CN105869439A - Road intersection anti-collision early warning method, read-side equipment and anti-collision system - Google Patents
Road intersection anti-collision early warning method, read-side equipment and anti-collision system Download PDFInfo
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- CN105869439A CN105869439A CN201610228081.XA CN201610228081A CN105869439A CN 105869439 A CN105869439 A CN 105869439A CN 201610228081 A CN201610228081 A CN 201610228081A CN 105869439 A CN105869439 A CN 105869439A
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
The invention discloses a road intersection anti-collision early warning method, road-side equipment and an anti-collision system based on vehicle infrastructure integration technology. According to the road intersection anti-collision early warning method, GPS information which is transmitted by each vehicle through specific on-vehicle equipment is received by the road-side equipment arranged at a road intersection, and furthermore collision predication analysis is performed on the data of the GPS information, thereby generating early-warning information. Furthermore the early-warning information is forwarded to the vehicles with potential collision risks. Finally after the on-vehicle equipment receives the early-warning information, the on-vehicle responds to the early-warning information, thereby reducing collision probability between vehicles in the ramp and the main road of the intersection, and furthermore greatly improving vehicle driving safety on condition of high-speed driving or blind area at the intersection.
Description
Technical field
The present invention relates to intelligent transportation, intelligent vehicle and car networking arenas, particularly to one based on bus or train route coordination technique
Road river conjunction anti-collision early warning method, roadside device and CAS.
Background technology
Along with developing in depth and breadth of urbanization, traffic is faced with formidable challenges.In order to alleviate Current traffic problem, car is networked
Technology (Internet of Vehicles, IoV) is arisen at the historic moment, it be intended to by V2X realize vehicle and roadside device and other
Interconnecting of vehicle, to such an extent as to it is finally reached the purpose of collaborative driving.External research relatively early, mainly has Europe
Bus or train route cooperative system project (Cooperative vehicle infrastructure system, CVIS), and DOT
The IntelliDrive project organized and similar Car-TAK2000 plan etc..Domestic research is the most relatively
Evening, but car networking up to now becomes study hotspot already.Nowadays, the most it is considered as car networking technology optimizing working as
Front level of service and the new way of solution Current traffic problem.
At present, the research of car networking is broadly divided into theory and two aspects of engineering.On the one hand, theoretic is studied V2X
Mechanism of action and the work of relevant standardisation；On the other hand, the applied research in engineering aspect also follows theoretical research closely
The most persistently follow up.In engineering aspect, car networking technology by V2V Yu V2I with realize vehicle and vehicle and
Interconnecting between vehicle and roadside device, thus improve the many application under car networked environment, such as: service navigation,
Paths chosen, road environment early warning, follower's collision prevention early warning, the early warning of bend blind area, river conjunction anti-collision early warning etc..Wherein,
River conjunction anti-collision early warning is the important application that in car networking technology, bus or train route is collaborative, and it is intended to perception vehicle by during river conjunction
Potential risk of collision, in advance to the vehicle information that gives a warning so that driver reacts in advance, thus greatly improves
Belong to the drive safety at the river conjunction of black spot.
But, in current car Network, for this important application of river conjunction anti-collision early warning in bus or train route synergistic application,
The most not yet capture from theoretical lift altogether with two aspects of engineering.Therefore, it is contemplated that design one under car networked environment
Set river conjunction anti-collision early warning method and corresponding device.
Summary of the invention
For the technical problem of above-mentioned existence, the present invention provides a kind of road river conjunction based on bus or train route coordination technique crashproof pre-
Alarm method, roadside device and CAS, what it can reduce that ring road and vehicle on major trunk roads at river conjunction collide can
Can property, drastically increase in the case of running at high speed or the vehicle drive safety in the case of blind area occur in river conjunction.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
A kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique, in advance at the river conjunction of ring road Yu major trunk roads
Place arranges roadside device, and installs mobile unit on vehicle, and described mobile unit and described roadside device pass through DSRC
Radio communication connects, and the most described road river conjunction anti-collision early warning method includes step:
The GPS information that each vehicle that roadside device receives at river conjunction on each section of road is sent by mobile unit；
Roadside device carries out vehicle pairing according to described GPS information, and according to every pair of vehicle respective GPS information analysis
The real-time following distance deviation being calculated between every pair of vehicle and velocity component are poor；
Roadside device carries out prediction of collision analysis according to the real-time following distance deviation between every pair of vehicle and velocity component difference,
To early warning information, and to this to vehicle feedback early warning information.
Correspondingly, present invention also offers a kind of roadside device, comprising:
Communication module, and the data processing module being connected with described communication module, wherein,
The described communication module GPS information that all vehicles are sent by car-mounted device in receiving its coverage,
And the early warning information that described data processing module produces is fed back to the car-mounted device of the vehicle of correspondence；
Described data processing module carries out vehicle pairing, and root for the GPS information received according to described communication module
The real-time following distance deviation between every pair of vehicle and velocity component is obtained according to every pair of vehicle respective GPS information analytical calculation
Difference, carries out early warning and alert analysis further according to this real-time following distance deviation and velocity component difference, and generates early warning information.
Based on above-mentioned road river conjunction anti-collision early warning method and roadside device, present invention also offers a kind of road river conjunction
CAS, comprising: be arranged at river conjunction, roadside device as above, and be pre-installed on vehicle
Mobile unit, described mobile unit is connected by DSRC radio communication with described roadside device, wherein,
Described mobile unit is for the GPS information of collection vehicle self, and sends to described roadside device, and response
The early warning information that described roadside device feeds back；
The GPS information of the described roadside device vehicle for being sent according to described mobile unit carries out vehicle pairing,
And obtain the real-time following distance deviation between every pair of vehicle and speed according to every pair of vehicle respective GPS information analytical calculation
Component is poor, carries out early warning and alert analysis further according to this real-time following distance deviation and velocity component difference, and generates early warning information.
The invention have benefit that:
1, the present invention is by considering fully interconnecting between bus or train route under car networked environment, uses short haul communication between bus or train route
Means so that the roadside device at river conjunction can traffic environment that automatically perception Current vehicle group is formed, and then
Potential risk of collision between prediction vehicle, finally provide early warning signal to the vehicle having potential risk thus improve road with
The safety of vehicle；
2, to expand TTC theoretical to river conjunction situation, using the instantaneous velocity component difference information between vehicle as defeated for the present invention
Enter, and consider running time and running distance double factor simultaneously and complete the design of river conjunction anti-collision early warning algorithm.Therefore,
Anti-collision early warning method in the present invention has the theory support of more system, thus can be bus or train route collaborative offer allusion quotation in car networking
Type and reliable application case；
3, from vehicle driver's angle, the present invention is that between the bus or train route under car networked environment, collaborative driving provides and depends on
According to and method, not only increase safety and the utilization rate of road, more eliminate the potential safety hazard brought because of anthropic factor
It is made that contribution.
Accompanying drawing explanation
Fig. 1 is the stream of an embodiment of a kind of based on bus or train route coordination technique the road river conjunction anti-collision early warning method of the present invention
Cheng Tu；
Fig. 2 be the present invention a kind of based on bus or train route coordination technique road river conjunction anti-collision early warning method in step S3 one
The flow chart of embodiment；
Fig. 3 be the present invention a kind of based on bus or train route coordination technique road river conjunction anti-collision early warning method in step S5 one
The flow chart of embodiment；
Fig. 4 be the present invention a kind of based on bus or train route coordination technique road river conjunction anti-collision early warning method in step S7 one
The flow chart of embodiment；
Fig. 5 is a specific embodiment of a kind of based on bus or train route coordination technique the road river conjunction anti-collision early warning method of the present invention
Flow chart；
Fig. 6 is to carry out two-by-two in a kind of based on bus or train route coordination technique the road river conjunction anti-collision early warning method reflecting the present invention
The view of pairing；
Fig. 7 is the functional block diagram of an embodiment of a kind of roadside device of the present invention；
Fig. 8 is the functional block diagram of an embodiment of a kind of road river conjunction anti-collision early warning system of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the present invention is described in detail.In order to make the purpose of the present invention, technical scheme and advantage more
Add clear, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that herein
Described specific embodiment, only in order to explain the present invention, is not intended to limit the present invention.
The present invention, by advance at road river conjunction, at major trunk roads and ring road river conjunction, arranges a specific trackside
Equipment, and a specific mobile unit is installed in each car, see Fig. 6, i.e. by the data acquisition of this car-mounted device
The GPS information of module collection vehicle, and and roadside device between the data that gathered alternately, roadside device is then to this GPS
Information data carries out processing generation early warning information, and this early warning information is forwarded to the vehicle having potential risk of collision,
This early warning information, after receiving early warning information, is responded by final mobile unit.
Embodiment one
See Fig. 1, for an enforcement of a kind of based on bus or train route coordination technique the road river conjunction anti-collision early warning method of the present invention
The flow chart of example.Specifically, in the present embodiment, this road river conjunction anti-collision early warning method includes step:
S1, roadside device receives the GPS information that each vehicle on each section of road of river conjunction is sent by mobile unit.
In the present embodiment, have employed specific roadside device and specific mobile unit realize data interaction between the two,
Specifically, this roadside device mainly includes communication module and the data processing module being connected, and wherein communication module specifically can be adopted
By junction service (Dedicated Short Range Communication, DSRC) module, data processing module can be adopted
With being integrated with the arithmetic element of anti-collision early warning algorithm, such as single-chip microcomputer etc.；Car-mounted device includes communication module, and leads to this
Letter module be connected data acquisition module and warning module, wherein, data acquisition module can use for measuring position, speed
The high-precision difference GPS module of the information such as degree and Che Xiang, communication module uses DSRC communication module, warning module bag
Include the display for responding early warning information, such as LCDs, and buzzer.Specifically, leading to due to roadside device
Letter is limited in scope, and the most only when vehicle enters in the communication coverage of roadside device, vehicle and roadside device can
Set up communication, i.e. in vehicle enters roadside device communication range, hand between the communication module of this car-mounted device and roadside device
The data gathered mutually, the GPS information of the vehicle that will gather is sent to roadside device, and then the data of roadside device
These GPS information data are carried out processing generation early warning information by processing module, and will by the communication module in roadside device
This early warning information forwards to the vehicle having potential risk of collision, finally by pre-in the vehicle receive early warning information
Alert module response early warning information.
When being embodied as, owing to longitude and latitude scope and the trackside in each section will be applied in follow-up data handling procedure
The GPS information such as the latitude and longitude coordinates of equipment self, therefore, before performing this step S1, this road of the present embodiment
River conjunction anti-collision early warning method also includes step S7: roadside device carries out road data collection.Specifically, for road
When GPS longitude and latitude data are acquired, road is divided into ring road, major trunk roads and three warps of major trunk roads after confluxing before confluxing
Latitude area is acquired, and such as Fig. 5 and 6, then stores.
S3, roadside device carries out vehicle pairing according to the GPS information of each vehicle, and believes according to the GPS of every pair of vehicle pair
Breath analytical calculation obtains the real-time following distance deviation between two vehicles of every pair of vehicle pair and velocity component is poor.Concrete real one
Executing in example, see Fig. 2, this step S3 specifically includes step:
S31, according to the GPS information of Current vehicle and the GPS information of roadside device, roadside device judges that this Current vehicle is
The prediction of collision region of no entrance current road segment, the most then perform step S33, otherwise, end operation.
In vehicle enters the communication range of this roadside device, then need to judge the collision whether this vehicle enters current road segment
In estimation range, to start corresponding prediction of collision analysis program.
In one embodiment, seeing Fig. 3 and Fig. 6, the communication range making this roadside device is the district with R as radius
Territory, the marginal value making vehicle i enter the prediction of collision stage is y, and y meets 0 ＜ y≤R, and this trackside is closed in the most each section
Being prediction of collision region around equipment in the range of distance y, making vehicle i is Δ x (t) with the actual range of roadside device, then
As y ＜ Δ x (t)≤R, represent that this vehicle i not yet enters in prediction of collision region, but established with roadside device wireless
Communication connection；As 0 ＜ Δ x (t)≤y, representing that this vehicle i enters in prediction of collision region, the most now roadside device needs
Start corresponding prediction of collision and analyze program, to predict in adjacent segments (i.e. 0 ＜ Δ x (t)≤y model in prediction of collision region
In enclosing) whether have the vehicle j that there is potential risk of collision because, if when there being vehicle j in prediction of collision region, then when
If vehicle in front i continues to travel according to current state, then may collide with this vehicle j.
In another specific embodiment, when roadside device judges that this Current vehicle not yet enters prediction of collision region, by
In Current vehicle constantly in the driving process that roadside device is close, the actual range between itself and roadside device is continuous
Change, the most ever-reduced, and mobile unit meeting its GPS information of real-time update of Current vehicle in driving process,
And Real-time Feedback is to this roadside device, therefore, even if this roadside device judges that Current vehicle not yet enters prediction of collision district
Territory, also can continue to judge whether it enters prediction of collision region accordingly based upon the real time GPS information after updating, until
It judges that this Current vehicle enters prediction of collision region, then perform step S33.
S33, roadside device is according to the GPS information of self, it is judged that in the prediction of collision region of the adjacent segments of current road segment
Whether there is vehicle, the most then perform step S35, otherwise, end operation.
It is as noted previously, as Current vehicle i and sails in the prediction of collision region of major trunk roads (0 ＜ Δ x (t)≤y), therefore,
Whether have, in needing to judge the prediction of collision region (0 ＜ Δ x (t)≤y) of ring road, other vehicles j that there is potential risk of collision,
Thus predict whether it collides with Current vehicle i.In one embodiment, see Fig. 5 and Fig. 6, according to ring road
Go up the vehicle data of each vehicle and be pre-stored within the road data of trackside, in the prediction of collision region of real-time judge ring road
Whether there is the vehicle that there is potential risk of collision, i.e. meet when distance, delta x (t) of the vehicle j in this section with roadside device
(in judging ring road middle-range river conjunction upstream ym, whether there is vehicle) during 0 ＜ Δ x (t)≤y, then carry out prediction of collision analysis,
I.e. perform step S35, otherwise, end operation.
S35, Current vehicle is matched by roadside device with the vehicle in current road segment adjacent segments prediction of collision region.
In the present embodiment, carry out vehicle pairing and refer to the roadside device longitude and latitude according to vehicles all in current road segment communication range
Degree information and car, to information, analyze any vehicle N entered in this prediction of collision region, sectionai, and by it with adjacent
Any vehicle N in prediction of collision region, sectionrjMatch two-by-two, thus obtain many vehicles to ({ Nai,Nrj}).See
Fig. 6, in one embodiment, by interactive GPS information between bus or train route, roadside device can get in its communication range and
Conflux in leading portion road at major trunk roads, and in ring road estimation range the latitude and longitude information of all vehicles and car to information, from
And analyze and obtain these major trunk roads and conflux leading portion enters the vehicle N in estimation rangeaiWith vehicle N in ring road estimation rangerj,
And both is matched.
S37, obtains the real-time car between every pair of vehicle centering two vehicle according to the GPS information analytical calculation of every pair of vehicle pair
Spacing deviation and velocity component are poor, perform step S5.
In one embodiment, roadside device travels through every a pair vehicle pair, obtains two vehicles in every pair of vehicle respective
GPS information, if longitude and latitude, speed and car are to information, and according to this calculation of longitude & latitude obtain every pair of vehicle centering each
Car car angle (seeing Fig. 6) between two car line directions, further according to every pair of vehicle centering two respective speed of vehicle
Respective velocity component is obtained with angle analytical calculation:
v′ai(t)=vai(t)cosα(t)
v′rj(t)=vrj(t)cosβ(t)
Wherein, α (t) is vehicle i velocity attitude and vehicle i in major trunk roads, and the angle of line between j, β (t) is car in ring road
J velocity attitude and vehicle i, the angle of line between j；vai(t) and vrjT () is major trunk roads vehicle i and ring road vehicle j respectively
Speed, v 'ai(t) and v 'rjT () is vehicle i Yu j velocity component on two vehicle lines respectively.
Further, can get both velocity component differences according to the above-mentioned velocity component of formula:
Δvij(t)=v 'ai(t)-v′rj(t)。
Correspondingly, this roadside device is according to every pair of vehicle centering two respective GPS information of vehicle, in addition it is also necessary to calculate two cars
Real-time following distance deviation Δ d betweenij(t)。
S5, roadside device touches according to the real-time following distance deviation between every pair of vehicle centering two vehicle and velocity component difference
Hit forecast analysis, obtain early warning information and feed back to the vehicle of correspondence.In one embodiment, see Fig. 3, this step
Rapid S5 includes step:
S53, roadside device calculates according to following distance deviation real-time between Current vehicle centering two vehicle and velocity component difference works as
Real-time estimate collision time between vehicle in front centering two vehicle
S55, roadside device judges the TTC between calculated Current vehicle centering two vehicleijT whether () be less than default
Prediction collision time threshold value T, the most then perform step S57, otherwise, perform step S59.
S57, roadside device generates early warning information, and feeds back to corresponding vehicle.In one embodiment, this trackside sets
Standby this early warning information generated can be to control the concrete control instruction that vehicle travels, it is also possible to is only above-mentioned calculating
The information such as result are as early warning information.
S59, roadside device according to the GPS information of Current vehicle centering two vehicle and the road GPS information that prestores,
Whether real-time judge Current vehicle centering has vehicle to have traveled past the river conjunction residing for roadside device, if having traveled past, then terminates behaviour
Make, otherwise perform step S3.In one embodiment, it is judged that whether this Current vehicle centering has vehicle to have traveled past trackside
Equipment, specifically can determine that whether this vehicle meets 0 ＞ Δ x (t) with the actual range of roadside device, the most then judge this car
Have traveled past roadside device, then direct end operation, without execution step S57.
Embodiment two
Based on above-mentioned river conjunction anticollision method for early warning, present invention also offers a kind of roadside device, below in conjunction with tool
This roadside device of the present invention is described in detail by body embodiment.
See Fig. 7, for the functional block diagram of an embodiment of a kind of roadside device of the present invention.Specifically, the present embodiment
In this roadside device include communication module 11, and the data processing module 12 being connected with this communication module 11, wherein,
This communication module 11 GPS information that all vehicles are sent by car-mounted device in receiving its coverage,
And the early warning information that this data processing module 12 produces is fed back to the car-mounted device of the vehicle of correspondence；Concrete real one
Executing in example, this communication module uses DSRC communication module, and its coverage is each in the circumference range with R as radius
Individual section, then in the present embodiment this roadside device by the DSRC module in the mobile unit of this DSRC module and vehicle
Carry out radio communication；
Data processing module 12 carries out vehicle pairing for the GPS information received according to this communication module 11, and according to
Every pair of vehicle centering two vehicle respective GPS information analytical calculation obtains the real-time car between every pair of vehicle centering two vehicle
Spacing deviation and velocity component are poor, carry out early warning and alert analysis further according to this real-time following distance deviation and velocity component difference, and
Generate early warning information；In one embodiment, this data processing module can use the computing being integrated with anti-collision early warning algorithm
Unit, such as single-chip microcomputer etc..
In the present embodiment, this data processing module specifically includes:
Pairing unit, the GPS information of each vehicle for being received according to communication module carries out vehicle pairing；Specifically
Ground, this pairing unit is according to the GPS information of Current vehicle and the GPS information of roadside device self, it is judged that Current vehicle
Whether enter the prediction of collision region of current road segment, if the prediction of collision region that Current vehicle enters current road segment is (the most current
Distance, delta x (t) between vehicle and roadside device meets 0 ＜ Δ x (t)≤y) time, then determine whether the adjacent road of current road segment
In the prediction of collision region of section, whether (i.e. another road is in the ym of river conjunction upstream) has vehicle, if there being vehicle, and should
Vehicle matches two-by-two with Current vehicle；
Forecast analysis unit, is connected with this pairing unit, for obtaining according to the GPS information analytical calculation of every pair of vehicle pair
Velocity component difference between every pair of vehicle centering two vehicle and real-time following distance deviation, and poor and real according to this velocity component
Time following distance deviation carry out prediction of collision analysis, specifically, computational methods that this forecast analysis unit is used and embodiment
Computational methods in one are identical, repeat no more here.
Further, in the present embodiment, this roadside device also includes data acquisition module 13, and with this data acquisition module
The memory module 14 that block 13 is connected, wherein, this data acquisition module 13 is for gathering the GPS of this roadside device self
The GPS information in each section at information, and river conjunction, this memory module 14 is used for storing this data acquisition module 13
The GPS information collected, this memory module 14 is also connected with this data processing module.
Embodiment three
Correspondingly, the present invention also provides for a kind of road river conjunction anti-collision early warning system based on bus or train route coordination technique, below will
With Figure of description, it is described in detail in conjunction with specific embodiments.
See Fig. 8, for an enforcement of a kind of based on bus or train route coordination technique the road river conjunction anti-collision early warning system of the present invention
The functional block diagram of example.Specifically, in the present embodiment, this road river conjunction anti-collision early warning system includes in above-described embodiment two
Be arranged on the roadside device at river conjunction, and be arranged on the mobile unit on each vehicle, this roadside device with sail this into
The mobile unit of the vehicle in roadside device communication range is connected by DSRC radio communication, wherein,
This mobile unit is for the GPS information of collection vehicle self, and sends to above-mentioned roadside device, and in response
State the early warning information that roadside device feeds back；In the present embodiment, this mobile unit specifically includes data acquisition module 21,
Warning module 22, and the communication module 23 being connected with this data acquisition module 21 and warning module 22, wherein, number
The high-precision difference GPS module for measuring the GPS information such as position, speed and Che Xiang can be used according to acquisition module 21；
Communication module 23 can use DSRC communication module；Warning module 22 includes the display for responding early warning information, as
LCDs, and buzzer；
The GPS information of the roadside device all vehicles for being sent according to above-mentioned mobile unit carries out vehicle pairing,
And obtain the real-time following distance between every pair of vehicle centering two vehicle according to every pair of vehicle respective GPS information analytical calculation
Deviation and velocity component are poor, carry out early warning and alert analysis further according to this real-time following distance deviation and velocity component difference, and generate
Early warning information.In the present embodiment, this roadside device is identical with the roadside device in above-described embodiment two, and identical parts use
Identical reference, repeats no more here.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention
Any amendment, equivalent and improvement etc. with being made within principle, should be included within the scope of the present invention.
Claims (10)
1. a road river conjunction anti-collision early warning method based on bus or train route coordination technique, it is characterised in that in advance at ring road and trunk
Arranging roadside device at the river conjunction in road, and install mobile unit on vehicle, described mobile unit leads to described roadside device
Crossing DSRC radio communication to connect, the most described road river conjunction anti-collision early warning method includes step:
The GPS information that each vehicle that roadside device receives at river conjunction on each section of road is sent by mobile unit；
Roadside device carries out vehicle pairing according to described GPS information, and obtains according to the GPS information analytical calculation of every pair of vehicle pair
Real-time following distance deviation and velocity component between two vehicles of every pair of vehicle pair are poor；
Roadside device carries out prediction of collision according to the real-time following distance deviation between every pair of vehicle centering two vehicle and velocity component difference
Analyze, obtain early warning information, and to corresponding vehicle feedback early warning information.
2. road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 1, it is characterised in that institute
Before stating the step that roadside device receives the GPS information that each section of road vehicle of river conjunction is sent by mobile unit, also
Including step:
Roadside device collects the GPS information of each section of road of river conjunction, and the GPS information of roadside device self in advance, and deposits
Storage.
3. road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 2, it is characterised in that institute
State roadside device and carry out the step of vehicle pairing according to described GPS information, specifically include step:
GPS information according to Current vehicle and the GPS information of roadside device, it is judged that whether described Current vehicle enters current road
The prediction of collision region of section,
If described Current vehicle enters described prediction of collision region, the most described roadside device judges institute according to the GPS information of self
Whether vehicle is had, the most then by pre-with described collision for described Current vehicle in stating the prediction of collision region of current road segment adjacent segments
The vehicle surveyed in region matches two-by-two.
4. road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 3, it is characterised in that institute
The computing formula stating velocity component difference is:
Δvij(t)=v 'ai(t)-v′rj(t)=vai(t)cosα(t)-vrj(t)cosβ(t)
Wherein, α (t) is the angle of line between the velocity attitude of Current vehicle i in current road segment and pairing vehicle i and j, and β (t) is
The velocity attitude of vehicle j and pairing vehicle i, the angle of line, v between j in adjacent segments estimation rangeai(t) and vrjT () is respectively
The speed of vehicle i and vehicle j, v 'ai(t) and v 'rjT () is vehicle i and vehicle j velocity component on both lines respectively.
5. road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 4, it is characterised in that institute
State roadside device and carry out prediction of collision according to the real-time following distance deviation between every pair of vehicle and velocity component difference, obtain early warning information,
And to the step of corresponding vehicle feedback early warning information, specifically include step:
According to the poor and described real-time vehicle headway difference analysis of described velocity component be calculated that pairing vehicle collides in real time pre-
Survey collision time；
Judge that described real-time estimate collision time whether less than the prediction collision time threshold value preset, the most then generates early warning information,
And it is sent to the pairing vehicle of correspondence.
6. road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 5, it is characterised in that institute
State real-time estimate collision time TTCijT the computing formula of () is:
Wherein, Δ dijT () is real-time following distance deviation, Δ vijT () is that velocity component is poor.
7. a roadside device, it is characterised in that including: communication module, and the data process being connected with described communication module
Module, wherein,
The described communication module GPS information that all vehicles are sent by car-mounted device in receiving its coverage, and
The early warning information that described data processing module produces is fed back to the car-mounted device of the vehicle of correspondence；
Described data processing module carries out vehicle pairing for the GPS information received according to described communication module, and according to often
GPS information analytical calculation respective to vehicle obtains the real-time following distance deviation between every pair of vehicle and velocity component is poor, then root
Carry out early warning and alert analysis according to this real-time following distance deviation and velocity component difference, and generate early warning information.
8. roadside device as claimed in claim 7, it is characterised in that also include:
Data acquisition module, for gathering the GPS information of each section of road of river conjunction in advance, and described roadside device self
GPS information；
Memory module, is connected with described data acquisition module and described data processing module, is used for storing described data acquisition module
The GPS information gathered.
9. a road river conjunction CAS, it is characterised in that include being arranged at river conjunction, such as claim 7 or 8
Described roadside device, and the mobile unit being pre-installed on vehicle, described mobile unit passes through with described roadside device
DSRC radio communication connects, wherein,
Described mobile unit is for the GPS information of collection vehicle self, and sends to described roadside device, and response is described
The early warning information that roadside device feeds back；
The GPS information of the described roadside device vehicle for being sent according to described mobile unit carries out vehicle pairing, and according to
The every pair of vehicle respective GPS information analytical calculation obtains the real-time following distance deviation between every pair of vehicle and velocity component is poor, then
Carry out early warning and alert analysis according to this real-time following distance deviation and velocity component difference, and generate early warning information.
10. the anti-anti-collision early warning system of road river conjunction as claimed in claim 9, it is characterised in that described mobile unit includes:
Data acquisition module, for the GPS information of collection vehicle；
Communication module, is connected with described data acquisition module, for the GPS information that described data acquisition module is gathered being led to
Cross DSRC cordless communication network to send to described roadside device, and receive described roadside device and fed back by cordless communication network
The early warning information returned；
Warning module, is connected with described communication module, for responding the early warning information that described communication module is received.
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