CN105679091B - A kind of Clash-Visualization method for early warning based on car networking - Google Patents
A kind of Clash-Visualization method for early warning based on car networking Download PDFInfo
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- CN105679091B CN105679091B CN201610040148.7A CN201610040148A CN105679091B CN 105679091 B CN105679091 B CN 105679091B CN 201610040148 A CN201610040148 A CN 201610040148A CN 105679091 B CN105679091 B CN 105679091B
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- vehicle
- neighbours
- clash
- early warning
- car networking
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The present invention provides a kind of Clash-Visualization method for early warning based on car networking.In method provided by the invention, vehicle perceives the transport condition of surrounding vehicles by using vehicle self-organizing network exchange of skills status message, visual line of sight can so be broken through, the positional information of complete invisible vehicle can be received, judges whether neighbours' vehicle and this vehicle have the danger of collision by collision warning algorithm after receiving information in order to this vehicle.The satellite positioning coordinate of vehicle is converted to Vehicular screen coordinate by the present invention, shows this vehicle and the traveling-position and state of neighbours' vehicle in real time in Vehicular screen.
Description
Technical field
The present invention relates to a kind of position that can show neighbours' vehicle in real time by Vehicular display device and whether to this
The method that vehicle has the dangerous tip of collision, belongs to vehicle active safety field.
Background technology
In conventional Clash-Visualization method for early warning invention, the present situation of research is roughly divided into two directions, and one is profit
With the ancillary equipment of vehicle, the other is cooperating using between vehicle.In conventional invention and subject study, such as numerous documents
Research is in accordance with radar and various kinds of sensors as the environmental information around receiving party's formula collection vehicle, and gives vehicle
Processor carries out visualization processing.This existing ancillary equipment is particularly susceptible to the limitation of environmental factor, is limited at the same time
In visual line of sight, and it is confined to equipment be applicable in scope in itself.
Such as patent CN103241174A, CN104204847A：All be using camera come capture the environment of surrounding or
Person's vehicle, these modes can exchange the plane pattern of static state between vehicle.It is three-dimensional that this mode, which is limited by environment and vehicle,
And the characteristics of move so that the information that is collected into is inaccurate.
For another patent of invention CN200510118935, visualization processing is carried out again to catch the environment after car with camera,
Device has so been used, but has not made full use of device, can only observe the situation of vehicle back.
The content of the invention
The technical problem to be solved in the present invention is：Camera, infrared ray and centimeter wave detection surrounding environment is avoided to bring
Limitation, obtain the stereoscopic-states of surrounding vehicles comprehensive, dynamic realtime.
In order to solve the above-mentioned technical problem, technology of the present invention based on car networking provides neighbours' vehicle during a kind of traveling
Position and the Clash-Visualization method for early warning of transport condition, by this method driver by Vehicular screen with full visual angle
Mode perceives the vehicle and the transport condition of surrounding vehicles, and the neighbours' vehicle is then significantly marked by screen if bumping against danger
To remind driver.
The concrete technical scheme of the present invention there is provided a kind of Clash-Visualization method for early warning based on car networking, including with
Lower step：
The first step, at least mount display, wireless transmitter and satellite positioning device on vehicle, are provided with display
All vehicles of device, wireless transmitter and satellite positioning device have collectively constituted vehicle self-organizing network, it is characterised in that：
Second step, current vehicle obtain enough satellite positioning coordinate points of its surrounding neighbours vehicle, pass through each
All satellite positioning coordinate points of neighbours' vehicle calculate its size and correspondence position on the display apparatus, according to each neighbours' car
Size and correspondence position, current vehicle display device relevant position show respective neighbor vehicle profile；
Ground coordinate that 3rd step, each vehicle are got according to satellite positioning device, ground course angle, acceleration,
Speed, and establish the overall vehicle based on vehicle by the historical data information of road information and the vehicle traveling of numerical map
Motion model, according to motion model calculate prediction n seconds future trace information, by the trace information together with temporal information composition
Data packet, is outwards broadcasted by vehicle self-organizing network；
After 4th step, current vehicle receive the data packet of neighbours' vehicle broadcast, judge in n seconds following, pass through current vehicle
The secure border that is formed of track whether have with the secure border formed by the track of neighbours' vehicle it is overlapping, if so, then existing
There is overlapping neighbours' vehicle to be marked secure border in the display device of current vehicle.
Preferably, in the 3rd step, the vehicle trace information of future n seconds is separated into every the interval track of m seconds
Information, will each be spaced trace information and form a data packet with corresponding temporal information, and it is outside to form n/m+1 data packet altogether
Broadcast.
Preferably, in the 4th step, if there is the secure border of neighbours' vehicle mutually overlapping with the secure border of current vehicle
It is folded, then there is overlapping neighbours' vehicle to be labeled as a kind of color the secure border with current vehicle, other neighbours' vehicles are marked
For another color.
Preferably, in the 4th step, if there is the secure border of neighbours' vehicle mutually overlapping with the secure border of current vehicle
It is folded, then produce sound alarm.
Preferably, in the second step, current vehicle obtains four satellite positioning coordinate points of its surrounding neighbours vehicle.
Preferably, in the second step, the top of the display device is the front or positive northern of current vehicle, or
Blank background is shown in the display device, the profile of the neighbours' vehicle is superimposed upon on blank background, or the display dress
Display electronic map is put, the profile superposition of the neighbours' vehicle is on the electronic map.
Preferably, in the second step, the profile of neighbours' vehicle is rectangle.
Preferably, in the second step, it is big to calculate its by all satellite positioning coordinate points of each neighbours' vehicle
Correspondence position small and on the display apparatus, which uses, is calculated as below method：
If length × width of display device is M × N, resolution ratio is R × C, the proportional sizes of numerical map used in display device
For 1: k, then satellite positioning coordinate point (xd, yd) coordinate on the display apparatus is (Xp, YP), then have：
In method provided by the invention, by using vehicle self-organizing network, (English abbreviation is vehicle：VANET) technology
Swap status message perceives the transport condition of surrounding vehicles, can so break through visual line of sight, can receive completely invisible
Vehicle positional information, neighbours' vehicle and this vehicle are judged by collision warning algorithm after receiving information in order to this vehicle
Whether the danger of collision is had.The satellite positioning coordinate of vehicle is converted to Vehicular screen coordinate by the present invention, real in Vehicular screen
When the traveling-position and state that show this vehicle and neighbours' vehicle.
According to the characteristic of car networking, the vehicle under bad weather, tunnel environment, high velocity environment and turn inside diameter environment
Anti-collision warning can reach the danger of collision free.Due to being adapted to different scenes so that driver by Vehicular screen at a glance
Just it is observed that position and the transport condition of surrounding neighbours vehicle, and anti-collision warning is carried out according to vehicle color.Substantially reduce
The possibility that traffic accident occurs.If driver does not have reaction to upcoming vehicle, by have cause it is a chain of collide can
Energy.The present invention has positive effect to driver personal and society.
Brief description of the drawings
Fig. 1 is method for visualizing；
Fig. 2 is intersection example；
Fig. 3 is intersection turning anti-collision warning example；
Fig. 4 is general straight way example.
Embodiment
To become apparent the present invention, hereby with preferred embodiment, and attached drawing is coordinated to be described in detail below.
The present invention relates to a kind of Clash-Visualization method for early warning based on car networking so that the transport condition of neighbours' vehicle
Show in real time in Vehicular screen, and anti-collision warning prompting is provided.The architecture of method provided by the invention is as shown in Figure 1.
This method cooperates between the vehicle based on VANET technologies so that all vehicles show neighbours' car by Vehicular display device in real time
Position and whether have the dangerous prompting of collision and real-time traffic information to this vehicle.In the present embodiment, this hair
Whether the bright representative of including but not limited to such as tinting by neighbours' vehicle has this vehicle the danger of collision, such as green table
Show current vehicle, red is represented with current vehicle there are the vehicle of risk of collision, can also be with other sensory perception sides such as sound
Formula carries out early warning.In the present invention, vehicle perceives the traveling shape of surrounding vehicles by using VANET exchanges of skills status message
State, can so break through visual line of sight (as shown in figure 3, there is any one vehicle in two cars tinted to exist an other vehicle
It is invisible in sight), the positional information of complete invisible vehicle can be received, is led to after receiving information in order to this vehicle
Cross the danger that collision warning algorithm judges neighbours' vehicle and whether this vehicle has collision.In the present embodiment, the GPS of vehicle is sat
Mark is converted to Vehicular screen coordinate, shows this vehicle and the traveling-position and state of neighbours' vehicle in real time in Vehicular screen.
Fig. 1 shows to receive the transport condition and reality of the vehicle that all vehicles are sent around the car by wireless transmitter
When positional information, the vehicle receive after by visual algorithm, all vehicles are with the angle of top view the vehicle and around it
Degree is shown in proportion on the display screen.
Fig. 2,3 and Fig. 4 come illustrate two real scenes in embodiments of the present invention describe.Wherein one has what is tinted
Vehicle represents current vehicle, other vehicles are neighbours' vehicle, and in addition one has the vehicle tinted to represent dangerous to current vehicle
Vehicle.
The scene of Fig. 2,3 and Fig. 4 are typical scene screen display methods, and current vehicle receives the position of all vehicles around
Confidence ceases and driving information.Currently carry out handling these data by visualized algorithm, gps coordinate is predominantly converted into screen
Coordinate.When risk of collision is determined whether, the present invention according to the driving information of vehicle by collision warning algorithm come into
Row anti-collision warning detects.For there is the neighbours' vehicle of risk of collision to be carried using red display and using including but not limited to sound
Wake up.
In the present invention, need that vehicle-carrying display screen, wireless transmitter, GPS equipment are installed on vehicle.Current vehicle connects
After the information for receiving surrounding neighbours vehicle, calculated using central processing unit, judged using anti-collision warning method of the present invention.
In the present embodiment, the information of the neighbours' vehicle received includes at following 2 points：
1) four satellite positioning coordinate points of neighbours' vehicle are to draw out the profile of vehicle, and are shown according to Vehicular screen coordinate
Show above display screen.The real size of vehicle and specific position can be calculated by receiving four coordinate points of vehicle,
The present invention carries out diminution ratio to real vehicle according to the size of Vehicular screen and shows.The present invention passes through the vehicle that receives
Coordinate can really know the size of vehicle and the distance with this car, accurately can draw vehicle size on map or screen
And trace information.
The ground coordinate received is converted into screen coordinate by the present invention, is shown on car-mounted terminal display screen.Assuming that car
Length × the width for carrying display screen is M × N, and resolution ratio is R × C, and the proportional sizes of numerical map used in display device are 1: k, then defend
Star elements of a fix point (xd, yd) coordinate on the display apparatus is (Xp, YP), then have：
Calculated by formula above, the present invention can be shown to the other vehicle coordinates received the vehicle-mounted aobvious of the vehicle
Above display screen curtain.
2) neighbours' vehicle predicts oneself in position n seconds following, and is broadcasted.It is pre- that current vehicle receives neighbours' vehicle
After the future location information of survey, it can judge whether this car and neighbours have risk of collision based on this.It is a kind of based on car networking
Clash-Visualization method for early warning
The present invention is in Clash-Visualization early warning scheme：By above-mentioned the in the present invention 2) at the anti-collision warning method of point
After reason, give different neighbours' vehicles and be labeled using different colors.Visualization portion is used as by different colors
Additional information so that driver can comprehensively identify which is the neighbours' vehicle dangerous in the future to this vehicle.Art technology
Personnel can also increase sound prompting.
The specific steps of the present invention include：
The information such as step 1, the longitude and latitude position of other neighbours' vehicles received according to current vehicle, in current vehicle
The actual size rectangle of vehicle is delineated on vehicle-carrying display screen.
Step 2, the broadcast data exchange by each vehicle under car networking environment (VANTEs), the vehicle is according to acquisition ground
Areal coordinate, ground course angle, acceleration, speed, and believe by the historical data of road information and the vehicle traveling of numerical map
Ceasing to establish the motion model of the overall vehicle based on vehicle, this car calculates the trace information for predicting this car, and the vehicle not
The trace information for carrying out 3s is divided into vehicle position information and temporal information every 0.2s to form, and is altogether 16 data packets, leads to
Cross Radio Broadcasting Agreements and exchange data.
Step 3, judge neighbours' vehicle in the position of future time instance, if it is following sometime, neighbours' vehicle and current
The secure border of vehicle has overlapping.
It is overlapping that if step 4, step 3 judge that secure border has, then it is assumed that neighbours' vehicle has risk of collision with the vehicle,
Then to the neighbours' vehicle with red display.
If step 4, step 3 are judged no overlapping, explanation is safe from danger, and mobile unit normally shows this car and surrounding car
The original color in position and surrounding vehicles.
The vehicle of the present invention is characterized in that：The method that vehicle can use the present invention to describe is real-time on car-mounted display screen
Display road traffic in the vehicle and the traveling-position and state of neighbours' vehicle, be shown in including but not limited to Vehicular screen
On blank background or electronic map, it is desirable to front or the positive north of the top of screen for this car.Given according to collision warning algorithm
Whether shown neighbours' vehicle coloring, there is with this car the danger of collision with difference.
Anti-collision warning of the present invention using coloring notifies, allows driver to pass through the comprehensive perception of car-mounted display screen
The vehicle and the traveling-position and state of neighbours' vehicle in road traffic, are shown in the blank back of the body of including but not limited to Vehicular screen
On scape, electronic map, the present invention is used as the front of the vehicle or the positive north in geographical location using the surface of screen.According to collision
Whether the prediction of warning algorithm, pair surrounding vehicles for having risk of collision with the vehicle are given red coloration and are shown, to distinguish to the car
There is the danger of collision.
Claims (8)
1. a kind of Clash-Visualization method for early warning based on car networking, it is characterised in that comprise the following steps：
The first step, at least mount display, wireless transmitter and satellite positioning device on vehicle, are provided with display dress
Put, all vehicles of wireless transmitter and satellite positioning device have collectively constituted vehicle self-organizing network；
Second step, current vehicle obtain enough satellite positioning coordinate points of its surrounding neighbours vehicle, pass through each neighbours
All satellite positioning coordinate points of vehicle calculate its size and correspondence position on the display apparatus, according to each neighbours' vehicle
Size and correspondence position, the profile of respective neighbor vehicle is shown in the relevant position of the display device of current vehicle；
Ground coordinate that 3rd step, each vehicle are got according to satellite positioning device, ground course angle, acceleration, speed,
And establish the fortune of the overall vehicle based on vehicle by the historical data information of road information and the vehicle traveling of numerical map
Movable model, the trace information in n seconds future of prediction is calculated according to motion model, by the trace information together with temporal information composition data
Bag, is outwards broadcasted by vehicle self-organizing network；
After 4th step, current vehicle receive the data packet of neighbours' vehicle broadcast, judge in n seconds following, pass through current vehicle
It is overlapping whether the secure border that track is formed has with the secure border formed by the track of neighbours' vehicle, if so, then current
There is overlapping neighbours' vehicle to be marked secure border in the display device of vehicle.
2. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In three steps, the vehicle trace information of future n seconds is separated into the interval trace information every m seconds, will each be spaced trace information
A data packet is formed with corresponding temporal information, n/m+1 data packet is formed altogether and outwards broadcasts.
3. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In four steps, if thering is the secure border of neighbours' vehicle and the secure border of current vehicle to overlap, by the safety with current vehicle
Border has overlapping neighbours' vehicle to be labeled as a kind of color, other neighbours' vehicles are labeled as another color.
4. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In four steps, if having the secure border of neighbours' vehicle and the secure border of current vehicle to overlap, sound alarm is produced.
5. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In two steps, current vehicle obtains four satellite positioning coordinate points of its surrounding neighbours vehicle.
6. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In two steps, the top of the display device is the front of current vehicle or the positive north, or shows blank in the display device
Background, the profile of the neighbours' vehicle are superimposed upon on blank background, or electronic map is shown in the display device, the neighbour
Occupy the profile superposition of vehicle on the electronic map.
7. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In two steps, the profile of neighbours' vehicle is rectangle.
8. a kind of Clash-Visualization method for early warning based on car networking as claimed in claim 1, it is characterised in that described the
In two steps, its size and correspondence position on the display apparatus are calculated by all satellite positioning coordinate points of each neighbours' vehicle
Put to use and method is calculated as below：
If length × width of display device is M × N, resolution ratio is R × C, and the proportional sizes of numerical map used in display device are 1:
K, then satellite positioning coordinate point (xd,yd) coordinate on the display apparatus is (Xp,Yp), then have：
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Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610040148.7A CN105679091B (en) | 2016-01-21 | 2016-01-21 | A kind of Clash-Visualization method for early warning based on car networking |
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| CN201610040148.7A CN105679091B (en) | 2016-01-21 | 2016-01-21 | A kind of Clash-Visualization method for early warning based on car networking |
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| CN105679091A CN105679091A (en) | 2016-06-15 |
| CN105679091B true CN105679091B (en) | 2018-04-20 |
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| CN106875746B (en) * | 2017-02-27 | 2020-09-29 | 山东师范大学 | Automobile safe driving early warning system and method |
| CN106985818A (en) * | 2017-04-14 | 2017-07-28 | 济南浪潮高新科技投资发展有限公司 | A kind of motor vehicle intelligent drive assist system based on cloud computing |
| CN107172147B (en) * | 2017-05-16 | 2020-06-05 | 大陆投资(中国)有限公司 | Node information acquisition device, inter-vehicle topology acquisition device, and method |
| CN109215389B (en) * | 2017-06-29 | 2021-09-10 | 国基电子（上海）有限公司 | Vehicle distance correction method, electronic device and computer readable storage medium |
| CN107316487A (en) * | 2017-07-11 | 2017-11-03 | 东莞市信瑞智能科技有限公司 | Car networking Intelligent vehicle-carried information terminal and information interacting method |
| CN109703456B (en) * | 2017-10-25 | 2022-04-05 | 上海汽车集团股份有限公司 | Warning method and device for preventing automobile collision and automobile controller |
| CN108010388A (en) * | 2018-01-04 | 2018-05-08 | 北京瑞腾中天科技有限公司 | Collision detection method for early warning and collision detection early warning system based on car networking network |
| CN108428369A (en) * | 2018-03-22 | 2018-08-21 | 大连海事大学 | A kind of information of vehicles processing system |
| CN108447306B (en) * | 2018-04-23 | 2020-06-30 | 北京交通大学 | Simulation method for real-time position sharing collision avoidance early warning among collision vehicles at uncontrolled intersection |
| CN108922242A (en) * | 2018-06-05 | 2018-11-30 | 宁波金洋化工物流有限公司 | The preventative tracking of harmful influence haulage vehicle and control platform |
| CN108875658A (en) * | 2018-06-26 | 2018-11-23 | 大陆汽车投资（上海）有限公司 | A kind of object identifying method based on V2X communication apparatus |
| CN109523830B (en) * | 2018-11-08 | 2021-08-03 | 中交第一公路勘察设计研究院有限公司 | Vehicle track prediction and collision early warning method based on high-frequency high-precision positioning information |
| CN111179624A (en) * | 2018-11-13 | 2020-05-19 | 奥迪股份公司 | Collision early warning method and device, computer equipment and storage medium |
| CN110211424B (en) * | 2019-06-04 | 2021-01-22 | 京东方科技集团股份有限公司 | Vehicle early warning method and system |
| CN112950998A (en) * | 2021-02-22 | 2021-06-11 | 京东方科技集团股份有限公司 | Vehicle safety driving early warning method, vehicle-mounted terminal and road test device |
| US11794766B2 (en) * | 2021-10-14 | 2023-10-24 | Huawei Technologies Co., Ltd. | Systems and methods for prediction-based driver assistance |
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| CF01 | Termination of patent right due to non-payment of annual fee |