CN103208205B - Vehicle safety driving early warning method based on vehicle internet - Google Patents

Vehicle safety driving early warning method based on vehicle internet Download PDF

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CN103208205B
CN103208205B CN201310090625.7A CN201310090625A CN103208205B CN 103208205 B CN103208205 B CN 103208205B CN 201310090625 A CN201310090625 A CN 201310090625A CN 103208205 B CN103208205 B CN 103208205B
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vehicle
dangerous
central processing
processing unit
unit
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CN103208205A (en
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田大新
王云鹏
王建
周建山
鲁光泉
余贵珍
朱致富
罗浩
原勇
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Beihang University
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Beihang University
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Abstract

The invention discloses a vehicle safety driving early warning method based on vehicle internet. Vehicle information data is sent to a network background server through a vehicle-mounted wireless communication unit, the network background server acquires information data of dangerous points on a road section where a vehicle is located according to the vehicle information data and sends the information data at the dangerous points on the road section to the vehicle-mounted wireless communication unit, a vehicle-mounted central processing unit compares obtained dangerous point information with self-vehicle information, a safety distance model is called to generate early warning parameters, and a vehicle-mounted alarm unit, a vehicle-mounted display unit and an electronic control braking system are controlled to perform early warning response. The vehicle safety driving early warning method based on the vehicle internet has the advantage that a network background server terminal provides the dangerous point information for a vehicle-mounted terminal, the vehicle-mounted terminal acquires and analyzes vehicle geographical position information and the dangerous point information on the road section where the vehicle is located in real time, the vehicle-mounted alarm unit, the vehicle-mounted display unit and the electronic control braking system are controlled to perform the early warning response, and the vehicle safety driving early warning method based on the vehicle internet has reliability and high efficiency of vehicle network data communication.

Description

A kind of vehicle safe driving method for early warning based on car networking
Technical field
The present invention relates to intelligent transportation system and wireless communication technology field, specifically, is a kind of vehicle safe driving method for early warning based on car networking.
Background technology
In recent years, China's transportation industry is flourish, resident's automobile pollution significantly rises, thing followed road traffic problem frequently occurs, the traffic hazard such as rear-end impact, rollover of such as vehicle causes the most attention of government and society, vehicle driving safety to become the focus of transport science and techonologies field concern day by day.
The high speed development of wireless data communications, mobile calculation technique, makes network mobile terminal be extended on vehicular platform.Based on wireless communication technology, the car networking technology of advanced person, between vehicle, between vehicle and traffic control center, can realize that efficient data are transmitted, information issuing function.Meanwhile, implementing vehicle networked real-time surveillance and control measure, technical support can be provided for gathering abundant vehicle geographic information data.Based on wireless communication technology, vehicle and net background server set up wireless data transmission network, make the car-mounted terminal being integrated with mobile communication equipment can be passed back the information of oneself state and surrounding environment to net background server by wireless network, and by traffic control center, the data message of multiple terminals, diversification is carried out to processing fusion, modeling analysis and calculating, shares and issue safely in the network platform, thus using information as efficient, the safe operation in road network of guiding means guided vehicle.
Danger early warning technology is one of gordian technique of vehicle active safety, and vehicle active safety early warning system many employings video image analysis technology, ultrasonic detection technology, radar detection technique or infrared detection technology perception short range Nei Cheche, the bus or train route precarious positions such as existing vehicle collision avoidance early warning system, Lane Departure Warning System, dangerous blind spot detection system, thus realize the autonomous danger early warning of vehicle and safety control function; Once occur that the environmental aspects such as such as wind and snow thunderstorm weather, large obstacle, intensive mixed traffic flow are to the interference of aforementioned detection technique, vehicle just cannot know reliable dangerous information.On the other hand, if vehicle-mounted danger early warning system shortage is mutual with the network information, vehicle cannot carry out real-time Data Transmission with far-end traffic control center, danger early warning function can not organically combine with functions such as remote data communication, vehicle location and navigation, vehicle just becomes information island and cannot the dangerous information that exists in running region on a large scale of sensed in advance and geographical location information thereof, this must reduce the reliability of vehicle-mounted autonomous danger early warning function, also reduces vehicle active safety control ability simultaneously.
Summary of the invention
In order to solve existing the problems referred to above, the present invention proposes a kind of vehicle safe driving method for early warning based on car networking, different from traditional vehicle active safety early warning technology, method for early warning of the present invention by car networked platforms and mobile calculation technique by the dangerous point information in wide area road network, the road environment information of road, the driving preference information of driver, the geographical location information of vehicle self and the transport condition of vehicle combine effectively, construct a kind of reliably dangerous warning critical distance and new type of safe of brake critical distance of can obtaining in real time to drive a vehicle Early-warning Model, based on this safe driving Early-warning Model, the dangerous alarming method for power adopting voice and textual form is not only provided at vehicle-mounted end, a kind of method for early warning real-time for dangerous point locating and displaying, the warning of the multi-frequency sound, the warning of many colors progress bar and skidding mode combined also is provided, a kind of vehicle safe driving method for early warning based on car networking of the present invention, a kind of distant early warning method that historical record data by dangerous driving record sheet arranges vehicle-mounted end voice and text Warning parameter is provided at net background server end, the driving historical information of driver incorporates in current safe early warning process by the method effectively, makes safety precaution function more reliable.Concrete mode is as follows:
Step 1: in vehicle-mounted end, vehicle-mounted central processing unit is at interval of the information of vehicles of T1 moment to net background server transmission current time, comprises geographical longitude and latitude data, travel speed data, the wireless communication unit port numbers of vehicle; Send the date and time of current time to net background server end simultaneously.
Step 2: net background server end judges the whether dangerous point in section residing for current time vehicle;
Net background server end is according to the information of vehicles received, carry out inquiring about, mating with the road information database that net background server end stores by the geographical longitude and latitude data of vehicle wherein, judge section residing for vehicle current time, and the geographic number corresponding according to this section to inquire about on this section whether dangerous point, is specially:
1) if dangerous point on section, vehicle place, then net background server end obtains the information of each dangerous point from road information database, comprise the geographical longitude and latitude data of dangerous point and dangerous point harmful grade, and the information of dangerous point is sent to vehicle-mounted central processing unit, carry out step 3 and step 5 simultaneously;
2) if not dangerous point on section residing for vehicle, then step 1 is returned, the information of vehicles that net background server end wait-receiving mode subsequent time vehicle-mounted end sends.
Step 3: net background server end arranges vehicle speech sound alarming identification parameter and dangerous driving count parameter;
A, net background server, according to the geographical longitude and latitude data of dangerous point in the dangerous point information obtained in the geographical longitude and latitude data of the vehicle current time obtained in step 1 and step 2, calculate the lowest distance value d of vehicle and one or more dangerous point 0;
B, net background server end are according to the in-vehicle wireless communication unit side slogan of the vehicle obtained in step 1, the record of this vehicle whether is there is in the dangerous driving record sheet that in inquiry roads information database, this section is corresponding, and by the lowest distance value d between vehicle and each dangerous point 0, Vehicle Speed v is respectively with the secure threshold d of minor increment between vehicle and the dangerous point that approaches *with the secure threshold v of Vehicle Speed *compare judgement, and then vehicle speech sound alarming identification parameter flag is set, and dangerous driving count parameter counter, be specially:
The secure threshold d of minor increment between above-mentioned vehicle and each dangerous point *with the secure threshold v of Vehicle Speed *, the secure threshold d of vehicle and each dangerous shortest distance between points and travel speed is set by the harmful grade that net background server end is corresponding according to each dangerous point *and v *;
A, in described dangerous driving record sheet the in-vehicle wireless communication unit side slogan of non-registration of vehicle, represent this vehicle and not yet occurred dangerous driving recording at current road segment; Now, if d 0≤ d *and v>=v *" port numbers ", " writing time " then in dangerous driving record sheet data storage location corresponding with " speed of a motor vehicle " field respectively the in-vehicle wireless communication unit side slogan of registration of vehicle, net background server end by the information of vehicles date of shipping that receives in step 1 and time data and vehicle travel speed data, and the data storage location record " 1 " that " dangerous driving number of times " field in dangerous driving record sheet is corresponding; Vehicle speech sound alarming identification parameter flag=true is set simultaneously, dangerous driving count parameter counter=1;
If d 0≤ d *and v < v *, then net background server end is not modified to dangerous driving record sheet, only by vehicle speech sound alarming identification parameter flag=false, dangerous driving count parameter counter=1;
B, in described dangerous driving record sheet, store the in-vehicle wireless communication unit side slogan of vehicle, namely represented vehicle and once occurred dangerous driving recording at current road segment, now, if d 0≤ d *and v>=v *, then net background server is by the information of vehicles date of shipping that receives and time data and vehicle travel speed data, upgrade information of vehicles date of shipping corresponding to " writing time " and " speed of a motor vehicle " field in dangerous driving record sheet under Current vehicle in-vehicle wireless communication unit side slogan and time data and the speed of a motor vehicle respectively, and data corresponding for " dangerous driving number of times " field in dangerous driving record sheet are added 1, and vehicle speech sound alarming identification parameter flag=true is set, dangerous driving count parameter counter equals data corresponding to vehicle " dangerous driving number of times " field in dangerous driving record sheet under Current vehicle in-vehicle wireless communication unit side slogan,
If d 0≤ d *and v < v *, then net background server is by the information of vehicles date of shipping that the receives information of vehicles date of shipping corresponding with " writing time " and " speed of a motor vehicle " field that time data and vehicle travel speed data upgrade under the in-vehicle wireless communication unit side slogan of Current vehicle in dangerous driving record sheet respectively and time data and the speed of a motor vehicle, and data corresponding for " dangerous driving number of times " field are added 1, and vehicle speech sound alarming identification parameter flag=false is set, dangerous driving count parameter counter equals the vehicle data that " dangerous driving number of times " field is corresponding in dangerous driving record sheet,
The recorded information of Current vehicle whether is there is, if d in c, no matter dangerous driving record sheet 0> d *, then net background server end does not carry out renewal rewards theory to dangerous driving record sheet, only arranges vehicle speech sound alarming identification parameter flag=false, dangerous driving count parameter counter=0, does not modify to dangerous driving record sheet.
When net background server end completes above-mentioned vehicle speech sound alarming identification parameter flag, and after the arranging of dangerous driving count parameter counter, enter step 4.
Step 4: vehicle-mounted end voice and text warning;
Net background server by arranging vehicle speech sound alarming identification parameter flag, dangerous driving count parameter counter value is sent to vehicle-mounted central processing unit in vehicle-mounted end, vehicle-mounted central processing unit is according to the geographical longitude and latitude data of the dangerous point in the dangerous point information received in step 2 and harmful grade, the electronic chart of car-mounted display unit display in vehicle-mounted end identifies dangerous point by marker character, and goes out the harmful grade of dangerous point by character mark; Meanwhile, vehicle-mounted central processing unit also carries out corresponding voice and text message warning operation according to phonetic warning identification parameter flag and dangerous driving count parameter counter, is specially:
If 1. flag=true and counter=1, then vehicle-mounted central processing unit controls vehicle carried unit loop play phonetic warning, and with the form of text box display warning text on the electronic chart of car-mounted display unit display;
If 2. flag=true and counter > 1, then vehicle-mounted central processing unit controls vehicle carried unit controls vehicle carried unit loop play phonetic warning, and with the form of text box display warning text on the electronic chart of car-mounted display unit display;
If 3. flag=false and counter >=1, then vehicle-mounted central processing unit controls on electronic chart that vehicle carried unit shows at car-mounted display unit with the form of text box display warning text.
In above-mentioned three kinds of situations, phonetic warning is until stop when flag=false and the phonetic warning function of counter=0 or vehicle carried unit are closed; The warning text display time is t; When the implementation of step 3 is stopped or terminates, then return step 1.
Step 5: vehicle-mounted end carries out sound early warning, the early warning of color progress bar and control for brake;
Vehicle-mounted central processing unit, according to vehicle current geographic longitude and latitude data and dangerous point information, calculates the lowest distance value d of vehicle and one or more dangerous point equally in real time 1, and judge d 1with the early warning distance threshold value d set in vehicle central processing unit mcompare judgement, d m< d *:
If d 1> d m, then return step 5 and proceed multilevel iudge;
If d 1≤ d m, then carry out following step:
I, dangerous warning critical distance d is calculated warningwith brake critical distance d braking;
Vehicle-mounted central processing unit, according to Vehicle Speed v, calls safe distance between vehicles model, calculates dangerous warning critical distance d warning, brake critical distance d braking;
d warning = [ 1 2 ( v 2 - v * 2 ) &alpha; + v &times; ( &tau; system + &tau; human ) + d safe ] &times; f &times; g ; v &GreaterEqual; v * d 1 - 1 ; v < v * - - - ( 1 )
d warning = [ v &times; ( &tau; system + &tau; human ) ] &times; f &times; g ; v &GreaterEqual; v * d 1 - 2 ; v < v * - - - ( 2 )
Wherein, τ systemfor motor vehicle braking system coordinated time parameter, unit is s; τ humanfor driver's brake reaction time parameter, unit is s; d safefor compensated distance parameter, unit is m; α is braking deceleration parameter, unit: m/s 2; v *for the safe threshold of the speed of a motor vehicle, unit is: m/s; And formula (1) and the parameter f in formula (2) are road environment parameter, parameter g is for driving preference parameter, the driving Preferences of the pavement of road situation travelled according to vehicle by vehicle-mounted panel unit, weather conditions, driver;
II, calculate acquisition vehicle and approach the degree quantization parameter ω of dangerous point and the progress quantized value x of display early warning progress bar;
The present invention defines dimensionless group ω and characterizes the degree that vehicle approaches dangerous point, and ω is:
&omega; = d 1 - d braking d warning - d braking - - - ( 3 )
The progress quantization parameter x of early warning progress bar is:
x = ( 1 - d 1 d m ) &times; 100 % - - - ( 4 )
III, control vehicle carried unit according to parameter ω to perform different actuation of an alarms or control electric controlled brake system execution braking response in vehicle-mounted end, and control car-mounted display unit display early warning progress bar according to the progress quantization parameter x of early warning progress bar, be specially:
I, as ω > 1, the display interface that vehicle-mounted central processing unit controls car-mounted display unit shows A color progress bar according to progress quantized value x; And vehicle carried unit does not perform audible alarm action; Vehicle-mounted central processing unit continues calculating parameter d 1, and multilevel iudge again, be specially:
If work as d 1≤ d m, then return sub-step I in step 5 and continue to perform;
When occurring d 1> d m, then vehicle-mounted central processing unit cancels color progress bar, returns and continues to perform step 1;
II, when 0.8 < ω≤1, the vehicle-mounted end voice of vehicle carried unit aborting step 4 and text warning; Simultaneously, the display interface that vehicle-mounted central processing unit controls car-mounted display unit shows B color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 60dB, 200Hz, and judged by the Vehicle Speed of Real-time Obtaining, be specially:
If in the front t1 time period after B color progress bar occurs, Vehicle Speed does not reduce, and namely driver does not take deceleration-operation, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, until there is artificial deceleration-operation;
If in the front t1 time period after B color progress bar occurs, Vehicle Speed reduces, and namely driver takes deceleration-operation, then vehicle carried unit closes alarm sound;
If Vehicle Speed reduces while B color progress bar occurs, namely driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
III, when 0 < ω≤0.8, the display interface that vehicle-mounted central processing unit controls vehicle carried unit shows C color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 70dB, 500Hz; And vehicle-mounted central processing unit is judged by the Vehicle Speed of Real-time Obtaining, is specially:
If in the front t2 time period after C color progress bar occurs, Vehicle Speed does not reduce, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, till there is artificial deceleration-operation;
If in the front t2 time period after C color progress bar occurs, Vehicle Speed reduces, then vehicle carried unit closes alarm sound;
If Vehicle Speed reduces while C color progress bar occurs, namely driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
IV, when ω≤0, the display interface that vehicle-mounted central processing unit controls vehicle carried unit shows C color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 80dB, 1000Hz; Vehicle-mounted central processing unit is judged by the Vehicle Speed of Real-time Obtaining simultaneously, is specially:
If in the front t1 time period after C color progress bar occurs, Vehicle Speed does not reduce, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, till there is artificial deceleration-operation;
If in the front t1 time period after C color progress bar occurs, Vehicle Speed reduces, then vehicle carried unit closes alarm sound;
If C color progress bar goes out now, driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
In above-mentioned steps II, III, IV, after driver takes artificial deceleration-operation, vehicle carried unit closes alarm sound, and vehicle-mounted central processing unit continues to calculate d 1, and continue to utilize d 1with d mjudge, be specially:
Work as d 1≤ d mtime, return the sub-step I performed in step 5;
When occurring d 1> d m, now vehicle-mounted central processing unit cancels Show Color progress bar, returns and continues to perform step 1.
The invention has the advantages that:
1, a kind of vehicle safe driving method for early warning based on car networking of the present invention, a kind of novel vehicle safe driving Early-warning Model is set up at car-mounted terminal, achieve the vehicle-mounted end towards traffic safety early warning and net background server information reciprocal process, establish effective danger early warning mechanism, can effectively assist driver to carry out driving decision-making;
2, a kind of vehicle safe driving method for early warning based on car networking of the present invention, can realize when vehicle sails traffic hazard multi-happening section into or section near zone has occurred in traffic hazard, can provide real-time dangerous point position and security warning information for driver;
3, a kind of vehicle safe driving method for early warning based on car networking of the present invention, can under driver takes extreme measures, enforceable brake measure can be taked to vehicle, effectively avoid the generation of potential traffic hazard, or avoid causing traffic congestion event or even accident running fire event because of the traffic hazard sent out, thus transport solution safety problem effectively.
Accompanying drawing explanation
Fig. 1 is vehicle safe driving method for early warning overall flow figure of the present invention;
Fig. 2 is vehicle speech sound alarming identification parameter and dangerous driving count parameter method to set up process flow diagram in vehicle safe driving method for early warning of the present invention;
Fig. 3 is vehicle-mounted end voice and text alarming method for power process flow diagram in vehicle safe driving method for early warning of the present invention;
Fig. 4 is that in vehicle safe driving method for early warning of the present invention, vehicle-mounted end carries out sound early warning, the early warning of color progress bar and brake control method process flow diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is based on the vehicle safe driving method for early warning of car networking, as shown in Figure 1, realize especially by following step:
Step 1: vehicle-mounted end sends information of vehicles to network server end;
In vehicle-mounted end, vehicle-mounted central processing unit passes through in-vehicle wireless communication unit at interval of the information of vehicles of T1 moment to net background server transmission current time, comprise geographical longitude and latitude data (being obtained by GPS communication unit), travel speed data (being obtained by wheel speed sensors), the wireless communication unit port numbers of vehicle, simultaneously to net background server end send current time date and time (namely vehicle-mounted central processing unit to net background server send information of vehicles time date and time); Above-mentioned T1 specifically can set according to vehicle practical application scene, such as, can set T1=100ms.
Step 2: net background server end judges the whether dangerous point in section residing for current time vehicle;
Net background server end is according to the information of vehicles received, carry out inquiring about, mating with the road information database that net background server end stores by the geographical longitude and latitude data of vehicle wherein, judge section residing for vehicle current time, and the geographic number corresponding according to this section to inquire about on this section whether dangerous point, is specially:
Above-mentioned dangerous point is divided into two classes, comprises fixing dangerous point and variation dangerous point; Described fixing dangerous point comprises that radius-of-curvature is less than geo point on the bend of R, the top rake of descending is greater than x% and length of grade is less than the descending starting point of L, the top rake of upward slope is greater than x'% and length of grade is less than the entrance in the upward slope starting point of L', the section in the region that to yard up through resident; Variation dangerous point comprises geo point geo point section existing dense fog obstacle, geo point section existing ice and snow obstacle, section existing rubble flow or landslide, the geo point that section occurs in traffic hazard.Described dangerous point information is stored in the road information database of net background server.Wherein R, x, L, x', L' can require to set according to difference, set R=50m, x=5, L=150m in the present invention; X'=4; L'=120m;
1) if dangerous point on section, vehicle place, then net background server end obtains the information of each dangerous point from road information database, and is sent to vehicle-mounted central processing unit, carries out step 3 and step 5 simultaneously; Described dangerous point information comprises the geographical longitude and latitude data of dangerous point and dangerous point harmful grade; In the present invention, dangerous point is divided into " substantial risk point ", " ordinary hazard point ", " slight dangerous point ".
2) if not dangerous point on section residing for vehicle, then step 1 is returned, the information of vehicles that net background server end wait-receiving mode subsequent time vehicle-mounted end sends.
Step 3: net background server end arranges vehicle speech sound alarming identification parameter and dangerous driving count parameter;
As shown in Figure 2, complete especially by following step:
A, net background server, according to the geographical longitude and latitude data of dangerous point in the dangerous point information obtained in the geographical longitude and latitude data of the vehicle current time obtained in step 1 and step 2, calculate the lowest distance value d of vehicle and one or more dangerous point 0;
B, net background server end are according to the in-vehicle wireless communication unit side slogan of the vehicle obtained in step 1, the record of this vehicle whether is there is in the dangerous driving record sheet that in inquiry roads information database, this section is corresponding, and by the lowest distance value d between vehicle and each dangerous point 0, Vehicle Speed v is respectively with the secure threshold d of minor increment between vehicle and the dangerous point that approaches *with the secure threshold v of Vehicle Speed *compare judgement, and then vehicle speech sound alarming identification parameter flag is set, and dangerous driving count parameter counter, be specially:
The secure threshold d of minor increment between above-mentioned vehicle and each dangerous point *with the secure threshold v of Vehicle Speed *, the secure threshold d of vehicle and each dangerous shortest distance between points and travel speed is set by the harmful grade that net background server end is corresponding according to each dangerous point *and v *.Such as: the dangerous point harmful grade that vehicle approaches is " substantial risk point ", then can arrange d *=150m, v *=8m/s; The dangerous point harmful grade approached when vehicle is " ordinary hazard point ", then can arrange d *=150m, v *=10m/s; The dangerous point harmful grade approached when vehicle then can arrange d for " slight dangerous point " *=150m, v *=15m/s.
A, in described dangerous driving record sheet the in-vehicle wireless communication unit side slogan of non-registration of vehicle, represent this vehicle and not yet occurred dangerous driving recording at current road segment; Now, if d 0≤ d *and v>=v *" port numbers ", " writing time " then in dangerous driving record sheet data storage location corresponding with " speed of a motor vehicle " field respectively the in-vehicle wireless communication unit side slogan of registration of vehicle, net background server end by the information of vehicles date of shipping that receives in step 1 and time data and vehicle travel speed data, and the data storage location record " 1 " that " dangerous driving number of times " field in dangerous driving record sheet is corresponding; Vehicle speech sound alarming identification parameter flag=true is set simultaneously, dangerous driving count parameter counter=1;
If d 0≤ d *and v < v *, then net background server end is not modified to dangerous driving record sheet, only by vehicle speech sound alarming identification parameter flag=false, dangerous driving count parameter counter=1;
B, in described dangerous driving record sheet, store the in-vehicle wireless communication unit side slogan of vehicle, namely represented vehicle and once occurred dangerous driving recording at current road segment, now, if d 0≤ d *and v>=v *, then net background server is by the information of vehicles date of shipping that receives and time data and vehicle travel speed data, upgrade information of vehicles date of shipping corresponding to " writing time " and " speed of a motor vehicle " field in dangerous driving record sheet under Current vehicle in-vehicle wireless communication unit side slogan and time data and the speed of a motor vehicle respectively, and data corresponding for " dangerous driving number of times " field in dangerous driving record sheet are added 1, and vehicle speech sound alarming identification parameter flag=true is set, dangerous driving count parameter counter equals data corresponding to vehicle " dangerous driving number of times " field in dangerous driving record sheet under Current vehicle in-vehicle wireless communication unit side slogan.
If d 0≤ d *and v < v *, then net background server is by the information of vehicles date of shipping that the receives information of vehicles date of shipping corresponding with " writing time " and " speed of a motor vehicle " field that time data and vehicle travel speed data upgrade under the in-vehicle wireless communication unit side slogan of Current vehicle in dangerous driving record sheet respectively and time data and the speed of a motor vehicle, and data corresponding for " dangerous driving number of times " field are added 1, and vehicle speech sound alarming identification parameter flag=false is set, dangerous driving count parameter counter equals the vehicle data that " dangerous driving number of times " field is corresponding in dangerous driving record sheet.
The recorded information of Current vehicle whether is there is, if d in c, no matter dangerous driving record sheet 0> d *, then net background server end does not carry out renewal rewards theory to dangerous driving record sheet, only arranges vehicle speech sound alarming identification parameter flag=false, dangerous driving count parameter counter=0, does not modify to dangerous driving record sheet.
When net background server end completes above-mentioned vehicle speech sound alarming identification parameter flag, and after the arranging of dangerous driving count parameter counter, enter step 4;
Step 4: vehicle-mounted end voice and text warning;
Net background server by arranging vehicle speech sound alarming identification parameter flag, dangerous driving count parameter counter value is sent to vehicle-mounted central processing unit in vehicle-mounted end, vehicle-mounted central processing unit is according to the geographical longitude and latitude data of the dangerous point in the dangerous point information received in step 2 and harmful grade, the electronic chart of car-mounted display unit display in vehicle-mounted end identifies dangerous point by marker character (red spots), and goes out the harmful grade of dangerous point by character mark; Meanwhile, vehicle-mounted central processing unit also carries out corresponding voice and text message warning operation according to phonetic warning identification parameter flag and dangerous driving count parameter counter, as shown in Figure 3, is specially:
If 1. flag=true and counter=1, then vehicle-mounted central processing unit controls vehicle carried unit loop play phonetic warning alerting drivers, as " taking care; driving of please slowing down ", and with the form of text box display warning text on the electronic chart of car-mounted display unit display, as " the dangerous point in section, front woulds you please slow down and drives! ";
If 2. flag=true and counter > 1, then vehicle-mounted central processing unit controls vehicle carried unit controls vehicle carried unit loop play phonetic warning alerting drivers, as " taking care; driving of please slowing down ", and car-mounted display unit display electronic chart on the form of text box show " you are dangerous drive recorder once! Again enter the pre-police region of danger ahead, would you please slow down and drive! ";
If 3. flag=false and counter >=1, then vehicle-mounted central processing unit controls on electronic chart that vehicle carried unit shows at car-mounted display unit that " the dangerous point in section, front, please notes safety with the form of text box display warning text! " warning text message.
In above-mentioned three kinds of situations, phonetic warning is until stop when flag=false and the phonetic warning function of counter=0 or vehicle carried unit are closed; The warning text display time is t; T can set as requested, and in the present invention, t is 5s.When the implementation of step 3 is stopped or terminates, then return step 1.
Step 5: vehicle-mounted end carries out sound early warning, the early warning of color progress bar and control for brake;
As shown in Figure 4, the dangerous point information obtained in the vehicle current geographic longitude and latitude data that vehicle-mounted central processing unit obtains according to GPS communication unit and step 2, calculates the lowest distance value d of vehicle and one or more dangerous point equally in real time 1, and judge d 1with the early warning distance threshold value d set in vehicle central processing unit mcompare judgement:
Because vehicle-mounted end sends vehicle information data moment and vehicle-mounted end, to receive the dangerous point information moment be not synchronization, there is temporal delay, and vehicle can continue motion, therefore the geographical longitude and latitude data of current time vehicle that receive from GPS communication unit of vehicle-mounted central processing unit with send to the vehicle of net background server geography longitude and latitude data not identical before, thus above-mentioned d *be not equal to d m; And approach dangerous point process gradually because vehicle is in, therefore d m< d *;
If d 1> d m, then return step 5 and proceed multilevel iudge;
If d 1≤ d m, then carry out following step:
I, dangerous warning critical distance d is calculated warningwith brake critical distance d braking;
Vehicle-mounted central processing unit, according to Vehicle Speed v, calls safe distance between vehicles model, calculates dangerous warning critical distance d warning(unit: m), brake critical distance d braking(unit: m);
d warning = [ 1 2 ( v 2 - v * 2 ) &alpha; + v &times; ( &tau; system + &tau; human ) + d safe ] &times; f &times; g ; v &GreaterEqual; v * d 1 - 1 ; v < v * - - - ( 1 )
d warning = [ v &times; ( &tau; system + &tau; human ) ] &times; f &times; g ; v &GreaterEqual; v * d 1 - 2 ; v < v * - - - ( 2 )
Wherein, τ systemfor motor vehicle braking system coordinated time parameter, unit is s; τ humanfor driver's brake reaction time parameter, unit is s; d safefor compensated distance parameter, unit is m; α is braking deceleration parameter, unit: m/s 2; v *for the safe threshold of the speed of a motor vehicle, unit is: m/s.Parameter alpha, τ system, τ humanand d safespecifically can arrange according to vehicle application scenarios, such as: desirable v *=8m/s, α=6m/s 2, τ system=0.2s, τ human=1s and d safe=5m.And formula (1) and the parameter f in formula (2) are road environment parameter, parameter g is for driving preference parameter, the driving Preferences of the pavement of road situation travelled according to vehicle by vehicle-mounted panel unit, weather conditions, driver; Driver wets by the desirable road mode button on panel unit vehicle-mounted in vehicle-mounted end, pitch main line surface model button, pitch the switching of road surface mode button, ice and snow road mode button, conservative driving model button, non-conservative driving model button and normality driving model button control f and g setting numerical value respectively, is specially:
The corresponding f=1 of desirable road mode button; The corresponding f=1.5 of pitch main line surface model button; Pitch wets the corresponding f=1.7 of road surface mode button; The corresponding f=2 of ice and snow road mode button; The corresponding g=1.2 of conservative driving model button; The corresponding g=0.8 of non-conservative driving model button; The corresponding g=1 of normality driving model button; And when driver does not carry out any operation to vehicle-mounted upper unit, f=1.2, g=1.
II, calculate acquisition vehicle and approach the degree quantization parameter ω of dangerous point and the progress quantized value x of display early warning progress bar;
The present invention defines dimensionless group ω and characterizes the degree that vehicle approaches dangerous point, and ω is:
&omega; = d 1 - d braking d warning - d braking - - - ( 3 )
The progress quantization parameter x of early warning progress bar is:
x = ( 1 - d 1 d m ) &times; 100 % - - - ( 4 )
III, control vehicle carried unit according to parameter ω to perform different actuation of an alarms or control electric controlled brake system execution braking response in vehicle-mounted end, and control car-mounted display unit display early warning progress bar according to the progress quantization parameter x of early warning progress bar, be specially:
I, as ω > 1, the display interface that vehicle-mounted central processing unit controls car-mounted display unit shows A color progress bar (green progress bar) according to progress quantized value x; And vehicle carried unit does not perform audible alarm action; Vehicle-mounted central processing unit continues calculating parameter d 1, and multilevel iudge again, be specially:
If work as d 1≤ d m, then return sub-step I in step 5 and continue to perform;
When occurring d 1> d m, then vehicle-mounted central processing unit cancels color progress bar, returns and continues to perform step 1;
II, when 0.8 < ω≤1, the vehicle-mounted end voice of vehicle carried unit aborting step 4 and text warning; Simultaneously, the display interface that vehicle-mounted central processing unit controls car-mounted display unit shows B color progress bar (yellow progress bar) according to progress quantized value x, and vehicle carried unit sends the alarm sound of 60dB, 200Hz, and judged by the Vehicle Speed of Real-time Obtaining, be specially:
The front t1(2s after if B color progress bar occurs) in the time period, Vehicle Speed does not reduce, and namely driver does not take deceleration-operation, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, until there is artificial deceleration-operation;
If in the front t1 time period after B color progress bar occurs, Vehicle Speed reduces, and namely driver takes deceleration-operation, then vehicle carried unit closes alarm sound;
If Vehicle Speed reduces while B color progress bar occurs, namely driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
III, when 0 < ω≤0.8, the display interface that vehicle-mounted central processing unit controls vehicle carried unit shows C color progress bar (red progress bar) according to progress quantized value x, and vehicle carried unit sends the alarm sound of 70dB, 500Hz; And vehicle-mounted central processing unit is judged by the Vehicle Speed of Real-time Obtaining, is specially:
The front t2(1.5s after if C color progress bar occurs) in the time period, Vehicle Speed does not reduce, then and vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, till there is artificial deceleration-operation;
The front t2(1.5s after if C color progress bar occurs) in the time period, Vehicle Speed reduces, then and vehicle carried unit closes alarm sound;
If Vehicle Speed reduces while C color progress bar occurs, namely driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
IV, when ω≤0, the display interface that vehicle-mounted central processing unit controls vehicle carried unit shows C color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 80dB, 1000Hz; Vehicle-mounted central processing unit is judged by the Vehicle Speed of Real-time Obtaining simultaneously, is specially:
If in the front t1 time period after C color progress bar occurs, Vehicle Speed does not reduce, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, till there is artificial deceleration-operation;
If in the front t1 time period after C color progress bar occurs, Vehicle Speed reduces, then vehicle carried unit closes alarm sound;
If C color progress bar goes out now, driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
In above-mentioned steps II, III, IV, after driver takes artificial deceleration-operation, vehicle carried unit closes alarm sound, and vehicle-mounted central processing unit continues to calculate d 1, and continue to utilize d 1with d mjudge, be specially:
Work as d 1≤ d mtime, return and perform sub-step I in step 5;
When occurring d 1> d m, now vehicle-mounted central processing unit cancels Show Color progress bar, returns and continues to perform step 1.
When vehicle sails traffic hazard multi-happening section into or section near zone has occurred in traffic hazard, real-time dangerous point position and security warning information can be provided for driver by vehicle safe driving prior-warning device of the present invention and method for early warning thereof, even under driver takes extreme measures, enforceable brake measure can be taked to vehicle, effectively avoid the generation of potential traffic hazard, or avoid causing traffic congestion event or even accident running fire event because of the traffic hazard sent out, thus transport solution safety problem effectively.

Claims (8)

1., based on a vehicle safe driving method for early warning for car networking, comprising:
Step 1: in vehicle-mounted end, vehicle-mounted central processing unit is at interval of the information of vehicles of T1 moment to net background server transmission current time, comprises geographical longitude and latitude data, travel speed data, the wireless communication unit port numbers of vehicle; Send the date and time of current time to net background server end simultaneously;
Step 2: net background server end judges the whether dangerous point in section residing for current time vehicle;
Net background server end is according to the information of vehicles received, carry out inquiring about, mating with the road information database that net background server end stores by the geographical longitude and latitude data of vehicle wherein, judge section residing for vehicle current time, and the geographic number corresponding according to this section to inquire about on this section whether dangerous point, is specially:
1) if dangerous point on section, vehicle place, then net background server end obtains the information of each dangerous point from road information database, comprise the geographical longitude and latitude data of dangerous point and dangerous point harmful grade, and the information of dangerous point is sent to vehicle-mounted central processing unit, carry out step 3 and step 5 simultaneously;
2) if not dangerous point on section residing for vehicle, then step 1 is returned, the information of vehicles that net background server end wait-receiving mode subsequent time vehicle-mounted end sends;
It is characterized in that: also comprise the steps:
Step 3: net background server end arranges vehicle speech sound alarming identification parameter and dangerous driving count parameter;
A, net background server, according to the geographical longitude and latitude data of dangerous point in the dangerous point information obtained in the geographical longitude and latitude data of the vehicle current time obtained in step 1 and step 2, calculate the lowest distance value d of vehicle and one or more dangerous point 0;
B, net background server end are according to the in-vehicle wireless communication unit side slogan of the vehicle obtained in step 1, the record of this vehicle whether is there is in the dangerous driving record sheet that in inquiry roads information database, this section is corresponding, and by the lowest distance value d between vehicle and each dangerous point 0, Vehicle Speed v is respectively with the secure threshold d of minor increment between vehicle and the dangerous point that approaches *with the secure threshold v of Vehicle Speed *compare judgement, and then vehicle speech sound alarming identification parameter flag is set, and dangerous driving count parameter counter, be specially:
The secure threshold d of minor increment between above-mentioned vehicle and each dangerous point *with the secure threshold v of Vehicle Speed *, the secure threshold d of vehicle and each dangerous shortest distance between points and travel speed is set by the harmful grade that net background server end is corresponding according to each dangerous point *and v *;
A, in described dangerous driving record sheet the in-vehicle wireless communication unit side slogan of non-registration of vehicle, represent this vehicle and not yet occurred dangerous driving recording at current road segment; Now, if d 0≤ d *and v>=v *" port numbers ", " writing time " then in dangerous driving record sheet data storage location corresponding with " speed of a motor vehicle " field respectively the in-vehicle wireless communication unit side slogan of registration of vehicle, net background server end by the information of vehicles date of shipping that receives in step 1 and time data and vehicle travel speed data, and the data storage location record " 1 " that " dangerous driving number of times " field in dangerous driving record sheet is corresponding; Vehicle speech sound alarming identification parameter flag=true is set simultaneously, dangerous driving count parameter counter=1;
If d 0≤ d *and v < v *, then net background server end is not modified to dangerous driving record sheet, only by vehicle speech sound alarming identification parameter flag=false, dangerous driving count parameter counter=1;
B, in described dangerous driving record sheet, store the in-vehicle wireless communication unit side slogan of vehicle, namely represented vehicle and once occurred dangerous driving recording at current road segment, now, if d 0≤ d *and v>=v *, the then information of vehicles date of shipping that receives of net background server by utilizing and time data and vehicle travel speed data, upgrade information of vehicles date of shipping corresponding to " writing time " and " speed of a motor vehicle " field in dangerous driving record sheet under Current vehicle in-vehicle wireless communication unit side slogan and time data and the speed of a motor vehicle respectively, and data corresponding for " dangerous driving number of times " field in dangerous driving record sheet are added 1, and vehicle speech sound alarming identification parameter flag=true is set, dangerous driving count parameter counter equals data corresponding to vehicle " dangerous driving number of times " field in dangerous driving record sheet under Current vehicle in-vehicle wireless communication unit side slogan,
If d 0≤ d *and v < v *, the then information of vehicles date of shipping that receives of net background server by utilizing and time data and vehicle travel speed data, upgrade information of vehicles date of shipping corresponding to " writing time " and " speed of a motor vehicle " field under the in-vehicle wireless communication unit side slogan of Current vehicle in dangerous driving record sheet and time data and the speed of a motor vehicle respectively, and data corresponding for " dangerous driving number of times " field are added 1, and vehicle speech sound alarming identification parameter flag=false is set, dangerous driving count parameter counter equals the vehicle data that " dangerous driving number of times " field is corresponding in dangerous driving record sheet,
The recorded information of Current vehicle whether is there is, if d in c, no matter dangerous driving record sheet 0> d *, then net background server end does not carry out renewal rewards theory to dangerous driving record sheet, only arranges vehicle speech sound alarming identification parameter flag=false, dangerous driving count parameter counter=0, does not modify to dangerous driving record sheet;
When net background server end completes above-mentioned vehicle speech sound alarming identification parameter flag, and after the arranging of dangerous driving count parameter counter, enter step 4;
Step 4: vehicle-mounted end voice and text warning;
Net background server by arranging vehicle speech sound alarming identification parameter flag, dangerous driving count parameter counter value is sent to vehicle-mounted central processing unit in vehicle-mounted end, vehicle-mounted central processing unit is according to the geographical longitude and latitude data of the dangerous point in the dangerous point information received in step 2 and harmful grade, the electronic chart of car-mounted display unit display in vehicle-mounted end identifies dangerous point by marker character, and goes out the harmful grade of dangerous point by character mark; Meanwhile, vehicle-mounted central processing unit also carries out corresponding voice and text message warning operation according to phonetic warning identification parameter flag and dangerous driving count parameter counter, is specially:
If 1. flag=true and counter=1, then vehicle-mounted central processing unit controls vehicle carried unit loop play phonetic warning, and with the form of text box display warning text on the electronic chart of car-mounted display unit display;
If 2. flag=true and counter > 1, then vehicle-mounted central processing unit controls vehicle carried unit loop play phonetic warning, and with the form of text box display warning text on the electronic chart of car-mounted display unit display;
If 3. flag=false and counter >=1, then vehicle-mounted central processing unit controls on electronic chart that vehicle carried unit shows at car-mounted display unit with the form of text box display warning text;
In above-mentioned three kinds of situations, phonetic warning is until stop when flag=false and the phonetic warning function of counter=0 or vehicle carried unit are closed; The warning text display time is t; When the implementation of step 3 is stopped or terminates, then return step 1;
Step 5: vehicle-mounted end carries out sound early warning, the early warning of color progress bar and control for brake;
Vehicle-mounted central processing unit, according to vehicle current geographic longitude and latitude data and dangerous point information, calculates the lowest distance value d of vehicle and one or more dangerous point equally in real time 1, and judge d 1with the early warning distance threshold value d set in vehicle central processing unit mcompare judgement, d m< d *:
If d 1> d m, then return step 5 and proceed multilevel iudge;
If d 1≤ d m, then carry out following step:
I, dangerous warning critical distance d is calculated warningwith brake critical distance d braking;
Vehicle-mounted central processing unit, according to Vehicle Speed v, calls safe distance between vehicles model, calculates dangerous warning critical distance d warning, brake critical distance d braking;
d warning = [ 1 2 ( v 2 - v * 2 ) &alpha; + v &times; ( &tau; system + &tau; human ) + d safe ] &times; f &times; g ; v &GreaterEqual; v * d 1 - 1 ; v < v * - - - ( 1 )
d braking = [ v &times; ( &tau; system + &tau; human ) ] &times; f &times; g ; v &GreaterEqual; v * d 1 - 2 ; v < v * - - - ( 2 )
Wherein, τ systemfor motor vehicle braking system coordinated time parameter, unit is s; τ humanfor driver's brake reaction time parameter, unit is s; d safefor compensated distance parameter, unit is m; α is braking deceleration parameter, unit: m/s 2; v *for the safe threshold of the speed of a motor vehicle, unit is: m/s; And formula (1) and the parameter f in formula (2) are road environment parameter, parameter g is for driving preference parameter, the driving Preferences of the pavement of road situation travelled according to vehicle by vehicle-mounted panel unit, weather conditions, driver;
II, calculate acquisition vehicle and approach the degree quantization parameter ω of dangerous point and the progress quantized value x of display early warning progress bar;
The present invention defines dimensionless group ω and characterizes the degree that vehicle approaches dangerous point, and ω is:
= d 1 - d braking d warning - d braking - - - ( 3 )
The progress quantization parameter x of early warning progress bar is:
x = ( 1 - d 1 d m ) &times; 100 % - - - ( 4 )
III, control vehicle carried unit according to parameter ω to perform different actuation of an alarms or control electric controlled brake system execution braking response in vehicle-mounted end, and control car-mounted display unit display early warning progress bar according to the progress quantization parameter x of early warning progress bar, be specially:
I, as ω > 1, the display interface that vehicle-mounted central processing unit controls car-mounted display unit shows A color progress bar according to progress quantized value x; And vehicle carried unit does not perform audible alarm action; Vehicle-mounted central processing unit continues calculating parameter d 1, and multilevel iudge again, be specially:
If work as d 1≤ d m, then return sub-step I in step 5 and continue to perform;
When occurring d 1> d m, then vehicle-mounted central processing unit cancels color progress bar, returns and continues to perform step 1;
II, when 0.8 < ω≤1, the vehicle-mounted end voice of vehicle carried unit aborting step 4 and text warning; Simultaneously, the display interface that vehicle-mounted central processing unit controls car-mounted display unit shows B color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 60dB, 200Hz, and judged by the Vehicle Speed of Real-time Obtaining, be specially:
If in the front t1 time period after B color progress bar occurs, Vehicle Speed does not reduce, and namely driver does not take deceleration-operation, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, until there is artificial deceleration-operation;
If in the front t1 time period after B color progress bar occurs, Vehicle Speed reduces, and namely driver takes deceleration-operation, then vehicle carried unit closes alarm sound;
If Vehicle Speed reduces while B color progress bar occurs, namely driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
III, when 0 < ω≤0.8, the display interface that vehicle-mounted central processing unit controls vehicle carried unit shows C color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 70dB, 500Hz; And vehicle-mounted central processing unit is judged by the Vehicle Speed of Real-time Obtaining, is specially:
If in the front t2 time period after C color progress bar occurs, Vehicle Speed does not reduce, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, till there is artificial deceleration-operation;
If in the front t2 time period after C color progress bar occurs, Vehicle Speed reduces, then vehicle carried unit closes alarm sound;
If Vehicle Speed reduces while C color progress bar occurs, namely driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
IV, when ω≤0, the display interface that vehicle-mounted central processing unit controls vehicle carried unit shows C color progress bar according to progress quantized value x, and vehicle carried unit sends the alarm sound of 80dB, 1000Hz; Vehicle-mounted central processing unit is judged by the Vehicle Speed of Real-time Obtaining simultaneously, is specially:
If in the front t1 time period after C color progress bar occurs, Vehicle Speed does not reduce, then vehicle-mounted central processing unit controls vehicle electrically controlling brake system and performs automatic retarding action, till there is artificial deceleration-operation;
If in the front t1 time period after C color progress bar occurs, Vehicle Speed reduces, then vehicle carried unit closes alarm sound;
If C color progress bar goes out now, driver takes deceleration-operation immediately, then vehicle-mounted central processing unit controls vehicle carried unit and closes alarm sound;
In described step II, III, IV, after driver takes artificial deceleration-operation, vehicle carried unit closes alarm sound, and vehicle-mounted central processing unit continues to calculate d 1, and continue to utilize d 1with d mjudge, be specially:
Work as d 1≤ d mtime, return the sub-step I performed in step 5;
When occurring d 1> d m, now vehicle-mounted central processing unit cancels Show Color progress bar, returns and continues to perform step 1.
2. as claimed in claim 1 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: described dangerous point is divided into two classes, comprise fixing dangerous point and variation dangerous point; Wherein, fixing dangerous point comprises that radius-of-curvature is less than geo point on the bend of R, the top rake of descending is greater than x% and length of grade is less than the descending starting point of L, the top rake of upward slope is greater than x'% and length of grade is less than the entrance in the upward slope starting point of L', the section in the region that to yard up through resident; Variation dangerous point comprises geo point geo point section existing dense fog obstacle, geo point section existing ice and snow obstacle, section existing rubble flow or landslide, the geo point that section occurs in traffic hazard.
3. as claimed in claim 2 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: described R=50m, x=5, L=150m; X'=4; L'=120m.
4. as claimed in claim 2 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: the harmful grade of described dangerous point is great dangerous point, ordinary hazard point and slight dangerous point; And substantial risk point correspondence arranges d *=150m, v *=8m/s; Ordinary hazard point correspondence arranges d *=150m, v *=10m/s; Slight dangerous point correspondence arranges d *=150m, v *=15m/s.
5. as claimed in claim 1 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: described T1 is specifically arranged according to vehicle application scenarios, gets T1=100ms.
6. as claimed in claim 1 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: described α, τ system, τ humanand d safespecifically arrange according to vehicle application scenarios, get v *=8m/s, α=6m/s 2, τ system=0.2s, τ human=1s and d safe=5m.
7. as claimed in claim 1 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: the setting value of described f and g and switching, to be wet road surface mode button, ice and snow road mode button, conservative driving model button, non-conservative driving model button and the button control of normality driving model by the desirable road mode button on panel unit vehicle-mounted in vehicle-mounted end, pitch main line surface model button, pitch; Wherein, the corresponding f=1 of desirable road mode button; The corresponding f=1.5 of pitch main line surface model button; Pitch wets the corresponding f=1.7 of road surface mode button; The corresponding f=2 of ice and snow road mode button; The corresponding g=1.2 of conservative driving model button; The corresponding g=0.8 of non-conservative driving model button; The corresponding g=1 of normality driving model button; And when driver does not carry out any operation to vehicle-mounted upper unit, f=1.2, g=1.
8. as claimed in claim 1 a kind of based on car networking vehicle safe driving method for early warning, it is characterized in that: described t1 > t2; T1 is 2s, t2 is 1.5s.
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