CN103578294A - Method for curve synergy collision avoidance early warning based on dedicated short range communication - Google Patents

Abstract

The invention discloses a method for curve synergy collision avoidance early warning based on dedicated short range communication. The method specifically comprises the steps that real-time position information of an automobile of a user is obtained and whether the automobile enters a curve zone or not is judged with the combination of an electronic map; if the automobile enters a curve, traveling information of the automobile of the user is broadcasted to the surroundings and whether an automobile traveling oppositely exists or not is inquired through a dedicated short range communication device; if the automobile traveling oppositely exists, traveling information and position information of the automobile traveling oppositely are obtained and combined with the traveling information and the position information of the automobile of the user, the smallest lateral distance and time needed when the two automobiles meet are predicated, and the smallest lateral distance and the time needed when the two automobiles meet are compared with a set threshold value so that collision avoidance early warning in levels can be achieved. The method for curve synergy collision avoidance early warning based on dedicated short range communication has the advantages that the smallest lateral distance and the time needed when the two automobiles meet can be predicated, interaction of the automobile conditions and the early warning information is achieved through dedicated short range communication, and therefore the purpose of curve synergy collision avoidance early warning is achieved.

Description

A kind of bend based on Dedicated Short Range Communications, is worked in coordination with intelligent collision warning method

Technical field

The present invention relates to Dedicated Short Range Communications, technical field, relate in particular to a kind of collaborative intelligent collision warning method of bend based on Dedicated Short Range Communications.

Background technology

Bend is the multi-happening section of traffic hazard, and its contingency occurrence probability is large and severity of injuries is high.The highway of unit mileage, the accident number of times on bend is apparently higher than the accident number occurring on straight line section, and this is because deviation, vehicle collision easily occur while travelling in bend section vehicle, or because of the too high generation of the speed of a motor vehicle danger such as even rollover of breakking away.The Frequent Accidents in bend section makes the raising of highway general safety level be subject to serious restriction.Statistics shows, in the generation of highway bend road section traffic volume accident, is to be departed from and caused by driving behavior mostly, if can find in advance danger, alerting drivers takes appropriate measures, and the accident of bend will decline greatly.But traditional front collision warning system is very high for the vehicle safety of straight line road driving, helpless for the vehicle of negotiation of bends.Especially at bend place, owing to being subject to stopping of the barriers such as buildings or mountain peak, whether driver cannot observe opposite has vehicle to sail, and is easy to cause due to deviation generation vehicle collision.If driver can predict unsafe condition in advance, and make corresponding decision and control the travel conditions of this car and by certain means, to the other side's vehicle, send alarm signal simultaneously, like this by the probability that greatly reduces bend and bump against in opposite directions.

Along with the development of wireless communication technique especially for the Dedicated Short Range Communications, technology (DSRC) of inter-vehicular communication, and the maturation of satellite positioning tech, vehicle perception more broadly driving situation around, realizes the information interaction between car car, bus or train route.

Summary of the invention

The object of the invention is in order to address the above problem, utilize wireless communication technique and satellite positioning tech, status information in conjunction with vehicle, propose the collaborative intelligent collision warning device and method of a kind of bend based on Dedicated Short Range Communications,, thereby expand the sensing range of vehicle, find in time too late the sending a car in opposite directions of bend place sight line, minimum lateral distance during the intersection of prediction vehicle and the time of arrival plotted point, and by grading forewarning system mode, realize auxiliary driving, guarantee traffic safety.

The collaborative intelligent collision warning method of bend of Dedicated Short Range Communications,, realizes by following step:

Step 1: differentiate from truck position;

Be received from real time the positional information of car; And the entry position information in each bend section on the positional information from car and electronic chart is compared; If the entrance spacing from truck position and bend section is less than threshold values d _curve, perform step 2; Otherwise, return to execution step 1.

Step 2: whether the bend section that judgement enters from car exists driving vehicle in opposite directions;

A, be obtained from the driving information of car current time, and will travel after information package from car, broadcast towards periphery; If receive from car the driving information bag that other vehicles send, perform step b; If do not receive from car the driving information bag that other vehicles send, at interval of time T ₁carry out one time step 6;

B, the driving information bag receiving from car is resolved according to the data layout in step a; Order is from the course angle C of car _own∈ (90 °, 270 °) is if course angle C in the driving information receiving from car _other∈ (270 °, 360 °) or C _other∈ (0 °, 90 °), enters step 3; Otherwise, every time T ₁carry out one time step 6.

Step 3: determine the minimum lateral distance in confluce from car and Facing Movement vehicle;

A, to the driving information from car and in opposite directions the driving information of driving vehicle process, order from car, be A car, Facing Movement vehicle is B car, when A car enters bend entrance, with A truck position for the two-dimensional coordinate system xOy that initial point is set up, get Due South to being y axle positive dirction, positive west is to being x axle positive dirction; Thus, the initial position of A car in coordinate system xOy is (0,0); The initial position of B car in coordinate system xOy is

and:

$\left\{\begin{array}{c}{x_B}_0=R\×\cos \left(\mathrm{LatB}\right)\×\cos \left(\mathrm{LonB}\right)-R\×\cos \left(\mathrm{LatA}\right)\×\cos \left(\mathrm{LonA}\right)\\ {y_B}_0=R\×\cos \left(\mathrm{LatB}\right)\×\sin \left(\mathrm{LonB}\right)-R\×\cos \left(\mathrm{LatA}\right)\×\sin \left(\mathrm{LonA}\right)\end{array}\right.---\left(1\right)$

In formula (1), LonA and LonB are respectively the longitude of A car and B car; LatA and LatB are respectively the latitude of A car and B car; R is earth radius;

B, make B truck position motionless, the motion of the relative B car of A car, after 1 second, A car is close to B car according to the track of relative motion, and arrives

be respectively:

$\left\{\begin{array}{c}{x_A}_1={x_A}_0+v_A*\sin \mathrm{\θ}+v_B*\cos \mathrm{\δ}\\ {y_A}_1={y_A}_0+v_A*\cos \mathrm{\θ}+v_B*\sin \mathrm{\δ}\end{array}\right.---\left(2\right)$

Wherein, v _awith v _bbe respectively the travel speed of A car and B car; θ=270 °-C _aten α _a; δ=C _b+ α _b;

C _awith C _bbe respectively the course angle of A car and B car; α _awith α _bbe respectively the steering angle of A car and B car;

C, repeated execution of steps B, through i after second, A car is close to B car according to the track of relative motion, and will arrive

be respectively:

$\left\{\begin{array}{c}{x_A}_i={x_A}_{i-1}+v_A*\sin \mathrm{\θ}+v_B*\cos \mathrm{\δ}\\ {y_A}_i={y_A}_{i-1}+v_A*\cos \mathrm{\θ}+v_B*\sin \mathrm{\δ}\end{array}\right.---\left(3\right)$

Wherein, θ=270 °-C _a+ i α _a; δ=C _b+ i α _b;

Now, if

return to execution step C; If

enter step D;

D, determine that B car is to line segment A _i-1a _idistance d _{pre_side}for:

$d_{\mathrm{pre}\_\mathrm{side}}=\frac{|{\mathrm{kx}}_{B_0}-{y_B}_0-{{\mathrm{kx}}_A}_{i-1}+{y_A}_{i-1}|}{\sqrt{k^2+1}}---\left(4\right)$

Wherein, $k=\frac{{y_A}_i-{y_A}_{i-1}}{{x_A}_i-x_{A_{i-1}}}.$

Step 4: determine from car and required time of Facing Movement vehicle intersection;

Make the initial position of Facing Movement vehicle to line segment A _i-1a _ithe intersection point of the vertical line of doing is D point, from car and Facing Movement vehicle, arrives the required time t of confluce _{pre_side}for:

$t_{\mathrm{pre}\_\mathrm{side}}=i-1+d_{A_{i-1}D}/d_{A_i{A}_{i-1}}---\left(5\right)$

Wherein, $d_{A_{i-1}D}=\sqrt{{({x_B}_0-x_{A_{i-1}})}^2+{({y_B}_0-{y_A}_{i-1})}^2-d_{\mathrm{pre}\_\mathrm{<figure-callout\; id="2"\; label="side"\; filenames="HDA0000403003390000032.png"\; state="\{\{state\}\}">side</figure-callout>}}^2}.$

Step 5: collaborative intelligent collision warning decision-making;

While making two car meetings, side direction minimum safe distance is d _{scfe_min}; Thus according to d _{pre_side}, t _{pre_side}and d _{safe_min}carry out grading forewarning system decision-making, concrete alarm mode is as follows:

I, work as d _{pre_side}≤ d _{safe_min}time, according to the collision time t of prediction _{pre_side}carry out grading forewarning system, be specially:

1., work as t _{pre_side}> t _{level_3}time, t _{level_3}be 3 grades of vehicle intersection time thresholds that early warning is corresponding, setting warning level is 3 grades, and now the dangerous progress bar of vehicle-mounted end display screen from car is shown as color A, and by voice message driver, performs step subsequently 6;

2., work as t _{level_2}< t _{pre_side}< t _{level_3}time, t _{level_2}be 2 grades of vehicle intersection time thresholds that early warning is corresponding, setting warning level is 2 grades, now from the dangerous progress bar of car vehicle-mounted end display screen, is shown as color B, and by voice message driver, performs step subsequently 6;

3., work as t _{pre_side}< t _{level_2}time, setting warning level is 1 grade, from the dangerous progress bar of car display screen, is shown as color B, and by voice message driver; Simultaneously the mode by Dedicated Short Range Communications, to the vehicle B of Facing Movement every time T ₂send one time information warning, perform step subsequently 6;

II, work as d _{pre_side}> d _{safe_min}time, represent not have the danger of collision, from car, do not work in coordination with intelligent collision warning, perform step 6.

Step 6: whether judgement sails out of bend from car;

The positional information from car receiving in real time according to GPS, compares with the exit position information from bend section, car place on electronic chart, if the distance between the outlet in car and bend section is less than threshold values d' _curve, finish collaborative intelligent collision warning; Otherwise, return to execution step 1.

The invention has the advantages that:

(1) the present invention utilizes truck traffic technology, solved " sighting distance is bad " problem that bend place causes because barrier blocks, expanded vehicle sensing range, the danger that the bend place of assessment in time sends a car in opposite directions and brings, realization, in the clear information of driving vehicle in opposite directions of bend place driver assistance, is avoided because vision is bad and deviation causes the collision of vehicle in opposite directions;

(2) the present invention is based on truck traffic and location technology, the collaborative warning algorithm of a kind of bend is proposed, minimum lateral distance and arrival required time of confluce in the time of can predicting vehicle intersection, for the collaborative intelligent collision warning of bend provides quantization parameter, effectively improve the accuracy of early warning.

Accompanying drawing explanation

Fig. 1 is the collaborative intelligent collision warning method application scenarios figure of bend of the present invention;

Fig. 2 is the collaborative intelligent collision warning method flow diagram of bend of the present invention;

Fig. 3 is the collaborative intelligent collision warning algorithm schematic diagram of bend of the present invention;

Fig. 4 is the vehicle-mounted end structured flowchart of realizing the collaborative intelligent collision warning method of bend of the present invention.

In figure:

1-difference base station 2-information acquisition part 3-works in coordination with intelligent collision warning arithmetic section

4-information warning display module 201-CAN information acquisition module 202-satellite positioning module

203-Dedicated Short Range Communications, module 301-bend determination module 302-Facing Movement vehicle determination module

303-warning algorithm module

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in detail.

The collaborative intelligent collision warning method of the bend of Dedicated Short Range Communications,, as shown in Figure 1, for scene be bend place, and block (as high building or high mountain) at bend place, cause driver's sighting distance bad, specifically by following step, realize, as shown in Figure 2:

Step 1: differentiate from truck position;

Be received from real time the positional information of car, comprise vehicle longitude and latitude data and vehicle heading; And the entrance in each bend section on the positional information from car and electronic chart (determining bend section entrance with vehicle heading) positional information (longitude and latitude data) is compared; If the entrance spacing from car and bend section is less than threshold values d _curve(d _curvedesirable 1m), from car, started to enter bend section, performed step 2; Otherwise, return to execution step 1.

Step 2: whether the bend section that judgement enters from car exists driving vehicle in opposite directions;

A, be obtained from the driving information of car current time, comprise vehicle position information, course, the speed of a motor vehicle and steering angle, and will travel after information package from car, broadcast towards periphery, the data layout of broadcast is: { longitude, latitude, course, steering, velocity}; Wherein, longitude is longitude; Latitude is latitude; Course is course; Steering is steering angle; Velocity is the speed of a motor vehicle.If receive from car the driving information bag that other vehicles (except the vehicle from car) send, perform step b; If do not receive from car the driving information bag that other vehicles send, at interval of time T ₁(T ₁desirable 0.5s) carry out step 6 one time.

B, the driving information bag receiving from car is resolved according to the data layout in step a, obtain the driving information of surrounding vehicles.Order is from the course angle C of car _own∈ (90 °, 270 °) is if course angle in the driving information receiving from car

C _other∈ (270 °, 360 °) or C _other∈ (0 °, 90 °), represents to have Facing Movement vehicle in bend section, enters step 3; Otherwise, represent not have Facing Movement vehicle in bend section, now every time T 1, carry out a step 6.Above-mentioned course angle is defined as by positive north clockwise to the angle vehicle heading.

Step 3: determine the minimum lateral distance during in intersection from car and Facing Movement vehicle;

A, to the driving information from car and in opposite directions the driving information of driving vehicle process, order from car, be A car, Facing Movement vehicle is B car, when A car enters bend entrance, with A truck position

for the two-dimensional coordinate system xOy that initial point is set up, get Due South to being y axle positive dirction, positive west is to being x axle positive dirction, as shown in Figure 3; Thus, the initial position of A car in coordinate system xOy is (0,0); The initial position of B car in coordinate system xOy is

and:

$\left\{\begin{array}{c}{x_B}_0=R\&times;\cos \left(\mathrm{LatB}\right)\&times;\cos \left(\mathrm{LonB}\right)-R\&times;\cos \left(\mathrm{LatA}\right)\&times;\cos \left(\mathrm{LonA}\right)\\ {y_B}_0=R\&times;\cos \left(\mathrm{LatB}\right)\&times;\sin \left(\mathrm{LonB}\right)-R\&times;\cos \left(\mathrm{LatA}\right)\&times;\sin \left(\mathrm{LonA}\right)\end{array}\right.---\left(1\right)$

In formula (1), LonA and LonB are respectively the longitude of A car and B car; LatA and LatB are respectively the latitude of A car and B car; R is earth radius, gets 6378137m.

B, make B truck position motionless, the motion of the relative B car of A car, after 1 second, A car is close to B car according to the track of relative motion, and arrives

be respectively:

$\left\{\begin{array}{c}{x_A}_1={x_A}_0+v_A*\sin \mathrm{\&theta;}+v_B*\cos \mathrm{\&delta;}\\ {y_A}_1={y_A}_0+v_A*\cos \mathrm{\&theta;}+v_B*\sin \mathrm{\&delta;}\end{array}\right.---\left(2\right)$

Wherein, v _awith v _bbe respectively the travel speed of A car and B car; θ=270 °-C _a+ α _a; δ=C _b+ α _b;

C _awith C _bbe respectively the course angle of A car and B car; α _awith α _bbe respectively the steering angle of A car and B car.

C, repeated execution of steps B, through i after second, A car is close to B car according to the track of relative motion, and will arrive

be respectively:

$\left\{\begin{array}{c}{x_A}_i={x_A}_{i-1}+v_A*\sin \mathrm{\&theta;}+v_B*\cos \mathrm{\&delta;}\\ {y_A}_i={y_A}_{i-1}+v_A*\cos \mathrm{\&theta;}+v_B*\sin \mathrm{\&delta;}\end{array}\right.---\left(3\right)$

Wherein, v _awith v _bbe respectively the travel speed of A car and B car; θ=270 °-C _a+ i α _a; δ=C _b+ i α _b; C _awith C _bbe respectively the course angle of A car and B car; α _awith α _bbe respectively the steering angle of A car and B car.

Now, if

return to execution step C; If

enter step D.

D, determine that B car is to line segment A _i-1a _idistance d _{pre_side}for:

$d_{\mathrm{pre}\_\mathrm{side}}=\frac{|{\mathrm{kx}}_{B_0}-{y_B}_0-{{\mathrm{kx}}_A}_{i-1}+{y_A}_{i-1}|}{\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000403003390000032.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+1}}---\left(4\right)$

Wherein, $k=\frac{{y_A}_i-{y_A}_{i-1}}{{x_A}_i-x_{A_{i-1}}}.$

Step 4: determine from car and required time of Facing Movement vehicle intersection;

Make the initial position of Facing Movement vehicle to line segment A _i-1a _ithe intersection point of the vertical line of doing is D point, from car and Facing Movement vehicle, arrives the required time t of confluce _{pre_side}, be and from car, by initial position, moved to the time of D point place experience, t _{pre_side}for:

$t_{\mathrm{pre}\_\mathrm{side}}=i-1+d_{A_{i-1}D}/d_{A_i{A}_{i-1}}---\left(5\right)$

Wherein, $d_{A_{i-1}D}=\sqrt{{({x_B}_0-x_{A_{i-1}})}^2+{({y_B}_0-{y_A}_{i-1})}^2-d_{\mathrm{pre}\_\mathrm{<figure-callout\; id="2"\; label="side"\; filenames="HDA0000403003390000032.png"\; state="\{\{state\}\}">side</figure-callout>}}^2}.$

Step 5: collaborative intelligent collision warning decision-making;

By GB regulation, during two car meetings, side direction minimum safe distance is

v _ownfor from the car speed of a motor vehicle, unit is m/s.Thus according to d _{pre_side}, t _{pre_side}and d _{safe_min}carry out grading forewarning system decision-making, concrete alarm mode is as follows:

I, work as d _{pre_side}≤ d _{safe_min}time, according to the collision time t of prediction _{pre_side}carry out grading forewarning system, and by the variation of progress bar color and the frequency of voice broadcast, jointly embody the height of warning level, be specially:

1., work as t _{pre_side}> t _{level_3}time, t _{level_3}be 3 grades of vehicle intersection time thresholds that early warning is corresponding, t _{level_3}desirable 10s, setting warning level is 3 grades, now from the dangerous progress bar of vehicle-mounted end display screen of car, is shown as color A(and can be yellow), and reduce steering wheel angle by voice message driver, and make to move laterally from car, perform step subsequently 6.Above-mentioned voice message frequency is f _{level_}3 _.

2., work as t _{level_2}< t _{pre_side}< t _{level_3}time, t _{level_2}be 2 grades of vehicle intersection time thresholds that early warning is corresponding, t _{level_2}desirable 6s, setting warning level is 2 grades, now from the dangerous progress bar of car vehicle-mounted end display screen, is shown as color B(and can be redness), and reduce steering wheel angle by voice message driver, and vehicle A is moved laterally, perform step subsequently 6.Above-mentioned voice message frequency is f _{level_2}> f _{level_3}.

3., work as t _{pre_side}< t _{level_2}time, setting warning level is 1 grade, and the hazard level of collision happens is very high, on the one hand by now by being shown as color B from the dangerous progress bar of car vehicle-mounted end display screen, and reduce steering wheel angle by voice message driver, make vehicle A fast moving laterally; Voice message frequency is f _{level_1}> f _{level_2}; Simultaneously to the vehicle B of Facing Movement every time T ₂(T ₂get 0.5s) send information warning one time, perform step subsequently 6.Above-mentioned information warning comprises the d that step 3 and step 4 obtain _{pre_side}, t _{pre_side}and require the vehicle B voice messaging of fast moving vehicle to the inside.

II, work as d _{pre_side}> d _{safe_min}time, represent not have the danger of collision, from car, do not work in coordination with intelligent collision warning, perform step 6.

Step 6: whether judgement sails out of bend from car;

The positional information from car receiving in real time according to GPS, compares with the exit position information from bend section, car place on electronic chart, if the distance between the outlet in car and bend section is less than threshold values d' _curve(desirable 1m), has started to sail out of bend section from car, finishes collaborative intelligent collision warning; Otherwise, return to execution step 1.

The above-mentioned bend based on Dedicated Short Range Communications, is worked in coordination with intelligent collision warning method, can in conjunction with a set of mobile unit consisting of information acquisition part 2, collaborative intelligent collision warning arithmetic section 3 and information warning display module 4, complete by difference base station 1, as shown in Figure 4.

Wherein, difference base station 1 is arranged at the trackside of bend, can realize accurate difference location, guarantees accurate positioned vehicle position.In mobile unit: information acquisition part 2 comprises CAN information acquisition module 201, satellite positioning module 202, junction service module 203; The difference that satellite positioning module 202 realizes vehicle by difference base station 1 is located, concrete mode is: satellite positioning module 202 is obtained vehicle position information and vehicle carried out to pinpoint difference base station 1 and obtain vehicle position information and carry out data interaction, and then the vehicle position information that satellite positioning module 202 is obtained is revised, thereby reduce the vehicle location error of satellite positioning module 202, guaranteed the positioning precision of vehicle.CAN information acquisition module 201 is for extracting the driving information of vehicle, and driving information is packed, and is sent to bend determination module 301.Dedicated Short Range Communications, module 203, the real-time Communication for Power being used between vehicle.

Described collaborative intelligent collision warning arithmetic section 3 comprises bend determination module 301, Facing Movement vehicle determination module 302 and warning algorithm module 303; Wherein, in bend determination module 301, store electronic chart, in conjunction with the vehicle position information receiving, in performing step 1, whether vehicle enters the judgement of bend.Facing Movement vehicle determination module 302 is used for, in conjunction with the result of determination of bend determination module 301, whether having the judgement of Facing Movement vehicle in performing step 2 in bend.The driving information that warning algorithm module 303 is used for being received from car and Facing Movement vehicle carries out, carry out step 2～computing and deterministic process in step 5, and the early warning decision of exporting from car to information warning display module 4 by Dedicated Short Range Communications, module 203, by information warning display section, according to early warning decision, carry out information warning voice message and progress bar display operation; And minimum lateral distance and required time of intersection during the intersection being obtained by warning algorithm module 303 to the transmission of Facing Movement vehicle by Dedicated Short Range Communications, module 203.

Claims (3)

1. the bend based on Dedicated Short Range Communications, is worked in coordination with an intelligent collision warning method, it is characterized in that: by following step, realize:

Step 1: differentiate from truck position;

Be received from real time the positional information of car; And the entry position information in each bend section on the positional information from car and electronic chart is compared; If the entrance spacing from truck position and bend section is less than threshold values d _curve, perform step 2; Otherwise, return to execution step 1;

Step 2: whether the bend section that judgement enters from car exists driving vehicle in opposite directions;

A, be obtained from the driving information of car current time, and will travel after information package from car, broadcast towards periphery; If receive from car the driving information bag that other vehicles send, perform step b; If do not receive from car the driving information bag that other vehicles send, at interval of time T ₁carry out one time step 6;

B, the driving information bag receiving from car is resolved according to the data layout in step a; Order is from the course angle C of car _own∈ (90 °, 270 °) is if course angle C in the driving information receiving from car _other∈ (270 °, 360 °) or C _other∈ (O °, 90 °), enters step 3; Otherwise, every time T ₁carry out one time step 6;

Step 3: determine the minimum lateral distance in confluce from car and Facing Movement vehicle;

A, to the driving information from car and in opposite directions the driving information of driving vehicle process, order from car, be A car, Facing Movement vehicle is B car, when A car enters bend entrance, with A truck position

for the two-dimensional coordinate system xOy that initial point is set up, get Due South to being y axle positive dirction, positive west is to being x axle positive dirction; Thus, the initial position of A car in coordinate system xOy is (0,0); The initial position of B car in coordinate system xOy is

and:

$\left\{\begin{array}{c}{x_B}_0=R\&times;\cos \left(\mathrm{LatB}\right)\&times;\cos \left(\mathrm{LonB}\right)-R\&times;\cos \left(\mathrm{LatA}\right)\&times;\cos \left(\mathrm{LonA}\right)\\ {y_B}_0=R\&times;\cos \left(\mathrm{LatB}\right)\&times;\sin \left(\mathrm{LonB}\right)-R\&times;\cos \left(\mathrm{LatA}\right)\&times;\sin \left(\mathrm{LonA}\right)\end{array}\right.---\left(1\right)$

In formula (1), LonA and LonB are respectively the longitude of A car and B car; LatA and LatB are respectively the latitude of A car and B car; R is earth radius;

B, make B truck position motionless, the motion of the relative B car of A car, after 1 second, A car is close to B car according to the track of relative motion, and arrives

be respectively:

$\left\{\begin{array}{c}{x_A}_1={x_A}_0+v_A*\sin \mathrm{\&theta;}+v_B*\cos \mathrm{\&delta;}\\ {y_A}_1={y_A}_0+v_A*\cos \mathrm{\&theta;}+v_B*\sin \mathrm{\&delta;}\end{array}\right.---\left(2\right)$

Wherein, v _awith v _bbe respectively the travel speed of A car and B car; θ=270 °-C _a+ α _a; δ=C _b+ α _b;

C _awith C _bbe respectively the course angle of A car and B car; α _awith α _bbe respectively the steering angle of A car and B car;

C, repeated execution of steps B, through i after second, A car is close to B car according to the track of relative motion, and will arrive

be respectively:

$\left\{\begin{array}{c}{x_A}_i={x_A}_{i-1}+v_A*\sin \mathrm{\&theta;}+v_B*\cos \mathrm{\&delta;}\\ {y_A}_i={y_A}_{i-1}+v_A*\cos \mathrm{\&theta;}+v_B*\sin \mathrm{\&delta;}\end{array}\right.---\left(3\right)$

Wherein, θ=270 °-C _a+ i α _a; δ=C _b+ i α _b;

Now, if

return to execution step C; If

enter step D;

D, determine that B car is to line segment A _i-1a _idistance d _{pre_side}for:

$d_{\mathrm{pre}\_\mathrm{side}}=\frac{|{\mathrm{kx}}_{B_0}-{y_B}_0-{{\mathrm{kx}}_A}_{i-1}+{y_A}_{i-1}|}{\sqrt{k^2+1}}---\left(4\right)$

Wherein, $k=\frac{{y_A}_i-{y_A}_{i-1}}{{x_A}_i-x_{A_{i-1}}};$

Step 4: determine from car and required time of Facing Movement vehicle intersection;

Make the initial position of Facing Movement vehicle to line segment A _i-1a _ithe intersection point of the vertical line of doing is D point, from car and Facing Movement vehicle, arrives the required time t of confluce _{pre_side}for:

$t_{\mathrm{pre}\_\mathrm{side}}=i-1+d_{A_{i-1}D}/d_{A_i{A}_{i-1}}---\left(5\right)$

Wherein, $d_{A_{i-1}D}=\sqrt{{({x_B}_0-x_{A_{i-1}})}^2+{({y_B}_0-{y_A}_{i-1})}^2-d_{\mathrm{pre}\_\mathrm{side}}^2};$

Step 5: collaborative intelligent collision warning decision-making;

While making two car meetings, side direction minimum safe distance is d _{safe_min}; Thus according to d _{pre_side}, t _{pre_side}and d _{safe_min}carry out grading forewarning system decision-making, concrete alarm mode is as follows:

I, work as d _{pre_side}≤ d _{safe_min}time, according to the collision time t of prediction _{pre_side}carry out grading forewarning system, be specially:

1., work as t _{pre_side}> t _{level_3}time, t _{level_3}be 3 grades of vehicle intersection time thresholds that early warning is corresponding, setting warning level is 3 grades, and now the dangerous progress bar of vehicle-mounted end display screen from car is shown as color A, and by voice message driver, performs step subsequently 6;

2., work as t _{level_2}< t _{pre_side}< t _{level_3}time, t _{level_2}be 2 grades of vehicle intersection time thresholds that early warning is corresponding, setting warning level is 2 grades, now from the dangerous progress bar of car vehicle-mounted end display screen, is shown as color B, and by voice message driver, performs step subsequently 6;

3., work as t _{pre_side}< t _{level_2}time, setting warning level is 1 grade, from the dangerous progress bar of car display screen, is shown as color B, and by voice message driver; Simultaneously the mode by Dedicated Short Range Communications, to the vehicle B of Facing Movement every time T ₂send one time information warning, perform step subsequently 6;

II, work as d _{pre_side}> d _{safe_min}time, represent not have the danger of collision, from car, do not work in coordination with intelligent collision warning, perform step 6;

Step 6: whether judgement sails out of bend from car;

The positional information from car receiving in real time according to GPS, compares with the exit position information from bend section, car place on electronic chart, if the distance between the outlet in car and bend section is less than threshold values d' _curve, finish collaborative intelligent collision warning; Otherwise, return to execution step 1.

2. a kind of bend based on Dedicated Short Range Communications, is worked in coordination with intelligent collision warning method as claimed in claim 1, it is characterized in that: in step 5, work as t _{pre_side}> t _{level_3}time, voice message frequency is f _{level_3}; Work as t _{level_2}< t _{pre_side}< t _{level_3}time, voice message frequency is f _{level_2}; Work as t _{pre_side}< t _{level_2}time, voice message frequency is f _{level_1}; And f _{level_1}> f _{level_2}> f _{level_3}.

3. a kind of bend based on Dedicated Short Range Communications, is worked in coordination with intelligent collision warning method as claimed in claim 1, it is characterized in that: in step 5, when warning level is 1 grade, the information warning that the vehicle from car to Facing Movement sends comprises d _{pre_side}, t _{pre_side}and voice message.

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