CN105774650A - Motor vehicle anti-collision early-warning method and system based on satellite navigation - Google Patents

Motor vehicle anti-collision early-warning method and system based on satellite navigation Download PDF

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CN105774650A
CN105774650A CN201610121054.2A CN201610121054A CN105774650A CN 105774650 A CN105774650 A CN 105774650A CN 201610121054 A CN201610121054 A CN 201610121054A CN 105774650 A CN105774650 A CN 105774650A
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motor vehicles
satellite navigation
vehicle
car
processing unit
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CN105774650B (en
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胡良
袁罡
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Chengdu Xike Huaxin Technology Co., Ltd
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胡良
袁罡
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/51—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to the motor vehicle anti-collision early-warning technology, discloses a motor vehicle anti-collision early-warning method based on satellite navigation, and belongs to the technical field of intelligent traffic. Satellite navigation messages and motor vehicle feature information are sent and received among vehicles in a wireless communication mode on the basis of satellite navigation signals received by the motor vehicles, a difference measurement equation is created and solved by a processing unit on the basis of the received navigation messages of the surrounding motor vehicles, the navigation messages of the current vehicle and original measurement data, and high-precision relative position and speed information of the surrounding vehicles is obtained; meanwhile, the position of the next moment is predicted. The current vehicle can sense precise positions of the surrounding motor vehicles in real time, warning is triggered before possible collisions, a driver is reminded to take corresponding avoiding measures, and anti-collision early warning of the motor vehicles is achieved.

Description

A kind of anticollision of motor vehicles method for early warning based on satellite navigation and system
Technical field
The present invention relates to anticollision of motor vehicles technology, specifically a kind of anticollision of motor vehicles method for early warning based on satellite navigation and system.
Background technology
Along with the fast development of China's economy, national life level improves rapidly, and automobile becomes one of necessary improving family life.On Chinese Auto Industry development international symposiums in 2010, Ministry of Industry and Information estimates in 10 years before the year two thousand twenty, and China is by newly-increased automobile pollution more than 1.3 hundred million, and sum will more than 200,000,000.Automobile is while people's lives offer convenience, and vehicle accident but becomes the big trap on happy life road, and the cigarette jade that disappears falls from the sky or outer space because of vehicle accident ten hundreds of life every year, and numerous family becomes incoherent because of vehicle accident.A large amount of vehicle accident data show, more than 80% traffic accident causes due to operator error, and the automobile crash of 65% is rear-end collision, and all the other belong to side or front and bump against.Related data shows, if driver can shift to an earlier date 1 second recognizes potential danger, makes correct operation, then the rear-end collision of 90% and the collision of 60% can be prevented effectively from.
The problem that traffic safety has become as whole society's extensive concern, whole world Ge great automobile vendor also puts into huge fund and automobile collision preventing technology is studied, the main flow direction of current automobile collision preventing technology is to research and develop all kinds of automobile collision avoidance radars, but Anticollision Radar cost is high, certainty of measurement is on the low side, operating distance is limited, it is difficult to realize anti-collision early warning remote, comprehensive.
Development along with Satellite Navigation Technique, especially the maturation of China's triones navigation system, Vehicular satellite navigates progressively industrialization, navigator cost constantly reduces, and navigation accuracy but improves constantly, and adopts differential position, relative positional accuracy can reach Centimeter Level, fully meet the certainty of measurement requirement needed for anticollision of motor vehicles, add Vehicular satellite navigator and popularize gradually so that the anticollision of motor vehicles early warning technology based on satellite navigation has possessed sufficient feasibility.
CN201310180483.3 discloses a kind of anti-collision system for automobile based on satellite fix, including the sub-security system of several automobiles, the sub-security system of automobile includes power module, control module and the crash sensor being connected respectively, satellite positioning module, radio-frequency module, information output apparatus with control module；Wherein, power module is that each module is powered.Control the module satellite positioning module by real time operation, obtain the position of the now sub-security system of this automobile, and this positional information and collision information are sent out through radio-frequency module in the way of broadcast singal.But this truck position information that each vehicle satellite locating module obtains simply is broadcasted by this patent, and commercial satellite locating module can be obtained with positioning precision at present is 5-10 rice, the positioning precision that army grade satellite positioning module can reach is about 2 meters, the crashproof effect that can play based on such positional precision is very limited, when vehicle is in the process of running at high speed, add the response time that driver takes action, judge whether two cars have collision danger also unreasonable merely with current location information.
Summary of the invention
For the above-mentioned technical problem that anti-collision early warning of the prior art exists, the invention discloses a kind of anticollision of motor vehicles method for early warning based on satellite navigation and system.
Technical scheme is as follows:
The invention provides a kind of anticollision of motor vehicles method for early warning based on satellite navigation, it specifically includes following steps: the satellite navigation aerial on step one, motor vehicles receives satellite navigation signals, and the satellite navigation message extracted and raw measurement data are sent to the processing unit of this car by satellite navigation module again；Step 2, this car processing unit the navigation message of this car, raw measurement data, vehicle characteristics and vehicle identity information are sent to wireless communication module, by wireless communication module to emission this car navigation message；Step 3, wireless communication module receive navigation message that other motor vehicles launches, raw measurement data, vehicle characteristics and vehicle identity information simultaneously, and are sent out by the navigation message received and deliver to the machine processing unit with raw measurement data；Step 4, the machine processing unit build difference measurement equation according to Ben Che and the navigation message of other vehicle, raw measurement data and solve, obtain the relative position between motor vehicles and relative velocity, the relative position of subsequent time is predicted simultaneously, judge whether to collide according to predicted position and the characteristic information such as Vehicle length and width, thus sensed in advance goes out the risk of collision being likely to occur, driver is reminded to take measures, it is to avoid collision occurs.
Further, the method for the above-mentioned relative position obtained between motor vehicles and relative velocity is for solving difference measurement equation.The positional precision that current satellite navigation can obtain is 5-10 rice, assume that vehicle is 40km/h in urban district travel speed, corresponding vehicle travels 11.1m each second, on expressway, travel speed is 100km/h, corresponding vehicle travels 27.8m each second, add the response time of human pilot, crashproof requirement cannot be met merely with the vehicle position information given by navigator.Navigation message and raw measurement data based on satellite navigation, built difference measurement equation by processing unit and solve, high accuracy relative position and velocity information between vehicle can be obtained, between vehicle, relative positional accuracy can reach 5cm, relative velocity precision can reach 0.5cm/s, the relative position of recycling velocity information prediction subsequent time two car.
Said method also includes, and in the relative position and the speed that obtain motor-driven workshop according to Differential positioning, then predicts two cars relative position after the T second, such that it is able to shift to an earlier date T second sensing collision risk.
Said method also includes, if the distance between the vehicle body Boundary Prediction position of two cars is less than the minimum Collsion proof safety distance d between vehicle, then sends collision alarm, reminds driver to take urgent measure, it is to avoid collision occurs.
Said method also includes, and sends the relative position of motor vehicles around, dangerous warning information to display unit, and display unit shows information of vehicles by different way, points out driver's hazardous vehicles present position, facilitates driver according to circumstances to take urgent measure.
Said method also includes, and vehicle characteristic information, vehicle identity information is sent out by wireless communication module simultaneously.
The invention also discloses a kind of anticollision of motor vehicles early warning system based on satellite navigation, it specifically includes and is arranged on motor vehicles satellite navigation aerial, satellite navigation module, processing unit and wireless communication module, described satellite navigation aerial is used for receiving satellite navigation signals, and satellite navigation module for being sent to the processing unit of this car by the satellite navigation message extracted and raw measurement data；Described processing unit for the navigation message of this car is sent out, raw measurement data, vehicle characteristics, vehicle identity information give wireless communication module, wireless communication module is to emission this car navigation message, raw measurement data, vehicle characteristics, vehicle identity information；Wireless communication module receives the information such as the navigation message of other motor vehicles transmitting, raw measurement data, vehicle characteristics, testing vehicle register simultaneously, and sends the information received to the machine processing unit；The machine processing unit builds difference measurement equation according to Ben Che and the navigation message of other vehicle, raw measurement data and solves, the relative position of subsequent time is predicted simultaneously, judge whether to collide according to predicted position and Vehicle length and width information, thus sensed in advance goes out the risk of collision being likely to occur, driver is reminded to take measures, it is to avoid collision occurs.
By adopting above technical scheme, the invention have the benefit that the present invention builds difference measurement equation in conjunction with the navigation message of this car and surrounding vehicles, complete dynamic difference location, extract relative position and the relative velocity of surrounding vehicles, utilize relative position and relative velocity between vehicle, the position of surrounding vehicles subsequent time is predicted, collision anticipation is made according to crashproof decision-making mechanism, once detect that crashproof wind just triggers crashproof alarm, remind driver's hazardous vehicles present position, it is simple to driver takes urgent measure.Adopt this technical scheme, relative position and relative velocity between vehicle very accurately can be provided, the relative position of subsequent time is predicted simultaneously, sensed in advance risk of collision, it is easy to driver take measures in advance, early warning accuracy rate is high, easy to use, has important social value and high economic benefit.Meanwhile, when emergency (parking, fault, danger, abduction etc.) occurs in motor vehicles, processing unit can trigger emergency situation pattern, and by wireless communication module to emission.Display unit completes the display of the information such as surrounding vehicles position, vehicle characteristics, emergency and crashproof alarm, it is simple to driver according to circumstances takes counter-measure in advance.
The present invention is based on the original navigation text that satellite navigation module obtains, by exchanging navigation message and raw measurement data between vehicle, processing unit is utilized to complete Differential positioning, extract high accuracy relative position and speed between vehicle, the relative positional accuracy in two workshops can reach 5cm, relative velocity precision can reach 0.5cm/s, based on current high precision position and velocity information, subsequent time two shop locations is predicted, in conjunction with the vehicle characteristic information such as Vehicle length, width, judge whether to bump against risk according to two workshop frontier distances.Take differential position can obtain high accuracy relative position and velocity information, utilize current location and velocity information that the relative position of two cars of subsequent time is accurately predicted simultaneously, can sensed in advance risk of collision, give warning in advance, driver is allowed to have enough time to take measures to avoid bumping against, thus realizing crashproof.
Accompanying drawing explanation
Fig. 1 is anti-collision early warning equipment schematic.
Fig. 2 is body of motor vehicle coordinate schematic diagram.
Fig. 3 is car body coordinate plane schematic diagram in same ground region.
Fig. 4 is automobile safety early warning schematic diagram in same ground region.
Fig. 5 is anti-collision early warning handling process.
Fig. 6 is anticollision of motor vehicles early warning system structure chart.
Detailed description of the invention
Below in conjunction with Figure of description, describe the specific embodiment of the present invention in detail.
The invention discloses a kind of anticollision of motor vehicles method for early warning based on satellite navigation, the satellite navigation signals that the method receives based on motor vehicles, cordless communication network is utilized to complete the exchange of navigation message between vehicle, raw measurement data, vehicle characteristics, vehicle identity information, based on navigation message, raw measurement data, completed the high accuracy of relative position and relative velocity between vehicle by processing unit to resolve, and the relative position of motor vehicles subsequent time around is predicted, making crashproof decision-making, display unit completes the display of relevant information in good time.
The described basic component units based on the anticollision of motor vehicles early warning of satellite navigation is anti-collision early warning equipment, its theory of constitution figure is as it is shown in figure 1, mainly include satellite navigation aerial, satellite navigation module, wireless receiving and dispatching antenna, wireless communication module, processing unit and display unit.It is embodied as step as follows:
1. this car is received by Vehicular satellite navigation module satellite navigation message and raw measurement data send to processing unit；Navigation message includes complete satellite almanac data, containing ephemeris reference time, semi-major axis of satellite orbit, orbital eccentricity, orbit inclination angle etc., satellite almanac data is used for calculating satellite position and movement velocity, and raw measurement data includes pseudorange, pseudorange rate of change, phase place and Doppler measurement etc..Utilize satellite position, movement velocity and raw measurement data to build difference measurement equation, solve difference measurement equation and obtain the relative position between vehicle and relative velocity；
2. the satellite navigation message of this car, raw measurement data, vehicle characteristic information, vehicle identity information etc. are sent out by processing unit by wireless communication module；Vehicle characteristic information includes Vehicle length, width and height etc., and vehicle identity information includes Vehicle Identify Number, license plate number etc.；
3. processing unit synchronizes to receive this car navigation message, raw measurement data and from the raw measurement data of other vehicle of wireless communication module, vehicle characteristic information, vehicle identity information etc.；
4. processing unit is to the measurement data in conjunction with this car measurement data and other vehicle, build difference measurement equation, obtain the relative position between vehicle and speed, and the relative position of subsequent time between vehicle is predicted, in conjunction with vehicle characteristic information, calculate the minimum range on two car borders, it may be judged whether triggering crashproof alarm, basic handling flow process is shown in Fig. 5.Being embodied as step is:
(1) with car body left-front corner for zero O shown in Fig. 2, with the line of left-front corner and right anterior angle for X-axis positive direction, the positive direction being Y-axis with the line of left-front corner Yu left rear corner, with initial point O for starting point, is perpendicular to XOY plane and upward direction is the bodywork reference frame that Z axis sets up this car；Under respective bodywork reference frame, the position, navigation antenna center of motor vehicles A0 and A1 is respectively R0(x0,y0,z0) and R1(x1,y1,z1)。
(2) with this motor vehicles A0For reference, based on this car navigation message, this car measurement data and other motor vehicles A of receiving1Measurement data, motor vehicles Ai(i=0,1) in t about the m satellite SmPseudo-range Equation be expressed as:
Wherein ρi mFor motor vehicles AiTo satellite SmPseudo-range measurements, λ is satellite signal wave lengths,For motor vehicles AiTo satellite SmPhase measurement, ri mFor motor vehicles AiTo satellite SmGeometric distance, c is propagation velocity of electromagnetic wave, δ tuiFor motor vehicles AiThe receiver clock-offsets of upper satellite navigation module, δ tsmFor satellite SmClock difference, △ Ii mFor ionospheric error, △ Ti mFor tropospheric propagation error, ε is unknown pseudo range measurement error.
(3) extracting the phase difference measurement looking satellite altogether, building difference measurement equation according to (2) formula is:
WhereinFor phase difference measured value, λ is satellite signal wave lengths,It is illustrated respectively in t motor vehicles A1And A0Look satellite S altogethermCorresponding phase measurement data,Represent n-th and look satellite S altogethernCorresponding phase measurement data, ε is measurement error.
(4) t motor vehicles A it is located at1And A0There is the public measured value of (M+1) satellite, right
Measuring the measurement equation group after equation linearisation is:
WhereinFor phase difference measured value,For motor vehicles A0With satellite SmLine vector component in the X-axis direction, in like mannerFor the component in X-direction,For the component in Z-direction.Difference measurement equation (3) formula is expressed in matrix as:
Y=B X-A N (4)
(5) least square solution of difference measurement equation is:
m i n b , a | | y - B · X - A · N | | Q y - 1 2 s . t . X ∈ R p , N ∈ Z n - - - ( 5 )
Wherein y is the measurement vector of M × 1, and X is the unknown basic lineal vector of 3 × 1, and N is fuzzy vector, and B is the baseline coordinate design matrix of M × 3, and A is the fuzzy item design matrix of double difference.Motor vehicles A can be tried to achieve by solving equation group (5)1With A0Relative position coordinates be X=[x, y, z]T。
(6) Pseudo-range Equation (1) is differentiated, then motor vehicles A0, A1With satellite SmCorresponding pseudorange rate of change measures equation:
ρ · i m = b i m · ( V i - V m ) + c ( δ t · u i ( t ) - δ t · s m ( t ) ) + ϵ , ( i = 0 , 1 ) - - - ( 6 )
WhereinFor pseudorange rate of change, unit vectorRepresent motor vehicles AiAt X, Y, the velocity component in Z-direction,Represent satellite SmAt X, Y, the velocity component in Z-direction,For navigation module the changing value of receiver clock error,For satellite clock correction rate of change.
(7) associating multi-satellite measured value, can about motor vehicles A0Rate equation be:
( b 0 m - b 0 n ) · V 0 = ( ρ · 0 m - ρ · 0 n ) + ( b 0 m · V m - b 0 n · V n ) + c ( δ t · s m - δ t · s n ) + ϵ - - - ( 7 )
Motor vehicles A can be tried to achieve according to equation (7)0Speed V0。
(8) can obtain relative velocity equation according to formula (6) is:
b i m n · Δ V = ( ρ · i m n - ρ · 0 m n ) - ( b i m n - b 0 m n ) · V 0 + b i 0 m · V m - b i 0 n · V n + ϵ - - - ( 8 )
Wherein b i m n = b i m - b i n , ρ · i m = ρ · i m - ρ · i n , b i 0 m = b i m - b 0 m , In conjunction with speed V0, solving equation (8) can obtain motor vehicles A1With A0Relative velocity
(9) k moment motor vehicles A is set1With A0Relative motion state be
State to (k+1) momentIt is predicted:
X ‾ k + 1 = F · X k - - - ( 9 )
Wherein F is state-transition matrix:
F = 1 0 0 T 0 0 0 1 0 0 T 0 0 0 1 0 0 T 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 - - - ( 10 )
In formula (10), T is the interval in (k+1) moment and k moment.Owing to adopting differential position, can effectively eliminate the multiple error components such as navigator receiver clock-offsets, satellite clock correction, ephemeris error and error of refraction, relative position and relative velocity between high-precision vehicle can be obtained, the precision of prediction of subsequent time vehicle location can be reached Centimeter Level.
(10) A is calculated according to predicted position1With A0The distance of boundary point, remembers rminIt is the minimum range of two car boundary points, if rmin< d, assesses danger classes according to the speed of related movement of two cars, respectively output motor vehicles A1With A0Danger classes and have risk of collision motor vehicles position, trigger crashproof alarm.
5. the display unit of anticollision gear receives warning information, completes display and the alarm of Anticollision information.
The invention also discloses a kind of anticollision of motor vehicles early warning system based on satellite navigation, it specifically includes the satellite navigation aerial, satellite navigation module, processing unit and the wireless communication module that are arranged on motor vehicles；Described satellite navigation aerial is used for receiving satellite navigation signals；This car navigation message and raw measurement data are sent to processing unit by described navigation module；Described processing unit is used for receiving this car navigation message and raw measurement data, after vehicle identity information, characteristic information combination, by wireless communication module to emission；Described processing unit also synchronizes to receive the navigation message of other vehicles from wireless communication module, raw measurement data, vehicle characteristic information and measurement identity information, navigation message is decoded, in combination with this car navigation message, raw measurement data builds difference measurement equation and solves, complete dynamic difference location, extract the relative position between vehicle and relative velocity, and according to current location and speed, the position between subsequent time vehicle is predicted, in conjunction with Vehicle length, the characteristic informations such as width, calculate the minimum range between two car borders, when the minimum Prediction distance on two borders, workshop is less than minimum safe distance, trigger crashproof alarm, remind driver's potential danger in advance, and inform hazardous vehicles position, be easy to driver according to circumstances take urgent measure avoid bump against, thus reaching crashproof purpose.
Owing to adopting differential position, can effectively eliminate the receiver clock-offsets of navigator, satellite clock correction, the multiple error component such as ephemeris error and error of refraction, relative position and relative velocity between high-precision vehicle can be obtained, the precision of prediction of subsequent time vehicle location can be reached Centimeter Level, in conjunction with Vehicle length, the characteristic informations such as width, can with Centimeter Level accuracy prediction motor vehicles boundary position, sensed in advance is from the risk of collision of each side all around, eliminate the blind area that rearview mirror exists to a certain extent, the collision of motor vehicles can be prevented effectively from.
Above-mentioned processing unit also includes emergency trigger element, and described emergency trigger element triggers when emergency occurs in motor vehicles, by wireless communication module to emission.Such as when emergency (parking, fault, danger, abduction etc.) occurs in motor vehicles, processing unit trigger emergency situation pattern and by wireless communication module to emission, it is simple to surrounding vehicles takes counter-measure in advance.
Said system also includes display unit, and described display unit is for displaying surrounding vehicles position, vehicle characteristics, emergency and crashproof warning information.Display unit completes the display of the information such as surrounding vehicles position, vehicle characteristics, emergency and crashproof alarm, it is simple to driver according to circumstances takes counter-measure in advance.
Described inventive method and system cannot be only used for the crashproof of motor vehicles, are equally applicable to the field such as the crashproof of train and the illegal monitoring of motor vehicles, motor vehicle flow monitoring.Coefficient given in the above embodiments and parameter; it is available to those skilled in the art realize or use invention; invention does not limit and only takes aforementioned disclosed numerical value; when without departing from the thought invented; above-described embodiment can be carried out various modifications or adjustment by those skilled in the art; thus the protection domain of invention is not limit by above-described embodiment, and the maximum magnitude of the inventive features that claims are mentioned should be consistent with.

Claims (6)

1. the anticollision of motor vehicles method for early warning based on satellite navigation, its concrete steps include: satellite navigation aerial on step one, motor vehicles receives satellite navigation signals, and the satellite navigation message of acquisition, raw measurement data are sent to the processing unit of this car by satellite navigation module；Step 2, this car processing unit the navigation message of this car, raw measurement data are sent to wireless communication module, by wireless communication module to emission this car navigation message and raw measurement data；Step 3, wireless communication module receive navigation message and the raw measurement data that other motor vehicles is launched simultaneously, and send the navigation message received and raw measurement data to the machine processing unit；Step 4, the machine processing unit build difference measurement equation according to the raw measurement data of the navigation message of this car, the around navigation message of motor vehicles, two cars and solve, obtain the relative position between motor vehicles and relative velocity, the position that subsequent time is relative is predicted simultaneously, judges whether to collide according to predicted position.
2. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 1, it is characterized in that described method also includes, obtain according to Differential positioning motor vehicles and around after the relative position of car and relative velocity, predict the relative position of motor-driven workshop subsequent time, in conjunction with vehicle characteristic information, carry out anti-collision early warning judgement according to the minimum range on two borders, workshop.
3. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 2, it is characterised in that described method also includes, if the distance between vehicle body Boundary Prediction position is less than the minimum Collsion proof safety distance d between vehicle, then sends crashproof alarm.
4. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 3, it is characterised in that described method also includes, and vehicle characteristic information, vehicle identity information is sent out to other vehicle by wireless communication module simultaneously.
5. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 4, it is characterised in that described method also includes, and sends motor vehicles current location, vehicle characteristics, vehicle identity information and warning information to display unit.
6. the anticollision of motor vehicles early warning system based on satellite navigation, it is characterized in that specifically including and be arranged on motor vehicles satellite navigation aerial, satellite navigation module, and it is arranged on the processing unit on motor vehicles and wireless communication module, described satellite navigation aerial is used for receiving satellite navigation signals, and satellite navigation module exports the processing unit to this car for the satellite navigation message that will receive；Described processing unit is for being sent to wireless communication module by the navigation message of this car；By wireless communication module to emission this car navigation message, wireless communication module receives the navigation message that other motor vehicles is launched simultaneously, and sends the navigation message received to the machine processing unit；The navigation message of the machine processing unit navigation message based on this car and motor vehicles around, by building difference measurement equation and solving, obtain the relative position between motor vehicles and relative velocity, according to relative position and relative velocity, the relative position of two workshop subsequent time is predicted, in combination with vehicle characteristic information such as the length of motor vehicles, width, judge whether two cars will collide in advance.
CN201610121054.2A 2016-03-03 2016-03-03 A kind of anticollision of motor vehicles method for early warning and system based on satellite navigation Active CN105774650B (en)

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CN106080591A (en) * 2016-08-08 2016-11-09 北京汽车研究总院有限公司 Automatic collision avoidance system alarm opens and closes control method, device and vehicle
CN109413584A (en) * 2017-08-14 2019-03-01 中国电信股份有限公司 Passenger flow trajectory track methods, devices and systems
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CN111045061A (en) * 2018-10-15 2020-04-21 千寻位置网络有限公司 V2V-based method and device for cooperative positioning and distance sensing between vehicles
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CN110148312A (en) * 2019-04-30 2019-08-20 惠州市德赛西威智能交通技术研究院有限公司 A kind of anti-collision warning method, apparatus and storage medium based on V2X system

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