CN103871273A - Vehicle-mounted communication device, vehicle and vehicle communication method - Google Patents
Vehicle-mounted communication device, vehicle and vehicle communication method Download PDFInfo
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- CN103871273A CN103871273A CN201410136168.5A CN201410136168A CN103871273A CN 103871273 A CN103871273 A CN 103871273A CN 201410136168 A CN201410136168 A CN 201410136168A CN 103871273 A CN103871273 A CN 103871273A
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Abstract
The invention provides a vehicle-mounted communication device, a vehicle and a vehicle communication method. The vehicle-mounted communication device comprises a data collecting module, a GPS module, a DSRC transmission module and a processor module. The data collecting module is used for obtaining vehicle running state signals of the vehicle where the vehicle-mounted communication device is placed. The GPS module is used for obtaining vehicle GPS position signals of the vehicle where the vehicle-mounted communication device is placed. The DSRC transmission module comprises a DSRC signal sender, a receiver and a foundation enhancing differential signal receiver which is used for receiving vehicle foundation enhancing differential signals. The processor module is connected with the GPS module and the DSRC transmission module and is used for obtaining the vehicle foundation enhancing differential signals and the vehicle GPS position signals corresponding to a road on which the vehicle runs to form vehicle accurate locating signals, the vehicle accurate locating signals and the vehicle running state signals are transmitted through the DSRC signal sender, and/or accurate locating signals and running state signals of a nearby vehicle are received, so that safe vehicle distance is controlled, and the purpose of high-speed running safety improving is achieved.
Description
Technical field
The present invention relates to intelligent transport technology field, particularly relate to a kind of vehicular communication unit, vehicle and vehicle communication method.
Background technology
Along with the high speed development of technology of Internet of things, intelligent security guard, Smart Home and intelligent transportation etc. have become current burning hot industry development focus.
In intelligent transportation, the problem of vehicle active safety key is picking out obstacle around and making correct response promptly and accurately how, and the requirement of the precision of the active safety of the vehicle of running at high speed to NAVSTAR, real-time is higher.
Existing Che-Che communication mainly realizes with the form of self-organizing network by means of the communication such as ZigBee, Wifi, these modes rely on higher to car speed, in low speed safety traffic environment, effect is better, but communication range is little, real-time is low, in hot-short communication, Doppler shift is larger, the communication requirement cannot meet vehicle high-speed operation time.
Specifically: Zigbee is the wireless communication technology of a kind of short distance, low-power consumption, be operated in 2.4G frequency range.Be characterized in closely, low complex degree, self-organization, low-power consumption, low data rate, low cost, but can not support well real-time business.This communication mode can meet the demand of truck traffic in the safety traffic of vehicle low speed, but the demand of the inter-vehicular communication of the high-speed cruising that real-time, communication distance, Doppler shift are had relatively high expectations just cannot meet; WiFi technical transmission speed is fast, and reliability is high, but transmission range near (open region, communication distance can reach 300 meters, in one situation 100 meters of left and right).This mode is also more suitable for low speed environments, concerning hot-short, if met accident in its communication range, cannot remind driver to make in time response.
Therefore, the car networking network of how developing a kind of communicator of reliable, applicable high-speed communication and forming, becomes current industry technical barrier urgently to be resolved hurrily.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide a kind of vehicular communication unit, vehicle and vehicle communication method, solves the prior art high speed environment not good problem of networking signal transmission of getting off, and promotes travel safety.
For realizing above-mentioned target and other related objectives, the invention provides a kind of cab signal communicator, comprising: data acquisition module, for gathering this vehicle travelling state signal of described vehicular communication unit place vehicle; GPS module, for obtaining this car GPS position signalling of described vehicular communication unit place vehicle; DSRC transport module, comprising: DSRC signal projector and the ground that strengthens differential signal for receiving this car ground corresponding with the travel of described vehicular communication unit place vehicle strengthen differential signal receiver; Processor module, connect described GPS module and DSRC transport module, be used for obtaining described car ground enhancing differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car, and described the accurate positioning signal of car and this vehicle travelling state signal are broadcast by described DSRC signal projector.
Preferably, described DSRC transport module also comprises DSRC signal receiver, near vehicle running state signal and near the accurate positioning signal of vehicle sent for receiving near the vehicle that comes from preset range, described preset range is less than the maximum communication scope of described DSRC transport module; Described processor module, for according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle, and in the time that described following distance is less than default safe spacing, generate the signal of warning.
Preferably, described processor module judges that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
Preferably, described data acquisition module comprises: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
Preferably, described vehicular communication unit also comprises: display module, connects described processor module, for generating vehicle location figure and picture and show according to described car exact position signal and near vehicle location signal.
Preferably, described vehicular communication unit also comprises: power module, and for described data acquisition module, GPS module, DSRC transport module, processor module and display module are powered.
For realizing above-mentioned target and other related objectives, the invention provides a kind of vehicular communication unit, comprising: data acquisition module, for gathering this vehicle travelling state signal of described vehicular communication unit place vehicle; GPS module, for obtaining this car GPS position signalling of described vehicular communication unit place vehicle; DSRC transport module, comprising: DSRC signal receiver and the ground that strengthens differential signal for receiving this car ground corresponding with the travel of described vehicular communication unit place vehicle strengthen differential signal receiver; Near vehicle running state signal and near the accurate positioning signal of vehicle that described DSRC signal receiver sends for receiving near the vehicle that comes from preset range, described preset range is less than the maximum communication scope of described DSRC transport module; Processor module, connect described GPS module and DSRC transport module, be used for obtaining described car ground enhancing differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car, and described processor module for according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle, and in the time that described following distance is less than default safe spacing, generate the signal of warning.
Preferably, described processor module judges that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
Preferably, described data acquisition module comprises: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
Preferably, described vehicular communication unit also comprises: display module, connects described processor module, for generating vehicle location figure and picture and show according to described car exact position signal and near vehicle location signal.
Preferably, described vehicular communication unit also comprises: power module, and for described data acquisition module, GPS module, DSRC transport module, processor module and display module are powered.
For realizing above-mentioned target and other related objectives, the invention provides a kind of vehicle, be mounted with described vehicular communication unit.
For realizing above-mentioned target and other related objectives, the invention provides a kind of vehicle communication method, comprising: obtain this car GPS position signalling; Obtain and described this car ground enhancing differential signal that car institute travel is corresponding; Gather this vehicle travelling state signal; Form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal; Described the accurate positioning signal of car and this vehicle travelling state signal are broadcast with predetermined DSRC agreement.
Preferably, described vehicle communication method also comprises: receive and come near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends by described DSRC agreement, described preset range is less than the maximum communication scope of described DSRC protocol definition; According to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle; Judge whether described following distance is less than default safe spacing; If so, generate the signal of warning.
Preferably, described vehicle communication method comprises: judge that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
Preferably, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
Preferably, described vehicle communication method also comprises: generate according to described car exact position signal and near vehicle location signal the step that vehicle location figure and picture also shows.
Preferably, if judge, described following distance is greater than described default safe distance, generates vehicle location figure and picture and shows.
For realizing above-mentioned target and other related objectives, the invention provides a kind of vehicle communication method, comprising: obtain this car GPS position signalling; Obtain and described this car ground enhancing differential signal that car institute travel is corresponding; Gather this vehicle travelling state signal; Form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal; Receive and come near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends by predetermined DSRC agreement, described preset range is less than the maximum communication scope of described DSRC protocol definition; According to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle; Judge whether described following distance is less than default safe spacing; If so, generate the signal of warning.
Preferably, described vehicle communication method comprises: judge that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
Preferably, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
Preferably, described vehicle communication method also comprises: generate according to described car exact position signal and near vehicle location signal the step that vehicle location figure and picture also shows.
Preferably, if judge, described following distance is greater than described default safe distance, generates vehicle location figure and picture and shows.
As mentioned above, a kind of vehicular communication unit provided by the invention, vehicle and vehicle communication method, wherein, vehicular communication unit comprises: data acquisition module, for gathering this vehicle travelling state signal of vehicular communication unit place vehicle; GPS module, for obtaining this car GPS position signalling of vehicular communication unit place vehicle; DSRC transport module, comprising: DSRC signal projector and receiver and for receive this car ground strengthen differential signal ground strengthen differential signal receiver; Processor module, connect GPS module and DSRC transport module, strengthen differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car for obtaining this car ground corresponding with described car institute travel, and near the accurate positioning signal of this car and this vehicle travelling state signal are broadcast and/or received by DSRC signal projector, the accurate positioning signal of vehicle and transport condition signal, to control accident-free vehicle spacing, are reached the object that promotes high speed traveling security.
Brief description of the drawings
Fig. 1 is shown as the structural representation of an embodiment of vehicular communication unit of the present invention.
Fig. 2 is shown as the structural representation of the another embodiment of vehicular communication unit of the present invention.
Fig. 3 is shown as the structural representation of an embodiment again of vehicular communication unit of the present invention.
Fig. 4 is shown as the schematic flow sheet of an embodiment of vehicle communication method of the present invention.
Fig. 5 is shown as the schematic flow sheet of the another embodiment of vehicle communication method of the present invention.
Fig. 6 is shown as the schematic flow sheet of an embodiment again of vehicle communication method of the present invention.
Element numbers explanation
1,1 ', 1 " vehicular communication unit
11,11 ', 11 " data acquisition module
12,12 ', 12 " GPS module
13,13 ', 13 " DSRC transport module
131,131 ', 131 " DSRC signal projector
132,132 ', 132 " ground strengthens differential signal receiver
133 ', 133 " DSRC signal receiver
134,134 ', 134 " Anneta module
15,15 ', 15 " processor module
16,16 ', 16 " display module
17,17 ', 17 " power module
S1～S5 method step
S1 '～S9 ' method step
S1 "～S10 " method step
Embodiment
Below, by specific instantiation explanation embodiments of the present invention, those skilled in the art can understand other advantages of the present invention and effect easily by the disclosed content of this instructions.The present invention can also be implemented or be applied by other different embodiment, and the every details in this instructions also can be based on different viewpoints and application, carries out various modifications or change not deviating under spirit of the present invention.It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the application can combine mutually.
Embodiment 1:
Refer to Fig. 1, the invention provides a kind of vehicular communication unit 1, comprising: data acquisition module 11, GPS module 12, DSRC transport module 13 and processor module 15.
Described data acquisition module 11, for gathering this vehicle travelling state signal of described vehicular communication unit 1 place vehicle.In the present embodiment, described data acquisition module 11 comprises: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal, substantially can judge by these information the transport condition that vehicle is current, in other embodiments, also can comprise other vehicle data information, as oil temperature, oil pressure etc., be not limited with the present embodiment.
Described GPS module 12, for obtaining this car GPS position signalling of described vehicular communication unit 1 place vehicle.In the present embodiment, GPS module 12 locates the latitude and longitude information of obtaining vehicle current location via satellite.
Described DSRC transport module 13, comprising: DSRC signal projector 131 and the ground that strengthens differential signal for receiving this car ground corresponding with the travel of described vehicular communication unit 1 place vehicle strengthen differential signal receiver 132.In the present embodiment, DSRC is Dedicated Short Range Communications (Dedicated Short Range Communications, technology), in common ETC system, OBU adopts DSRC technology, sets up microwave communication link between RSU, advance in way at vehicle, in the situation that not stopping, realize testing vehicle register identification, electronics is deducted fees, realize and do not stop, exempt from card taking, set up unmanned porte-cochere.
Secondly, DSRC is a kind of wireless communication technology efficiently, it can realize the identification and the two-way communication that in territory, specific cell, (are generally tens of～hundreds of rice) to the moving target under high-speed motion, " Che-Lu ", " Che-Che " two-way communication of for example vehicle, real-time Transmission image, voice-and-data information, by vehicle and the organic connection of road; The research and development of DSRC equipment are important topics in intelligent transportation system (ITS) research, be widely used in the fields such as non-parking charge, access and exit control, fleet management, information service, vehicle active safety, and be that between vehicle identification in zonule, driver's identification, road network and vehicle, the aspect such as information interaction possesses advantageous advantage in Region Segmentation function.
Up to now, two of DSRC technology comparative maturity application are AVI and ETC.DSRC equipment in AVI application belongs to radio electronic label (RFID), the occasions such as production line goods identifies, customs's vehicle is open to the custom, the automatic identification of container that it is mainly used in.In these situations, only require AVI equipment to there is simple RFID function.In ETC application, early stage system adopts the rear payment mode of account keeping way more, also only require ETC equipment to there is simple read-write capability, but along with the application and development of technology, ETC equipment gradually adopts the way of paying (for example Electronic Finance wallet) of more flexible, safe and low operations risks, and makes gradually a set of DSRC standard of service for it.
The present invention is applied to DSRC technology the hi-Fix signal of transmission for location, workshop innovatively.
Described ground strengthens differential signal, is can strengthen differential system by ground to detect generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Wherein, described ground strengthens system (GroundBasedAugmentation System, abbreviation: GBAS); The ultimate principle of GBAS is to utilize the correlativity of positioning error room and time, and the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve precision and the integrity of navigation.
Described processor module 15, connect described GPS module 12 and DSRC transport module 13, be used for obtaining described car ground enhancing differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car, and described the accurate positioning signal of car and this vehicle travelling state signal are broadcast by described DSRC signal projector 131.In the present embodiment, by DSRC signal projector 131, the accurate positioning signal of this car and transport condition signal are broadcast, can allow recipient, for example other vehicles or vehicle checkpoint, other other vehicles with DSRC signal receiver receive and utilize, or allow vehicle checkpoint can immediately understand the transport condition when vehicle in front, and, described car-mounted device can also comprise as analysis module, for analyzing danger coefficient of current Vehicle Driving Cycle etc., be to there is very much reference value the vehicle of these information on highway.
In the present embodiment, preferably, described vehicular communication unit 1 also comprises: display module 16, connect described processor module 15, for generating vehicle location figure and picture and show according to described car exact position signal and near vehicle location signal, described display module 16 can comprise Graphics Processing circuit and display screen etc.
In the present embodiment, preferably, described vehicular communication unit 1 also comprises: power module 17, for described data acquisition module 11, GPS module 12, DSRC transport module 13, processor module 15 and display module 16 are powered, described power module 17 can be power supply chip or power conversion chip and the peripheral circuit of common output voltage 12V, 5V or 3.3V etc.
In the present embodiment, preferably, described DSRC transport module 13 comprises: for the Anneta module 134 of transmission of wireless signals, there is described Anneta module 134, described DSRC transport module 13 just can high-level efficiency be realized above-mentioned communication, certainly, described Anneta module 134 can be built-in can be also external, antenna working frequency range should meet the working frequency range requirement of DSRC, and those skilled in the art realize by common signal processing circuit.
Embodiment 2:
Refer to Fig. 2, how to utilize above-mentioned signal of broadcasting with an embodiment explanation.
Described data acquisition module 11 ', for gathering this vehicle travelling state signal of described vehicular communication unit 1 ' place vehicle.In the present embodiment, described data acquisition module 11 ' comprising: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal, substantially can judge by these information the transport condition that vehicle is current, in other embodiments, also can comprise other vehicle data information, as oil temperature, oil pressure etc., be not limited with the present embodiment.
Described GPS module 12 ', for obtaining this car GPS position signalling of described vehicular communication unit 1 ' place vehicle.In the present embodiment, GPS module 12 ' is located the latitude and longitude information of obtaining vehicle current location via satellite.
Described DSRC transport module 13 ', comprising: DSRC signal receiver 133 ' and the ground for reception this car ground enhancing differential signal corresponding with the travel of described vehicular communication unit 1 ' place vehicle strengthen differential signal receiver 132 '.In the present embodiment, DSRC is Dedicated Short Range Communications (Dedicated Short Range Communications, technology), in common ETC system, OBU adopts DSRC technology, sets up microwave communication link between RSU, advance in way at vehicle, in the situation that not stopping, realize testing vehicle register identification, electronics is deducted fees, realize and do not stop, exempt from card taking, set up unmanned porte-cochere.
Secondly, DSRC is a kind of wireless communication technology efficiently, it can realize the identification and the two-way communication that in territory, specific cell, (are generally tens of～hundreds of rice) to the moving target under high-speed motion, " Che-Lu ", " Che-Che " two-way communication of for example vehicle, real-time Transmission image, voice-and-data information, by vehicle and the organic connection of road.The research and development of DSRC equipment are important topics in intelligent transportation system (ITS) research, be widely used in the fields such as non-parking charge, access and exit control, fleet management, information service, vehicle active safety, and be that between vehicle identification in zonule, driver's identification, road network and vehicle, the aspect such as information interaction possesses advantageous advantage in Region Segmentation function.
Up to now, two of DSRC technology comparative maturity application are AVI and ETC.DSRC equipment in AVI application belongs to radio electronic label (RFID), the occasions such as production line goods identifies, customs's vehicle is open to the custom, the automatic identification of container that it is mainly used in.In these situations, only require AVI equipment to there is simple RFID function.In ETC application, early stage system adopts the rear payment mode of account keeping way more, also only require ETC equipment to there is simple read-write capability, but along with the application and development of technology, ETC equipment gradually adopts the way of paying (for example Electronic Finance wallet) of more flexible, safe and low operations risks, and makes gradually a set of DSRC standard of service for it.
The present invention is applied to DSRC technology the hi-Fix signal of transmission for location, workshop innovatively.
Described ground strengthens differential signal, is can strengthen differential system by ground to detect generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Wherein, described ground strengthens system (GroundBased Augmentation System, abbreviation: GBAS); The ultimate principle of GBAS is to utilize the correlativity of positioning error room and time, and the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve precision and the integrity of navigation.
Described processor module 15 ', connect described GPS module 12 ' and DSRC transport module 13 ', be used for obtaining described car ground enhancing differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car, and described the accurate positioning signal of car and this vehicle travelling state signal are broadcast by described DSRC signal projector 131 '.In the present embodiment, by DSRC signal projector 131 ', the accurate positioning signal of this car and transport condition signal are broadcast, can allow recipient, for example other vehicles or vehicle checkpoint, other other vehicles with DSRC signal receiver 133 ' receive and utilize, or allow vehicle checkpoint can immediately understand the transport condition when vehicle in front, and, described car-mounted device can also comprise as analysis module, for analyzing danger coefficient of current Vehicle Driving Cycle etc., be to there is very much reference value the vehicle of these information on highway.
In the present embodiment, preferably, described vehicular communication unit 1 ' also comprises: display module 16 ', connect described processor module 15 ', for generating vehicle location figure and picture and show according to described car exact position signal and near vehicle location signal, described display module 16 ' can comprise Graphics Processing circuit and display screen etc.
In the present embodiment, preferably, described vehicular communication unit 1 ' also comprises: power module 17 ', for to described data acquisition module 11 ', GPS module 12 ', DSRC transport module 13 ', processor module 15 ' and display module 16 ' power supply, described power module 17 ' can be power supply chip or power conversion chip and the peripheral circuit of common output voltage 12V, 5V or 3.3V etc.
In the present embodiment, preferably, described DSRC transport module 13 ' comprising: for the Anneta module 134 ' of transmission of wireless signals, there is described Anneta module 134 ', described DSRC transport module 13 ' just can high-level efficiency be realized above-mentioned communication, certainly, described Anneta module 134 ' can be built-in can be also external, antenna working frequency range should meet the working frequency range requirement of DSRC, and those skilled in the art realize by common signal processing circuit.
What need special instruction is, in the present embodiment, described DSRC signal receiver 133 ', come from for receiving by described DSRC agreement near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends, in the present embodiment, described preset range is less than the maximum communication scope of described DSRC transport module 13 ', near described, vehicle can load the vehicular communication unit 1 in embodiment 1, thereby the signal that this car vehicular communication unit 1 ' in the present embodiment can be broadcast near vehicle is calculated following distance and whether is sentenced safety, see below, described processor module 15 ', for according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle, and in the time that described following distance is less than default safe spacing, generate the signal of warning, described in warn signal can be for example for blowing a whistle and/or flashing light etc., that is to say the signal that described the accurate positioning signal of car and near the accurate positioning signal of vehicle and this vehicle travelling state signal and near vehicle running state signal are corresponding same type, can merge, relatively etc. process and calculate, to obtain following distance information.
In the present embodiment, described preset range can be tens meters to hundreds of rice not etc., for example, between 10～1000 meters, that is to say, Che-Che communication based on DSRC, maximum transmission distance can arrive 1000 meters of left and right, and peak transfer rate also can reach 27Mbps, and described preset range also can be in conjunction with highway requirement or actual requirement and determined.
In the present embodiment, this car and near vehicle may be on same tracks, this can compare gained by this vehicle travelling state signal and near vehicle running state signal, for example both relative velocities, if be greater than pre-set velocity, illustration of reverse is travelled, if being less than pre-set velocity illustrates and travels in the same way etc., so can avoid the wrong report of warning, this is only for exemplifying, and those skilled in the art can be changed according to above content; And, the road conditions of two cars are also different, for example travel on even track Jian You isolation strip etc., different tracks, this also can be by relatively the ground enhancing differential signal of two cars and the confirmation mode of above-mentioned travel direction are judged, the present invention is mainly by strengthening car car, information interaction between car-other objects, and strengthen traffic safety early warning.
Embodiment 3:
Refer to Fig. 3, compare with above-described embodiment, the present embodiment is integrated above-described embodiment, i.e. cab signal communicator 1 in the present embodiment " not only comprise that described DSRC broadcasts but also comprises described DSRC receiving function.
In the present embodiment, described cab signal communicator 1 comprises:
Described data acquisition module 11 ", for gathering described vehicular communication unit 1 " this vehicle travelling state signal of place vehicle.In the present embodiment, described data acquisition module 11 " comprising: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal, substantially can judge by these information the transport condition that vehicle is current, in other embodiments, also can comprise other vehicle data information, as oil temperature, oil pressure etc., be not limited with the present embodiment.
Described GPS module 12 ", for obtaining described vehicular communication unit 1 " this car GPS position signalling of place vehicle.In the present embodiment, GPS module 12 " location obtains the latitude and longitude information of vehicle current location via satellite.
Described DSRC transport module 13 ", comprising: DSRC signal projector 131 ", DSRC signal receiver 133 " and for receiving described vehicular communication unit 1 " this car ground that the travel of place vehicle is corresponding ground of strengthening differential signal strengthens differential signal receiver 132 ".In the present embodiment, DSRC is Dedicated Short Range Communications (Dedicated Short Range Communications, technology), in common ETC system, OBU adopts DSRC technology, sets up microwave communication link between RSU, advance in way at vehicle, in the situation that not stopping, realize testing vehicle register identification, electronics is deducted fees, realize and do not stop, exempt from card taking, set up unmanned porte-cochere.
Described ground strengthens differential signal, is can strengthen differential system by ground to detect generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Wherein, described ground strengthens system (GroundBased Augmentation System, abbreviation: GBAS); The ultimate principle of GBAS is to utilize the correlativity of positioning error room and time, and the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve precision and the integrity of navigation.
Described processor module 15 "; connect described GPS module 12 " and DSRC transport module 13 "; strengthen differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car for obtaining described car ground, and by described the accurate positioning signal of car and this vehicle travelling state signal by described DSRC signal projector 131 " broadcast.In the present embodiment, by DSRC signal projector 131 " the accurate positioning signal of this car and transport condition signal are broadcast; can allow recipient; for example other vehicles or vehicle checkpoint; other have DSRC signal receiver 133 " other vehicles receive and utilize, or allow vehicle checkpoint can immediately understand the transport condition when vehicle in front, and, described car-mounted device can also comprise as analysis module, for analyzing danger coefficient of current Vehicle Driving Cycle etc., be to there is very much reference value the vehicle of these information on highway.
Except realizing the above-mentioned function of broadcasting, in the present embodiment, also realize reception and judged according to this function whether following distance is safe:
Described DSRC signal receiver 133 "; for receive by described DSRC agreement come from preset range near vehicle near vehicle running state signal and near the accurate positioning signal of vehicle sent; in the present embodiment; described preset range is less than described DSRC transport module 13 " maximum communication scope, near described, vehicle can load the vehicular communication unit 1 in vehicular communication unit 1 or the present embodiment in embodiment 1 ", thus the vehicular communication unit of this car 1 " and the signal that near vehicle can be broadcast calculated following distance and whether sentenced safety; Described processor module 15 "; for according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle; and in the time that described following distance is less than default safe spacing, generate the signal of warning, described in warn signal can be for example for blowing a whistle and/or flashing light etc.; That is to say the signal that described the accurate positioning signal of car and near the accurate positioning signal of vehicle and this vehicle travelling state signal and near vehicle running state signal are corresponding same type, can merge, relatively etc. process and calculate, to obtain following distance information.
In the present embodiment, described preset range can be tens meters to hundreds of rice not etc., for example, between 10～1000 meters, that is to say, Che-Che communication based on DSRC, maximum transmission distance can arrive 1000 meters of left and right, and peak transfer rate also can reach 27Mbps, and described preset range also can be in conjunction with highway requirement or actual requirement and determined.
In the present embodiment, preferably, described vehicular communication unit 1 " also comprise: display module 16 ", connect described processor module 15 "; for generating vehicle location figure and picture and show described display module 16 according to described car exact position signal and near vehicle location signal " can comprise Graphics Processing circuit and display screen etc.
In the present embodiment, preferably, described vehicular communication unit 1 " also comprise: power module 17 ", for to described data acquisition module 11 ", GPS module 12 ", DSRC transport module 13 ", processor module 15 " and display module 16 " power supply, described power module 17 " can be power supply chip or power conversion chip and the peripheral circuit of common output voltage 12V, 5V or 3.3V etc.
In the present embodiment, preferably, described DSRC transport module 13 " comprising: for the Anneta module 134 of transmission of wireless signals ", had described Anneta module 134 "; described DSRC transport module 13 " just can high-level efficiency realize above-mentioned communication, certainly, described Anneta module 134 " and can be built-in can be also external; antenna working frequency range should meet the working frequency range requirement of DSRC, and those skilled in the art are by common signal processing circuit realization.
In the present embodiment, this car and near vehicle may be on same tracks, this can compare gained by this vehicle travelling state signal and near vehicle running state signal, for example both relative velocities, if be greater than pre-set velocity, illustration of reverse is travelled, if being less than pre-set velocity illustrates and travels in the same way etc., so can avoid the wrong report of warning, this is only for exemplifying, and those skilled in the art can be changed according to above content; And, the road conditions of two cars are also different, for example travel on even track Jian You isolation strip etc., different tracks, this also can be by relatively the ground enhancing differential signal of two cars and the confirmation mode of above-mentioned travel direction are judged, the present invention is mainly by strengthening car car, information interaction between car-other objects, and strengthen traffic safety early warning.
Embodiment 4:
According to above-mentioned, the present invention can also provide a kind of vehicle, and it is mounted with described as mentioned above vehicular communication unit 1 or 1 ' or 1 ", the especially vehicular communication unit 1 in embodiment 3 "; Preferably, described Vehicle Driving Cycle, in highway, is applied vehicular communication unit technology effect of the present invention at the vehicle of running on expressway comparatively remarkable.
Embodiment 5:
According to above-mentioned, the present invention can also provide a kind of car contact system, formed by least two vehicles as above, on road, no matter be between car, or between the ceremony such as ceremony, wedding celebration fleet, all can form car networking network by above-mentioned vehicular communication unit provided by the present invention, comply with the trend of current Internet of Things high speed development, really realize intelligent transportation convenience and security.
Embodiment 6:
Refer to Fig. 4, the present invention also provides a kind of vehicle communication method, and the principle of its realization is similar to above-mentioned vehicular communication unit, vehicle and car networking, therefore ins and outs repeat no longer repeatedly; Described method comprises:
Step S1: obtain this car GPS position signalling; In the present embodiment, locate via satellite the latitude and longitude information of obtaining vehicle current location.
Step S2: obtain and described this car ground enhancing differential signal that car institute travel is corresponding; In the present embodiment, described car ground enhancing differential signal strengthens differential system by ground and detects generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Described ground strengthens system, and (GroundBased Augmentation System, is called for short: GBAS); The ultimate principle of GBAS is to utilize the correlativity of positioning error room and time, and the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve precision and the integrity of navigation.
Step S3: gather this vehicle travelling state signal; In the present embodiment, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal, substantially can judge by these information the transport condition that vehicle is current, in other embodiments, also can comprise other vehicle data information, as oil temperature, oil pressure etc., be not limited with the present embodiment.
Step S4: form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal;
Step S5: described the accurate positioning signal of car and this vehicle travelling state signal are broadcast with predetermined DSRC agreement; Can allow recipient, for example other vehicles or vehicle checkpoint are received utilization, or allow vehicle checkpoint can immediately understand the transport condition when vehicle in front, and, described car-mounted device can also comprise as analysis module, for analyzing danger coefficient of current Vehicle Driving Cycle etc., be to there is very much reference value the vehicle of these information on highway.Described predetermined DSRC agreement can be standard DSRC agreement or according to demand in addition after changing.
It should be noted that, above-mentioned steps S1 to step S3 can exchange order.
Embodiment 7:
Refer to Fig. 5, in the present embodiment, increase above-mentioned signal is received and utilized, thereby lifting vehicle is for the utilization of above-mentioned accurate positioning signal.
In the present embodiment, vehicle communication method comprises:
Step S1 ': obtain this car GPS position signalling; In the present embodiment, locate via satellite the latitude and longitude information of obtaining vehicle current location.
Step S2 ': obtain and described this car ground enhancing differential signal that car institute travel is corresponding; In the present embodiment, described car ground enhancing differential signal strengthens differential system by ground and detects generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Described ground strengthens differential signal, is can strengthen differential system by ground to detect generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Wherein, described ground strengthens system (GroundBased Augmentation System, abbreviation: GBAS); The ultimate principle of GBAS is to utilize the correlativity of positioning error room and time, and the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve precision and the integrity of navigation.
Step S3 ': gather this vehicle travelling state signal; In the present embodiment, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal, substantially can judge by these information the transport condition that vehicle is current, in other embodiments, also can comprise other vehicle data information, as oil temperature, oil pressure etc., be not limited with the present embodiment.
Step S4 ': form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal;
Step S5 ': receive and come near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends by predetermined DSRC agreement; In the present embodiment, described preset range is less than the maximum communication scope of described DSRC protocol definition, described preset range can be tens meters to hundreds of rice not etc., for example, between 10～1000 meters, that is to say, the Che-Che communication based on DSRC, maximum transmission distance can arrive 1000 meters of left and right, peak transfer rate also can reach 27Mbps, and described preset range also can be in conjunction with highway requirement or actual requirement and determined; Described predetermined DSRC agreement can be standard DSRC agreement or according to demand in addition after changing.
Step S6 ': according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle;
Step S7 ': judge whether described following distance is less than default safe spacing;
Step S8 ': if so, generate the signal of warning; In the present embodiment, described in, warn signal can be for example for blowing a whistle and/or flashing light etc.
In the present embodiment, that is to say, the signal that described accurate positioning signal of car and near the accurate positioning signal of vehicle and this vehicle travelling state signal and near vehicle running state signal are corresponding same type, can merge, relatively etc. process and calculate, to obtain following distance information.
Preferably, step S9 ': if not, generate vehicle location figure and picture and show.Certainly, in other embodiments, can also can add in other links according to the step of described car exact position signal and near the demonstration of vehicle location signal generation vehicle location figure and picture, not as limit.
Preferably, in said method, described Vehicle Driving Cycle is in highway.
In the present embodiment, this car and near vehicle may be on same tracks, this can compare gained by this vehicle travelling state signal and near vehicle running state signal, for example both relative velocities, if be greater than pre-set velocity, illustration of reverse is travelled, if being less than pre-set velocity illustrates and travels in the same way etc., so can avoid the wrong report of warning, this is only for exemplifying, and those skilled in the art can be changed according to above content; And, the road conditions of two cars are also different, for example travel on even track Jian You isolation strip etc., different tracks, this also can be by relatively the ground enhancing differential signal of two cars and the confirmation mode of above-mentioned travel direction are judged, the present invention is mainly by strengthening car car, information interaction between car-other objects, and strengthen traffic safety early warning.
Embodiment 8:
Refer to Fig. 6, in the present embodiment, in conjunction with the technical characterictic of above-described embodiment.
In the present embodiment, vehicle communication method comprises:
Step S1 ": obtain this car GPS position signalling; In the present embodiment, locate via satellite the latitude and longitude information of obtaining vehicle current location.
Step S2 ": obtain and described this car ground enhancing differential signal that car institute travel is corresponding; In the present embodiment, described car ground enhancing differential signal strengthens differential system by ground and detects generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Described ground strengthens differential signal, is can strengthen differential system by ground to detect generation, is used for correcting GPS positioning error, to obtain the precise positioning information of driving vehicle; Wherein, described ground strengthens system (GroundBased Augmentation System, abbreviation: GBAS); The ultimate principle of GBAS is to utilize the correlativity of positioning error room and time, and the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve precision and the integrity of navigation.
Step S3 ": gather this vehicle travelling state signal; In the present embodiment, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal, substantially can judge by these information the transport condition that vehicle is current, in other embodiments, also can comprise other vehicle data information, as oil temperature, oil pressure etc., be not limited with the present embodiment.
Step S4 ": form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal; :
Step S5 ": described the accurate positioning signal of car and this vehicle travelling state signal are broadcast with predetermined DSRC agreement; Can allow recipient, for example other vehicles or vehicle checkpoint are received utilization, or allow vehicle checkpoint can immediately understand the transport condition when vehicle in front, and, described car-mounted device can also comprise as analysis module, for analyzing danger coefficient of current Vehicle Driving Cycle etc., be to there is very much reference value the vehicle of these information on highway.Described predetermined DSRC agreement can be standard DSRC agreement or according to demand in addition after changing.
It should be noted that above-mentioned steps S1 " to step S3 " can exchange order.
Described vehicle communication method also comprises:
Step S6 ": receive and come near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends by described DSRC agreement; In the present embodiment, described preset range is less than the maximum communication scope of described DSRC protocol definition, described preset range can be tens meters to hundreds of rice not etc., for example, between 10～1000 meters, that is to say, the Che-Che communication based on DSRC, maximum transmission distance can arrive 1000 meters of left and right, peak transfer rate also can reach 27Mbps, and described preset range also can be in conjunction with highway requirement or actual requirement and determined.
Step S7 ": according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle;
Step S8 ": judge whether described following distance is less than default safe spacing;
Step S9 ": if so, generate the signal of warning; In the present embodiment, described in, warn signal can be for example for blowing a whistle and/or flashing light etc.
In the present embodiment, that is to say, the signal that described accurate positioning signal of car and near the accurate positioning signal of vehicle and this vehicle travelling state signal and near vehicle running state signal are corresponding same type, can merge, relatively etc. process and calculate, to obtain following distance information.
Preferably, step S10 ": if not, generate vehicle location figure and picture and show.Certainly, in other embodiments, can also can add in other links according to the step of described car exact position signal and near the demonstration of vehicle location signal generation vehicle location figure and picture, not as limit.
Preferably, in said method, described car travels on highway.
In the present embodiment, this car and near vehicle may be on same tracks, this can compare gained by this vehicle travelling state signal and near vehicle running state signal, for example both relative velocities, if be greater than pre-set velocity, illustration of reverse is travelled, if being less than pre-set velocity illustrates and travels in the same way etc., so can avoid the wrong report of warning, this is only for exemplifying, and those skilled in the art can be changed according to above content; And, the road conditions of two cars are also different, for example travel on even track Jian You isolation strip etc., different tracks, this also can be by relatively the ground enhancing differential signal of two cars and the confirmation mode of above-mentioned travel direction are judged, the present invention is mainly by strengthening car car, information interaction between car-other objects, and strengthen traffic safety early warning.
In sum, a kind of vehicular communication unit provided by the invention, vehicle and vehicle communication method, wherein, vehicular communication unit comprises: data acquisition module, for gathering this vehicle travelling state signal of vehicular communication unit place vehicle; GPS module, for obtaining this car GPS position signalling of vehicular communication unit place vehicle; DSRC transport module, comprising: DSRC signal projector and receiver and for receive this car ground strengthen differential signal ground strengthen differential signal receiver; Processor module, connect GPS module and DSRC transport module, strengthen differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car for obtaining this car ground corresponding with described car institute travel, and near the accurate positioning signal of this car and this vehicle travelling state signal are broadcast and/or received by DSRC signal projector, the accurate positioning signal of vehicle and transport condition signal, to control accident-free vehicle spacing, are reached the object that promotes high speed traveling security.
Reliability of the present invention is high, real-time is good, can realize highway vehicle-vehicle coordinates to control, especially under greasy weather or ice and snow weather, the image showing by means of apparatus of the present invention, can realize the low speed safety traffic of array fleet, and can realize the secure communication of hot-short car car, in DSRC communication range, the safety traffic of support vehicles.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all can, under spirit of the present invention and category, modify or change above-described embodiment.Therefore, such as in affiliated technical field, have and conventionally know that the knowledgeable, not departing from all equivalence modifications that complete under disclosed spirit and technological thought or changing, must be contained by claim of the present invention.
Claims (23)
1. a cab signal communicator, is characterized in that, comprising:
Data acquisition module, for gathering this vehicle travelling state signal of described vehicular communication unit place vehicle;
GPS module, for obtaining this car GPS position signalling of described vehicular communication unit place vehicle;
DSRC transport module, comprising: DSRC signal projector and the ground that strengthens differential signal for receiving this car ground corresponding with the travel of described vehicular communication unit place vehicle strengthen differential signal receiver;
Processor module, connect described GPS module and DSRC transport module, be used for obtaining described car ground enhancing differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car, and described the accurate positioning signal of car and this vehicle travelling state signal are broadcast by described DSRC signal projector.
2. vehicular communication unit according to claim 1, it is characterized in that, described DSRC transport module also comprises DSRC signal receiver, near vehicle running state signal and near the accurate positioning signal of vehicle sent for receiving near the vehicle that comes from preset range, described preset range is less than the maximum communication scope of described DSRC transport module; Described processor module, for according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle, and in the time that described following distance is less than default safe spacing, generate the signal of warning.
3. vehicular communication unit according to claim 2, is characterized in that, described processor module judges that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
4. vehicular communication unit according to claim 1, is characterized in that, described data acquisition module comprises: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
5. vehicular communication unit according to claim 1, is characterized in that, also comprises: display module, connects described processor module, for generating vehicle location figure and picture and show according to described car exact position signal and near vehicle location signal.
6. vehicular communication unit according to claim 1, is characterized in that, also comprises: power module, and for described data acquisition module, GPS module, DSRC transport module, processor module and display module are powered.
7. a vehicular communication unit, is characterized in that, comprising:
Data acquisition module, for gathering this vehicle travelling state signal of described vehicular communication unit place vehicle;
GPS module, for obtaining this car GPS position signalling of described vehicular communication unit place vehicle;
DSRC transport module, comprising: DSRC signal receiver and the ground that strengthens differential signal for receiving this car ground corresponding with the travel of described vehicular communication unit place vehicle strengthen differential signal receiver; Near vehicle running state signal and near the accurate positioning signal of vehicle that described DSRC signal receiver sends for receiving near the vehicle that comes from preset range, described preset range is less than the maximum communication scope of described DSRC transport module;
Processor module, connect described GPS module and DSRC transport module, be used for obtaining described car ground enhancing differential signal and Ben Che GPS position signalling to form the accurate positioning signal of this car, and described processor module for according to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle, and in the time that described following distance is less than default safe spacing, generate the signal of warning.
8. vehicular communication unit according to claim 7, is characterized in that, described processor module judges that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
9. vehicular communication unit according to claim 7, is characterized in that, described data acquisition module comprises: one or more combinations in vehicle speed sensor, vehicle angular-rate sensor and vehicle acceleration sensor; Described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
10. vehicular communication unit according to claim 7, is characterized in that, also comprises: display module, connects described processor module, for generating vehicle location figure and picture and show according to described car exact position signal and near vehicle location signal.
11. vehicular communication units according to claim 10, is characterized in that, also comprise: power module, and for described data acquisition module, GPS module, DSRC transport module, processor module and display module are powered.
12. 1 kinds of vehicles, is characterized in that, are mounted with the vehicular communication unit as described in any one in claim 1 to 11.
13. 1 kinds of vehicle communication methods, is characterized in that, comprising:
Obtain this car GPS position signalling;
Obtain and described this car ground enhancing differential signal that car institute travel is corresponding;
Gather this vehicle travelling state signal;
Form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal;
Described the accurate positioning signal of car and this vehicle travelling state signal are broadcast with predetermined DSRC agreement.
14. vehicle communication methods according to claim 13, is characterized in that, also comprise:
Receive and come near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends by described DSRC agreement, described preset range is less than the maximum communication scope of described DSRC protocol definition;
According to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle;
Judge whether described following distance is less than default safe spacing;
If so, generate the signal of warning.
15. vehicle communication methods according to claim 14, judge that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
16. vehicle communication methods according to claim 13, is characterized in that, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
17. vehicle communication methods according to claim 13, is characterized in that, also comprise: generate according to described car exact position signal and near vehicle location signal the step that vehicle location figure and picture also shows.
18. vehicle communication methods according to claim 13, is characterized in that, if judge, described following distance is greater than described default safe distance, generate vehicle location figure and picture and show.
19. 1 kinds of vehicle communication methods, is characterized in that, comprising:
Obtain this car GPS position signalling;
Obtain and described this car ground enhancing differential signal that car institute travel is corresponding;
Gather this vehicle travelling state signal;
Form the accurate positioning signal of this car according to described car GPS position signalling and Ben Che ground enhancing differential signal;
Receive and come near vehicle running state signal and near the accurate positioning signal of vehicle that in preset range, near vehicle sends by predetermined DSRC agreement, described preset range is less than the maximum communication scope of described DSRC protocol definition;
According to described the accurate positioning signal of car and this vehicle travelling state signal and near vehicle running state signal and near the accurate positioning signal of vehicle to calculate the following distance of this car and near vehicle;
Judge whether described following distance is less than default safe spacing;
If so, generate the signal of warning.
20. vehicle communication methods according to claim 19, comprising: judge that according to described vehicle travelling state signal and near vehicle running state signal whether this car is identical with near the travel direction of described vehicle.
21. vehicle communication methods according to claim 19, is characterized in that, described vehicle travelling state signal comprises: one or more combinations in this vehicle speed signal, this car angular velocity signal and this car acceleration signal.
22. vehicle communication methods according to claim 19, is characterized in that, also comprise: generate according to described car exact position signal and near vehicle location signal the step that vehicle location figure and picture also shows.
23. vehicle communication methods according to claim 19, is characterized in that, if judge, described following distance is greater than described default safe distance, generate vehicle location figure and picture and show.
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Application publication date: 20140618 |