CN107248320A - Danger early warning method, system, V2X car-mounted terminals and memory - Google Patents
Danger early warning method, system, V2X car-mounted terminals and memory Download PDFInfo
- Publication number
- CN107248320A CN107248320A CN201710475464.1A CN201710475464A CN107248320A CN 107248320 A CN107248320 A CN 107248320A CN 201710475464 A CN201710475464 A CN 201710475464A CN 107248320 A CN107248320 A CN 107248320A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- travel direction
- surrounding vehicles
- car
- early warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of danger early warning method, system, V2X car-mounted terminals and memory, the danger early warning method includes：State acquiring step：Obtain the transport condition parameter of this vehicle and the transport condition parameter of surrounding vehicles；Walking direction step：Judge whether the travel direction of the surrounding vehicles is reverse with the travel direction of this vehicle according to the transport condition parameter；Track judgment step：Judge the surrounding vehicles whether in the leftmost side track of its travel direction according to the transport condition parameter；Early warning generation step：If the travel direction of the travel direction of the surrounding vehicles and this vehicle is reverse and the surrounding vehicles are in the leftmost side track of its travel direction；Meanwhile, the front of this vehicle is intersection, and/or, the left steering lamp of the surrounding vehicles is open mode, then generates anti-collision warning information.Implement technical scheme, can accurately and efficiently carry out danger early warning, it is ensured that the safety of participant.
Description
Technical field
The present invention relates to intelligent transportation (Intelligent Transportation System, abbreviation ITS) field, especially
It is related to a kind of danger for being based on DSRC (Dedicated Short Range Communication, Dedicated Short Range Communications)
Method for early warning, system, V2X car-mounted terminals and memory.
Background technology
Intelligent network connection car is an important component of intelligent transportation (ITS) system, and its category had both been included to navigate, road
Road information service and long-range vehicle condition be diagnosed as represent automobile information and amusement class business, also including anti-collision warning, to lose control of one's vehicle
The security classes business such as early warning, prevention pedestrian impact.The intelligent transportation system based on communication, i.e. ITSC are also defined as in Europe
(ITS Communication), intelligent transportation business of this standard technology based on the DSRC communication technologys, DSRC series standards include
IEEE 802.11p, IEEE 1609 series and SAE J2735, J2945 standards.In the application of vehicle net, include V2V
(Vehicle to Vehicle, car to car), V2P (Vehicle to Pedestrian, car to people), V2I (Vehicle to
Infrastructure, car to infrastructure) and V2N (Vehicle to Network, car to network) intelligent transportation business.
With advances in technology, the nearly more than ten years, in intelligent transportation field, in order to improve drive safety, traffic efficiency with
And lifting Consumer's Experience, automobile is connected to each other with automobile, automobile and pedestrian and automobile and means of transportation, formation car, OK
People and the new scene of infrastructure interconnection.Using ride safety of automobile, improved efficiency and information service as main application scenarios
Intelligent network, which joins car and intelligent transportation system, turns into the focus in this trend.It is divided into many classes in the safety applications of car networking,
Including anti-collision warning, early warning, the multiple scenes of prevention pedestrian impact etc. to lose control of one's vehicle.
Intelligent network joins automobile and passes through Che-car communication (V2V), car-roadside infrastructure communication (V2I), car-people's communication
And car-network (V2P)/high in the clouds communication (V2N/V2C) can bring notable value to ADAS and automated driving system.By to
Vehicle and vehicle driver provide 360 degree of non line of sight information, can be obviously improved traffic and road safety, and pass through car car, car
Road and car and network cooperating, can be effectively improved traffic congestion, lift traffic circulation efficiency, and can provide timely and essence
Accurate information service, including real-time navigation, payment, automatic stopping, car entertainment etc..
In vehicle travel process, driver needs the change to surrounding environment rapidly to make correct response, for example,
Driver opens left steering lamp, and it may be turned left or left lane change, so, turn left and left lane change two states are in car
Dangerous information is entirely different to be judged to vehicle in safety applications.But, in traditional collision algorithm, left steering lamp is opened logical
Often being judged the car needs left-hand bend, and processing scene is also just handled according in left-hand bend anti-collision warning scene, and scene is managed in this place
In, left lane change vehicle of much keeping straight on has very maximum probability by wrong report left-hand bend conflict alert.
The content of the invention
The technical problem to be solved in the present invention is, the above-mentioned easy wrong report left-hand bend conflict alert for prior art lacks
Fall into there is provided a kind of danger early warning method based on DSRC, system, V2X car-mounted terminals and memory, can accurately and efficiently be endangered
Dangerous early warning.
The technical solution adopted for the present invention to solve the technical problems is：A kind of danger early warning side based on DSRC of construction
Method, including：
State acquiring step：Obtain the transport condition parameter of this vehicle and the transport condition parameter of surrounding vehicles；
Walking direction step：According to the transport condition parameter judge the surrounding vehicles travel direction whether with this car
Travel direction it is reverse；
Track judgment step：According to the transport condition parameter judge the surrounding vehicles whether in its travel direction most
Left-hand lane；
Early warning generation step：If around the travel direction of the travel direction of the surrounding vehicles and this vehicle is reverse and described
Vehicle is in the leftmost side track of its travel direction；Meanwhile, the front of this vehicle is intersection, and/or, the surrounding vehicles
Left steering lamp is open mode, then generates anti-collision warning information.
Preferably, judge the front of this vehicle for intersection according to following steps：
Judge the vehicle intersected in surrounding vehicles with the presence or absence of the travel direction of travel direction and this vehicle, or, judge
With the presence or absence of the vehicle turned left on the track in the same direction with the travel direction of this vehicle in surrounding vehicles, if so, then true
The front of this fixed vehicle is intersection.
Preferably, the track judgment step includes：
Whether judge the travel direction of the surrounding vehicles is reverse with the travel direction of this vehicle；
If the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse, the phase of the surrounding vehicles is judged
Whether adjacent track has the vehicle in the same direction with the travel direction of this vehicle, if, it is determined that the surrounding vehicles are in its travel direction
Leftmost side track.
Or,
If the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse, whether the surrounding vehicles are judged
In the adjacent lane of this vehicle, if, it is determined that the surrounding vehicles are in the leftmost side track of its travel direction.
Specifically, judging concretely comprising the following steps for adjacent lane, calculate big with travel direction institute between vehicle in road surface level
The distance on vertical direction is caused, if more than or equal to first lane preset value, and less than or equal to second lane preset value, then judge
For adjacent lane.
Preferably, the walking direction step includes：
The deflection that vehicle heading is indicated in the transport condition parameter is obtained, the deflection is vehicle traveling side
To the angle with real north of the earth direction；
Calculate the absolute difference of this vehicle and the deflection of the surrounding vehicles；
If the absolute difference is within a preset range, it is determined that the travel direction of the surrounding vehicles and the row of this vehicle
Sail direction reversely, the preset range is 140~220 degree.
Preferably, before early warning generation step, in addition to：
Height judgment step：The height and this height of car of the surrounding vehicles are calculated according to the transport condition parameter,
And judge whether the absolute difference of both height is less than preset height value, if so, then performing below step.
The present invention also constructs a kind of V2X car-mounted terminals, including：
State acquisition module, for obtaining the transport condition parameter of this vehicle and the transport condition of surrounding vehicles；
Walking direction module, for judged according to the transport condition parameter surrounding vehicles travel direction whether with
The travel direction of this vehicle is reverse；
Track judge module, for judging the surrounding vehicles whether in its travel direction according to the transport condition parameter
Leftmost side track；
Early warning generation module, it is reverse for the travel direction in the surrounding vehicles and the travel direction of this vehicle, and institute
Surrounding vehicles are stated in the leftmost side track of its travel direction, meanwhile, the front of this vehicle is intersection, and/or, the surrounding
When the left steering lamp of vehicle is open mode, determine the surrounding vehicles is intended to left-hand bend, and generates anti-collision warning information.
The present invention also constructs a kind of V2X car-mounted terminals, including processor and memory, it is characterised in that the memory
For storage program instruction, described program instruction is loaded by the processor and performs realization such as the step of above-mentioned method.
The present invention also constructs a kind of memory, is stored thereon with programmed instruction, it is characterised in that described program instruction is located
Reason device loads and performs realization such as the step of above-mentioned method.
The present invention also constructs a kind of danger early warning system based on DSRC, including at least two above-mentioned V2X car-mounted terminals.
Implement technical scheme, the V2X technologies based on DSRC pass through the traveling shape to this vehicle and surrounding vehicles
State parameter is analyzed, if meeting three below condition：(1) travel direction of surrounding vehicles is opposite with this vehicle；(2) around
Vehicle is in the leftmost side track of its travel direction；(3) this vehicle front is intersection, and/or, the left steering of surrounding vehicles
Lamp is open mode, so that it may determine that the surrounding vehicles have left-hand bend or turn around to be intended to, it has the risk collided with this car, this
When, this vehicle can generate anti-collision warning information, therefore, can accurately and efficiently carry out danger early warning, it is ensured that the peace of participant
Entirely, with certain Social benefit and economic benefit.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.In accompanying drawing：
Fig. 1 is application scenarios schematic diagram；
Fig. 2 is the flow chart of the danger early warning embodiment of the method one of the invention based on DSRC；
Fig. 3 is the flow chart of the danger early warning embodiment of the method two of the invention based on DSRC；
Fig. 4 is straight trip section application scenarios schematic diagram；
Fig. 5 is intersection application scenarios schematic diagram；
Fig. 6 is the building-block of logic of V2X car-mounted terminals embodiment one of the present invention.
Embodiment
In vehicle travel process, driver needs the change to surrounding environment to make quick response.Safely should in V2V
In, basic application judges this car and its car state according to the basic security such as vehicle location, deflection, speed message, and
Handled it according to these states.In truck traffic, by beating left steering lamp come lane change or a left side in vehicle travel process
Turn or turn around, but in the process of moving, lane change, turn left, turn around for there are different risk of collision to track.With reference to
Fig. 1, car C, D straight trip, car B turn left, and car A is to left-hand lane change and then keeps straight on.In this scene, car C is touched with the car B turned left
Hit danger, and car C and the car A collisionless risks kept straight on after lane change to the left, now car A and car B left steering lamp are all open shape
State.The BSM (Basic Safety Message, basic security message) that car C receives the car of A, B two includes respective position, side
To and left steering lamp open message, how to identify two cars collision possibility, improve early warning judge accuracy seem outstanding
To be important.
Fig. 2 is the flow chart of the danger early warning embodiment of the method one of the invention based on DSRC, the danger early warning of the embodiment
Method comprises the following steps：
S10. state acquiring step：Obtain the transport condition parameter of this vehicle and the transport condition parameter of surrounding vehicles；
Specifically, transport condition parameter includes but is not limited to：Velocity information, geographical location information, signal lamp state information.
In addition, be provided with V2X car-mounted terminals on automobile, the V2X car-mounted terminals can obtain speed, left steering lamp from automobile Can buses
Status signal, receives the geographical location information that GNSS (Global Navigation Satellite System) is provided, also leads to
Cross geographical location information, velocity information, the status signal of left steering lamp that DSRC receives surrounding vehicles.Meanwhile, by DSRC to
Surrounding vehicles broadcast geographical location information, velocity information, the status signal of left steering lamp of itself.
S20. walking direction step：According to the transport condition parameter judge the surrounding vehicles travel direction whether with
The travel direction of this vehicle is reverse；
S30. track judgment step：Judge the surrounding vehicles whether in its travel direction according to the transport condition parameter
Leftmost side track；
S40. early warning generation step：If the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse and described
Surrounding vehicles are in the leftmost side track of its travel direction；Meanwhile, the front of this vehicle is intersection, and/or, the surrounding car
Left steering lamp be open mode, then generate anti-collision warning information.
Specifically, if it is determined that some vehicle meets three below condition simultaneously：(1) travel direction of the vehicle and sheet
Car is opposite；(2) vehicle traveling is in leftmost side track；(3) this front side is intersection, and/or, the left steering of the vehicle
Lamp is open mode, so that it may determines that the vehicle has left-hand bend or turns around to be intended to, has the risk of collision with this car, now, it will raw
Into anti-collision warning information.Moreover, the warning information generated can be transferred to display screen by Can buses or Ethernet or WIFI,
So that display screen is exported to user, the display screen can be V2X car-mounted terminals display screen, or automobile display screen, may be used also
For the display screen of user terminal (such as mobile phone, PAD).The thing of explanation is needed exist for, surrounding vehicles as described herein refer to possibility
This car traveling produces the vehicle of influence, such as two cars distance is more and more remote, then illustrates that two cars had crossed, will not produce shadow
Ring, then it is surrounding vehicles to be not considered as it.It is readily appreciated that, if two cars are apart from each other, such as larger than 200 meters, is then also not considered as it
Real surrounding vehicles.
Fig. 3 is the flow chart of the danger early warning embodiment of the method two of the invention based on DSRC, the danger early warning of the embodiment
Method the difference is that only compared to the embodiment shown in Fig. 2, between step S10 and step S20, in addition to：
S50. height judgment step：It is high according to the height and this vehicle that the transport condition parameter calculates the surrounding vehicles
Degree, and judge whether the absolute difference of both height is less than preset height value, if so, then performing step S20, preset height value
For example, 3 meters.
In this embodiment, this vehicle is receiving the transport condition parameter information of surrounding vehicles, first carries out high computational,
And vehicle is classified by height, if the height difference absolute value of two cars is less than preset height value, then it is assumed that two cars are same
Travelled on the road of height, walking direction step, track judgment step below is then carried out again, and determine according to judged result
Whether anti-collision warning information is generated；If both height difference absolute values are not less than preset height value, then it is assumed that two cars do not exist
Travelled on the road (such as on viaduct and under viaduct) of sustained height, now, the risk that two cars are not collided does not just have yet
Necessity carries out follow-up step.
Finally, it should be noted that, this is one embodiment of the present of invention, in other embodiments, and step S50 also may be used
It is arranged between step S20 and step S30, or, is arranged between step S30 and step S40.
On the basis of above-described embodiment, further, step S20 may particularly include：
S21. the deflection that vehicle heading is indicated in the transport condition parameter is obtained, the deflection is vehicle row
Sail the angle in direction and real north of the earth direction；
S22. the difference of this vehicle and the deflection of the surrounding vehicles is calculated；
If S23. the difference is within a preset range, it is determined that the travel direction of the surrounding vehicles and the traveling of this vehicle
Reversely, the preset range is 140~220 degree, preferably 170~190 degree in direction.
In this embodiment, it can determine whether whether the travel direction of two cars is identical by comparing the deflection of two cars, if for example,
The difference of the deflection of two cars is less than 10 degree, then it is assumed that the travel direction of two cars is in the same direction；If the difference of the deflection of two cars is 80
Between~100 degree, then it is assumed that the travel direction of two cars is intersected；If the difference of the deflection of two cars is between 170~190 degree,
Think that the travel direction of two cars is reverse.
Further, the front of this vehicle can be judged for intersection according to following steps：Judge in surrounding vehicles whether
There is the vehicle that the travel direction of travel direction and this vehicle is intersected, or, judge to whether there is in surrounding vehicles with this car
Travel direction track in the same direction on the vehicle that is turned left, if, it is determined that the front of this vehicle is intersection.It is excellent
Selection of land, in order to prevent individual vehicle because turning to excessive or intersection erroneous judgement caused by traveling in violation of rules and regulations, can increase and sentence
Disconnected redundancy, the quantity that deflection difference is met into condition be set to it is multiple, such as 3, if it is determined that this vehicle with 3 to get on the bus
Deflection difference be satisfied by condition, for example, between 80~100 degree, now just determine that there is the presence of intersection in front.
In a specific embodiment, step S30 may include：
Whether S31. judge the travel direction of the surrounding vehicles is reverse with the travel direction of this vehicle；
If S32. the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse, the surrounding vehicles are judged
Whether this vehicle adjacent lane, if, it is determined that the surrounding vehicles are in the leftmost side track of its travel direction.
In another specific embodiment, step S30 may particularly include：
Whether S33. judge the travel direction of the surrounding vehicles is reverse with the travel direction of this vehicle；
If S34. the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse, the surrounding vehicles are judged
Adjacent lane whether have the vehicle in the same direction with the travel direction of this vehicle, if, it is determined that the surrounding vehicles its travel
The leftmost side track in direction.
It should be understood that this vehicle is no matter on which track of its travel direction, can with to having to turn left to be intended to
Vehicle have risk of collision, i.e. this vehicle with to have turn left be intended to vehicle may be on adjacent lane, it is also possible to differ
Two and the track of the above.
Preferably, wherein the method for judging adjacent lane is, calculate big with travel direction institute between vehicle in road surface level
The distance on vertical direction is caused, if more than or equal to first lane preset value, and less than or equal to second lane preset value, then judge
For adjacent lane.It is specific to use the spacing of 2 points general of the calculating earth when calculating the vertical range of the relative traveling of two cars
From algorithm.In addition, it will be assumed that lane width is 3m.If the vertical range of the relative traveling of two cars is less than 1.5 meters, then it is assumed that two cars
On same track；If the vertical range of the relative traveling of two cars is between 1.5 meters to 3 meters, then it is assumed that two cars are on adjacent lane；
If the vertical range of the relative traveling of two cars is more than 4.5 meters, then it is assumed that two cars are on non-adjacent track.
Separately below for Through Lane and two kinds of intersection situation illustrate how effectively to differentiate surrounding vehicles whether with
This car has risk of collision：
Straight trip section application scenarios schematic diagram with reference to shown in Fig. 4, car C receives car A, B, D traveling during straight trip
State parameter information, and can therefrom learn that car A, B left steering lamp is open mode.Now, car C first passes through deflection
Compare, just can determine that car A, B travel direction are reverse with it, and car D travel direction is in the same direction with it.Then, for car A,
B, car C further calculate the vertical range of its traveling relative with car A, car B respectively, and then can determine whether car B in its adjacent lane, and
Car C is in its adjacent remote track, now, car C can determine that car B beat left steering lamp be intended to turn around, have risk of collision with it.And car
What A beat left steering lamp is intended to lane change to the left, and the risk collided with it is relatively low.
Intersection application scenarios schematic diagram with reference to shown in Fig. 5, illustrates, is turned left at crossing first
Vehicle and the risk that through vehicles collide are high, and have turn left be intended to vehicle may be differed with this car track two and
More than.In the truck traffic without roadside device, no roadside device indicates that the section is crossroad or other fork on the road,
Therefore, in the occasion without roadside device, it is necessary to as intersection in front of first judging.As shown in figure 5, this car C is when moving forward,
According to the transport condition parameter information of the surrounding vehicles received, by judging that there is car E in front in the cross running (side of two cars
To angular difference value between 80~100 degree) come judge front there is intersection, or, by judge with its in the same direction traveling and
Car D on the track of the leftmost side judges that front has intersection being turned left.Meanwhile, in Figure 5, if received adjacent
There are car B backward goings on two tracks and when adjacent track in the same direction there are vehicle D left-hand rotations, can estimate front has the presence at crossing.
Judge that front has behind crossing, car B and this car C travel direction can be determined whether reversely, and car B in its travel direction most
Left-hand lane, now can determine that car B has left-hand bend to be intended to, the risk collided with this car C is larger, should generate anti-collision warning letter
Breath.
In a preferred embodiment, before vehicle is not provided with roadside unit on no map parameter and road
Put, load conditions are judged by the transport condition parameter information of surrounding vehicles is received.Idiographic flow is as follows：
1. target classification flow
The information of this vehicle receiver surrounding vehicles, then carries out height judgement, filters out the vehicle of sustained height downward driving,
The vehicle under sustained height is further divided into vehicle in the same direction (deflection difference is less than 10 degree), reverse vehicle further according to travel direction
(deflection difference is between 170~190 degree) are with intersecting driving vehicle (deflection difference is between 80~100 degree).
2. track judges flow
In judging in track, the classifying vehicle to be used is the vehicle data in the same direction and reverse vehicle data of this vehicle.Car
Whether the purpose that road judges only needs to judge vehicle in the same direction around and reverse vehicle in the leftmost side track of its travel direction, tool
Body：For vehicle in the same direction around, if its adjacent lane has the vehicle of backward going, then it is assumed that vehicle in the same direction is in its row around this
The leftmost side track in direction is sailed, vice versa；For reverse vehicle around, if its adjacent lane has travel corresponding thereto reverse
The vehicle of traveling (travel direction of the vehicle is identical with the travel direction of this vehicle), then it is assumed that vehicle in the same direction is in its row around this
The leftmost side track in direction is sailed, vice versa.By above flow, whether this vehicle can determine that out surrounding vehicles in its traveling side
To leftmost side track, it is more accurate that this method judges when vehicle is more, whether can accurately provide vehicle most
Left-hand lane.But, when vehicle is less, particularly do not find it is adjacent come car, this method judge just it is not accurate enough, but this
Plant under scene, its left-hand bend risk of collision is also very low in itself, thus the use of this method will greatly enrich left-hand bend purpose
The early warning of scape and algorithm.When whether judging surrounding vehicles in its leftmost side track, so that it may judge that its left steering lamp is opened
Purpose, such as car is in its travel direction leftmost side track, and its left steering lamp just signifies that it has left-hand rotation to be inclined to when opening, if
The car is not or not travel direction leftmost side track, and its left steering lamp represents that it has the purpose of left-hand lane change when opening.
3. crossing judges flow
The judgement of intersection is that, in order to supplement the integrality of this method, have especially for through vehicles in front of judgement
During crossing, there is the possibility for preventing collision in advance for reversely most left-hand vehicle.Such as vehicle in the process of moving, learn that front has
Opposite direction carrys out car in leftmost side vehicle in front of crossing and crossing, and the vehicle is very big may be on left turn lane.By such a
Method, when carrying out car and being also not turned on left steering lamp, this car can judge its intention turned left, be ready in advance.Hand over
The data source that the cross road mouthful judges is intersecting vehicle, if intersecting vehicle number is more than 3, then it is assumed that there is intersection in front.
4. left steering lamp is classified
In collision scene, turn left very risky with backward going vehicle collision, thus particular for backward going and
The left-hand bend purpose of leftmost side vehicle, the car has the possibility collided with all forward travel vehicles.
If the travel direction of this vehicle is forward direction, backward going vehicle is divided into its travel direction leftmost side track and row
Direction rightmost side track is sailed, the driver intention represented by the left steering lamp in different tracks is different.Reversely there was only left turning vehicle
It can just bump against with this car of forward travel, thus effectively raise the validity of early warning.It is left that reverse vehicle is analyzed herein
The method of turning classification, for the vehicle of forward travel, such method is proved effective in the same direction.A kind of supplement of such method is exactly on road
At mouthful, advanced judgement can be made to the vehicle for being not switched on left steering lamp.Effectively reduce crossing and left-hand bend and other
The risk of vehicle collision.
Fig. 6 is the building-block of logic of V2X car-mounted terminals embodiment one of the present invention, and the V2X car-mounted terminals of the embodiment include
State acquisition module 10, walking direction module 20, track judge module 30 and early warning generation module 40.Wherein, state obtains mould
Block 10 is used to obtain the transport condition parameter of this vehicle and the transport condition of surrounding vehicles.Walking direction module 20 is used for according to institute
State transport condition parameter and judge whether the travel direction of the surrounding vehicles is reverse with the travel direction of this vehicle.Track judges mould
Whether block 30 is used to judge the surrounding vehicles in the leftmost side track of its travel direction according to the transport condition parameter.Early warning
Generation module 40 is reverse for the travel direction in the surrounding vehicles and the travel direction of this vehicle, and the surrounding vehicles exist
The leftmost side track of its travel direction, meanwhile, the front of this vehicle is intersection, and/or, the left steering of the surrounding vehicles
When lamp is open mode, determine the surrounding vehicles is intended to left-hand bend, and generates anti-collision warning information.
The present invention also constructs a kind of V2X car-mounted terminals, including processor and memory, and the memory refers to for storage program
Order, the programmed instruction is loaded by the processor and performs realization such as the step of above-mentioned danger early warning method.
The present invention also constructs a kind of memory, is stored thereon with programmed instruction, the programmed instruction is loaded and held by processor
Realized during row such as the step of above-mentioned danger early warning method.
The present invention also constructs a kind of danger early warning system based on DSRC, and the danger early warning system includes at least two
Described V2X car-mounted terminals.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, any bun made
Change, equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.
Claims (10)
1. a kind of danger early warning method based on DSRC, it is characterised in that including：
State acquiring step：Obtain the transport condition parameter of this vehicle and the transport condition parameter of surrounding vehicles；
Walking direction step：According to the transport condition parameter judge the surrounding vehicles travel direction whether with this vehicle
Travel direction is reverse；
Track judgment step：Judge the surrounding vehicles whether in the leftmost side of its travel direction according to the transport condition parameter
Track；
Early warning generation step：If the travel direction of the travel direction of the surrounding vehicles and this vehicle is reverse and the surrounding vehicles
In the leftmost side track of its travel direction；Meanwhile, the front of this vehicle is intersection, and/or, the left-hand rotation of the surrounding vehicles
It is open mode to lamp, then generates anti-collision warning information.
2. the danger early warning method according to claim 1 based on DSRC, it is characterised in that judge this according to following steps
The front of vehicle is intersection：
Judge the vehicle intersected in surrounding vehicles with the presence or absence of the travel direction of travel direction and this vehicle, or, judge surrounding
With the presence or absence of the vehicle turned left on the track in the same direction with the travel direction of this vehicle in vehicle, if, it is determined that this
The front of vehicle is intersection.
3. the danger early warning method according to claim 1 based on DSRC, it is characterised in that the track judgment step bag
Include：
Whether judge the travel direction of the surrounding vehicles is reverse with the travel direction of this vehicle；
If the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse, the adjacent car of the surrounding vehicles is judged
Whether road has the vehicle in the same direction with the travel direction of this vehicle, if, it is determined that the surrounding vehicles in its travel direction most
Left-hand lane；
Or,
If the travel direction of the surrounding vehicles and the travel direction of this vehicle are reverse, judge the surrounding vehicles whether at this
The adjacent lane of vehicle, if, it is determined that the surrounding vehicles are in the leftmost side track of its travel direction.
4. the danger early warning method according to claim 3 based on DSRC, it is characterised in that judge the specific of adjacent lane
Step is, calculates the distance between vehicle and in travel direction institute generally perpendicular direction in road surface level, if more than or equal to the
One track preset value, and less than or equal to second lane preset value, then it is judged as adjacent lane.
5. the danger early warning method according to claim 1 based on DSRC, it is characterised in that the walking direction step bag
Include：
Obtain in the transport condition parameter indicate vehicle heading deflection, the deflection be vehicle heading with
The angle in real north of the earth direction；
Calculate the absolute difference of this vehicle and the deflection of the surrounding vehicles；
If the absolute difference is within a preset range, it is determined that the travel direction of the surrounding vehicles and the traveling side of this vehicle
To reverse, the preset range is 140~220 degree.
6. the danger early warning method based on DSRC according to claim any one of 1-5, it is characterised in that in early warning generation
Before step, in addition to：
Height judgment step：The height and this height of car of the surrounding vehicles are calculated according to the transport condition parameter, and is sentenced
Whether the absolute difference of both disconnected height is less than preset height value, if so, then performing below step.
7. a kind of V2X car-mounted terminals, it is characterised in that including：
State acquisition module, for obtaining the transport condition parameter of this vehicle and the transport condition of surrounding vehicles；
Walking direction module, for judged according to the transport condition parameter surrounding vehicles travel direction whether with this car
Travel direction it is reverse；
Track judge module, for according to the transport condition parameter judge the surrounding vehicles whether in its travel direction most
Left-hand lane；
Early warning generation module, it is reverse for the travel direction in the surrounding vehicles and the travel direction of this vehicle, and the week
Vehicle is enclosed in the leftmost side track of its travel direction, meanwhile, the front of this vehicle is intersection, and/or, the surrounding vehicles
Left steering lamp when being open mode, determine that the surrounding vehicles are intended to turn left, and generate anti-collision warning information.
8. a kind of V2X car-mounted terminals, including processor and memory, it is characterised in that the memory refers to for storage program
Order, the step of described program instruction is loaded by the processor and performs realization such as any one of claim 1-6 methods describeds.
9. a kind of memory, is stored thereon with programmed instruction, it is characterised in that described program instruction is loaded and performed by processor
Realize such as the step of any one of claim 1-6 methods described.
10. a kind of danger early warning system based on DSRC, it is characterised in that including described at least two claims 7 or 8
V2X car-mounted terminals.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710475464.1A CN107248320A (en) | 2017-06-21 | 2017-06-21 | Danger early warning method, system, V2X car-mounted terminals and memory |
| PCT/CN2017/108666 WO2018233175A1 (en) | 2017-06-21 | 2017-10-31 | Danger early-warning method and system, v2x vehicle-mounted terminal and memory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710475464.1A CN107248320A (en) | 2017-06-21 | 2017-06-21 | Danger early warning method, system, V2X car-mounted terminals and memory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107248320A true CN107248320A (en) | 2017-10-13 |
Family
ID=60018793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710475464.1A Pending CN107248320A (en) | 2017-06-21 | 2017-06-21 | Danger early warning method, system, V2X car-mounted terminals and memory |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107248320A (en) |
| WO (1) | WO2018233175A1 (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830865A (en) * | 2017-10-16 | 2018-03-23 | 东软集团股份有限公司 | A kind of vehicle target sorting technique, device, system and computer program product |
| CN108053690A (en) * | 2017-12-29 | 2018-05-18 | 东软集团股份有限公司 | Identify method, bend method for early warning, device, medium and the equipment of traveling lane |
| CN108769950A (en) * | 2018-07-24 | 2018-11-06 | 中国航天空气动力技术研究院 | The car networking information system of connection automobile is netted towards V2X |
| WO2018233175A1 (en) * | 2017-06-21 | 2018-12-27 | 深圳市金溢科技股份有限公司 | Danger early-warning method and system, v2x vehicle-mounted terminal and memory |
| CN109118787A (en) * | 2018-08-20 | 2019-01-01 | 浙江工业大学 | A kind of car speed prediction technique based on deep neural network |
| CN110415525A (en) * | 2019-07-26 | 2019-11-05 | 新华三技术有限公司成都分公司 | A kind of peccancy detection method and device |
| CN110634328A (en) * | 2019-09-17 | 2019-12-31 | 重庆大学 | Lane change assisting method and system based on fusion of multi-sensor information and V2X technology |
| CN110712644A (en) * | 2018-06-27 | 2020-01-21 | 奥迪股份公司 | Driving assistance system and method |
| CN110889978A (en) * | 2019-11-25 | 2020-03-17 | 东风商用车有限公司 | Road worker safety enhancement system under automatic driving traffic environment |
| CN111627252A (en) * | 2020-06-10 | 2020-09-04 | 上海商汤智能科技有限公司 | Vehicle early warning method and device, electronic equipment and storage medium |
| CN112233417A (en) * | 2020-09-17 | 2021-01-15 | 新石器慧义知行智驰(北京)科技有限公司 | Vehicle track prediction method, control device and unmanned vehicle |
| CN111243312B (en) * | 2020-01-23 | 2021-06-04 | 上海丰豹商务咨询有限公司 | Partially-distributed vehicle-road cooperative automatic driving system |
| CN113096386A (en) * | 2021-03-19 | 2021-07-09 | 智道网联科技(北京)有限公司 | Road side data processing method, device, equipment and storage medium |
| CN113327458A (en) * | 2021-07-08 | 2021-08-31 | 潍柴动力股份有限公司 | Vehicle collision prediction method, vehicle collision prediction system, and electronic device |
| CN113721588A (en) * | 2021-08-26 | 2021-11-30 | 东风悦享科技有限公司 | Vehicle remote fault diagnosis method and device based on V2X |
| CN114464005A (en) * | 2022-02-28 | 2022-05-10 | 重庆长安汽车股份有限公司 | Method and system for assisting driving of vehicle |
| US11400927B2 (en) | 2018-01-29 | 2022-08-02 | Ford Global Technologies, Llc | Collision avoidance and mitigation |
| CN114913713A (en) * | 2022-04-08 | 2022-08-16 | 中汽创智科技有限公司 | Method and device for determining vehicle with collision risk |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11003195B2 (en) * | 2019-02-28 | 2021-05-11 | GM Global Technology Operations LLC | Method to prioritize the process of receiving for cooperative sensor sharing objects |
| DE102019212263A1 (en) * | 2019-08-15 | 2021-02-18 | Volkswagen Aktiengesellschaft | Method for increasing the traffic flow density at a traffic light intersection |
| CN112824185B (en) * | 2019-11-19 | 2022-05-03 | 广州汽车集团股份有限公司 | Collision early warning method, TBOX-integrated V2X controller system and automobile |
| CN111311962B (en) * | 2020-02-28 | 2021-08-10 | 长安大学 | Risk control system and early warning method for danger avoiding lane of long downhill road section |
| CN111681454A (en) * | 2020-06-03 | 2020-09-18 | 重庆邮电大学 | Vehicle-vehicle cooperative anti-collision early warning method based on driving behaviors |
| CN113140132B (en) * | 2021-04-20 | 2023-11-03 | 西安华企众信科技发展有限公司 | Pedestrian anti-collision early warning system and method based on 5G V2X mobile intelligent terminal |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008198162A (en) * | 2007-01-15 | 2008-08-28 | Mitsubishi Electric Corp | Information providing determination device, on-vehicle device, and electronic intersection system |
| CN103903479A (en) * | 2014-04-23 | 2014-07-02 | 奇瑞汽车股份有限公司 | Vehicle safety driving pre-warning method and system and vehicle terminal device |
| CN105151043A (en) * | 2015-08-19 | 2015-12-16 | 内蒙古麦酷智能车技术有限公司 | Emergency avoidance system and method for unmanned automobile |
| CN106062852A (en) * | 2014-03-10 | 2016-10-26 | 日立汽车系统株式会社 | System for avoiding collision with multiple moving bodies |
| CN106608264A (en) * | 2015-10-27 | 2017-05-03 | 通用汽车环球科技运作有限责任公司 | Methods of improving performance of automotive intersection turn assist features |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107248320A (en) * | 2017-06-21 | 2017-10-13 | 深圳市金溢科技股份有限公司 | Danger early warning method, system, V2X car-mounted terminals and memory |
-
2017
- 2017-06-21 CN CN201710475464.1A patent/CN107248320A/en active Pending
- 2017-10-31 WO PCT/CN2017/108666 patent/WO2018233175A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008198162A (en) * | 2007-01-15 | 2008-08-28 | Mitsubishi Electric Corp | Information providing determination device, on-vehicle device, and electronic intersection system |
| CN106062852A (en) * | 2014-03-10 | 2016-10-26 | 日立汽车系统株式会社 | System for avoiding collision with multiple moving bodies |
| CN103903479A (en) * | 2014-04-23 | 2014-07-02 | 奇瑞汽车股份有限公司 | Vehicle safety driving pre-warning method and system and vehicle terminal device |
| CN105151043A (en) * | 2015-08-19 | 2015-12-16 | 内蒙古麦酷智能车技术有限公司 | Emergency avoidance system and method for unmanned automobile |
| CN106608264A (en) * | 2015-10-27 | 2017-05-03 | 通用汽车环球科技运作有限责任公司 | Methods of improving performance of automotive intersection turn assist features |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018233175A1 (en) * | 2017-06-21 | 2018-12-27 | 深圳市金溢科技股份有限公司 | Danger early-warning method and system, v2x vehicle-mounted terminal and memory |
| CN107830865A (en) * | 2017-10-16 | 2018-03-23 | 东软集团股份有限公司 | A kind of vehicle target sorting technique, device, system and computer program product |
| CN108053690A (en) * | 2017-12-29 | 2018-05-18 | 东软集团股份有限公司 | Identify method, bend method for early warning, device, medium and the equipment of traveling lane |
| US11400927B2 (en) | 2018-01-29 | 2022-08-02 | Ford Global Technologies, Llc | Collision avoidance and mitigation |
| CN110712644A (en) * | 2018-06-27 | 2020-01-21 | 奥迪股份公司 | Driving assistance system and method |
| CN108769950A (en) * | 2018-07-24 | 2018-11-06 | 中国航天空气动力技术研究院 | The car networking information system of connection automobile is netted towards V2X |
| CN109118787A (en) * | 2018-08-20 | 2019-01-01 | 浙江工业大学 | A kind of car speed prediction technique based on deep neural network |
| CN110415525A (en) * | 2019-07-26 | 2019-11-05 | 新华三技术有限公司成都分公司 | A kind of peccancy detection method and device |
| CN110634328A (en) * | 2019-09-17 | 2019-12-31 | 重庆大学 | Lane change assisting method and system based on fusion of multi-sensor information and V2X technology |
| CN110889978A (en) * | 2019-11-25 | 2020-03-17 | 东风商用车有限公司 | Road worker safety enhancement system under automatic driving traffic environment |
| CN111243312B (en) * | 2020-01-23 | 2021-06-04 | 上海丰豹商务咨询有限公司 | Partially-distributed vehicle-road cooperative automatic driving system |
| CN111627252A (en) * | 2020-06-10 | 2020-09-04 | 上海商汤智能科技有限公司 | Vehicle early warning method and device, electronic equipment and storage medium |
| CN112233417A (en) * | 2020-09-17 | 2021-01-15 | 新石器慧义知行智驰(北京)科技有限公司 | Vehicle track prediction method, control device and unmanned vehicle |
| CN113096386A (en) * | 2021-03-19 | 2021-07-09 | 智道网联科技(北京)有限公司 | Road side data processing method, device, equipment and storage medium |
| CN113327458A (en) * | 2021-07-08 | 2021-08-31 | 潍柴动力股份有限公司 | Vehicle collision prediction method, vehicle collision prediction system, and electronic device |
| CN113721588A (en) * | 2021-08-26 | 2021-11-30 | 东风悦享科技有限公司 | Vehicle remote fault diagnosis method and device based on V2X |
| CN114464005A (en) * | 2022-02-28 | 2022-05-10 | 重庆长安汽车股份有限公司 | Method and system for assisting driving of vehicle |
| CN114913713A (en) * | 2022-04-08 | 2022-08-16 | 中汽创智科技有限公司 | Method and device for determining vehicle with collision risk |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018233175A1 (en) | 2018-12-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107248320A (en) | Danger early warning method, system, V2X car-mounted terminals and memory | |
| CN111240328B (en) | Vehicle driving safety monitoring method and device and unmanned vehicle | |
| CN108022450B (en) | Auxiliary driving method based on cellular network and traffic control unit | |
| JP6680882B2 (en) | Supporting vehicle drivers when passing roundabouts | |
| CN112689588B (en) | Control method and device for automatically driving vehicle | |
| CN110533913A (en) | Method for early warning, device, vehicle and the storage medium of vehicle collision | |
| CN112106124A (en) | System and method for using V2X and sensor data | |
| CN109733391A (en) | Control method, device, equipment, vehicle and the storage medium of vehicle | |
| US20120296539A1 (en) | Driver assistance system | |
| WO2019080874A1 (en) | Method for vehicle to pass by switching lanes and control center | |
| US20120303222A1 (en) | Driver assistance system | |
| US20210261123A1 (en) | Autonomous Vehicle Operation with Explicit Occlusion Reasoning | |
| US11052919B2 (en) | Situation-dependent sharing of map messages to improve digital maps | |
| CN108382392A (en) | Turn inside diameter collision-proof method, equipment and readable storage medium storing program for executing | |
| CN107221195B (en) | Automobile lane prediction method and lane level map | |
| CN104269073A (en) | Reverse lane overtaking early warning method based on vehicle-to-vehicle communication | |
| WO2017126249A1 (en) | Driving assistance method and device | |
| CN111477030B (en) | Vehicle collaborative risk avoiding method, vehicle end platform, cloud end platform and storage medium | |
| CN111127950A (en) | Vehicle collision early warning processing method and device | |
| CN108248611A (en) | A kind of method of automatic Pilot, automobile control device, automobile and system | |
| WO2022240483A1 (en) | Detecting driving behavior of vehicles | |
| CN116457853A (en) | Vehicle track planning method and device and vehicle | |
| CN113085852A (en) | Behavior early warning method and device for automatic driving vehicle and cloud equipment | |
| CN113619578A (en) | Vehicle anti-collision method, anti-collision system and computer readable storage medium | |
| CN112829762A (en) | Vehicle running speed generation method and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171013 |