CN105303852B - Traffic accident message distributing method based on In-vehicle networking - Google Patents
Traffic accident message distributing method based on In-vehicle networking Download PDFInfo
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- CN105303852B CN105303852B CN201510564709.9A CN201510564709A CN105303852B CN 105303852 B CN105303852 B CN 105303852B CN 201510564709 A CN201510564709 A CN 201510564709A CN 105303852 B CN105303852 B CN 105303852B
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Abstract
The invention discloses a kind of traffic accident message distributing method based on In-vehicle networking, includes the following steps：After traffic accident occurs, the first driving information of the first object vehicle near accident vehicle is searched for, wherein the first traveling information includes the travel speed of first object vehicle, the travel direction of first object vehicle and first object vehicle at a distance from accident vehicle；Judged according to the communication distance of accident vehicle, the exception message transmission time of accident vehicle and the first driving information and assert whether first object vehicle is original relay vehicle；If first object vehicle is original relay vehicle, accident vehicle sends accident information to original relay vehicle；Original relay vehicle forwards accident information.The invention has the advantages that：It allows security information quickly to transmit in the urban traffic network that data request amount is huge, the magnitude of traffic flow is busy, the vehicle that will reach the scene of the accident is allowed to know that front road conditions avoid traffic from further deteriorating to make a response in time in advance.
Description
Technical field
The invention belongs to opportunistic network data transmission mechanism research fields, and in particular to the traffic accident based on In-vehicle networking
Message distributing method.
Background technology
In city vehicle-mounted net network, with the sharp increase of number of vehicles, urban traffic conditions become increasingly complex, for road
The emergency situations such as road traffic accident, if safe early warning is not in time, it is possible to cause vehicle pileup the severe traffic accidents such as to knock into the back,
Traffic congestion caused by accident more makes increasingly serious current situation of traffic make the matter worse simultaneously.
In city when burst traffic accident, safe early warning is rapidly blazed abroad, is striven for for front vehicle driver
More emergency reaction times, while front vehicle being reminded to update roading to avoid congestion, for urban traffic conditions
Improvement has important value.
In-vehicle networking is that have perception, storage, data processing and channel radio by being largely loaded on fast-moving vehicle
The mobile ad-hoc network that the sensor node of letter ability is constituted, in the city vehicle that data traffic is big, quality of service requirement is high
It carries and disposes fixed roadside infrastructure in scene, build bus or train route cooperative system, to improving data transmission efficiency.
Security message distribution for city vehicle-mounted net network, presently relevant research is still immature, and most of researchs only pass through
Front vehicle distribution security message in the same direction, does not account for the effect that reversed vehicle and roadside unit distribute security message, holds
It is also easy to produce covering cavity, influences the spread scope and speed of security message；Simultaneously as the data transmission of vehicle-mounted node is in vehicle
It is carried out in driving process, may cause to receive vehicle in data transmission procedure being gradually driven out to the communication model for sending vehicle
It encloses, the case where so as to cause data transmission fails, that is, generates failed transmission, influence the service quality of security application.
Invention content
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, first purpose of the present invention is to propose a kind of traffic accident message distribution side based on In-vehicle networking
Method.
Second object of the present invention is to propose another traffic accident message distributing method based on In-vehicle networking.
To achieve the goals above, the embodiment of one aspect of the present invention discloses a kind of traffic accident based on In-vehicle networking
Message distributing method includes the following steps：A：After traffic accident occurs, the of the first object vehicle near accident vehicle is searched for
One driving information, wherein the first traveling information includes the travel speed of the first object vehicle, the first object vehicle
Travel direction and the first object vehicle at a distance from the accident vehicle；B：According to the communication distance of accident vehicle,
The exception message transmission time of the accident vehicle and first driving information judge and assert that the first object vehicle is
No is original relay vehicle；C：If the first object vehicle is the original relay vehicle, the accident vehicle is to the original
Beginning relay vehicle sends accident information；And D：The original relay vehicle forwards the accident information.
Traffic accident message distributing method according to the ... of the embodiment of the present invention based on In-vehicle networking, in data request amount Pang
Greatly, it allows security information quickly to transmit in the busy urban traffic network of the magnitude of traffic flow, allows the vehicle that will reach the scene of the accident
Know that front road conditions avoid traffic from further deteriorating to make a response in time in advance.
It, can be in addition, the traffic accident message distributing method according to the above embodiment of the present invention based on In-vehicle networking
With following additional technical characteristic：
Further, in step D, further comprise：D1：The original relay vehicle receives the accident information
Afterwards, the intermediate driving information of the intermediate objective vehicle near the original relay vehicle is searched for, wherein the intermediate driving information
The travel direction of travel speed, the intermediate objective vehicle including the intermediate objective vehicle and the intermediate objective vehicle with
The distance of the original relay vehicle；D2：According to the accident information communication distance, the original relay vehicle of original relay vehicle
The exception message transmission time, first driving information and the intermediate driving information judge the intermediate objective vehicle
Whether it is intermediate relay vehicle；D3：If the intermediate objective vehicle is intermediate relay vehicle, the original relay vehicle is to described
Intermediate relay vehicle sends accident information；And D4：The intermediate relay vehicle forwards the accident information.
Further, the intermediate relay vehicle includes the first intermediate relay vehicle and at least one intermediate distribution repeater car
, the first intermediate relay vehicle receives the accident information that the original relay vehicle is sent and is transmitted to the centre
Distribute relay vehicle, the intermediate distribution relay vehicle receives the accident information and forwards the accident information.
The original relay vehicle includes the front vehicles in the same direction, front vehicle in the same direction, reversed front of the accident vehicle
Vehicle and reversed front vehicle, wherein the front vehicles in the same direction are relative to reference vehicle, with described with reference to vehicle traveling side
To identical and positioned at the vehicle with reference to vehicle front；The front vehicle in the same direction is relative to the reference vehicle, with institute
It states identical with reference to vehicle heading and is located at the vehicle with reference to rear of vehicle；The reversed front vehicles is relative to institutes
It states with reference to vehicle, and it is described opposite with reference to vehicle heading and positioned at the reference posterosuperior vehicle of vehicle heading；
The reversed front vehicle is relative to described with reference to vehicle, and described opposite with reference to vehicle heading and positioned at the reference
The vehicle in front on vehicle heading.
Further, in step D, further comprise：DA：The original relay vehicle receives the accident information
Afterwards, the fixed relay device near the original relay vehicle is searched for, if the fixed relay device is located at the accident vehicle
Communication distance in, the accident vehicle sends the accident information to the fixed relay device；DB：The fixed relay dress
Set accident information shown in forwarding.
To achieve the goals above, the embodiment of one aspect of the present invention discloses a kind of traffic accident based on In-vehicle networking
Message distributing method includes the following steps：S1：After traffic accident occurs, the fixed relay device near accident vehicle is searched for
Location information；S2：If the fixed relay device is located in the communication distance of the accident vehicle, the accident vehicle is to described
Fixed relay device sends the accident information；S3：Search for first of the first object vehicle near the fixed relay device
Driving information, wherein the first traveling information includes the travel speed of the first object vehicle, the first object vehicle
Travel direction and the first object vehicle at a distance from the accident vehicle；S4：According to the logical of the fixed relay device
Communication distance, the exception message transmission time of the fixed relay device and first driving information judge and assert described first
Whether target vehicle is original relay vehicle；S5：If the first object vehicle is the original relay vehicle, the accident vehicle
To the described first original relay vehicle accident information；And S6：The original relay vehicle forwards the accident information.
Traffic accident message distributing method according to the ... of the embodiment of the present invention based on In-vehicle networking, in data request amount Pang
Greatly, it allows security information quickly to transmit in the busy urban traffic network of the magnitude of traffic flow, allows the vehicle that will reach the scene of the accident
Know that front road conditions avoid traffic from further deteriorating to make a response in time in advance.
In addition, the traffic accident message distributing method of In-vehicle networking according to the above embodiment of the present invention, can also have
Following additional technical characteristic：
Further, in step s 6, further comprise：S601：The original relay vehicle receives the accident letter
After breath, the intermediate driving information of the intermediate objective vehicle near the original relay vehicle is searched for, wherein the intermediate traveling letter
Breath includes the travel speed of the intermediate objective vehicle, the travel direction of the intermediate objective vehicle and the intermediate objective vehicle
At a distance from the original relay vehicle；S602：According to the accident information communication distance, the original relaying of original relay vehicle
The exception message transmission time, first driving information and the intermediate driving information of vehicle judge the intermediate objective
Whether vehicle is intermediate relay vehicle；S603：If the intermediate objective vehicle is intermediate relay vehicle, the original relay vehicle
Accident information is sent to the intermediate relay vehicle；And S604：The intermediate relay vehicle forwards the accident information.
Further, the intermediate relay vehicle includes the first intermediate relay vehicle and at least one intermediate distribution repeater car
, the first intermediate relay vehicle receives the accident information that the original relay vehicle is sent and is transmitted to the centre
Distribute relay vehicle, the intermediate distribution relay vehicle receives the accident information and forwards the accident information.
Further, the original relay vehicle include the front vehicles in the same direction of the accident vehicle, front vehicle in the same direction,
Reversed front vehicles and reversed front vehicle, wherein the vehicle in front is located at along its travel direction for two vehicles in the same direction
The referred to as described front vehicles in the same direction, the vehicle being located behind are known as the front vehicle in the same direction；For two reversed vehicles, along it
Travel direction, the vehicle positioned at front are known as the reversed front vehicles, and the vehicle being located behind is known as the reversed rear vehicle
.
Further, when the accident spot of the accident vehicle is intersection, the original relay vehicle includes institute
State the crossroad front vehicles and crossroad front vehicle of accident vehicle, wherein for intersection, along its travel direction, position
Vehicle in front is known as the crossroad front vehicles, and the vehicle being located behind is known as the crossroad front vehicle.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of the traffic accident message distributing method based on In-vehicle networking of one embodiment of the invention；
Fig. 2 is the schematic diagram of the vehicle location relationship in direction in the same direction of one embodiment of the invention；
Fig. 3 be one embodiment of the invention vehicle in the same direction between the schematic diagram that transmits；
Fig. 4 is the schematic diagram that the vehicle in the same direction of one embodiment of the invention is transmitted to reversed vehicle；
Fig. 5 is the schematic diagram of the Polydirectional safety message distribution of the roadside unit of one embodiment of the invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
With reference to following description and drawings, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to indicate to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen within the scope of the spirit and intension of attached claims.
The traffic accident message distributing method according to the ... of the embodiment of the present invention based on In-vehicle networking is described below in conjunction with attached drawing.
It is assumed that the communication radius all same of vehicle-mounted node, is denoted as CV.The communication of roadside unit (i.e. fixed relay device) half
Diameter all same, is denoted as CU.The communication radius of roadside unit is more than the communication radius of vehicle-mounted node, i.e. CU>CV；Security message is propagated
Apart from all same, it is denoted as CP.Security message propagation distance is more than the communication radius of roadside unit, i.e. CP>CU.
It please refers to Fig.1 and Fig. 2, note accident vehicle (i.e. security message source node) is x, be with accident vehicle x travel directions
Standard, in an embodiment of the present invention, accident vehicle x are to be only used for the vehicle with reference to explanation with reference to vehicle with reference to vehicle.
The same vehicle of travel direction is known as vehicle in the same direction, including vehicle a, vehicle b and vehicle d, travel direction are opposite to that
Vehicle is known as reversed vehicle, including vehicle A and vehicle B.A is front vehicles in the same direction, and d is front vehicle in the same direction；It is anti-for two
It is reversed front vehicles to vehicle A and B, A, B is reversed front vehicle
When traffic accident occurs, accident vehicle x generates security message, and using CP as propagation distance, attached in accident vehicle
Nearly search first object vehicle simultaneously judges whether first object vehicle is relay vehicle (according to the secure communication distance of accident vehicle
Determine), if first object vehicle is relay vehicle, accident vehicle propagates the security message.In some examples of the present invention
In, first object vehicle be apart from accident vehicle vehicle nearest in all directions (front vehicles in the same direction, front vehicle in the same direction,
The vehicle nearest apart from accident vehicle on direction front vehicles, reversed front vehicle and other directions).
Traffic accident occurs for vehicle b and vehicle x, and using vehicle x as security message source node, vehicle x generates security message simultaneously
Using CP as propagation distance, the security message is propagated to its front vehicle in the same direction.
The available time of secure message transmissions judges：With the difference of the remaining term of validity of security message and expected transmission duration
Value is used as decision condition, if more than 0, then it represents that transmission is feasible；Otherwise, it abandons transmitting.
The position availability deciding of secure message transmissions：The location of when receiving security message with receiving node expection
As decision condition, if in preset security message spread scope, transmit feasible；Otherwise, it abandons transmitting.
Secure message transmissions apart from availability deciding：
Secure message transmissions apart from availability deciding between vehicle in the same direction：With front vehicles a in the same direction to rearward vehicle
For b transmission security message, the travel speed of caravan a is va, the travel speed of vehicle b is vb, vehicle a works as with vehicle b's
Front distance is fab, and fab<CV, whens secure message transmissions a length of τ.If va≥vb, then decision condition is τ (va-vb)+fab<CV；If
va<vb, then decision condition is τ (vb-va)-fab<0.If it is determined that condition is true, then vehicle a sends security message and gives vehicle b, vehicle
B receives the message；Otherwise, security message is not sent.
Vehicle in the same direction is to reversed vehicle transmission security message apart from availability deciding：With vehicle α in the same direction to reversed vehicle A
For transmitting security message, speed is respectively vaAnd vA, current distance faA, and faA<CV.Two track spacing are D.According to opposite
And the computational methods of the vehicle spacing of row can obtain, decision condition isIf sentencing
Fixed condition is true, then vehicle a transmissions security message gives vehicle A, vehicle A to receive the message；Otherwise, security message is not sent.
Secure message transmissions apart from availability deciding between reversed vehicle：With reversed front vehicle B to reversed front vehicle
For A transmission security message, the travel speed of caravan A is vA, the travel speed of vehicle B is vB, vehicle A works as with vehicle B's
Front distance is fAB, and fAB<CV.If vA≥vB, then decision condition is τ (vA-vB)+fAB<CV；If vA<vB, then decision condition is τ
(vB-vA)-fAB<0.If it is determined that condition is true, then vehicle B transmissions security message gives vehicle A, vehicle A to receive the message；Otherwise,
Do not send security message.
Reversed vehicle is to vehicle in the same direction transmission security message apart from availability deciding：With reversed vehicle A to vehicle a in the same direction
For transmitting security message, speed is respectively vAAnd va, current distance fAa, and fAa<CV.Vehicle A and vehicle a and accident vehicle
The distance of x is respectively fAxAnd fax.According to opposite, the computational methods of the vehicle spacing of row can obtain, if
Then decision condition isOtherwise, ifThen sentence
Fixed condition is if it is determined that condition is true, then vehicle A sends safety and disappears
It ceases and gives vehicle a, vehicle a receives the message；Otherwise, security message is not sent；
The security message distribution that vehicle in the same direction is cooperateed with reversed vehicle：
Security message distribution between vehicle in the same direction：Using accident vehicle as source node, to be less than peace at a distance from source node
The front vehicle in the same direction that totally disappeared breath propagation distance is purpose node, and security message rearward transmits between vehicle in the same direction, i.e., certain
Rearward vehicle is transmitted strategy and is used one front vehicles (being known as relay vehicle) in the same direction with multicast distribution security message
Rear receives entirely and the strategy of farthest rear relaying.Wherein, rear receives strategy and refers at relay vehicle rear and not yet obtain entirely
The vehicle in the same direction of security message all receives the security message；Farthest rear repetition policy refers to receive in security message and distance
It is following after the farthest front vehicle in the same direction of vehicle as new relay vehicle, i.e. next sending node of security message
Message distribution prepare.
Referring to FIG. 3, source node x transmits security message to its front vehicle in the same direction, strategy is received entirely according to rear,
Front vehicle d and e within its communication range CV receive security message；According to farthest rear repetition policy, vehicle e is chosen as
Relay vehicle.
Vehicle in the same direction is distributed to the security message of reversed vehicle：When in the communication range of relay vehicle there is no it is in the same direction after
Square vehicle and there are when reversed vehicle, relay vehicle posts messages to reversed vehicle using farthest front repetition policy, it is intended to
Using between reversed vehicle multi-hop transmission and its traveling, avoid message covering cavity.Wherein, farthest front repetition policy refer to
Security message can be received and the reversed vehicle positioned at forefront receives planning amount and new repeater car as security message
.
Referring to FIG. 4, source node x transmits security message to reversed vehicle, according to farthest front repetition policy, vehicle A
It is chosen as relay vehicle.It should be noted that vehicle B neither security message destination node, nor relay vehicle, therefore vehicle
B does not receive security message.
Reversed vehicle is distributed to the security message of vehicle in the same direction：Security message is not yet obtained when reversed relay vehicle encounters
Vehicle in the same direction when, according to rear entirely receive and farthest rear repetition policy, again by secure message transmissions give vehicle in the same direction：After
The continuous secure message transmissions executed between vehicle in the same direction until the boundary of its spread scope of security message distribution arrival, or disappear
Breath distribution reaches intersection.If security message reaches the boundary of its spread scope, by relay vehicle for newly driving into safety
Vehicle in message spread scope carries out message distribution, until message is expired.If security message reaches intersection, by
Roadside unit executes Polydirectional safety message distribution.
The Polydirectional safety message distribution of roadside unit：When secure message transmissions arrival is deployed with the crossroad of roadside unit
When mouth, since the communication capacity of roadside unit is better than vehicle-mounted node, point using roadside unit to security message in all directions
Hair is controlled.
Specifically, referring to FIG. 5, being deployed with roadside unit RU.Disappear when roadside unit RU receives the safety from vehicle x
When breath, RU first determines whether that the vehicle in which direction in all directions of crossing is possible to road where driving towards vehicle x, claims these sides
To for vehicle source direction.Then RU is calculated according to security message source node geographic location and security message propagation distance
The remaining propagation distance of security message on each vehicle source direction.
The center of crossroad is denoted as α, and vehicle x is f at a distance from the α of crossing centerxα, on the N → S of vehicle source direction, remain
Remaining propagation distanceOn the W → E of vehicle source direction, residue is propagated
Distance is on the S → N of vehicle source direction, remaining propagation distance
If remaining propagation distance is more than 0, the vehicle source direction is referred to as effective vehicle source direction, and is generated for the direction
One using section starting point as virtual secure message source node position, using remaining propagation distance as security message propagation distance
New security message, the early warning content of the security message is consistent with the raw security message entrained by vehicle e.Then effective
On vehicle source direction, the full message distribution received with farthest repetition policy is executed, new relay node is found.Wherein, complete to receive
The vehicle that strategy refers in roadside unit communication range all receives security message；Farthest repetition policy refers to communicates model in roadside unit
In enclosing and the vehicle farthest apart from roadside unit is as relay vehicle, is responsible for distribution of the security message on the section.With vehicle i
With effectively for the S → N of vehicle source direction, vehicle i and j receive the security message of RU transmissions where j, due to j distances RU compared with
Far, therefore vehicle j becomes the relay vehicle that security message is distributed on effective vehicle source direction S → N.
In addition, the other compositions and work of the traffic accident message distributing method based on In-vehicle networking of the embodiment of the present invention
All it is known with for a person skilled in the art, in order to reduce redundancy, does not repeat.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is by claim and its equivalent limits.
Claims (5)
1. a kind of traffic accident message distributing method based on In-vehicle networking, which is characterized in that include the following steps：
S1：After traffic accident occurs, the location information of the fixed relay device near accident vehicle is searched for；
S2：If the fixed relay device is located in the communication distance of the accident vehicle, the accident vehicle is to the fixation
Relay sends exception message；
S3：Search for the first driving information of the first object vehicle near the fixed relay device, wherein first traveling
Information includes the travel speed of the first object vehicle, the travel direction of the first object vehicle and the first object vehicle
At a distance from the accident vehicle；
S4：According to the communication distance of the fixed relay device, the exception message transmission time of the fixed relay device and institute
The first driving information is stated to judge and assert whether the first object vehicle is original relay vehicle；
S5：If the first object vehicle is the original relay vehicle, the accident vehicle is sent out to the original relay vehicle
Send exception message；And
S6：The original relay vehicle forwards the exception message.
2. the traffic accident message distributing method according to claim 1 based on In-vehicle networking, which is characterized in that in step
In S6, further comprise：
S601：After the original relay vehicle receives the exception message, the centre near the original relay vehicle is searched for
The intermediate driving information of target vehicle, wherein the intermediate traveling information includes the travel speed of the intermediate objective vehicle, institute
State intermediate objective vehicle travel direction and the intermediate objective vehicle at a distance from the original relay vehicle；
S602：According to the exception message communication distance of original relay vehicle, the exception message transmission time of original relay vehicle, institute
It states the first driving information and the intermediate driving information judges whether the intermediate objective vehicle is intermediate relay vehicle；
S603：If the intermediate objective vehicle is intermediate relay vehicle, the original relay vehicle is to the intermediate relay vehicle
Send exception message；And
S604：The intermediate relay vehicle forwards the exception message.
3. the traffic accident message distributing method according to claim 2 based on In-vehicle networking, which is characterized in that in described
Between relay vehicle include the first intermediate relay vehicle and at least one intermediate distribute relay vehicle, the first intermediate relay vehicle
It receives the exception message that the original relay vehicle is sent and is transmitted to the intermediate distribution relay vehicle, the centre point
Hair relay vehicle receives the exception message and forwards the exception message.
4. the traffic accident message distributing method according to claim 1 based on In-vehicle networking, which is characterized in that the original
Beginning relay vehicle includes front vehicles in the same direction, front vehicle in the same direction, reversed front vehicles and the reversed rear of the accident vehicle
Vehicle, wherein for two vehicles in the same direction, along its travel direction, the vehicle positioned at front is known as the front vehicles in the same direction, position
Vehicle in rear is known as the front vehicle in the same direction；The vehicle in front is located at along its travel direction for two reversed vehicles
The referred to as described reversed front vehicles, the vehicle being located behind are known as the reversed front vehicle.
5. the traffic accident message distributing method according to claim 1 based on In-vehicle networking, which is characterized in that when described
When the accident spot of accident vehicle is intersection, the original relay vehicle includes vehicle in front of the crossroad of the accident vehicle
And crossroad front vehicle, wherein for intersection, along its travel direction, the vehicle positioned at front is known as the intersection
Road front vehicles, the vehicle being located behind are known as the crossroad front vehicle.
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| CN201510564709.9A CN105303852B (en) | 2015-09-07 | 2015-09-07 | Traffic accident message distributing method based on In-vehicle networking |
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| CN201510564709.9A CN105303852B (en) | 2015-09-07 | 2015-09-07 | Traffic accident message distributing method based on In-vehicle networking |
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| CN107481519B (en) * | 2017-07-20 | 2020-10-23 | 安徽大学 | Automatic traffic accident identification method |
| KR102334318B1 (en) * | 2017-09-19 | 2021-12-03 | 삼성전자주식회사 | Electronic device for transmitting a relay message to external vehicle and the method thereof |
| CN111699704A (en) * | 2018-01-08 | 2020-09-22 | 诺基亚技术有限公司 | Target vehicle selection and messaging in vehicle systems |
| CN109240281B (en) * | 2018-08-02 | 2022-07-08 | Oppo广东移动通信有限公司 | Avoidance driving method and related product |
| US11017670B2 (en) * | 2018-08-03 | 2021-05-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Intermediate vehicle repeater for out of range vehicles |
| CN112468976A (en) * | 2019-09-06 | 2021-03-09 | 索尼公司 | Electronic device and method for wireless communication, computer-readable storage medium |
| CN114944071B (en) * | 2021-02-07 | 2023-08-11 | 广州汽车集团股份有限公司 | Vehicle driving early warning processing method, device and storage medium |
| CN115331448B (en) * | 2022-10-17 | 2022-12-30 | 湖北车安达信息科技有限公司 | Intelligent navigation method and device based on reverse vehicle |
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| KR20090038218A (en) * | 2007-10-15 | 2009-04-20 | 성열오 | Method of relaying plual contract of an automobile third party liability insurance and driver compensation insurance by using, and the system thereof |
| CN101720059B (en) * | 2009-11-05 | 2012-12-26 | 浙江大学城市学院 | Method for realizing vehicle-mounted mobile self-organized network routing |
| CN103476060B (en) * | 2013-09-08 | 2016-08-17 | 北京航空航天大学深圳研究院 | A kind of In-vehicle networking cache cleaner method based on GPS location distribution confirmation |
| CN103544838B (en) * | 2013-10-21 | 2015-07-15 | 电子科技大学 | Vehicular multi-hop cooperative transmission based road condition information acquisition method |
| CN103781198B (en) * | 2013-11-05 | 2017-04-05 | 同济大学 | A kind of car networking message propagating method based on 802.11p and LTE/LTE A |
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