CN106485948B - A kind of inter-vehicular communication method and device for highway spacing early warning in region - Google Patents
A kind of inter-vehicular communication method and device for highway spacing early warning in region Download PDFInfo
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Abstract
A kind of inter-vehicular communication method for highway spacing early warning in region, the steps include: S1: obtaining this truck position information and realizes synchronous with the satellite navigation system time；S2: certain period is divided into several broadcast time slots；S3: the broadcast information of real-time reception nearby vehicle extracts wherein information；S4: judge whether the broadcast time slot of this vehicle conflicts with the broadcast time slot of nearby vehicle or the time slot that conflicts；It is for example then to re-start the calculating of this vehicle broadcast time slot, until there is not broadcast time slot collision.S5: judge broadcast time slot collision phenomenon whether occurs between nearby vehicle；It is for example that then the broadcast time slot clashed is incorporated into the broadcast information of this vehicle；S6: by the information coding of this vehicle, and in the outside broadcast of broadcast time slot of this vehicle；S7: according to the nearby vehicle ID and positional information calculation extracted at a distance from nearby vehicle.The device is used to execute the above method.The present invention has many advantages, such as that principle is simple, intelligence degree is high, good reliability.
Description
Technical field
Present invention relates generally to road traffic safety fields, refer in particular to a kind of suitable for highway spacing early warning in region
Inter-vehicular communication method and device.
Background technique
Vehicle on highway knock into the back traffic accident be usually by the deceleration of front truck and the reaction of rear car driver simultaneously
Caused by making the time deficiency of counter-measure.Such case mostly occurs under the severe meteorological condition of rain and fog weather or driver
Energy is not concentrated and the state of fatigue driving (especially night fatigue driving).
Vehicular satellite navigation system can provide vehicle position information in real time, carry out vehicle location letter by inter-vehicular communication
The exchange of breath, fore-aft vehicle, which can be convenient, calculates the distance between they and its situation of change, close in this, as vehicle
Early warning is according to information.Scheme in relation to early warning may refer to patent " method for early warning and early warning dress when a kind of vehicle approaches at high speed
Set (patent No.: ZL200910044037.3) ".
The exchange of location information is completed by Vehicle Intercommunications System between vehicle.The situation less for number of vehicles, can be with
Using One-to-one communication or one-to-many communication.And the situation more for number of vehicles, studying at present more is vehicle-mounted from group
Knitmesh network (VANET), the technology are a global research hotspots, have not yet to see available universal product.
Summary of the invention
In view of the problems of the existing technology the technical problem to be solved in the present invention is that the present invention provides a kind of original
Reason is simple, intelligence degree is high, the good reliability inter-vehicular communication method and dress for highway spacing early warning in region
It sets.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of inter-vehicular communication method for highway spacing early warning in region, the steps include:
S1: it obtains this truck position information and realizes synchronous with the satellite navigation system time；
S2: being divided into several broadcast time slots for certain period, according to the side for being evenly distributed random number in one section of generation
Method calculates this vehicle in broadcast time slot wherein；
S3: the broadcast information of real-time reception nearby vehicle；When extracting vehicle ID therein, position, broadcast time slot and conflict
Gap information；
S4: judge whether the broadcast time slot of this vehicle conflicts with the broadcast time slot of nearby vehicle or the time slot that conflicts；For example
It is then to re-start the calculating of this vehicle broadcast time slot, until there is not broadcast time slot collision.
S5: judge broadcast time slot collision phenomenon whether occurs between nearby vehicle；It is for example the broadcast that will then clash
Time slot (conflict time slot) is incorporated into the broadcast information of this vehicle；
S6: by information codings such as the vehicle ID of this vehicle, broadcast time slot, position and conflict time slots, and in the broadcast of this vehicle
The outside broadcast of time slot；
S7: according to the nearby vehicle ID and positional information calculation extracted at a distance from nearby vehicle.
As a further improvement of the present invention: first vehicle on highway number in region estimate and be determined in region
Communication cycle and broadcast slot length and number within the period between vehicle on highway；
(1): delimiting a region；According to the total kilometrage S of highway in region；
(2): calculating the appearance of vehicle amount in defined area；S according to total kilometrage S and safe distance between vehiclesSafetyIt calculates in defined area
Appearance of vehicle amount H are as follows: S/SSafety；
(3): determining inter-vehicular communication period, broadcast slot length and number；According to the appearance of vehicle amount H in defined area, then
The number of broadcast slot length is H, sets the inter-vehicular communication period as T (such as 1 second), broadcast slot length are as follows: T/H.
As a further improvement of the present invention: including Conflicts management strategy, the Conflicts management strategy is for each vehicle
The neutralizing of broadcast time slot collision, specifically includes:
(1) vehicle is when starting the present apparatus, can according in other vehicle broadcast information received " broadcast time slot " and
" conflict time slot " determines whether " the broadcast time slot " of this vehicle conflicts with them；When this vehicle generate " broadcast time slot " with receive
Other vehicles " broadcast time slot " or " conflict time slot " it is identical when (conflict), then regenerate this new vehicle " broadcast time slot ",
Until with " the broadcast time slot " and not identical " conflict time slot " of other vehicles (conflict)；
(2) vehicle in the process of moving, when, can according to " the broadcast time slot " in other vehicle broadcast information received come
Determine between other vehicles whether occur " broadcast time slot " it is identical when (conflict), once there is " broadcast time slot " between finding other vehicles
" conflict time slot " when identical (conflict), is then provided in this vehicle broadcast information；
(3) vehicle in the process of moving, checks continually on " the conflict time slot " in other vehicle broadcast information received, once
It was found that should " conflict time slot " it is identical as " the broadcast time slot " of this vehicle when, generate this new vehicle " broadcast time slot " immediately, until with its
Until " the conflict time slot " of his vehicle be not identical (conflict).
As a further improvement of the present invention: the acquisition of vehicle position information is carried out in the step S1；Vehicle location letter
Breath is provided by Vehicular satellite navigation positioning system, comprising: when position (X-coordinate, Y coordinate and Z coordinate) and satellite navigation system
Between.
As a further improvement of the present invention: one kind being used to execute aforesaid right for highway spacing early warning in region
Inter-vehicular communication method device characterized by comprising
Satellite navigation and positioning and time service module receive chip, the high precision clock core with constant-temperature crystal oscillator comprising satellite navigation
Piece and interlock circuit, other than it can export location information, it can also export the high-precision satellite navigation mark with temperature-compensating
Quasi- temporal information can make the difference of computer time and satellite navigation system time remain at 100ns level below；
Data communication module is a wireless high-speed data R-T unit, and the transmission time slot for being responsible for generating in this vehicle carries out
The broadcast of this truck position information and their location information is received in other vehicle emissions time slots；
Human-computer interaction module, for submit necessary information be manually entered means, display nearby vehicle state of motion and
Spacing variation is alerted；
Computer, for being responsible for the coordinated control of each intermodule in whole device, including export satellite navigation module
Location information is encoded, controls data communication module broadcast information in this vehicle transmission time slot, and computer also receives man-machine friendship
The input information of mutual module, and their other vehicles are received by data communication module in other vehicle emissions slot times
Location information and carry out time slot collision judgement and at a distance from nearby vehicle calculate.
Compared with the prior art, the advantages of the present invention are as follows: of the invention is used for highway spacing early warning in region
Inter-vehicular communication method and device, principle is simple, intelligence degree is high, good reliability, passes through the design of broadcast time slot, Neng Gou great
The reliability of entire vehicle safety communications is improved greatly.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Fig. 2 is that the determining workflow with the neutralizing of broadcast time slot collision of present invention broadcast time slot in specific application example is shown
It is intended to.
Fig. 3 is the present invention whether there is broadcast time slot collision in specific application example work between this vehicle discovery nearby vehicle
Make flow diagram.
Fig. 4 is the topological structure schematic diagram of communication device of the present invention.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in Figure 1, the inter-vehicular communication method for highway spacing early warning in region of the invention, step are as follows:
S1: it obtains this truck position information and realizes synchronous with the satellite navigation system time；
S2: being divided into several broadcast time slots for certain period, according to the side for being evenly distributed random number in one section of generation
Method calculates this vehicle in broadcast time slot wherein；
S3: the broadcast information of real-time reception nearby vehicle；When extracting vehicle ID therein, position, broadcast time slot and conflict
The information such as gap；
S4: judge whether the broadcast time slot of this vehicle conflicts with the broadcast time slot of nearby vehicle or the time slot that conflicts；For example
It is then to re-start the calculating of this vehicle broadcast time slot, until there is not broadcast time slot collision.
S5: judge broadcast time slot collision phenomenon whether occurs between nearby vehicle；It is for example the broadcast that will then clash
Time slot (conflict time slot) is incorporated into the broadcast information of this vehicle；
S6: the information such as the vehicle ID of this vehicle, broadcast time slot, position and conflict time slot are subjected to data encoding, and at this
The outside broadcast of broadcast time slot of vehicle；
S7: according to the nearby vehicle ID and positional information calculation extracted at a distance from nearby vehicle.
During the above method, it is necessary first to the estimation to vehicle on highway number in region；
(1): delimiting a region；According to the total kilometrage S of highway in region；
(2): calculating the appearance of vehicle amount in defined area；S according to total kilometrage S and safe distance between vehiclesSafetyIt calculates in defined area
Appearance of vehicle amount H are as follows: S/SSafety。
Such as, in a specific application example, given region is the range of a province herein.According to Hunan highway
Total kilometrage about 5000km is calculated, and when spacing is 100m, the appearance of vehicle amount of entire highway is 5000*103/ 100=50000
().In fact, the spacing some in region on highway is likely less than 100m, some is likely larger than 100m.But in area
Estimation of the vehicle fleet no more than 50000 in domain on highway should be reasonable, that is to say, that at a time whole
Vehicle number on a the whole province's range highway does not exceed 50000.Therefore, method of the invention can satisfy in region
The inter-vehicular communication demand of 50000 vehicles is designed and realizes.
It in the above-described example, is to calculate safe distance between vehicles according to China Expressway Maximum speed limit standard 120km/h.This
When car speed be about 33.3m/s.According to practical driving experience, in order to ensure vehicle safety, the spacing value of Ben Che and front truck is logical
The numerical value (rice) of speed or more should often be remained, such as when speed is 100km/h, safe distance between vehicles should be maintained at 100m or more.
In the above-described example, it is thus necessary to determine that the specific hair in inter-vehicular communication period, the length of " broadcast time slot " and each vehicle
Sowing time carves；
(1) the inter-vehicular communication period can be identified as 2 seconds (2s), that is to say, that the every broadcast in two seconds of each car is primary in region
Information of vehicles, i.e., the inter-vehicular communication of completion in every two seconds；
(2) vehicle " broadcast time slot " is determining emits with information；2s duration can be divided into several time slots and distribute to difference
Vehicle emits location information for it.For the duration of 2s, if 50000 can be divided into using 40 μ s as a slot unit
(2s/40 μ s) time slot, for 50000 vehicles.Car-mounted computer is randomly generated equally distributed random between one 1~50000
Number p, number p have just determined p-th 40 μ ss of the vehicle in the duration of 2s as " the broadcast time slot " belonging to it, when emitting
It carves as { (p-1) the * 40 μ s } moment in 2s.
(3) under the control of the computer, each vehicle uses identical frequency, in the way of time division multiple acess, emits as defined in it
Moment emits vehicle information data, comprising: vehicle ID, position, broadcast time slot and conflict time slot etc., wherein location information is nearest
Primary satellite navigation receiver positioning result.
(4) time other than transmission time slot, each vehicle receive other vehicles sending information, carry out time slot collision judge with
And at a distance from its nearby vehicle and the calculating of distance change, and warning information is provided in a suitable manner.
In specific application example, the probability that " broadcast time slot " clashes between vehicle is about 2/10000ths:
1) in 50000 time slots, the probability for a certain time slot that either car is randomly generated are as follows:
P1=1/50000
2) assume there are 50000 vehicles, two cars are the probability of a certain time slot simultaneously are as follows:
3) with region highway overall length 5000km calculating, it is assumed that vehicle approaches uniformity in (0,5000km) is distributed, then
The probability that any two vehicle is apart less than 1000m is；
4) two cars are the probability of a certain time slot simultaneously, and at a distance of the probability for being less than 1000m are as follows:
(about 2/10000ths)
Referring to figs. 2 and 3, in specific application example, the present invention further comprises Conflicts management strategy, the Conflict solving
Mechanism is mainly the neutralizing of vehicle broadcast information time conflict.Specifically step includes:
(1) vehicle is when starting the present apparatus, can according in other vehicle broadcast information received " broadcast time slot " and
" conflict time slot " determines whether " the broadcast time slot " of this vehicle conflicts with them；When this vehicle generate " broadcast time slot " with receive
Other vehicles " broadcast time slot " or " conflict time slot " it is identical when (conflict), then regenerate this new vehicle " broadcast time slot ",
Until with " the broadcast time slot " and not identical " conflict time slot " of other vehicles (conflict)；
(2) vehicle in the process of moving, when, can according to " the broadcast time slot " in other vehicle broadcast information received come
Determine between other vehicles whether occur " broadcast time slot " it is identical when (conflict), once there is " broadcast time slot " between finding other vehicles
" conflict time slot " when identical (conflict), is then provided in this vehicle broadcast information；
(3) vehicle in the process of moving, checks continually on " the conflict time slot " in other vehicle broadcast information received, once
It was found that should " conflict time slot " it is identical as " the broadcast time slot " of this vehicle when, generate this new vehicle " broadcast time slot " immediately, until with its
Until " the conflict time slot " of his vehicle be not identical (conflict).
In specific application example, vehicle can carry out the time synchronization between vehicle according to satellite navigation system；Satellite is led
Boat receiver is capable of providing timing tracking accuracy and is generally preferred over 100 nanoseconds (100ns).That is, more satellite navigations receive
Machine is by the way that the time of output and the difference of satellite navigation system time are generally less than 100ns simultaneously after navigator fix.It is this synchronize after
Time can be used for each vehicle computer and control in defined " broadcast time slot " broadcast information of vehicles.
In specific application example, according to spacing alarm mode, data communication distance 500m or so is suitable.Computer is whole
End is upper can vehicle distances and situation of change in the 500m distance range of real-time display front and back.(such as since 200m) shorter for spacing
And the faster vehicle of spacing change rate, warning information is provided in time.The limit value of spacing and change rate, opposite lane vehicle row
Except being determined by method for early warning.In view of normal practical follow the bus situation, it is possible to which equidirectional vehicle is always maintained at one relatively surely
Fixed spacing, early warning frequency at this time can lower automatically.
During the above method, it is also necessary to the further coding of the broadcast information of setting vehicle, comprising: this vehicle vehicle
ID, this vehicle Information Transmit time slot, this truck position information (X-coordinate, Y coordinate and Z coordinate), conflict time slot etc., wherein this truck position
Information is provided by Vehicular satellite navigation system.
In a specific application example, the data encoding of the broadcast information of vehicle can be made of 128bit, in which: this vehicle
Vehicle ID (2*8) bit, this vehicle Information Transmit time slot (2*8) bit, X-coordinate (3*8) bit, Y coordinate (3*8) bit, Z coordinate (3*
8) bit, conflict time slot (2*8) bit, other 8bit.
In specific application example, in above-mentioned steps, the setting of advanced row data transfer rates is needed.When information of vehicles is
When 128bit, duration required for different data transfer rates are as follows:
| Data transfer rates | 10M/s | 20M/s | 30M/s | 40M/s |
| 128bit sends duration | 12.8μs | 6.4μs | 4.3μs | 3.2μs |
As shown in figure 4, the present invention further provides a kind of device for executing above-mentioned communication means, which includes:
Satellite navigation and positioning and time service module receive chip, the high precision clock core with constant-temperature crystal oscillator comprising satellite navigation
Piece and interlock circuit, other than it can export location information, it can also export the high-precision satellite navigation mark with temperature-compensating
Quasi- temporal information can make the difference of computer time and satellite navigation system time remain at 100ns level below.
Data communication module is a wireless high-speed data R-T unit, and the transmission time slot for being responsible for generating in this vehicle carries out
The broadcast of this truck position information and their location information is received in other vehicle emissions time slots.
Human-computer interaction module, for submit necessary information be manually entered means, display nearby vehicle state of motion and
Spacing variation is alerted.
Computer, for being responsible for the coordinated control of each intermodule in whole device, including export satellite navigation module
Location information is encoded, controls data communication module broadcast information in this vehicle transmission time slot, and computer also receives man-machine friendship
The input information of mutual module, and their other vehicles are received by data communication module in other vehicle emissions slot times
Location information and carry out time slot collision judgement and at a distance from nearby vehicle calculate.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (5)
1. a kind of inter-vehicular communication method for highway spacing early warning in region, which is characterized in that step are as follows:
S1: it obtains this truck position information and realizes synchronous with the satellite navigation system time；
S2: being divided into several broadcast time slots for certain period, according to the method meter for being evenly distributed random number in one section of generation
This vehicle is calculated in broadcast time slot wherein；
S3: the broadcast information of real-time reception nearby vehicle；Extract vehicle ID, position, broadcast time slot and conflict time slot letter therein
Breath；
S4: judge whether the broadcast time slot of this vehicle conflicts with the broadcast time slot of nearby vehicle or the time slot that conflicts；For example it is, then
The calculating for re-starting this vehicle broadcast time slot, until there is not broadcast time slot collision；
S5: judge broadcast time slot collision phenomenon whether occurs between nearby vehicle；It is for example the broadcast time slot that will then clash
It is incorporated into the broadcast information of this vehicle；
S6: by the vehicle ID of this vehicle, broadcast time slot, position and conflict gap information coding, and the broadcast time slot of this vehicle to
Outer broadcast；
S7: according to the nearby vehicle ID and positional information calculation extracted at a distance from nearby vehicle.
2. the inter-vehicular communication method according to claim 1 for highway spacing early warning in region, feature exist
In, first between vehicle on highway number in region estimate and determine in region vehicle on highway communication cycle and
Broadcast slot length and number in period；Step are as follows:
(1): delimiting a region；According to the total kilometrage S of highway in region；
(2): calculating the appearance of vehicle amount in defined area；S according to total kilometrage S and safe distance between vehiclesSafetyCalculate the appearance of vehicle in defined area
Measure H are as follows: S/SSafety；
(3): determining inter-vehicular communication period, broadcast slot length and number；According to the appearance of vehicle amount H in defined area, then broadcast
The number of slot length is H, sets the inter-vehicular communication period as T, broadcast slot length are as follows: T/H.
3. the inter-vehicular communication method according to claim 1 for highway spacing early warning in region, feature exist
In, including Conflicts management strategy, the Conflicts management strategy is used for the neutralizing of vehicle broadcast information time conflict, it specifically includes:
(1) vehicle after actuation, according to " the broadcast time slot " and " conflict time slot " in other vehicle broadcast information received come
Determine whether " the broadcast time slot " of this vehicle conflicts with them；When " the broadcast time slot " that this vehicle generates and other vehicles for receiving
When " broadcast time slot " or identical " conflict time slot ", then this new vehicle " broadcast time slot " is regenerated, until " the hair with other vehicles
Until sowing time gap " and " conflict time slot " be not identical；
(2) vehicle in the process of moving, determines other according to " the broadcast time slot " in other vehicle broadcast information received
Whether occur between vehicle " broadcast time slot " it is identical when, between finding other vehicles occur " broadcast time slot " it is identical when, then this
" conflict time slot " is provided in vehicle broadcast information；
(3) vehicle in the process of moving, checks continually on " the conflict time slot " in other vehicle broadcast information received, once discovery
Should " conflict time slot " it is identical as " the broadcast time slot " of this vehicle when, generate this new vehicle " broadcast time slot " immediately, until with other vehicles
" conflict time slot " it is not identical until.
4. the inter-vehicular communication method according to claim 1 for highway spacing early warning in region, feature exist
In the acquisition of progress vehicle position information in the step S1；Vehicle position information is mentioned by Vehicular satellite navigation positioning system
For, comprising: position and satellite navigation system time, the position are X-coordinate, Y coordinate and Z coordinate.
5. a kind of be used for highway spacing early warning in region for executing described in 1~4 any one of the claims
The device of inter-vehicular communication method characterized by comprising
Satellite navigation and positioning and time service module, comprising satellite navigation receive chip, the high precision clock chip with constant-temperature crystal oscillator and
Interlock circuit is used to output satellite navigation standard time information；
Data communication module, is wireless high-speed data R-T unit, and the broadcast time slot for generating in this vehicle carries out this truck position
The broadcast of information and their location information is received in other vehicle broadcast time slots；
Human-computer interaction module, for being manually entered, being shown nearby vehicle state of motion and alerted to spacing variation；
Computer, for being responsible for the coordinated control of each intermodule in whole device, including by satellite navigation and positioning and time service module
The location information of output is encoded, controls data communication module broadcast information in this vehicle broadcast time slot；The computer is also
The input information of human-computer interaction module is received, and it is received by data communication module in other vehicle broadcast slot times
The location information of its vehicle simultaneously carries out time slot collision judgement and calculates at a distance from nearby vehicle.
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