CN108986541B - Vehicle anti-collision routing method based on VANETs - Google Patents

Vehicle anti-collision routing method based on VANETs Download PDF

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CN108986541B
CN108986541B CN201810653736.7A CN201810653736A CN108986541B CN 108986541 B CN108986541 B CN 108986541B CN 201810653736 A CN201810653736 A CN 201810653736A CN 108986541 B CN108986541 B CN 108986541B
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collision
vehicles
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CN108986541A (en
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李德敏
张爱平
王俊杰
曹梦琦
徐梦然
廖书亚
张光林
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Donghua University
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    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications

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Abstract

The invention relates to a vehicle anti-collision routing method based on VANETs, which comprises the following steps: classifying according to the driving state of the vehicle and the state of the traffic light, and determining a possible collision set by comparing the time of the vehicle reaching the intersection with the remaining time of the traffic light; under the determined collision set, preferentially selecting a next-hop vehicle according to a running state function between the vehicles to acquire collision set running information; and calculating the collision time difference of the vehicles according to the running information of the vehicle and the collision set running information, judging whether collision danger exists between the vehicles by using the collision time difference, and if so, sending out an early warning message. The invention can sense the collision danger of the vehicle in advance and provides guarantee for the driver to take risk avoidance measures.

Description

Vehicle anti-collision routing method based on VANETs
Technical Field
The invention relates to the technical field of vehicle anti-collision, in particular to a vehicle anti-collision routing method based on VANETs.
Background
Along with the development of economy and the continuous improvement of personal living standard, the urban traffic condition is increasingly worsened due to the continuous increase of the number of automobiles, a lot of traffic accidents are brought, particularly, vehicle collision accidents are caused mostly due to the reasons of fatigue driving, overtaking, road emergency and the like of a driver, in addition, a more important reason is that the vehicle cannot sense the existence of danger in advance and sends out early warning prompt to the driver, and the driver cannot take danger avoiding measures in advance. Therefore, vehicle information is acquired by utilizing a vehicle-mounted self-organizing network routing technology, the existence of collision danger is sensed, a reliable basis is provided for vehicle collision early warning, and the method becomes the key point of vehicle anti-collision research in the current stage.
The Vehicular Ad Hoc network (VANETs) is a special Mobile Ad Hoc network (MANET), and the basic idea is that vehicles within a communication range can exchange basic information of the vehicles, such as the position, speed, driving direction and other information of the vehicles, and a Mobile network using the vehicles as nodes is established, so that the concept of multi-hop, self-organization and no center is emphasized, and the Vehicular Ad Hoc network has the advantages of easiness in deployment and no energy constraint. The vehicle in the vehicle-mounted self-organizing network is provided with a vehicle-mounted OBU and a wireless communication module, and has strong information storage and calculation capacity and communication capacity.
Disclosure of Invention
The invention aims to solve the technical problem of providing a vehicle anti-collision routing method based on VANETs, which can sense the vehicle collision danger in advance and provide guarantee for a driver to take risk avoidance measures.
The technical scheme adopted by the invention for solving the technical problems is as follows: the vehicle anti-collision routing method based on the VANETs comprises the following steps:
(1) classifying according to the driving state of the vehicle and the state of the traffic light, and determining a possible collision set by comparing the time of the vehicle reaching the intersection with the remaining time of the traffic light;
(2) under the determined collision set, preferentially selecting a next-hop vehicle according to a running state function between the vehicles to acquire collision set running information;
(3) and calculating the collision time difference of the vehicles according to the running information of the vehicle and the collision set running information, judging whether collision danger exists between the vehicles by using the collision time difference, and if so, sending out an early warning message.
The step (1) is specifically as follows: determining link positions of a set of possible collisions of the vehicle according to a driving state which the host vehicle wants to perform next; the position and speed information of the vehicle are obtained, the running time of the vehicle reaching the intersection is calculated, whether the vehicle enters a collision set or not is judged according to the remaining time of the traffic lights and the time of the vehicle reaching the intersection, and therefore the vehicle collision set in each running state is determined.
By passing
Figure BDA0001704856450000021
Calculating the driving time of the vehicle to the intersection, wherein diAnd viRespectively representing the distance of the current vehicle to the intersection and the current driving speed of the vehicle.
The step (2) is specifically as follows: judging whether the target vehicle is in the communication range of the vehicle, and if so, directly communicating with the target vehicle to acquire information; if the target vehicle is not in the communication range of the vehicle, the information is transmitted in a multi-hop mode, the vehicle state information of the one-hop communication range of the vehicle is acquired, a running state function between the vehicles is established, a neighbor vehicle with a large running state function value is preferentially considered as a next-hop forwarding vehicle, and if a plurality of vehicles with the same running state function value exist, a vehicle with a longer distance is considered as a next-hop forwarding vehicle; if the running state function values among the vehicles in the one-hop range are all 0, considering that the included angles between the connecting line of the neighbor vehicle and the source vehicle and the connecting line of the target vehicle and the source vehicle are
Figure BDA0001704856450000022
And the neighbor vehicle farthest from the source vehicle is used as a next hop forwarding vehicle; if the vehicle does not meet the requirements, the vehicle is carried with the vehicle to wait for forwarding.
When the running state of the vehicle is left-turn or straight running, the vehicle running state function is expressed as
Figure BDA0001704856450000023
When the running state of the vehicle is a right turn, the running state function of the vehicle is expressed as
Figure BDA0001704856450000024
Wherein v iss、vnAnd vdRespectively representing a source vehicle, a neighbour vehicle and a destination vehicle.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: after the vehicle-mounted network is established, vehicles in the vehicle-mounted network can carry out wireless communication, traffic signal lamp information and vehicle information in a vehicle communication range are obtained, the vehicle collision danger is sensed in advance, the problem of vehicle collision at the urban intersection is effectively solved, and the vehicle driving safety at the urban intersection is improved. In addition, the invention provides an information transmission selection mechanism according to the driving state, direction and position of the vehicle, thereby effectively reducing the data packet transmission redundancy.
Drawings
FIG. 1 is a crash set physical diagram of a vehicle under different driving conditions of the present invention;
FIG. 2 is a block diagram of a physical implementation of vehicle routing information transmission under different driving conditions of the present invention;
FIG. 3 is a simplified schematic of the vehicle collision detection of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The embodiment of the invention relates to a vehicle anti-collision routing method based on VANETs, wherein the vehicle is provided with an on-board unit (OBU), a communication module and a GPS module; the GPS module is used for acquiring the position and speed information of the vehicle; the communication module is used for establishing wireless communication with external vehicles and facilities, and acquiring nearby vehicle information, traffic signal lamp information and forwarding early warning information; the vehicle-mounted unit module is used for storing vehicle information and calculating a vehicle collision time difference. The method comprises the following specific steps:
firstly, according to the running state of the vehicle and the state of the traffic lightThe classification determines a set of collisions for the vehicle. As shown in fig. 1, the set of possible collisions and the road segment of the vehicle in different driving states of the host vehicle are given when the traffic light is green. Since the vehicle cannot turn left and go straight when the traffic light is red in consideration of the influence of traffic, but the right turn is not restricted, the collision gathering area and the section are as shown in fig. 1 (d). The specific case of collision set determination is as follows: the position and speed information of the vehicle are acquired through a GPS module arranged on the vehicle, and the running time of the vehicle reaching the intersection is calculated
Figure BDA0001704856450000031
Wherein d isiAnd viRespectively representing the distance of the current vehicle to the intersection and the current driving speed of the vehicle. By using the time t of vehicle to crossiAnd the remaining time T of the traffic signal lamplrComparing, judging whether the vehicle will enter the vehicle collision set, if ti＜TlrThen the vehicle is considered to belong to the vehicle collision set.
When the collision set of the vehicles is determined, firstly, judging whether a target vehicle is in the communication range of the vehicle, and if the target vehicle is in the communication range of the vehicle, directly communicating with the target vehicle to acquire information; if the target vehicle is not in the communication range of the vehicle, the information is transmitted in a multi-hop mode, the vehicle state information of the one-hop communication range of the vehicle is acquired, and a running state function between the vehicles is established. When the driving state of the vehicle is left-turn or straight-going, the vehicle driving state function may be expressed as
Figure BDA0001704856450000032
Wherein v iss、vnAnd vdRespectively representing a source vehicle, a neighbour vehicle and a destination vehicle. When the driving state of the vehicle is a right turn, the driving state function of the vehicle may be expressed as
Figure BDA0001704856450000041
Giving priority to the neighbor vehicle having a large running state function value as a next hop forwarding vehicle according to the running state of the vehicle, and if there are a plurality of such vehicles, giving priority to the vehicle having a longer distance as the next hop forwarding vehicle; the position of the source vehicle and the position of the neighboring vehicle may be respectively denoted by vs(xs,ys) And vn(xn,yn) And (4) showing. The distance between them can be expressed as
Figure BDA0001704856450000042
If the driving state functions among the vehicles within the one-hop range are all 0, considering the included angles between the connecting line of the neighbor vehicle and the source vehicle and the connecting line of the target vehicle and the source vehicle
Figure BDA0001704856450000043
Giving priority to included angles
Figure BDA0001704856450000044
The vehicles within range, and the vehicle farthest from the source vehicle, serve as the next hop forwarding node. If the vehicle does not meet the requirements, the vehicle carries the data packet to wait for forwarding. As shown in fig. 2, different driving condition example scenarios of the present invention are given, and the specific information transmission process is as follows: as shown in fig. 2(a) and 2(b), the traveling state of the vehicle a is left turn and straight travel, respectively, and the destination vehicle D is not within the communication range of the vehicle a, and therefore, transmission of information in a multi-hop form is required, in which case the traveling state function f is prioritized1(vs,vn,vd) Vehicles of large value and far distance, the preferred transmission path A → B → D, A → B → F, if such vehicles do not exist, the included angle is taken into account
Figure BDA0001704856450000045
And the distant vehicle is used as a forwarding node, and the transmission path is A → C → D, A → E → F. FIGS. 2(c) and 2(d) show the vehicle in a different mannerInformation transmission process during right turn under traffic signal lamp state, and at the moment, the driving state function f during right turn is preferentially considered2(vs,vn,vd) In combination with the distance between the vehicles and the angle between the vehicles, a preferred transmission path and an alternative transmission path are given, which are a → B → D and a → C → D, respectively.
And calculating the vehicle collision time difference according to the acquired vehicle information, judging whether the vehicles collide by using the vehicle collision time difference, and if so, sending early warning information. As shown in FIG. 3, a simplified schematic of the vehicle collision detection of the present invention is provided, assuming that both vehicles 1 and 2 are traveling in a straight line with the vehicle speeds v, respectively1And v2The P point is a vehicle driving conflict point, namely a vehicle collision point, DTCP1And DTCP2Respectively, the distance the vehicle has traveled to the collision point P, the time TTCP the vehicle has reached the collision point is DTCP/v, and the time difference the vehicle has reached the collision point P can then be expressed as
Td＝|TTCP1-TTCP2|
If two vehicles arrive at the collision point P at the same time, namely the collision time difference is 0, the vehicles are in danger of collision, and the vehicles send out early warning information.
The invention can use the vehicle-mounted self-organizing network to obtain the traffic signal lamp information and the vehicle information in the vehicle communication range, sense the vehicle collision danger in advance, effectively solve the problem of vehicle collision at the urban intersection and improve the vehicle driving safety at the urban intersection. In addition, the invention provides an information transmission selection mechanism according to the driving state, direction and position of the vehicle, thereby effectively reducing the data packet transmission redundancy.

Claims (3)

1. A vehicle anti-collision routing method based on VANETs is characterized by comprising the following steps:
(1) classifying according to the driving state of the vehicle and the state of the traffic light, and determining a possible collision set by comparing the time of the vehicle reaching the intersection with the remaining time of the traffic light;
(2)under the determined collision set, preferentially selecting a next-hop vehicle according to a running state function between the vehicles to acquire collision set running information; the method specifically comprises the following steps: judging whether the target vehicle is in the communication range of the vehicle, and if so, directly communicating with the target vehicle to acquire information; if the target vehicle is not in the communication range of the vehicle, the information is transmitted in a multi-hop mode, the vehicle state information of the one-hop communication range of the vehicle is acquired, a running state function between the vehicles is established, a neighbor vehicle with a large running state function value is preferentially considered as a next-hop forwarding vehicle, and if a plurality of vehicles with the same running state function value exist, a vehicle with a longer distance is considered as a next-hop forwarding vehicle; if the running state function values among the vehicles in the one-hop range are all 0, considering that the included angles between the connecting line of the neighbor vehicle and the source vehicle and the connecting line of the target vehicle and the source vehicle are
Figure FDA0002677686760000011
And the neighbor vehicle farthest from the source vehicle is used as a next hop forwarding vehicle; if the vehicle does not meet the requirements, the vehicle carries a data packet to wait for forwarding; when the running state of the vehicle is left-turn or straight running, the vehicle running state function is expressed as
Figure FDA0002677686760000012
When the running state of the vehicle is a right turn, the running state function of the vehicle is expressed as
Figure FDA0002677686760000013
Wherein v iss、vnAnd vdRespectively representing a source vehicle, a neighbor vehicle and a destination vehicle;
(3) and calculating the collision time difference of the vehicles according to the running information of the vehicle and the collision set running information, judging whether collision danger exists between the vehicles by using the collision time difference, and if so, sending out an early warning message.
2. The VANETs-based vehicle anti-collision routing method according to claim 1, wherein the step (1) is specifically as follows: determining link positions of a set of possible collisions of the vehicle according to a driving state which the host vehicle wants to perform next; the position and speed information of the vehicle are obtained, the running time of the vehicle reaching the intersection is calculated, whether the vehicle enters a collision set or not is judged according to the remaining time of the traffic lights and the time of the vehicle reaching the intersection, and therefore the vehicle collision set in each running state is determined.
3. The VANETs-based vehicle collision avoidance routing method of claim 2, wherein the collision avoidance routing method is achieved by
Figure FDA0002677686760000014
Calculating the driving time of the vehicle to the intersection, wherein diAnd viRespectively representing the distance of the current vehicle to the intersection and the current driving speed of the vehicle.
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