阅读说明：本技术 用于车辆的碰撞危险警告系统 (Collision danger warning system for vehicle ) 是由 郑能涛 贺钊 翟一德 张策 于 2021-09-06 设计创作，主要内容包括：本发明涉及一种用于车辆的碰撞危险警告系统,其包括：车辆检测模块；计算分析模块；碰撞警告模块；所述碰撞危险警告系统还包括信号接收模块,其用于基于V2X通信接收来自其他运动物的碰撞警告信号；其中,在具备V2X通信功能的第一运动物处于车辆检测模块无法检测的区域内时,所述车辆利用处于车辆和第一运动物附近的具备V2X通信功能的第二运动物帮忙计算和判断该车辆与第一运动物之间的碰撞风险,且响应于从该第二运动物接收到的与该碰撞风险相关的碰撞警告信号,通过第二提醒装置发出碰撞警示信息。本发明还涉及一种利用上述系统提供碰撞危险警告的方法。(The invention relates to a collision danger warning system for a vehicle, comprising: a vehicle detection module; a calculation analysis module; a collision warning module; the collision danger warning system further includes a signal receiving module for receiving collision warning signals from other moving objects based on the V2X communication; when a first moving object with a V2X communication function is in an area which cannot be detected by a vehicle detection module, the vehicle calculates and judges the collision risk between the vehicle and the first moving object by using a second moving object with a V2X communication function nearby the vehicle and the first moving object, and sends collision warning information through a second reminding device in response to a collision warning signal which is received from the second moving object and is related to the collision risk. The invention also relates to a method for providing a collision risk warning using the above system.)

1. A collision danger warning system for a vehicle, comprising:

-a vehicle detection module for detecting a state of motion of the vehicle and its surrounding moving objects;

a calculation and analysis module for performing a comprehensive calculation based on the detected motion states of the vehicle and its surrounding moving objects and determining a collision risk between the vehicle and the surrounding moving objects;

a collision warning module capable of selectively activating the first or second warning device to issue collision warning information according to whether the surrounding moving object has the V2X communication function;

characterized in that the collision danger warning system further comprises a signal receiving module for receiving collision warning signals from other moving objects based on V2X communication;

when a first moving object with a V2X communication function is in an area which cannot be detected by a vehicle detection module, the vehicle calculates and judges the collision risk between the vehicle and the first moving object by using a second moving object with a V2X communication function nearby the vehicle and the first moving object, and sends collision warning information through a second reminding device in response to a collision warning signal which is received from the second moving object and is related to the collision risk.

2. The collision danger warning system according to claim 1, further comprising a control module, wherein it is determined or warned that there is a collision risk between the vehicle and surrounding moving objects after the collision warning information is issued, the control module being capable of controlling the vehicle to move in a direction capable of avoiding the surrounding moving objects having a collision risk with the vehicle.

3. The collision danger warning system according to claim 1 or 2, characterized in that the first warning device emits collision warning information by whistling and/or blinking of a high beam; and the second reminding device sends collision warning information in the vehicle through voice or acousto-optic signals.

4. The collision danger warning system according to any one of claims 1 to 3, characterized in that the vehicle detection module is capable of detecting a vehicle distance between the vehicle and surrounding moving objects, a motion trajectory, a speed and an acceleration of the vehicle and surrounding moving objects, and comprises at least one of: millimeter wave radar, laser radar, acceleration sensor, speed sensor, camera.

5. The collision danger warning system according to any one of claims 1 to 4, characterized in that the calculation analysis module is capable of calculating a collision risk value based on the respective motion state information acquired by the vehicle detection module and transmitting a signal confirming that there is a collision risk to the collision warning module when the collision risk value is higher than a predetermined reference value.

6. The collision danger warning system according to any one of claims 1 to 5, characterized in that the first warning device is activated when the surrounding moving object does not have a V2X communication function, wherein the moving object without a V2X communication function includes pedestrians and non-motor vehicles; and when the surrounding moving object is provided with the V2X communication function, enabling a second reminding device, wherein the moving object provided with the V2X communication function comprises a motor vehicle.

7. A method of providing a collision danger warning using the collision danger warning system for a vehicle according to any one of claims 1 to 6, comprising the steps of:

-detecting the state of motion of the vehicle and its surrounding moving objects with a vehicle detection module;

-performing a comprehensive calculation and determining a risk of collision between the vehicle and surrounding moving objects using a calculation and analysis module based on the detected motion states of the vehicle and its surrounding moving objects;

-if it is determined that there is a risk of collision, selectively enabling the first warning device or the second warning device by using the collision warning module according to whether the surrounding moving object has the V2X communication function, so as to issue a collision warning message;

characterized in that the method further comprises: when a first moving object with a V2X communication function is in an area which cannot be detected by a vehicle detection module of the vehicle, a second moving object with a V2X communication function, which is in the vicinity of the vehicle and the first moving object, judges and confirms the collision risk between the vehicle and the first moving object, a signal receiving module of the vehicle receives a collision warning signal related to the collision risk from the second moving object, and a second reminding device sends collision warning information in response to the collision warning signal.

Technical Field

The present invention relates to the field of vehicle safety technology, and more particularly, to a collision danger warning system for a vehicle and a method for providing a collision danger warning using the same.

Background

In daily life, a vehicle parked at the roadside or at a red light such as a crossroad or normally traveling on the road often causes a collision accident due to the vague nerves of other traffic participants (such as pedestrians or other vehicles or non-motor vehicle drivers) outside the vehicle.

In the prior art, various vehicle collision warning systems are known, which can determine whether there is a collision risk and send warning information to a vehicle in danger by monitoring the motion state information of the vehicle and other traffic participants. For example, patent CN205722470U discloses a vehicle collision warning and control device based on vehicle-to-vehicle communication, which discloses a vehicle-mounted environment sensing unit capable of acquiring state data of a vehicle speed, an acceleration, a distance between the vehicle and an obstacle, etc., based on which a collision risk can be determined and an alarm can be output through an alarm unit. Patent application CN106004668A discloses an active safety system for preventing rear-end collision of an automobile and a control method thereof, and particularly discloses a control module which can perform fusion calculation on road surface and vehicle driving information collected by a sensor, make a decision, and realize the reminding of the following vehicles, thereby keeping a safe distance between vehicles. Further, patent application CN110341695A discloses a vehicle control device capable of sending warning information to surrounding vehicles when it is determined that there is a risk of collision, and also sending command signals for operating braking devices of the surrounding vehicles to the surrounding vehicles by means of an inter-vehicle (V2V) communication unit.

As is widely known to those skilled in the art, V2V (Vehicle to Vehicle) and V2X (Vehicle to event) are key technologies for future intelligent transportation systems. The vehicle-to-vehicle communication system enables communication between vehicles, between vehicles and base stations and between base stations, so that a series of traffic information such as real-time road conditions, road information and pedestrian information is obtained, driving safety is improved, congestion is reduced, traffic efficiency is improved, vehicle-mounted entertainment information is provided, and the like.

However, the above-mentioned devices or systems for vehicle collision risk warning existing in the prior art do not selectively output warning information in a different manner for different types of moving objects (whether having the V2X function or not), and in particular, these devices or systems have no way to avoid the occurrence of some potentially dangerous accidents that cannot be expected by the vehicle, such as the collision risk caused by other moving objects approaching the vehicle at a very high speed outside the detection area of the vehicle.

Disclosure of Invention

The present invention has been made on the basis of such a background, and an object thereof is to provide a novel collision danger warning system for a vehicle, which makes it possible to provide a more effective avoidance of various collision accidents between the vehicle and other traffic participants.

According to an aspect of the present invention, there is provided a collision danger warning system for a vehicle, including:

-a vehicle detection module for detecting a state of motion of the vehicle and its surrounding moving objects;

a calculation and analysis module for performing a comprehensive calculation based on the detected motion states of the vehicle and its surrounding moving objects and determining a collision risk between the vehicle and the surrounding moving objects;

a collision warning module capable of selectively activating the first or second warning device to issue collision warning information according to whether the surrounding moving object has the V2X communication function;

wherein the collision danger warning system further comprises a signal receiving module for receiving collision warning signals from other moving objects based on the V2X communication;

when a first moving object with a V2X communication function is in an area which cannot be detected by a vehicle detection module, the vehicle calculates and judges the collision risk between the vehicle and the first moving object by using a second moving object with a V2X communication function nearby the vehicle and the first moving object, and in response to a collision warning signal which is received from the second moving object and is related to the collision risk, collision warning information is sent out through a second reminding device.

Advantageously, the collision danger warning system further includes a control module, wherein the collision risk between the vehicle and the surrounding moving object is determined or warned after the collision warning information is issued, and the control module is capable of controlling the vehicle to move in a direction capable of avoiding the surrounding moving object having the collision risk with the vehicle.

Advantageously, the first reminding device sends collision warning information by whistling and/or flashing a high beam; and the second reminding device sends collision warning information in the vehicle through voice or acousto-optic signals.

Advantageously, the vehicle detection module is capable of detecting a vehicle distance between the vehicle and surrounding moving objects, a motion trajectory, a speed and an acceleration of the vehicle and surrounding moving objects, and comprises at least one of: millimeter wave radar, laser radar, acceleration sensor, speed sensor, camera.

Advantageously, the calculation and analysis module is capable of calculating a collision risk value based on the respective motion state information acquired by the vehicle detection module and sending a signal confirming that there is a collision risk to the collision warning module when the collision risk value is higher than a predetermined reference value.

Advantageously, when the surrounding moving object is not provided with the V2X communication function, the first reminding device is started, wherein the moving object without the V2X communication function comprises pedestrians and non-motor vehicles; and when the surrounding moving object is provided with the V2X communication function, enabling a second reminding device, wherein the moving object provided with the V2X communication function comprises a motor vehicle.

According to another aspect of the present invention, there is provided a method of providing a collision danger warning using the above collision danger warning system for a vehicle, the method including the steps of:

-detecting the state of motion of the vehicle and its surrounding moving objects with a vehicle detection module;

-performing a comprehensive calculation and determining a risk of collision between the vehicle and surrounding moving objects using a calculation and analysis module based on the detected motion states of the vehicle and its surrounding moving objects;

-if it is determined that there is a risk of collision, selectively enabling the first warning device or the second warning device by using the collision warning module according to whether the surrounding moving object has the V2X communication function, so as to issue a collision warning message;

wherein the method further comprises: when a first moving object with a V2X communication function is in an area which cannot be detected by a vehicle detection module of a vehicle, a second moving object with a V2X communication function, which is in the vicinity of the vehicle and the first moving object, judges and confirms the collision risk between the vehicle and the first moving object, a signal receiving module of the vehicle receives a collision warning signal related to the collision risk from the second moving object, and a second reminding device sends collision warning information in response to the collision warning signal.

By adopting the collision danger warning system, different moving objects near the vehicle can be warned or reminded of collision danger through different reminding devices, and the collision risk with the moving objects in the vehicle detection blind area can be effectively reduced or avoided.

Drawings

The above and other features and advantages of the present invention will become more readily understood from the following description with reference to the accompanying drawings, in which:

FIG. 1 shows a schematic view of a collision hazard warning system for a vehicle according to the present invention;

FIG. 2 illustrates a potential collision risk diagram for a vehicle; and

fig. 3 is a schematic flow chart showing a process of outputting collision warning information using the collision danger warning system according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail by referring to examples below. Terms such as "first," "second," and the like are used hereinafter to describe elements of the present application and are used only to distinguish one element from another without limiting the nature, sequence, order, or number of such elements.

Fig. 1 shows a schematic view of a collision danger warning system for a vehicle according to the invention. The collision danger warning system 1 includes: the vehicle detection module 2 is used for detecting the motion state of the vehicle 8 and the surrounding moving objects; a calculation and analysis module 3 for performing comprehensive calculation based on the detected motion states of the vehicle 8 and its surrounding moving objects and determining a collision risk between the vehicle 8 and the surrounding moving objects; and a collision warning module 4 which can selectively activate the first reminding device 5 or the second reminding device 6 according to whether the surrounding moving objects have the V2X communication function or not so as to send out collision warning information.

In particular, the vehicle detection module 2 comprises at least one of: the vehicle speed sensor comprises a millimeter wave radar, a laser radar, an acceleration sensor, a vehicle speed sensor and a camera, and can detect the distance between the vehicle and surrounding moving objects, and the motion tracks, the speed and the acceleration of the vehicle and the surrounding moving objects. The calculation and analysis module 2 calculates a collision risk value based on the motion state information (including the vehicle distance, the speed, the acceleration, and the like) acquired by the vehicle detection module 2, and sends a signal confirming that there is a collision risk to the collision warning module when the collision risk value is higher than a predetermined reference value. In response to the acknowledgement signal, the collision warning module 4 issues a corresponding collision warning message.

Specifically, when the surrounding moving object does not have the V2X communication function (for example, the moving object is a pedestrian, a bicycle, an electric vehicle, or a motorcycle), the first reminding device is activated to issue collision warning information in a conventional warning manner such as whistling and/or high beam flashing, and when the surrounding moving object has the V2X communication function (for example, the moving object is another motor vehicle having the V2X function), the second reminding device is activated to remind the driver in the vehicle of the collision risk in a manner of voice or sound and light signals. The vehicles at risk of collision can warn the opposite vehicle owner of each other based on V2X communication.

However, in real life, there is often also a potential risk of collision: referring to fig. 2, in the case that the vehicle C approaches the vehicle a at an ultra high speed, the vehicle C is located in an area that cannot be identified by the vehicle detection module 2 of the vehicle a (e.g., is located in a detection blind area at a distance), and therefore cannot be effectively detected by the vehicle a, so that the collision risk cannot be predicted in advance, and finally, an accident is very likely to occur. In this case, the present invention proposes an effective solution: based on the V2X communication, vehicle a may calculate and judge a collision risk with the help of vehicle B, which is in the vicinity of vehicles a and C. The vehicle a is provided with a signal receiving module that receives collision warning signals from other moving objects (the vehicle B in this example) based on V2X communication. It should be understood that when vehicle B determines that there is a risk of collision between vehicles a and C in its vicinity, a collision warning signal will be sent to both vehicles a and C. In response to the collision warning signal received from the vehicle B and related to the collision risk, the vehicle a (and the vehicle C) can issue corresponding collision warning information, for example, to remind the vehicle owner of the collision risk by voice and to decelerate or change the driving direction if necessary by using the second reminding device, so as to avoid the occurrence of the collision accident.

Advantageously, the collision danger warning system according to the present invention further comprises a control module, wherein the collision risk between the vehicle and the surrounding moving object is determined or warned after the collision warning information is issued, the control module being capable of automatically controlling the vehicle to move in a direction capable of avoiding the surrounding moving object having the collision risk with the vehicle. The improvement has great significance in real life, greatly improves the driving safety, and particularly can reduce the risk of accidents under the condition that attention of traffic participants is not concentrated for a short time, such as inattention.

Next, a method of how to provide a collision risk warning using the collision warning system for a vehicle according to the present invention will be described with reference to fig. 3. The method mainly comprises the following steps:

detecting the motion states (such as the distance, the speed, the acceleration, the driving track and the like) of the vehicle and the surrounding moving objects by using a vehicle detection module;

-performing a comprehensive calculation and determining a risk of collision between the vehicle and the surrounding moving object using a calculation and analysis module based on the detected motion state of the vehicle and its surrounding moving objects (e.g. confirming that there is a risk of collision if the collision risk value is higher than a predetermined reference value);

if it is confirmed that there is a risk of collision, selectively activating the first warning device (transmission warning function) or the second warning device (warning based on V2X communication) by using the collision warning module according to whether the surrounding moving object has the V2X communication function, so as to issue collision warning information.

The method further comprises: when a first moving object with a V2X communication function is in an area which cannot be detected by a vehicle detection module, a second moving object with a V2X communication function, which is in the vicinity of the vehicle and the first moving object, judges and confirms the risk of collision between the vehicle and the first moving object, receives a collision warning signal from the second moving object by a signal receiving module of the vehicle, and sends collision warning information by a second reminding device in response to the collision warning signal.

The warning system can allow prompt/warning information to be accurately sent to vehicles which are excessively close to each other and can be more clearly and clearly received by personnel in the vehicles, so that the safety is improved, and the interference to other vehicles is reduced.

It should be noted that the above-described embodiments should be regarded as merely illustrative, and the present invention is not limited to these embodiments. Various changes and modifications may be made by those skilled in the art without departing from the scope or spirit of the invention in view of the contents of this specification. With a true scope of the invention being indicated by the following claims and their equivalents.