CN108335527A - Alarm system between driving vehicle and method - Google Patents
Alarm system between driving vehicle and method Download PDFInfo
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- CN108335527A CN108335527A CN201710044611.XA CN201710044611A CN108335527A CN 108335527 A CN108335527 A CN 108335527A CN 201710044611 A CN201710044611 A CN 201710044611A CN 108335527 A CN108335527 A CN 108335527A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses the alarm systems and method between driving vehicle, alarm system includes first and second vehicle, first vehicle is equipped with first processing module and the first in-vehicle wireless communication module, second vehicle is equipped with Second processing module and the second in-vehicle wireless communication module, first in-vehicle wireless communication module receives the current driving road and travel direction of the first vehicle, and the second in-vehicle wireless communication module is sent to according to the first predeterminated frequency, Second processing module judges whether the current driving road of the first vehicle and travel direction are identical as the current driving road and travel direction of the second vehicle, if, self organizing radio network network is built between first vehicle and the second vehicle, when detecting the first vehicle emergent stopping, first warning message is sent to the second vehicle.The present invention improves the real-time that alarm is conveyed, and is effectively prevented the generation of major accident.
Description
Technical field
The present invention relates to the alarm systems and method between a kind of driving vehicle.
Background technology
On highway individual vehicle occur casting anchor, blow out or even stopping in emergency etc. situations when, often cause more than ten very
The major accident collided to tens automobile chains of rings, the especially rainy day at night or poor visibility, greasy weather, snowy day.It is basic former
Because being that when emergency situations occur in front vehicles, subsequent vehicle can not be discovered in time.When etc. realizing, since speed is fast, not toward contact
And braking reply.
Such case then hardly happens in the rail traffics such as the subway, train or high ferro equally run at high speed.Reason
Being rail traffic has complete, ripe vehicle operational monitoring and signal communicating system.When front vehicles situation occurred, subsequent vehicle
It can know at the first time and take Security Countermeasures.And automobile then lacks similar operational monitoring and communication system, is typically only capable to lead to
The electronic bulletin board (message board) for crossing broadcasting station or roadside setting is announced.But either broadcasting station, still
Electronic bulletin board along the line, real-time is all very poor, can not be made within several seconds after notifying accident point automatically within even hundreds of milliseconds
The vehicle of number formulary kilometer；And broadcasting station is easy to be influenced by field geographical environment, jitter；By economic cost system
About, the setting interval of electronic bulletin board is bigger (being for example just arranged one for several kilometers) along the line, influences actual effect.
Invention content
When the technical problem to be solved by the present invention is in order to overcome the automobile of the prior art to break down in the process of moving,
The real-time conveyed of alarming is poor, leads to the defect of major accident, provides alarm system and method between a kind of driving vehicle.
The present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of alarm system between driving vehicle, feature are that the alarm system includes the first vehicle and second
Vehicle, is respectively equipped with first processing module and the first in-vehicle wireless communication module on first vehicle, on second vehicle
It is respectively equipped with Second processing module and the second in-vehicle wireless communication module, the first processing module and first onboard wireless
Communication module is electrically connected, and the Second processing module is electrically connected with the second in-vehicle wireless communication module；
The first in-vehicle wireless communication module is used to receive the current of first vehicle from the first processing module
Carriage way and travel direction, and by the current driving road of first vehicle and travel direction according to the first predeterminated frequency
It is sent to the second in-vehicle wireless communication module, the Second processing module is used for from the second in-vehicle wireless communication module
Receive the current driving road and travel direction of first vehicle, and judge first vehicle current driving road and
Whether travel direction is identical as the current driving road and travel direction of second vehicle, if so, first vehicle and institute
It states and builds self organizing radio network network between the second vehicle；
After building self organizing radio network network, when detecting the first vehicle emergent stopping, described first is vehicle-mounted
First warning message is sent to the second in-vehicle wireless communication module by wireless communication module.
Preferably, the alarm system further includes road network database, first is further respectively had on first vehicle
Driving route identification module and the first satellite positioning module, the first driving route identification module and first satellite positioning
Module is electrically connected with the first processing module respectively, the first processing module and the road network database communication link
It connects, the second driving route identification module and the second satellite positioning module, second row is further respectively had on second vehicle
Fare road identification module and second satellite positioning module are electrically connected with the Second processing module respectively, the second processing
Module is communicated to connect with the road network database；
First satellite positioning module is used to the changing coordinates of first vehicle being sent to the first processing mould
Block, the first processing module are additionally operable to inquire the present road letter of first vehicle from the road network database
Breath, it is current to generate that the first driving route identification module is used for changing coordinates and road information in conjunction with first vehicle
Carriage way and travel direction, and the current driving road of first vehicle and travel direction are sent at described first
Manage module；
Second satellite positioning module is used to the changing coordinates of second vehicle being sent to the second processing mould
Block, the Second processing module are additionally operable to inquire the present road letter of second vehicle from the road network database
Breath, it is current to generate that the second driving route identification module is used for changing coordinates and road information in conjunction with second vehicle
Carriage way and travel direction, and the current driving road of second vehicle and travel direction are sent at described second
Manage module.
In the present solution, GPS (Global Positioning System, global positioning system can be used in satellite positioning module
System) module or Beidou positioning module etc..
Preferably, the first acceleration transducer is additionally provided on first vehicle, first acceleration transducer and institute
First processing module electrical connection is stated, the current acceleration of first vehicle is sent to described by first acceleration transducer
First processing module, the first processing module, which is additionally operable to the first vehicle described in the acceleration detection by first vehicle, is
No emergent stopping, is additionally provided with the second acceleration transducer on second vehicle, second acceleration transducer and described the
Two processing modules are electrically connected, and the current acceleration of second vehicle is sent to described second by second acceleration transducer
Processing module, whether the Second processing module is additionally operable to the second vehicle described in the acceleration detection by second vehicle tight
Emergency stop is stopped；And/or
It is additionally provided with the first networking slip condition database on first vehicle, the first networking slip condition database and described the
One processing module is electrically connected, and after building self organizing radio network network, the first networking slip condition database is for storing second
The status data of vehicle, and the data in the first networking slip condition database, institute are updated according to first predeterminated frequency
It states and is additionally provided with the second networking slip condition database on the second vehicle, the second networking slip condition database and the Second processing module
Electrical connection, after building self organizing radio network network, the second networking slip condition database is used to store the state of the first vehicle
Data, and the data in the second networking slip condition database are updated according to the second predeterminated frequency.
In the present solution, acceleration transducer can the instantaneous acceleration of instantaneous acquiring vehicle when driving, especially occurring
When collision, emergency braking, current instantaneous acceleration can be fed back to processing module immediately.Pass through coordinate with satellite positioning module
Variation comes calculating speed, acceleration difference, and acceleration transducer real-time is stronger, can provide acceleration within the time of Millisecond
Numerical value, to which the real-time of the alarm system can be improved.
Preferably, the first in-vehicle wireless communication module is additionally operable to receive first vehicle from the first processing module
Current vehicle speed, and the current vehicle speed of first vehicle is sent to second vehicle according to first predeterminated frequency
Carrier radio communication module, the Second processing module are additionally operable to receive described first from the second in-vehicle wireless communication module
After the current vehicle speed of vehicle, judge whether the current vehicle speed of first vehicle is greater than or equal to preset travel speed, if so, institute
It states and builds self organizing radio network network between the first vehicle and second vehicle.
In the present solution, in view of the vehicle into service area, need to filter out vehicle similar in speed.Even if traveling exists
On same road, without the vehicle considered into service area, and the vehicle for entering service area generally all can slow down or stop,
Therefore it is to be regarded as the vehicle of normally travel that whether current vehicle speed, which is greater than or equal to preset travel speed, certain default row
Sailing speed can be voluntarily arranged.
Preferably, the alarm system further includes third vehicle, second vehicle passes through described with the third vehicle
The mode of self organizing radio network network is built to build self organizing radio network between first vehicle and second vehicle
Network；
Before sending first warning message, the processing module is additionally operable to judge first vehicle and described second
Whether the distance between vehicle is less than preset alarm distance, if so, when sending first warning message, the first vehicle-mounted nothing
First route signal is also sent to the second in-vehicle wireless communication module by line communication module, if it is not, the first vehicle-mounted nothing
First warning message is sent to the second in-vehicle wireless communication module by line communication module；
The Second processing module judges after the second in-vehicle wireless communication module receives first route signal
Whether the distance between first vehicle and the third vehicle are less than the preset alarm distance, if so, second vehicle
First warning message and secondary route signal are sent to the third vehicle by carrier radio communication module, if it is not, described
First warning message is sent to the third vehicle by two in-vehicle wireless communication modules.
A kind of alarm method between driving vehicle, feature are that the alarm method utilizes such as above-mentioned alarm system
It unites to realize, the alarm method includes the following steps：
S1, the current driving road of the first vehicle and travel direction be sent to the second vehicle according to the first predeterminated frequency；
S2, judge the current driving road of first vehicle and the current line track of travel direction and second vehicle
Whether road and travel direction are identical, if so, building self organizing radio network between first vehicle and second vehicle
Network；
S3, when detecting the first vehicle emergent stopping, the first warning message is sent to institute by first vehicle
State the second vehicle.
Preferably, the alarm system further includes road network database, first is further respectively had on first vehicle
Driving route identification module and the first satellite positioning module, the first driving route identification module and first satellite positioning
Module is electrically connected with the first processing module respectively, the first processing module and the road network database communication link
It connects, the second driving route identification module and the second satellite positioning module, second row is further respectively had on second vehicle
Fare road identification module and second satellite positioning module are electrically connected with the Second processing module respectively, the second processing
Module is communicated to connect with the road network database；
First satellite positioning module is used to the changing coordinates of first vehicle being sent to the first processing mould
Block, the first processing module are additionally operable to inquire the present road letter of first vehicle from the road network database
Breath, it is current to generate that the first driving route identification module is used for changing coordinates and road information in conjunction with first vehicle
Carriage way and travel direction, and the current driving road of first vehicle and travel direction are sent at described first
Manage module；
Second satellite positioning module is used to the changing coordinates of second vehicle being sent to the second processing mould
Block, the Second processing module are additionally operable to inquire the present road letter of second vehicle from the road network database
Breath, it is current to generate that the second driving route identification module is used for changing coordinates and road information in conjunction with second vehicle
Carriage way and travel direction, and the current driving road of second vehicle and travel direction are sent at described second
Manage module.
In the present solution, GPS module or Beidou positioning module etc. can be used in satellite positioning module.
Preferably, the first acceleration transducer is additionally provided on first vehicle, first acceleration transducer and institute
First processing module electrical connection is stated, the current acceleration of first vehicle is sent to described by first acceleration transducer
First processing module, the first processing module, which is additionally operable to the first vehicle described in the acceleration detection by first vehicle, is
No emergent stopping, is additionally provided with the second acceleration transducer on second vehicle, second acceleration transducer and described the
Two processing modules are electrically connected, and the current acceleration of second vehicle is sent to described second by second acceleration transducer
Processing module, whether the Second processing module is additionally operable to the second vehicle described in the acceleration detection by second vehicle tight
Emergency stop is stopped；And/or
It is additionally provided with the first networking slip condition database on first vehicle, the first networking slip condition database and described the
One processing module is electrically connected, and after building self organizing radio network network, the first networking slip condition database is for storing second
The status data of vehicle, and the data in the first networking slip condition database, institute are updated according to first predeterminated frequency
It states and is additionally provided with the second networking slip condition database on the second vehicle, the second networking slip condition database and the Second processing module
Electrical connection, after building self organizing radio network network, the second networking slip condition database is used to store the state of the first vehicle
Data, and the data in the second networking slip condition database are updated according to the second predeterminated frequency.
In the present solution, acceleration transducer can the instantaneous acceleration of instantaneous acquiring vehicle when driving, especially occurring
When collision, emergency braking, current instantaneous acceleration can be fed back to processing module immediately.Pass through coordinate with satellite positioning module
Variation comes calculating speed, acceleration difference, and acceleration transducer real-time is stronger, can provide acceleration within the time of Millisecond
Numerical value, to which the real-time of the alarm system can be improved.
Preferably, in step S1In, also the current vehicle speed of first vehicle is sent according to first predeterminated frequency
To second vehicle；
In step S2In, judge the current driving road of first vehicle and working as travel direction and second vehicle
Whether preceding carriage way and travel direction are identical, if so, it is pre- to judge whether the current vehicle speed of first vehicle is greater than or equal to
If speed of operation, if so, building self organizing radio network network between first vehicle and second vehicle.
In the present solution, in view of the vehicle into service area, need to filter out vehicle similar in speed.Even if traveling exists
On same road, without the vehicle considered into service area, and the vehicle for entering service area generally all can slow down or stop,
Therefore it is to be regarded as the vehicle of normally travel that whether current vehicle speed, which is greater than or equal to preset travel speed, certain default row
Sailing speed can be voluntarily arranged.
Preferably, the alarm system further includes third vehicle, second vehicle passes through described with the third vehicle
The mode of self organizing radio network network is built to build self organizing radio network between first vehicle and second vehicle
Network；
In step S3In, before sending first warning message, judge first vehicle and second vehicle it
Between distance whether be less than preset alarm distance, if so, first vehicle send first warning message when, also by first
Route signal is sent to second vehicle, if it is not, the first warning message is sent to second vehicle by first vehicle；
In step S3Later, the alarm method is further comprising the steps of：
S4, second vehicle is when receiving first route signal, judge first vehicle and the third vehicle
The distance between whether be less than the preset alarm distance, if so, second vehicle is by first warning message and second
Route signal is sent to the third vehicle, if it is not, first warning message is sent to the third by second vehicle
Vehicle.
On the basis of common knowledge of the art, above-mentioned each optimum condition can be combined arbitrarily to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that：
The present invention is using in-vehicle wireless communication module to the vapour of the equidirectional same circuit in wireless communication signals coverage area
Self-organizing network is built between vehicle, when having automobile that emergency (such as accident) occurs in net, using the network to will approach
The automobile of accident spot sends out safety alarm, and automobile can slow down, stops or detour after alarm, to ensure traffic safety, alarm and
When, the real-time that alarm is conveyed is improved, and no matter automobile whether outside safe distance or visibility, can convey alarm,
To be effectively prevented the generation of major accident on road surface.
Description of the drawings
First vehicle and road network data in alarm systems of the Fig. 1 between the driving vehicle of present pre-ferred embodiments
The connection diagram in library.
Fig. 2 is the flow chart of the alarm method between the driving vehicle of present pre-ferred embodiments.
Fig. 3 conveys schematic diagram when warning message between each vehicle of present pre-ferred embodiments.
Fig. 4 is the structural schematic diagram of the intersection highway of present pre-ferred embodiments.
Specific implementation mode
It is further illustrated the present invention below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
As shown in Figure 1, alarm system between driving vehicle provided in this embodiment include the first vehicle 1, the second vehicle,
Third vehicle and road network database 2, wherein first processing module 11, the first onboard wireless are respectively equipped on the first vehicle 1
Communication module 12, the first driving route identification module 13, the first GPS module 14, the first acceleration transducer 15 and the first networking
Slip condition database 16, the first in-vehicle wireless communication module 12, the first driving route identification module 13, the first GPS module 14, first
Acceleration transducer 15 and the first networking slip condition database 16 are electrically connected with first processing module 11 respectively；On second vehicle respectively
Add equipped with Second processing module, the second in-vehicle wireless communication module, the second driving route identification module, the second GPS module, second
Velocity sensor and the second networking slip condition database, the second in-vehicle wireless communication module, the second driving route identification module, second
GPS module, the second acceleration transducer and the second networking slip condition database are electrically connected with Second processing module respectively；Third vehicle
On be respectively equipped with third processing module, third in-vehicle wireless communication module, third driving route identification module, third GPS module,
Third acceleration transducer and third networking slip condition database, third in-vehicle wireless communication module, third driving route identify mould
Block, third GPS module, third acceleration transducer and third networking slip condition database are electrically connected with third processing module respectively；
First processing module 11, Second processing module and third processing module wirelessly communicate with road network database 2 connect respectively.
In the present embodiment, because the structure of the second vehicle and third vehicle is similar to the structure of the first vehicle 1, therefore not
With illustrating.The particular number of vehicle is not limited specifically in the alarm system, and vehicle can be the multiple types such as car, lorry
The automobile of type.Modules and component in the present embodiment do not limit the specific device of use, as long as may be implemented corresponding
A variety of different devices can be used in function, for example, CPU (Central Processing Unit, center can be used in processing module
Processor), Zigbee (the low-power consumption LAN protocol based on IEEE802.15.4 standards) can be used in in-vehicle wireless communication module
Communication module, Wi-Fi (Wireless-Fidelity, Wireless Fidelity) module or bluetooth module etc..In the present embodiment, GPS moulds
Block is satellite positioning module, it is not limited to GPS module, can also according to actual conditions using Beidou positioning module etc. other
Satellite positioning module.
Specifically, the first vehicle is in the process of moving, the first GPS module is in real time sending out the changing coordinates of the first vehicle
It send to first processing module, first processing module is used to inquire the present road of the first vehicle from road network database in real time
Information, road network database is for storing the information such as identifier, title, the path coordinate of road (section, ring road), therefore the
One processing module inquires identifier, title, the position coordinates etc. of the first vehicle current driving road from road network database
Information, the first driving route identification module are used to generate current driving road in conjunction with the changing coordinates and road information of the first vehicle
Road and travel direction, and the current driving road and travel direction of the first vehicle are sent to first processing module.
In the present embodiment, respective name on the second vehicle and modules on third vehicle and component and the first vehicle
Module and component realize function it is similar, for example, the first GPS module, the second GPS module and third GPS module are respective
The function realized on vehicle is similar etc., therefore modules to the second vehicle and third vehicle and component no longer repeat one by one.
The status data of first vehicle is sent to the first in-vehicle wireless communication module, the status number by first processing module
According to including identification of the vehicle, changing coordinates, current vehicle speed, present road information, current driving road and current driving direction, when
So it is not limited in this type of information, can be also selected according to actual conditions and demand.
The status data of first vehicle is sent to the second vehicle by the first in-vehicle wireless communication module according to the first predeterminated frequency
Carrier radio communication module, specifically, the status data of the first vehicle is equipped on broadcast radiated by the first in-vehicle wireless communication module
To wireless signal transceiving range, after the second vehicle enters in the wireless signal transceiving range of the first vehicle, will receive
The status data of first vehicle is not only the second vehicle, as long as entering in the wireless signal transceiving range of the first vehicle, other
Vehicle can receive the status data to the first vehicle, and in the present embodiment, first predeterminated frequency is set as 1 second, you can
It is considered the time of the first vehicle replacement status data, can be also adjusted correspondingly certainly according to actual conditions.
Second processing module is after the status data that the second in-vehicle wireless communication module receives the first vehicle, for judging
Whether the current driving road and travel direction of the first vehicle are identical as the current driving road and travel direction of the second vehicle, if
Be judge whether the current vehicle speed of the first vehicle is greater than or equal to preset travel speed, if so, the first vehicle and the second vehicle it
Between build self organizing radio network network, that is, build vehicular ad hoc network (VANET, Vehicular Ad-hoc Network).Tool
Body, when emergency occurs for the first vehicle, it is only necessary to it alarms the vehicle of same road and same travel direction, because
This is to the interim networking of the vehicle of same road and same travel direction, in intersection highway as shown in Figure 4, close to 4
When the intersection of direction road, even if not on the same road, it can also pass through in wireless signal transceiving range, to receive
To status data, it is therefore desirable to screening conditions be arranged.In the present embodiment, it is contemplated that the vehicle for entering service area needs to screen
Go out vehicle similar in speed.Even if traveling is on same road, without the vehicle considered into service area, and enter service
The vehicle in area generally all can slow down or stop, therefore whether current vehicle speed is greater than or equal to preset travel speed and is regarded as just
The vehicle often travelled, certain preset travel speed can be voluntarily arranged.
After building self organizing radio network network, the first networking slip condition database is used to store the status data of the second vehicle
And mesh information, and the data in the first networking slip condition database, equally, second group are updated according to first predeterminated frequency
Net state database is used to store the status data and mesh information of the first vehicle.Specifically, the first networking slip condition database is special
The information of vehicles of casual network has been established in door storage, and is updated according to first predeterminated frequency, if after screening again
There is the vehicle for being no longer complies with networking condition, with regard to releasing group net state, delete corresponding information of vehicles, to ensure the stabilization of networking
Property, reduce network traffic data and load.
First acceleration transducer by the current acceleration of the first vehicle for being sent to first processing module in real time, and first
Processing module be additionally operable to by the first vehicle of acceleration detection of the first vehicle whether emergent stopping, equally, the second acceleration passes
For the current acceleration of the second vehicle to be sent to Second processing module in real time, Second processing module is additionally operable to by the sensor
Second vehicle described in the acceleration detection of two vehicles whether emergent stopping.Specifically, acceleration transducer can instantaneous acquiring vehicle
Instantaneous acceleration when driving, especially collide, emergency braking when, can be fed back immediately to processing module current wink
Brief acceleration.Different come calculating speed, acceleration by changes in coordinates from GPS module, acceleration transducer real-time is stronger, can
Acceleration value is provided within the time of Millisecond, to which the real-time of the alarm system can be improved.
When first processing module detects the first vehicle emergent stopping, judge between the first vehicle and the second vehicle away from
From whether being less than with a distance from preset alarm, if so, the first in-vehicle wireless communication module is by the first route signal and the first warning message
Be sent to the second in-vehicle wireless communication module, if it is not, the first in-vehicle wireless communication module the first warning message is sent to it is described
Second in-vehicle wireless communication module.Specifically, when the state of emergency occurs for the first vehicle, the first vehicle can be into casual network on the way
The vehicle of diameter accident spot sends out safety alarm, meanwhile, warning message is equipped on broadcast radiated to wireless signal transceiving range
It is interior, in spite of approach accident spot or in different road vehicles, as long as entering in wireless signal transceiving range,
Warning message is received, but whether prompts driver, vehicle receiving alarm signal after reception is voluntarily set according to actual conditions
After breath, can according to oneself at a distance from accident point it is different, and take different countermeasures, driver such as reminded to slow down, detour.
The preset alarm distance is the transmission range of warning message, such as is set as the 12 of road Maximum speed limit or current vehicle speed traveling
The minute range of driving, if highway (speed limit 120km/h) is set as 24km, ordinary municipal through street (speed limit 80km/h) is 16km.
The safe stopping distance and the range of visibility under night or rain and fog weather that preset alarm distance is usually much larger than vehicle.
In the present embodiment, the second vehicle is set as the vehicle farthest with distance in the vehicle of the interim networking of the first vehicle, works as detection
To the distance between the first vehicle and the second vehicle be less than preset alarm apart from when, show the radio signal propagation of the first vehicle away from
It can not be covered with a distance from preset alarm from possibly, therefore in order to which warning message to be transmitted to outside preset alarm distance, need to use
The mode for routeing vehicle to transmit, at this point, route signal is also sent to the second vehicle by the first vehicle in addition to warning message.
Second vehicle and third vehicle are by building self organizing radio network network between the first vehicle and the second vehicle
Third vehicle is set as and distance in the vehicle of the interim networking of the second vehicle by mode to build self organizing radio network network
Farthest vehicle judges that the distance between the first vehicle and third vehicle are after the second vehicle receives the first route signal
It is no to be less than preset alarm distance, if so, the second in-vehicle wireless communication module sends the first warning message and secondary route signal
To third vehicle, if it is not, the first warning message is sent to third vehicle by the second in-vehicle wireless communication module.Specifically, first
Vehicle using the second vehicle as routing vehicle warning message is continued to hand on, at this point, the second vehicle using third vehicle as
Warning message is sent to third vehicle by routing vehicle, if preset alarm distance is still not achieved, third vehicle continues to select it
His vehicle is that routing vehicle hands on warning message, until reaching preset alarm distance.
Clearly to illustrate above-mentioned alarm transmittance process, can refer to shown in Fig. 3, the networking slip condition database of vehicle A
In there are the vehicles such as B, C, D, E, wherein vehicle B almost (to be influenced by GPS location precision parallel therewith, may cannot be distinguished and whether surpass
Before), C, D, E are its subsequent vehicle, and E is rear car farthest with a distance from A.When the state of emergency occurs for vehicle A, vehicle A can be selected
Vehicle E is selected as routing vehicle, to nearby vehicle broadcast emergency alert.After vehicle E receives alarm, if vehicle A, E distance does not surpass
Go out preset alarm distance, then selects the vehicle G farthest from vehicle E as routing vehicle from the group grid database of vehicle E, again
Broadcast them alarm.If vehicle G has found the distance to vehicle A and not yet exceeds preset alarm distance, also from its networking status number
Continue to re-broadcast above-mentioned alarm to nearby vehicle as routing vehicle according to farthest rear car is selected in library.In this way, warning message will
It is handed on always in a manner of relay, until reaching preset alarm distance.
After alarm occurs, before road restores normal pass, it can continue to broadcast, be closed up to time-out or artificially.It is super
When the time it is predeterminable, such as be preset as 1 hour even more long (in view of major traffic accidents need the longer time extensive
It is multiple).
As shown in Fig. 2, the present embodiment also provides the alarm method between a kind of driving vehicle, the alarm method is using such as
Above-mentioned alarm system realizes that the alarm method includes the following steps：
The status data of first vehicle is sent to the second vehicle by step 101 according to the first predeterminated frequency.
In this step, the changing coordinates of the first vehicle are sent to first processing module by the first GPS module in real time, and first
Processing module inquires the present road information of the first vehicle from road network database in real time, and road network database stores road
The information such as identifier, title, the path coordinate on road (section, ring road), therefore first processing module is from road network database
The information such as identifier, title, the position coordinates of the first vehicle current driving road are inquired, the first driving route identification module combines
The changing coordinates and road information of first vehicle generate current driving road and travel direction, and by the current of the first vehicle
Carriage way and travel direction are sent to first processing module.
The status data of first vehicle is sent to the first in-vehicle wireless communication module, the status number by first processing module
According to including identification of the vehicle, changing coordinates, current vehicle speed, present road information, current driving road and current driving direction, when
So it is not limited in this type of information, can be also selected according to actual conditions and demand.
The status data of first vehicle is sent to the second vehicle by the first in-vehicle wireless communication module according to the first predeterminated frequency
Carrier radio communication module, specifically, the status data of the first vehicle is equipped on broadcast radiated by the first in-vehicle wireless communication module
To wireless signal transceiving range, after the second vehicle enters in the wireless signal transceiving range of the first vehicle, will receive
The status data of first vehicle is not only the second vehicle, as long as entering in the wireless signal transceiving range of the first vehicle, other
Vehicle can receive the status data to the first vehicle, and in the present embodiment, first predeterminated frequency is set as 1 second, you can
It is considered the time of the first vehicle replacement status data, can be also adjusted correspondingly certainly according to actual conditions.
The current driving road of step 102, the current driving road and travel direction and the second vehicle for judging the first vehicle
It is whether identical as travel direction, if so, judge whether the current vehicle speed of the first vehicle is greater than or equal to preset travel speed, if
It is that self organizing radio network network is built between the first vehicle and the second vehicle.
In this step, Second processing module receives the status data of the first vehicle from the second in-vehicle wireless communication module
Afterwards, judge whether are the current driving road of the first vehicle and the current driving road of travel direction and the second vehicle and travel direction
It is identical, if so, judging whether the current vehicle speed of the first vehicle is greater than or equal to preset travel speed, if so, the first vehicle and institute
It states and builds self organizing radio network network between the second vehicle, that is, build vehicular ad hoc network.Specifically, occurring in the first vehicle tight
When anxious situation, it is only necessary to alarm the vehicle of same road and same travel direction, therefore to same road and same a line
The interim networking of vehicle for sailing direction, in intersection highway as shown in Figure 4, when close to the intersection of 4 direction roads, i.e.,
Make not on the same road, to can also pass through in wireless signal transceiving range, to receive status data, it is therefore desirable to set
Set screening conditions.In the present embodiment, it is contemplated that the vehicle for entering service area needs to filter out vehicle similar in speed.Even if
Traveling is on same road, and without the vehicle considered into service area, and the vehicle for entering service area generally can all slow down
Or stop, therefore it is to be regarded as the vehicle of normally travel, certain institute that whether current vehicle speed, which is greater than or equal to preset travel speed,
Stating preset travel speed can be voluntarily arranged.
After building self organizing radio network network, the status data and group of first networking status data the second vehicle of library storage
Net information, and the data in the first networking slip condition database are updated according to first predeterminated frequency, equally, second group is netted
The status data and mesh information of the first vehicle of state database purchase.Specifically, the first networking slip condition database specially stores
The information of vehicles of casual network is established, and is updated according to first predeterminated frequency, is no longer accorded with if having after screening again
It is combined the vehicle of net condition, with regard to releasing group net state, deletes corresponding information of vehicles, to ensure the stability of networking, is reduced
Network traffic data and load.
Step 103, when detecting the first vehicle emergent stopping, judge that the distance between the first vehicle and the second vehicle are
It is no to be less than preset alarm distance, if so, the first warning message and the first route signal are sent to the second vehicle by the first vehicle, if
No, the first warning message is sent to the second vehicle by the first vehicle.
In this step, the current acceleration of the first vehicle is sent to the first processing mould by the first acceleration transducer in real time
Block, first processing module by the first vehicle of acceleration detection of the first vehicle whether emergent stopping, equally, the second acceleration passes
The current acceleration of second vehicle is sent to Second processing module by sensor in real time, and Second processing module is added by the second vehicle
The second vehicle of velocity measuring whether emergent stopping.Specifically, acceleration transducer can instantaneous acquiring vehicle when driving instantaneous plus
Speed, especially collide, emergency braking when, current instantaneous acceleration can be fed back to processing module immediately.With GPS
Module is different come calculating speed, acceleration by changes in coordinates, and acceleration transducer real-time is stronger, can be in the time of Millisecond
Acceleration value is inside provided, to which the real-time of the alarm system can be improved.
When first processing module detects the first vehicle emergent stopping, judge between the first vehicle and the second vehicle away from
From whether being less than with a distance from preset alarm, if so, the first in-vehicle wireless communication module is by the first route signal and the first warning message
Be sent to the second in-vehicle wireless communication module, if it is not, the first in-vehicle wireless communication module the first warning message is sent to it is described
Second in-vehicle wireless communication module.Specifically, when the state of emergency occurs for the first vehicle, the first vehicle can be into casual network on the way
The vehicle of diameter accident spot sends out safety alarm, meanwhile, warning message is equipped on broadcast radiated to wireless signal transceiving range
It is interior, in spite of approach accident spot or in different road vehicles, as long as entering in wireless signal transceiving range,
Warning message is received, but whether prompts driver, vehicle receiving alarm signal after reception is voluntarily set according to actual conditions
After breath, can according to oneself at a distance from accident point it is different, and take different countermeasures, driver such as reminded to slow down, detour.
The preset alarm distance is the transmission range of warning message, such as is set as the 12 of road Maximum speed limit or current vehicle speed traveling
The minute range of driving, if highway (speed limit 120km/h) is set as 24km, ordinary municipal through street (speed limit 80km/h) is 16km.
The safe stopping distance and the range of visibility under night or rain and fog weather that preset alarm distance is usually much larger than vehicle.
In the present embodiment, the second vehicle is set as the vehicle farthest with distance in the vehicle of the interim networking of the first vehicle, works as detection
To the distance between the first vehicle and the second vehicle be less than preset alarm apart from when, show the radio signal propagation of the first vehicle away from
It can not be covered with a distance from preset alarm from possibly, therefore in order to which warning message to be transmitted to outside preset alarm distance, need to use
The mode for routeing vehicle to transmit, at this point, route signal is also sent to the second vehicle by the first vehicle in addition to warning message.
When step 104, the second vehicle receive the first route signal, the distance between the first vehicle and third vehicle are judged
Whether preset alarm distance is less than, if so, the first warning message and secondary route signal are sent to third vehicle by the second vehicle,
If it is not, the first warning message is sent to third vehicle by the first vehicle.
In this step, the second vehicle and third vehicle between the first vehicle and the second vehicle by building ad-hoc wireless
Third vehicle is set as and the interim networking of the second vehicle by the mode of communication network to build self organizing radio network network
The farthest vehicle of distance in vehicle, after the second vehicle receives the first route signal, judge the first vehicle and third vehicle it
Between distance whether be less than preset alarm distance, if so, the second in-vehicle wireless communication module is by the first warning message and the second tunnel
Third vehicle is sent to by signal, if it is not, the first warning message is sent to third vehicle by the second in-vehicle wireless communication module.Tool
Body, warning message is continued to hand on by the first vehicle using the second vehicle as routing vehicle, at this point, the second vehicle is by third
Vehicle as routing vehicle warning message is sent to third vehicle, if preset alarm distance is still not achieved, third vehicle after
It is continuous that other vehicles is selected to hand on warning message for routing vehicle, until reaching preset alarm distance.
Clearly to illustrate above-mentioned alarm transmittance process, can refer to shown in Fig. 3, the networking slip condition database of vehicle A
In there are the vehicles such as B, C, D, E, wherein vehicle B almost (to be influenced by GPS location precision parallel therewith, may cannot be distinguished and whether surpass
Before), C, D, E are its subsequent vehicle, and E is rear car farthest with a distance from A.When the state of emergency occurs for vehicle A, vehicle A can be selected
Vehicle E is selected as routing vehicle, to nearby vehicle broadcast emergency alert.After vehicle E receives alarm, if vehicle A, E distance does not surpass
Go out preset alarm distance, then selects the vehicle G farthest from vehicle E as routing vehicle from the group grid database of vehicle E, again
Broadcast them alarm.If vehicle G has found the distance to vehicle A and not yet exceeds preset alarm distance, also from its networking status number
Continue to re-broadcast above-mentioned alarm to nearby vehicle as routing vehicle according to farthest rear car is selected in library.In this way, warning message will
It is handed on always in a manner of relay, until reaching preset alarm distance.
After alarm occurs, before road restores normal pass, it can continue to broadcast, be closed up to time-out or artificially.It is super
When the time it is predeterminable, such as be preset as 1 hour even more long (in view of major traffic accidents need the longer time extensive
It is multiple).
The present embodiment is using in-vehicle wireless communication module to the equidirectional same circuit in wireless communication signals coverage area
Self-organizing network is built between automobile, have in net automobile occur emergency (such as accident) when, using the network to will way
The automobile of diameter accident spot sends out safety alarm, and automobile can slow down, stops or detour after alarm, to ensure traffic safety, alarm
In time, the real-time that alarm is conveyed is improved, and no matter automobile whether outside safe distance or visibility, can convey report
It is alert, to be effectively prevented the generation of major accident on road surface.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (10)
1. the alarm system between a kind of driving vehicle, which is characterized in that the alarm system includes the first vehicle and the second vehicle
, it is respectively equipped with first processing module and the first in-vehicle wireless communication module on first vehicle, divides on second vehicle
Not She You Second processing module and the second in-vehicle wireless communication module, the first processing module and first onboard wireless are logical
Believe that module electrical connection, the Second processing module are electrically connected with the second in-vehicle wireless communication module；
The first in-vehicle wireless communication module is used to receive the current driving of first vehicle from the first processing module
Road and travel direction, and the current driving road of first vehicle and travel direction are sent according to the first predeterminated frequency
To the second in-vehicle wireless communication module, the Second processing module is used to receive from the second in-vehicle wireless communication module
The current driving road and travel direction of first vehicle, and judge the current driving road and traveling of first vehicle
Whether direction is identical as the current driving road and travel direction of second vehicle, if so, first vehicle and described the
Self organizing radio network network is built between two vehicles；
After building self organizing radio network network, when detecting the first vehicle emergent stopping, first onboard wireless
First warning message is sent to the second in-vehicle wireless communication module by communication module.
2. alarm system as described in claim 1, which is characterized in that the alarm system further includes road network database,
The first driving route identification module and the first satellite positioning module, first lane are further respectively had on first vehicle
Road identification module and first satellite positioning module are electrically connected with the first processing module respectively, the first processing module
It is communicated to connect with the road network database, the second driving route identification module and the is further respectively had on second vehicle
Two satellite positioning modules, the second driving route identification module and second satellite positioning module respectively with described second at
Module electrical connection is managed, the Second processing module is communicated to connect with the road network database；
First satellite positioning module is used to the changing coordinates of first vehicle being sent to the first processing module, institute
First processing module is stated to be additionally operable to inquire the present road information of first vehicle from the road network database, it is described
First driving route identification module is used to generate current driving road in conjunction with the changing coordinates and road information of first vehicle
Road and travel direction, and the current driving road of first vehicle and travel direction are sent to the first processing mould
Block；
Second satellite positioning module is used to the changing coordinates of second vehicle being sent to the Second processing module, institute
Second processing module is stated to be additionally operable to inquire the present road information of second vehicle from the road network database, it is described
Second driving route identification module is used to generate current driving road in conjunction with the changing coordinates and road information of second vehicle
Road and travel direction, and the current driving road of second vehicle and travel direction are sent to the second processing mould
Block.
3. alarm system as claimed in claim 2, which is characterized in that be additionally provided with the first acceleration sensing on first vehicle
Device, first acceleration transducer are electrically connected with the first processing module, and first acceleration transducer is by described
The current acceleration of one vehicle is sent to the first processing module, and the first processing module is additionally operable to through first vehicle
Acceleration detection described in the first vehicle whether emergent stopping, be additionally provided with the second acceleration transducer on second vehicle,
Second acceleration transducer is electrically connected with the Second processing module, and second acceleration transducer is by second vehicle
Current acceleration be sent to the Second processing module, the Second processing module is additionally operable to through second vehicle
Second vehicle described in acceleration detection whether emergent stopping；And/or
The first networking slip condition database is additionally provided on first vehicle, at the first networking slip condition database and described first
Module electrical connection is managed, after building self organizing radio network network, the first networking slip condition database is for storing the second vehicle
Status data, and the data in the first networking slip condition database are updated according to first predeterminated frequency, described
The second networking slip condition database is additionally provided on two vehicles, the second networking slip condition database is electrically connected with the Second processing module
It connects, after building self organizing radio network network, the second networking slip condition database is used to store the status data of the first vehicle,
And the data in the second networking slip condition database are updated according to the second predeterminated frequency.
4. alarm system as described in claim 1, which is characterized in that the first in-vehicle wireless communication module is additionally operable to from institute
The current vehicle speed that first processing module receives first vehicle is stated, and by the current vehicle speed of first vehicle according to
First predeterminated frequency is sent to the second in-vehicle wireless communication module, and the Second processing module is additionally operable to from second vehicle
After carrier radio communication module receives the current vehicle speed of first vehicle, judge whether the current vehicle speed of first vehicle is big
In or be equal to preset travel speed, if so, building self organizing radio network between first vehicle and second vehicle
Network.
5. the alarm system as described in any one of Claims 1 to 4, which is characterized in that the alarm system further includes
Three vehicles, second vehicle and the third vehicle between first vehicle and second vehicle by building self-organizing
The mode of cordless communication network builds self organizing radio network network；
Before sending first warning message, the processing module is additionally operable to judge first vehicle and second vehicle
The distance between whether be less than preset alarm distance, if so, when sending first warning message, first onboard wireless is logical
First route signal is also sent to the second in-vehicle wireless communication module by letter module, if it is not, first onboard wireless is logical
First warning message is sent to the second in-vehicle wireless communication module by letter module；
The Second processing module is after the second in-vehicle wireless communication module receives first route signal, described in judgement
Whether the distance between the first vehicle and the third vehicle are less than the preset alarm distance, if so, the second vehicle-mounted nothing
First warning message and secondary route signal are sent to the third vehicle by line communication module, if it is not, second vehicle
First warning message is sent to the third vehicle by carrier radio communication module.
6. the alarm method between a kind of driving vehicle, which is characterized in that the alarm method is using as described in claim 1
Alarm system realizes that the alarm method includes the following steps：
S1, the current driving road of the first vehicle and travel direction be sent to the second vehicle according to the first predeterminated frequency；
S2, judge the current driving road of first vehicle and the current driving road of travel direction and second vehicle and
Whether travel direction is identical, if so, building self organizing radio network network between first vehicle and second vehicle；
S3, when detecting the first vehicle emergent stopping, the first warning message is sent to described second by first vehicle
Vehicle.
7. alarm method as claimed in claim 6, which is characterized in that the alarm system further includes road network database,
The first driving route identification module and the first satellite positioning module, first lane are further respectively had on first vehicle
Road identification module and first satellite positioning module are electrically connected with the first processing module respectively, the first processing module
It is communicated to connect with the road network database, the second driving route identification module and the is further respectively had on second vehicle
Two satellite positioning modules, the second driving route identification module and second satellite positioning module respectively with described second at
Module electrical connection is managed, the Second processing module is communicated to connect with the road network database；
First satellite positioning module is used to the changing coordinates of first vehicle being sent to the first processing module, institute
First processing module is stated to be additionally operable to inquire the present road information of first vehicle from the road network database, it is described
First driving route identification module is used to generate current driving road in conjunction with the changing coordinates and road information of first vehicle
Road and travel direction, and the current driving road of first vehicle and travel direction are sent to the first processing mould
Block；
Second satellite positioning module is used to the changing coordinates of second vehicle being sent to the Second processing module, institute
Second processing module is stated to be additionally operable to inquire the present road information of second vehicle from the road network database, it is described
Second driving route identification module is used to generate current driving road in conjunction with the changing coordinates and road information of second vehicle
Road and travel direction, and the current driving road of second vehicle and travel direction are sent to the second processing mould
Block.
8. alarm method as claimed in claim 7, which is characterized in that be additionally provided with the first acceleration sensing on first vehicle
Device, first acceleration transducer are electrically connected with the first processing module, and first acceleration transducer is by described
The current acceleration of one vehicle is sent to the first processing module, and the first processing module is additionally operable to through first vehicle
Acceleration detection described in the first vehicle whether emergent stopping, be additionally provided with the second acceleration transducer on second vehicle,
Second acceleration transducer is electrically connected with the Second processing module, and second acceleration transducer is by second vehicle
Current acceleration be sent to the Second processing module, the Second processing module is additionally operable to through second vehicle
Second vehicle described in acceleration detection whether emergent stopping；And/or
The first networking slip condition database is additionally provided on first vehicle, at the first networking slip condition database and described first
Module electrical connection is managed, after building self organizing radio network network, the first networking slip condition database is for storing the second vehicle
Status data, and the data in the first networking slip condition database are updated according to first predeterminated frequency, described
The second networking slip condition database is additionally provided on two vehicles, the second networking slip condition database is electrically connected with the Second processing module
It connects, after building self organizing radio network network, the second networking slip condition database is used to store the status data of the first vehicle,
And the data in the second networking slip condition database are updated according to the second predeterminated frequency.
9. alarm method as claimed in claim 6, which is characterized in that in step S1In, also by the current vehicle of first vehicle
Speed is sent to second vehicle according to first predeterminated frequency；
In step S2In, judge the current driving road of first vehicle and the current line of travel direction and second vehicle
Whether track road and travel direction are identical, if so, judging whether the current vehicle speed of first vehicle is greater than or equal to default row
Speed is sailed, if so, building self organizing radio network network between first vehicle and second vehicle.
10. the alarm method as described in any one of claim 6~9, which is characterized in that the alarm system further includes
Three vehicles, second vehicle and the third vehicle between first vehicle and second vehicle by building self-organizing
The mode of cordless communication network builds self organizing radio network network；
In step S3In, before sending first warning message, judge between first vehicle and second vehicle away from
From whether be less than preset alarm with a distance from, if so, first vehicle send first warning message when, also by the first via by believing
Number it is sent to second vehicle, if it is not, the first warning message is sent to second vehicle by first vehicle；
In step S3Later, the alarm method is further comprising the steps of：
S4, second vehicle is when receiving first route signal, judge between first vehicle and the third vehicle
Whether distance is less than the preset alarm distance, if so, second vehicle believes first warning message and secondary route
Number it is sent to the third vehicle, if it is not, first warning message is sent to the third vehicle by second vehicle.
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