CN104751678B

CN104751678B - A kind of method and apparatus being monitored to the traffic conflict that fault car triggers

Info

Publication number: CN104751678B
Application number: CN201310753592.XA
Authority: CN
Inventors: 赵婷婷; 张喆; 刘祎; 杨景
Original assignee: China Mobile Communications Group Co Ltd
Current assignee: China Mobile Communications Group Co Ltd
Priority date: 2013-12-31
Filing date: 2013-12-31
Publication date: 2017-09-15
Anticipated expiration: 2033-12-31
Also published as: CN104751678A

Abstract

The invention discloses a kind of method and apparatus being monitored to the traffic conflict that fault car triggers, including：Receive vehicle transmission of breaking down contains vehicle position information, the vehicle data information of vehicle traveling information and vehicle trouble messages, according to vehicle trouble messages, the vehicle trouble type of traffic accident can be induced by determining that vehicle trouble messages belong to, according to vehicle position information and vehicle traveling information, the traffic conflict that the vehicle that breaks down can trigger is estimated, according to estimated result, to break down vehicle initiation it is in the hole under other vehicles issue warning information, avoid due to the traffic accident for vehicle initiation of breaking down, reduce the probability of happening of traffic accident, improve the security of road traffic.

Description

A kind of method and apparatus being monitored to the traffic conflict that fault car triggers

Technical field

The present invention relates to car networking security technology area, more particularly to a kind of traffic conflict progress triggered to fault car The method and apparatus of monitoring.

Background technology

With the development of society, automobile turns into indispensable daily necessities in people's life.Increasing people Have the automobile of oneself.But with the increase that vehicle fleet size is travelled on traffic route, it is impossible to the generation avoided traffic accident. But it has been investigated that, in pernicious traffic accident, the traffic accident that vehicle failure induces account for sizable ratio.With 1997 Exemplified by the national especially big statistics of traffic accidents of year and the second quarter in 1998, because the especially big traffic thing that vehicle failure is directly contributed Therefore the 50% and 25% of the season especially big traffic accident sum is accounted for respectively.

That is, because potential safety hazard or catastrophic discontinuityfailure that automobile exists in itself, cause to send out in the process of moving Raw traffic accident, its result is the pernicious traffic accident such as car crash or the dead group's wound of group mostly, and its injures and deaths and economic loss are huge Greatly, therefore, how to avoid because the traffic accident that vehicle failure triggers turns into the major issue of car networking security fields.

At present, the mode for triggering traffic accident for vehicle failure includes but is not limited to：Motoring condition is supervised Survey, when monitoring that automobile breaks down, other vehicles of traveling on the traffic route for occurring vehicle failure are notified in time, it is right The trouble vehicle is avoided, it is to avoid because the traffic accident that vehicle failure triggers.

But for the monitoring of motoring condition, the monitoring to a vehicle is only limitted to, but the trouble vehicle is to it The security threat problem that his vehicle is present still is present, and causes the incidence of the traffic accident of vehicle failure initiation higher, makes The security of road traffic is obtained than relatively low.

The content of the invention

The embodiments of the invention provide a kind of method and apparatus being monitored to the traffic conflict that fault car triggers, use In solve at present because vehicle failure trigger traffic accident accident rate it is higher so that the security of road traffic compared with Low the problem of.

A kind of method being monitored to the traffic conflict that fault car triggers, including：

The vehicle data information for vehicle transmission of breaking down is received, wherein, the vehicle data information contains vehicle position Confidence breath, vehicle traveling information and vehicle trouble messages；

According to residing vehicle trouble messages, the vehicle event of traffic accident can be induced by determining that the vehicle trouble messages belong to Hinder type, and according to the vehicle position information and the vehicle traveling information, the vehicle that breaks down can be triggered Traffic conflict estimated；And

According to estimated result, to the vehicle initiation of breaking down it is in the hole under other vehicles issue alarm Information.

According to residing vehicle trouble messages, the vehicle event of traffic accident can be induced by determining that the vehicle trouble messages belong to Hinder type, including：

The corresponding relation between traffic accident is induced according to vehicle trouble messages and vehicle trouble messages, it is determined that receive The vehicle trouble messages included in the vehicle data information, which belong to, can induce the vehicle trouble type of traffic accident；

Wherein, the vehicle trouble type that can induce traffic accident contains wheel steering system failure, vehicle system The dynamic system failure, vehicle operating hardover failure.

According to the vehicle position information and the vehicle traveling information, the friendship that can trigger to the vehicle that breaks down Lead to conflict to be estimated, including：

According to the vehicle position information received, the vehicle that broken down described in judgement is on the road of traveling It is on intersection；

When the vehicle that breaks down is on the road of traveling, according to the vehicle position information and institute received The position that other lower vehicles in the hole of vehicle traveling information and the vehicle initiation of breaking down report is stated to believe Cease and running condition information, the road section traffic volume punching that can occur between vehicle and other described vehicles of being broken down described in estimation It is prominent；

When the vehicle that breaks down is on intersection, according to the vehicle position information that receives and described Vehicle traveling information and the vehicle initiation of breaking down it is in the hole under the positional information that reports of other vehicles And running condition information, break down the intersection traffic that can occur between vehicle and other described vehicles described in estimation Conflict.

The road traffic conflict technique contains positive conflict, conflict of knocking into the back, crosses conflict and hit in fixture conflict extremely Few one kind；

Break down the road traffic conflict technique that can occur between vehicle and other described vehicles described in the estimation, bag Include：

When described break down is approached and occur traffic conflict in a reverse direction between vehicle and other described vehicles The angle that conflicts is met【135 °~180 °】When, break down the road that can occur between vehicle and other described vehicles described in estimation Section traffic conflict conflicts to be positive；

When described break down is approached and occur traffic conflict in the same direction between vehicle and other described vehicles The angle that conflicts is met【0 °~45 °】When, break down the section that can occur between vehicle and other described vehicles described in estimation Traffic conflict is conflict of knocking into the back；

Break down between vehicle and other described vehicles with direction approximation staggeredly when described and occur traffic conflict The angle that conflicts is met【45 °~135 °】When, break down the road that can occur between vehicle and other described vehicles described in estimation Section traffic conflict is to cross conflict；

The fixation construct approached in the process of moving on road when the vehicle that breaks down and occurs traffic conflict The angle that conflicts is met【0 °~90 °】When, the road traffic conflict technique that the estimation vehicle that breaks down can occur is to hit fixture Conflict.

The intersection traffic conflict contains conflict from wagon flow in the same direction, the conflicting of track change, different wagon flows are supported At least one of the conflict in different wagon flow directions is arrived in conflict and different wagon flows up to same wagon flow direction；

The intersection traffic that being broken down described in the estimation can occur between vehicle and other described vehicles conflicts, Including：

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be in the same direction, or The transport condition of the vehicle that breaks down be turn left, the transport condition of other vehicles be it is in the same direction, or it is described occur therefore The transport condition of barrier vehicle be turn right, the transport condition of other vehicles is when being in the same direction, estimation is described break down vehicle and The intersection traffic conflict that can occur between other described vehicles is to conflict with wagon flow in the same direction；

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be right side turn left, Right side straight trip, right side are any in turning right, or the transport condition of the vehicle that breaks down is turns left, the row of other vehicles Sail state for right side straight trip, right side turn left in it is any, or the vehicle that breaks down transport condition for turn right, it is described other When the transport condition of vehicle is that left side is kept straight on, the friendship that can occur between vehicle and other described vehicles of being broken down described in estimation It is that track changes conflict to pitch crossing traffic conflict；

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be left side turn left, Left side straight trip in it is any, or the vehicle that breaks down transport condition be turn left, the transport condition of other vehicles be Left side straight trip, left side are any in turning left, or the transport condition of the vehicle that breaks down is turns right, the row of other vehicles When sailing state for turning left, the crossroad oral sex that can occur between vehicle and other described vehicles of being broken down described in estimation The conflict in same wagon flow direction is arrived in logical conflict for different wagon flows；

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be to turning left, Or the transport condition of the vehicle that breaks down be turn left, the transport condition of other vehicles be to straight trip, to the right When turning any；Or the transport condition of the vehicle that breaks down is that lane-change, the transport condition of other vehicles are to change in the same direction During road, the intersection traffic conflict that being broken down described in estimation can occur between vehicle and other described vehicles is different cars Stream arrives at the conflict in different wagon flow directions.

After the traffic conflict that can trigger to the vehicle that breaks down is estimated, methods described also includes：

The row that the vehicle traveling information and other described vehicles according to being included in the vehicle data information are reported Sail information, calculate and described break down vehicle and the temporal information of traffic conflict can occur for other described vehicles.

With other described vehicles the temporal information of traffic conflict can occur for the vehicle that broken down described in calculating, including：

When it is determined that with other described vehicles orthogonal conflict can occur for the vehicle that breaks down, the generation event is calculated The barrier vehicle temporal information that can occur traffic conflict with other described vehicles is：

Wherein,Or

Wherein,

Or,

When it is determined that the vehicle that breaks down can be knocked into the back with other described vehicles when conflicting, calculating is described to occur event The barrier vehicle temporal information that can occur traffic conflict with other described vehicles is：

Wherein, v₂＞ v₁;

Or,

When it is determined that with other described vehicles head-on crash can occur for the vehicle that breaks down conflict when, calculate the hair The temporal information that with other described vehicles traffic conflict can occur for raw fault car is：

Wherein, the temporal information of traffic conflict, l occur for T₁Break down the vehicle commander of vehicle, w described in representing₁Represent the hair The overall width of raw fault car, l₂Represent the vehicle commander of other vehicles, w₂Represent the overall width of other vehicles, d₁Represent described The distance of the vehicle distances that break down fouling point, d₂Represent the distance of other vehicle distances fouling points, v₁Occurs event to be described Hinder the travel speed of vehicle, v₂For the travel speed of other vehicles, L is described vehicle and other described vehicles of breaking down It is separated by a distance on straight road.

To it is described break down vehicle initiation it is in the hole under other vehicles issue warning information before, institute Stating method also includes：

The time that with other described vehicles traffic conflict can occur for the vehicle that broken down according to calculating and obtain believes Breath, it is determined that it is described break down vehicle initiation it is in the hole under other vehicles danger classes, wherein, the danger Grade is established rules really, has comprised at least one kind in following rule：

Rule one, the time of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down Information is smaller, then the danger classes of other vehicles is higher；

Rule two, the time of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down Information is identical, and other vehicle ratios being in the vehicle that breaks down on same track are in not with the vehicle that breaks down Danger classes with other vehicles on track is high；

Rule three, the time of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down Information is identical, with the vehicle of the vehicle Facing Movement that breaks down than the vehicle that is travelled in the same direction with the vehicle that breaks down Danger classes is high；

Rule four, the time of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down Information is identical, is mutually approached in other vehicles of traveling with the vehicle that breaks down, the danger of other big vehicles of travel speed Dangerous higher grade.

To it is described break down vehicle initiation it is in the hole under other vehicles issue warning information, including：

The vehicle that broken down according to determination trigger it is in the hole under other vehicles danger classes, press According to the order of danger classes from high to low, sent a warning message successively to other described vehicles.

A kind of equipment being monitored to the traffic conflict that fault car triggers, including：

Receiving module, the vehicle data information for receiving vehicle transmission of breaking down, wherein, the vehicle data information Contain vehicle position information, vehicle traveling information and vehicle trouble messages；

Estimation module, for according to residing vehicle trouble messages, friendship can be induced by determining that the vehicle trouble messages belong to The vehicle trouble type of interpreter's event, and according to the vehicle position information and the vehicle traveling information, occur event to described The traffic conflict that barrier vehicle can trigger is estimated；And

Monitor alarm module, for according to estimated result, to the vehicle initiation of breaking down it is in the hole under Other vehicles issue warning information.

The estimation module, specifically for according between vehicle trouble messages and vehicle trouble messages induction traffic accident Corresponding relation, it is determined that the vehicle trouble messages included in the vehicle data information received, which belong to, can induce traffic The vehicle trouble type of accident；

The estimation module, specifically for according to the vehicle position information received, judging the generation event Barrier vehicle is on the road of traveling and is on intersection；

The estimation module, specifically for being broken down when described between vehicle and other described vehicles in a reverse direction The conflict angle approached and occur traffic conflict is met【135 °~180 °】When, estimation is described break down vehicle and it is described its The road traffic conflict technique that he can occur between vehicle conflicts to be positive；

The estimation module, specifically for being straight trip, other described vehicles when the transport condition of the vehicle that breaks down Transport condition be it is in the same direction, or the vehicle that breaks down transport condition for turn left, the transport condition of other vehicles To be in the same direction, or the transport condition of the vehicle that breaks down is to turn right, when the transport condition of other vehicles is in the same direction, is estimated The intersection traffic that can occur between vehicle and other described vehicles that broken down described in meter, which conflicts, is and wagon flow in the same direction Conflict；

The equipment also includes：

Computing module, after estimating in the traffic conflict that can trigger to the vehicle that breaks down, according to The driving information that the vehicle traveling information and other described vehicles included in the vehicle data information is reported, calculates institute The temporal information of traffic conflict can be occurred with other described vehicles by stating the vehicle that breaks down.

The computing module, specifically for when determine described in break down vehicle can occur with other described vehicles it is orthogonal During conflict, the temporal information that with other described vehicles traffic conflict can occur for the vehicle that broken down described in calculating is：

Wherein,Or

Wherein,

Or,

Wherein, v₂＞ v₁;

Or,

The equipment also includes：

Danger classes determining module, for it is described break down vehicle initiation it is in the hole under other cars Issue before warning information, with other described vehicles traffic punching can occur for the vehicle that broken down according to calculating and obtain Prominent temporal information, it is determined that it is described break down vehicle initiation it is in the hole under other vehicles danger classes, its In, the danger classes is established rules really, has comprised at least one kind in following rule：

The monitoring alarm module, specifically for the in the hole of vehicle initiation that broken down according to determination Under other vehicles danger classes, according to the order of danger classes from high to low, send alert to other described vehicles successively Information.

The present invention has the beneficial effect that：

The embodiment of the present invention receive break down vehicle transmission contain vehicle position information, vehicle traveling information and car The vehicle data information of fault message, according to residing vehicle trouble messages, determining that the vehicle trouble messages belong to can lure The vehicle trouble type of traffic accident is sent out, and according to the vehicle position information and the vehicle traveling information, to the hair The traffic conflict that raw fault car can trigger is estimated；And according to estimated result, to the vehicle initiation of breaking down Other vehicles under in the hole issue warning information, so using the vehicle position information for vehicle transmission of breaking down, Vehicle traveling information and vehicle trouble messages, estimate the traffic conflict that the vehicle that breaks down may trigger, and to generation Other vehicles in the hole that fault car triggers send a warning message, it is to avoid due to vehicle initiation of breaking down Traffic accident so that the probability of happening reduction of traffic accident, improves the security of road traffic.

Brief description of the drawings

Fig. 1 is a kind of method being monitored to the traffic conflict that fault car triggers that the embodiment of the present invention one is provided Schematic flow sheet；

Fig. 2（a）The schematic diagram of positive conflict occurs for two vehicles；

Fig. 2（b）Knock into the back the schematic diagram of conflict for two vehicles；

Fig. 2（c）The schematic diagram of conflict is crossed for two vehicles；

Fig. 2（d）The schematic diagram of fixture conflict is hit for vehicle；

Fig. 3（a）The schematic diagram conflicted for the intersection occurred with wagon flow in the same direction；

Fig. 3（b）The schematic diagram of the intersection conflict changed for track；

Fig. 3（c）The schematic diagram of the intersection conflict in same wagon flow direction is arrived at for different wagon flows；

Fig. 3（d）The schematic diagram of the intersection conflict in different wagon flow directions is arrived at for different wagon flows；

Fig. 4 is a kind of equipment being monitored to the traffic conflict that fault car triggers that the embodiment of the present invention two is provided Structural representation；

Fig. 5 is a kind of system being monitored to the traffic conflict that fault car triggers that the embodiment of the present invention three is provided Structural representation.

Embodiment

In order to realize the purpose of the present invention, the traffic conflict that fault car triggers is entered the embodiments of the invention provide a kind of The method and apparatus of row monitoring, receive vehicle transmission of breaking down contains vehicle position information, vehicle traveling information and car The vehicle data information of fault message, according to residing vehicle trouble messages, determining that the vehicle trouble messages belong to can lure The vehicle trouble type of traffic accident is sent out, and according to the vehicle position information and the vehicle traveling information, to the hair The traffic conflict that raw fault car can trigger is estimated；And according to estimated result, to the vehicle initiation of breaking down Other vehicles under in the hole issue warning information, so using the vehicle position information for vehicle transmission of breaking down, Vehicle traveling information and vehicle trouble messages, estimate the traffic conflict that the vehicle that breaks down may trigger, and to generation Other vehicles in the hole that fault car triggers send a warning message, it is to avoid due to vehicle initiation of breaking down Traffic accident so that the probability of happening reduction of traffic accident, improves the security of road traffic.

Each embodiment of the invention is described in detail with reference to Figure of description.

Embodiment one：

As shown in figure 1, being monitored for a kind of traffic conflict to fault car initiation that the embodiment of the present invention one is provided Method schematic flow sheet.Methods described can be as described below.

Step 101：Receive the vehicle data information for vehicle transmission of breaking down.

Wherein, the vehicle data information contains vehicle position information, vehicle traveling information and vehicle trouble messages.

In a step 101, the executive agent of the embodiment of the present invention can be traffic safety Warning Service device, can also be control Control equipment, is not limited here.

The vehicle data information that the vehicle that breaks down is sent can be that the car-mounted terminal installed on the vehicle that breaks down is set Standby collection, can also other equipment collection, as long as situation of remote, driving information and the position of vehicle can accurately be obtained Information, is not limited here.

Assuming that being mounted with vehicle-mounted terminal equipment on each vehicle, vehicle-mounted terminal equipment can pass through OBD slots and vehicle On OBD interfaces between connection obtain vehicle data information, wherein, in the vehicle data information of acquisition comprising vehicle trouble believe Breath and vehicle situation of remote, wherein, fault message can be the DTC of traffic safety early warning platform configuration, and situation of remote includes The positional information and vehicle traveling information of vehicle.

In order to improve the positioning precision of vehicle, and then traffic safety early warning platform is improved to the accurate of accident analysis and decision-making Property, the positional information of vehicle is determined using high-precision locating method, i.e., realizes car using the Big Dipper/GPS/ inertia combined navigation systems High accuracy positioning, and feed back the positional information of each vehicle and the geographical location information of vehicle running section.Wherein, it is high What precision was positioned implements including but not limited to：

First way：The positioning of vehicle position information is carried out using GPS.

The new navigation system that GPS (GNSS) grows up as a kind of 1970s, it is excellent Point is can to carry out global, round-the-clock and real-time navigation, and its position error is unrelated with the time, and has higher positioning and the essence that tests the speed Degree.

GPS need not outwardly launch any signal in itself, and good confidentiality, positioning time is short.But It is that GNSS carriers make CNSS receiver be difficult to catch and tracking satellite carrier signal when doing high-speed motion, often, or even produce Cycle slip phenomenon.In addition, the signal output frequency of GNSS receiver is relatively low, traffic safety application scenarios can not be met sometimes to vehicle The requirement of positioning signal renewal frequency.

The second way：Enter the positioning of row positional information using inertial navigation system.

Inertial navigation system (INS), which has, to provide a variety of more high-precision completely independently not against external information The advantage of the navigational parameter of degree, has the advantages that Anti-amyloid-β antibody, high-speed motion environment stability inferior are good.But, its system Precision depends primarily on inertial measurement component, and navigational parameter error is accumulated with the time, is not suitable with prolonged navigation.This is also The major defect of inertial navigation system.In addition, for general inertial navigation system, the time needed for heating and initial alignment is long, this It is difficult often to meet to require for fast reaction under remote, high-precision navigation and other specified conditions etc..

The third mode：The positioning of vehicle position information is carried out using GPS and inertial navigation system.

CNSS and INS are combined and constitute a navigation system, overall positioning precision and the positioning of system is not only improved Performance, and make INS that there is the ability being aligned again in operation.

Meanwhile, CNSS receivers will be substantially improved under the auxiliary of INS position and velocity information, also capture, tracking and again The ability of capture, and in the case where satellite distribution condition or visible star are few, be unlikely to have a strong impact on positioning precision.Thus may be used See, GNSS/INS integrated navigations have advantages below：

First, GNSS/INS combination can obtain smooth, high data sampling rate, high-precision positioning result.Dynamic GNSS Pseudorange and carrier phase can provide high-precision observation information, and INS can provide high data sampling rate.

Second, INS assisted GNSS reduce search space, carry out real-time dynamic ambiguity resolving, improve ambiguity resolution Success rate.

3rd, improve the reliability of each navigation system.Because CNSS and INS can provide position and the speed of carrier Degree, then the two systems just can be detected mutually, improve the reliability of whole system.Once exception occurs for some system, It can just take measures to be remedied.I.e. when cycle slip phenomenon occurs for GNSS, cycle-slip detection and repair is carried out using INS.

In addition, vehicle-mounted terminal equipment is also equipped with active alarming function, when it is determined that vehicle breaks down, by triggering accident Button or touch-screen, or voice device are reported, vehicle data information is sent to traffic safety early warning and put down when vehicle is broken down Platform.

Vehicle-mounted terminal equipment is also equipped with communication function, can not only be communicated with traffic safety early warning platform, on the one hand The data message of vehicle is sent to traffic safety early warning platform, the warning that traffic safety early warning platform is sent on the other hand is received Information and control instruction；But also the warning message that can send the traffic safety early warning platform received passes through voice mode Play out or photoelectricity or image prompting other vehicles in the hole carried out by front windshield or liquid crystal display, Or directly execution control command is controlled with the transport condition to the vehicle that breaks down.

Step 102：According to residing vehicle trouble messages, traffic accident can be induced by determining that the vehicle trouble messages belong to Vehicle trouble type.

In a step 102, traffic safety early warning platform passes through the association section that history occurs and vehicle data information Study, it is determined that easily inducing the vehicle trouble type and the corresponding danger classes information of vehicle trouble type of traffic accident.

As shown in table 1, to be traffic safety early warning platform pass through the vehicle trouble type that learns to obtain, fault message（That is event Hinder code）And the structure list of preventive maintenance.

Vehicle trouble danger classes	Fault type	OBD failure codes
			1	Wheel steering system failure	1000
2	Motor vehicle braking system failure	1001
			3	Vehicle operating hardover failure	1010
……	……	……

Table 1

The corresponding relation between traffic accident is induced according to vehicle trouble messages and vehicle trouble messages, it is determined that receive The vehicle trouble messages included in the vehicle data information, which belong to, can induce the vehicle trouble type of traffic accident.

When inducing the corresponding relation between traffic accident according to vehicle trouble messages and vehicle trouble messages, it is determined that receiving The vehicle data information in the vehicle trouble messages that include when belonging to a variety of vehicle trouble types, will be according in table 1 Vehicle trouble danger classes, it is determined that the vehicle trouble messages included in the vehicle data information received are corresponding Vehicle trouble danger classes, and using the corresponding vehicle trouble type of highest ranking in the vehicle trouble danger classes of determination as connecing The vehicle trouble type that the vehicle trouble messages included in the vehicle data information received belong to.

Step 103：, can to the vehicle that breaks down according to the vehicle position information and the vehicle traveling information The traffic conflict of initiation is estimated.

In step 103, so-called traffic conflict refers to two or more road users in regular hour and space It is upper it is closer to each other to a certain extent, if not changing its motion state now, just there is the danger collided.

Traffic conflict can be divided into road traffic conflict technique and intersection traffic conflict according to the difference of scene.

Wherein, positive conflict, conflict of knocking into the back are contained in the road traffic conflict technique, conflict is crossed and hits fixture conflict At least one of.

Such as Fig. 2（a）It is shown, it is the schematic diagram that positive conflict occurs for two vehicles.

From Fig. 2（a）In as can be seen that two vehicles for occurring positive conflict are met：The angle that conflicts is met【135 °~ 180°】When traffic conflict be considered as positive conflict.It is mainly shown as：Will occur two vehicles of positive conflict with opposite side To mutually approaching, collision is clashed between the headstock of vehicle and the headstock of another vehicle.

Such as Fig. 2（b）It is shown, it is that two vehicles knock into the back the schematic diagram of conflict.

From Fig. 2（b）In as can be seen that knock into the back conflict two vehicles satisfaction：The angle that conflicts is met【0 °~45 °】When Traffic conflict be considered as conflict of knocking into the back.It is mainly shown as：Will knock into the back conflict two vehicles it is mutual in the same direction Approach, collision is clashed between the headstock of vehicle and the tailstock of another vehicle.

Such as Fig. 2（c）It is shown, it is the schematic diagram that two vehicles cross conflict.

From Fig. 2（c）In as can be seen that cross conflict two vehicles satisfaction：The angle that conflicts is met【45 °~135 °】 When traffic conflict be considered as and cross conflict.It is mainly shown as：Two vehicles of conflict will be crossed with direction phase staggeredly Mutually approach, collision is clashed between the headstock of vehicle and the middle part of another vehicle.

Such as Fig. 2（d）It is shown, it is the schematic diagram that vehicle hits fixture conflict.

From Fig. 2（d）In as can be seen that occur vehicle hit fixture conflict satisfaction：The angle that conflicts is met【0 °~90 °】When Traffic conflict is considered as generation vehicle and hits fixture conflict.It is mainly shown as：The vehicle of fixture conflict will be hit in traveling During approach the fixation construct on road, clash collision between the headstock and fixation construct of vehicle.

The intersection traffic conflict contains conflict from wagon flow in the same direction, the conflicting of track change, different wagon flows are supported At least one of the conflict in different wagon flow directions is arrived in conflict and different wagon flows up to same wagon flow direction.

Such as Fig. 3（a）It is shown, it is the schematic diagram that the intersection occurred with wagon flow in the same direction conflicts.

From Fig. 3（a）In as can be seen that belonging to the intersection conflict occurred with the vehicle turned left, in addition with car in the same direction The intersection that the intersection conflict that stream occurs further comprises straight trip with wagon flow in the same direction occurs conflicts, turns right and sent out with wagon flow in the same direction Raw intersection conflict.

Such as Fig. 3（b）It is shown, it is the schematic diagram of the intersection conflict of track change.

From Fig. 3（b）In as can be seen that belong to straight trip with right side turn left intersection conflict, in addition track change friendship The cross road mouthful conflict further comprises straight trip and conflicts with the intersection that right side is kept straight on, keep straight on conflict with the intersection of right side right-hand rotation, Turning left, the intersection kept straight on right side conflicts, the intersection turned left with right side of turning left conflicts, the friendship kept straight on left side of turning right The cross road mouthful conflict.

Such as Fig. 3（c）It is shown, it is the schematic diagram for the intersection conflict that different wagon flows arrive at same wagon flow direction.

From Fig. 3（c）In as can be seen that belong to left-hand rotation conflict with to right-handed intersection, now difference wagon flows arrive at The intersection that the intersection conflict in same wagon flow direction further comprises straight trip with left side is turned left conflicts, keeps straight on and kept straight on left side Intersection conflict, the intersection turned left with left side of turning left conflicts, turning left conflicts, turns right with the intersection of left side straight trip Conflict with to the intersection turned left.

Such as Fig. 3（d）It is shown, it is the schematic diagram for the intersection conflict that different wagon flows arrive at different wagon flow directions.

From Fig. 3（d）In as can be seen that belong to straight trip conflict with to the intersection turned left, now difference wagon flows arrive at The conflict in different wagon flow directions further comprises left-hand rotation with to conflicting to the intersection of straight trip, turning left and to right-handed crossroad Mouth conflict, the intersection conflict of changing Lane in the same direction.

Specifically, can to the vehicle that breaks down according to the vehicle position information and the vehicle traveling information The traffic conflict of initiation estimated, including：

First, according to the vehicle position information received, the vehicle that broken down described in judgement is in traveling It is on road on intersection.

Secondly, when the vehicle that breaks down is on the road of traveling, believed according to the vehicle location received Breath and the vehicle traveling information and the vehicle initiation of breaking down it is in the hole under other vehicles report Positional information and running condition information, break down the section that can occur between vehicle and other described vehicles described in estimation Traffic conflict.

Specifically, when described break down is approached and handed in a reverse direction between vehicle and other described vehicles The conflict angle of logical conflict is met【135 °~180 °】When, break down can between vehicle and other described vehicles described in estimation The road traffic conflict technique of generation conflicts to be positive；

Finally, when the vehicle that breaks down is on intersection, according to the vehicle position information received With the vehicle traveling information and the vehicle initiation of breaking down it is in the hole under the position that reports of other vehicles Confidence ceases and running condition information, and break down the crossroad that can occur between vehicle and other described vehicles described in estimation Mouth traffic conflict.

Specifically, when the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be same To, either the transport condition of the vehicle that breaks down be turn left, the transport condition of other vehicles be in the same direction or described Break down vehicle transport condition be turn right, the transport condition of other vehicles is when being in the same direction, broken down described in estimation The intersection traffic that can occur between vehicle and other described vehicles conflicts with conflicting with wagon flow in the same direction；

When analyzing traffic conflict, the index of analysis contains range index and time index.

Wherein, range index refers to the distance that conflicts, that is, there is the space length between the vehicle clashed, and conflict both sides Between space length it is smaller, collide the possibility caused danger bigger.

Wherein, time index is to approach the actual speed of fouling point and the time vector of distance to thing according to road user Therefore the projection of point.Main discriminant criterion be the traffic conflict time, the traffic conflict time for considering acceleration, traffic conflict speed, The parameters such as time headway.

In another embodiment of the present invention, the traffic conflict that the vehicle that breaks down can trigger is estimated Afterwards, methods described also includes：

Specifically, with other described vehicles the temporal information of traffic conflict can occur for the vehicle that broken down described in calculating, Including：

Wherein,Or

Wherein,

Or,

Wherein, v₂＞ v₁;

Or,

Step 104：According to estimated result, to the vehicle initiation of breaking down it is in the hole under other vehicles Issue warning information.

At step 104, estimate for the traffic conflict that the vehicle that breaks down can trigger, while according to generation event Hinder the relation between the positional information and road network geographical location information of vehicle, determine that the section residing for point occurs for failure, and pass through Network topology structure, determine the section one-level, two grades ..., N grades of upstreams section, and the section one-level, two Level ..., N grades of downstream road sections.

The positional information of the positional information of each vehicle obtained in traffic safety early warning platform and section is compared It is right, determine the information of vehicles on the section and upstream section, downstream road section.

And the aggrieved danger classes that the vehicle determined is influenceed by fault car is judged.

Specifically, to it is described break down vehicle initiation it is in the hole under other vehicles issue warning information Before, methods described also includes：

It should be noted that established rules really using above-mentioned danger classes, the place for vehicle initiation of being broken down described in determination When the danger classes of other vehicles under precarious position, once occur using rule conflict, at this point it is possible to be according to configuration The priority orders that danger classes is established rules then really, the higher rule of the use priority determines the danger classes of other vehicles, For example：Danger classes is established rules really, priority orders be：The priority of rule one is higher than the priority of rule two, rule two Priority higher than rule three priority, rule three priority higher than rule four priority.

By the scheme of the embodiment of the present invention one, receive vehicle transmission of breaking down contains vehicle position information, car The vehicle data information of driving information and vehicle trouble messages, according to residing vehicle trouble messages, determines the vehicle trouble Information, which belongs to, can induce the vehicle trouble type of traffic accident, and be travelled according to the vehicle position information and the vehicle Information, estimates the traffic conflict that the vehicle that breaks down can trigger；And according to estimated result, occur event to described Other lower vehicles in the hole that barrier vehicle triggers issue warning information, and so utilization is broken down the car that vehicle is sent Positional information, vehicle traveling information and vehicle trouble messages, estimate to the traffic conflict that the vehicle that breaks down may trigger Meter, and being sent a warning message to other vehicles in the hole for vehicle initiation of breaking down, it is to avoid due to occurring therefore Hinder the traffic accident that vehicle triggers so that the probability of happening reduction of traffic accident, improve the security of road traffic.

Embodiment two：

As shown in figure 4, being monitored for a kind of traffic conflict to fault car initiation that the embodiment of the present invention two is provided Equipment structural representation, the embodiment of the present invention two is the invention under same inventive concept, institute with the embodiment of the present invention one Stating equipment includes：Receiving module 11, estimation module 12 and monitoring alarm module 13, wherein：

Receiving module 11, for receive break down vehicle transmission vehicle data information, wherein, the vehicle number it is believed that Breath contains vehicle position information, vehicle traveling information and vehicle trouble messages；

Estimation module 12, for according to residing vehicle trouble messages, determining that the vehicle trouble messages belong to can to induce The vehicle trouble type of traffic accident, and according to the vehicle position information and the vehicle traveling information, occur to described The traffic conflict that fault car can trigger is estimated；And

Alarm module 13 is monitored, for according to estimated result, to the in the hole of vehicle initiation that break down Under other vehicles issue warning information.

Specifically, the estimation module 12, specifically for inducing traffic according to vehicle trouble messages and vehicle trouble messages Corresponding relation between accident, it is determined that the vehicle trouble messages included in the vehicle data information received belong to energy Enough induce the vehicle trouble type of traffic accident；

The estimation module 12, specifically for according to the vehicle position information received, judging the generation Fault car is on the road of traveling and is on intersection；

The estimation module 12, specifically for being broken down when described between vehicle and other described vehicles with opposite side Met to the conflict angle approached and occur traffic conflict【135 °~180 °】When, estimation described in break down vehicle with it is described The road traffic conflict technique that can occur between other vehicles conflicts to be positive；

The estimation module 12, specifically for being straight trip, other described cars when the transport condition of the vehicle that breaks down Transport condition be it is in the same direction, or the vehicle that breaks down transport condition for turn left, the traveling shape of other vehicles State be it is in the same direction, or the vehicle that breaks down transport condition be turn right, the transport condition of other vehicles is when being in the same direction, The intersection traffic that can occur between vehicle and other described vehicles that broken down described in estimation, which conflicts, is and wagon flow in the same direction Conflict；

In another embodiment of the present invention, the equipment also includes：Computing module 14, wherein：

Computing module 14, after estimating in the traffic conflict that can trigger to the vehicle that breaks down, root The driving information reported according to the vehicle traveling information and other described vehicles that are included in the vehicle data information, is calculated With other described vehicles the temporal information of traffic conflict can occur for the vehicle that breaks down.

The computing module 14, specifically for that can occur just with other described vehicles when the vehicle that broken down described in determination When handing over conflict, the temporal information that with other described vehicles traffic conflict can occur for the vehicle that broken down described in calculating is：

Wherein,Or

Wherein,

Or,

Wherein, v₂＞ v₁;

Or,

The equipment also includes：Danger classes determining module 15, wherein：

Danger classes determining module 15, for it is described break down vehicle initiation it is in the hole under other Vehicle is issued before warning information, and with other described vehicles traffic can occur for the vehicle that broken down according to calculating and obtain The temporal information of conflict, it is determined that it is described break down vehicle initiation it is in the hole under other vehicles danger classes, Wherein, the danger classes is established rules really, has comprised at least one kind in following rule：

The monitoring alarm module 13, specifically for vehicle initiation of being broken down according to determination in dangerous shape The danger classes of other vehicles under state, according to the order of danger classes from high to low, sends to other described vehicles accuse successively Alert information.

Embodiment three：

As shown in figure 5, being monitored for a kind of traffic conflict to fault car initiation that the embodiment of the present invention three is provided System structural representation.The embodiment of the present invention three is in same invention with the embodiment of the present invention one to the embodiment of the present invention two Design is lower to invent, and the system includes：311~31N of vehicle-mounted terminal equipment and traffic safety Warning Service device 32, wherein：

311~31N of vehicle-mounted terminal equipment, sends for detecting vehicle data information, and by the vehicle data information of acquisition To traffic safety Warning Service device 32.

Traffic safety Warning Service device 32, the vehicle data information for receiving vehicle transmission of breaking down, wherein, it is described Vehicle data information contains vehicle position information, vehicle traveling information and vehicle trouble messages；Believed according to residing vehicle trouble Breath, the vehicle trouble type of traffic accident can be induced by determining that the vehicle trouble messages belong to, and according to vehicle position Confidence ceases and the vehicle traveling information, and the traffic conflict that the vehicle that breaks down can trigger is estimated；And according to Estimated result, to it is described break down vehicle initiation it is in the hole under other vehicles issue warning information.

Specifically, the traffic safety Warning Service device 32, specifically for being believed according to vehicle trouble messages and vehicle trouble Breath induces the corresponding relation between traffic accident, it is determined that the vehicle trouble included in the vehicle data information received Information, which belongs to, can induce the vehicle trouble type of traffic accident；

The traffic safety Warning Service device 32, specifically for according to the vehicle position information received, sentencing The disconnected vehicle that breaks down, which is on the road of traveling, to be on intersection；

The traffic safety Warning Service device 32, specifically for being broken down when described between vehicle and other described vehicles The conflict angle approached in a reverse direction and occur traffic conflict is met【135 °~180 °】When, estimation described in break down The road traffic conflict technique that can occur between vehicle and other described vehicles conflicts for forward direction；

The traffic safety Warning Service device 32 specifically for the transport condition when the vehicle that break down is straight trip, The transport condition of other vehicles is in the same direction, or the transport condition of the vehicle that breaks down is turns left, other described cars Transport condition be it is in the same direction, or the vehicle that breaks down transport condition for turn right, the traveling shape of other vehicles When state is in the same direction, the intersection traffic that can occur between vehicle and other described vehicles that broken down described in estimation, which conflicts, is With conflicting for wagon flow in the same direction；

The traffic safety Warning Service device 32, is additionally operable in the traffic conflict that can trigger to the vehicle that breaks down After being estimated, reported according to the vehicle traveling information and other described vehicles that are included in the vehicle data information Driving information, calculate and described break down vehicle and the temporal information of traffic conflict can occur for other described vehicles.

The traffic safety Warning Service device 32, specifically for when vehicle and other the described vehicles of being broken down described in determination When can occur orthogonal conflict, the time that with other described vehicles traffic conflict can occur for the vehicle that broken down described in calculating believes Cease and be：

Wherein,Or

Wherein,

Or,

Wherein, v₂＞ v₁;

Or,

The traffic safety Warning Service device 32, for it is described break down vehicle initiation it is in the hole under Other vehicles issue warning information before, the vehicle that broken down according to calculating and obtain can be sent out with other described vehicles The temporal information of raw traffic conflict, it is determined that the vehicle initiation of breaking down it is in the hole under other vehicles danger Grade, wherein, the danger classes is established rules really, has comprised at least one kind in following rule：

The traffic safety Warning Service device 32, specifically for being in for vehicle initiation of being broken down according to determination The danger classes of other vehicles under precarious position, according to the order of danger classes from high to low, successively to other described vehicles Send a warning message.

It will be understood by those skilled in the art that embodiments of the invention can be provided as method, device（Equipment）Or computer Program product.Therefore, in terms of the present invention can be using complete hardware embodiment, complete software embodiment or combination software and hardware Embodiment form.Moreover, the present invention can be used in one or more meters for wherein including computer usable program code Calculation machine usable storage medium（Including but not limited to magnetic disk storage, CD-ROM, optical memory etc.）The computer journey of upper implementation The form of sequence product.

The present invention is with reference to method according to embodiments of the present invention, device（Equipment）With the flow chart of computer program product And/or block diagram is described.It should be understood that can be by each flow in computer program instructions implementation process figure and/or block diagram And/or square frame and the flow in flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided to refer to The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is made to produce One machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for realizing The device for the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames.

These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or The function of being specified in multiple square frames.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in individual square frame or multiple square frames.

, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent Select embodiment and fall into having altered and changing for the scope of the invention.

Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising including these changes and modification.

Claims

1. a kind of method being monitored to the traffic conflict that fault car triggers, it is characterised in that including：

The vehicle data information for vehicle transmission of breaking down is received, wherein, the vehicle data information contains vehicle location letter Breath, vehicle traveling information and vehicle trouble messages；

According to the vehicle trouble messages, the vehicle trouble class of traffic accident can be induced by determining that the vehicle trouble messages belong to Type, and according to the vehicle position information and the vehicle traveling information, the friendship that can trigger to the vehicle that breaks down Lead to conflict to be estimated, including：According to the vehicle position information received, the vehicle that broken down described in judgement is in traveling Road on be on intersection；When the vehicle that breaks down is on the road of traveling, according to what is received The vehicle position information and the vehicle traveling information and it is described break down vehicle initiation it is in the hole under Positional information and running condition information that other vehicles are reported, estimation described in break down between vehicle and other described vehicles The road traffic conflict technique that can occur；When the vehicle that breaks down is on intersection, according to the car received Positional information and the vehicle traveling information and the vehicle initiation of breaking down it is in the hole under other cars The positional information reported and running condition information, breaking down described in estimation can send out between vehicle and other described vehicles Raw intersection traffic conflict；And

According to estimated result, issue alarm to other lower vehicles in the hole of the vehicle initiation of breaking down and believe Breath.

2. the method as described in claim 1, it is characterised in that according to the vehicle trouble messages, determines the vehicle trouble Information, which belongs to, can induce the vehicle trouble type of traffic accident, including：

The corresponding relation between traffic accident is induced according to vehicle trouble messages and vehicle trouble messages, it is determined that what is received is described The vehicle trouble messages included in vehicle data information, which belong to, can induce the vehicle trouble type of traffic accident；

Wherein, the vehicle trouble type that can induce traffic accident contains wheel steering system failure, vehicle braking system System failure, vehicle operating hardover failure.

3. the method as described in claim 1, it is characterised in that the road traffic conflict technique contains positive conflict, punching of knocking into the back Dash forward, cross conflict and hit at least one of fixture conflict；

Break down the road traffic conflict technique that can occur between vehicle and other described vehicles described in the estimation, including：

When conflicting for traffic conflict is approached and occurred to described break down in a reverse direction between vehicle and other described vehicles When angle meets 135 °~180 °, break down the road section traffic volume that can occur between vehicle and other described vehicles described in estimation Conflict for forward direction conflict；

When conflicting for traffic conflict is approached and occurred to described break down in the same direction between vehicle and other described vehicles When angle meets 0 °~45 °, the road section traffic volume punching that can occur between vehicle and other described vehicles of being broken down described in estimation Dash forward as conflict of knocking into the back；

Break down between vehicle and other described vehicles with direction approximation staggeredly when described and occur traffic conflict and conflict When angle meets 45 °~135 °, break down the road section traffic volume that can occur between vehicle and other described vehicles described in estimation Conflict with crossing conflict；

The fixation construct approached in the process of moving on road when the vehicle that breaks down and occurs the conflict of traffic conflict When angle meets 0 °~90 °, the road traffic conflict technique that the vehicle that broken down described in estimation can occur is to hit fixture conflict.

4. the method as described in claim 1, it is characterised in that the intersection traffic conflict is contained and wagon flow in the same direction Conflict, the conflicting of track change, different wagon flow arrives at the conflict in same wagon flow direction and different wagon flows arrive at different wagon flow sides To at least one of conflict；

The intersection traffic that being broken down described in the estimation can occur between vehicle and other described vehicles conflicts, bag Include：

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be in the same direction, or described Break down vehicle transport condition be turn left, the transport condition of other vehicles is in the same direction, or the car that breaks down Transport condition be turn right, the transport condition of other vehicles is when being in the same direction, broken down described in estimation vehicle with it is described The intersection traffic conflict that can occur between other vehicles is to conflict with wagon flow in the same direction；

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be right side turn left, right side Straight trip, right side are any in turning right, or the transport condition of the vehicle that breaks down is turns left, the traveling shape of other vehicles State is any in turning left for right side straight trip, right side, or the transport condition of the vehicle that breaks down is turns right, other described vehicles Transport condition when being kept straight on for left side, broken down the crossroad that can occur between vehicle and other described vehicles described in estimation Mouth traffic conflict is that track changes conflict；

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be left side turn left, left side It is any in straight trip, or the vehicle that breaks down transport condition be turn left, the transport condition of other vehicles be left side Straight trip, left side are any in turning left, or the transport condition of the vehicle that breaks down is turns right, the traveling shape of other vehicles When state is to turning left, the intersection traffic punching that can occur between vehicle and other described vehicles of being broken down described in estimation Dash forward and the conflict in same wagon flow direction is arrived at for different wagon flows；

When the transport condition of the vehicle that breaks down be straight trip, other vehicles transport condition be to turning left, or The transport condition of the vehicle that breaks down be turn left, the transport condition of other vehicles be to straight trip, to turn right appoint For the moment；Or the transport condition of the vehicle that breaks down is when being that lane-change, the transport condition of other vehicles are lane-change in the same direction, The intersection traffic conflict that being broken down described in estimation can occur between vehicle and other described vehicles is supported for different wagon flows Up to the conflict in different wagon flow directions.

5. the method as described in claim 3 or 4, it is characterised in that in the traffic that can trigger to the vehicle that breaks down After conflict is estimated, methods described also includes：

The traveling letter that the vehicle traveling information and other described vehicles according to being included in the vehicle data information are reported Cease, with other described vehicles the temporal information of traffic conflict can occur for the vehicle that broken down described in calculating.

6. method as claimed in claim 5, it is characterised in that the vehicle that broken down described in calculating can with other described vehicles Occur the temporal information of traffic conflict, including：

When it is determined that with other described vehicles orthogonal conflict can occur for the vehicle that breaks down, break down car described in calculating The temporal information that can occur traffic conflict with other described vehicles is：

Wherein,Or

Wherein,

Or,

When it is determined that the vehicle that breaks down can be knocked into the back with other described vehicles when conflicting, break down car described in calculating The temporal information that can occur traffic conflict with other described vehicles is：

Wherein, v₂＞ v₁；

Or,

When it is determined that with other described vehicles head-on crash can occur for the vehicle that breaks down conflict when, calculate it is described occur therefore The barrier vehicle temporal information that can occur traffic conflict with other described vehicles is：

Wherein, the temporal information of traffic conflict, l occur for T₁Break down the vehicle commander of vehicle, w described in representing₁Represent described and occur event Hinder the overall width of vehicle, l₂Represent the vehicle commander of other vehicles, w₂Represent the overall width of other vehicles, d₁Represent described to occur Fault car is apart from the distance of fouling point, d₂Represent the distance of other vehicle distances fouling points, v₁For the car that breaks down Travel speed, v₂For the travel speed of other vehicles, L is for the vehicle that breaks down with other described vehicles straight It is separated by a distance on the road of trade.

7. method as claimed in claim 6, it is characterised in that to the in the hole of vehicle initiation that break down Under other vehicles issue warning information before, methods described also includes：

With other described vehicles the temporal information of traffic conflict can occur for the vehicle that broken down according to calculating and obtain, really The vehicle initiation of breaking down it is in the hole under other vehicles danger classes, wherein, the danger classes Really establish rules, comprised at least one kind in following rule：

Rule one, the temporal information of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down It is smaller, then the danger classes of other vehicles is higher；

Rule two, the temporal information of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down Identical, other vehicle ratios and the vehicle that breaks down being in from the vehicle that breaks down on same track are in different cars The danger classes of other vehicles on road is high；

Rule three, the temporal information of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down Identical, the vehicle with the vehicle Facing Movement that breaks down is than the danger of the vehicle travelled in the same direction with the vehicle that breaks down Grade is high；

Rule four, the temporal information of traffic conflict can be occurred with other described vehicles by calculating the obtained vehicle that breaks down It is identical, mutually approached in other vehicles of traveling with the vehicle that breaks down, big danger of other vehicles of travel speed etc. Level is higher.

8. method as claimed in claim 7, it is characterised in that to the vehicle initiation of breaking down it is in the hole under Other vehicles issue warning information, including：

The vehicle that broken down according to determination trigger it is in the hole under other vehicles danger classes, according to danger The order of dangerous grade from high to low, sends a warning message to other described vehicles successively.

9. a kind of equipment being monitored to the traffic conflict that fault car triggers, it is characterised in that including：

Receiving module, the vehicle data information for receiving vehicle transmission of breaking down, wherein, the vehicle data packet contains Vehicle position information, vehicle traveling information and vehicle trouble messages；

Estimation module, traffic thing can be induced for according to the vehicle trouble messages, determining that the vehicle trouble messages belong to Therefore vehicle trouble type, and according to the vehicle position information and the vehicle traveling information, to the car that breaks down The traffic conflict that can trigger is estimated；The estimation module, specifically for being believed according to the vehicle location received Cease, the vehicle that broken down described in judgement is on the road of traveling and is on intersection；When the vehicle that breaks down When on the road in traveling, according to the vehicle position information and the vehicle traveling information that receive and the generation Positional information and running condition information that other lower vehicles in the hole that fault car triggers are reported, described in estimation Break down the road traffic conflict technique that can occur between vehicle and other described vehicles；When the vehicle that breaks down is in friendship When on the cross road mouthful, according to the vehicle position information and the vehicle traveling information and the vehicle that breaks down received Positional information and running condition information that other the lower vehicles in the hole triggered are reported, estimate described in break down The intersection traffic that can occur between vehicle and other described vehicles conflicts；

Monitor alarm module, for according to estimated result, to the vehicle initiation of breaking down it is in the hole under its He issues warning information by vehicle.

10. equipment as claimed in claim 9, it is characterised in that

The estimation module, specifically for according to corresponding between vehicle trouble messages and vehicle trouble messages induction traffic accident Relation, it is determined that the vehicle trouble messages included in the vehicle data information received, which belong to, can induce traffic accident Vehicle trouble type；

11. equipment as claimed in claim 9, it is characterised in that the road traffic conflict technique contains positive conflict, punching of knocking into the back Dash forward, cross conflict and hit at least one of fixture conflict；

The estimation module, specifically for being forced in a reverse direction between vehicle and other described vehicles when described break down Closely and when occurring the conflict angle of traffic conflict and meeting 135 °~180 °, described vehicle and other described cars of breaking down of estimation The road traffic conflict technique that can occur between conflicts to be positive；

12. equipment as claimed in claim 11, it is characterised in that the intersection traffic conflict is contained and wagon flow in the same direction Conflict, the conflicting of track change, different wagon flow arrives at the conflict in same wagon flow direction and different wagon flows arrive at different wagon flows At least one of the conflict in direction；

The estimation module, is straight trip, the row of other vehicles specifically for working as the transport condition of the vehicle that breaks down The state of sailing be it is in the same direction, or the vehicle that breaks down transport condition be turn left, the transport condition of other vehicles be same To, or the vehicle that breaks down transport condition be turn right, the transport condition of other vehicles is when being in the same direction, estimates institute The intersection traffic that can occur between vehicle and other described vehicles that breaks down is stated to conflict with conflicting with wagon flow in the same direction；

13. the equipment as described in claim 11 or 12, it is characterised in that the equipment also includes：

Computing module, after estimating in the traffic conflict that can trigger to the vehicle that breaks down, according to described The driving information that the vehicle traveling information and other described vehicles included in vehicle data information is reported, calculates the hair With other described vehicles the temporal information of traffic conflict can occur for raw fault car.

14. equipment as claimed in claim 13, it is characterised in that

The computing module, specifically for that can occur orthogonal conflict with other described vehicles when the vehicle that broken down described in determination When, calculate described in the temporal information that with other described vehicles traffic conflict can occur for vehicle that breaks down be：

Wherein,Or

Wherein,

Or,

Wherein, v₂＞ v₁；

Or,

15. equipment as claimed in claim 14, it is characterised in that the equipment also includes：

Danger classes determining module, for it is described break down vehicle initiation it is in the hole under other vehicles under Send out before warning information, with other described vehicles traffic conflict can occur for the vehicle that broken down according to calculating and obtain Temporal information, it is determined that it is described break down vehicle initiation it is in the hole under other vehicles danger classes, wherein, institute State danger classes to establish rules really, comprise at least one kind in following rule：

16. equipment as claimed in claim 15, it is characterised in that

The monitoring alarm module, specifically for broken down according to determination vehicle initiation it is in the hole under The danger classes of other vehicles, according to the order of danger classes from high to low, sends a warning message to other described vehicles successively.