CN101625797A - Early warning method when automobile closes at high speed and early warning device - Google Patents

Abstract

The invention discloses an early warning method when an automobile closes at high speed and an early warning device. The method comprises the following steps: when the automobile drives at high speed, a navigation signal of a global navigation satellite system defines drive parameter information of the automobile, wireless net receives the drive parameter information of circumambient automobiles, the two drive parameter information are sent into a danger assessment unit, and the danger assessment unit judges whether the danger is existed to send an early warning signal. The device comprises a receiving module of the global navigation satellite system, a warless communication module, the danger assessment unit and a warning display device. The invention is the early warning method when the automobile closes at high speed and the early warning device, having simple and compact structure, low cost, convenient installation, wide application range and high safety.

Description

A kind of automobile high-speed near the time method for early warning and prior-warning device

Technical field

The present invention is mainly concerned with the intelligent traffic field, refer in particular to a kind of automobile high-speed near the time method for early warning and prior-warning device.

Background technology

Along with popularizing of the vehicles such as automobile, the thing followed is the serious problems that traffic hazard brings.Traffic hazard not only causes direct property loss, and more the life security to the mankind constitutes grave danger.Therefore, security performance during automobile uses more and more is subject to people's attention, also be the emphasis that automobile manufacturers is emphasized recent years always, many manufacturers have all carried out a large amount of researchs that continue to active safety and passive safety in recent years, to reach safe maximization.Aspect active safety, the legibility of reduction, interior equipment and the alerting signal of noise in the improvement of visual condition, car, the stationarity in driving, good handling, abs braking, the design of special chassis, full wheel drive or the like obtain bigger progress.Aspect passive security, the glass of passenger safety seat, deformed region, shoulder harness, air bag, lamination, rationally place the position etc. of fuel tank, not little achievement is also all arranged.Automobile overall safety performance is greatly improved, but far can not satisfy the people for safe requirement.

Virginia, USA Technical Board and NHTSA (National Highway Traffic Safety Administration, show result of study in 2006 that American National highway traffic safety management board) reason of road traffic accident 80% is to be caused in the carelessness in preceding 3 seconds of the accident by the driver.The investigation of Daimler Benz shows that giving the alarm in 0.5 second in advance to prevent 60% rear-end collision, can prevent 90% in 1.5 seconds in advance.

The crashproof control system of the range finding of current automobile has multiple, and main difference is embodied in spacing detection mode difference.Common spacing detection mode has infrared ray, ultrasound wave, laser radar, millimetre-wave radar, video system etc.Table 1 is that the performance of various detection modes compares.

The main detection mode performance of the various distance measuring methods of table 1 automobile relatively

Detection mode	Infrared ray	Ultrasound wave	Laser radar	Millimetre-wave radar	Video system
						Maximum detectable range	Maximum 10m	Maximum 10m	Maximum 150m is determined by laser power	〉=150m is by beam angle and receiver sensitivity decision	? ??≥100m
Resolution	??10mm	Difference	Minimum 1mm	??10mm	Difference
						Directivity	Minimum 30 °	Be generally 90 °	Can reach 1.0 °	Minimum is 2.0 °	Good, by used prism decision
Response time	Limited by the velocity of sound	Slowly, be generally 10 3ms	Hurry up, be generally 10ms	Hurry up, be generally 1ms	In, generally greater than 100ms
						Temperature stability	Difference	Generally	Good	Good	Generally
Sensor is dirty, the influence of humidity	Generally	Difference	Difference	Good	Difference
						Environmental suitability	The inclement weather bad adaptability, penetration power is strong	The inclement weather bad adaptability, penetration power is strong	The inclement weather bad adaptability, penetration power is strong	Inclement weather adaptability is strong, and penetration power is strong	The inclement weather bad adaptability, penetration power is poor
Hardware price	Low	Low	Higher	Lower	Higher

As can be seen from Table 1, existing spacing detection mode is difficult to obtain popularize and promote in actual applications, and main cause has:

1, detection range is limited.The speed of a motor vehicle of automobile of generally running at high speed is about 20～40m/s, so safe distance between vehicles should remain on 60～120m, and detection range should remain on 100～150m.But the detection range of detection mode such as infrared ray, ultrasound wave is less than 10m.This obviously can't satisfy the safe early warning needs of the vehicle of running at high speed.

2, mounting means complexity.To relying on sensor to carry out the mode that spacing is surveyed, often need beam transmission device and echo pick-up unit be installed at the outside detection direction of car body (forward and backward, side direction).Install comparatively complicatedly, even need to change the car body profile, and sensing device polluted easily, influenced detection accuracy, poor effect.

3, detected object is not clear.For spacing detection mode by launching beam, reception echo type, can't survey the classification and the character of measured object, usually cause mistake alert.

4, environmental suitability is poor.Most of sensors can't be worked under rugged surroundings such as heavy rain, dense fog, strong electromagnetic, can't round-the-clock safe early warning.

5, investigative range is limited.Only can survey driving vehicle in the same way, be difficult to detection side to intersecting driving vehicle.

6, Costco Wholesale costliness.Detection system often needs one group or several groups of expensive sensors formations, only can use in high-end vehicle, is difficult to popularize.

7, the response time is slow.Existing detection mode relates generally to complicated data anastomosing algorithm or image processing algorithm, and the response time is slow, can't satisfy the needs of real-time early warning.

Along with the extensive and deep development of satellite navigation technology, current GPS (Global Position System) has become the conventional means of determining the ground state of motion of vehicle.Satellite navigation belongs to when relying on wireless surveys, the system of finding range, navigation and positioning accuracy is subjected to the influence of multiple error source and is lower, navigation can effectively address this problem relatively, because two close satellite navigation receiver simultaneous observation satellites, can eliminate total error, realization precise navigation location provides a kind of effective ways for determining the relative position between vehicle.

Summary of the invention

The technical problem to be solved in the present invention just is: at the technical matters that prior art exists, the invention provides a kind of simple and compact for structure, with low cost, easy for installation, applied widely, safe automobile high-speed near the time method for early warning and prior-warning device.

For solving the problems of the technologies described above, the present invention by the following technical solutions.

A kind of automobile high-speed near the time method for early warning, it is characterized in that: automobile is when running at high speed, determine the parameter information that travels of this car on the one hand by the navigation signal of GPS (Global Position System), receive the parameter information that travels of surrounding vehicles on the other hand by wireless network, both are sent into the assessment of risks unit in the lump, send early warning signal after making whether dangerous judgement by the assessment of risks unit.

As a further improvement on the present invention:

Position P, present speed V when the parameter information that travels of described vehicle and surrounding vehicles comprises vehicle ' and corresponding navigation time T (needing unified coordinate system) as the earth's core body-fixed coordinate system.

Whether dangerous step is described assessment of risks unit judges:

(1), obtains the parameter information that travels of the travel parameter information and the surrounding vehicles of current vehicle;

(2), this car navigation time adjustment;

Suppose that traveling automobile adds up to N in this automobile wireless network's coverage area, its numbering is respectively M _i(i=1,2 ..., N); The parameter of travelling of this vehicle M be designated as the navigation time T ', position P, present speed V during vehicle '; Its moment that receives other vehicle ' parameters in a period of time is respectively τ _i(i=1,2 ..., N); Other vehicle ' parameters that receive are respectively the navigation time T _i, the position P during vehicle ' _I0, present speed V _I0(i=1,2 ..., N); This automobile navigation time T ' correction value delta T be:

$\mathrm{\ΔT}=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\ω}}_i(T_i-{\mathrm{\τ}}_i)$ (i＝1，2，…，N)????(0.1)

ω in the formula _iBe weight coefficient, computing method are:

${\mathrm{\ω}}_i=\frac{1}{N}---\left(0.2\right)$

Then revised navigation time T is

T＝T′+ΔT????(0.3)

(3), the surrounding vehicles parameter update that travels;

After finishing the navigation time adjustment, the coaptation of travelling of other vehicles that this car need be received is to this car current time, and the T location parameter of each car constantly is updated to:

P _i＝P _i0+V _i0(T-T _i)??(i＝1，2，…，N)????(0.4)

(4), travel direction is judged relatively; Select surrounding vehicles M successively _i, carry out assessment of risks, car M _iWith car M velocity angle be θ _i, its computing method are:

${\mathrm{\θ}}_i=\arccos \left(\frac{V\·V_i}{\left|V\right|\left|V_i\right|}\right)---\left(0.5\right)$

Wherein () is the point multiplication operation of vector, || be modulo operation; The travel direction differentiation is relatively: if θ _i=0 ± 15 °, car M _iM travels in the same way with car; If θ _i=180 ± 15 °, car M _iWith car M backward going; Under remaining other situations, car M _iIntersect with car M side direction and to travel;

(5), the potential The Judgement of Danger of travelling;

If for travelling relatively in the same way, at first carry out safe distance between vehicles and detect car M _iSpacing R with car M _iComputing method are:

R _i＝|P-P _i|????(0.6)

If R _iBe lower than the safe distance between vehicles of setting, then carry out safe distance between vehicles warning DisAlarm, that is:

$\left\{\begin{array}{cc}{R}_i\≤R_{\mathrm{safe}}& \mathrm{DisAlarm},\\ R_i>R_{\mathrm{safe}}& \mathrm{NonAlarm}.\end{array}\right.---\left(0.7\right)$

In the formula, R _SafeBe the safe distance between vehicles of setting;

If travel, need carry out the side direction driving safety near detecting for the side direction intersection; Automobile M, M _iThrough identical intersection O, the definition radius is the safety circle of R, supposes M, M _iThe time that enters the safety circle is respectively t _Cross, t _{Cross_i}, lateral approach time T then _{Cross_i}Be defined as:

T _{cross_i}＝|t _cross-t _{cross_i}|????(0.8)

If T _{Cross_i}Be lower than the safe lateral approach time of setting, then carry out safe lateral approach time warning CroAlarm, that is:

$\left\{\begin{array}{cc}{T}_{\mathrm{cross}\_i}\≤t_{\mathrm{cross}\_\mathrm{safe}}& \mathrm{CroAlarm},\\ T_{\mathrm{cross}\_i}>t_{\mathrm{cross}\_\mathrm{safe}}& \mathrm{NonAlarm}.\end{array}\right.---\left(0.9\right)$

In the formula, t _{Cross_safe}Be the safe lateral approach time of setting;

If do not find and car M _iThe potential danger of travelling is arranged, and existence does not detect vehicle in the overlay area, then select next car to continue to detect; If all vehicle detection finish in the overlay area, illustrating does not have the danger of travelling.

The present invention further provides a kind of automobile high-speed near the time prior-warning device, it is characterized in that: it comprises GPS (Global Position System) receiver module, wireless communication module, assessment of risks unit and alarm indication device;

Described GPS (Global Position System) receiver module is used for receiving in real time the navigation information of Navsat, determines the parameter of travelling of current vehicle, and sends these parameters of travelling to wireless communication module and assessment of risks unit;

Described wireless communication module is used to broadcast the parameter of travelling of current vehicle, and receives the parameter information that travels that surrounding vehicles is broadcasted, and sends the parameter of travelling of surrounding vehicles to the assessment of risks unit;

After described assessment of risks unit receives the parameter of travelling of current vehicle and surrounding vehicles, carry out the safety judgement of current vehicle ' according to assessment of risks algorithm and default early-warning parameters threshold value, and result of determination is exported to the alarm indication device;

Described alarm indication device is pointed out the driver and conductor potential safety hazard that current driving condition exists after receiving the result of determination of making the assessment of risks unit, show the information of the parameter of travelling simultaneously.

Described alarm indication device comprises audible alarm unit, light alarm and display screen.

Compared with prior art, advantage of the present invention just is:

1, cost performance height.The present invention has effectively utilized the powerful information notification ability of GPS (Global Position System), and is lower to the performance requirement of receiver because satellite navigation system is summed up in the point that central station with the calculating of complexity, so the present invention is with low cost and early warning precision height.

2, the detection territory is wide.Because satellite navigation system coverage property over the ground, this device can carry out 360 ° of comprehensive detections, so both detectable vehicle in the same way, also detectable side direction intersection vehicle.Detection range only is subjected to the restriction of wireless communication ability.

3, install simply.This device volume is little, installs simply, need not change body construction, and be installed in car body inside, is difficult for by stained, theft.

4, independence is good.The automobile that this device is installed promptly constitutes a separate unit, does not rely on other any auxiliary equipment, and it is less that whole system builds difficulty, is easy to carry out implementing.

5, real-time height.Assessment of risks unit algorithm of the present invention is simple, and time, resource overhead are little, early warning real-time height.

6, round-the-clock, round-the-clock use.Because the satellite navigation system that native system relies on has ability round-the-clock, that round-the-clock provides navigation signal.Therefore, the present invention can use under environment such as night, inclement weather.The inventive method reckoning simultaneously is simple, can normally use under short time navigation signal deletion condition.

Description of drawings

Fig. 1 is the synoptic diagram of the present invention in application example;

Fig. 2 be among the present invention automobile high-speed near the time prior-warning device the framed structure synoptic diagram;

Fig. 3 be automobile high-speed near the time prior-warning device work and time correcting algorithm synoptic diagram;

Fig. 4 be automobile high-speed near the time prior-warning device adjacent vehicle between the wireless communication network topology synoptic diagram;

Fig. 5 be automobile high-speed near the time prior-warning device assessment of risks unit the workflow synoptic diagram;

Fig. 6 be automobile high-speed near the time prior-warning device side direction intersect the safety detection synoptic diagram;

Fig. 7 be automobile high-speed near the time prior-warning device data presentation and function setting modular structure synoptic diagram.

Embodiment

Below with reference to specific embodiment and Figure of description the present invention is described in further details.

As shown in Figure 1, for automobile high-speed of the present invention near the time prior-warning device application example synoptic diagram.This device comprises that GPS (Global Position System) receiver module 1, wireless communication module 2, assessment of risks unit 3, alarm indication device 4, functional parameter are provided with module 5.

Wherein, GPS (Global Position System) receiver module 1 receives the navigation signal of navigation satellite of global satellite navigation system 6, determines the parameter of travelling of current vehicle; Wireless communication module 2 receives the parameter of travelling that surrounding vehicles send by wireless receiving and dispatching antenna 7 on the one hand, on the other hand by wireless receiving and dispatching antenna 7 towards periphery vehicle broadcast the parameter of travelling of this car.Assessment of risks unit 3 is behind the parameter information that travels that obtains vehicle self and surrounding vehicles, according to assessment of risks algorithm and functional parameter early warning and monitoring parameter threshold that module 5 sets being set carries out vehicle driving safety and detects, when danger is travelled in existence, report to the police and the demonstration of parameter by alarm indication device 4.

As shown in Figure 2, for automobile high-speed of the present invention near the time prior-warning device structured flowchart.Apparatus of the present invention hardware is formed the central processing unit comprise as assessment of risks unit 3, GPS (Global Position System) receiver module 1, wireless communication module 2, alarm indication device 4, I/O module 25 etc.

Wherein, central processing unit can adopt general dsp, as the TMS320LF2407A chip, and its embedded CAN controller 26, D/A modular converter 27, I/O buffer 28.

GPS (Global Position System) receiver module 1 adopts common GPS to receive integrated circuit board, as NovAtel OEMV high-precision GPS integrated circuit board OEMV1/2/3 or JNS100.This module receives satellite navigation information and determines current position, speed, the time of vehicle.

Wireless communication module 2 adopts the SZ02-ZIGBEE wireless communication module.This module is integrated meets the radio-frequency (RF) transceiver and the microprocessor of ZIGBEE consensus standard, has advantage and characteristics such as communication distance is far away, antijamming capability strong, networking flexibility; Can realize, the equipment room transparent data transmission between multi-multipoint.Realize the sharing of the parameter of travelling of this car and surrounding vehicles by this module.

Fig. 3 be automobile high-speed near the time prior-warning device the work synoptic diagram.Be equipped with automobile of the present invention when running at high speed, the real-time on the one hand (S among the figure that determines that receives the navigation signal of navigation satellite of global satellite navigation system 6 and finish the parameter of independently travelling ₁, S ₂, S ₃..., S _KBe the visual space navigation satellite of car M); Receive the parameter information that travels of surrounding vehicles on the other hand by wireless network.Black dotted lines circle among the figure is the synoptic diagram of car M radio receiving transmitting module coverage, car M _I1, M _I2, M _I3... and M _RBe all vehicles in the overlay area, all can and M between the travel mutual transmission of parameter; The vehicle that is positioned at outside the overlay area (is M _O1Deng) can't with the travel mutual transmission of parameter of M; The unidirectional solid arrow of black is represented the track direction, so M _RFor with car M backward going vehicle.

Automobile high-speed near the time, assessment of risks unit 3 will carry out safety assessment to travelling of vehicle according to the parameter information that travels of the travel parameter information and the surrounding vehicles of vehicle self.

As shown in Figure 4, for automobile high-speed near the time prior-warning device adjacent vehicle between the wireless communication network topology synoptic diagram.For guaranteeing the real-time and the accuracy of safe early warning, car car communication network adopts star topology, and each car all vehicles in its area of wireless network coverage territory is broadcasted the parameter of travelling.

This apparatus structure is simple, and volume is little, and does not need generally to be installed in driver and conductor's sight line the place ahead in the outside installation of car body.

As shown in Figure 5, for automobile high-speed near the time prior-warning device in the workflow synoptic diagram of assessment of risks unit 3.The input parameter of this unit comprises this car parameter 501 of travelling, and alarm threshold value is provided with parameter 502, the parameter 503 of travelling of other vehicles in the adjacent domain on every side.Wherein this car parameter 501 of travelling derives from satellite navigation system and determines the result; Alarm threshold value is provided with parameter 502 and passes through function setting module settings result for the user; The parameter 503 of travelling of other vehicles is to receive by car vehicle radio network to obtain.After obtaining these parameters, finish following safety assessment flow process:

Step (504): this car navigation time adjustment;

The navigation time is each car position and speed parameter time corresponding of determining of navigational system via satellite in the parameter of travelling of car car transmission, and this time is subjected to the influence of navigation error and inaccurate, the correction of the time of therefore need navigating.The navigation time in the parameter of travelling of each car broadcasting is proofreaies and correct the back time, therefore, can think by wireless receiving to navigation time number be accurately.

Suppose that traveling automobile adds up to N in this vehicle radio network's coverage area, its numbering is respectively M _i(i=1,2 ..., N); The parameter of travelling of this car M is designated as T ', P, V; Its moment that receives other vehicle ' parameters in a period of time is respectively τ _i(i=1,2 ..., N); Other vehicle ' parameters that receive are respectively T _i, P _I0, V _I0(i=1,2 ..., N).As shown in Figure 3, this car navigation time T ' correction value delta T be:

$\mathrm{\ΔT}=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\ω}}_i(T_i-{\mathrm{\τ}}_i)$ (i＝1，2，…，N)????(0.10)

ω in the formula _iBe weight coefficient, computing method are for being:

${\mathrm{\ω}}_i=\frac{1}{N}---\left(0.11\right)$

Therefore the then revised navigation time (T) is

T＝T′+ΔT????(0.12)

Step (505): the surrounding vehicles parameter update that travels;

After finishing the navigation time adjustment, the coaptation of travelling of other vehicles that this car need be received is to this car current time, and the T location parameter of each car constantly is updated to:

P _i＝P _i0+V _i0(T-T _i)??(i＝1，2，…，N)????(0.13)

Step (506): travel direction is judged relatively, selects surrounding vehicles M successively _i, carry out assessment of risks.Car M _iWith car M velocity angle be θ _i, its computing method are:

${\mathrm{\θ}}_i=\arccos \left(\frac{V\·V_i}{\left|V\right|\left|V_i\right|}\right)---\left(0.14\right)$

() is the point multiplication operation of vector; || be modulo operation.Its relative travel direction is differentiated as follows:

1) step (507): if θ _i=0 ± 15 °, car M _iM travels in the same way with car;

2) step (508): if θ _i=180 ± 15 °, car M _iWith car M backward going;

3) step (509): other, car M _iIntersect with car M side direction and to travel;

Step (510):, at first carry out safe distance between vehicles and detect car M if for travelling relatively in the same way _iSpacing R with car M _iComputing method are:

R _i＝|P-P _i|????(0.15)

Step (511): if R _iBe lower than the safe distance between vehicles of setting, then carry out safe distance between vehicles and report to the police (DisAlarm), that is:

$\left\{\begin{array}{cc}{R}_i\≤R_{\mathrm{safe}}& \mathrm{DisAlarm},\\ R_i>R_{\mathrm{safe}}& \mathrm{NonAlarm}.\end{array}\right.---\left(0.16\right)$

In the formula, R _SafeBe the safe distance between vehicles of setting.

If do not find and car M _iThe potential danger of travelling is arranged,, then select next car to continue to detect, return step (506) if existence does not detect vehicle in the overlay area; Otherwise, to return, this detection is finished, and car M can not change the state safety traffic.

Step (512):, need carry out the side direction driving safety near detecting if travel for the side direction intersection.As shown in Figure 6, automobile M, M _iThrough identical intersection O, the definition radius is the safety circle of R (being taken as 100m), supposes M, M _iThe time that enters the safety circle is respectively t _Cross, t _{Cross_i}, lateral approach time T then _{Cross_i}Be defined as:

T _{cross_i}＝|t _cross-t _{cross_i}|????(0.17)

Step (513): if T _{Cross_i}Be lower than the safe lateral approach time of setting, then carry out the safe lateral approach time and report to the police (CroAlarm), that is:

$\left\{\begin{array}{cc}{T}_{\mathrm{cross}\_i}\≤t_{\mathrm{cross}\_\mathrm{safe}}& \mathrm{CroAlarm},\\ T_{\mathrm{cross}\_i}>t_{\mathrm{cross}\_\mathrm{safe}}& \mathrm{NonAlarm}.\end{array}\right.---\left(0.18\right)$

In the formula, t _{Cross_safe}Be the safe lateral approach time of setting.

If do not find and car M _iThe potential danger of travelling is arranged,, then select next car to continue to detect, return step (506) if existence does not detect vehicle in the overlay area; Otherwise, to return, this detection is finished, and car M can not change the state safety traffic.

As shown in Figure 7, for automobile high-speed near the time prior-warning device in the alarm indication device.The alarm indication device comprises common functions such as data presentation, function setting, sound and light alarm, warning processing.Demonstration spacing 82 that can be detailed, warning message 81 etc.When being potentially dangerous, audible alarm 83 is reported to the police.Can reduce key 89 and carry out setting up on their own of every functional parameter etc. by mode selecting key 84, acknowledgement key 85, return key 86, numerical value increase key 88, numerical value simultaneously.Also being furnished with simultaneously reports to the police handles noise reduction button 87.

The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art in the some improvements and modifications that do not break away under the principle of the invention prerequisite, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (6)

1, a kind of automobile high-speed near the time method for early warning, it is characterized in that: automobile is when running at high speed, determine the parameter information that travels of this vehicle on the one hand by the navigation signal of GPS (Global Position System), receive the parameter information that travels of surrounding vehicles on the other hand by wireless network, both are sent into the assessment of risks unit in the lump, send early warning signal after making whether dangerous judgement by the assessment of risks unit.

2, automobile high-speed according to claim 1 near the time method for early warning, it is characterized in that: position P, present speed V the when parameter information that travels of described vehicle and surrounding vehicles comprises vehicle ' and corresponding navigation time T.

3, automobile high-speed according to claim 1 and 2 near the time method for early warning, it is characterized in that whether dangerous step is described assessment of risks unit judges:

(1), obtains the parameter information that travels of the travel parameter information and the surrounding vehicles of current vehicle;

(2), this car navigation time adjustment;

Suppose that traveling automobile adds up to N in this automobile wireless network's coverage area, its numbering is respectively M _i, i=1 wherein, 2 ..., N; The parameter of travelling of this vehicle M be designated as the navigation time T ', position P, present speed V during vehicle '; Its moment that receives other vehicle ' parameters in a period of time is respectively τ _i, i=1 wherein, 2 ..., N; Other vehicle ' parameters that receive are respectively the navigation time T _i, the position P during vehicle ' _I0, present speed V _I0, i=1 wherein, 2 ..., N; This automobile navigation time T ' correction value delta T be:

$\mathrm{\ΔT}=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\ω}}_i(T_i-{\mathrm{\τ}}_i),(i=\mathrm{1,2},\·\·\·,N)---\left(1.1\right)$

ω in the formula _iBe weight coefficient, computing method are:

${\mathrm{\ω}}_i=\frac{1}{N}---\left(1.2\right)$

Then revised navigation time T is

T＝T′+ΔT????????????????????(1.3)

(3), the surrounding vehicles parameter update that travels;

After finishing the navigation time adjustment, the coaptation of travelling of other vehicles that this car need be received is to this car current time, and the T location parameter of each car constantly is updated to:

P _i＝P _i0+V _i0(T-T _i)(i＝1，2，…，N)???????????(1.4)

(4), travel direction is judged relatively; Select surrounding vehicles M successively _i, carry out assessment of risks, car M _iWith car M velocity angle be θ _i, its computing method are:

${\mathrm{\θ}}_i=\arccos \left(\frac{V\·V_1}{\left|V\right|\left|V_i\right|}\right)---\left(1.5\right)$

Wherein () is the point multiplication operation of vector, || be modulo operation; The travel direction differentiation is relatively: if θ _i=0 ± 15 °, car M _iM travels in the same way with car; If θ _i=180 ± 15 °, car M _iWith car M backward going; Under remaining other situations, car M _iIntersect with car M side direction and to travel;

(5), the potential The Judgement of Danger of travelling;

If for travelling relatively in the same way, at first carry out safe distance between vehicles and detect car M _iSpacing R with car M _iComputing method are:

R _i＝|P-P _i|????????????????(1.6)

If R _iBe lower than the safe distance between vehicles of setting, then carry out safe distance between vehicles warning DisAlarm, that is:

$\left\{\begin{array}{cc}{R}_i\≤R_{\mathrm{safe}}& \mathrm{DisAlarm},\\ R_i>R_{\mathrm{safe}}& \mathrm{NonAlarm}.\end{array}---\left(1.7\right)\right.$

In the formula, R _SafeBe the safe distance between vehicles of setting;

If travel, need carry out the side direction driving safety near detecting for the side direction intersection; Automobile M, M _iThrough identical intersection O, the definition radius is the safety circle of R, supposes M, M _iThe time that enters the safety circle is respectively t _Cross, t _{Cross_i}, lateral approach time T then _{Cross_i}Be defined as:

T _{cross_i}＝|t _cross-t _{cross_i}|?????????????(1.8)

If T _{Cross_i}Be lower than the safe lateral approach time of setting, then carry out safe lateral approach time warning CroAlarm, that is:

$\left\{\begin{array}{cc}{T}_{\mathrm{cross}\_i}\≤t_{\mathrm{cross}\_\mathrm{safe}}& \mathrm{CroAlarm},\\ T_{\mathrm{cross}\_i}>t_{\mathrm{cross}\_\mathrm{safe}}& \mathrm{NonAlarm}.\end{array}---\left(1.9\right)\right.$

In the formula, t _{Cross_safe}Be the safe lateral approach time of setting;

If do not find and car M _iThe potential danger of travelling is arranged,, then select next car to continue to detect if existence does not detect vehicle in the overlay area; If all vehicle detection finish in the overlay area, illustrating does not have the danger of travelling.

4, a kind of automobile high-speed near the time prior-warning device, it is characterized in that: it comprises GPS (Global Position System) receiver module, wireless communication module, assessment of risks unit and alarm indication device;

Described GPS (Global Position System) receiver module is used for receiving in real time the navigation information of Navsat, determines the parameter of travelling of current vehicle, and sends these parameters of travelling to wireless communication module and assessment of risks unit;

Described wireless communication module is used to broadcast the parameter of travelling of current vehicle, and receives the parameter information that travels that surrounding vehicles is broadcasted, and sends the parameter of travelling of surrounding vehicles to the assessment of risks unit;

After described assessment of risks unit receives the parameter of travelling of current vehicle and surrounding vehicles, carry out the safety judgement of current vehicle ' according to assessment of risks algorithm and default early-warning parameters threshold value, and result of determination is exported to the alarm indication device;

Described alarm indication device is pointed out the driver and conductor potential safety hazard that current driving condition exists after receiving the result of determination of making the assessment of risks unit, show the information of the parameter of travelling simultaneously.

5, automobile high-speed according to claim 4 near the time prior-warning device, it is characterized in that: described alarm indication device comprises audible alarm unit, light alarm and display screen.

6, automobile high-speed according to claim 4 near the time prior-warning device, it is characterized in that: described assessment of risks unit is provided with module with a functional parameter and links to each other, and described functional parameter is provided with the input that module is used for various parameter presets.

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