehicle 100 is judged as therefore can not starting, enough to tackle, alarm of bringing to a halt.
Output section 50 exports, according to the judged result of control unit 40, alarm of bringing to a halt.
Now, this vehicle 100 can export alarm of bringing to a halt as follows.
Substantially, alarm can be exported by alarm tone or warning light, remind the driver of this vehicle 100 to start brake.
Now, the alarm way of output of bringing to a halt can be defined as below, when the distance between this vehicle 100 and front vehicles 200 Be categorized as primary alarm when between 0~150m, be categorized as 2 grades of alarms when between 150~300m, thus according to front The standoff distance of vehicle 200 distinguishes alert methods.
Wherein, warning light is flashed on vehicle screen interface during primary alarm, export alarm tone simultaneously.
And, warning light, only output voice police under lighting lamp state are not flashed during second-level alarm on vehicle screen interface Report.
Or, run electric brake when this vehicle 100 has electric brake, to improve convenience and the safety of driver Property.
Therefore in the present invention, the vehicle receiving the event of bringing to a halt sends to bringing to a halt of front vehicles in many ways Alarm, and whether monitoring brake has been turned on such that it is able to improve the preventive effect to rear-end collision after sending alarm.
Now, control unit 40 judges all clear bar of bringing to a halt of this vehicle 100 in the state of alarm is brought to a halt in output Part, to release the output of alarm of bringing to a halt.
In the state of exporting, in the present invention, alarm of bringing to a halt, when this vehicle 100 starts brake, or front vehicles 200 Longitudinal deceleration drop to below setting deceleration, thus not comprising event signal of bringing to a halt, or this vehicle 100 change lane To avoid front vehicles 200, thus not in same lanes, releasing alarm of bringing to a halt.
And, control unit 40 is judged to bring to a halt state by this information of vehicles of this vehicle 100, and according to the state of bringing to a halt Output includes the train safety information of event signal of bringing to a halt.
The train safety information of this information of vehicles sending part 60 transmission control unit 40 output.
Therefore, when this vehicle 100 is brought to a halt, in this information of vehicles, also include event signal of bringing to a halt, as vehicle peace Full information is sent to nearby vehicle.
That is as described above, in the present invention for convenience of description, send to nearby vehicle when startup is brought to a halt The vehicle of event signal of bringing to a halt is referred to as other vehicles 300 or front vehicles 200, and the bring to a halt vehicle of alarm of output is referred to as this Vehicle 100, but this is equally applicable to this vehicle 100 and other vehicles 300, by receive information and on the basis of starting the vehicle of alarm Distinguish this vehicle 100 and other vehicles 300.
And, it is sent in the train safety information of nearby vehicle and contains based on the information setting form, with setting cycle Send for interval.
As described above, according to the present invention, when from other vehicle receiver to bring to a halt event when, by sending event of bringing to a halt Vehicle gps data, judge that whether it is the vehicle in the same lanes in front, to judge whether that startup brings to a halt police Report, and alarm is sent according to judged result, thus only real it may happen that starting alarm in the case of knocking into the back, therefore, it is possible to carry The reliability of high device.
And, receive the vehicle of the event of bringing to a halt and in many ways alarm is sent to bringing to a halt of front vehicles, and After sending alarm, whether monitoring brake has been turned on such that it is able to improve the preventive effect to rear-end collision further.
Fig. 8 be one embodiment of the invention vehicle bring to a halt alarming method workflow flow chart, referring to Fig. 8 illustrates the specific works of the present invention.
First, the control unit 40 of this vehicle 100 passes through other information of vehicles acceptance divisions 10, from other vehicles in step sl 300 train safety informations containing GPS receiver information for the reception.
Now, in the present invention this vehicle 100 and other vehicles 300 by based on WAVE (Wireless Access in Vehicular Environments, WAVE) vehicle that communicates is real with inter-vehicular communication (Vehicle to Vehicle, V2V) Shi Jinhang communicates.
And, other vehicles 300, with setting cycle for being spaced (being set as 100ms in the present invention), are sent out to nearby vehicle Send the train safety information containing vehicle location and event signal of bringing to a halt, wherein said vehicle location includes giving each vehicle Intrinsic vehicles identifications (ID) and the latitude of vehicle, longitude and the vehicle that are received by GPS (not shown) direct of travel.
And, control unit 40 collects this information of vehicles containing GPS receiver information by this information of vehicles collection portion 20.
Specifically, this information of vehicles includes vehicle location and vehicle-state, and wherein said vehicle location includes giving often The intrinsic vehicles identifications (ID) of individual vehicle and the direct of travel of the latitude of vehicle, longitude and the vehicle that are arrived by GPS receiver, institute State vehicle-state and include the speed by vehicle controller local area network (CAN) communication input and brake (not shown) brake value.
When the control unit 40 of this vehicle 100 receives train safety information from other vehicles 300, judge car in step s 2 Whether event signal of bringing to a halt is comprised in safety information.
Now, emergency brake is generated according to the longitudinal deceleration angle value that the speed being inputted by vehicle CAN communication and time are calculated Car event signal.
Specifically, when longitudinal deceleration angle value is more than and sets deceleration (being set as 0.4g in the present invention), generate anxious Braking events signal and and being included in train safety information.
When train safety information includes bringing to a halt event signal, in step s3 by the GPS of train safety information Latitude included in receive information, longitude, judge whether other vehicles 300 are front vehicles 200.
Specifically, control unit 40 analysis passes through other information of vehicles acceptance divisions 10 with setting cycle for interval from other cars 300 train safety informations receiving, when train safety information includes bringing to a halt event signal, believe according to vehicle safety Breath and this information of vehicles, judge that whether other vehicles 300 are the front vehicles 200 positioned at this vehicle 100 front, and judge this car Whether 100 meet, with respect to front vehicles 200, the condition sending alarm of bringing to a halt.
The condition sending alarm of bringing to a halt in the present invention is as follows:
First, judge whether the speed of this vehicle 100 is more than setting speed in step s 4, judge this car in step s 5 Whether 100 be less than setpoint distance with the distance between front vehicles 200, and judge in step s 6 this vehicle 100 with front Whether square vehicle 200 is in same lanes.
More specifically, when the speed of this vehicle 100 is more than setting speed, the rear bumper of other vehicles 300 is to rear The fore-and-aft distance of the front bumper of this vehicle 100 within 300m, other vehicles 300 on the basis of the front of this vehicle 100, phase For it within 20 degree, within 2.8m when, judge that other vehicles 300 are lanes same in the front of this vehicle 100 Front vehicles 200.
Send the judgement of condition with regard to alarm of bringing to a halt, be described in detail in the above, therefore below not Repeat again.
When the condition of upper step S4, S5, S6 is satisfied by, be judged as that satisfaction is brought to a halt alert consitions, in the step s 7 to This vehicle 100 exports alarm of bringing to a halt.
Its reason is, when this vehicle 100 speed be less than setting speed when, that is, this vehicle 100 when running at a low speed, that is, So that other vehicles 300 is brought to a halt, also be enough to take braking, therefore do not export alarm of bringing to a halt, when the after insurance of other vehicles 300 When the fore-and-aft distance to the front bumper of this vehicle of rear 100 for the thick stick is more than 300m, because spacing is greatly it is sufficient to take braking, Therefore do not export alarm of bringing to a halt, when other vehicles 300 with respect to this vehicle 100 not within 20 degree, within 2.8m when, judge For other vehicles 300 in different lanes, therefore do not export alarm of bringing to a halt.
Now, this vehicle 100 can export alarm of bringing to a halt as follows.
Substantially, alarm is exported by alarm tone or warning light, brake is started with the driver reminding this vehicle 100.
Now, the alarm way of output of bringing to a halt can be defined as below, when the distance between this vehicle 100 and front vehicles 200 Be categorized as primary alarm when between 0~150m, when between 150~300m, be categorized as second-level alarm, thus according to front The standoff distance of square vehicle 200 distinguishes alert methods.
Wherein, warning light is flashed on vehicle screen interface during primary alarm, export alarm tone simultaneously.
And, warning light, only output voice police under lighting lamp state are not flashed during second-level alarm on vehicle screen interface Report.
Or, run electric brake when this vehicle 100 has electric brake, to improve convenience and the safety of driver Property.
Therefore in the present invention, the vehicle receiving the event of bringing to a halt sends to bringing to a halt of front vehicles in many ways Alarm, and whether monitoring brake has been turned on such that it is able to improve the preventive effect for rear-end collision after sending alarm.
Then, judge whether the brake of this vehicle 100 has been turned in step s 8.
Output in the present invention is brought to a halt in the state of alarm, when this vehicle 100 starts brake, or front vehicles 200 Longitudinal deceleration drop to below setting deceleration, thus not comprising event signal of bringing to a halt, or this vehicle 100 change lane To avoid front vehicles 200, thus not in same lanes, releasing alarm of bringing to a halt.
As described above, according to the present invention, when from other vehicle receiver to bring to a halt event when, by sending event of bringing to a halt Vehicle gps data, judge that whether it is the vehicle in the same lanes in front, to judge whether that startup brings to a halt police Report, and alarm is sent according to judged result, thus only real it may happen that starting alarm in the case of knocking into the back, therefore, it is possible to carry The reliability of high device.
Finally it should be noted that:Various embodiments above only in order to technical scheme to be described, is not intended to limit;To the greatest extent Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that:Its according to So the technical scheme described in foregoing embodiments can be modified, or wherein some or all of technical characteristic is entered Row equivalent;And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology The scope of scheme.

Claims (10)

1. a kind of vehicle brings to a halt warning devicess it is characterised in that including:
Other information of vehicles acceptance divisions, it contains the vehicle safety letter of global positioning system receive information from other vehicle receiver Breath;
This information of vehicles collection portion, it collects this information of vehicles containing global positioning system receive information from this vehicle;
Control unit, when the train safety information being received by other information of vehicles acceptance divisions described includes event letter of bringing to a halt Number when, judge described vehicle with respect to other vehicles described whether according to described train safety information and described information of vehicles Meet the condition sending alarm of bringing to a halt;And
Output section, it exports, according to the judged result of described control unit, alarm of bringing to a halt,
Wherein, the condition that described vehicle sends alarm of bringing to a halt is that the speed of described vehicle is more than setting speed, and institute State the distance between other vehicles and described vehicle and be less than setpoint distance, and other vehicles described and described vehicle are same One lanes,
Described event signal bag when the longitudinal deceleration angle value being calculated according to speed and time is more than and sets deceleration of bringing to a halt It is contained in described train safety information.
2. vehicle according to claim 1 bring to a halt warning devicess it is characterised in that:
Latitude included in the global positioning system receive information by described train safety information for the described control unit, longitude with Latitude included in the global positioning system receive information of described information of vehicles, longitude calculate other vehicles described with described The distance between this vehicle, and judge other vehicles described and described vehicle whether in same lanes.
3. vehicle according to claim 1 bring to a halt warning devicess it is characterised in that:
Described control unit determines whether, by described information of vehicles, the state of bringing to a halt, and according to described State- output of bringing to a halt Including the described train safety information of event signal of bringing to a halt, and also include the described vehicle peace sending described control unit output This information of vehicles sending part of full information.
4. vehicle according to claim 3 bring to a halt warning devicess it is characterised in that:
State of bringing to a halt described in being whether is by judging the longitudinal deceleration angle value calculating according to speed and time whether more than setting Determine deceleration to be determined.
5. vehicle according to claim 3 bring to a halt warning devicess it is characterised in that:
Other information of vehicles acceptance divisions described pass through the wireless access communication under vehicle environment with described information of vehicles sending part Agreement sends or receive information.
6. vehicle according to claim 1 bring to a halt warning devicess it is characterised in that:
Described output section when bringing to a halt alarm described in sending according to separation between vehicles optionally start alarm tone, warning light and At least one in electric brake.
7. vehicle according to claim 1 bring to a halt warning devicess it is characterised in that:
Described control unit judges whether described vehicle meets all clear condition of bringing to a halt, with alarm of bringing to a halt described in releasing Output.
8. a kind of vehicle brings to a halt alarming method it is characterised in that including:
Control unit contains the vehicle of global positioning system receive information by other information of vehicles acceptance divisions from other vehicle receiver Safety information, judges wherein whether include the step of event signal of bringing to a halt;
When include described in bring to a halt event signal when, according to described train safety information and by this information of vehicles collection portion collect This information of vehicles containing global positioning system receive information, judge this vehicle with respect to other vehicles described whether meet send out The step going out the condition of alarm of bringing to a halt;And
When the condition of alarm of bringing to a halt described in satisfaction sends, the step exporting alarm of bringing to a halt to described vehicle,
Wherein, described judge whether this vehicle meets the step bag of the condition sending alarm of bringing to a halt with respect to other vehicles described Include and judge whether whether the speed of described vehicle be more than the distance between setting speed, other vehicles described and described vehicle Less than setpoint distance, other vehicles described and described vehicle whether in the step of same lanes,
Described event signal bag when the longitudinal deceleration angle value being calculated according to speed and time is more than and sets deceleration of bringing to a halt It is contained in described train safety information.
9. vehicle according to claim 8 bring to a halt alarming method it is characterised in that:
The latitude included in global positioning system receive information by described train safety information, longitude and described vehicle Latitude included in the global positioning system receive information of information, longitude, calculate other vehicles described and described vehicle it Between distance, and judge other vehicles described and described vehicle whether in same lanes.
10. vehicle according to claim 8 brings to a halt alarming method it is characterised in that also including:
Judge all clear condition of bringing to a halt of described vehicle, with the step of the output of alarm of bringing to a halt described in releasing.
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