CN113223311A - Vehicle door opening anti-collision early warning method based on V2X - Google Patents
Vehicle door opening anti-collision early warning method based on V2X Download PDFInfo
- Publication number
- CN113223311A CN113223311A CN202110326438.9A CN202110326438A CN113223311A CN 113223311 A CN113223311 A CN 113223311A CN 202110326438 A CN202110326438 A CN 202110326438A CN 113223311 A CN113223311 A CN 113223311A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- early warning
- current vehicle
- door opening
- collision
- 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
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
-
- 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
- G08G1/164—Centralised systems, e.g. external to vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a vehicle door opening anti-collision early warning method based on V2X, which comprises the following steps: acquiring driving parameters periodically broadcast by surrounding vehicles and non-motor vehicles/pedestrians, wherein the driving parameters at least comprise position information, speed, acceleration and driving tracks; acquiring the driving parameters of the current vehicle; screening out peripheral vehicles, non-motor vehicles/pedestrians in a cross overlapping area with the current vehicle driving track; judging whether the cross overlapping area covers the position information of the current vehicle, if so, taking the peripheral vehicles, non-motor vehicles or pedestrians corresponding to the cross overlapping area covering the position information of the current vehicle as a dangerous target; judging whether the current vehicle is in a static state, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made. The method can consider non-motor vehicles/pedestrians and traffic participants without V2X equipment in scene calculation, makes up for the defects of the existing vehicle door collision prediction method, and is beneficial to eliminating accident potential.
Description
Technical Field
The invention relates to the technical field of anti-collision of automobile doors, in particular to a V2X-based anti-collision early warning method for vehicle door opening.
Background
Along with the continuous improvement of the living standard of people, the popularization rate of vehicles is higher and higher, and the safety problem in the driving process is more important. Especially, in the present day with increasingly complex road conditions, when a driver and passengers open doors at two sides, vehicles (such as an electric vehicle, a motorcycle, a taxi, a truck, a bicycle and the like) and pedestrians at two sides are not in time to collide with the opened vehicle doors due to untimely dodging, so that the vehicle is damaged, personal safety of the passengers and the pedestrians at two sides is injured, and even the condition that the passengers and the pedestrians are killed is caused seriously. For such safety accidents, the reason is that the driver or the passenger does not observe the road condition when opening the door, and the driver or the passenger has a blind visual area.
In the existing door anti-collision technology, sensors such as radar, infrared, sound wave, cameras and the like are mainly configured on the side edges of the doors, and at the moment when the doors are opened, the sensors detect whether moving objects (including vehicles or pedestrians) which are driving exist behind the side edges of the doors or not so as to trigger early warning and reminding in time. And this kind of current car anticollision scheme of opening door based on radar or camera etc. not only has the blind area, and very easily receives the influence of weather or ambient light, under the heavy fog weather of overcast and rainy or dark circumstances such as, leads to the detection error increase of sensor, the condition of door anticollision dysfunction appears. In view of this, it is very important to develop a vehicle door opening anti-collision early warning method based on V2X (vehicle wireless communication technology, vehicle to X) to eliminate blind areas, improve detection precision of moving objects, and implement accurate vehicle door anti-collision early warning.
Disclosure of Invention
In order to overcome the defects, the invention provides a vehicle door opening anti-collision early warning method based on V2X, which is based on a road side unit, a non-motor vehicle/pedestrian carried V2X transceiver and a vehicle-mounted V2X communication module, wherein the road side unit, the non-motor vehicle/pedestrian carried V2X transceiver and the vehicle-mounted V2X communication module are in communication connection with each other, and the method comprises the following steps:
acquiring driving parameters periodically broadcast by surrounding vehicles and non-motor vehicles/pedestrians, wherein the driving parameters at least comprise position information, speed, acceleration and driving tracks;
acquiring the driving parameters of the current vehicle;
screening out peripheral vehicles, non-motor vehicles/pedestrians in a cross overlapping area with the current vehicle driving track;
judging whether the cross overlapping area covers the position information of the current vehicle, if so, taking the peripheral vehicles, non-motor vehicles or pedestrians corresponding to the cross overlapping area covering the position information of the current vehicle as a dangerous target;
judging whether the current vehicle is in a static state, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made.
Further, before the step of sending the early warning signal to the current vehicle, the method further comprises a collision time calculation step, wherein the collision time calculation step comprises the following steps:
calculating the running time of the dangerous target reaching the cross overlapping area where the current vehicle is located according to the position information, the speed and the acceleration of the dangerous target;
judging whether the running time is less than a threshold value, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made.
Further, the step of calculating the running time of the dangerous target reaching the cross overlapping area where the current vehicle is located according to the position information, the speed and the acceleration of the dangerous target includes:
acquiring the distance between the position information of the dangerous target and the cross overlapping area where the current vehicle is located;
and calculating the running time of the dangerous target reaching the cross overlapping area where the current vehicle is located according to the speed and the acceleration of the dangerous target.
Further, before the step of screening out surrounding vehicles, non-motor vehicles and pedestrians having a cross-overlapping area with the current vehicle driving track, the method further comprises the following steps:
and acquiring the running parameters of each running vehicle and non-motor vehicle/pedestrian in the coverage area of the road side unit.
Further, after the step of obtaining the driving parameters of each driving vehicle and non-motor vehicle/pedestrian in the road side unit coverage area, the method further comprises a data screening step:
screening out vehicles with the same driving parameters and non-motor vehicles/pedestrians with the same driving parameters as a repeated target;
the repetitive driving parameters of the repetitive object are deleted so that the repetitive object retains only one set of driving parameters.
Furthermore, the roadside unit is at least provided with a camera and a radar sensor, the camera and the radar sensor are arranged in a downward overlooking mode to acquire road traffic conditions, and information acquired by the camera and the radar sensor is transmitted to a vehicle-mounted V2X communication module of the current vehicle after fusion calculation through the roadside unit.
Further, before sending out the warning signal to the current vehicle, the method further comprises:
and sending an execution instruction to a control system of the current vehicle to automatically lock the vehicle door.
Further, the method also comprises the following steps:
and if the vehicle door opening collision risk is determined to be relieved, automatically relieving the door locking action.
Further, the early warning signal comprises at least one of a sound early warning signal, a character early warning signal and a light early warning signal.
Further, the non-motor vehicle/pedestrian carried V2X transceiver at least comprises a mobile phone or a watch, and the non-motor vehicle/pedestrian carried V2X transceiver at least comprises a positioning module, a speed calculating module, an acceleration calculating module and an information input module.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a vehicle door opening anti-collision early warning method based on V2X, which is characterized in that a V2X transceiver is arranged for a non-motor vehicle/pedestrian, so that the pedestrian can actively participate in the traffic and actively release the driving parameters of the pedestrian, the current vehicle can accurately evaluate the risk of collision when the door is opened, and an early warning signal is sent to a driver in time. The method has the advantages that the radar sensor and the camera lamp detection device are arranged on the road side unit, and the camera and the radar sensor are arranged in a downward overlooking mode, so that road traffic conditions can be still clearly obtained under severe weather such as thunderstorm and the like, traffic participants without V2X equipment are considered in scene calculation, the defects of a vehicle door collision prediction method which only depends on a vehicle-mounted radar or a vehicle-mounted camera in the prior art are overcome, the driver is helped to eliminate potential hazards of traffic accidents in time, and the travel safety is guaranteed.
Drawings
Fig. 1 is a schematic diagram of a communication flow of a current vehicle acquiring a surrounding vehicle, a non-motor vehicle/a pedestrian in embodiment 1.
Fig. 2 is a schematic diagram of a vehicle door opening anti-collision warning method based on V2X in embodiment 1.
Fig. 3 is a detailed flowchart of the vehicle door opening anti-collision warning method based on V2X in embodiment 1.
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for purposes of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced and do not represent actual dimensions; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent.
Detailed Description
The following detailed description of the preferred embodiments of the present invention is provided to enable those skilled in the art to more clearly understand the advantages and features of the present invention and to clearly define the scope of the present invention.
Example 1
As shown in fig. 1-3, the embodiment provides a vehicle door opening anti-collision warning method based on V2X, and the implementation of the method is based on a road side unit, a non-motor vehicle/pedestrian carried V2X transceiver, and an onboard V2X communication module. The V2X transceiver carried by the non-motor vehicle/pedestrian is the V2X transceiver carried by the non-motor vehicle and the pedestrian respectively. The road side unit, the V2X transceiver carried by the non-motor vehicle/pedestrian and the vehicle-mounted V2X communication module are in communication connection with each other, and information interaction can be achieved. In this embodiment, the roadside unit is at least provided with a camera and a radar sensor, the camera and the radar sensor are both arranged in a downward overlooking manner to acquire the traffic condition of the road surface below, and the information acquired by the camera and the radar sensor is transmitted to the vehicle-mounted V2X communication module of the current vehicle after being subjected to fusion calculation by the roadside unit.
A vehicle door opening anti-collision early warning method based on V2X specifically comprises the following steps:
101. and acquiring the driving parameters periodically broadcasted by surrounding vehicles and non-motor vehicles/pedestrians, wherein the driving parameters at least comprise position information, speed, acceleration and driving tracks.
In the implementation process, the vehicle-mounted V2X communication module arranged on the surrounding vehicle periodically broadcasts the driving parameters of the vehicle outwards, and similarly, the V2X transceiver carried by the non-motor vehicle/pedestrian also periodically broadcasts the driving parameters of the vehicle outwards. And the vehicle-mounted V2X communication module on the current vehicle can acquire corresponding driving parameters only by periodically receiving the driving parameters broadcasted by surrounding vehicles and non-motor vehicles/pedestrians. In this embodiment, the driving parameters at least include position information, speed, acceleration, heading angle, driving track, and the like.
102. And acquiring the running parameters of the current vehicle.
The current vehicle driving parameters are mainly obtained through a vehicle-mounted GPS positioning module and an automobile CAN bus, and the current vehicle driving parameters also comprise position information, speed, acceleration, course angle, driving track and other parameters. The specific process of acquiring the current vehicle driving parameters belongs to the mature prior art, and is not described in detail herein.
103. And screening out peripheral vehicles, non-motor vehicles/pedestrians with cross overlapping areas with the current vehicle running track.
That is, after the current vehicle acquires the driving parameters periodically broadcast by the surrounding vehicles and the non-motor vehicles/pedestrians and the driving parameters of the current vehicle, the surrounding vehicles and the non-motor vehicles/pedestrians in the cross overlapping area with the driving track of the current vehicle are further screened out, so that the vehicles and the non-motor vehicles/pedestrians without track cross overlapping are filtered out, and the analysis range is narrowed. In the technical scheme, all vehicles and non-motor vehicles/pedestrians which do not have track cross overlapping with the current vehicle are defaulted as vehicles which do not pose a threat to the current vehicle, so that the target is directly ignored to reduce the calculated amount of the current vehicle.
Preferably, before step 103, the driving parameters of each driving vehicle and non-motor vehicle/pedestrian in the coverage area of the roadside unit may be acquired by the roadside unit, so as to acquire driving parameters of more moving objects as much as possible. It is noted that the driving parameters of each driving vehicle and non-motor vehicle/pedestrian in the coverage area are obtained by the road side unit, which includes the vehicle and non-motor vehicle/pedestrian without the V2X communication module, the vehicle with the vehicle-mounted V2X communication module and the non-motor vehicle/pedestrian with the V2X transceiver device. The vehicle mounted with the vehicle-mounted V2X communication module and the non-motor vehicle/pedestrian carrying the V2X transceiver device broadcast their own driving parameters to the current vehicle, so that the driving parameters of each moving object acquired by the road side unit partially overlap with the driving parameters received by the current vehicle. For example, for the running parameters of the vehicle mounted with the in-vehicle V2X communication module, the current vehicle acquires twice. The method means that the current vehicle needs to repeatedly calculate two groups of data which are identical, so that the calculated amount of the current vehicle is increased, the reaction speed of the current vehicle is delayed to a certain extent, and timely early warning is not facilitated.
In order to avoid repeated calculation of the same driving parameters and increase unnecessary calculation burden, a data sifting step is generally included after the step of acquiring the driving parameters of each driving vehicle and non-motor vehicle/pedestrian in the coverage area of the road side unit. In the data filtering step, a vehicle with the same driving parameters and a non-motor vehicle/pedestrian with the same driving parameters need to be screened out first, that is, two sets of driving parameters which are identical are screened out from the data received by the current vehicle, and the data are used as the repetitive targets, wherein the data are identical in positioning information, speed, acceleration, driving track and broadcast information, and the data are identical in V2X device (i.e., the data source). Then, the repetitive driving parameters of the repetitive object are deleted so that the repetitive object retains only one set of driving parameters. In other words, if the positions of two moving objects received by the current vehicle are the same, the acceleration is the same, the speed is the same, the driving parameters are the same, the heading angle is the same, the driving track is the same, and the data sources are the same, then the current vehicle defaults that the two moving objects are the same moving object, only the received data is repeated, and at this time, a set of driving parameters is deleted.
104. And judging whether the cross overlapping area covers the position information of the current vehicle, if so, taking the peripheral vehicles, non-motor vehicles or pedestrians corresponding to the cross overlapping area covering the position information of the current vehicle as dangerous targets.
105. Judging whether the current vehicle is in a static state, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made.
When the current vehicle is detected to be in a static state, the system defaults that the current vehicle has a larger possibility of opening a vehicle door, and at the moment, an early warning signal is sent to the current vehicle. When the current vehicle is detected to be in a normal driving state, generally, a driver or a passenger is considered not to suddenly open a vehicle door in the normal driving process of the vehicle, and at the moment, the driver is not prompted with early warning to avoid interference on normal driving of the driver.
Preferably, before the step of sending the early warning signal to the current vehicle, a collision time calculation step is further included. In the collision time calculation step, generally, the travel time of the dangerous target reaching the cross-overlap area where the current vehicle is located is calculated according to the position information, the speed and the acceleration of the dangerous target. Then, judging whether the running time is less than a threshold value, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made. The threshold value is generally set between 1-3min, and the user can make corresponding adjustment according to the self reaction capability. Generally, it is considered that the shorter the traveling time of the dangerous target reaching the cross overlapping area where the current vehicle is located, the shorter the reaction time left for the current vehicle, the higher the probability that the current vehicle opens the door to collide with the dangerous target, and the longer the traveling time of the dangerous target reaching the cross overlapping area where the current vehicle is located, the smaller the threat of the dangerous target on the collision of the current vehicle with respect to the opened door is considered, and it is highly likely that the dangerous target does not reach the cross overlapping area where the current vehicle is located after the door of the current vehicle is opened and closed, so the warning prompt is not selected to be given.
Of course, in the present technical solution, in order to calculate the traveling time of the dangerous target reaching the intersection and overlap area where the current vehicle is located, it is usually necessary to first obtain the distance between the position information of the dangerous target and the intersection and overlap area where the current vehicle is located, where the distance refers to the distance of the road where the dangerous target needs to travel when reaching the intersection and overlap area where the current vehicle is located along its own traveling track. And then, calculating the average speed of the dangerous target according to the speed and the acceleration of the dangerous target, and finally calculating the running time of the dangerous target reaching the cross overlapping area where the current vehicle is located.
Preferably, in order to further improve the safety, before the early warning signal is sent to the current vehicle, an execution instruction can be sent to a control system of the current vehicle to automatically lock the vehicle door, so that the occurrence of a collision accident caused by the fact that the vehicle door is opened by a user due to insufficient prompt reminding or dangerous actions such as forcibly opening the vehicle door after the user receives the early warning signal is still performed. Of course, in the case that it is later determined that the risk of vehicle door opening collision is relieved, the control system can automatically unlock the door locking action, so that the user can open the door under the safe condition conveniently, and convenience is provided for the user. Here, the automatic locking door may be automatically released at a set time of the automatic locking door, that is, after a certain time (for example, after the automatic locking door 10 s) has elapsed from the automatic locking door.
Preferably, the camera and the radar sensor arranged on the roadside unit in the technical scheme are mainly used for acquiring the traffic conditions of vehicles, non-motor vehicles and pedestrians which are not provided with the V2X communication module. Then, in order to ensure that the relevant information can be still clearly and accurately acquired under severe conditions such as heavy fog in rainy days or heavy fog in dark days, an optical module can be arranged on the road side unit, wherein the optical module comprises a light sensor and a light emitting assembly, the light sensor is used for sensing the light intensity of the surrounding environment, then the light emitting assembly is controlled to be started under the condition that the light is lower than the set intensity, and therefore good light conditions can be provided for shooting of the camera under the conditions of heavy fog in rainy days or heavy fog in rainy days, and the sensing capability of the camera support is improved. The setting of optical module mutually supports with the camera and the radar sensor that overlook the setting, has formed a similar view angle of going to emperor, can overlook all traffic participants in whole area, reduces the interference of surrounding environment, and then provides more comprehensive reference for current vehicle. In addition, the roadside unit may also be provided with other types of detection sensors, such as ultrasonic sensors, in order to sense the movement of objects in the nearby environment as comprehensively as possible and to broadcast the driving parameter information to the current vehicle in time. The information broadcasting frequency of the road side unit, the non-motor vehicle/pedestrian carried V2X transceiver and the vehicle-mounted V2X communication module can refer to the communication frequency of the V2X module in the prior art, and is not limited herein.
In this embodiment, the early warning signal includes at least one of a sound early warning signal, a text early warning signal, and a light early warning signal. Of course, the warning signal may be formed by combining two or three signals to draw the driver's attention. Wherein sound early warning signal and characters early warning signal can be including the vehicle position and the collision time who have the collision risk to let the driver have clearer understanding to the collision target, and then make reasonable avoidance.
In the technical scheme, the V2X transceiver carried by the non-motor vehicle/pedestrian at least comprises a mobile phone, a watch or a bracelet and the like, and the V2X transceiver carried by the non-motor vehicle/pedestrian is at least provided with a positioning module, a speed calculating module, an acceleration calculating module, an information input module and the like so as to collect the driving parameters of the non-motor vehicle/pedestrian.
Preferably, in order to provide a warning effect for surrounding vehicles and non-motor vehicles/pedestrians, a flashing warning lamp can be arranged on the outer side of the door, and the warning lamp is started to be in a flashing state when a warning signal is sent to the vehicle, so that the surrounding vehicles and the non-motor vehicles/pedestrians are attracted.
Preferably, the current vehicle can also broadcast door opening notices to surrounding vehicles and non-motor vehicles/pedestrians through a vehicle-mounted V2X communication module loaded by the current vehicle, so that surrounding vehicles and non-motor vehicles/pedestrians can actively make avoidance, and the risk of door collision is further reduced.
The embodiment discloses a vehicle door opening anti-collision early warning method based on V2X, and the vehicle door opening anti-collision early warning method is characterized in that a V2X transceiver is arranged for a non-motor vehicle/pedestrian, so that the pedestrian can actively participate in traffic and actively release own driving parameters, the current vehicle can accurately evaluate the risk of collision when the vehicle door is opened, and an early warning signal is sent to a driver in time. The method has the advantages that the radar sensor and the camera lamp detection device are arranged on the road side unit, and the camera and the radar sensor are arranged in a downward overlooking mode, so that road traffic conditions can be still clearly obtained under severe weather such as thunderstorm and the like, traffic participants without V2X equipment are considered in scene calculation, the defects of a vehicle door collision prediction method which only depends on a vehicle-mounted radar or a vehicle-mounted camera in the prior art are overcome, the driver is helped to eliminate potential hazards of traffic accidents in time, and the travel safety is guaranteed.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A vehicle door opening anti-collision early warning method based on V2X is characterized in that based on a road side unit, a non-motor vehicle/pedestrian carried V2X transceiver and a vehicle-mounted V2X communication module, the road side unit, the non-motor vehicle/pedestrian carried V2X transceiver and the vehicle-mounted V2X communication module are in communication connection with each other, and the method comprises the following steps:
acquiring driving parameters periodically broadcast by surrounding vehicles and non-motor vehicles/pedestrians, wherein the driving parameters at least comprise position information, speed, acceleration and driving tracks;
acquiring the driving parameters of the current vehicle;
screening out peripheral vehicles, non-motor vehicles/pedestrians in a cross overlapping area with the current vehicle driving track;
judging whether the cross overlapping area covers the position information of the current vehicle, if so, taking the peripheral vehicles, non-motor vehicles or pedestrians corresponding to the cross overlapping area covering the position information of the current vehicle as a dangerous target;
judging whether the current vehicle is in a static state, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made.
2. The vehicle door opening anti-collision early warning method based on V2X as claimed in claim 1, wherein before the step of sending the early warning signal to the current vehicle, the method further comprises a collision time calculation step, and the collision time calculation step comprises:
calculating the running time of the dangerous target reaching the cross overlapping area where the current vehicle is located according to the position information, the speed and the acceleration of the dangerous target;
judging whether the running time is less than a threshold value, if so, sending an early warning signal to the current vehicle; otherwise, no warning prompt is made.
3. The vehicle door opening anti-collision early warning method based on V2X as claimed in claim 2, wherein the step of calculating the driving time of the dangerous object to reach the cross-overlapping area where the current vehicle is located according to the position information, speed and acceleration of the dangerous object comprises:
acquiring the distance between the position information of the dangerous target and the cross overlapping area where the current vehicle is located;
and calculating the running time of the dangerous target reaching the cross overlapping area where the current vehicle is located according to the speed and the acceleration of the dangerous target.
4. The vehicle door opening anti-collision early warning method based on V2X, as claimed in claim 1, further comprising, before the step of screening out surrounding vehicles, non-motor vehicles/pedestrians having cross-overlapping area with the current vehicle driving track, the steps of:
and acquiring the running parameters of each running vehicle and non-motor vehicle/pedestrian in the coverage area of the road side unit.
5. The vehicle door opening anti-collision early warning method based on V2X as claimed in claim 4, wherein after the step of obtaining the driving parameters of each driving vehicle and non-motor vehicle/pedestrian in the road side unit coverage area, the method further comprises a data sifting step:
screening out vehicles with the same driving parameters and non-motor vehicles/pedestrians with the same driving parameters as a repeated target;
the repetitive driving parameters of the repetitive object are deleted so that the repetitive object retains only one set of driving parameters.
6. The vehicle door opening anti-collision early warning method based on V2X as claimed in claim 1, wherein the road side unit is at least provided with a camera and a radar sensor, the camera and the radar sensor are both arranged in a downward overlook manner to acquire road traffic conditions, and information acquired by the camera and the radar sensor is transmitted to an on-board V2X communication module of a current vehicle after fusion calculation by the road side unit.
7. The vehicle door opening anti-collision early warning method based on V2X as claimed in claim 1, wherein before the early warning signal is sent to the current vehicle, the method further comprises:
and sending an execution instruction to a control system of the current vehicle to automatically lock the vehicle door.
8. The vehicle door opening anti-collision early warning method based on V2X as claimed in claim 7, further comprising:
and if the vehicle door opening collision risk is determined to be relieved, automatically relieving the door locking action.
9. The vehicle door opening anti-collision early warning method based on V2X, according to claim 1, wherein the early warning signal comprises at least one of an audio early warning signal, a text early warning signal and a light early warning signal.
10. The vehicle door opening anti-collision early warning method based on V2X is characterized in that the non-motor vehicle/pedestrian carried V2X transceiver at least comprises a mobile phone or a watch, and the non-motor vehicle/pedestrian carried V2X transceiver at least comprises a positioning module, a speed calculation module, an acceleration calculation module and an information input module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110326438.9A CN113223311A (en) | 2021-03-26 | 2021-03-26 | Vehicle door opening anti-collision early warning method based on V2X |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110326438.9A CN113223311A (en) | 2021-03-26 | 2021-03-26 | Vehicle door opening anti-collision early warning method based on V2X |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113223311A true CN113223311A (en) | 2021-08-06 |
Family
ID=77084215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110326438.9A Pending CN113223311A (en) | 2021-03-26 | 2021-03-26 | Vehicle door opening anti-collision early warning method based on V2X |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113223311A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113682259A (en) * | 2021-09-22 | 2021-11-23 | 海南大学 | Vehicle door opening early warning anti-collision system and control method |
| CN114283618A (en) * | 2021-12-13 | 2022-04-05 | 经纬恒润(天津)研究开发有限公司 | Method and device for emergency communication and propagation between vehicles |
| CN114298068A (en) * | 2021-12-29 | 2022-04-08 | 中国电信股份有限公司 | Vehicle door control system, method, device, electronic equipment and storage medium |
| CN114464010A (en) * | 2021-12-20 | 2022-05-10 | 北京罗克维尔斯科技有限公司 | Vehicle door opening early warning method and device, electronic equipment, vehicle and storage medium |
| CN114523902A (en) * | 2022-03-30 | 2022-05-24 | 重庆长安汽车股份有限公司 | Collision early warning method and system for front vehicle door opening scene |
| CN114724406A (en) * | 2022-03-22 | 2022-07-08 | 浙江吉利控股集团有限公司 | Security protection method, device and storage medium |
| CN114913687A (en) * | 2022-05-11 | 2022-08-16 | 智道网联科技(北京)有限公司 | Vehicle-road-cloud-based in-vehicle perception sharing method, equipment and system |
| CN115116268A (en) * | 2022-06-13 | 2022-09-27 | 武汉理工大学 | Rural traffic early warning method and system |
| CN115123127A (en) * | 2022-07-01 | 2022-09-30 | 小米汽车科技有限公司 | Method and device for identifying door opening motor and vehicle |
| CN115195564A (en) * | 2022-07-08 | 2022-10-18 | 江阴市浩盛电器线缆制造有限公司 | Unloading state identification platform and method for carrier vehicle |
| CN116311534A (en) * | 2023-05-17 | 2023-06-23 | 青岛润邦泽业信息技术有限公司 | Intelligent worksite dangerous violation action recognition method and system based on AI |
| US20230305145A1 (en) * | 2022-03-24 | 2023-09-28 | Rivian Ip Holdings, Llc | Method and apparatus for detecting open vehicle cabin |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398554B (en) * | 2010-09-14 | 2015-03-25 | 通用汽车环球科技运作有限责任公司 | Vehicle safety systems and methods |
| US20150251599A1 (en) * | 2014-03-04 | 2015-09-10 | Magna Electronics Inc. | Vehicle alert system utilizing communication system |
| CN105835765A (en) * | 2016-01-26 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Vehicle collision avoiding system and method and vehicle |
| CN106143299A (en) * | 2016-07-21 | 2016-11-23 | 浙江吉利汽车研究院有限公司 | A kind of opening door of vehicle early warning aid system |
| CN108182817A (en) * | 2018-01-11 | 2018-06-19 | 北京图森未来科技有限公司 | Automatic Pilot auxiliary system, trackside end auxiliary system and vehicle-mounted end auxiliary system |
| CN109143215A (en) * | 2018-08-28 | 2019-01-04 | 重庆邮电大学 | It is a kind of that source of early warning and method are cooperateed with what V2X was communicated based on binocular vision |
| CN109739236A (en) * | 2019-01-04 | 2019-05-10 | 腾讯科技（深圳）有限公司 | Processing method, device, computer-readable medium and the electronic equipment of information of vehicles |
| CN109795412A (en) * | 2019-03-27 | 2019-05-24 | 深圳市元征科技股份有限公司 | A kind of preventing car door collision method for early warning and relevant device |
| CN110132290A (en) * | 2019-05-20 | 2019-08-16 | 北京百度网讯科技有限公司 | Perception information method for amalgamation processing, device, equipment and storage medium |
| CN110430079A (en) * | 2019-08-05 | 2019-11-08 | 腾讯科技（深圳）有限公司 | Bus or train route cooperative system |
| CN110971650A (en) * | 2019-03-25 | 2020-04-07 | 重庆长安汽车股份有限公司 | Collaborative sensing system and method based on V2X system and vehicle |
| CN111986477A (en) * | 2020-08-12 | 2020-11-24 | 南京市德赛西威汽车电子有限公司 | Early warning method for avoiding weak traffic participants based on V2X |
| CN112289059A (en) * | 2020-10-22 | 2021-01-29 | 中电智能技术南京有限公司 | Vehicle-road cooperative road traffic system |
| CN112441018A (en) * | 2019-09-05 | 2021-03-05 | 福特全球技术公司 | Getting on and off for autonomous vehicles |
-
2021
- 2021-03-26 CN CN202110326438.9A patent/CN113223311A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398554B (en) * | 2010-09-14 | 2015-03-25 | 通用汽车环球科技运作有限责任公司 | Vehicle safety systems and methods |
| US20150251599A1 (en) * | 2014-03-04 | 2015-09-10 | Magna Electronics Inc. | Vehicle alert system utilizing communication system |
| CN105835765A (en) * | 2016-01-26 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Vehicle collision avoiding system and method and vehicle |
| CN106143299A (en) * | 2016-07-21 | 2016-11-23 | 浙江吉利汽车研究院有限公司 | A kind of opening door of vehicle early warning aid system |
| CN108182817A (en) * | 2018-01-11 | 2018-06-19 | 北京图森未来科技有限公司 | Automatic Pilot auxiliary system, trackside end auxiliary system and vehicle-mounted end auxiliary system |
| CN109143215A (en) * | 2018-08-28 | 2019-01-04 | 重庆邮电大学 | It is a kind of that source of early warning and method are cooperateed with what V2X was communicated based on binocular vision |
| CN109739236A (en) * | 2019-01-04 | 2019-05-10 | 腾讯科技（深圳）有限公司 | Processing method, device, computer-readable medium and the electronic equipment of information of vehicles |
| CN110971650A (en) * | 2019-03-25 | 2020-04-07 | 重庆长安汽车股份有限公司 | Collaborative sensing system and method based on V2X system and vehicle |
| CN109795412A (en) * | 2019-03-27 | 2019-05-24 | 深圳市元征科技股份有限公司 | A kind of preventing car door collision method for early warning and relevant device |
| CN110132290A (en) * | 2019-05-20 | 2019-08-16 | 北京百度网讯科技有限公司 | Perception information method for amalgamation processing, device, equipment and storage medium |
| CN110430079A (en) * | 2019-08-05 | 2019-11-08 | 腾讯科技（深圳）有限公司 | Bus or train route cooperative system |
| CN112441018A (en) * | 2019-09-05 | 2021-03-05 | 福特全球技术公司 | Getting on and off for autonomous vehicles |
| CN111986477A (en) * | 2020-08-12 | 2020-11-24 | 南京市德赛西威汽车电子有限公司 | Early warning method for avoiding weak traffic participants based on V2X |
| CN112289059A (en) * | 2020-10-22 | 2021-01-29 | 中电智能技术南京有限公司 | Vehicle-road cooperative road traffic system |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113682259A (en) * | 2021-09-22 | 2021-11-23 | 海南大学 | Vehicle door opening early warning anti-collision system and control method |
| CN114283618A (en) * | 2021-12-13 | 2022-04-05 | 经纬恒润(天津)研究开发有限公司 | Method and device for emergency communication and propagation between vehicles |
| CN114464010B (en) * | 2021-12-20 | 2023-04-21 | 北京罗克维尔斯科技有限公司 | Vehicle door opening early warning method and device, electronic equipment, vehicle and storage medium |
| CN114464010A (en) * | 2021-12-20 | 2022-05-10 | 北京罗克维尔斯科技有限公司 | Vehicle door opening early warning method and device, electronic equipment, vehicle and storage medium |
| CN114298068A (en) * | 2021-12-29 | 2022-04-08 | 中国电信股份有限公司 | Vehicle door control system, method, device, electronic equipment and storage medium |
| CN114724406A (en) * | 2022-03-22 | 2022-07-08 | 浙江吉利控股集团有限公司 | Security protection method, device and storage medium |
| US20230305145A1 (en) * | 2022-03-24 | 2023-09-28 | Rivian Ip Holdings, Llc | Method and apparatus for detecting open vehicle cabin |
| CN114523902B (en) * | 2022-03-30 | 2023-08-15 | 深蓝汽车科技有限公司 | Collision early warning method and system for front vehicle door opening scene |
| CN114523902A (en) * | 2022-03-30 | 2022-05-24 | 重庆长安汽车股份有限公司 | Collision early warning method and system for front vehicle door opening scene |
| CN114913687A (en) * | 2022-05-11 | 2022-08-16 | 智道网联科技(北京)有限公司 | Vehicle-road-cloud-based in-vehicle perception sharing method, equipment and system |
| CN114913687B (en) * | 2022-05-11 | 2023-11-10 | 智道网联科技(北京)有限公司 | Method, equipment and system for in-vehicle perception sharing based on vehicle-road-cloud |
| CN115116268A (en) * | 2022-06-13 | 2022-09-27 | 武汉理工大学 | Rural traffic early warning method and system |
| CN115116268B (en) * | 2022-06-13 | 2023-11-17 | 武汉理工大学 | Rural traffic early warning method and system |
| CN115123127A (en) * | 2022-07-01 | 2022-09-30 | 小米汽车科技有限公司 | Method and device for identifying door opening motor and vehicle |
| CN115195564A (en) * | 2022-07-08 | 2022-10-18 | 江阴市浩盛电器线缆制造有限公司 | Unloading state identification platform and method for carrier vehicle |
| CN116311534A (en) * | 2023-05-17 | 2023-06-23 | 青岛润邦泽业信息技术有限公司 | Intelligent worksite dangerous violation action recognition method and system based on AI |
| CN116311534B (en) * | 2023-05-17 | 2023-12-22 | 青岛润邦泽业信息技术有限公司 | Intelligent worksite dangerous violation action recognition method and system based on AI |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113223311A (en) | Vehicle door opening anti-collision early warning method based on V2X | |
| US10332401B2 (en) | Running vehicle alerting system and method | |
| CN108919256B (en) | Four-dimensional real-scene traffic simulation vehicle overspeed whole-course tracking detection alarm system and method | |
| US10026319B2 (en) | Collision warning system | |
| US10059261B2 (en) | Collision warning system | |
| US9511730B1 (en) | Collision warning system | |
| US10343601B2 (en) | Collision warning system | |
| EP2008259B1 (en) | Vehicle impact warning device | |
| US6420977B1 (en) | Video-monitoring safety systems and methods | |
| US20150307131A1 (en) | Autonomous Driving in a Hazard Situation | |
| CN105799574A (en) | Intelligent night driver-assistance system | |
| CN104115198A (en) | Vehicle merge assistance system and method | |
| US20140078291A1 (en) | Driver Assisting System and Method for a Motor Vehicle | |
| CN106314424A (en) | Overtaking assisting method and device based on automobile and automobile | |
| CN113223325A (en) | Method for safely passing signal-lamp-free intersection | |
| CN110194159A (en) | A kind of Vehicular intelligent obstacle avoidance system and vehicle | |
| CN113561892A (en) | Intelligent anti-collision system and method for automobile door opening | |
| CN108205144A (en) | A kind of road work vehicle collision prewarning device, road work vehicle and anti-collision warning method | |
| JP2002245588A (en) | Emergency vehicle priority passage support system | |
| CN111681383A (en) | Railway locomotive running ground environment sensing technology | |
| CN115662187A (en) | Traffic blind area early warning system based on internet | |
| CN109501674B (en) | Automobile blind area early warning system and method based on wearable device signal source | |
| CN110910644A (en) | Intersection vehicle identification and safety early warning system | |
| CN215474804U (en) | Vehicle blind area anticollision early warning device | |
| KR102658916B1 (en) | Safety support and extension system for self driving cars |
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 |
Application publication date: 20210806 |
|
| RJ01 | Rejection of invention patent application after publication |