CN105869439B - A kind of road river conjunction anti-collision early warning method, roadside device and anti-collision system - Google Patents
A kind of road river conjunction anti-collision early warning method, roadside device and anti-collision system Download PDFInfo
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- CN105869439B CN105869439B CN201610228081.XA CN201610228081A CN105869439B CN 105869439 B CN105869439 B CN 105869439B CN 201610228081 A CN201610228081 A CN 201610228081A CN 105869439 B CN105869439 B CN 105869439B
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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 kind of road river conjunction anti-collision early warning method, roadside device and anti-collision system based on bus or train route coordination technique.The present invention, which passes through, is arranged in the GPS information that the roadside device reception each car of road river conjunction is sent by specific mobile unit, and prediction of collision analysis is carried out to the GPS information data, to generate warning information, and by the warning information to there is the vehicle of potential risk of collision to be forwarded, final mobile unit is after receiving warning information, the warning information is responded, to reduce a possibility that ring road collides with vehicle on major trunk roads at river conjunction, it greatly improves in the case of running at high speed or the vehicle drive safety in the case of blind area occurs in river conjunction.
Description
Technical field
The present invention relates to intelligent transportation, intelligent vehicle and car networking fields, in particular to a kind of to cooperate with skill based on bus or train route
Road river conjunction anti-collision early warning method, roadside device and the anti-collision system of art.
Background technique
With developing in depth and breadth for urbanization, traffic has been faced with formidable challenges.In order to alleviate Current traffic problem, car networking
Technology (Internet of Vehicles, IoV) is come into being, it be intended to realize by V2X vehicle and roadside device and other
Vehicle interconnects, so that being finally reached the purpose that collaboration drives.External research relatively early, mainly there is the vehicle in Europe
Road cooperative system project (Cooperative vehicle infrastructure system, CVIS) and US Department of Transportation
The IntelliDrive project organized and similar Car-TAK2000 plan etc..Domestic research then relatively late,
But car networking already becomes research hotspot so far.Nowadays, car networking technology is all considered as optimization Current traffic both at home and abroad
Service level and the new way for solving the problems, such as Current traffic.
Currently, being broadly divided into theoretical and two aspects of engineering in the research of car networking.On the one hand, it is studied on theoretic
The work of the mechanism of action and relevant standardisation of V2X；On the other hand, the application study in engineering level also follows theoretical research closely
It persistently follows up later.In engineering level, car networking technology realized by V2V and V2I vehicle and vehicle and vehicle with
Interconnecting between roadside device, so that many applications under car networking environment are improved, such as: service navigation, paths chosen, road
Road environmental 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 vehicle
In networking technology bus or train route cooperate with important application, it is intended to perceive potential risk of collision when vehicle passes through river conjunction, in advance to
Vehicle is sent a warning message so that driver reacts in advance, belongs to crossing for black spot to greatly improve
Drive safety at mouthful.
However, in current car networking research, for the river conjunction anti-collision early warning in bus or train route synergistic application, this important is answered
With but not yet lifting and captured altogether with two levels of engineering from theory.Therefore, the present invention is directed to design one under car networking environment
Cover river conjunction anti-collision early warning method and corresponding device.
Summary of the invention
For the above technical problems, the present invention provides a kind of road river conjunction anticollision based on bus or train route coordination technique
Method for early warning, roadside device and anti-collision system, can reduce at river conjunction that vehicle on ring road and major trunk roads collides can
Energy property, greatly improves in the case of running at high speed or the vehicle drive safety in the case of blind area occurs in river conjunction.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique, in advance crossing in ring road and major trunk roads
Roadside device is set at mouthful, and mobile unit is installed on vehicle, the mobile unit and the roadside device pass through DSRC
Wireless communication connection, then the road river conjunction anti-collision early warning method comprising steps of
Roadside device receives the GPS information that each vehicle at river conjunction on each section of road is sent by mobile unit；
Roadside device carries out vehicle pairing according to the GPS information, and according to the respective GPS information analysis meter of each pair of vehicle
It calculates and obtains real-time following distance deviation between each pair of vehicle and velocity component is poor；
Roadside device according between each pair of vehicle real-time following distance deviation and velocity component difference carry out prediction of collision analysis,
Warning information is obtained, and to this to vehicle feedback warning information.
Correspondingly, the present invention also provides a kind of roadside devices comprising:
Communication module, and the data processing module being connected with the communication module, wherein
The communication module is used to receive the GPS information that all vehicles are sent by car-mounted device in its coverage area,
And the warning information that the data processing module generates is fed back to the car-mounted device of corresponding vehicle；
The data processing module is used to carry out vehicle pairing, and root according to the received GPS information of the communication module institute
Real-time following distance deviation between each pair of vehicle is obtained according to the respective GPS information analytical calculation of each pair of vehicle and velocity component is poor,
Early warning and alert analysis is carried out further according to the real-time following distance deviation and velocity component difference, and generates warning information.
Based on above-mentioned road river conjunction anti-collision early warning method and roadside device, the present invention also provides a kind of roads to cross
Mouth anti-collision system comprising: it is arranged at river conjunction, roadside device as described above, and is pre-installed on vehicle
Mobile unit, the mobile unit and the roadside device are wirelessly communicated by DSRC and are connected, wherein
The mobile unit is used for the GPS information of collecting vehicle itself, and is sent to the roadside device, and response institute
State the warning information that roadside device is fed back；
The roadside device for according to transmitted by the mobile unit come vehicle GPS information progress vehicle pairing,
And real-time following distance deviation and velocity component between each pair of vehicle are obtained according to the respective GPS information analytical calculation of each pair of vehicle
Difference carries out early warning and alert analysis further according to the real-time following distance deviation and velocity component difference, and generates warning information.
The invention has the beneficial effects that:
1, the present invention is by considering sufficiently interconnecting between bus or train route under car networking environment, using short haul communication between bus or train route
Means enable the roadside device at river conjunction automatically to perceive current vehicle group and are formed by traffic environment, and then predict
Potential risk of collision between vehicle finally provides pre-warning signal to the vehicle for having potential risk to improve road and vehicle
Safety；
2, the present invention expands TTC theory to river conjunction situation, using the instantaneous velocity component difference information between vehicle as inputting,
And at the same time considering running time and the completion river conjunction anti-collision early warning algorithm design of running distance double factor.Therefore, of the invention
In anti-collision early warning method possess the theory support of more system, it is typical and reliable so as to be provided for bus or train route collaboration in car networking
Application case；
3, from vehicle driver's angle, the present invention cooperates with driving to provide foundation between the bus or train route under car networking environment
And method, the safety and utilization rate of road are not only increased, is more eliminated because security risk brought by human factor is made
Contribution.
Detailed description of the invention
Fig. 1 is an a kind of embodiment of road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention
Flow chart；
Fig. 2 is one of step S3 in a kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention
The flow chart of embodiment；
Fig. 3 is one of step S5 in a kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention
The flow chart of embodiment；
Fig. 4 is one of step S7 in a kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention
The flow chart of embodiment；
Fig. 5 is an a kind of specific implementation of road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention
The flow chart of example；
Fig. 6 is to carry out two in a kind of reflection road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention
The status diagram of two pairings；
Fig. 7 is a kind of functional block diagram of an embodiment of roadside device of the invention；
Fig. 8 is a kind of functional block diagram of an embodiment of road river conjunction anti-collision early warning system of the invention.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.In order to make the objectives, technical solutions, and advantages of the present invention more
Add clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated that this place is retouched
The specific embodiment stated is only used to explain the present invention, is not intended to limit the present invention.
The present invention is by road river conjunction, at major trunk roads and ring road river conjunction, being arranged a specific road in advance
Side apparatus, and a specific mobile unit is installed in each car, referring to Fig. 6, i.e., by the data acquisition module of the car-mounted device
Block collects the GPS information of vehicle, and data collected are interacted between roadside device, and roadside device is then to the GPS information number
Warning information is generated according to processing is carried out, and by the warning information to there is the vehicle of potential risk of collision to be forwarded, it is final vehicle-mounted
Equipment responds the warning information after receiving warning information.
Embodiment one
It is that the one of a kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique of the invention is real referring to Fig. 1
Apply the flow chart of example.Specifically, in the present embodiment the road river conjunction anti-collision early warning method comprising steps of
S1, roadside device receive the GPS information that each vehicle on each section of road of river conjunction is sent by mobile unit.
In the present embodiment, data interaction between the two is realized using specific roadside device and specific mobile unit, is had
Body, which mainly includes connected communication module and data processing module, and wherein communication module specifically can be used short
Cheng Tongxin (Dedicated Short Range Communication, DSRC) module, data processing module, which can be used, to be integrated with
The arithmetic element of anti-collision early warning algorithm, such as single-chip microcontroller；Car-mounted device includes communication module, and be connected with the communication module
Data acquisition module and warning module, wherein data acquisition module can be used for measurement position, speed and vehicle to etc. information
High-precision difference GPS module, communication module use DSRC communication module, and warning module includes the display for responding warning information
Device, such as liquid crystal display and buzzer.Specifically, since the communication range of roadside device is limited, then only when vehicle enters road
When in the communication coverage of side apparatus, vehicle can be established with roadside device and be communicated, i.e., lead to when vehicle enters roadside device
Believe in range, interacts data collected between the communication module and roadside device of the car-mounted device, i.e., by the GPS of the vehicle of acquisition
Information is sent to roadside device, and then the data processing module of roadside device carries out processing to the GPS information data and generates early warning
Information, and pass through the communication module in roadside device for the warning information to there is the vehicle of potential risk of collision to be forwarded, most
Warning information is responded by warning module in the vehicle for receiving warning information eventually.
When it is implemented, due to the longitude and latitude range and the road that will apply to each section in subsequent data handling procedure
The GPS informations such as the latitude and longitude coordinates of side apparatus itself, therefore, before executing step S1, the road of the present embodiment crosses
Mouth anti-collision early warning method further includes step S7: roadside device carries out road data acquisition.Specifically, for the GPS longitude and latitude of road
Road is divided into ring road according to when being acquired by degree, before converging after major trunk roads and confluence three longitude and latitude regions of major trunk roads into
Then row acquisition, such as Figures 5 and 6 are stored.
S3, roadside device carries out vehicle pairing according to the GPS information of each vehicle, and is believed according to the GPS of each pair of vehicle pair
Breath analytical calculation obtains real-time following distance deviation between two vehicles of each pair of vehicle pair and velocity component is poor.In a specific implementation
In example, referring to fig. 2, step S3 specifically includes step:
S31, roadside device judge that the current vehicle is according to the GPS information of current vehicle and the GPS information of roadside device
The no prediction of collision region into current road segment, if so, S33 is thened follow the steps, otherwise, end operation.
When vehicle enter the roadside device communication range in, then need to judge whether the vehicle enters touching for current road segment
It hits in estimation range, to start corresponding prediction of collision analysis program.
In one embodiment, referring to Fig. 3 and Fig. 6, enabling the communication range of the roadside device is using R as the area of radius
Domain, enabling vehicle i enter the critical value in prediction of collision stage is y, and y meets 0 < y≤R, i.e., roadside device week is closed in each section
Enclosing is prediction of collision region within the scope of distance y, and enabling the actual range of vehicle i and roadside device is Δ x (t), then as y < Δ x
(t)≤R when, indicate that vehicle i not yet enters in prediction of collision region, but established with roadside device wireless communication connection；
As 0 < Δ x (t)≤y, indicate that vehicle i enters in prediction of collision region, then roadside device needs starting to touch accordingly at this time
Predictive analyzer is hit, to predict whether there is presence (i.e. within the scope of 0 < Δ x (t)≤y) in prediction of collision region in adjacent segments
The vehicle j of potential risk of collision, because, if having vehicle j in the prediction of collision region, if current vehicle i continues according to working as
Preceding state traveling, then will likely collide with vehicle j.
In another embodiment, when roadside device judges that the current vehicle not yet enters prediction of collision region,
Since current vehicle is constantly into the close driving process of roadside device, the actual range between roadside device is continuous
Variation, it is ever-reduced in other words, and the mobile unit of current vehicle understands its GPS information of real-time update in driving process, and real
When feed back to the roadside device, therefore, even if the roadside device judges that current vehicle not yet enters prediction of collision region, also can
Continue to judge whether it enters prediction of collision region accordingly based upon updated real time GPS information, until it judges to deserve
Vehicle in front enters prediction of collision region, thens follow the steps S33.
S33, roadside device judge in the prediction of collision region of the adjacent segments of current road segment according to itself GPS information
Whether vehicle is had, if so, S35 is thened follow the steps, otherwise, end operation.
As noted previously, as current vehicle i drives into the prediction of collision region of major trunk roads (0 < Δ x (t)≤y), therefore,
Need to judge interior other vehicles j whether having there are potential risk of collision in the prediction of collision region (0 < Δ x (t)≤y) of ring road,
To predict whether it collides with current vehicle i.In one embodiment, referring to figs. 5 and 6, according to each on ring road
Whether the vehicle data of a vehicle and the road data for being pre-stored within trackside have in the prediction of collision region of real-time judge ring road
There are the vehicles of potential risk of collision, i.e., when the distance, delta x (t) of vehicle j and roadside device in the section meet 0 < Δ x (t)
When≤y (judge in ring road away from whether have vehicle in the ym of river conjunction upstream), then prediction of collision analysis is carried out, i.e. execution step
S35, otherwise, end operation.
S35, roadside device match current vehicle and the vehicle in current road segment adjacent segments prediction of collision region.
In the present embodiment, carries out vehicle pairing and refer to roadside device according to the warp of all vehicles in current road segment communication range
Latitude information and vehicle analyze any vehicle N into the section prediction of collision region to informationai, and by itself and adjacent road
Any vehicle N in section prediction of collision regionrjIt matches two-by-two, to obtain many vehicles to ({ Nai,Nrj}).Referring to Fig. 6,
In one specific embodiment, by interactive GPS information between bus or train route, roadside device can be obtained in its communication range and converge in major trunk roads
The latitude and longitude information of all vehicles and vehicle are to information in leading portion road and in ring road estimation range, so that analysis obtains the master
Enter the vehicle N in estimation range in the confluence leading portion of arterial highwayaiWith vehicle N in ring road estimation rangerj, and the two is matched
It is right.
S37 obtains the real-time vehicle between each pair of two vehicle of vehicle centering according to the GPS information analytical calculation of each pair of vehicle pair
Between range difference and velocity component it is poor, execute step S5.
In one embodiment, every a pair of of the vehicle pair of roadside device traversal obtains in each pair of vehicle two vehicles respectively
GPS information, such as longitude and latitude, speed and vehicle obtain each pair of vehicle centering each car to information, and according to the calculation of longitude & latitude
Vehicle is to the angle (referring to Fig. 6) between two vehicle line directions, further according to the respective speed of each pair of two vehicle of vehicle centering and folder
Angle analytical calculation obtains respective velocity component:
v′ai(t)=vai(t)cosα(t)
v′rj(t)=vrj(t)cosβ(t)
Wherein, α (t) is vehicle i directional velocity and vehicle i in major trunk roads, and the angle of line between j, β (t) is vehicle in ring road
J directional velocity and vehicle i, the angle of line between j；vai(t) and vrjIt (t) is major trunk roads vehicle i and ring road vehicle j respectively
Speed, v 'ai(t) with v 'rjIt (t) is velocity component of the vehicle i and j on two vehicle lines respectively.
Further, the velocity component difference of the two can be obtained according to the above-mentioned velocity component of formula:
Δvij(t)=v 'ai(t)-v′rj(t)。
Correspondingly, the roadside device is according to the respective GPS information of each pair of two vehicle of vehicle centering, it is also necessary to calculate two vehicles
Between real-time following distance deviation Δ dij(t)。
S5, roadside device is according to the real-time following distance deviation and the progress of velocity component difference between each pair of two vehicle of vehicle centering
Prediction of collision analysis, obtains warning information and feeds back to corresponding vehicle.In one embodiment, referring to Fig. 3, step S5
Comprising steps of
S53, roadside device are calculated according to following distance deviation real-time between two vehicle of current vehicle centering and velocity component difference
Real-time prediction collision time between two vehicle of current vehicle centering
S55, the TTC between two vehicle of current vehicle centering that roadside device judgement is calculatedij(t) whether it is less than default
Prediction collision time threshold value T otherwise, execute step S59 if so, then follow the steps S57.
S57, roadside device generates warning information, and feeds back to corresponding vehicle.In one embodiment, the roadside device
The warning information generated can be the specific control instruction of control vehicle driving, can also be only above-mentioned calculated result
Etc. information as warning information.
S59, GPS information and pre-stored road GPS information of the roadside device according to two vehicle of current vehicle centering, reality
When judge whether current vehicle centering has vehicle to have traveled past river conjunction locating for roadside device, if having traveled past, end operation is no
Then follow the steps S3.In one embodiment, judge whether the current vehicle centering has vehicle to have traveled past roadside device, specifically
It can determine that whether the actual range of the vehicle and roadside device meets 0 > Δ x (t), if so, determining that the vehicle has traveled past trackside
Equipment, then direct end operation, without executing step S57.
Embodiment two
Based on above-mentioned river conjunction anticollision method for early warning, the present invention also provides a kind of roadside device, below in conjunction with
The roadside device of the invention is described in detail in specific embodiment.
It is a kind of functional block diagram of an embodiment of roadside device of the invention referring to Fig. 7.Specifically, the present embodiment
In the roadside device include communication module 11, and the data processing module 12 being connected with the communication module 11, wherein
The communication module 11 is used to receive the GPS information that all vehicles are sent by car-mounted device in its coverage area,
And the warning information that the data processing module 12 generates is fed back to the car-mounted device of corresponding vehicle；In a specific embodiment
In, which uses DSRC communication module, and coverage area is using R as each section in the circumference range of radius, then
The roadside device is carried out wireless communication by the DSRC module in the mobile unit of the DSRC module and vehicle in the present embodiment；
Data processing module 12 is used for according to the received GPS information progress vehicle pairing of 11 institute of the communication module, and according to
Each pair of respective GPS information analytical calculation of two vehicle of vehicle centering obtains the real-time following distance between each pair of two vehicle of vehicle centering
Deviation and velocity component are poor, carry out early warning and alert analysis further according to the real-time following distance deviation and velocity component difference, and generate pre-
Alert information；In one embodiment, which, which can be used, is integrated with the arithmetic element of anti-collision early warning algorithm, such as single
Piece machine etc..
In the present embodiment, which is specifically included:
Pairing unit, for according to communication module received each vehicle GPS information carry out vehicle pairing；Specifically
Ground, the pairing unit according to the GPS information of the GPS information and roadside device itself of current vehicle, judge current vehicle whether into
Enter the prediction of collision region of current road segment, if current vehicle enters prediction of collision region (the i.e. current vehicle and road of current road segment
The distance between side apparatus Δ x (t) meets 0 < Δ x (t)≤y) when, then further judge the collision of current road segment adjacent segments
Whether (i.e. another road is away from the ym of river conjunction upstream) has vehicle in estimation range, by the vehicle and current vehicle if having vehicle
It is matched two-by-two；
Forecast analysis unit is connected with the pairing unit, for being obtained according to the GPS information analytical calculation of each pair of vehicle pair
Velocity component difference and real-time following distance deviation between each pair of two vehicle of vehicle centering, and according to the velocity component difference and real-time vehicle
Between range difference carry out prediction of collision analysis, specifically, in calculation method used by the forecast analysis unit and embodiment one
Calculation method is identical, and which is not described herein again.
Further, in this embodiment the roadside device further includes data acquisition module 13, and with the data acquisition module
The connected memory module 14 of block 13, wherein the data acquisition module 13 is used to acquire the GPS information of the roadside device itself, with
And at river conjunction each section GPS information, the memory module 14 is for storing the 13 collected GPS of institute of the data acquisition module
Information, the memory module 14 are also connected with the data processing module.
Embodiment three
Correspondingly, the present invention also provides a kind of road river conjunction anti-collision early warning system based on bus or train route coordination technique, below
It will be described in detail with Figure of description in conjunction with specific embodiments.
It is that the one of a kind of road river conjunction anti-collision early warning system based on bus or train route coordination technique of the invention is real referring to Fig. 8
Apply the functional block diagram of example.Specifically, the road river conjunction anti-collision early warning system includes in above-described embodiment two in the present embodiment
Roadside device at river conjunction is set, and the mobile unit being mounted on each vehicle, the roadside device and drives into the road
The mobile unit of vehicle in side apparatus communication range is wirelessly communicated by DSRC and is connected, wherein
The mobile unit is used for the GPS information of collecting vehicle itself, and send it is supreme state roadside device, and response is above-mentioned
The warning information that roadside device is fed back；In the present embodiment, which specifically includes data acquisition module 21, early warning mould
Block 22, and the communication module 23 being connected with the data acquisition module 21 and warning module 22, wherein data acquisition module 21 can
Using for measurement position, speed and vehicle to etc. GPS informations high-precision difference GPS module；DSRC can be used in communication module 23
Communication module；Warning module 22 includes the display for responding warning information, such as liquid crystal display and buzzer；
Roadside device for according to transmitted by above-mentioned mobile unit come all vehicles GPS information progress vehicle pairing,
And the real-time following distance deviation between each pair of two vehicle of vehicle centering is obtained according to the respective GPS information analytical calculation of each pair of vehicle
And velocity component is poor, carries out early warning and alert analysis further according to the real-time following distance deviation and velocity component difference, and generates early warning letter
Breath.The roadside device is identical as the roadside device in above-described embodiment two in the present embodiment, and identical component is using identical attached
Icon note, which is not described herein again.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of road river conjunction anti-collision early warning method based on bus or train route coordination technique, which is characterized in that in advance in ring road and master
Roadside device is set at the river conjunction of arterial highway, and mobile unit is installed on vehicle, the mobile unit is set with the trackside
It is standby by DSRC wireless communication connection, then the road river conjunction anti-collision early warning method comprising steps of
Roadside device receives the GPS information that each vehicle at river conjunction on each section of road is sent by mobile unit；
Roadside device carries out vehicle pairing according to the GPS information, and is obtained according to the GPS information analytical calculation of each pair of vehicle pair
Real-time following distance deviation and velocity component between two vehicles of each pair of vehicle pair is poor；
Roadside device according between each pair of two vehicle of vehicle centering real-time following distance deviation and velocity component difference collide it is pre-
Analysis is surveyed, obtains warning information, and to corresponding vehicle feedback warning information；
The step of roadside device carries out vehicle pairing according to the GPS information, specifically includes step:
According to the GPS information of the GPS information of current vehicle and roadside device, judge whether the current vehicle enters current road segment
Prediction of collision region；
If the current vehicle enters the prediction of collision region, the roadside device judges institute according to the GPS information of itself
Whether have vehicle, if so, the current vehicle Nai is touched with described if stating in the prediction of collision region of current road segment adjacent segments
Any vehicle Nrj hit in estimation range is matched two-by-two, obtains vehicle to { Nai, Nrj }；
Wherein, the communication range of the roadside device is using R as the region of radius, and the prediction of collision region refers to each section
Closing on the region around the roadside device within the scope of distance y, distance y is the critical value that vehicle i enters the prediction of collision stage, 0 <
y≤R。
2. the road river conjunction anti-collision early warning method based on bus or train route coordination technique as described in claim 1, which is characterized in that institute
Before stating the step of roadside device receives the GPS information that each section of road vehicle of river conjunction is sent by mobile unit, also
Comprising steps of
Roadside device collects the GPS information of each section of road of river conjunction and the GPS information of roadside device itself in advance, and stores.
3. the road river conjunction anti-collision early warning method based on bus or train route coordination technique as described in claim 1, which is characterized in that institute
State the calculation formula of velocity component difference are as follows:
Δ vij (t)=v ' ai (t)-v ' rj (t)=vai (t) cos α (t)-vrj (t) cos β (t)
Wherein, α (t) is the angle of line between the directional velocity of current vehicle i and pairing vehicle i and j in current road segment, and β (t) is
The directional velocity of vehicle j and pairing vehicle i in adjacent segments estimation range, the angle of line between j, vai (t) and vrj (t) are respectively
It is the speed of vehicle i Yu vehicle j, v ' ai (t) and v ' rj (t) are vehicle i and speed of the vehicle j on the two line point respectively
Amount.
4. the road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 3, which is characterized in that institute
Roadside device is stated according to real-time following distance deviation and velocity component difference progress prediction of collision between each pair of vehicle, obtains early warning letter
Breath, and the step of to corresponding vehicle feedback warning information, specifically include step:
According to the velocity component difference and the real-time following distance discriminant analysis be calculated pairing vehicle collide it is real-time
Predict collision time；
Judge whether the real-time prediction collision time is less than preset prediction collision time threshold value, if so, generating early warning letter
Breath, and it is sent to corresponding pairing vehicle.
5. the road river conjunction anti-collision early warning method based on bus or train route coordination technique as claimed in claim 4, which is characterized in that institute
State the calculation formula of prediction collision time TTCij (t) in real time are as follows:
TTCij (t)=Δ dij (t)/Δ vij (t)；
Wherein, Δ dij (t) is real-time following distance deviation, and Δ vij (t) is that velocity component is poor.
6. a kind of roadside device characterized by comprising communication module, and the data processing being connected with the communication module
Module, wherein
The communication module is used to receive the GPS information that all vehicles are sent by car-mounted device in its coverage area, and
The warning information that the data processing module generates is fed back to the car-mounted device of corresponding vehicle；
The data processing module is used to carry out vehicle pairing according to the received GPS information of the communication module institute, and according to every
Real-time following distance deviation between each pair of vehicle is obtained to the respective GPS information analytical calculation of vehicle and velocity component is poor, then root
Early warning and alert analysis is carried out according to the real-time following distance deviation and velocity component difference, and generates warning information；
The data processing module includes:
Pairing unit, for according to communication module received each vehicle GPS information carry out vehicle pairing；Specifically, should
Pairing unit judges whether current vehicle enters currently according to the GPS information of the GPS information and roadside device itself of current vehicle
The prediction of collision region in section further judges current road if current vehicle enters the prediction of collision region of current road segment
Whether there is vehicle in the prediction of collision region of section adjacent segments, by current vehicle Nai and the prediction of collision area if having vehicle
Any vehicle Nrj in domain is matched two-by-two, obtains vehicle to { Nai, Nrj }；
Wherein, the communication range of the roadside device is using R as the region of radius, and the prediction of collision region refers to each section
Closing on the region around the roadside device within the scope of distance y, distance y is the critical value that vehicle i enters the prediction of collision stage, 0 <
y≤R；
Forecast analysis unit is connected with the pairing unit, obtains for the GPS information analytical calculation according to each pair of vehicle pair each pair of
Velocity component difference and real-time following distance deviation between two vehicle of vehicle centering, and according to the velocity component difference and real-time following distance
Deviation carries out prediction of collision analysis.
7. roadside device as claimed in claim 6, which is characterized in that further include:
Data acquisition module, for acquiring the GPS information and the roadside device itself of river conjunction each section of road in advance
GPS information；
Memory module is connected with the data acquisition module and the data processing module, for storing the data acquisition module
Block GPS information collected.
8. a kind of road river conjunction anti-collision system, which is characterized in that including being arranged at river conjunction, such as claim 6 or 7 institutes
The roadside device stated, and the mobile unit being pre-installed on vehicle, the mobile unit pass through with the roadside device
DSRC wireless communication connection, wherein
The mobile unit is used for the GPS information of collecting vehicle itself, and is sent to the roadside device, and the response road
The warning information that side apparatus is fed back；
The GPS information progress vehicle pairing of vehicle of the roadside device for being come according to transmitted by the mobile unit, and root
Real-time following distance deviation between each pair of vehicle is obtained according to the respective GPS information analytical calculation of each pair of vehicle and velocity component is poor,
Early warning and alert analysis is carried out further according to the real-time following distance deviation and velocity component difference, and generates warning information.
9. road river conjunction anti-collision system as claimed in claim 8, which is characterized in that the mobile unit includes:
Data acquisition module, for acquiring the GPS information of vehicle；
Communication module is connected with the data acquisition module, for passing through data acquisition module GPS information collected
DSRC cordless communication network is sent to the roadside device, and receives roadside device network-feedback time by wireless communication
The warning information come；
Warning module is connected with the communication module, for responding the received warning information of the communication module institute.
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