CN102390320A - Vehicle anti-collision early warning system based on vehicle-mounted sensing network - Google Patents
Vehicle anti-collision early warning system based on vehicle-mounted sensing network Download PDFInfo
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Abstract
The invention relates to a vehicle anti-collision early warning system based on a vehicle-mounted sensing network. The vehicle anti-collision early warning system comprises an subject vehicle (SV) information module, a self-learning functional module, an information memory module, a vehicle collision judging module, an anti-collision early warning device module, a DSRC (Dedicated Short Range Communications) vehicle-vehicle communication module and a neighborhood vehicle (NV) anti-collision early warning system, wherein the SV information module consists of an information acquiring and processing module and a module including the ID (Identity) and the size fixed information of a vehicle; the information acquiring and processing module is used for exchanging data with the anti-collision early warning device module through the self-learning functional module and the vehicle collision judging module; the module including the ID (Identity) and size fixed information of the vehicle is used for exchanging data with the anti-collision early warning device module through the information memory module and the vehicle anti-collision judging module; and the information memory module is in DSRC wireless communication with the NV anti-collision early warning system of a surrounding vehicle through the DSRC vehicle-vehicle communication module. By adopting the vehicle anti-collision early warning system, the vehicle running state can be forecast, and the effectiveness and suitability of the anti-collision early warning system are enhanced.
Description
Technical field
The present invention relates to the collision prevention of vehicle forewarn system, particularly a kind of collision prevention of vehicle forewarn system based on vehicle-mounted sensing network.
Background technology
Along with the quick growth of automobile quantity, vehicle collision accident is also in rising trend, causes a large amount of personal casualty and property damage.For reducing vehicle collision accident; In recent years, by extensive concern, its principle generally is through the distance of this car of sensor with other vehicle based on the collision prevention of vehicle prior-warning device of sensors such as infrared, radar, pick up camera; When distance value during, provide alarm less than the secure threshold set.Said method is conceived to the relative distance and the speed of Ben Che and surrounding vehicles, and the quantity of information of being obtained is less, has certain limitation.In addition, sensor such as infrared, radar, pick up camera receives the influence of factors such as weather, obstacle, light easily, has reduced the applicability and the effect of anti-collision prewarning apparatus.
In recent years, vehicle-mounted sensor-based network technology obtains fast development, and is applied to the collision prevention of vehicle forewarn system; Vehicle-mounted sensing network equipment promptly is installed on vehicle; Realize the real time data exchange between the vehicle, obtain vehicle running environment information, and carry out anti-collision early warning on this basis.Application number is that 200410042177.4 patent has proposed to utilize the wireless self-organization network technology to realize the automobile anti-collision method on the express highway; This patent realizes vehicle self-organizing network with IPv6; Speed and warning value speed that velocity radar is detected compare; When the speed that detects is higher than warning speed, provide alarm, this technical scheme is primarily aimed at this special scenes of express highway.Application number is that 200810197439.2 patent has further utilized vehicle GPS and sensor assembly to obtain the information such as position, direction, speed and acceleration/accel of this car; And carry out data exchange with surrounding vehicles, through the early warning of making a strategic decision of the difference of calculating collision probability and probability threshold value.Application number a kind of circuit arrangement that is used for the greasy weather automobile collision preventing that has been 200910064025 proprietary design; Be input to DSP (Digital Signal Processor to the information of GPS and double-axel acceleration sensor; Digital signal processor) carries out calculation process; And combine the relative distance and the relative speed of this car and surrounding vehicles, provide sound and light alarm in good time.The existing collision prevention of vehicle forewarn system of vehicle mounted wireless sensor network technology that utilizes exists following not enough:
(1) underuses the advantage of vehicle-mounted sensing network; Except information such as car speed, acceleration/accel, position; Also can introduce information such as vehicle body angle of inclination, steering wheel angle, Das Gaspedal angular transposition, brake pedal angular transposition, steering indicating light state; Be used to predict the running state and the running orbit of vehicle, improve the accuracy and the validity of anti-collision early warning.
(2) though there is patent to propose to consider of the influence of different chaufeur difference in characters, may cause with actual state through artificial setting means to have bigger discrepancy to the collision prevention of vehicle algorithm.There is not patent to propose the real-time behavioral trait of chaufeur is had the anti-collision early warning system of " self study " function.
Summary of the invention
Technical matters to be solved by this invention is: to the problem of existing collision prevention of vehicle forewarn system existence; Propose a kind of collision prevention of vehicle forewarn system based on vehicle-mounted sensing network, this system utilizes vehicle-mounted sensing network, the current state information between the real-time exchange vehicle; And its motoring condition predicted; Simultaneously, the driver behavior pattern is carried out the personality characteristics that chaufeur is predicted in self study, and then judge between this car and the surrounding vehicles whether can bump through this car real-time status information.In the time possibly crashing, send early warning to chaufeur, be convenient to the chaufeur crash-avoidance accident of in time taking measures, thereby improve the traffic safety level.
The present invention solves its technical matters and adopts following technical scheme:
Collision prevention of vehicle forewarn system based on vehicle-mounted sensing network provided by the invention; Comprise this car SV (Subject Vehicle; Abbreviation SV) information module, self-learning function module, message memory module, vehicle collision judge module, anti-collision prewarning apparatus module, DSRC (Dedicated Short Range Communication; DSRC) car car communication module and NV (Neighborhood Vehicle on every side; Be called for short NV) the collision prevention of vehicle forewarn system; Wherein: this car SV information module by the information acquisition processing module with comprise that the ID of vehicle itself and the module of fixed size information form; The information acquisition processing module is carried out data exchange through self-learning function module, vehicle collision judge module and anti-collision prewarning apparatus module, and the module of the ID of vehicle itself and fixed size information is carried out data exchange through message memory module, vehicle collision judge module and anti-collision prewarning apparatus module; The message memory module realizes the DSRC radio communication through DSRC car car communication module and surrounding vehicles NV anti-collision early warning system.
The information that said information acquisition processing module need be gathered can be divided into ABS (Anti-lock Braking System; Antiblock device) car speed obtain, DGPS (Difference Global Positioning System; The differential type global positioning system) information acquisition is handled and other sensor information acquisition process three major types; Wherein: the DGPS information acquisition is handled and is comprised satellite, differential type GPS base station and vehicle-mounted end mobile GPS module, and the information that obtains after the processing has vehicle location and absolute motion direction; The ABS car speed obtain the no longer extra sensor that adds, directly subsequent use the output of car speed numerical value from abs controller; Other sensor information acquisition process comprise double-axel acceleration sensor, vehicle body angle of inclination (gyroscope), photoelectric induction type steering wheel angle sensor, throttle & brake pedal angular-motion transducer.
Said vehicle-mounted end mobile GPS module can comprise radio-frequency front-end, signal conditioning and application processing module.
Said self-learning function module can comprise the BP neural network model; The input neuron of BP neural network model comprises the value of car speed, acceleration/accel, vehicle body yaw rate, steering wheel angle rate of change and throttle or brake pedal cireular frequency; They are as the input neuron of nerve network system; The effect of the excitation function of process hidden layer obtains radical, common, the conservative wherein particular type of a certain generic of chaufeur.
This collision prevention of vehicle forewarn system can be according to the historical data of particular type; To adopt chaufeur release the accelerator pedal frequency hundredths constantly be 5% cooresponding collision time
, start brake pedal frequency hundredths constantly is 5% cooresponding collision time
and reaction time
the value characteristic parameter as each cluster; After crashproof grading forewarning system device action; The result of real time altering threshold calculations formula reaches real-time concern driver behavior pattern's purpose.
Said self-learning function module needs two steps; At first accomplish BP neural network chaufeur type judging module, obtaining chaufeur release the accelerator pedal statistics cluster percentage frequency constantly then is that 5% cooresponding collision time
, startup brake pedal statistics cluster percentage frequency constantly are 5% cooresponding collision time
, time of driver's reaction
.
asks method to be: be in when speeding state at vehicle; If spacing is
; The relative velocity of front and back two cars is
, then collision time
.Prove through experimental study;
embodied the judgment mechanism of chaufeur to rear end collision, and be relevant with the urgency level of potential rear end collision; Follow the car data sequence according to chaufeur; Extract radical, common, conservative three types of chaufeur release thees accelerator pedal and accumulate the frequency of
constantly, and the value of getting every type of corresponding frequency 5% is
of the type;
Said vehicle collision judge module can adopt between the vehicle and realize this car SV and surrounding vehicles NV exchange car status information through the DSRC car car communication technology; Relative position and relative motion trend according to vehicle are divided into two big types of Longitudinal Collision Avoidance, Lateral Collision Avoidances to contingent track collision, and every type is suitable for different threshold value calculation methods; The anti-collision early warning signal is divided into three grades, is respectively one-level prompting, secondary warning and three grades of warnings.
Said anti-collision prewarning apparatus module is installed a read-out at the automobile console, with this car of scheme drawing mark SV and the relative position that possibly collide vehicle, and the signal lamp that can show green, yellow, red three kinds of colors is installed, the other buzzer siren that is provided with of read-out; Early warning signal is divided into three ranks, and rank is high more, and situation is urgent more, and wherein the one-level alerting pattern is the green light flicker, and secondary warning mode is the amber light flicker, and three grades of type of alarms are that blinking red lamp adds the buzzing chimes of doom.
Above-mentioned collision prevention of vehicle forewarn system provided by the invention, its application in realizing collision prevention of vehicle grading forewarning system function.
The present invention compared with prior art has following main advantage:
1. make full use of the data communication advantage of vehicle mounted wireless sensor network; Added data such as vehicle body angle of inclination, steering wheel angle, Das Gaspedal angular transposition, brake pedal angular transposition, steering indicating light state in information aspect obtaining, vehicle driver's characteristic and following track have been made relatively reasonable estimation.
2. to use chaufeur release the accelerator pedal frequency hundredths constantly be 5% cooresponding collision time, start brake pedal frequency hundredths constantly is 5% cooresponding collision time and the reaction time characterizes the behavioral trait difference of different chaufeurs; The qualitative question quantitative Treatment, and avoid the human intervention influence.During system initialization, this tittle is directly got the cooresponding default value of general type chaufeur.Data accumulation in the driving process is constantly revised these two amounts, constantly adjusts crashproof grading forewarning system system prompt, alarm threshold value to adapt to the real time status of chaufeur and vehicle through " self study " function.
3. according to relative position and the relative motion trend of SV and NV, be divided into two big types of Longitudinal Collision Avoidance and Lateral Collision Avoidances, suitable warning algorithm is provided respectively, improve traffic efficiency under the premise that security is guaranteed.
4. can realize the anti-collision early warning in the vehicle-surroundings 360 degree scopes, eliminate at " blind angle ", improve travel safety comprehensively.
In a word; The present invention utilizes the information of vehicle-mounted sensing network real-time exchange this car SV and surrounding vehicles NV; Can predict and possess the anti-collision early warning system that the driver behavior pattern is carried out self-learning function travel condition of vehicle, improve the validity and the comformability of anti-collision early warning system.
Description of drawings
Fig. 1 is the anti-collision prewarning apparatus integral structure scheme drawing of instance of the present invention.
Fig. 2 is the chief component scheme drawing of information acquisition processing module.
Fig. 3 is the collision time TTC and reaction time
calculation process of chaufeur.Wherein, TTC (Time-to-collision) comprises that chaufeur release the accelerator pedal statistics cluster percentage frequency constantly is that 5% cooresponding collision time
and startup brake pedal statistics cluster percentage frequency constantly are 5% cooresponding collision time
.
Fig. 4 is the structural representation of anti-collision prewarning apparatus.
Among the figure: 1. this car SV information module; 2. self-learning function module; 3. message memory module; 4. vehicle collision judge module; 5. anti-collision prewarning apparatus module; 6. DSRC car car communication module; 7. NV collision prevention of vehicle forewarn system on every side; 8. the ABS car speed obtains; 9. the DGPS information acquisition is handled; 10. other sensor information acquisition process; 11. BP neural network model; 12. input neuron; 13. excitation function; 14. particular type; 15. historical data; 16. characteristic parameter; 17. read-out; 18. buzzer siren; 19. the north; 20. west; 21. east; 22. south.
The specific embodiment
Collision prevention of vehicle forewarn system based on vehicle-mounted sensing network provided by the invention is provided with some DGPS base station, and the vehicle GPS receiver terminal is revised positioning result according to the difference base station signal, and the vehicle location precision is reached in the 1m.Vehicle-mounted end also is equipped with the sensor of variablees such as acquisition speed, acceleration/accel, vehicle body angle of inclination, steering wheel angle, throttle or brake pedal angular transposition; And DSRC car car communication module comprehensive treatment CPU (Central Processing Unit, central process unit) module etc.The testing result of throttle or brake pedal angular-motion transducer also can be used for estimating vehicle and adds/deceleration/decel; Through the communication of DSRC car car in real time with surrounding vehicles exchange vehicle ID, size, position, sense of motion, speed, acceleration/accel, vehicle body angle of inclination, vehicle body yaw rate, estimate and add/information such as deceleration/decel, steering indicating light state, time; Parameters such as car speed, acceleration/accel, steering wheel angle rate of change, vehicle body yaw rate, throttle or brake pedal cireular frequency by each sensor acquisition calculating; The type that BP neural network model that " study " handle is confirmed current driver's is passed through in substitution; And, realize self-learning function according to the real-time driver behavior data adjustment anti-collision early warning threshold value of chaufeur.
The essential characteristic of said DSRC car car communication module comprehensive treatment CPU is: be used to accomplish RF front-end module, the signal processing module of DGPS mobile terminal, the related operation of application processing module; The software filtering, the A/D that accomplish sensor handle and the data computation function; Realize chaufeur sorting algorithm, driving behavior statistics collision judgment algorithm process; Accomplish the data access of memory device, the controllable function such as information transmit-receive of DSRC equipment.
Below in conjunction with embodiment and accompanying drawing the present invention is described further, but is not limited to following said content.
Collision prevention of vehicle forewarn system based on vehicle-mounted sensing network provided by the invention; Its structure is as shown in Figure 1; Comprise this car SV information module 1, self-learning function module 2, message memory module 3, vehicle collision judge module 4, anti-collision prewarning apparatus module 5, DSRC car car communication module 6 and NV collision prevention of vehicle forewarn system 7 on every side; Wherein: this car SV information module 1 by the information acquisition processing module with comprise that the ID of vehicle itself and the module of fixed size information form; The information acquisition processing module is carried out data exchange through self-learning function module 2, vehicle collision judge module 4 with anti-collision prewarning apparatus module 5, and the module of the ID of vehicle itself and fixed size information is carried out data exchange through message memory module 3, vehicle collision judge module 4 with anti-collision prewarning apparatus module 5.Message memory module 3 realizes the DSRC radio communication through DSRC car car communication module 6 and surrounding vehicles NV anti-collision early warning system 7.
The main contents of said information acquisition processing module are seen Fig. 2.The information that this module need be gathered is divided into that the ABS car speed obtains 8, the DGPS information acquisition handles 9 and other sensor information acquisition process 10 three major types; Wherein: the DGPS information acquisition is handled 9 and is comprised satellite, differential type GPS base station and vehicle-mounted end mobile GPS module, and the information that obtains after the processing has vehicle location and absolute motion direction; Vehicle-mounted end mobile GPS module comprises radio-frequency front-end, signal conditioning and application processing module.Because of now many vehicle configuration have the ABS anti-skid brake system; This system itself has point-device speed of a motor vehicle testing result; So the ABS car speed obtains the no longer extra sensor that adds; Can simply transform this system, on abs controller, add the corresponding interface of a data output, outwards transmit accurate car speed numerical value when carrying out the computing of anti-lock algorithm with subsequent use.Other sensor information acquisition process 10 comprise double-axel acceleration sensor, vehicle body angle of inclination (gyroscope) sensor, photoelectric induction type steering wheel angle sensor, throttle and brake pedal angular-motion transducer; Because the acquisition process of its vehicle acceleration, vehicle body angle of inclination, steering wheel angle, throttle or these values of brake pedal angular transposition is similar basically; All be to amplify with amplifying circuit earlier, import the processing that CPU carries out software filtering and A/D conversion then.Vehicle body angle of inclination, steering wheel angle and pedal angular transposition carry out differential calculation respectively to the time, can also obtain vehicle body yaw rate, steering wheel angle rate of change and throttle or brake pedal cireular frequency; In order to realize the prediction to vehicle-state, according to vehicle mechanical power conversion principle, but substitution throttle or brake pedal angular transposition obtain next estimated acceleration of vehicle constantly.
The essential characteristic of above-mentioned DGPS module is: pseudo range difference formula equipment is adopted in the difference base station, distributes by certain limit, reduces the systematic error that the distance of base station and portable GPS is brought as far as possible.Be the real-time, the accuracy that guarantee that data are obtained, the frequency of the differential type GPS that is adopted here is at least more than the 5HZ, and position error is within 1m.This module has data I/O port and supplies the external world to read its output data.
The essential characteristic of above-mentioned double-axel acceleration sensor is: this device keeps flat and is fixed on the indoor suitable position of vehicle drive.The X axle of the double-axel acceleration sensor of core, Y axle output signal are sent into amplifying circuit and are amplified, and after software filtering, A/D conversion are handled step by step, outwards export more accurate vehicle acceleration information through corresponding interface.
The essential characteristic of the sensor of above-mentioned vehicle body angle of inclination (gyroscope) is: the sensor that is adopted is a gyroscope; Output signal is sent into amplifying circuit and is amplified; After software filtering, A/D conversion are handled step by step, outwards export more accurate vehicle body angle of inclination information through corresponding interface.
The essential characteristic of above-mentioned photoelectric induction type steering wheel angle sensor is: adopt the photoelectric induction type steering wheel angle sensor, both judged turning to of bearing circle, export two relative rotations between the moment simultaneously.Send into amplifying circuit to sensor output signal and amplify, after software filtering, A/D conversion are handled step by step, outwards export comparatively accurate steering wheel angle information through corresponding interface.Further, carry out differential to this information and handle, can obtain the rate of change of steering wheel angle.
The essential characteristic of above-mentioned throttle and brake pedal angular-motion transducer is: give throttle pedal and brake pedal stagger angle displacement pickup respectively; Sending into amplifying circuit amplifies; After software filtering, A/D conversion are handled step by step; Obtain comparatively accurate angular displacement information, see off outward through corresponding interface.Because Das Gaspedal and brake pedal can not be stepped on simultaneously, so only export one road angular displacement signal, the high-low level of controlling another I/O mouth again is convenient to subordinate's this signal of input judgement from Das Gaspedal or brake pedal.According to vehicle mechanical power conversion principle, angular transposition is calculated next estimated acceleration of vehicle constantly thus.
Said self-learning function module 2 is used for according to the driver's operation behavioral data, judges the type of chaufeur, and adjustment anti-collision early warning threshold value.Its structure is as shown in Figure 3, comprises BP neural network model 11, input neuron 12, and wherein: the BP neural network model mainly is a type of judging chaufeur.Input neuron comprises the value
of car speed, acceleration/accel, vehicle body yaw rate, steering wheel angle rate of change and throttle or brake pedal cireular frequency etc.; They are as the input neuron of nerve network system; The effect of the excitation function 13 of process hidden layer obtains radical, common, the conservative wherein particular type 14 of a certain generic of chaufeur.Historical data 15 according to particular type 14; To select chaufeur release the accelerator pedal frequency hundredths constantly be 5% cooresponding collision time
, start brake pedal frequency hundredths constantly is 5% cooresponding collision time
and reaction time
the value characteristic parameter 16 as each cluster; After crashproof grading forewarning system device action; The result of real time altering threshold calculations formula reaches real-time concern driver behavior pattern's purpose.
Said self-learning function module 2 needs two steps; At first accomplish BP neural network chaufeur type judging module, obtaining chaufeur release the accelerator pedal statistics cluster percentage frequency constantly then is that 5% cooresponding collision time
, startup brake pedal statistics cluster percentage frequency constantly are 5% cooresponding collision time
, time of driver's reaction
.
Said message memory module 3 also is divided into the information storage area of this car SV information storage area and surrounding vehicles NV, so that vehicle collision judge module and DSRC car car communication module are obtained correct value.
Said vehicle collision judge module 4 has adopted between the vehicle and has realized this car SV and surrounding vehicles NV exchange car status information through the DSRC car car communication technology; Relative position and relative motion trend according to vehicle are divided into two big types of Longitudinal Collision Avoidance, Lateral Collision Avoidances to contingent track collision, and every type is suitable for different threshold value calculation methods.The anti-collision early warning signal is divided into three grades, is respectively one-level prompting, secondary warning and three grades of warnings.This car SV information module comprises sensor in real time Information Monitoring and vehicle build-in attribute information.
The structure of said anti-collision prewarning apparatus module 5 is as shown in Figure 4: at the vehicle console read-out 17 is installed; NV vehicle that possibly collide with scheme drawing mark and the relative position of this car SV; And the signal lamp that can show green, yellow, red three kinds of colors is installed; Supply chaufeur check near information storage area (being called for short NV) and the relative position of this car SV information storage area (abbreviation SV) of surrounding vehicles NV; One-level to different directions (north 19, west 20, east 21, south 22) is reminded, the secondary warning lights green light respectively and amber light is represented, blinking red lamp then when three grades of alerting signals produce, and early warning signal is divided into three ranks; Rank is high more, and situation is more dangerous.The one-level alerting pattern is the green light flicker, and secondary warning mode is the amber light flicker, and three grades of type of alarms are that blinking red lamp adds the buzzing chimes of doom.A buzzer siren 18 has also been installed on the read-out side in addition, and the auditory tone cues of auxiliary three grades of warnings is warned chaufeur to take an immediate action and prevented possible collision.
The essential characteristic of said DSRC car car communication module 6 is: to point-to-points car car signalling methods characteristics, adopt the 5.8GHZ frequency range, renewal frequency is at least 10HZ, the full-duplex communication mode.With the information frame of surrounding vehicles NV exchange be: frame head, vehicle ID, size, position, service direction, speed, acceleration/accel, vehicle body angle of inclination, vehicle body yaw rate, steering indicating light state, estimated acceleration, synchronization time, postamble.
The method of measurement of said steering indicating light state is: can be obtained by the on off state that internal circuit reads left steering lamp or right steering lamp.If both all do not open, the variable of then giving the steering indicating light state is 0; If the left steering lamp is opened, then this variable is changed to 1; If the right steering lamp is opened, variate-value composes into 2.
Above-mentioned collision prevention of vehicle forewarn system provided by the invention based on vehicle-mounted sensing network; Can realize collision prevention of vehicle grading forewarning system function; Specifically: vehicle body yaw rate information, the steering wheel angle that the photoelectric induction type steering wheel angle sensor detects and the steering wheel angle rate of change that obtains thus of the vehicle location that the information of gathering in real time comprises the collection of vehicle-mounted DGPS module and sense of motion information, the car speed information, the vehicle acceleration information of twin shaft sensor, the vehicle body angle of inclination that gyroscope detects and the gained of differentiating that obtain from the vehicle ABS controller and throttle or the brake pedal angular transposition that estimated acceleration information, throttle or brake pedal angular-motion transducer detect and calculate thus throttle or brake pedal cireular frequency and estimated acceleration information, turn signal swich status information, and the chaufeur type information that draws by the judgement of self-learning function module.Vehicle build-in attribute information comprises vehicle ID, vehicle dimension etc.
Above-mentioned collision prevention of vehicle forewarn system provided by the invention based on vehicle-mounted sensing network; Its outstanding effect is: this system utilizes vehicle-mounted sensing network; Current state information between the real-time exchange vehicle, and its motoring condition predicted, simultaneously; Through this car real-time status information the driver behavior pattern is carried out the personality characteristics that chaufeur is predicted in self study, and then judge between this car and the surrounding vehicles whether can bump.In the time possibly crashing, send early warning to chaufeur, be convenient to the chaufeur crash-avoidance accident of in time taking measures, thereby improve the traffic safety level.
Above-mentioned collision prevention of vehicle forewarn system provided by the invention based on vehicle-mounted sensing network, when realizing that collision prevention of vehicle grading forewarning system function is used, its step comprises:
Step 1: when automotive ignition started, original vehicle-mounted differential type GPS receiving device, sensor acquisition module, DSRC car vehicle radio communication facilities etc. were accomplished and are started and the initialization setting on the automobile interior.During initialization; The chaufeur type is defaulted as coventional type, and its release the accelerator pedal frequency hundredths constantly is that 5% cooresponding collision time
, startup brake pedal frequency hundredths constantly are that 5% cooresponding collision time
and time of driver's reaction
are all selected medium-sized respective value.
Step 2: import original RF front-end module, signal processing module, application processing module on the automobile interior to the antenna receiving signal of the car-mounted terminal of DGPS; After handling step by step, can obtain two-dimentional absolute location coordinates
and the absolute motion direction
of this car SV.
Then; State values such as the position coordinate of vehicle ID, size, this car SV
, service direction
, speed
, acceleration/accel
, vehicle body angle of inclination
, vehicle body yaw rate
, estimated acceleration
, steering indicating light state FLAG and current synchronization times as an information frame; Through DSRC Che-Che signalling methods; With surrounding vehicles NV real-time exchange, and send out and data storage that receive.The surrounding vehicles NV here is or many cars in this car of span SV certain limit, but to the surrounding vehicles NV processing of sorting, and nearest one with this car SV is paid close attention in each orientation.
According to vehicle dimension and location coordinate information; Definition SV and the immediate distance of NV vehicle entity part for both; I.e.
, wherein
and
is two nearest coordinate points of two car car body parts.if
m; Then telling within 100 meters scopes of chaufeur has vehicle ', and crashproof grading forewarning system device provides the bright one-level prompting of green light.Next, how to judge that secondary is warned or emphasis is narrated in three grades of warnings, the secondary warning is to remind chaufeur must improve attention, and three grades of warnings then require chaufeur must make the adjustment of acceleration or deceleration or turning to present case.
According to the relative position of SV and NV, change the corresponding classification of Longitudinal Collision Avoidance, Lateral Collision Avoidance respectively over to:
1. if SV and NV are on same the road, do not have the purpose that changes bypass branch over to, the vehicle body edge has overlapping along its sense of motion, and direction angle is consistent, and when promptly satisfying following formula, the early warning that changes Longitudinal Collision Avoidance over to is regular, and this formula is:
In the formula:
is the body width of this car SV.
is the bodywork length of SV.
and
car body parts for the two most recent two coordinate points.FLAG is the steering indicating light state, and wherein, FLAG=0 keeps straight on; FLAG=1 turns left; FLAG=2 turns right.
m 1With
m 2For.
Predicted time
afterwards, the spacing of this car SV and surrounding vehicles NV predicts the outcome and is:
Where:
for the forecast period, usually take 3 seconds;
,
SV respectively, of the vehicle and the surrounding vehicles NV acceleration predicted value.
The condition that the secondary warning needs to satisfy is:
(1) (
is the minimum safe distance of setting), this moment, prior-warning device lighted amber light prompting chaufeur.
Three grades of conditions that need to satisfy of reporting to the police are prior-warning device blinking red lamps
(2) this moment; And the annunciator action, the prompting chaufeur takes corresponding operating crash-avoidance accident to take place.
More than be with the early warning under the situation of speeding; If sense of motion is (i.e.
) relatively; Then need above-mentioned early warning rule is made simple transformation, turn to vertically the early warning of collision relatively.Carry out additive operation to the desired distance of two cars this moment; Be that the condition that the secondary warning needs to satisfy is
, (3) three grades of conditions that need to satisfy of reporting to the police are
.（4）
2. if the sense of motion of SV and NV satisfies
, then change the Lateral Collision Avoidance flow process over to.Elapsed time
afterwards; The position of SV, the position of NV become
,
respectively, and
,
.if
(
is a minimum positive number); Explain that then following track has joint, has the possibility that bumps.When
(5) prior-warning device lights amber light; Three grades of warnings betide
(6); The action of blinking red lamp and annunciator requires chaufeur to take to turn to or operation such as deceleration.The t here
ResBe meant that the frequency hundredths is 5% cooresponding reaction time time of driver's reaction, it is the characteristic parameter of each cluster chaufeur.
Step 3: the real time operation data of 11 pairs of chaufeurs of Application of BP neural network model are according to passing through driver behavior pattern's classification that experimental verification and clustering processing obtain; Realize " self study " function; Concrete grammar is following: the input layer of BP neural network model 11
has 5 neurons
, representes car speed
, acceleration/accel
, vehicle body yaw rate
, steering wheel angle rate of change
and throttle or brake pedal cireular frequency
respectively; Latent layer has some neurons, and has selected suitable transfer function; 3 output vectors of network
;
; It is radical that
represents respectively; Common; Conservative three types chaufeur.And; Before BP neural network model 11 life's works; Need to accomplish the learning process of BP neural network model: respectively to a large amount of service datas of chaufeur collection of three kinds of typical behavioral traits and send into the input end of network, corresponding desired output is exported with network compared simultaneously, obtain error signal; Control the adjustment of weights Joint strenght with this, through repeatedly converging to definite weights after the training; Through different sample situation is revised weights, improve the comformability of this model.
After sending into trained network to relevant each variable
of input neuron 12; The process computing obtains the type that is subordinate to of current driver's, carries out parameter matching with the algorithm to dissimilar chaufeurs again.This algorithm comes from the unified statistics of the chaufeur of each cluster.According to this chaufeur type selecting chaufeur release the accelerator pedal frequency hundredths constantly is that 5% cooresponding collision time
, startup brake pedal frequency hundredths constantly are 5% cooresponding collision time
; The formula of substitution step 2 (1), (2), (3), (4) can obtain and the cooresponding Longitudinal Collision Avoidance threshold value of warning of chaufeur real-time status; Selecting the frequency hundredths is the characteristic parameter of 5% cooresponding reaction time
value as each cluster chaufeur; Formula of substitution step 2 (5) and formula (6); Contingent Lateral Collision Avoidance is judged, and provided early warning signal.
Claims (9)
1. collision prevention of vehicle forewarn system based on vehicle-mounted sensing network; It is characterized in that comprising this car SV information module, self-learning function module, message memory module, vehicle collision judge module, anti-collision prewarning apparatus module, DSRC car car communication module and NV collision prevention of vehicle forewarn system on every side, wherein: this car SV information module by the information acquisition processing module with comprise that the ID of vehicle itself and the module of fixed size information form; The information acquisition processing module is carried out data exchange through self-learning function module, vehicle collision judge module and anti-collision prewarning apparatus module; The module of the ID of vehicle itself and fixed size information is carried out data exchange through message memory module, vehicle collision judge module and anti-collision prewarning apparatus module; The message memory module realizes the DSRC radio communication through DSRC car car communication module and surrounding vehicles NV anti-collision early warning system.
2. collision prevention of vehicle forewarn system as claimed in claim 1; It is characterized in that information that said information acquisition processing module need be gathered is divided into that the ABS car speed obtains, the DGPS information acquisition is handled and other sensor information acquisition process three major types; Wherein: the DGPS information acquisition is handled and is comprised satellite, differential type GPS base station and vehicle-mounted end mobile GPS module, and the information that obtains after the processing has vehicle location and absolute motion direction; The ABS car speed obtains the no longer extra sensor that adds, and is directly subsequent use the output of car speed numerical value from abs controller; Other sensor information acquisition process comprise double-axel acceleration sensor, vehicle body angle of inclination, photoelectric induction type steering wheel angle sensor, throttle & brake pedal angular-motion transducer.
3. collision prevention of vehicle forewarn system as claimed in claim 2 is characterized in that said vehicle-mounted end mobile GPS module comprises radio-frequency front-end, signal conditioning and application processing module.
4. collision prevention of vehicle forewarn system as claimed in claim 1 is characterized in that said self-learning function module comprises BP neural network model, input neuron, and wherein: the BP neural network model mainly is a type of judging chaufeur; Input neuron comprises the value of car speed, acceleration/accel, vehicle body yaw rate, steering wheel angle rate of change and throttle or brake pedal cireular frequency; They are as the input neuron of nerve network system; The effect of the excitation function of process hidden layer obtains radical, common, the conservative wherein particular type of a certain generic of chaufeur.
5. collision prevention of vehicle forewarn system as claimed in claim 4; It is characterized in that: according to the historical data of particular type; To adopt chaufeur release the accelerator pedal frequency hundredths constantly be 5% cooresponding collision time
, start brake pedal frequency hundredths constantly is 5% cooresponding collision time
and reaction time
the value characteristic parameter as each cluster; After crashproof grading forewarning system device action; The result of real time altering threshold calculations formula reaches real-time concern driver behavior pattern's purpose.
6. collision prevention of vehicle forewarn system as claimed in claim 4; It is characterized in that: two steps of said self-learning function module needs; At first accomplish BP neural network chaufeur type judging module, obtaining chaufeur release the accelerator pedal statistics cluster percentage frequency constantly then is that 5% cooresponding collision time
, startup brake pedal statistics cluster percentage frequency constantly are 5% cooresponding collision time
, time of driver's reaction
;
7. collision prevention of vehicle forewarn system as claimed in claim 4; It is characterized in that: said vehicle collision judge module adopts between the vehicle and realizes this car SV and surrounding vehicles NV exchange car status information through the DSRC car car communication technology; Relative position and relative motion trend according to vehicle are divided into two big types of Longitudinal Collision Avoidance, Lateral Collision Avoidances to contingent track collision, and every type is suitable for different threshold value calculation methods; The anti-collision early warning signal is divided into three grades, is respectively one-level prompting, secondary warning and three grades of warnings.
8. collision prevention of vehicle forewarn system as claimed in claim 1; It is characterized in that: said anti-collision prewarning apparatus module is installed a read-out at the automobile console; With this car of scheme drawing mark SV and the relative position that possibly collide vehicle; And the signal lamp that can show green, yellow, red three kinds of colors is installed, the other buzzer siren that is provided with of read-out; Early warning signal is divided into three ranks, and rank is high more, and situation is urgent more, and wherein the one-level alerting pattern is the green light flicker, and secondary warning mode is the amber light flicker, and three grades of type of alarms are that blinking red lamp adds the buzzing chimes of doom.
9. the purposes of the said collision prevention of vehicle forewarn system of arbitrary claim in the claim 1 to 8 is characterized in that: the application of this collision prevention of vehicle forewarn system in realizing collision prevention of vehicle grading forewarning system function.
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