CN108010388A - Collision detection method for early warning and collision detection early warning system based on car networking network - Google Patents
Collision detection method for early warning and collision detection early warning system based on car networking network Download PDFInfo
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- CN108010388A CN108010388A CN201810008081.8A CN201810008081A CN108010388A CN 108010388 A CN108010388 A CN 108010388A CN 201810008081 A CN201810008081 A CN 201810008081A CN 108010388 A CN108010388 A CN 108010388A
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Abstract
The present invention provides the trajectory predictions based on car networking network and collision detection method for early warning, detection target includes but not limited to motor vehicles, non power driven vehicle, pedestrian, road hazard region etc..Current vehicle is broadcasted the driving information of vehicle by car networking, also, current vehicle receives the driving information of nearby vehicle broadcast；According to current vehicle and the driving information of nearby vehicle, predict current vehicle intersects driving trace with whether nearby vehicle has in N seconds future, if so, sending early warning to current vehicle.The present invention can help traffic participant preferably to obtain the information of peripheral object, and detection target zone is expanded to the detection of non-motor vehicle, pedestrian and road hazard region from common motor vehicles detection, and detection zone is defined according to detection target own form, so that collision detection result is more accurate, and given warning in advance according to the result of calculation of trajectory predictions and collision detection algorithm, ensure traffic safety.
Description
Technical field
The present invention relates to traffic safety technology field, more particularly to a kind of collision detection method for early warning based on car networking network
And collision detection early warning system.
Background technology
With the continuous enhancing of china's overall national strength, deepening continuously for " internet+" and flourishing for shared economy, people
The living standard of the people masses is continuously improved.But the thing followed, vehicle guaranteeding organic quantity is continuously increased, " express delivery knight " horizontal punching is straight
Hit, shared bicycle row, therefore the frequent accidents brought occur wantonly, the lives and properties peace of the serious threat people
Entirely.Effective trajectory predictions can be before traffic accident generation with collision detection method for early warning, warning traffic participant, in advance
The generation of anti-traffic accident, under conditions of traffic safety is ensured, improves road efficiency as far as possible.
Existing collision detection method for early warning is based primarily upon sensor, radar and video scheme and realizes, but such scheme exists
In the case of low light, low visual (sleet greasy weather gas) or not visible (block or blind area), it is difficult to be examined to the collision that may occur
Survey simultaneously early warning.And sensor, radar and video scheme are only limitted to the detection that itself may collide, information can not be realized
It is shared, it is horizontal that general safety can not be lifted in traffic control aspect.
The content of the invention
Trajectory predictions provided by the invention based on car networking network and collision detection method for early warning, can help traffic to participate in
Person preferably obtains the information of peripheral object, and will detect target zone expanded to from common motor vehicles detection it is non-maneuver
The detection of car, pedestrian and road hazard region, and detection zone is defined according to detection target own form so that collision detection knot
Fruit is more accurate, and is given warning in advance according to the result of calculation of trajectory predictions and collision detection algorithm, ensures traffic safety.
To achieve these goals, this invention takes following technical solution：
The present invention provides a kind of collision detection method for early warning based on car networking network, including：
Current vehicle is broadcasted the driving information of vehicle by car networking network, also, current vehicle receives week
The driving information of side vehicle broadcast；
Car networking network refers to the communication technology of the intercommunication available for vehicle, includes but not limited to DSRC, LTE-V, 4G/
5G；
According to current vehicle and the driving information of nearby vehicle, current vehicle and the row of nearby vehicle in N seconds future are predicted
Sail whether the safety detection region at tracing point overlaps, if so, sending early warning to current vehicle.
Further, according to current vehicle and the driving information of nearby vehicle, the shifting of current vehicle and nearby vehicle is established
Dynamic rail mark prediction model, the safety detection region that current vehicle and nearby vehicle are calculated according to the movement pattern model exist
It is whether overlapping in N seconds, it is judged as that current vehicle and nearby vehicle have collision possibility if overlapping, and the current vehicle is sent pre-
Alert information.
Further, shape of the safety detection region in the movement pattern model is according to vehicle itself
Shape is abstracted the polygon drawn.
Further, calculate whether safety detection region overlaps by the method for vector projection；Calculation procedure is as follows：
1. calculation position basic point and the distance on safety detection region vertex, as shown in formula (1),
Wherein, dis represents position basic point and the distance on safety detection region vertex, and len represents the length in safety detection region
Degree, wid represent the width in safety detection region；
2. safety detection region vertex and the deflection of position basic point are calculated, as shown in formula (2),
Wherein, α0,α1,α2,α3Represent safety detection region vertex and the deflection of position basic point；
3. safety detection region apex coordinate is calculated, as shown in formula (3),
Wherein, V0,V1,V2,V3Representing safety detection region apex coordinate, Lat and Lon represent the coordinate of position basic point,
EarthRad represents the earth radius at the basic point of position；
4. each edge-vector in safety detection region is calculated, as shown in formula (4),
Wherein, S0,S1,S2,S3Represent each edge-vector in safety detection region, LatV0,LatV1,LatV2,LatV3Represent safety
The latitude value on each vertex of detection zone, LonV0,LonV1,LonV2,LonV3Represent the longitude on each vertex in safety detection region；
5. the corresponding normal vector of each edge-vector in safety detection region is calculated, as shown in formula (5),
Wherein, A0,A1,A2,A3Represent the corresponding normal vector of each edge-vector in safety detection region；
6. projection of each vertex in safety detection region on the corresponding normal vector of each edge-vector is calculated, as shown in formula (6),
Wherein, pro represents projection of each vertex in safety detection region on the corresponding normal vector of each edge-vector, LatV and
LonV represents the coordinate on safety detection region vertex, and LatA and LonA represent the value of normal vector.
7. projection value of each vertex in safety detection region in a certain normal vector of two vehicles 6. can be calculated according to step,
Pro is drawn by comparingmin_HO、promax_HO、promin_RO、promax_RO, the projection of HO safety detections region vertex is represented respectively most
Small value, HO safety detections region vertex projection maximum, RO safety detections region vertex projection minimum value, RO safety detections region
Vertex projects maximum；HO represents current vehicle, and RO represents nearby vehicle, makes promin_HOAnd promin_ROMiddle smaller value is
promin, that is, project minimum value；Make promax_HOAnd promax_ROMiddle higher value is promax, that is, project maximum；
(promax_HO-promin_HO)+(promax_RO-promin_RO) ＜ (promax-promin) formula (7)
If formula (7) is set up, then it represents that safety detection region overlaps, if formula (7) is invalid, then it represents that safety inspection
Region is surveyed not overlap.
Further, current vehicle and the movement pattern mould of nearby vehicle are established by movement pattern algorithm
Type, the movement pattern algorithm carry out adaptive configuration according to the dense degree of detection target distribution.
Further, the driving information includes information of vehicles and real-time positioning information, and the information of vehicles includes vehicle
Dimension information, acceleration information, driving performance information and vehicle performance information.
The present invention also provides a kind of collision detection early warning system based on car networking network, including car networking communication module and
Communicate with locating module, sensor assembly, trajectory predictions algoritic module, collision detection algorithm module and the pre-alert notification of connection
Module；
Car networking communication module, the information of vehicles of the real-time positioning information of locating module and sensor assembly is carried out wide
Broadcast, and receive the real-time positioning information and information of vehicles of nearby vehicle broadcast；
Trajectory predictions algoritic module, the real-time positioning information and information of vehicles provided according to car networking communication module, which is established, works as
The movement pattern model of vehicle in front and nearby vehicle；
Collision detection algorithm module, according to the movement pattern model, judges the peace of current vehicle and nearby vehicle
Whether full detection zone is overlapping in N second, is judged as the current vehicle if overlapping and nearby vehicle has a collision possibility, and by
Pre-alert notification module sends warning information to the current vehicle.
Further, shape of the safety detection region in the movement pattern model is according to vehicle itself
Shape is abstracted the polygon drawn.
Further, the information of vehicles includes vehicle dimension information, acceleration information, driving performance information and vehicle
Can information.
As seen from the above technical solution provided by the invention, present invention detection target need to only be transmitted using car networking network
The location information at itself current time, without transmission locus information of forecasting, had both reduced the load of communication network, turn avoid because
Collision detection mistake caused by time irreversibility；Collision detection algorithm proposed by the present invention, detection target is abstracted as polygon
Collision detection scope, can be extended to all traffic participants and road hazard region by shape, and be sentenced using the method for vector projection
Disconnected collision, can detect no matter detection target is collided with which kind of posture, and reduces calculation amount compared to existing algorithm, improves
Accuracy.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the structure diagram of the collision detection early warning system provided in an embodiment of the present invention based on car networking network；
Fig. 2 is that the safety zone of the collision detection early warning system provided in an embodiment of the present invention based on car networking network is illustrated
Figure；
Fig. 3 is abstract track schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the trajectory predictions flow of the collision detection method for early warning provided in an embodiment of the present invention based on car networking network
Figure；
Fig. 5 be safety detection region provided in an embodiment of the present invention before to collision schematic diagram；
Fig. 6 is safety detection region reverse-impact schematic diagram provided in an embodiment of the present invention；
Fig. 7 is oblique collision schematic diagram in safety detection region provided in an embodiment of the present invention；
Fig. 8 is safety detection region intersection-type collision schematic diagram provided in an embodiment of the present invention；
Fig. 9 is safety detection region provided in an embodiment of the present invention trajectory predictions and collision detection warning algorithm flow chart.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is same or like element.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges
Diction " comprising " refer to there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
One or more other features, integer, step, operation, element, component and/or their groups.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or coupling.Wording used herein
"and/or" includes any cell of one or more associated list items and all combines.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology) there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the implication of overly formal be explained.
For ease of the understanding to the embodiment of the present invention, done further by taking several specific embodiments as an example below in conjunction with attached drawing
Explanation, and each embodiment does not form the restriction to the embodiment of the present invention.
Term is explained：
HO：Host Object, target object where major heading, i.e. current device, HO and RO is relative concept；
RO：Remote Object, remote target, i.e., the target object in addition to HO, HO and RO is relative concept；
Position basic point：Locating module antenna mounting locations point, it is assumed that positioned at the geometric center of installation targets.
Embodiment one：
Collision detection early warning system of the present invention based on car networking network, the system concrete structure is as shown in Figure 1, bag
Include car networking communication module and communicate with connection, locating module, sensor assembly, trajectory predictions algoritic module, collision
Detection algorithm and pre-alert notification module；
The trajectory predictions and collision detection early warning system based on car networking network described in the embodiment of the present invention, detect target bag
Include but be not limited to motor vehicles, non power driven vehicle, pedestrian, road hazard region etc..Detection target is made full use of to position letter in real time
Breath and historical track information, predict target motion track and detect the possibility to collide, may collide when detecting
When, early warning is carried out by pre-alert notification module.
The car networking communication module, for itself driving information of HO broadcast targets and receive RO broadcast driving information；
The locating module, for HO obtain current goal itself location information (include but not limited to latitude, longitude, height above sea level,
Speed, over the ground deflection etc.)；The sensor assembly, including accelerometer module and vehicle-mounted OBD modules, for providing vehicle
Acceleration and information, the data collected such as steering, brake, yaw velocity be used for trajectory predictions；The trajectory predictions are calculated
Method module, the location information and sensor information of HO and RO based on current time, based on set time step-length, predict HO and RO
The possible motion track in N seconds following；The collision detection algorithm, the HO being calculated based on trajectory predictions algoritic module with
The possible motion tracks of RO, calculate at all tracing points, and whether HO overlaps with the safety detection region of RO, are judged as if overlapping
May collision；The pre-alert notification module, when collision detection algorithm, which detects, to collide, for passing through sound and figure
As sending warning information to traffic participant.
The present embodiments relate to car networking network include various car networking communication modes, include but not limited to DSRC,
LTE-V, 5G etc..
Fig. 2 represents target vehicle region, black with the respective regions of simple rectangle example detection target, solid black lines
Dotted line represents the safety zone of peripheral object vehicle, and black round dot represents the position basic point of locating module.In practical applications, hand over
Logical participant and road hazard region can outwards be expanded according to own form feature and obtain arbitrary polygon (including circle) safety
Detection zone, and it is whether overlapping by trajectory predictions and the collision detection algorithm safety detection region for judging each target, so as to sentence
It is disconnected whether to collide.
The collision source direction that may occur for more effective warning traffic participant, pre-alert notification module will collide source
Direction is abstracted as 8 tracks, as shown in figure 3, black far point represents target location basic point in figure, black dotted lines are circular to represent HO cars
To network network wireless coverage area, digital representation is abstracted lane number in figure, whereinNumber represent HO safety detection region.
The distance between target that pre-alert notification module is returned according to trajectory predictions and collision detection algorithm (position basic point it
Between distance), relative position angle the angle of HO deflections over the ground (the position basic point of RO relative to) and opposite traveling deflection, meter
Calculation obtains abstract track number, and highlights respective icon in display terminal and be equipped with phonetic warning, is warned with sound and image format
The collision source direction that traffic participant may occur.
The present embodiments relate to trajectory predictions algorithm can be carried out according to the dense degree of detection target distribution it is adaptive
Configuration.When heavy dense targets are distributed, simple trajectory predictions are carried out according to the location information at target current time；When target density not
When big, using Kalman filtering method, trajectory predictions are carried out according to the location information at k-1 moment and current time before target；When
When target sparse is distributed, using Markov prediction model, according to n-1 moment (n before target>K) and current time positioning
Information carries out trajectory predictions.Trajectory predictions algorithm flow is as shown in Figure 4.
All traffic participants and road hazard region are abstracted into more by the embodiment of the present invention according to its own features of shape
Side shape (including circle), rather than a coordinate points or simple process are rectangle.After HO receives the broadcast message of RO, pass through track
Prediction algorithm and collision detection algorithm judge whether the possibility of collision, i.e., whether two polygons are at some tracing point
Overlap, if two polygons overlap, then it is assumed that may collide.The scene to collide have it is multiple, such as Fig. 5 extremely
Shown in Fig. 8.
The embodiment of the present invention is described trajectory predictions and collision detection warning algorithm, and flow chart is as shown in Figure 9.
Trajectory predictions proposed by the present invention and collision detection warning algorithm flow are as follows：
1st, the different trajectory predictions algorithm of the RO quantity Adaptive matchings that are detected according to HO；
2nd, its respective safety detection region is defined according to HO and RO shapes and size；
3rd, its respective safety detection region apex coordinate is defined according to HO and RO current time location informations；
4th, calculated by apex coordinate and obtain all edge-vectors in safety detection region；
5th, the normal vector of all edge-vectors, i.e. axis of projection are calculated by edge-vector；
6th, two all vertex of targeted security detection zone are traveled through, all vertex in safety detection region are calculated in axis of projection
The maximum and minimum of upper projection；
7th, two targets each projected length of the safety detection region on axis of projection is calculated according to maximum and minimum, if
Each projected length of the safety detection region on axis of projection is less than projection total length to two targets, then is judged as not touching
Hit, conversely, being judged as colliding；
If the 8, judging to collide, send early warning result to pre-alert notification module, be expected between collision time, target
Distance (the distance between position basic point), relative position angle the angle of HO deflections over the ground (the position basic point of RO relative to) and phase
To travel direction angle；
9th, the result that pre-alert notification module is obtained according to trajectory predictions and collision detection algorithm further calculates abstract track
Numbering, and it is sent to display terminal；
If the 10, judging not collide, positioning and sensor information based on current time, are calculated by trajectory predictions
Method calculates next position basic point, and repeat step 1-7；
If the 11, default prediction locus point is not detected by collision, waits HO to refresh by locating module and position
Information, and the location information by the reception subsequent time RO broadcast of car networking network, and repeat step 1-10.
Embodiment two：
This implementation example is trajectory predictions and collision detection method for early warning based on car networking network, and detection target is loaded
Equipment obtains location information from locating module with fixed frequency and (includes but not limited to latitude, longitude, height above sea level, speed, over the ground
Deflection etc.) and data exchange is carried out by car networking network, it the described method comprises the following steps：
1st, the RO quantity detected according to HO, Adaptive matching trajectory predictions algorithm；
2nd, according to the shape and dimension information of HO and RO, the safety detection region of target is defined；
3rd, got according to HO itself current time positioning and sensor information and receive RO broadcast it is current when
Positioning and sensor information are carved, calculates the HO in prediction setting range and the possible tracks of RO, for example, prediction future (comes from for 2 seconds
In " 2 seconds criterions "), predicted once possible tracing point every 0.1 second；
4th, the position basic point using the tracing point of each prediction as HO and RO, judge HO and RO safety detection region whether
Overlap；
If the 5th, being judged as YES in step 4, it is possible to collide, pre-alert notification module sends relevant information to display
Terminal, the collision that may be occurred by sound and image mode warning traffic participant；
If the 6, being judged as NO in step 4, i.e., do not collide, the normal display target correlation behavior letter of display terminal
Breath.
Embodiment three：
The collision detection method for early warning based on car networking network is present embodiments provided, including：
Current vehicle is broadcasted the driving information of vehicle by car networking network, also, current vehicle receives week
The driving information of side vehicle broadcast；
Car networking network refers to the communication technology of the intercommunication available for vehicle, includes but not limited to DSRC, LTE-V, 4G/
5G；
According to current vehicle and the driving information of nearby vehicle, current vehicle and the row of nearby vehicle in N seconds future are predicted
Sail whether the safety detection region at tracing point overlaps, if so, sending early warning to current vehicle.
In a specific embodiment, according to current vehicle and the driving information of nearby vehicle, establish current vehicle with
The movement pattern model of nearby vehicle, the peace of current vehicle and nearby vehicle is calculated according to the movement pattern model
Whether full detection zone overlapping in N second, be judged as if overlapping current vehicle and nearby vehicle have collision may, and to should
Vehicle in front sends warning information.
In a specific embodiment, shape of the safety detection region in the movement pattern model is
The polygon drawn is abstracted according to vehicle own form.
In a specific embodiment, calculate whether safety detection region overlaps by the method for vector projection；
Calculation procedure is as follows：
1. calculation position basic point and the distance on safety detection region vertex, as shown in formula (1),
Wherein, dis represents position basic point and the distance on safety detection region vertex, and len represents the length in safety detection region
Degree, wid represent the width in safety detection region；
2. safety detection region vertex and the deflection of position basic point are calculated, as shown in formula (2),
Wherein, α0,α1,α2,α3Represent safety detection region vertex and the deflection of position basic point；
3. safety detection region apex coordinate is calculated, as shown in formula (3),
Wherein, V0,V1,V2,V3Representing safety detection region apex coordinate, Lat and Lon represent the coordinate of position basic point,
EarthRad represents the earth radius at the basic point of position；
4. each edge-vector in safety detection region is calculated, as shown in formula (4),
Wherein, S0,S1,S2,S3Represent each edge-vector in safety detection region, LatV0,LatV1,LatV2,LatV3Represent safety
The latitude value on each vertex of detection zone, LonV0,LonV1,LonV2,LonV3Represent the longitude on each vertex in safety detection region；
5. the corresponding normal vector of each edge-vector in safety detection region is calculated, as shown in formula (5),
Wherein, A0,A1,A2,A3Represent the corresponding normal vector of each edge-vector in safety detection region；
6. projection of each vertex in safety detection region on the corresponding normal vector of each edge-vector is calculated, as shown in formula (6),
Wherein, pro represents projection of each vertex in safety detection region on the corresponding normal vector of each edge-vector, LatV and
LonV represents the coordinate on safety detection region vertex, and LatA and LonA represent the value of normal vector；
7. projection value of each vertex in safety detection region in a certain normal vector of two vehicles 6. can be calculated according to step,
Pro is drawn by comparingmin_HO、promax_HO、promin_RO、promax_RO, the projection of HO safety detections region vertex is represented respectively most
Small value, HO safety detections region vertex projection maximum, RO safety detections region vertex projection minimum value, RO safety detections region
Vertex projects maximum；HO represents current vehicle, and RO represents nearby vehicle, makes promin_HOAnd promin_ROMiddle smaller value is
promin, that is, project minimum value；Make promax_HOAnd promax_ROMiddle higher value is promax, that is, project maximum；
(promax_HO-promin_HO)+(promax_RO-promin_RO) ＜ (promax-promin) formula (7)
If formula (7) is set up, then it represents that safety detection region overlaps, if formula (7) is invalid, then it represents that safety inspection
Region is surveyed not overlap.
In a specific embodiment, the movement of current vehicle and nearby vehicle is established by movement pattern algorithm
Trajectory predictions model, the movement pattern algorithm carry out adaptive configuration according to the dense degree of detection target distribution.
In a specific embodiment, the driving information includes information of vehicles and real-time positioning information, the vehicle
Information includes vehicle dimension information, acceleration information, driving performance information and vehicle performance information.
The embodiment of the present invention also provides a kind of collision detection early warning system based on car networking network, including car networking communication mould
Block and communicate with the locating module of connection, sensor assembly, trajectory predictions algoritic module, collision detection algorithm module and pre-
Alert notification module；
Car networking communication module, the information of vehicles of the real-time positioning information of locating module and sensor assembly is carried out wide
Broadcast, and receive the real-time positioning information and information of vehicles of nearby vehicle broadcast；
Trajectory predictions algoritic module, the real-time positioning information and information of vehicles provided according to car networking communication module, which is established, works as
The movement pattern model of vehicle in front and nearby vehicle；
Collision detection algorithm module, according to the movement pattern model, judges the peace of current vehicle and nearby vehicle
Whether full detection zone is overlapping in N second, is judged as the current vehicle if overlapping and nearby vehicle has a collision possibility, and by
Pre-alert notification module sends warning information to the current vehicle.
In conclusion the embodiment of the present invention only need to transmit determining for itself current time by detecting target using car networking network
Position information, without transmission locus information of forecasting, had both reduced the load of communication network, turn avoid causes because of time irreversibility
Collision detection mistake；
HO reduces computational load, ensures system as far as possible according to the RO quantity Adaptive matching trajectory predictions algorithms detected
Stable operation；
Collision detection algorithm proposed by the present invention, is abstracted as polygon by detection target, can extend collision detection scope
Judge collision to all traffic participants and road hazard region, and using the method for vector projection, though two detection targets with
Which kind of posture collides and can detect, and reduces calculation amount compared to existing algorithm, improves accuracy；
Pre-alert notification proposed by the present invention, more specific can inform the source direction of traffic participant risk of collision, just
Effectively evade the danger that may occur in traffic participant.
One of ordinary skill in the art will appreciate that：Attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that contributes in other words to the prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are used so that a computer equipment
(can be personal computer, server, either network equipment etc.) performs some of each embodiment of the present invention or embodiment
Method described in part.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Especially for device or
For system embodiment, since it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit that separating component illustrates may or may not be it is physically separate, can be as the component that unit is shown or
Person may not be physical location, you can with positioned at a place, or can also be distributed in multiple network unit.Can root
Factually border needs to select some or all of module therein realize the purpose of this embodiment scheme.Ordinary skill
Personnel are without creative efforts, you can to understand and implement.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (9)
- A kind of 1. collision detection method for early warning based on car networking network, it is characterised in that including：Current vehicle is broadcasted the driving information of vehicle by car networking network, also, current vehicle receives periphery car Broadcast driving information；According to current vehicle and the driving information of nearby vehicle, current vehicle and the traveling rail of nearby vehicle in N seconds future are predicted Whether the safety detection region at mark point overlaps, if so, sending early warning to current vehicle.
- 2. collision detection method for early warning according to claim 1, it is characterised in thatAccording to current vehicle and the driving information of nearby vehicle, current vehicle and the movement pattern mould of nearby vehicle are established Whether type, the safety detection region that current vehicle and nearby vehicle are calculated according to the movement pattern model weighed in N seconds It is folded, it is judged as that current vehicle and nearby vehicle have collision possibility if overlapping, and warning information is sent to the current vehicle.
- 3. collision detection method for early warning according to claim 2, it is characterised in that the safety detection region is in the shifting Shape in dynamic rail mark prediction model is that the polygon drawn is abstracted according to vehicle own form.
- 4. collision detection method for early warning according to claim 3, it is characterised in that peace is calculated by the method for vector projection Whether full detection zone overlaps；Calculation procedure is as follows：1. calculation position basic point and the distance on safety detection region vertex, as shown in formula (1),Wherein, dis represents position basic point and the distance on safety detection region vertex, and len represents the length in safety detection region, Wid represents the width in safety detection region；2. safety detection region vertex and the deflection of position basic point are calculated, as shown in formula (2),Wherein, α0,α1,α2,α3Represent safety detection region vertex and the deflection of position basic point；3. safety detection region apex coordinate is calculated, as shown in formula (3),Wherein, V0,V1,V2,V3Representing safety detection region apex coordinate, Lat and Lon represent the coordinate of position basic point, EarthRad represents the earth radius at the basic point of position；4. each edge-vector in safety detection region is calculated, as shown in formula (4),Wherein, S0,S1,S2,S3Represent each edge-vector in safety detection region, LatV0,LatV1,LatV2,LatV3Represent safety detection The latitude value on each vertex in region, LonV0,LonV1,LonV2,LonV3Represent the longitude on each vertex in safety detection region；5. the corresponding normal vector of each edge-vector in safety detection region is calculated, as shown in formula (5),Wherein, A0,A1,A2,A3Represent the corresponding normal vector of each edge-vector in safety detection region；6. projection of each vertex in safety detection region on the corresponding normal vector of each edge-vector is calculated, as shown in formula (6),Wherein, pro represents projection of each vertex in safety detection region on the corresponding normal vector of each edge-vector, LatV and LonV tables Show the coordinate on safety detection region vertex, LatA and LonA represent the value of normal vector；7. each vertex in safety detection region of two vehicles 6. can be calculated according to step in the projection value of a certain normal vector, pass through Compare and draw promin_HO、promax_HO、promin_RO、promax_RO, respectively represent HO safety detections region vertex projection minimum value, HO safety detections region vertex projection maximum, RO safety detections region vertex projection minimum value, RO safety detections region vertex Project maximum；HO represents current vehicle, and RO represents nearby vehicle, makes promin_HOAnd promin_ROMiddle smaller value is promin, i.e., Project minimum value；Make promax_HOAnd promax_ROMiddle higher value is promax, that is, project maximum；(promax_HO-promin_HO)+(promax_RO-promin_RO) ＜ (promax-promin) formula (7)If formula (7) is set up, then it represents that safety detection region overlaps, if formula (7) is invalid, then it represents that safety detection area Domain does not overlap.
- 5. collision detection method for early warning according to claim 4, it is characterised in that established by movement pattern algorithm The movement pattern model of current vehicle and nearby vehicle, the movement pattern algorithm are close according to detection target distribution Collection degree carries out adaptive configuration.
- 6. collision detection method for early warning according to claim 5, it is characterised in that the driving information includes information of vehicles And real-time positioning information, the information of vehicles include vehicle dimension information, acceleration information, driving performance information and vehicle performance Information.
- A kind of 7. collision detection early warning system based on car networking network, it is characterised in that including car networking communication module and with Its locating module, sensor assembly, trajectory predictions algoritic module, collision detection algorithm module and pre-alert notification mould for communicating to connect Block；Car networking communication module, the information of vehicles of the real-time positioning information of locating module and sensor assembly is broadcasted, with And receive the real-time positioning information and information of vehicles of nearby vehicle broadcast；Trajectory predictions algoritic module, the real-time positioning information and information of vehicles provided according to car networking communication module establish current vehicle Movement pattern model with nearby vehicle；Collision detection algorithm module, according to the movement pattern model, judges the safety inspection of current vehicle and nearby vehicle It is whether overlapping in N seconds to survey region, is judged as that the current vehicle and nearby vehicle have collision possibility if overlapping, and by early warning Notification module sends warning information to the current vehicle.
- 8. collision detection method for early warning according to claim 7, it is characterised in that the safety detection region is in the shifting Shape in dynamic rail mark prediction model is that the polygon drawn is abstracted according to vehicle own form.
- 9. collision detection method for early warning according to claim 8, it is characterised in that the information of vehicles includes vehicle dimension Information, acceleration information, driving performance information and vehicle performance information.
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