CN107200016A - Road adaptive forecasting method and the Vehicular system using this method - Google Patents
Road adaptive forecasting method and the Vehicular system using this method Download PDFInfo
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- CN107200016A CN107200016A CN201710384036.8A CN201710384036A CN107200016A CN 107200016 A CN107200016 A CN 107200016A CN 201710384036 A CN201710384036 A CN 201710384036A CN 107200016 A CN107200016 A CN 107200016A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 15
- 238000013277 forecasting method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title abstract description 4
- 230000004927 fusion Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 9
- 238000007500 overflow downdraw method Methods 0.000 claims description 3
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
Abstract
The invention discloses road adaptive forecasting method and using the Vehicular system of this method, the trajectory shape that the vehicle running history tracing point for the previous period of this car current point in time is constituted is matched with the road shape of current vehicle location corresponding multiple road section IDs on two-dimensional map, obtain road shape matching road section ID numbering, the current course of vehicle is matched with the road direction of current vehicle location corresponding multiple road section IDs on two-dimensional map, obtain road direction matching ID numberings, road shape matching road section ID numbering and road direction matching ID numbering fusions are judged, show that road section ID residing for Current vehicle is numbered.The present invention can lift the precision of vehicle future travel section judgement, improve the prediction of intelligent vehicle running path, the ability of anti-collision warning.
Description
Technical field
The invention belongs to intelligent driving field, and in particular to road adaptive forecasting method and the vehicle system using this method
System.
Background technology
Intersection collision warning systems (Intersection Collision Warning System, ICWS) are first
Enter drive assist system (Advanced Driver Assistance Systems, ADAS) important component, for road
Road traffic, can prevent the collision accident of intersection and increase the traffic efficiency of intersection.
The intersection collision warning systems based on radar, based on V2X systems of prior art are used for straight way intersection peace
Face traffic, the vehicle for the danger that will not easily be collided by mistake in bend intersection is as threat.Also, because front end vehicle is driven
Sail historical path and vehicle drive Future Path prediction accuracy is relatively low, also directly affects the accuracy of anti-collision warning.
Therefore, it is necessary to improve vehicle historical path judge and Future Path prediction accuracy, in being intelligent driving
Anti-collision warning provides reliable vehicle routing information.
The content of the invention
The invention discloses road adaptive forecasting method, it is possible to increase vehicle historical path judges and Future Path prediction
Accuracy.
The invention also discloses the Vehicular system using road adaptive forecasting method, it is possible to increase vehicle historical path is sentenced
The accuracy of disconnected and Future Path prediction.
Road adaptive forecasting method disclosed by the invention, comprises the following steps,
1）Transfer two-dimensionally picture library；
2）Collection storage historical track:
Interior for the previous period one group vehicle location, the course information data of current point in time are gathered by satellite fix, are formed
One group of vehicle running history tracing point；
3）Judge that road section ID residing for Current vehicle is numbered:
Multiple roads in the trajectory shape two-dimensional map corresponding with current vehicle location that vehicle running history tracing point is constituted
ID road shape matching, obtains road shape matching road section ID numbering；
By the road direction matching of multiple road ID in the two-dimensional map corresponding with current vehicle location of the current course of vehicle, obtain
Road direction matching ID numberings；
Road shape matching road section ID numbering and road direction matching ID numbering fusions are judged, section residing for Current vehicle is drawn
ID is numbered；
4）Predict future travel track and alarm
Road section ID numbering and current vehicle location, transfer the two-dimensional map section subsequent route pre- according to residing for this car Current vehicle
Survey this car future travel track；
Surroundings car future travel track is obtained by vehicle communication；
The risk of collision for predicting this car and object car is calculated, when discovery has risk of collision, alarm.
Further, road shape matching road section ID numbering is merged with road direction matching road section ID numbering is judged as weighting
Fusion method, selects shape and matching degree high corresponding road section ID numberings in direction are numbered as road section ID residing for vehicle.
The invention also discloses using road adaptive forecasting method Vehicular system, including short-range wireless communication module,
Satellite positioning module, two-dimensional map library module, control unit module and alarm module；
Control unit module gathers interior for the previous period the one group vehicle location of current point in time, boat by satellite positioning module
To information data, one group of vehicle running history tracing point is formed；
Control single-bit module transfers the two-dimensional map in two-dimensional map library module, the track that vehicle running history tracing point is constituted
Multiple road ID road shape matching in shape two-dimensional map corresponding with current vehicle location, obtains road shape matching road
Section ID numberings；By the road direction of multiple road ID in the two-dimensional map corresponding with current vehicle location of the current course of vehicle
Match somebody with somebody, obtain road direction matching ID numberings；Road shape matching road section ID numbering and road direction matching ID numbering fusions are sentenced
It is disconnected, show that road section ID residing for Current vehicle is numbered；Road section ID numbering and current vehicle location, are adjusted according to residing for this car Current vehicle
The two-dimensional map section subsequent route is taken to predict this car future travel track；
Control unit module obtains surroundings car future travel track by short-range wireless communication module；
Control unit module calculates the risk of collision for predicting this car and object car, when discovery has risk of collision, controls alarm module
Alarm.
Advantageous effects of the present invention are：By the vehicle running history tracing point for the previous period of this car current point in time
The trajectory shape of composition is matched with the road shape of Current vehicle driving trace point corresponding multiple road section IDs on two-dimensional map,
Obtain road shape matching road section ID numbering, by the current course of vehicle and Current vehicle driving trace point on two-dimensional map it is corresponding
Multiple road section IDs road direction matching, obtain road direction matching ID numbering, by road shape matching road section ID numbering and
Road direction matching ID numbering fusions judge, show that road section ID residing for Current vehicle is numbered, can lift vehicle future travel road
The precision that section judges, improves the prediction of intelligent vehicle running path, the ability of anti-collision warning.
Brief description of the drawings
Fig. 1 is the Vehicular system block diagram of road adaptive forecasting method of the present invention；
Fig. 2 is road adaptive approach flow chart of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 2 road adaptive forecasting method, comprises the following steps：
1）Transfer two-dimensionally picture library.
2）Collection storage historical track:
Interior for the previous period one group vehicle location, the course information data of current point in time are gathered by satellite fix, are formed
One group of vehicle running history tracing point.
3）Judge that road section ID residing for Current vehicle is numbered:
Multiple roads in the trajectory shape two-dimensional map corresponding with current vehicle location that vehicle running history tracing point is constituted
ID road shape matching, obtains road shape matching road section ID numbering；
By the road direction matching of multiple road ID in the two-dimensional map corresponding with current vehicle location of the current course of vehicle, obtain
Road direction matching ID numberings；
Road shape matching road section ID numbering and road direction matching ID numbering fusions are judged, section residing for Current vehicle is drawn
ID is numbered；Road shape matching road section ID numbering is merged with road direction matching road section ID numbering is judged as Weighted Fusion method,
Select shape and matching degree high corresponding road section ID numberings in direction are numbered as road section ID residing for vehicle.
4）Predict future travel track and alarm：
Road section ID numbering and current vehicle location, transfer the two-dimensional map section subsequent route pre- according to residing for this car Current vehicle
Survey this car future travel track；
Surroundings car future travel track is obtained by vehicle communication；
The risk of collision for predicting this car and object car is calculated, when discovery has risk of collision, alarm.
As shown in figure 1, using the Vehicular system of the road adaptive forecasting method, including：Short-range wireless communication module 1,
Satellite positioning module 2, two-dimensional map library module 3, control unit module 4 and alarm module 5；
Control unit module 4 by satellite positioning module 2 gather current point in time interior for the previous period one group vehicle location,
Course information data, form one group of vehicle running history tracing point；
Control single-bit module 4 transfers the two-dimensional map in two-dimensional map library module 3, the rail that vehicle running history tracing point is constituted
Multiple road ID road shape matching, obtains road shape matching in mark shape two-dimensional map corresponding with current vehicle location
Road section ID is numbered；By the road direction of multiple road ID in the two-dimensional map corresponding with current vehicle location of the current course of vehicle
Match somebody with somebody, obtain road direction matching ID numberings；Road shape matching road section ID numbering and road direction matching ID numbering fusions are sentenced
It is disconnected, show that road section ID residing for Current vehicle is numbered；Road section ID numbering and current vehicle location, are adjusted according to residing for this car Current vehicle
The two-dimensional map section subsequent route is taken to predict this car future travel track；
Control unit module 4 obtains surroundings car future travel track by short-range wireless communication module 1；
Control unit module 4 calculates the risk of collision for predicting this car and object car, when discovery has risk of collision, controls alarm module
5 alarms.
Claims (3)
1. road adaptive forecasting method, it is characterised in that：Comprise the following steps,
1）Transfer two-dimensionally picture library；
2）Collection storage historical track:
Interior for the previous period one group vehicle location, the course information data of current point in time are gathered by satellite fix, are formed
One group of vehicle running history tracing point；
3）Judge that road section ID residing for Current vehicle is numbered:
Multiple roads in the trajectory shape two-dimensional map corresponding with current vehicle location that vehicle running history tracing point is constituted
ID road shape matching, obtains road shape matching road section ID numbering；
By the road direction matching of multiple road ID in the two-dimensional map corresponding with current vehicle location of the current course of vehicle, obtain
Road direction matching ID numberings；
Road shape matching road section ID numbering and road direction matching ID numbering fusions are judged, section residing for Current vehicle is drawn
ID is numbered；
4）Predict future travel track and alarm：
Road section ID numbering and current vehicle location, transfer the two-dimensional map section subsequent route pre- according to residing for this car Current vehicle
Survey this car future travel track；
Surroundings car future travel track is obtained by vehicle communication；
The risk of collision for predicting this car and object car is calculated, when discovery has risk of collision, alarm.
2. road adaptive forecasting method as claimed in claim 1, it is characterised in that：Road shape matching road section ID numbering with
Road direction matching road section ID numbering fusion is judged as Weighted Fusion method, selects shape and the high corresponding road of direction matching degree
Section ID numberings are numbered as road section ID residing for vehicle.
3. the Vehicular system of road adaptive forecasting method described in 1 or 2 will be gone using right, it is characterised in that：Including short distance without
Line communication module（1）, satellite positioning module（2）, two-dimensional map library module（3）, control unit module（4）And alarm module（5）；
Control unit module（4）Pass through satellite positioning module（2）Gather interior for the previous period the one group vehicle of current point in time
Position, course information data, form one group of vehicle running history tracing point；
Control single-bit module（4）Transfer two-dimensional map library module（3）In two-dimensional map, by vehicle running history tracing point constitute
Trajectory shape two-dimensional map corresponding with current vehicle location in multiple road ID road shape matching, obtain road shape
Match road section ID numbering；By the road side of multiple road ID in the two-dimensional map corresponding with current vehicle location of the current course of vehicle
To matching, road direction matching ID numberings are obtained；Road shape matching road section ID numbering and road direction matching ID numberings are melted
Close and judge, show that road section ID residing for Current vehicle is numbered；Road section ID numbering and Current vehicle position according to residing for this car Current vehicle
Put, transfer the two-dimensional map section subsequent route and predict this car future travel track；
Control unit module（4）Pass through short-range wireless communication module（1）Obtain surroundings car future travel track；
Control unit module（4）The risk of collision for predicting this car and object car is calculated, when discovery has risk of collision, control alarm mould
Block（5）Alarm.
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| CN201710384036.8A CN107200016B (en) | 2017-05-26 | 2017-05-26 | Road adaptive forecasting method and the Vehicular system for using this method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109671297A (en) * | 2017-10-16 | 2019-04-23 | 大众汽车有限公司 | Avoid collision method, road user vehicle, other vehicles and computer program |
| CN109922439A (en) * | 2019-03-29 | 2019-06-21 | 重庆长安汽车股份有限公司 | The fusion method of multi-sensor data, the object detection method based on V2X and system |
| CN113155139A (en) * | 2021-06-28 | 2021-07-23 | 中移(上海)信息通信科技有限公司 | Vehicle track deviation rectifying method and device and electronic equipment |
| CN114677831A (en) * | 2022-02-16 | 2022-06-28 | 厦门北斗通信息技术股份有限公司 | Channel safety situation analysis method and system based on high-resolution remote sensing image |
| WO2022228069A1 (en) * | 2021-04-25 | 2022-11-03 | 华为技术有限公司 | Map, map generation method, and map use method and apparatus |
| CN114677831B (en) * | 2022-02-16 | 2024-05-03 | 厦门北斗通信息技术股份有限公司 | Channel security situation analysis method and system based on high-resolution remote sensing image |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109671297A (en) * | 2017-10-16 | 2019-04-23 | 大众汽车有限公司 | Avoid collision method, road user vehicle, other vehicles and computer program |
| CN109922439A (en) * | 2019-03-29 | 2019-06-21 | 重庆长安汽车股份有限公司 | The fusion method of multi-sensor data, the object detection method based on V2X and system |
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| WO2022228069A1 (en) * | 2021-04-25 | 2022-11-03 | 华为技术有限公司 | Map, map generation method, and map use method and apparatus |
| CN113155139A (en) * | 2021-06-28 | 2021-07-23 | 中移(上海)信息通信科技有限公司 | Vehicle track deviation rectifying method and device and electronic equipment |
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| CN114677831A (en) * | 2022-02-16 | 2022-06-28 | 厦门北斗通信息技术股份有限公司 | Channel safety situation analysis method and system based on high-resolution remote sensing image |
| CN114677831B (en) * | 2022-02-16 | 2024-05-03 | 厦门北斗通信息技术股份有限公司 | Channel security situation analysis method and system based on high-resolution remote sensing image |
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Application publication date: 20170926 Assignee: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. Assignor: Chongqing Changan Automobile Co.,Ltd. Contract record no.: X2021500000014 Denomination of invention: Road adaptive prediction method and vehicle system using the method Granted publication date: 20191108 License type: Common License Record date: 20211014 |
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