CN102184644A - Vehicle-networking-based highway active anti-collision method - Google Patents

Vehicle-networking-based highway active anti-collision method Download PDF

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CN102184644A
CN102184644A CN2011101070826A CN201110107082A CN102184644A CN 102184644 A CN102184644 A CN 102184644A CN 2011101070826 A CN2011101070826 A CN 2011101070826A CN 201110107082 A CN201110107082 A CN 201110107082A CN 102184644 A CN102184644 A CN 102184644A
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vehicle
module
short
communication module
information
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刘征宇
张利
张建军
张本宏
韩江洪
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合肥工业大学
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Abstract

The invention discloses a vehicle-networking-based highway active anti-collision method. A device mainly comprises a master control module, an acceleration sensor module, a global position system (GPS) information acquisition module, a short-distance communication module, an alarm module and an information storage module. Various modules which are arranged on a vehicle and vehicles around the vehicle on a highway form a temporary mobile Ad-hoc network in real time, and the acceleration, speed, position and other vehicle safety related information of the vehicle are transmitted to realize active anti-collision of the vehicle.

Description

一种基于车联网的高速公路主动防撞方法 Active in Expressway crash vehicle networking based method

技术领域 FIELD

[0001] 本发明涉及汽车防撞方法领域,具体为一种基于车联网的高速公路主动防撞方法。 [0001] The present invention relates to the field of automobile anti-collision method, the specific active highway vehicle collision avoidance method is based networking.

背景技术 Background technique

[0002] 安全措施可以大略地分为主动安全措施(防止事故发生)和被动安全措施(减小事故后果)。 [0002] Security measures can be roughly divided into active security (prevention of accidents) and passive safety measures (to reduce the consequences of an accident). 现有的汽车安全措施中,常见的被动安全措施有安全气囊、预紧式安全带、乘员头颈保护系统(WHIPS),以及丰田公司的GOA (Global Outstanding Assessment,世界顶级水平的安全设计)设计专利;常见的主动安全措施有AWS防碰撞预警系统、TCS牵引力控制系统、VSA车辆稳定性控制系统、ABS防抱死制动系统、EDB电子制动力分配控制系统等等。 Existing vehicle safety measures, common passive safety measures airbags, seat belt pretensioners, head and neck occupant protection system (WHIPS), and Toyota's GOA (Global Outstanding Assessment, the world's top level of safety design) design patents ; common active safety measures AWS anti-collision warning system, TCS traction control system, VSA vehicle stability control systems, ABS anti-lock braking systems, EDB electronic brake force distribution control system and the like. 现有的这些安全措施中,仅仅是局限于对机械结构的改造或者仅仅是被动防撞措施,没有从源头上实现防撞。 These existing security measures, only confined to the transformation of the mechanical structure or merely passive collision avoidance measures, did not realize the crash from the source. 在交通运输行业迅速发展的今天,这是一个亟待解决的问题。 The rapid development of the transportation industry today, this is a serious problem.

[0003] 车联网,是指通过无线射频等识别技术,实现在信息网络平台上对所有车辆的属性信息和静、动态信息进行提取和有效利用,并根据不同的功能需求对所有车辆的运行状态进行有效的监管和提供综合服务。 [0003] Telematics means by radio frequency identification technology to realize was extracted attribute information for all vehicles and static and dynamic information on the information network platform and effective use, and the operating state of all of the vehicle according to the different functional requirements effective supervision and provide comprehensive services. 未来车联网将主要通过无线通信技术、GPS技术及传感技术的相互配合实现。 Future cars will be mainly achieved through networking with each other wireless communication technology, GPS technology and sensor technology. 在未来的车联网时代,无线通信技术和传感技术之间会是一种互补的关系,当汽车处在转角等传感器的盲区时,无线通信技术就会发挥作用;而当无线通信的信号丢失时,传感器又可以派上用场。 In the coming networked era car, between wireless communication technology and sensor technology will be a complementary relationship, when the car is in the blind corners and other sensors, wireless communication technology will play a role; and when the wireless communication signal is lost when the sensor and can come in handy.

[0004] 自组网(Ad-hoc Network)是一种没有骨干网络的条件下,由系统中的通信节点通过分布式协议互联或组织起来的网络系统。 [0004] The ad-hoc network conditions (Ad-hoc Network) and is not a backbone network, the nodes of a distributed system, a communication protocol network or system via a network organized. 移动自组网络(Mobile Ad-hoc Network)源于军事应用,经过三十多年的研发,应用目标扩大到家庭网络、个人无线通信等广大的民用领域。 MANET (Mobile Ad-hoc Network) derived from military applications, after 30 years of research and development, application target civilian areas extended to the majority of home networks, wireless personal communications. 移动自组网是支持通信节点移动的自组网,它主要是为在野外或无固定基站的地方提供通信服务而提出的。 MANET nodes to support communication from the mobile network, it is mainly to provide communication services in the field where no fixed base station or proposed. 与传统的移动通信系统相比较,移动自组网具有以下特点:1)节点移动性或机动性,2)动态拓扑,3)分布性,4)传输带宽受限且链路的容量是时变的,5)独立性,6)电源能量受限,7)有限的物理安全性。 Compared with the conventional mobile communication system, mobile ad hoc network has the following characteristics: 1) node mobility or maneuverability, 2) dynamic topology, 3) distribution, 4) transmission bandwidth capacity of the link is limited and time-varying and 5) independence, 6) limited energy supply, 7) limited physical security.

发明内容 SUMMARY

[0005] 本发明的目的是提供一种基于车联网的高速公路主动防撞方法,以减少高速公路上同一车道上的车辆发生追尾等严重的交通事故,提高高速车辆的安全性。 [0005] The present invention is to provide a method of collision avoidance initiative highway vehicle networking based, in order to reduce the severity of accidents on the highway vehicles on the same lane rear-end, improve the safety of high-speed vehicles.

[0006] 为了达到上述目的,本发明所采用的技术方案为: [0006] To achieve the above object, the technical solution employed in the present invention are:

一种基于车联网的高速公路主动防撞方法,其特征在于:采用安装在车辆上的车载终端,所述车载终端包括主控模块以及与所述主控模块连接的报警模块、信息存储模块、短距离通信模块、加速度传感器模块、GPS信息采集模块 Method in Expressway active vehicle collision based networking, wherein: the terminal is mounted on a vehicle using a vehicle, said vehicle terminal comprising a master control module and an alarm module connected to the main control module information storage module, short-range communication module, an acceleration sensor module, GPS information collection module

所述报警模块中集成有声、光报警电路;所述短距离通信模块为无线通信模块,处于短距离通信模块有效通信范围内的各种车辆通过各自的短距离通信模块实现彼此通信组成移动自组网络;所述加速度传感器模块采集本车辆的加速度信息;所述GPS信息采集模块采集本车辆的速度、位置和行驶路线信息;所述信息存储模块存储所述加速度传感器、GPS 信息采集模块采集的数据,以及对加速度传感器、GPS信息采集模块采集的数据的处理算法; The alarm module is integrated sound and light alarm circuit; the short-range communication module is a wireless communications module, in various vehicles within the effective communication range of the short-range communication module communicate with each other through respective short-range communication module MANET network; said acceleration sensor module acquires acceleration information of the vehicle; said GPS velocity information acquisition module according to the present vehicle position and the traveling route information; said information storing module storing said acceleration sensor, GPS data collected by the information collection module and a data processing algorithm of an acceleration sensor, GPS information acquisition module; and

所述主控模块控制所述加速度传感器模块采集本车辆的加速度数据,控制所述GPS信息采集模块采集本车辆的位置和速度数据,主控模块控制所述信息存储模块存储所述数据,并且通过所述短距离通信模块与其他短距离通信模块组成的无线自组网络将数据进行发布,当其他车辆驶入短距离通信模块的优先通信范围时,将接收到发布的这些数据,所述主控模块调用所述存储模块中的运算控制策略进行计算,得出车辆之间的安全距离ds,根据安全距离ds判断是否存在潜在危险,在出现异常时向车辆司机发出报警信号。 The main control module controls the acceleration sensor module acquires acceleration data of the vehicle, the control data of the GPS position and velocity information acquisition module of the vehicle, the main control module controls the information storing module storing said data, and by the short-range communication module for wireless ad-hoc network with other short-range communication module data will be released when another vehicle enters the communication range of the priority of the short-range communication module, the received data is released, the master the storage module calls the module operation control strategy calculated the safety distance ds between vehicles, according to whether or potentially dangerous safety distance ds is determined, a warning signal to the driver of the vehicle when the abnormality occurs.

[0007] 所述的一种基于车联网的高速公路主动防撞方法,其特征在于:组成移动自组网络的车辆的短距离通信模块彼此通过收发数据包实现网络互联。 One of said [0007] Active highway vehicle collision avoidance method based network, wherein: the vehicle short-range communication module consisting achieved MANET networking packets to each other via the transceiver.

[0008] 所述的一种基于车联网的高速公路主动防撞方法,其特征在于:某一车辆与原有移动自组网络的车辆之间的距离超过短距离通信模块的有效通信范围时,所述车辆脱离原有移动自组网络,并通过短距离通信模块与处于短距离通信模块的有效通信范围内的其他车辆组成新的移动自组网络。 One kind of [0008] the active highway vehicle collision avoidance method based network, wherein: a distance between the vehicle and the vehicle of the existing MANET exceed the effective communication range when the short-range communication module, the vehicle from the original MANET, and by other vehicles within the effective communication range of the short-range communication module at a short distance communication module to form a new MANET.

[0009] 本发明中,一个车辆上的短距离通信模块与周围车辆上的短距离通信模块组成移动自组网络,通过转发数据包实现网络互联。 [0009] In the present invention, the short-range communication module on the short-range communication module and the surroundings of the vehicle on a vehicle from the group consisting of a mobile network, by forwarding the packet network interconnection. 当移动自组网络中某个车辆与其他车辆距离超过了短距离通信模块有效通信范围时,该车辆的短距离通信模块脱离了原有的移动自组网络,重新与短距离通信模块有效通信范围内其他车辆的短距离通信模块互联成移动自组网络,继续进行安全关键信息的发送和接收。 When the mobile ad hoc network in a vehicle and the other vehicle distance exceeds the short-range communication module effective communication range, short-range communication module of the vehicle from the original MANET, short-range communication module re effective communication range short-range communication module to other vehicles within the MANET network, to continue to send and receive security critical information.

[0010] 本发明中,加速度传感器模块用来采集车辆在各个方向的加速度信息,包括水平方向和竖直方向。 [0010] In the present invention, the acceleration sensor module is used to collect information on the vehicle acceleration in all directions, including horizontal and vertical directions. GPS信息采集模块用于采集车辆运行时的速度、位置和行驶路线信息。 GPS information collecting means for collecting running speed of the vehicle, the position and the traveling route information. 信息存储模块用来存储加速度传感器和GPS信息采集模块采集得到的数据,以及对数据的处理算法,最终得出车辆与附近车道上车辆之间的安全距离 Information storage module for storing information of an acceleration sensor and the GPS data obtained by collecting module, the data processing algorithm, and eventually come to a safe distance between the vehicle and the vehicle near a lane

^ 报警模块通过声光报警等方式来提醒司乘人员注意,给出一定的驾驶建议。 ^ Alarm module to remind passengers to pay attention, given certain driving the adoption of sound and light alarm mode. 短距离通 A short distance through

信模块用来与周围车辆上的短距离通信模块组成移动自组网络,通过转发数据包实现网络互联,与附近车道上的车辆之间进行安全关键信息的发送和接收。 Communication module for short-range communication module and the surroundings of the vehicle from the group consisting of a mobile network, Internet network by forwarding the packet, transmission and reception of information between the security key on the vicinity of the vehicle and the lane. 当附近车道上的某个车辆超过了短距离通信模块的有效通信范围时,该车辆的短距离通信模块脱离了原有的移动自组网络,重新与短距离通信模块的有效通信范围内其他车辆的短距离通信模块互联成移动自组网络,继续进行安全关键信息的发送和接收。 When a vehicle is on the lane near the effective communication range than the short distance communication module, a short-range communication module of the vehicle from the original MANET, again within the effective communication range of the short-range communication module other vehicle the short range communication module interconnected to MANETs continue to send and receive security critical information.

[0011] 在本发明中,主控模块协调控制各模块之间的工作,保证系统正常运行,加速度传感器模块和GPS信息采集模块实时地采集车辆的加速度、速度和位置等信息,短距离通信模块实时与附近车道上短距离通信模块的有效通信范围内的车辆组成移动自组网络,进行安全关键信息的发送和接收。 [0011] In the present invention, the main control module controls the coordination between the work modules, ensure the normal operation, the acceleration sensor module information acquisition module and GPS information of the vehicle acceleration, velocity and position in real-time, short-range communication module real-time communication with the vehicle within the effective range of the lane near the short-distance communication module MANET composition, transmission and reception of the security critical information. 主控模块主要协调控制各个模块之间的工作情况,保证系统正常运行,并且对信息存储模块的数据进行处理,得出车辆与附近车道上车辆之间的安全距离ds。 The main control module controls the operation of the coordination between the various modules, ensure the normal operation, and the data storage module for processing the information, obtained safety distance ds between the vehicle and the nearby vehicles on the lane.

[0012] 本发明的优点为:(1)通过短距离通信模块能够与周围车辆上的短距离通信模块组成移动自组网络,通过转发数据包实现网络互联。 Advantages [0012] of the present invention are: (1) through the short-range communication module capable of short-range communication module on the surroundings of the vehicle from the group consisting of a mobile network, by forwarding the packet network interconnection. (2)通过对加速度传感器模块和GPS信息模块采集得到的数据进行处理,得出车辆与附近车道上车辆之间的安全距离ds。 (2) the data is processed by the acceleration sensor module and module collects GPS information obtained, derived safety distance ds between the vehicle and a nearby vehicle on the lane. (3)该CN 102184644 A (3) The CN 102184644 A

说明书 Instructions

3/4页 Page 3/4

方法中融入了车联网的概念,将车作为网络中的一个节点来考虑,属于智能交通这一未来交通发展的重要领域。 The method incorporates networking concept car, the car as a node in the network to consider, belong to this important area of ​​intelligent transportation future transport development.

附图说明 BRIEF DESCRIPTION

[0013] 图1是本发明所采用装置的结构框图。 [0013] FIG. 1 is a block diagram of the apparatus employed in the present invention.

[0014] 图2是本发明方法流程图。 [0014] FIG 2 is a flowchart of a method of the present invention.

具体实施方式 Detailed ways

[0015] 如图1所示。 [0015] As shown in Fig. 本发明所采用的装置包括主控模块1,还包括有与主控模块1相连的报警模块2、信息存储模块3、短距离通信模块4、加速度传感器模块5、GPS信息采集模块6。 Apparatus used in the present invention comprises a main control module 1, further comprising an alarm and control module connected to the module 2, an information storage module 3, a short-range communication module 4, an acceleration sensor module 5, GPS information collection module 6.

[0016] 本发明所采用的车载终端装置中,主控模块中采用的主控芯片配以一定的外围电路来实现对其他各个模块的控制功能;报警模块采用普通的蜂鸣器报警电路;短距离通信模块可以采用现有的无线通信技术,如WiFi,ZigBee等;GPS信息采集模块采用的是GPS信号接收机,通过GPS信号接收机捕获空间卫星的轨道参数数据,并且在其内部计算解析出用户所在地理位置的经纬度、高度、速度等信息。 [0016] The onboard terminal apparatus used in the present invention, together with a certain master chip peripheral circuit employed in the main control module to other control functions of each module; ordinary alarm module buzzer alarm circuit; short range communication module may employ a conventional wireless communication technologies, such as WiFi, ZigBee, etc.; GPS information collection module uses a GPS signal receiver, the GPS signal receiver through the orbital space satellites captured data, and calculates the parsed in its interior the user's location information of latitude and longitude, altitude, speed and so on.

[0017] 当汽车驶入高速公路后,车载终端上的加速度传感器模块和GPS信息采集模块实时地采集车辆运行过程中的加速度、速度、位置等信息,将这些采集到的数据存储到信息存储模块中,主控模块调用信息存储模块中的数据处理算法以及采集得到的加速度、速度、位置等信息,运算处理后,得出车辆与附近车道上车辆之间的安全距离ds,并且将这一信息存入信息存储模块。 [0017] When the car entering the highway, an acceleration sensor and a GPS module information acquisition module to acquire real-vehicle terminal information acceleration, velocity, position and the like during the vehicle running, the collected data is stored to the information storage module , the main control module call information acceleration, velocity, position and the like information storage module, and a data processing algorithm obtained by collecting, after arithmetic processing, obtain safety distance ds between the vehicle and near the lane on the vehicle, and this information information stored in the storage module. 同时,系统中的短距离通信模块实时地与附近车道车辆上的车载终端上的短距离通信模块组成移动自组网络,通过转发数据包实现网络互联,与周围车辆进行车辆安全关键信息的共享。 Meanwhile, the system short-range communication module in real-time and short-range communication module on the vehicle terminal in the vicinity of the lane vehicle consisting of a mobile ad hoc network, a network interconnection by forwarding packets, shared key information vehicle safety and surrounding vehicles. 当与附近车道上的某辆车的距离小于安全距离ds时,及时通过报警模块对司乘人员进行声光报警,给出一定的驾驶建议。 When the distance of a car on a nearby lane less than the safety distance ds, timely audible and visual alarm to passengers through the alarm module, given certain driving advice.

[0018] 如图2所示,图示是高速公路上的某路段的车辆分布图。 [0018] As shown in FIG 2, shown is a section of the profile of the vehicle on the highway. 在行驶中的每辆车上都安装有一个无线短距离通信模块,在一定的物理范围内的车辆之间通过无线短距离通信模块组成临时移动自组网,实现车辆运行时的安全关键信息的局域网共享和发布。 Traveling on each vehicle are equipped with a short-distance wireless communication module, between vehicles within a certain range by a physical short-range wireless communication module temporary mobile ad hoc networks, the security critical information implemented when the vehicle is running LAN sharing and publishing.

[0019] 不妨以右行超车道上的车辆A2为考虑对象,当车辆A2在高速公路上行使时,其周围可能存在与其安全关键信息有影响的车辆A1、A3、B1、B2、B3、C1、C2、C3等。 [0019] wish overtaking lane to the right line of vehicles A2 object of consideration, when the vehicle is on the highway A2 exercise, around there may be safety-critical information to their influential vehicle A1, A3, B1, B2, B3, C1 , C2, C3 and so on. 图示车辆A2 在向右行驶的过程中,通过车载装置中的加速度传感器模块5和GPS信息采集模块6实时采集车辆运行时的相关信息,然后将这些采集得到的信息在信息存储模块3中进行存储。 A2 in the right illustration of a vehicle during running by the vehicle-mounted device 5 and the acceleration sensor module GPS information collection module 6 real-time acquisition of information about vehicle operation, these collected information is then obtained in the information storage module 3 storage. 此时,车载装置中的短距离通信模块通过一定的组网策略与周围一定物理距离范围内的车 At this time, the vehicle-mounted device via the short-range communication module and a certain network strategy vehicle distance within a certain range around the physical

辆组成了临时移动自组网络巩和! Vehicles formed a temporary mobile ad hoc networks and Gong! 力,图中的两个虚线椭圆表示两个网络的物理范围。 Force, two dashed oval figure represents a physical range of two networks. 通过网络中的相关的算法,将该临时网络中的某个节点作为网络中的路由,用来转发网络中的数据包,这些数据包中包括每辆车的运行时的加速度、速度、位置和行驶路线等信息,还 Over a network associated algorithm, the temporary network node as a routing network, to forward network packets, the data operation includes an acceleration time of each vehicle, velocity, and position of the package travel route and other information, also

包括前方和两侧的车辆情况。 The vehicle including the front and sides of the case. 在图2的情况下,N1网络中C2节点作为饵网路的路由节点, N1网络中A2节点作为风网络的路由节点,而F1网络和IV2网络通过A2和C2两个路由节点互联起来,实现了两个网络之间的信息的共享和发布。 In the case of FIG. 2-on, N1 and C2 network node as a network routing node bait-on, N1 network node as a routing node A2 wind network, while the network and IV2 F1 A2 and C2 by two network routing nodes interconnected together to achieve the sharing of information between the two networks and publishing. 随着车辆的运行可能会有某些车辆驶出路由节点所能达到的物理范围,如图2中的车辆Dl可能会脱离均网络,车辆Bl可能会脱离W2网络,当他们因为某种原因脱离网络后,会自动地重新与周围或者前方的车辆组成临时移动自组网络Ni。 With the operation of the vehicle may be in some way by the vehicle leaves the range of the physical nodes can be achieved, the vehicle Dl in FIG 2 may be from the network are, Bl vehicle may detach W2 network, when they are disengaged for some reason the network, and automatically re-surrounding front of the vehicle or the temporary mobile ad hoc network composed of Ni. 在网络Ni中的相关情况与在网络N1和^的情况类似。 In the case of Ni, related to the case of the network in the network N1 ^ and the like.

Claims (3)

1. 一种基于车联网的高速公路主动防撞方法,其特征在于:采用安装在车辆上的车载终端,所述车载终端包括主控模块以及与所述主控模块连接的报警模块、信息存储模块、短距离通信模块、加速度传感器模块、GPS信息采集模块所述报警模块中集成有声、光报警电路;所述短距离通信模块为无线通信模块,处于短距离通信模块有效通信范围内的各种车辆通过各自的短距离通信模块实现彼此通信组成移动自组网络;所述加速度传感器模块采集本车辆的加速度信息;所述GPS信息采集模块采集本车辆的速度、位置和行驶路线信息;所述信息存储模块存储所述加速度传感器、GPS 信息采集模块采集的数据,以及对加速度传感器、GPS信息采集模块采集的数据的处理算法;所述主控模块控制所述加速度传感器模块采集本车辆的加速度数据,控制所述GPS信息采集模 A highway vehicle active network based collision avoidance method, wherein: using the vehicle terminal mounted on a vehicle, said vehicle terminal comprising a master control module and an alarm module connected to the main control module, an information storage module, a short range communication module, an acceleration sensor module, GPS information collection module alarm module is integrated sound and light alarm circuit; the short-range communication module of the wireless communication module, the communication is within the effective range of the various short-range communication module MANET vehicle composition is achieved by a respective short-range communication module communicate with each other; said acceleration sensor module acquires acceleration information of the vehicle; said GPS velocity information acquisition module according to the present vehicle position and the traveling route information; said information a storage module storing said acceleration sensor, the data acquisition module of the GPS information, as well as an acceleration sensor, GPS information processing algorithm data collecting module; the main control module controls the acceleration sensor module acquires acceleration data of the vehicle, the GPS information acquisition mode control 块采集本车辆的位置和速度数据,主控模块控制所述信息存储模块存储所述数据,并且通过所述短距离通信模块与其他短距离通信模块组成的无线自组网络将数据进行发布,当其他车辆驶入短距离通信模块的优先通信范围时,将接收到发布的数据,所述主控模块调用所述存储模块中的运算控制策略进行计算,得出车辆之间的安全距离ds,根据安全距离ds判断是否存在潜在危险,在出现异常时向车辆司机发出报警信号。 Position and velocity data block collects the vehicle, the main control module controls the information storing module storing said data, and by the short-range communication module with other short-range wireless communication module of the ad-hoc network publishing data, when when another vehicle entering the communication range of the priority of the short-range communication module, the received data is released, the main control module invokes the operation storage module control strategy calculated the safety distance ds between the vehicle, in accordance with ds determine whether there is a safe distance from potential danger, an alarm signal to the driver of a vehicle when an exception occurs.
2.根据权利要求1所述的一种基于车联网的高速公路主动防撞方法,其特征在于:组成移动自组网络的车辆的短距离通信模块彼此通过收发数据包实现网络互联。 According to one of the claims 1 active highway vehicle collision avoidance method based network, wherein: the vehicle short-range communication module consisting achieved MANET networking packets to each other via the transceiver.
3.根据权利要求1所述的一种基于车联网的高速公路主动防撞方法,其特征在于:某一车辆与原有移动自组网络的车辆之间的距离超过短距离通信模块的有效通信范围时,所述车辆脱离原有移动自组网络,并通过短距离通信模块与处于短距离通信模块的有效通信范围内的其他车辆组成新的移动自组网络。 According to one of the claims 1 highway vehicle active network-based collision avoidance method, wherein: a distance between the vehicle and the vehicle existing MANET effective communication over a short range communication module the range of the vehicle from the original MANET, and by other vehicles within the effective communication range of the short-range communication module at a short distance communication module to form a new MANET.
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