CN108495330B - A kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication - Google Patents
A kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication Download PDFInfo
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- H—ELECTRICITY
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- H04W24/06—Testing, supervising or monitoring using simulated traffic
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Abstract
The present invention proposes a kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication, belongs to intelligent transport system field of communication technology.3 kinds of anti-collision warning test scenes are arranged first and utilize V2X system building test platform for this method, collecting vehicle-vehicle interactive data information and the messaging parameter under every kind of scene is obtained according to interaction data under every kind of scene, after adding drive parameter, establish Che-vehicle information exchange communication anti-collision warning reliability test model under every kind of scene, according to the objective function and constraint condition of model, by effective collision avoidance probabilistic model that model conversation is under different scenes, the messaging parameter for inputting real steering vectors, can be obtained the collision avoidance probability under corresponding scene.The present invention to 3 kinds in actual traffic may collide scene carry out anti-collision warning reliability quantitative measurement, so that the improvement for V2X communication system provides foundation.
Description
Technical field
The invention belongs to intelligent transport system field of communication technology, in particular to a kind of Che-vehicle information exchange communication
Anti-collision warning method for testing reliability.
Background technique
V2X (Vehicle-to-Everything) refers to vehicle to extraneous information exchange, including V2V (Vehicle-
To-Vehicle, the communication of vehicle vehicle), V2I (Vehicle-to-Instruction, bus or train route communication), V2P (Vehicle-to-
Pedestrian, people from garage communication) etc. modes net connection automotive engineering general designation.In the 21st century, intelligent transportation field
Focus is gradually concentrated the V2X technology in V2X communication by art circle, business circles and traffic administration person, especially automaker
It is the important development direction of the following intelligent transportation system.
For traditional travel pattern, the perception of ambient enviroment is to be completed by the sense organ of driver, or lead to
It crosses and sensor is installed on vehicle, carry out the perception of ambient enviroment, but either which kind of mode, the information between vehicle is all mutual
It is independent, effective information communication and information sharing can not be carried out between vehicle, and the closure of this information is largely
It causes the low of traffic efficiency or even causes traffic accident.The rise of V2X technology changes between original vehicle mutually
Independent travel pattern.So that effective information exchange can be carried out between vehicle, traffic information is timely obtained, so as to keep away
Exempt from many traffic accidents, effectively improves traffic efficiency.V2X technological incorporation advanced sensor technology, channel radio
The technologies such as letter technology and next generation internet, comprehensive realization Human Automobile Environment dynamic realtime information exchange, and in full-time lost motion
State information collection with merge on the basis of carry out vehicle active safety control and road coordinated management, abundant realization Human Automobile Environment
Effective collaboration, ensure traffic safety, improve traffic efficiency, so that forming safe and efficient and environmentally friendly road safety runs ring
Border.
The realization of every application of V2X technology is all based on Che-vehicle, Che-road information exchange, for each information exchange section
Point disposes the V2X system that is made of communication equipment, top level computer, GPS module hardware device, information exchange function can
Lean on, effectively, stable operation it is most important to the successful deployment of V2X system.Since Che-vehicle, Che-road information exchange environment are complicated more
Become, network topology quickly changes with the movement of vehicle, and the vehicle and building under urban road environment, which block, to be handed over to information
Great uncertainty is mutually brought, these all bring challenge to the V2X reliability communicated.Therefore, V2X communication reliability
Analysis and research be an extremely complex problem, improve its reliability and security actual bus or train route coordination technique is researched and developed and
Using most important.Especially with respect to the research of anti-collision warning reliability, the assessment to traffic safety is vital.Mesh
Before, the communication still without a kind of effective model between the communication performance of V2X system in actual traffic under different scenes vehicle
Anti-collision warning reliability is effectively analyzed and quantitative measurement.
The communication function of V2X system includes that Che-vehicle interactively communicates, Che-road interactively communicates, vehicle-people interactively communicates, the present invention
Che-vehicle that method is related in V2X communication interactively communicates the test of function.Conventional vehicle and information of vehicles interactively communicates process
As shown in Figure 1.The location information (longitude, latitude) of top level computer acquisition vehicle obtained in the GPS module, velocity information
(velocity magnitude, directional velocity) obtains temporal information according to the system clock in top level computer.Top level computer is also controlled simultaneously
Make the strategy of communication information forwarding and the storage work of data packet.Communication apparatus is responsible for sending and receiving with above-mentioned letter
The data packet of breath.
Summary of the invention
The purpose of the invention is to fill up Che in actual traffic-vehicle information exchange communication performance reliability blank, mention
A kind of Che-vehicle information exchange communication anti-collision warning method for testing reliability out.The present invention is by building test scene, in reality
The communication performance reliability of Che-vehicle information exchange V2X communication equipment and safety are more effectively tested under environment.It is right
3 kinds in the actual traffic scenes that may collide carry out the quantitative measurement of anti-collision warning reliability, thus to V2X communication is improved
The communication performance reliability of equipment has the meaning of practical application.
The present invention proposes a kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication, which is characterized in that packet
Include following steps:
1) 3 kinds of anti-collision warning test scenes are set；
Two test vehicles A, B motor pattern travelled and relative motion state are classified, following 3 kinds of possibility are obtained
The scene to collide: in the same direction with driving scene of speeding, opposite driving scene and intersection driving scene；
2) test platform is built；
Communication equipment, CWAVE-Original top level computer, GPS module conduct are installed on two test vehicles respectively
Test platform；The GPS module is used to acquire location information, the velocity information of vehicle, and according in top level computer system
Clock obtains temporal information, and CWAVE-Original top level computer is used to control the vehicle-of communication information forwarding and storage acquisition
Vehicle interactive data information packet, communication apparatus is for sending and receiving the data packet with above- mentioned information；
3) collecting vehicle-vehicle interactive data information；
Two test vehicles carry out driving experiment according to 3 kinds of scenes that may be collided being arranged in step 1) respectively,
It acquires respectively in the same direction with Che-vehicle interactive data information number under driving scene of speeding, opposite driving scene and intersection driving scene
According to packet；The information having in data packet includes: GPS location coordinate, the two cars of the ID of the two cars communicated, each car
Speed, the directional velocity of two cars, packet sequence number and each transmitting-receiving time for jumping data packet；It is periodic to test vehicle
Data packet is sent, frequency is 5~50Hz；Specific step is as follows:
3-1) vehicle A generates raw data packets by the CWAVE-Original top level computer being loaded on vehicle, former
Beginning packet information includes: the position of collected vehicle A, velocity information, temporal information, communication equipment ID, sequence of data packet
Number, and the total hop count TotalHops of forwarding is set and has forwarded hop count HopsDone；
CWAVE-Original top level computer 3-2) is generated by initial data by the communication equipment being loaded in vehicle A
Packet is sent to vehicle B, and the data packet of transmission is stored in the vehicle-mounted CWAVE-Original top level computer of vehicle A；
3-3) vehicle B is received after the raw data packets of vehicle A, first stores raw data packets；So
The relationship between hop count HopsDone and total forwarding hop count TotalHops has been forwarded to sentence by parsing raw data packets afterwards
Whether the data packet of breaking needs to continue to forward:
As Hops-Done < TotalHops, the forwarding of data packet is simultaneously not finished, and vehicle B is added into raw data packets
The position of vehicle B, velocity information, temporal information, and the hop count of the forwarding HopsDone in data packet is added 1, obtain new number
According to packet；New data packet is forwarded by the communication equipment carried on vehicle B, and stores this simultaneously for new data packet；
As HopsDone=TotalHops, data packet forwarding has terminated, and vehicle B carries out the raw data packets received
Storage, is no longer forwarded；
4) processing Che-vehicle interactive data information obtains messaging parameter；
Pass through collection step 3) in collect data packet, processing obtains required messaging parameter, and the messaging parameter includes:
Packet receiving rate and time delay；Packet receiving rate and time delay, the specific formula for calculation for calculating separately the interactive data information under 3 kinds of scenes are as follows:
Shown in packet receiving rate PDR calculation formula such as formula (1):
Wherein nreceivedIndicate the data packet number received in some scene, ntransmittedIt indicates in some scene
The data packet number of sending；
Shown in the calculation formula of time delay Latency such as formula (2):
Wherein treceivedIndicate data packet received time, tsendIndicate the time that data packet is sent；
5) drive parameter is determined；
Drive parameter includes driver's average reaction time trAnd road friction coefficient p；
6) the anti-collision warning reliability test model and solution that the Che established under every kind of scene-vehicle information exchange communicates obtain
The probability of rear-end impact is avoided under friction speed；
6-1) rear-end impact early warning reliability test model is sailed with speeding in the same direction:
The objective function for 6-1-1) establishing model, as shown in formula (3):
P (d > ds)=f (d, v, Pd,tl) (3)
Wherein P (d > ds) it is that vehicle receives one and its distance d greater than safe distance dsThe data sent of another vehicle
The probability of packet, dsThe safe distance for indicating two vehicles is obtained by (5) formula；D is the distance in two workshops, is obtained by (7) formula；V is
The speed of two vehicles, including A vehicle speed vAWith B vehicle speed vB；tlIt is communication data packet propagation delay time, i.e., is obtained by formula (2)
Latency；PdPacket receiving rate PDR is represented, is obtained by formula (1)；
6-1-2) determine the constraint condition of the model:
The constraint of packet receiving rate, as shown in formula (4):
Pd=f (d) (4)
Safe distance constraint, as shown in formula (5):
Wherein, a is the acceleration of vehicle A；
Formula (5) is simplified such as formula (6):
Safety time 6-1-3) is defined according to safe distance:
If i-th of data packet is successfully received, the distance between two cars are as follows:
D=d0-(vA-vB)(ti+tl) (7)
Wherein, tiRepresent the time of i-th of data packet transmission, fsIt is the frequency for sending data packet, Ts=1/fsIt is continuous two
The time interval that a data packet is sent；
According to safe distance ds, define safety time ts:
(vA-vB)(ts+tl) < d0-ds< (vA-vB)(ts+1+tl) (8)
6-1-4) to model solution；
Formula (9) are converted by objective function (3) with (7) using constraint equation (4), (6):
Formula (13) are converted by formula (9), enable vA=v0:
Formula (10) is the probabilistic model that effective collision avoidance is driven off with speeding on, and the train tracing model that real steering vectors are obtained is lower different
The packet receiving rate and ensemble average delay parameter of distance bring formula (10) into and obtain the probability for avoiding rear-end impact under friction speed；
Anti-collision warning reliability test model 6-2) is travelled in opposite directions；
The objective function for 6-2-1) establishing model, as shown in formula (11):
P (d > ds)=f (d, v, Pd,tl) (11)
Wherein, dsThe safe distance for indicating two vehicles is obtained by (13) formula；D is the distance in two workshops, passes through (14) formula
It obtains；
6-2-2) determine the constraint condition of model:
Packet receiving rate constraint condition, as shown in formula (12):
Pd=f (d) (12)
Safe distance constraint, as shown in formula (13):
Safety time 6-2-3) is defined according to safe distance:
If i-th of data packet is successfully received, the distance between two cars are as follows:
D=d0-(vA+vB)(ti+tl) (14)
According to safe distance ds, define safety time ts:
(vA+vB)(ts+tl) < d0-ds< (vA+vB)(ts+1+tl) (15)
6-2-4) to model solution；
P (d > ds)=PA(d > ds)PB(d > ds) (16)
Assuming that vehicle A and vehicle B are in identical environment, PA(d > ds)=PB(d > ds), and two vehicle speeds are
v0, i.e. vA=vB=v0；
Formula (17) are converted by target function type (11) with (15) using constraint equation (12), (13):
Formula (17) is the probabilistic model of effective collision avoidance under travelling face-to-face, under the face-to-face traveling that real steering vectors are obtained not
The packet receiving rate and ensemble average delay parameter of same distance bring formula (17) into and obtain the probability for avoiding rear-end impact under friction speed；
6-3) intersection anti-collision warning reliability test model；
The objective function for 6-3-1) establishing model, as shown in formula (18):
P (d > ds)=f (d, v, Pd,tl) (18)
Wherein, dsThe safe distance for indicating two vehicles is obtained by (21) formula；D is the distance in two workshops, passes through (22) formula
It obtains；
6-3-2) determine the constraint condition of model:
The constraint of packet receiving rate:
Pd=f (d) (19)
Safe distance constraint:
Formula (20) is simplified:
Safety time 6-3-3) is defined according to safe distance；
If i-th of data packet is successfully received, the distance between two cars are as follows:
According to safe distance ds, define safety time ts:
6-3-4) to model solution；
P (d > ds)=PA(d > ds)PB(d > ds) (24)
Formula (25) are converted by objective function (24) using constraint condition (19) (21) and (23):
Formula (25) is that crossing lines drive off the probabilistic model of effective collision avoidance, the crossing lines that real steering vectors are obtained drive off it is different away from
From packet receiving rate and ensemble average delay parameter bring formula (25) into and obtain the probability for avoiding rear-end impact under friction speed.
The features of the present invention and the utility model has the advantages that
This method data acquisition is simple, it is only necessary to the hardware device of conventional V2X system is installed on vehicle, comprising: logical
Believe equipment, top level computer, GPS module, data needed for modeling can be obtained.Naive model by bringing building into solves,
Vehicle collision prewarning reliable probability under the available 3 kinds actual traffic scenes that may be collided, to 3 kinds of scenes
Under Che-vehicle information exchange communication equipment anti-collision warning reliability carry out quantitative test, thus be V2X communication system improvement
Foundation is provided, further the fields such as vehicle net, unmanned is applied to for the V2X communication technology a practical safety is provided and examine
Amount.
Detailed description of the invention
Fig. 1 is that conventional vehicle and information of vehicles interactively communicate hardware device and communication process schematic diagram.
Fig. 2 is the overall flow block diagram of the method for the present invention.
Fig. 3 is the packet loss and time delay schematic diagram in the embodiment of the present invention under the conditions of intersecting traveling.
Fig. 4 is to intersect the collision avoidance probability curve diagram obtained under driving scene in the embodiment of the present invention.
Specific embodiment
The present invention proposes a kind of anti-collision warning method for testing reliability of Che-vehicle information exchange communication, with reference to the accompanying drawing
And detailed description are as follows for embodiment.
A kind of Che proposed by the present invention-vehicle information exchange communication anti-collision warning method for testing reliability, overall flow is such as
Shown in Fig. 2, comprising the following steps:
1) 3 kinds of anti-collision warning test scenes are set；
It is formulated for the application scenarios and associated data set for standardizing country's bus or train route cooperative system, Chinese automobile Engineering society
17 typical case fields are provided in " the automobile-used communication system applications layer of cooperative intelligent transportation system and apply Data Exchange Standard "
Scape: 1, intersection anti-collision warning；2, turn left to assist；3, forward direction anti-collision warning；4, emergency braking early warning；5, lane change auxiliary is pre-
It is alert；6, it inversely overtakes other vehicles early warning；7, abnormal vehicle alarm；8, early warning to lose control of one's vehicle；9, road hazard condition prompts；10, speed limit is pre-
It is alert；11, it makes a dash across the red light early warning；12, pedestrian impact early warning；13, speed guides；14, interior label；15, emergency vehicle avoids；16,
Congestion ahead is reminded；17, automobile near field is paid.
According to above 17 scenes, the present invention is the motor pattern and relative motion shape for travelling two test vehicles A, B
State is classified, and following 3 kinds of scenes that may be collided are obtained:
A. in the same direction with driving scene of speeding: in this scene, A vehicle is along test road with speed limit value row as defined in several different roads
Sail (the present embodiment be 20 kilometers per hour, 40 kilometers per hour, 60 kilometers per hour with 80 kilometers of speed rows hourly
Sail), B vehicle is speeded in A vehicle heel at a same speed, and following distance is between 50 to 100 meters.Each speed repeat experiment 5~
20 times (the present embodiment repeats experiment 5 times), record complete test data.
B. opposite driving scene: in this scene, A vehicle travels back and forth along test road, and speed is respectively several different roads
Defined speed limit value traveling (the present embodiment be 20 kilometers per hour, 40 kilometers per hour, 60 kilometers per hour, 80 kilometers per small
When), vehicle is at a same speed along the direction running opposite with A vehicle.Each speed repeats experiment 5 times, records complete survey
Try data.
C. intersect driving scene: in this scene, A vehicle is travelled along test road in intersection back and forth, and speed is respectively several
The traveling of speed limit value as defined in different roads (the present embodiment be 20 kilometers per hour with 40 kilometers per hour), B vehicle along and A vehicle travel
The vertical road of road travels back and forth in intersection, identical as A vehicle speed.During traveling, it is ensured that two vehicles arrive simultaneously
Up to intersection.Each speed repeats experiment 5~20 times (the present embodiment repeats experiment 5 times), records complete test data.
2) test platform is built；
Communication equipment, CWAVE-Original top level computer, GPS module conduct are installed on two test vehicles respectively
Test platform.The location information (longitude, latitude) of vehicle, velocity information (velocity magnitude, speed side are acquired by GPS module
To), temporal information is obtained according to the clock in top level computer system.CWAVE-Original top level computer is also used to simultaneously
Control the strategy of communication information forwarding and Che-vehicle interactive data information packet of storage acquisition.Communication apparatus is responsible for sending and receiving
Data packet with above- mentioned information.
3) collecting vehicle-vehicle interactive data information；
Two test vehicles carry out driving experiment according to 3 kinds of scenes that may be collided being arranged in step 1) respectively,
Acquisition a. intersects Che-vehicle interactive data information under driving scene with driving scene of speeding, the opposite driving scene of b., c. in the same direction respectively
Data packet.The information having in data packet includes: the ID (the communication equipment ID installed on vehicle) of the two cars communicated, often
The GPS location coordinate (being obtained by GPS signal) of vehicle, the velocity magnitude (being obtained by GPS signal) of two cars, the speed of two cars
Direction (is obtained, due north is 0 °) by GPS signal, and packet sequence number (sends data packet number, number of every transmission for calculating
According to packet, data packet serial number adds 1) and each transmitting-receiving time for jumping data packet (for every kind of scene, will at least acquire up to ten thousand
Data, eliminate communication random bring influence so that analysis result more according to reliability.What the acquisition of experimental data used
(SuSE) Linux OS is installed on CWAVE-Original top level computer), test vehicle periodically sends data packet,
The frequency for sending data packet is 5~50Hz (the present embodiment uses 10Hz).Specific Che-vehicle interactive data information collection process is such as
Under:
3-1) the generation of data packet: vehicle A is generated by the CWAVE-Original top level computer being loaded on vehicle
Raw data packets, raw data packets information include: that the position of collected vehicle A (is obtained from the GPS module carried on vehicle A
), speed information, the temporal information (CWAVE- carried from vehicle A (are obtained) from the GPS module carried on vehicle A
In Original top level computer system the time obtain), communication equipment ID (presetting), packet sequence number (given sequence
Number, 1) data packet of every transmission, data packet serial number adds, and the total hop count of forwarding (TotalHops, the existence jump of data packet is arranged
Number, i.e., stop forwarding after the data packet hop count reaches TotalHops) and forwarded hop count (HopsDone, data packet
0) number being forwarded, raw data packets HopsDone are set as.
3-2) the transmission of data packet: the upper layer CWAVE-Original is calculated by the communication equipment being loaded in vehicle A
Machine generates raw data packets and is sent to vehicle B, and the data packet of transmission is stored in the vehicle-mounted CWAVE-Original of vehicle A
In top level computer.
3-3) vehicle B is received after the raw data packets of vehicle A, first stores raw data packets；So
Hop count (HopsDone) and total relationship forwarded between hop count (TotalHops) have been forwarded by parsing raw data packets afterwards
To judge whether the data packet needs to continue to forward:
As Hops-Done < TotalHops, the forwarding of data packet is simultaneously not finished, and vehicle B is added into raw data packets
The position (being obtained from the GPS module carried on vehicle B) of vehicle B, speed (being obtained from the GPS module carried on vehicle B)
Information, temporal information (time obtains in the CWAVE-Original top level computer system carried from vehicle B), and by data
New data packet, is forwarded by the hop count of forwarding (HopsDone) in packet plus 1 by the communication equipment carried on vehicle B,
And this is stored simultaneously by newly-generated data packet.
As HopsDone=TotalHops, show that data packet forwarding has terminated, the raw data packets that vehicle B will be received
It is stored, is no longer forwarded.Hop count (TotalHops) is always forwarded to be arranged data packet in the test experiments of the present embodiment
It is 2.
4) processing Che-vehicle interactive data information obtains messaging parameter；
Pass through collection step 3) in collect data packet, processing obtains required messaging parameter, and the messaging parameter includes:
Packet receiving rate and time delay.Since the model that the scene that may be collided in step 3) is established is different, it is therefore desirable to calculate separately 3
The packet receiving rate and time delay of interactive data information under kind scene.Specific formula for calculation is as follows:
Shown in packet receiving rate (PDR) calculation formula such as formula (1):
Wherein nreceivedIndicate data packet number (the i.e. CWAVE-Original top level computer received in some scene
The data packet number from another test vehicle of storage), ntransmittedIndicate the number-of-packet issued in some scene
It measures (can be obtained by the packet sequence number being collected into, be detailed in step 3)).
Shown in the calculation formula such as formula (2) of time delay (Latency):
Wherein treceivedIndicate data packet received time, tsendThe time that data packet is sent is indicated, since experiment is made
The CWAVE-Original top level computer system time carried on two cars is difficult to accomplish to synchronize, therefore this method uses
The time for calculating data packet transmission one week obtains 2 times of time delay, and half is both communication delay.
5) drive parameter is determined；
Drive parameter needed for obtaining Che-vehicle information exchange communication equipment anti-collision warning method for testing reliability.Drive ginseng
Number includes driver's average reaction time trAnd road friction coefficient p.Driver's average reaction time, approximate range are
Between 0.75s to 1s (the present embodiment is set as 1s)；Road friction coefficient by practical road surface material, the wet and slippery degree of road etc. because
Element determines (the present embodiment sets 0.6 for coefficient of friction according to factors such as test condition, test sites).
6) establish every kind of scene get off-vehicle information exchange communication anti-collision warning reliability test model and solve obtain not
With the probability that can effectively avoid rear-end impact under speed:
Since the result that data processing is presented can not intuitively judge what the communication technology was applied in such traffic scene
Safety, therefore modeling analysis is carried out after data processing.In order to which the reliability of application is better described, the present invention is used
A kind of probabilistic model.The model is made of objective function and constraint condition, and sails rear-end impact early warning with speeding in the same direction for a.
Scene, b. travel anti-collision warning scene in opposite directions, c. intersects traveling anti-collision warning scene, construct corresponding three kinds of probability moulds respectively
Type is described in detail below:
6-1) rear-end impact early warning reliability test model is sailed with speeding in the same direction:
Sail rear-end impact early warning scene with speeding in the same direction: vehicle A is at the rear vehicle B with vASpeed travel (A vehicle and B vehicle
Same lane and between there is no other vehicles), at this time the speed of B vehicle be vB, work as vA> vBWhen, it may occur that knock into the back thing
Therefore.
The objective function for 6-1-1) establishing model, as shown in formula (3):
P (d > ds)=f (d, v, Pd,tl) (3)
Wherein P (d > ds) it is that vehicle can smoothly receive one and its distance d greater than safe distance dsAnother vehicle hair
The probability for the data packet come.dsIt indicates the safe distance of two vehicles, can be obtained by (5) formula；D is the distance in two workshops, can be passed through
(7) formula obtains；V is the speed of two vehicles, including A vehicle speed vAWith B vehicle speed vB；tlIt is communication data packet propagation delay time, that is, passes through
The Latency that formula (2) obtains；PdPacket receiving rate PDR is represented, can be obtained by formula (1)；
6-1-2) determine the constraint condition of the model:
The constraint of packet receiving rate, as shown in formula (4):
Pd=f (d) (4)
Wherein, PdPacket receiving rate PDR is represent, is obtained by the collected data processing of real vehicle, i.e., (1) formula obtains.Although (
PDR is influenced by several factors, but is passed through and found to the analysis of collected mass communication data, PdOnly have with distance
It closes.Therefore this method carries out simplified processing to PDR, i.e. PDR is only amount related with separation between vehicles)
Safe distance constraint；
When two cars are in train tracing model, it may occur that rear-end impact.This method dsSafe distance is represented, such as formula
(5) shown in:
Wherein, vAFor the speed of vehicle A, vBFor the speed of vehicle B, trFor the reaction time of driver, range 0.75s
To (the present embodiment is set as 1s) between 1s.A is the acceleration of vehicle A.This method simplifies moderating process, by vehicle deceleration to peace
The process of full speed degree regards even moderating process as.
Formula (5) is simplified such as formula (6):
Although (, a and wind speed in actual conditions, the factors such as road friction coefficient have relationship, are neglected here except road
All factors except the coefficient of friction of road) a=μ g is enabled, wherein μ is that (the present embodiment is according to test condition, checkout area for coefficient of friction
0.6) factors such as ground set coefficient of friction to, g is acceleration of gravity.
Safety time (formula 8) 6-1-3) is defined according to safe distance (formula 6):
When beginning, two cars are at a distance of d0, d0Have exceeded the communication range of two cars.At two from d0To dsClose process
In, the time that i-th of data packet reaches is ti+tl.If i-th of data packet is successfully received, the distance between two cars
Are as follows:
D=d0-(vA-vB)(ti+tl) (7)
Wherein, tiRepresent the time of i-th of data packet transmission.tlFor the propagation delay of data packet.fsIt is to send data packet
Frequency (the present embodiment uses 10Hz), Ts=1/fsTime interval (the present embodiment T sent for continuous two data packetss=
0.1s)
According to safe distance ds, define safety time ts:
(vA-vB)(ts+tl) < d0-ds< (vA-vB)(ts+1+tl) (8)
(meaning of safety time is, in safety time tsPreceding data packet is effectively received the collision avoidance that can succeed, otherwise
If data packet is in subsequent time ts+1It is just received afterwards, cannot effectively carry out collision avoidance)
6-1-4) to model solution；
Consider that objective function (3) is converted formula (9) by above-mentioned constraint condition (4) (6) and (7):
The discreteness for further considering transmission data packet, converts formula (13) for formula (9), in order to accord with other two kinds of scenes
Number unification, enable vA=v0。
Formula (10) is the obtained probabilistic model that effective collision avoidance is driven off with speeding on of this method, by real steering vectors obtain with speeding
The packet receiving rate and ensemble average delay parameter of the lower different distance of state, which bring formula (10) into, can be obtained under friction speed and can have
Effect avoids the probability of rear-end impact.
Anti-collision warning reliability test model 6-2) is travelled in opposite directions
Opposite traveling anti-collision warning scene: when two cars in opposite directions when driving, turn left at no signal lamp crossing or straight trip same
The conflict of straight and turning left may occur for the crossing that phase passes through, and overtake other vehicles indicating the section that may span across counter flow cut-off rule
When equally possible and opposite traveling vehicle collide, and often speed is very fast when occur by the latter.
6-2-1) establish the objective function of model:
The objective function for establishing V2X communication performance reliability analysis model, as shown in formula (11):
P (d > ds)=f (d, v, Pd,tl) (11)
Wherein P (d > ds) it is that vehicle can smoothly receive one and its distance d greater than safe distance dsAnother vehicle hair
The probability for the data packet come.dsIt indicates the safe distance of two vehicles, can be obtained by (13) formula；D is the distance in two workshops, can be passed through
(14) formula obtains；V is the speed of two vehicles, including A vehicle speed vAWith B vehicle speed vB；tlCommunication data packet propagation delay time, that is, pass through
The Latency that formula (2) obtains；PdPacket receiving rate PDR is represented, can be obtained by formula (1)；
6-2-2) determine the constraint condition of model:
Packet receiving rate constraint condition:
Pd=f (d) (12)
(PdPacket receiving rate PDR is represent, is obtained by the collected data processing of real vehicle.Although PDR is by several factors
It influences, but passes through and the analysis of collected mass communication data is found, PdOnly with distance dependent.Therefore this method pair
PDR carries out simplified processing, i.e. PDR is only amount related with separation between vehicles)
Safe distance constraint:
When two cars are in face-to-face driving status, it may occur that forward direction collision.This method is with using dsRepresent safety
Distance, such as following formula:
Wherein, vAFor the speed of vehicle A, vBFor the speed of vehicle B, trFor the reaction time of driver, approximate range is
Between 0.75s to 1s (the present embodiment is set as 1s).A is the acceleration of vehicle A.This method simplifies moderating process, and vehicle is subtracted
The process of speed to safe speed regards even moderating process as.μ is coefficient of friction (the present embodiment is set as 0.6), and g is gravity acceleration
Degree
Safety time (formula 15) 6-2-3) is defined according to safe distance (formula 13):
When beginning, two cars are at a distance of d0, d0Have exceeded the communication range of two cars.At two from d0To dsClose process
In, the time that i-th of data packet reaches is ti+tl.If i-th of data packet is successfully received, the distance between two cars
Are as follows:
D=d0-(vA+vB)(ti+tl) (14)
tiRepresent the time of i-th of data packet transmission.tlFor the propagation delay of data packet.fsIt is the frequency for sending data packet
(the present embodiment is set as 10Hz), Ts=1/fsThe time interval that continuous two data packets are sent
According to safe distance ds, define safety time ts:
(vA+vB)(ts+tl) < d0-ds< (vA+vB)(ts+1+tl) (15)
(meaning of safety time is, in safety time tsPreceding data packet is effectively received the collision avoidance that can succeed, otherwise
If data packet is in subsequent time ts+1It is just received afterwards, cannot effectively carry out collision avoidance)
6-2-4) to model solution；
P (d > ds)=PA(d > ds)PB(d > ds) (16)
(the worst the case where, the information that two cars must will receive other side can just start to brake, and avoid the hair of accident
Raw vehicle A and vehicle B must be at a distance of dsThe data packet from other side is successfully all arrived before)
Assuming that vehicle A and vehicle B are in identical environment, that is to say, that PA(d > ds)=PB(d > ds).And two vehicles
Speed is v0, i.e. vA=vB=v0.Then have:
Consider that target function type (11) is converted formula (17) by above-mentioned constraint condition (12) (13) and (15):
Formula (17) is the probabilistic model of effective collision avoidance under the face-to-face traveling that this method obtains, the face that real steering vectors are obtained
Opposite travels the packet receiving rate of lower different distance and ensemble average delay parameter bring that formula (17) can be obtained into can under friction speed
Effectively avoid the probability of rear-end impact.
6-3) intersection anti-collision warning reliability test model；
Intersect traveling anti-collision warning scene: intersection collision is one kind common in traffic accident, especially in no signal
Lamp crossing, when intersection has building to block sight, accident is easier to occur.Assuming that two vehicle of A, B is mutually perpendicular from intersection
Direction is travelled to crossing, and two vehicle of A, B respectively will be by crossing or A vehicle by crossing, and B vehicle is turned right at crossing, both of these case
Lower two vehicles are likely to occur collision.
6-3-1) establish the objective function of model:
The objective function for establishing V2X communication performance reliability analysis model, as shown in formula (18):
P (d > ds)=f (d, v, Pd,tl) (18)
Wherein P (d > ds) it is that vehicle can smoothly receive one and its distance d greater than safe distance dsAnother vehicle hair
The probability for the data packet come.dsIt indicates the safe distance of two vehicles, can be obtained by (21) formula；D is the distance in two workshops, can be passed through
(22) formula obtains；V is the speed of two vehicles, including A vehicle speed vAWith B vehicle speed vB；tlCommunication data packet propagation delay time, that is, pass through
The Latency that formula (2) obtains；PdPacket receiving rate PDR is represented, can be obtained by formula (1)；
6-3-2) determine the constraint condition of model:
Packet receiving rate PdConstraint:
Pd=f (d) (19)
(PdPacket receiving rate PDR is represent, is obtained by the collected data processing of real vehicle.Although PDR is by several factors
It influences, but passes through and the analysis of collected mass communication data is found, PdOnly with distance dependent.Therefore this method pair
PDR carries out simplified processing, i.e. PDR is only amount related with separation between vehicles)
Safe distance constraint:
When two cars are in face-to-face driving status, it may occur that forward direction collision.This method is with using dsRepresent safety
Distance, such as following formula:
Above formula is simplified:
(assuming that vehicle A and vehicle B is with identical speed v0Traveling, i.e. vA=vB=v0)
Wherein, vAFor the speed of vehicle A, vBFor the speed of vehicle B, vA、vBRegard variable, t asrFor driver reaction when
Between, approximate range (the present embodiment is set as 1s) between 0.75s to 1s.A is the acceleration of vehicle A.This method, which simplifies, slows down
Process regards the process of vehicle deceleration to safe speed as even moderating process.μ is that (the present embodiment is set as coefficient of friction
0.6), g is acceleration of gravity
Safety time (formula 23) 6-3-3) is defined according to safe distance (formula 21)；
When beginning, two cars are at a distance of d0, d0Have exceeded the communication range of two cars.At two from d0To dsClose process
In, the time that i-th of data packet reaches is ti+tl.If i-th of data packet is successfully received, the distance between two cars
For (identical this suppositive scenario two cars speed is v0, and the distance at two cars to crossing is identical):
Wherein, tiRepresent the time of i-th of data packet transmission.tlFor the propagation delay of data packet.fsIt is to send data packet
Frequency (the present embodiment is set as 10Hz), Ts=1/fsThe time interval that continuous two data packets are sent
According to safe distance ds, define safety time ts:
(meaning of safety time is, in safety time tsPreceding data packet is effectively received the collision avoidance that can succeed, otherwise
If data packet is in subsequent time ts+1It is just received afterwards, cannot effectively carry out collision avoidance)
6-3-4) to model solution；
P (d > ds)=PA(d > ds)PB(d > ds) (24)
(in order to avoid the generation of collision, two cars require successfully to receive the information from opponent vehicle.)
Consider that objective function (24) is converted formula (25) by above-mentioned constraint condition (19) (21) and (23):
Formula (25) is the probabilistic model that the crossing lines that this method obtains drive off effective collision avoidance, the intersection that real steering vectors are obtained
The packet receiving rate and ensemble average delay parameter for travelling lower different distance bring that formula (25) can be obtained into can be effective under friction speed
Avoid the probability of rear-end impact.
It obtained according to formula (10), (17), (25) with scene of speeding, face-to-face driving scene, intersected under driving scene, In
The probability of success communication before safe distance, the probability can be considered the probability of the success collision avoidance under this communication mode.Successfully keep away
The probability hit is bigger, illustrates that the reliability of communication is higher.The successful collision avoidance probability being calculated by this method, as vehicle
To the measurement index of extraneous information exchange communication equipment anti-collision warning reliability.When the probability of success collision avoidance is close to 1, explanation
The communication equipment has very high reliability, and may be implemented substantially may anti-collision warning to vehicle；When success collision avoidance probability is very low
(such as: 0.1) then illustrate the communication equipment actual traffic application in it is dangerous, can not in time to may occur collision into
Row early warning.Succeed measurement index of the collision avoidance probability as vehicle to extraneous information exchange communication equipment communication performance reliability,
Quantitative analysis has been carried out to the communications security in the traffic scene of border, has been filled up quantifying for communication reliability in actual traffic and has been sentenced
Disconnected blank.
Below with reference to a specific embodiment, that the present invention is described in more detail is as follows:
Acquire communication data information and running data information in actual traffic, comprising: packet receiving rate in communication process, when
Prolonging, data transmission frequency, driver's average reaction time (is typically set to 1s), coefficient of friction when brake (there is road conditions decision,
It is typically set to 0.6).
Below by a reality with the example sailed that speeds on, the usage of model is further described.
Fig. 3 (a) is-packet loss of the vehicle information exchange communication under friction speed, distance of getting off in intersection driving scene
Curve, abscissa represent the distance between two vehicles, and solid line representation speed is the packet receiving rate curve under 20km/h, dotted line representation speed
For the packet receiving rate curve under 40km/h；Fig. 3 (b) be get off in intersection driving scene-communication of vehicle information exchange friction speed,
Time lag curve under, abscissa represent the distance between two vehicles, and solid line representation speed is the time lag curve under 20km/h, empty
Line representation speed is the time lag curve under 40km/h.Under the scene, the transmission frequency of data packet is 1Hz, therefore TsIt is 0.1s.
Friction coefficient μ is set as 0.6.Driver's reflecting time trFor 1s.Obtained data are brought into (21) formula and (25) formula model
Obtain the output result of Fig. 3 (b):
Fig. 4 is to intersect the effective collision avoidance probability curve and safe distance curve (top curve P obtained under driving scene
(d) curve, lower curve are safe distance curve).Figure 4, it is seen that two vehicle relative velocities from 10 kilometers per hour to
100 kilometers are per hour, are 100% using effective probability, and per hour more than 100 kilometers, the validity of application sharply declines,
It is 0 that validity is applied after more than 109 kilometers per hour, i.e. collision is inevitable.Because speed herein is the phase of two vehicles
To speed, for a vehicle, sharply declines generation using validity and locate per hour in speed for 71 kilometers, and speed is more than
77 kilometers per hour after, using validity be 0.To effectively judge under the traffic scene, can such communication technology have
Effect is used for collision avoidance application.For the present invention also to the setting of speed limit, the setting of safe following distance has certain guidance meaning simultaneously
Justice.
Claims (1)
1. a kind of Che-vehicle information exchange communication anti-collision warning method for testing reliability, which comprises the following steps:
1) 3 kinds of anti-collision warning test scenes are set；
Two test vehicles A, B motor pattern travelled and relative motion state are classified, following 3 kinds is obtained and collides
Scene: in the same direction with driving scene of speeding, opposite driving scene and intersect driving scene；
2) test platform is built；
Communication equipment, CWAVE-Original top level computer, GPS module are installed on two test vehicles respectively as test
Platform；The GPS module is used to acquire location information, the velocity information of vehicle, and according to the clock in top level computer system
Temporal information is obtained, CWAVE-Original top level computer is used to control Che-vehicle letter of communication information forwarding and storage acquisition
Interaction data packet is ceased, communication apparatus is for sending and receiving the data packet with above- mentioned information；
3) collecting vehicle-vehicle interactive data information；
Two test vehicles carry out driving experiment according to 3 kinds of scenes to collide being arranged in step 1) respectively, acquire respectively
In the same direction with Che-vehicle interactive data information data packet under driving scene of speeding, opposite driving scene and intersection driving scene；Data
The information having in packet includes: the ID of the two cars communicated, the GPS location coordinate of each car, the speed of two cars, two
Directional velocity, packet sequence number and each transmitting-receiving time for jumping data packet of vehicle；Test vehicle periodically sends data
Packet, frequency are 5~50Hz；Specific step is as follows:
3-1) vehicle A generates raw data packets, original number by the CWAVE-Original top level computer being loaded on vehicle
It include: position, the velocity information, temporal information, communication equipment ID, packet sequence number of collected vehicle A according to package informatin, and
Setting forwards total hop count TotalHops and has forwarded hop count HopsDone；
CWAVE-Original top level computer 3-2) is generated by raw data packets hair by the communication equipment being loaded in vehicle A
Vehicle B is given, and the data packet of transmission is stored in the vehicle-mounted CWAVE-Original top level computer of vehicle A；
3-3) vehicle B is received after the raw data packets of vehicle A, first stores raw data packets；Then lead to
Crossing parsing raw data packets has been forwarded the relationship between hop count HopsDone and total forwarding hop count TotalHops to judge this
Whether data packet needs to continue to forward:
As Hops-Done < TotalHops, the forwarding of data packet is simultaneously not finished, and vehicle B adds vehicle B into raw data packets
Position, velocity information, temporal information, and the hop count of the forwarding HopsDone in data packet is added 1, obtains new data packet；
New data packet is forwarded by the communication equipment carried on vehicle B, and stores this simultaneously for new data packet；
As HopsDone=TotalHops, data packet forwarding has terminated, and vehicle B stores the raw data packets received,
No longer it is forwarded；
4) processing Che-vehicle interactive data information obtains messaging parameter；
Pass through collection step 3) in collect data packet, processing obtains required messaging parameter, and the messaging parameter includes: packet receiving
Rate and time delay；Packet receiving rate and time delay, the specific formula for calculation for calculating separately the interactive data information under 3 kinds of scenes are as follows:
Shown in packet receiving rate PDR calculation formula such as formula (1):
Wherein nreceivedIndicate the data packet number received in any scene, ntransmittedIndicate the number issued in this scenario
According to packet quantity；
Shown in the calculation formula of time delay Latency such as formula (2):
Wherein treceivedIndicate data packet received time, tsendIndicate the time that data packet is sent；
5) drive parameter is determined；
Drive parameter includes driver's average reaction time trAnd road friction coefficient p；
6) the anti-collision warning reliability test model and solution that the Che established under every kind of scene-vehicle information exchange communicates obtain difference
The probability of rear-end impact is avoided under speed；
6-1) rear-end impact early warning reliability test model is sailed with speeding in the same direction:
The objective function for 6-1-1) establishing model, as shown in formula (3):
P (d > ds)=f (d, v, Pd,tl) (3)
Wherein P (d > ds) it is that vehicle receives one and its distance d greater than safe distance dsAnother vehicle data packet sent
Probability, dsThe safe distance for indicating two vehicles is obtained by (5) formula；D is the distance in two workshops, is obtained by (7) formula；V is two vehicles
Speed, including A vehicle speed vAWith B vehicle speed vB；tlIt is communication data packet propagation delay time, i.e., is obtained by formula (2)
Latency；PdPacket receiving rate PDR is represented, is obtained by formula (1)；
6-1-2) determine the constraint condition of the model:
The constraint of packet receiving rate, as shown in formula (4):
Pd=f (d) (4)
Safe distance constraint, as shown in formula (5):
Wherein, a is the acceleration of vehicle A；
Formula (5) is simplified such as formula (6):
Wherein, g is acceleration of gravity；
Safety time 6-1-3) is defined according to safe distance:
If i-th of data packet is successfully received, the distance between two cars are as follows:
D=d0-(vA-vB)(ti+tl) (7)
Wherein, d0For the two vehicle distances of start time, tiRepresent the time of i-th of data packet transmission, fsIt is to send data packet
Frequency, Ts=1/fsThe time interval sent for continuous two data packets；
According to safe distance ds, define safety time ts:
(vA-vB)(ts+tl) < d0-ds< (vA-vB)(ts+1+tl) (8)
6-1-4) to model solution；
Formula (9) are converted by objective function (3) with (7) using constraint equation (4), (6):
Formula (13) are converted by formula (9), enable vA=v0:
Formula (10) is the probabilistic model that effective collision avoidance is driven off with speeding on, the lower different distance of the train tracing model that real steering vectors are obtained
Packet receiving rate and ensemble average delay parameter bring formula (10) into and obtain the probability for avoiding rear-end impact under friction speed；
Anti-collision warning reliability test model 6-2) is travelled in opposite directions；
The objective function for 6-2-1) establishing model, as shown in formula (11):
P (d > ds)=f (d, v, Pd,tl) (11)
Wherein, dsThe safe distance for indicating two vehicles is obtained by (13) formula；D is the distance in two workshops, is obtained by (14) formula；
6-2-2) determine the constraint condition of model:
Packet receiving rate constraint condition, as shown in formula (12):
Pd=f (d) (12)
Safe distance constraint, as shown in formula (13):
Safety time 6-2-3) is defined according to safe distance:
If i-th of data packet is successfully received, the distance between two cars are as follows:
D=d0-(vA+vB)(ti+tl) (14)
According to safe distance ds, define safety time ts:
(vA+vB)(ts+tl) < d0-ds< (vA+vB)(ts+1+tl) (15)
6-2-4) to model solution；
P (d > ds)=PA(d > ds)PB(d > ds) (16)
Assuming that vehicle A and vehicle B are in identical environment, PA(d > ds)=PB(d > ds), and two vehicle speeds are v0, i.e.,
vA=vB=v0；
Formula (17) are converted by target function type (11) with (15) using constraint equation (12), (13):
Formula (17) is the probabilistic model of effective collision avoidance under traveling face-to-face, the lower difference of face-to-face traveling that real steering vectors are obtained away from
From packet receiving rate and ensemble average delay parameter bring formula (17) into and obtain the probability for avoiding rear-end impact under friction speed；
6-3) intersection anti-collision warning reliability test model；
The objective function for 6-3-1) establishing model, as shown in formula (18):
P (d > ds)=f (d, v, Pd,tl) (18)
Wherein, dsThe safe distance for indicating two vehicles is obtained by (21) formula；D is the distance in two workshops, is obtained by (22) formula；
6-3-2) determine the constraint condition of model:
The constraint of packet receiving rate:
Pd=f (d) (19)
Safe distance constraint:
Formula (20) is simplified:
Safety time 6-3-3) is defined according to safe distance；
If i-th of data packet is successfully received, the distance between two cars are as follows:
According to safe distance ds, define safety time ts:
6-3-4) to model solution；
P (d > ds)=PA(d > ds)PB(d > ds) (24)
Formula (25) are converted by objective function (24) using constraint condition (19) (21) and (23):
Formula (25) is the probabilistic model that crossing lines drive off effective collision avoidance, and the crossing lines that real steering vectors are obtained drive off different distance
Packet receiving rate and ensemble average delay parameter bring formula (25) into and obtain the probability for avoiding rear-end impact under friction speed.
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