CN101407199A - Vehicle collision prewarning method and apparatus - Google Patents

Abstract

The invention discloses an early warning method and a device for vehicle collision. The early warning method is characterized in that the method comprises the following steps: after a vehicle is fired, colliding an early warning system to begin initializing each parameter, using an OBD information collection module, a sensor information collection module and a GPS information collection module to collect information of the vehicle, using an inter-vehicle information exchange module to collect peripheral vehicle information, sending the information of the vehicle to the peripheral vehicles, calculating individualized collision probability according to self state of a driver, and warning the driver; and the device consists of the OBD information collection module, the sensor information collection module, the GPS information collection module, the inter-vehicle information exchange module, an information exchange module in the vehicles, a collision detection module and a vehicle collision warning module. Each module exchanges information in the vehicle through a wireless local area network in the vehicle, does not change an electric line of the vehicle and does not increase wire harness inside the vehicle, and can effectively reduce occurrence of traffic accidents, so as to reduce casualties.

Description

A kind of vehicle collision prewarning method and device

Technical field

The present invention relates to wireless network and intelligent transportation field, particularly a kind of vehicle collision prewarning method and device.

Background technology

In the automotive safety problem, the car collision problem should cause enough attention.Present vehicle anticollision technology concentrates on the crash protection research of straight way route vehicle rear-end collision, and its core is the calculating to the vehicle safety spacing.Computationally secure apart from the time, need solve two problems, one is the real-time Determination of distance of vehicle, another is the collision detection algorithm problem.

Aspect the real-time Determination of distance of vehicle, method commonly used at present is directly to find range and the GPS localization method.Directly distance-finding method mainly comprises three kinds of ultrasonic ranging, microwave radar range finding and laser rangings.But the problem of these class methods is only can be applied to the straight way situation, when shelter exists, can't detect other vehicles, the computationally secure distance between also can't vehicle.Utilize method that GPS carries out vehicle range finding then applying GPS information obtain the information such as longitude and latitude, speed and course of vehicle, come calculated braking distance with this.But at present there are two problems in the ordinary GPS method, and one is the accuracy of positioning problem, and general error is at 10 meters the order of magnitude, and this is not enough for the collision prevention of vehicle precision; Another is the integrity issue that information is obtained, and for example, only can obtain this not high vehicle speed of precision by GPS, not only has problems aspect precision, and then can only obtain by estimation for the information of other vehicles, and there is the infull problem of information in this.

Aspect collision detection algorithm, present technology mainly is to analyze on the automobile dynamic quality basis, judging by the math modeling of setting up safe spacing.But mainly there are two problems in present technology, the one, because information source is few, therefore, algorithm is too simple, makes that the field of application of algorithm is little, for example only can be applied to the straight way impact detection; The 2nd, algorithm fails to detect in conjunction with physilogical characteristics such as time of driver's reactions, and fails to vary with each individual, and distinguishes different situations such as fresh driver and experienced driver, good driving condition and difference driving condition, therefore, does not realize personalized impact detection.

Though it is that 200410042177.4 the wireless self-organization network technology of utilizing realizes the appearance of the automobile anti-collision method on the express highway that the patent No. is arranged, but only be to the crashproof and processing of automobile on express highway, but do not specifically describe for the auto against method for early warning on the non-express highway.

Comprehensive, there is the deficiency of following aspect in present auto against detection technique: (1) only can obtain limited this car information, and as distance, speed etc., information source is few, and precision is not high; And detect for vehicle collision, relate to distance, speed, acceleration/accel, turn to, many-sided information such as position, particularly need the information of surrounding vehicles; Therefore, obtain the impact detection information needed, and between vehicle, carry out information exchange, can implement anti-collision warning better by several different methods.(2) Applicable scope is little, is only applicable to straight way and detects, and lacks the impact detection technology to non line of sight situation (as bend, four corners etc.); Therefore, need the combining wireless network technology to carry out non line of sight communication between vehicle, to carry out the actv. impact detection in non line of sight situation (as bend, four corners).(3) lacking individuality of collision detection algorithm, and can depend on driver reaction time to a great extent by crash-avoidance, but there is very big-difference in driver reaction time, comprises new hand and veteran's difference, the difference of same chaufeur different conditions etc.; Therefore, need when carrying out impact detection, carry out personalisation process by the chaufeur to different conditions.

Summary of the invention

At present vehicle collision prewarning problem, the present invention proposes a kind of comprehensive application onboard diagnostic system technology (OBD, On-Board Diagnostics), global positioning system (GPS, Global PositioningSystem), the vehicle sensors technology, wireless local area network technology, Wireless mesh technology etc., do not changing the vehicle electric circuit and do not increasing under the situation of vehicle interior wire harness, gather and exchange the information of this car and surrounding vehicles in real time, realize that sighting distance situation (as straight way) and non line of sight situation are (as bend, four corners) personalized vehicle collision prewarning method and device under, with the generation of effective reduction traffic accident, reduce personal casualty.

Technical scheme of the present invention for this reason is: a kind of vehicle collision prewarning method is characterized in that comprising following steps:

Step 1, the vehicle collision prewarning system begins each parameter of initialization after the vehicle ignition, comprises time of driver's reaction a reference value t (second), height of car difference limen value H, collision probability threshold value P _Alarm(1 〉=P _Alarm〉=0), and in order to characterize the adjustment factor α of chaufeur oneself state, wherein, adjustment factor α can manually be set according to s own situation by chaufeur, for the chaufeur of new hand and fatigue state, its reaction time is slower, can be set to lower value by α; For the good chaufeur of state, can be set to higher value by α.

Step 2, OBD information acquisition module, sensor information acquisition module, GPS information acquisition module are gathered this car information INFO1 respectively, comprise the vehicle driving information and the locating information such as position, sense of motion such as speed, acceleration/accel of this car, and send to vehicle internal information Switching Module; Simultaneously, information exchange module obtains surrounding vehicles information INFO2 between vehicle, comprises the vehicle driving information and the locating information such as position, sense of motion such as speed, acceleration/accel of surrounding vehicles, and sends to vehicle internal information Switching Module.The surrounding vehicles here is not only to refer to a car, and is meant other vehicles that are positioned at around this car.

Step 3, vehicle internal information Switching Module sends to information exchange module between vehicle with this car information after obtaining this car information INFO1, other vehicles around being sent to by information exchange module between vehicle.

Step 4, comprehensive this car received of vehicle internal information Switching Module and surrounding vehicles information (INFO1 and INFO2) utilize the interior WLAN of vehicle to send to the impact detection module, carry out personalized impact detection, calculate collision probability.

Step 5 is if judge that collision probability greater than given threshold value, is then to change step 6 over to, otherwise returns step 2.

Step 6 triggers the vehicle collision alarm module and reports to the police to chaufeur in the mode of sound and figure, returns step 2.

Further, described OBD information acquisition module is gathered this vehicle speed information and be may further comprise the steps:

The OBD information acquisition module utilizes the OBD interface in the car, read the relevant driving information of automotive safety by many OBD protocol converter, as car speed v, the relevant driving information of vehicle safety is sent to vehicle internal information Switching Module by WLAN in the vehicle.

Further, described sensor information acquisition module is gathered this car acceleration information and be may further comprise the steps:

The sensor information acquisition module utilizes 3-axis acceleration sensor to obtain the acceleration/accel a of vehicle, by WLAN in the vehicle acceleration information is sent to vehicle internal information Switching Module.

Further, described GPS information acquisition module is gathered this car locating information and sense of motion information may further comprise the steps:

The GPS information acquisition module uses the receptor of 5Hz, receives the locating information of gps satellite, and gps satellite is not only to specify 1 gps satellite herein, and is meant and can receives the needed a plurality of gps satellites of GPS locating information;

The differential GPS information of the support high fix that GPS information acquisition module reception differential GPS base station is provided;

The GPS information acquisition module utilizes the differential GPS alignment technique, with draw after GPS locating information and the differential GPS information processing revised three dimensional local information p (x, y, z) and sense of motion information m;

The GPS information acquisition module sends resulting car three dimensional local information p to vehicle internal information Switching Module by WLAN in the vehicle.

Further, information exchange module and surrounding vehicles exchange collision detection relevant information may further comprise the steps between described vehicle:

Information exchange module receives the driving information of surrounding vehicles between vehicle, utilizes that information exchange module directly exchanges information of vehicles between the vehicle of Wireless mesh technology and surrounding vehicles, also can pass through roadside accessing points indirect exchange information of vehicles; Wireless mesh network is a kind of in the wireless self-organization network;

Information exchange module utilizes the interior WLAN of vehicle that the driving information INFO2 of surrounding vehicles is sent to vehicle internal information Switching Module between vehicle;

By WLAN in the vehicle, information exchange module obtains this car information INFO1 that travels from vehicle internal information Switching Module between vehicle, and utilizes Wireless mesh technology to send to surrounding vehicles.

Further, the operation of described impact detection module is specially:

The impact detection module is used to from this car of vehicle internal information Switching Module and the various information of surrounding vehicles, comprise: obtain the vehicle movement speed v, obtain the three dimensional local information p (x of vehicle by differential GPS information by OBD information, y, z) and sense of motion information m, obtain the acceleration/accel a of vehicle by sensor information, calculate since the current time time T that vehicle collision will take place in real time;

According to collision relative time T, the time of driver's reaction a reference value t (second) that will take place, and adjustment factor α, the vehicle collision possibility is calculated, obtain the collision probability P of personalization;

If collision probability is greater than given threshold value P _Alarm, then utilize vehicle internal information Switching Module alarm message to be sent to the vehicle collision alarm module by WLAN in the vehicle.

Further, the operation of reporting to the police of described triggering vehicle collision alarm module is specially:

After the vehicle collision alarm module is received collision warning information, with the auditory tone cues chaufeur;

Ben Che is shown with the GPS locating information of the collision vehicle that predicts.

Further, described impact detection module is used to the various information from vehicle internal information Switching Module, calculates since the current time, and the operation of the relative time T that vehicle collision will take place is specially:

Calculate the diff-H h between separation between vehicles d and vehicle; If diff-H h＞height of car difference limen value H does not then report to the police;

Calculate two spacings, if two spacings are not then reported to the police enlarging; Otherwise, according to the three dimensional local information and the sense of motion information of Ben Che and surrounding vehicles, distinguish the travel direction of this car and surrounding vehicles, specifically can be divided into straight way, four corners and three kinds of situations of bend, calculate the time T that vehicle collision will take place.

Further, time T, time of driver's reaction a reference value t (second) that described impact detection module will take place according to collision, and adjustment factor α calculating collision probability P may further comprise the steps:

According to formula $P=g\left(T\right)=e^{-\frac{\mathrm{\α}}{t}T}$ Calculate collision probability P.

Further, described basis is divided into straight way, four corners and three kinds of situations of bend, and the time T that the calculating vehicle collision will take place may further comprise the steps:

If the straight way situation then utilizes two spacings, speed and acceleration/accel to calculate the vehicle collision time, typically, when two cars travel in the same way, utilize formula $d=(v_1-v_2)T+\frac{(a_1-a_2)}{2}{T}^2,$ Find the solution the vehicle collision time T;

If the four corners situation then utilizes two spacings, speed and acceleration/accel to calculate the vehicle collision time, typically, when two cars travel in opposite directions, utilize formula $d^2={(v_{1}T+\frac{a_1}{2}{T}^2)}^2+{(v_{2}T+\frac{a_2}{2}{T}^2)}^2,$ Find the solution the vehicle collision time T;

If the bend situation then utilizes two spacings, speed, acceleration/accel and sense of motion to calculate the vehicle collision time, typically, when two cars travel in opposite directions, the solving equation group

$\left\{\begin{array}{c}m\cos (\mathrm{\α}-\mathrm{\γ})+n\cos (\mathrm{\γ}-\mathrm{\β})=d\\ m=v_{1}T+\frac{a_1}{2}{T}^2\\ n=v_{2}T+\frac{a_2}{2}{T}^2\\ \mathrm{\γ}=\mathrm{arctg}\frac{y_2-y_1}{x_2-x_1}\end{array}\right.,$

Obtain the vehicle collision time T.Wherein, α and β can pass through direction of vehicle movement information m ₁And m ₂Calculate.

A kind of device that is used to realize aforementioned vehicle anti-collision warning method comprises:

WLAN is used to provide the airlink of vehicle internal information exchange in the vehicle;

The GPS information acquisition module is used to gather this car three dimensional local information p, and (x, y send to vehicle internal information Switching Module z) with sense of motion information m, and by radio receiving transmitting module;

The OBD information acquisition module is used to gather this vehicle speed information v, and sends to vehicle internal information Switching Module by radio receiving transmitting module;

The sensor information acquisition module is used to gather this car acceleration information a, and sends to vehicle internal information Switching Module by radio receiving transmitting module;

Information exchange module is used for detecting relevant information with the surrounding vehicles exchange collision between vehicle, comprises this car information INFO1 and surrounding vehicles information INFO2; This car information INFO1 obtains from vehicle internal information Switching Module by WLAN in the vehicle, and surrounding vehicles information INFO2 will be sent to vehicle internal information Switching Module by WLAN in the vehicle;

Vehicle internal information Switching Module is used to utilize WLAN each intermodule transfer information of vehicles in vehicle in the vehicle, comprise: collect from this car information INFO1 of OBD information acquisition module, sensor information acquisition module, GPS information acquisition module, and this car information INFO1 is sent to information exchange module between vehicle by WLAN in the vehicle; And collection is from the surrounding vehicles information INFO2 of information exchange module between vehicle; Simultaneously, INFO1 and INFO2 are sent to the impact detection module; In addition, also receive alarm message, and send to the vehicle collision alarm module from the impact detection module;

The impact detection module is used for calculating collision probability, if collision probability greater than given threshold value, then sends to alarm message vehicle internal information Switching Module according to information INFO1 and INFO2 from vehicle internal information Switching Module;

The vehicle collision alarm module is used for pointing out chaufeur in the mode of sound and image when Ben Che and surrounding vehicles may bump.

Beneficial effect:

1, utilizes the OBD technology to obtain vehicle traveling information, avoid changing the vehicle electric circuit;

2, utilize GPS receiver module and the differential GPS information of 5Hz, to obtain high-precision vehicle three dimensional local information and sense of motion information;

3, vehicle interior adopts the airlink of WLAN as the exchange of vehicle internal information, avoids increasing wire harness at vehicle interior;

4, Wireless mesh technology is adopted in information exchange between vehicle, not only can realize directly information exchange between vehicle, and the collateral information exchange between can support unit, to guarantee the reliability of information exchange between vehicle;

5,, can carry out impact detection to sighting distance situation (as straight way) and non line of sight situation multiple situations such as (as bend, four cornerss) in conjunction with OBD information, GPS information and sensory information; And,, realize personalized impact detection by adjustment factor is set according to the situation of chaufeur self;

6, carry out the warning of various ways in conjunction with sound and image, for chaufeur is provided convenience.

Description of drawings

Fig. 1 is the structural representation of vehicle collision prewarning device described in the embodiment of the invention.

Fig. 2 is the structural representation of subsystem 1 among Fig. 1.

Fig. 3 is the structural representation of subsystem 2 among Fig. 1.

Fig. 4 is the structural representation of subsystem 3 among Fig. 1.

Fig. 5 is the scheme drawing of vehicle collision prewarning method implementing procedure described in the embodiment of the invention.

Fig. 6 is the implementing procedure scheme drawing of subsystem 1 described in the embodiment of the invention.

Fig. 7 is the implementing procedure scheme drawing of subsystem 2 described in the embodiment of the invention.

Fig. 8 is impact detection scheme drawing when two cars travel in the same way under the straight way situation described in the embodiment of the invention.

Fig. 9 is impact detection scheme drawing when two cars travel in opposite directions under the four corners situation described in the embodiment of the invention.

Figure 10 is impact detection scheme drawing when two cars travel in opposite directions under the bend situation described in the embodiment of the invention.

Figure 11 is the implementing procedure scheme drawing of subsystem 3 described in the embodiment of the invention.

The specific embodiment

As shown in Figure 1, a kind of vehicle collision prewarning device of the present invention (10) comprises WLAN (14) in subsystem 1 (11), subsystem 2 (12), subsystem 3 (13), the vehicle, accordingly, the collision detecting system of surrounding vehicles (15) has same subsystem equally.The surrounding vehicles here is not only to refer to a car, and is meant other vehicles that are positioned at around this car.Subsystem 1 (11) comprises GPS information, OBD information and sensor information acquisition module; Subsystem 2 (12) comprises information exchange module between vehicle, vehicle internal information Switching Module and impact detection module; Subsystem 3 (13) comprises the vehicle collision alarm module.

Subsystem 1 (11) has three antennas, be respectively applied for reception from the gps satellite information of gps satellite (11a), be used for receiving the differential GPS information of self-differential GPS base station (11b), and utilize in the vehicle WLAN (14) with this car information INFO1 (three dimensional local information p (x that comprises velocity information v, acceleration information a and vehicle that travels, y, z) and sense of motion information m) send to the vehicle internal information Switching Module of subsystem 2 (12); Subsystem 2 (12) has two antennas, be respectively applied for and the collision detecting system (15) of surrounding vehicles carries out information exchange between vehicle, obtain the driving information INFO2 (three dimensional local information p (x that comprises velocity information v, acceleration information a and vehicle of surrounding vehicles, y, z) and sense of motion information m), and utilize WLAN (14) in the vehicle collision warning information to be sent to the vehicle collision alarm module of subsystem 3 (13); Subsystem 3 (13) only has an antenna, is used to utilize the collision warning information of interior WLAN (14) reception of vehicle from subsystem 2 (12).

The structural representation of subsystem 1 (11) is referring to Fig. 2 among Fig. 1.Subsystem 1 comprises vehicle OBD information acquisition module (21), acceleration information acquisition module (22), GPS information acquisition module (23), integrated information processing module (24) and 802.11a radio receiving transmitting module five parts such as (20).OBD information acquisition module (21), acceleration information acquisition module (22) and GPS information acquisition module three modules such as (23) all link to each other with integrated information processing module (24) by serial ports.Subsystem 1 (11) has three antennas, and antenna 1 (25) is used for receiving the GPS information from gps satellite (11a), and gps satellite is not only to specify 1 gps satellite herein, and is meant and can receives the needed a plurality of gps satellites of GPS locating information; Antenna 2 (26) is used for receiving the differential GPS information of self-differential GPS base station (11b); Antenna 3 (27) adopts the 802.11a agreement at the MAC layer, and WLAN carries out the transmission of this car information INFO1 in the vehicle to utilize.

In the OBD information acquisition module (21), OBD protocol converter (21b) is with J1962 standard interface (21a) is continuous mutually, and the agreement that OBD protocol converter (21b) is supported comprises SAE/J1850PWM, SAE/J1850VPWM, ISO/9141, ISO/14230-4 and ISO/15765, SAE/J2480 etc.OBD protocol converter (21b) sends to OBD message handler (21c) with car speed information, and (21c) is converted to readable format with resulting velocity information by the OBD message handler, sends to integrated information processing module (24).

Acceleration information acquisition module (22) is by the acceleration magnitude of three directions of 3-axis acceleration sensor (22a) perception vehicle, and analog quantity is converted to digital quantity by A/D modular converter (22b), send to acceleration information treater (22c), degree of will speed up information translation is a readable format, sends to integrated information processing module (24).

In the GPS information acquisition module (23), GPS receiver module (23a) uses the receptor of 5Hz, receives from the GPS information from gps satellite (11a) by antenna 1 (25), and sends to GPS message handler (23c); Differential GPS receiver module (23b) receives the differential GPS information of self-differential GPS base station (11b) by antenna 2 (26), and sends to GPS message handler (23c).Comprehensive GPS information of GPS message handler (23c) and differential GPS information, (x, y z) with sense of motion information m, send to integrated information processing module (24) to obtain high-precision three-dimensional location information p.

Integrated information processing module (24) is with velocity information v, the acceleration information a and the three dimensional local information p (x that obtain, y, z) and sense of motion information m, utilize 802.11a radio receiving transmitting module (20) to send to the vehicle internal information Switching Module of subsystem 2 (12) among Fig. 1.

The structural representation of subsystem 2 (12) is referring to Fig. 3 among Fig. 1.Subsystem 2 comprises information exchange module between vehicle (31), Ben Che and surrounding vehicles information storage area (32), vehicle internal information Switching Module (33) and impact detection module (34).Subsystem 2 has two antennas, and antenna 1 (35) is operated in 2.4GHz, based on Wireless mesh technology, carries out information exchange between vehicle; Antenna 2 (36) adopts the 802.11a agreement at the MAC layer, and WLAN carries out the transmission of this car information INFO1 and alarm message in the vehicle to utilize.

Information exchange module between vehicle (31) comprises this car information sending module (31a), surrounding vehicles information acquisition module (31b), surrounding vehicles information preservation module (31c) and wireless mesh network module (31d).This car information sending module (31a) is used for this car information INFO1 is taken out from Ben Che and surrounding vehicles information storage area (32), and sends to surrounding vehicles; Surrounding vehicles information acquisition module (31b) is used to obtain surrounding vehicles information INFO2, and sends to surrounding vehicles information preservation module (31c); Surrounding vehicles information is preserved module (31c) and is used for surrounding vehicles information INFO2 is saved in Ben Che and surrounding vehicles information storage area (32); Wireless mesh network module (31d) is used for carrying out information exchange with surrounding vehicles.

This car and surrounding vehicles information storage area (32) adopt storage equipment Flash, when Flash is full, then cover the information of oldest stored according to the principle of first in first out.

Vehicle internal information Switching Module (33) comprises alarm message sending module (33a), the preservation of this car information module (33b), this car information receiving module (33c) and 802.11a radio receiving transmitting module (33d).Alarm message sending module (33a) is used for collision warning information is sent to subsystem 3; This car information receiving module (33c) is used for this car information INFO1 that receiving subsystem 1 sends; This car information is preserved module (33b) and is used for INFO1 is saved to Ben Che and surrounding vehicles information storage area (32); 802.11a radio receiving transmitting module (33d) is used to utilize, and WLAN carries out the transmission of this car information INFO1 and alarm message in the vehicle.

Impact detection module (34) comprises impact detection relevant information acquisition module (34a), collision probability computing module (34b) and collision judgment and alarm module (34c).Impact detection relevant information acquisition module (34a) is used for taking out this car information INFO1 and surrounding vehicles information INFO2 from Ben Che and surrounding vehicles information storage area (32); Collision probability computing module (34b) is used to utilize INFO1 and INFO2 to calculate collision probability; Collision judgment and alarm module (34c) are used to judge whether and may bump, if possible, then report to the police.

The structural representation of subsystem 3 (13) is referring to Fig. 4 among Fig. 1.Subsystem 3 (13) only comprises a module, i.e. vehicle collision alarm module (41).Subsystem 3 has 1 antenna, adopts the 802.11a agreement at the MAC layer, is used to receive alarm message.

Vehicle collision alarm module (41) comprises 802.11a radio receiving transmitting module (41a), alarm information processing module (41b), audible alarm module (41c) and LCD display module (41d).802.11a radio receiving transmitting module (41a) is used to utilize, and WLAN carries out the transmission of this car information INFO1 and alarm message in the vehicle; Alarm information processing module (41b) is used for alarm message is expressed as suitable type of alarm; Audible alarm module (41c) is used for the sounding reminding chaufeur; LCD display module (41d) is used to utilize graphics mode to show the GPS locating information of this car and the collision vehicle that predicts.

Fig. 5 is a vehicle collision prewarning method implementing procedure scheme drawing, specifically comprises following flow process:

Step 501, the vehicle collision prewarning system begins each parameter of initialization after the vehicle ignition, comprises time of driver's reaction a reference value t (second), height of car difference limen value H, equals collision probability threshold value P _Alarm(1 〉=P _Alarm〉=0), and in order to characterize the adjustment factor α of chaufeur oneself state, wherein, adjustment factor α can manually be set according to s own situation by chaufeur, for the chaufeur of new hand and fatigue state, its reaction time is slower, can be set to lower value by α; For the good chaufeur of state, can be set to higher value by α.

In this step, the time of driver's reaction a reference value comes from " traffic flow theory " book the statistics of time of driver's reaction, and this statistics shows that time of driver's reaction t meets logarithmic normal distribution, when confidence level was 85%, the brake response time upper limit was about 2.74 seconds; According to the test result of time of driver's reaction t, fixedly t is certain value in the test area, as 1.5s.

Step 502, OBD information acquisition module, sensor information acquisition module, GPS information acquisition module are gathered this car information INFO1 respectively, comprise the vehicle driving information and the locating information such as position, sense of motion such as speed, acceleration/accel of this car, and send to vehicle internal information Switching Module; Simultaneously, information exchange module obtains surrounding vehicles information INFO2 between vehicle, comprises the vehicle driving information and the locating information such as position, sense of motion such as speed, acceleration/accel of surrounding vehicles, and sends to vehicle internal information Switching Module.The surrounding vehicles here is not only to refer to a car, and is meant other vehicles that are positioned at around this car.

Step 503, vehicle internal information Switching Module sends to information exchange module between vehicle with this car information after obtaining this car information INFO1, other vehicles around being sent to by information exchange module between vehicle.

Step 504, comprehensive this car received of vehicle internal information Switching Module and surrounding vehicles information (INFO1 and INFO2) utilize the interior WLAN of vehicle to send to the impact detection module, carry out personalized impact detection, calculate collision probability.Wireless local area network technology can adopt WLAN and wireless personal area network technology such as 802.11a, 802.11b, 802.11g, UWB, bluetooth in the vehicle.

Step 505 judges that whether collision probability is greater than given threshold value P _Alarm, be then to change step 506 over to, otherwise return step 502.

Step 506 triggers the vehicle collision alarm module and reports to the police to chaufeur, returns step 502.

Fig. 6 is the implementing procedure scheme drawing of subsystem 1 described in the embodiment of the invention, specifically comprises following flow process:

Step 601, the OBD message handler in the OBD information acquisition module sends instruction every the set time to the OBD protocol converter, request velocity information, the automatic detection protocol type of OBD protocol converter, and this vehicle speed information v that will collect ₁Return to the OBD message handler; The OBD message handler sends this vehicle speed information v to the integrated information processing module ₁

Step 602, the acceleration information treater is gathered 3-axis acceleration sensor information every the set time in the sensor information acquisition module, and is converted to this car acceleration information a by A/D ₁, send this car acceleration information a to the integrated information processing module ₁

Step 603, GPS receiver module in the GPS information acquisition module and differential GPS receiver module be with the speed acquisition GPS information and the differential GPS information of per second 5 times, and send to the GPS message handler and proofread and correct in real time, obtains the three dimensional local information p of this car ₁(x ₁, y ₁, z ₁) and sense of motion information m ₁, the GPS message handler sends it to the integrated information processing module.

Step 604, the integrated information processing module comprises velocity information v with this car information INFO1 that travels ₁, acceleration information a ₁, three dimensional local information p ₁(x ₁, y ₁, z ₁) and sense of motion information m ₁, as application layer data, utilize ICP/IP protocol to be encapsulated in the IP bag, be packaged into the 802.11a frame again, send to the vehicle internal information Switching Module of subsystem 2 among Fig. 1.

Fig. 7 is the implementing procedure scheme drawing of subsystem 2 described in the embodiment of the invention, specifically comprises following flow process:

Now carrying out information exchange with two cars is example, and the algorithm of subsystem 2 is described:

Step 701, the vehicle internal information Switching Module of vehicle A receives the 802.11a frame from this car system 1, carries out decapsulation, obtains this car information INFO1 that travels, and comprises the velocity information v of this car ₁, acceleration information a ₁, three dimensional local information p ₁(x ₁, y ₁, z ₁) and sense of motion information m ₁

Step 702, after this car information of travelling that the vehicle internal information Switching Module of vehicle A will receive increases this car id information, sequence number information and timestamp information, be stored among the storage equipment Flash of vehicle A, if Flash is full, then cover the information of oldest stored among the Flash according to the principle of first in first out.

Step 703, information exchange module takes out this car information INFO1 that travels between the vehicle of vehicle A from Flash, increase this car id information and sequence number information after, utilize Wireless mesh technology vehicle broadcasting towards periphery.Wherein, sequence number information singly increases, and is used to distinguish new old information.

Step 704, information exchange module receives the Frame of surrounding vehicles broadcasting between the vehicle of vehicle A, carries out decapsulation, obtains the driving information of vehicle B.

Step 705, vehicle A judges that the sequence number of vehicle B wherein whether greater than existing vehicle B sequence number, is then to turn to step 706; Otherwise abandon this data, return step 701.

Step 706, information exchange module obtains the driving information INFO2 of vehicle B between the vehicle of vehicle A, comprises velocity information v ₂, acceleration information a ₂, three dimensional local information p ₂(x ₂, y ₂, z ₂) and sense of motion information m ₂After the driving information INFO2 of vehicle B being increased id information, sequence number information and the timestamp information of vehicle B, INFO2 is stored among the storage equipment Flash of vehicle A,, then covers the information of oldest stored among the Flash according to the principle of first in first out if Flash is full.

Step 707, the impact detection module of vehicle A are taken out the travel driving information INFO2 of information INFO1 and vehicle B of this car from Flash, calculate the diff-H h between two cars.

Step 708, whether decision height difference h is then to return step 701, otherwise changes step 709 over to greater than given threshold value H.

Step 709, calculate between two cars apart from d.

Step 710 judges that two spacings whether reducing, are then to change step 711 over to, otherwise return step 701.

Step 711 judges whether to be the straight way situation, is then to change step 712 over to, otherwise changes step 713 over to.

Step 712 utilizes two spacings, speed and acceleration/accel to calculate the vehicle collision time; Be illustrated in figure 8 as two car straight ways travel situations in the same way, utilize formula $d=(v_1-v_2)T+\frac{(a_1-a_2)}{2}{T}^2,$ Find the solution the vehicle collision time T, change step 717 over to.

Step 713 judges whether to be the four corners situation, is then to change step 714 over to, otherwise changes step 715 over to.

Step 714 utilizes two spacings, speed and acceleration/accel to calculate the vehicle collision time; Be illustrated in figure 9 as two crossroads travel situations in opposite directions, utilize formula $d^2={(v_{1}T+\frac{a_1}{2}{T}^2)}^2+{(v_{2}T+\frac{a_2}{2}{T}^2)}^2,$ Find the solution the vehicle collision time T, change step 717 over to.

Step 715 judges whether to be the bend situation, is then to change step 716 over to, otherwise returns step 701.

Step 716 utilizes two spacings, speed, acceleration/accel and sense of motion to calculate the vehicle collision time; Be two car bends travel situations in opposite directions as shown in figure 10, the solving equation group

$\left\{\begin{array}{c}m\cos (\mathrm{\α}-\mathrm{\γ})+n\cos (\mathrm{\γ}-\mathrm{\β})=d\\ m=v_{1}T+\frac{a_1}{2}{T}^2\\ n=v_{2}T+\frac{a_2}{2}{T}^2\\ \mathrm{\γ}=\mathrm{arctg}\frac{y_2-y_1}{x_2-x_1}\end{array}\right.,$

Obtain the vehicle collision time T.Wherein, α and β can pass through direction of vehicle movement information m ₁And m ₂Calculate.

Step 717 is according to formula $P=g\left(T\right)=e^{-\frac{\mathrm{\α}}{t}T}$ Calculate collision probability P, judge that whether collision probability is greater than given threshold value P _Alarm, be then to change step 718 over to; Otherwise return step 701.

Step 718 with Ben Che with there is the three dimensional local information of the possible vehicle of collision to utilize ICP/IP protocol to be encapsulated in the IP bag as application layer data, is packaged into the 802.11a frame again, and the subsystem 3 that sends among Fig. 1 is reported to the police to chaufeur, returns step 701.

Figure 11 is the implementing procedure scheme drawing of subsystem 3 described in the embodiment of the invention, specifically comprises following flow process:

Step 1101, the vehicle collision alarm module receives the 802.11a frame from subsystem 2, carries out decapsulation, obtains Ben Che and the three dimensional local information that may collide vehicle, with the auditory tone cues chaufeur.

Step 1102 shows this car and the position that may collide vehicle with graphical interfaces on LCD.

Fig. 8, Fig. 9 and Figure 10 have described the part impact detection scheme drawing of straight way, four corners and bend situation, should be noted that: these three kinds of situations are only in order to illustrating technical scheme of the present invention, but not limit it.With above-mentioned three kinds of similar situations of situation under; comprise under the straight way situation two cars in opposite directions, two cars oppositely under the four corners situation, two cars are reverse etc. under the bend situation; persons skilled in the art are under the situation of spirit of the present invention; by resulting corresponding method of detection that above-mentioned collision checking method is made amendment, all should be encompassed in the technical scheme scope that the present invention asks for protection.

Claims (11)

1, a kind of vehicle collision prewarning method, realize by following steps:

Step 1, the vehicle collision prewarning system begins each parameter of initialization after the vehicle ignition, comprises time of driver's reaction a reference value t (second), height of car difference limen value H, collision probability threshold value P _Alarm(1 〉=P _Alarm〉=0), and in order to characterize the adjustment factor α of chaufeur oneself state, wherein, adjustment factor α can manually be set according to s own situation by chaufeur, for the chaufeur of new hand and fatigue state, its reaction time is slower, can be set to lower value by α; For the good chaufeur of state, can be set to higher value by α.

Step 2, OBD information acquisition module, sensor information acquisition module, GPS information acquisition module are gathered this car information INFO1 respectively, comprise the vehicle driving information and the locating information such as position, sense of motion such as speed, acceleration/accel of this car, and send to vehicle internal information Switching Module; Simultaneously, information exchange module obtains surrounding vehicles information INFO2 between vehicle, comprises the vehicle driving information and the locating information such as position, sense of motion such as speed, acceleration/accel of surrounding vehicles, and sends to vehicle internal information Switching Module.The surrounding vehicles here is not only to refer to a car, and is meant other vehicles that are positioned at around this car.

Step 3, vehicle internal information Switching Module sends to information exchange module between vehicle with this car information after obtaining this car information INFO1, other vehicles around being sent to by information exchange module between vehicle.

Step 4, comprehensive this car received of vehicle internal information Switching Module and surrounding vehicles information (INFO1 and INFO2) utilize the interior WLAN of vehicle to send to the impact detection module, carry out personalized impact detection, calculate collision probability.

Step 5 is if judge that collision probability greater than given threshold value, is then to change step 6 over to, otherwise returns step 2.

Step 6 triggers the vehicle collision alarm module and reports to the police to chaufeur, returns step 2.

2, vehicle collision prewarning method according to claim 1 is characterized in that described OBD information acquisition module gathers this vehicle speed information and may further comprise the steps:

The OBD information acquisition module utilizes the OBD interface in the car, read the relevant driving information of automotive safety by many OBD protocol converter, as car speed v, the relevant driving information of vehicle safety is sent to vehicle internal information Switching Module by WLAN in the vehicle.

3, vehicle collision prewarning method according to claim 1, it is characterized in that described sensor information acquisition module gathers this car acceleration information and may further comprise the steps: the sensor information acquisition module utilizes 3-axis acceleration sensor to obtain the acceleration/accel a of vehicle, by WLAN in the vehicle acceleration information is sent to vehicle internal information Switching Module.

4, vehicle collision prewarning method according to claim 1 is characterized in that described GPS information acquisition module is gathered this car locating information and sense of motion information may further comprise the steps:

The GPS information acquisition module uses the receptor of 5Hz, receives the locating information of gps satellite, and gps satellite is not only to specify 1 gps satellite herein, and is meant and can receives the needed a plurality of gps satellites of GPS locating information;

The differential GPS information of the support high fix that GPS information acquisition module reception differential GPS base station is provided;

The GPS information acquisition module utilizes the differential GPS alignment technique, with draw after GPS locating information and the differential GPS information processing revised three dimensional local information p (x, y, z) and sense of motion information m;

The GPS information acquisition module sends resulting car three dimensional local information p to vehicle internal information Switching Module by WLAN in the vehicle.

5, vehicle collision prewarning method according to claim 1 is characterized in that information exchange module and surrounding vehicles exchange collision detect relevant information between described vehicle may further comprise the steps:

Information exchange module receives the driving information of surrounding vehicles between vehicle, utilizes that information exchange module directly exchanges information of vehicles between the vehicle of Wireless mesh technology and surrounding vehicles, also can pass through roadside accessing points indirect exchange information of vehicles; Wireless mesh network is a kind of in the wireless self-organization network.

Information exchange module utilizes the interior WLAN of vehicle that the driving information INFO2 of surrounding vehicles is sent to vehicle internal information Switching Module between vehicle;

By WLAN in the vehicle, information exchange module obtains this car information INFO1 that travels from vehicle internal information Switching Module between vehicle, and utilizes Wireless mesh technology to send to surrounding vehicles.

6, vehicle collision prewarning method according to claim 1 is characterized in that described impact detection module may further comprise the steps:

The impact detection module is used to from this car of vehicle internal information Switching Module and the various information of surrounding vehicles, comprise: obtain the vehicle movement speed v, obtain the three dimensional local information p (x of vehicle by differential GPS information by OBD information, y, z) and sense of motion information m, obtain the acceleration/accel a of vehicle by sensor information, calculate since the current time time T that vehicle collision will take place in real time;

According to collision relative time T, the time of driver's reaction a reference value t (second) that will take place, and adjustment factor α, the vehicle collision possibility is calculated, obtain the collision probability P of personalization;

If collision probability is greater than given threshold value P _Alarm, then utilize vehicle internal information Switching Module alarm message to be sent to the vehicle collision alarm module by WLAN in the vehicle.

7, vehicle collision prewarning method according to claim 1 is characterized in that described triggering vehicle collision alarm module is reported to the police may further comprise the steps:

After the vehicle collision alarm module is received collision warning information, with the auditory tone cues chaufeur;

On LCD, show this car and the position that may collide vehicle with graphical interfaces.

8, vehicle collision prewarning method according to claim 6, it is characterized in that described impact detection module is used to the various information from vehicle internal information Switching Module, calculating is since the current time, and the relative time T that vehicle collision will take place may further comprise the steps:

Calculate the diff-H h between separation between vehicles d and vehicle; If diff-H h＞height of car difference limen value H does not then report to the police;

Calculate two spacings, if two spacings are not then reported to the police enlarging; Otherwise, according to the three dimensional local information and the sense of motion information of Ben Che and surrounding vehicles, distinguish the travel direction of this car and surrounding vehicles, specifically can be divided into straight way, four corners and three kinds of situations of bend, calculate the time T that vehicle collision will take place.

9, vehicle collision prewarning method according to claim 6 is characterized in that time T, time of driver's reaction a reference value t (second) that described impact detection module will take place according to collision, and adjustment factor α calculating collision probability P may further comprise the steps:

According to formula $P=g\left(T\right)=e^{-\frac{\mathrm{\α}}{t}T}$ Calculate collision probability P.

10, vehicle collision prewarning method according to claim 9 is characterized in that described basis is divided into straight way, four corners and three kinds of situations of bend, and the time T that the calculating vehicle collision will take place may further comprise the steps:

If the straight way situation then utilizes two spacings, speed and acceleration/accel to calculate the vehicle collision time T;

If the four corners situation then utilizes two spacings, speed and acceleration/accel to calculate the vehicle collision time T;

If the bend situation then utilizes two spacings, speed, acceleration/accel and sense of motion to calculate the vehicle collision time T.

11, realize the device of vehicle collision prewarning method, it is characterized in that described device comprises following composition:

The GPS information acquisition module is used to gather this car three dimensional local information p, and (x, y send to vehicle internal information Switching Module z) with sense of motion information m, and by radio receiving transmitting module;

The OBD information acquisition module is used to gather this vehicle speed information v, and sends to vehicle internal information Switching Module;

The sensor information acquisition module is used to gather this car acceleration information a, and sends to vehicle internal information Switching Module;

Information exchange module is used for detecting relevant information with the surrounding vehicles exchange collision between vehicle, comprises this car information INFO1 and surrounding vehicles information INFO2; This car information INFO1 obtains from the vehicle internal information Switching Module of this car, and the information INFO2 that obtains from surrounding vehicles will be sent to the vehicle internal information Switching Module of this car;

Vehicle internal information Switching Module is used to utilize WLAN each intermodule transfer information of vehicles in vehicle in the vehicle, comprise: collect from this car information INFO1 of OBD information acquisition module, sensor information acquisition module, GPS information acquisition module, and this car information INFO1 is sent to information exchange module between vehicle by WLAN in the vehicle; And collection is from the surrounding vehicles information INFO2 of information exchange module between vehicle; Simultaneously, INFO1 and INFO2 are sent to the impact detection module; In addition, also receive alarm message, and send to the vehicle collision alarm module from the impact detection module;

The impact detection module is used for calculating collision probability, if collision probability greater than given threshold value, then sends to alarm message vehicle internal information Switching Module according to information INFO1 and INFO2 from vehicle internal information Switching Module;

The vehicle collision alarm module is used for pointing out chaufeur in the mode of sound and image when Ben Che and surrounding vehicles may bump.

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