CN104900089A - Lane-changing early warning device based on vehicle-vehicle coordination - Google Patents
Lane-changing early warning device based on vehicle-vehicle coordination Download PDFInfo
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Abstract
The invention relates to a lane-changing early warning device based on vehicle-vehicle coordination as well as a vehicle-vehicle coordination lane-changing early warning method based on the device. The device comprises an information acquisition unit, an information communication unit, an information processing unit and an early warning output unit. According to the device and the method, the collision between two vehicles on the same lane in the same driving direction is predicted by virtue of the vehicle-vehicle communication, so that an initiative safety early warning is realized, errors in report of a visual sensor caused by factors such as light, environment and the like as well as the non-vehicle barriers such as laser sensor or radar sensor can be avoided, the initiative safety performance of the vehicle can be improved, the early warning information can be transmitted to more vehicles by means of vehicle-vehicle communication, and the initiative safety range of the vehicle can be enlarged.
Description
Technical field
The present invention relates to a kind of lane change prior-warning device based on collaborative truck and the collaborative truck lane change method for early warning based on this device.
Background technology
China is national road fatalities official statistics in recent years: calendar year 2001 10.6 ten thousand, 2002 10.9 ten thousand, 2003 10.4 ten thousand, 2004 9.4 ten thousand, 2005 9.8 ten thousand, 2006 8.9 ten thousand, 2008 7.3 ten thousand.2009, China's automobile guarantee-quantity accounted for 3 percent of world car recoverable amount, but 1 16 of the toll on traffic Que Zhan world, numeral is startling.By showing the analysis of traffic hazard, the traffic accident of more than 80% caused because driver does not react in time, bump against between the vehicle more than 65% and belong to rear-end impact, from the reason that traffic hazard of knocking into the back occurs, quite a few rear-end collision is had all to be caused by driver's lane change, if can remind driver in time before the traffic hazard produced due to lane change occurs, the traffic hazard that a lot of lane change produces then can be avoided.
For solving the problem that knocks into the back because lane change causes, many lane changes assist prior-warning device to be devised, they mostly rely on various sensor (as laser range finder, millimetre-wave radar, machine vision etc.) directly to obtain the spacing of two cars before and after in the same travel direction in different track, recycle horizontal safe distance between vehicles model and judge whether to report to the police.Such as, but involve great expense due to adopted range sensor or in performance, existing defects can not well adapt to all kinds of road environment, the lane change of view-based access control model assists prior-warning device to there is awkward shortcoming under the severe weather conditions such as heavy rain dense fog; The problems such as the wrong report when lane change based on laser or radar assists prior-warning device to there is non-vehicle barrier.Be only limitted to another car on different track because of detection dangerous information simultaneously, dangerous information can produce time delay and add up in wagon flow during back-propagation, the operating delay of front vehicles directly jeopardizes vehicle safety below, therefore such lane change early warning system avoid the chain of rings knock into the back on act on less.
In order to solve the problem, the invention provides a kind of lane change based on collaborative truck and assisting prior-warning device.
Summary of the invention
Object of the present invention provides a kind of lane change prior-warning device based on collaborative truck and the lane change method for early warning based on this device.Different track is calculated and same travel direction is got on the bus and car prediction of collision by truck traffic, and then reach active safety early warning, effectively prevent the wrong report problem during non-vehicle barrier of vision sensor by the impact of the factor such as illumination, environment and laser or radar sensor, and early warning information can be passed to more vehicles by truck traffic, improve vehicle active safety energy, expand vehicle active safety scope.For achieving the above object, the present invention by the following technical solutions:
Based on a lane change prior-warning device for collaborative truck, comprising: information acquisition unit, information communication unit, information process unit, early warning output unit.
Described information acquisition unit comprises: from the real-time absolute position of car, the real-time absolute position of adjacent car and from the real-time status information of car, being obtain by gathering Beidou navigation satellite system from car absolute location information, having vehicle longitude, latitude, speed, direction, positioning time etc.; The real-time absolute location information of described adjacent car is obtained by the wireless communication module based on DSRC; Described is obtained by vehicle-mounted can module Real-time Collection from car status information, has the information such as the speed of a motor vehicle of vehicle, temperature, wheel speed.
Described information communication unit sends the absolute location information from car to Adjacent vehicles by the wireless communication module based on DSRC, simultaneously also by receiving the information of Adjacent vehicles based on the wireless communication module of DSRC.
Described information process unit be according to from truck position, adjacent truck position and from car status information, car and car collision safety rank when utilizing lane change warning algorithm to calculate lane change, and process vehicle mounted guidance information simultaneously.
The level of security that when described early warning output unit is the lane change utilizing information process unit to obtain, car and car collide judges the harmful grade when whether car is dangerous and dangerous, if dangerous, then produce anti-collision warning, comprise sound and animation prompting, produce different sound and animation early warning according to different harmful grades.
By above technical scheme, the present invention has following beneficial effect:
1. really utilize the lane change early warning technology of collaborative truck, avoid the wrong report problem during non-vehicle barrier of vision sensor by the impact of the factor such as illumination, environment and the sensor such as laser or radar, improve vehicle active safety energy
2. utilize the communication technology of collaborative truck, early warning information is passed to more vehicles, expand vehicle active safety scope.
Accompanying drawing explanation
Fig. 1 is the lane change prior-warning device structured flowchart based on collaborative truck based on collaborative truck described in the embodiment of the present invention.
Fig. 2 is the lane change prior-warning device process flow diagram based on collaborative truck described in the embodiment of the present invention.
Fig. 3 is the lane change warning algorithm process flow diagram based on collaborative truck described in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Composition graphs 1 can be found out, the lane change prior-warning device based on collaborative truck of the present invention comprises information acquisition unit, information communication unit, information process unit, early warning output unit.
Information acquisition unit comprises: from the real-time absolute position of car, the real-time absolute position of adjacent car and from the real-time status information of car, being obtain by gathering Beidou navigation satellite system from car absolute location information, having vehicle longitude, latitude, speed, direction, positioning time etc.; The real-time absolute location information of described adjacent car is obtained by the wireless communication module based on DSRC; Described is obtained by vehicle-mounted can module Real-time Collection from car status information, has the information such as the speed of a motor vehicle of vehicle, temperature, wheel speed.
Information communication unit sends the absolute location information from car to Adjacent vehicles by the wireless communication module based on DSRC, simultaneously also by receiving the information of Adjacent vehicles based on the wireless communication module of DSRC.
Information process unit be according to from truck position, adjacent truck position and from car status information, car and car collision safety rank when utilizing lane change warning algorithm to calculate lane change, and process vehicle mounted guidance information simultaneously.
The level of security that when early warning output unit is the lane change utilizing information process unit to obtain, car and car collide judges the harmful grade when whether car is dangerous and dangerous, if dangerous, then produce anti-collision warning, comprise sound and animation prompting, produce different sound and animation early warning according to different harmful grades.
As shown in Figure 2, the lane change prior-warning device workflow based on collaborative truck of the present invention is:
Lane change prior-warning device starts, and occurs startup interface, simultaneously based on module initializations such as DSRC radio communication, vehicle absolute location information Beidou navigation; Then the adjacent truck position information that sends from DSRC wireless communication module with the frequency Real-time Collection of 10Hz of system and car's location information, be entered into information process unit; In order to the harmful grade that car and car when can calculate lane change collide, this device also with the information of the vehicle-mounted can module of the frequency Real-time Collection of 10Hz as information such as the speed of a motor vehicle, temperature, wheel speeds, three kinds of information are input to information process unit together, utilize lane change warning algorithm, the harmful grade that when obtaining lane change, car and car collide; Produce warning according to harmful grade by LCD animation and voice, lane change is dangerous to remind driver to note; For making adjacent car also can be obtained from the positional information of car or dangerous information etc., this device by car's location information with the frequency of 10Hz by DSRC wireless communication module broadcast transmission to adjacent car.
Fig. 3 is the lane change warning algorithm process flow diagram based on collaborative truck, specifically comprise: according to longitude and latitude and the directional data of the adjacent car sent from Big Dipper module and the DSRC wireless communication module of car, carry out coordinate conversion and be converted into planimetric coordinates, to go forward side by side parallel planes rotation of coordinate, with from car for direct north, obtain the distance of two cars, lateral separation, fore-and-aft distance and direction, then judge that whether two cars are in same travel direction, if not same direction, then terminate this algorithm, if in same direction, lateral separation then according to two cars determines whether in same track, if not in same track, then terminate this algorithm, if same track, the harmful grade that when then calculating lane change according to the fore-and-aft distance of two cars and the speed of a motor vehicle, car and car collide, and sent to by harmful grade early warning output unit to carry out sound and animation early warning.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the various improvement that method of the present invention is conceived and technical scheme is carried out; or directly apply to other occasion, all within protection scope of the present invention without improving.
Claims (8)
1. based on a lane change prior-warning device for collaborative truck, comprising: information acquisition unit, information communication unit, information process unit, early warning output unit.
2., as claimed in claim 1 based on a lane change prior-warning device for collaborative truck, it is characterized in that, described information acquisition unit comprises from the real-time absolute position of car, the real-time absolute position of adjacent car and from the real-time status information of car; Described is obtain by gathering Beidou navigation satellite system from car absolute location information, comprises vehicle longitude, latitude, speed, direction, positioning time; The real-time absolute location information of described adjacent car is obtained by the wireless communication module based on DSRC; Described is obtained by vehicle-mounted can module Real-time Collection from car status information, has the information such as the speed of a motor vehicle of vehicle, temperature, wheel speed.
3. the lane change prior-warning device based on collaborative truck as claimed in claim 1, it is characterized in that, described information communication unit sends the absolute location information from car to Adjacent vehicles by the wireless communication module based on DSRC, simultaneously also by receiving the information of Adjacent vehicles based on the wireless communication module of DSRC.
4. the lane change prior-warning device based on collaborative truck as claimed in claim 1, it is characterized in that, described information process unit be according to from truck position, adjacent truck position and from car status information, car and car collision safety rank when utilizing lane change warning algorithm to calculate lane change, and process vehicle mounted guidance information simultaneously.
5. the lane change prior-warning device based on collaborative truck as claimed in claim 1, it is characterized in that, the level of security that when described early warning output unit is the lane change utilizing information process unit to obtain, car and car collide judges the harmful grade when whether car is dangerous and dangerous, if dangerous, then produce anti-collision warning.
6. based on a lane change method for early warning for the lane change prior-warning device of collaborative truck according to claim 1, it is characterized in that: start lane change prior-warning device, based on DSRC radio communication, vehicle absolute location information Beidou navigation initialization module; Then the adjacent truck position information that sends from DSRC wireless communication module with the frequency Real-time Collection of 10Hz of system and car's location information, be entered into information process unit; Simultaneously with the information of the vehicle-mounted can module of the frequency Real-time Collection of 10Hz as information such as the speed of a motor vehicle, temperature, wheel speeds, three kinds of information are input to together information process unit, utilize lane change warning algorithm, the harmful grade that when obtaining lane change, car and car collide; Produce warning according to harmful grade by LCD animation and voice, lane change is dangerous to remind driver to note.
7. a lane change method for early warning as claimed in claim 6, it is characterized in that, described lane change warning algorithm comprises longitude and latitude and the directional data of the adjacent car that foundation sends from Big Dipper module and the DSRC wireless communication module of car, carry out coordinate conversion and be converted into planimetric coordinates, to go forward side by side parallel planes rotation of coordinate, with from car for direct north, obtain the distance of two cars, lateral separation, fore-and-aft distance and direction, then judge that whether two cars are in same travel direction, if not same direction, then terminate this algorithm, if in same direction, lateral separation then according to two cars determines whether in same track, if not in same track, then terminate this algorithm, if same track, the harmful grade that when then calculating lane change according to the fore-and-aft distance of two cars and the speed of a motor vehicle, car and car collide, and sent to by harmful grade early warning output unit to carry out sound and animation early warning.
8. a lane change method for early warning as claimed in claim 6, is characterized in that, car's location information is passed through DSRC wireless communication module broadcast transmission to adjacent car with the frequency of 10Hz.
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| CN201510377804.8A CN104900089A (en) | 2015-06-27 | 2015-06-27 | Lane-changing early warning device based on vehicle-vehicle coordination |
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| CN105353383A (en) * | 2015-09-29 | 2016-02-24 | 大连楼兰科技股份有限公司 | Laser radar system of collision avoidance of vehicle at lanes changing and working method thereof |
| CN105427669A (en) * | 2015-12-04 | 2016-03-23 | 重庆邮电大学 | Anti-collision early warning method based on DSRC vehicle-to-vehicle communication technology |
| CN105788321A (en) * | 2016-03-31 | 2016-07-20 | 腾讯科技（深圳）有限公司 | Vehicle communication method, vehicle communication device and vehicle communication system |
| CN105844967A (en) * | 2016-05-16 | 2016-08-10 | 广州大学 | Vehicle collision warning and active control method based on vehicle communication |
| CN106218638A (en) * | 2016-08-17 | 2016-12-14 | 北方工业大学 | Intelligent network-connected automobile cooperative lane change control method |
| CN106530833A (en) * | 2016-12-29 | 2017-03-22 | 江苏大学 | Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof |
| CN106960602A (en) * | 2017-03-28 | 2017-07-18 | 北京小米移动软件有限公司 | Carry out driving method, mobile unit and the device of early warning in vehicle travel process |
| CN106997679A (en) * | 2017-04-19 | 2017-08-01 | 深圳市福宝兴业有限公司 | Set top box identification fuzzy matching system is positioned based on big-dipper satellite |
| CN107492263A (en) * | 2016-06-09 | 2017-12-19 | 德尔福技术有限公司 | Warning system for automotive vehicle |
| CN107705635A (en) * | 2017-11-24 | 2018-02-16 | 吉林大学 | The traffic conflict method of discrimination of signalized intersections electric bicycle |
| CN108140321A (en) * | 2016-03-01 | 2018-06-08 | 松下电器产业株式会社 | Information cuing method and information presentation device |
| CN108198460A (en) * | 2018-02-26 | 2018-06-22 | 周姣 | A kind of Vehicular intelligent lane change method and vehicle |
| CN108470469A (en) * | 2018-03-12 | 2018-08-31 | 海信集团有限公司 | Road barrier method for early warning, device and terminal |
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| CN112863249A (en) * | 2021-01-11 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Lane change early warning method and device for vehicle, vehicle and readable storage medium |
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| CN105353383B (en) * | 2015-09-29 | 2018-06-19 | 大连楼兰科技股份有限公司 | A kind of automobile lane change anticollision laser radar system and its method of work |
| CN105353383A (en) * | 2015-09-29 | 2016-02-24 | 大连楼兰科技股份有限公司 | Laser radar system of collision avoidance of vehicle at lanes changing and working method thereof |
| CN105427669A (en) * | 2015-12-04 | 2016-03-23 | 重庆邮电大学 | Anti-collision early warning method based on DSRC vehicle-to-vehicle communication technology |
| CN105427669B (en) * | 2015-12-04 | 2019-05-31 | 重庆邮电大学 | A kind of anti-collision early warning method based on DSRC truck traffic technology |
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| CN105844967A (en) * | 2016-05-16 | 2016-08-10 | 广州大学 | Vehicle collision warning and active control method based on vehicle communication |
| CN107492263A (en) * | 2016-06-09 | 2017-12-19 | 德尔福技术有限公司 | Warning system for automotive vehicle |
| CN106218638A (en) * | 2016-08-17 | 2016-12-14 | 北方工业大学 | Intelligent network-connected automobile cooperative lane change control method |
| CN106530833A (en) * | 2016-12-29 | 2017-03-22 | 江苏大学 | Automatic driving automobile intelligent lane changing system based on automobile networking and control method thereof |
| CN106960602A (en) * | 2017-03-28 | 2017-07-18 | 北京小米移动软件有限公司 | Carry out driving method, mobile unit and the device of early warning in vehicle travel process |
| CN106997679A (en) * | 2017-04-19 | 2017-08-01 | 深圳市福宝兴业有限公司 | Set top box identification fuzzy matching system is positioned based on big-dipper satellite |
| GB2581706B (en) * | 2017-10-20 | 2020-12-23 | Ibm | Transfer of image data taken by an on-vehicle camera |
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| GB2581706A (en) * | 2017-10-20 | 2020-08-26 | Ibm | Transfer of image data taken by an on-vehicle camera |
| WO2019077453A1 (en) * | 2017-10-20 | 2019-04-25 | International Business Machines Corporation | Transfer of image data taken by an on-vehicle camera |
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| CN107705635A (en) * | 2017-11-24 | 2018-02-16 | 吉林大学 | The traffic conflict method of discrimination of signalized intersections electric bicycle |
| CN107705635B (en) * | 2017-11-24 | 2020-11-10 | 吉林大学 | Method for judging traffic conflict of electric bicycles at signalized intersection |
| CN108198460A (en) * | 2018-02-26 | 2018-06-22 | 周姣 | A kind of Vehicular intelligent lane change method and vehicle |
| CN108470469A (en) * | 2018-03-12 | 2018-08-31 | 海信集团有限公司 | Road barrier method for early warning, device and terminal |
| WO2019184524A1 (en) * | 2018-03-27 | 2019-10-03 | 杭州欧镭激光技术有限公司 | Detection system and detection method for detecting vehicle external environment information |
| CN111276008A (en) * | 2020-01-22 | 2020-06-12 | 长安大学 | Device and method for conducting personalized guidance on vehicle speed in acceleration lane |
| CN112040392A (en) * | 2020-08-03 | 2020-12-04 | 南京航空航天大学 | Multi-vehicle cooperative lane change control system and method based on vehicle-to-vehicle communication |
| CN112040392B (en) * | 2020-08-03 | 2021-07-09 | 南京航空航天大学 | Multi-vehicle cooperative lane change control system and method based on vehicle-to-vehicle communication |
| CN112863249A (en) * | 2021-01-11 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Lane change early warning method and device for vehicle, vehicle and readable storage medium |
| CN112863249B (en) * | 2021-01-11 | 2022-08-16 | 广州小鹏自动驾驶科技有限公司 | Lane change early warning method and device for vehicle, vehicle and readable storage medium |
| CN113602265A (en) * | 2021-08-17 | 2021-11-05 | 东风汽车集团股份有限公司 | Processing cooperative lane changing method and system based on vehicle-to-vehicle communication |
| CN113920734A (en) * | 2021-10-20 | 2022-01-11 | 长安大学 | Lane change early warning method based on logistic model |
| CN113920734B (en) * | 2021-10-20 | 2023-02-28 | 长安大学 | Lane change early warning method based on logistic model |
| WO2023078291A1 (en) * | 2021-11-03 | 2023-05-11 | 中移(上海)信息通信科技有限公司 | Path switching method and apparatus, electronic device, storage medium and program product |
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