CN108335527B - Alarm system and method between running vehicles - Google Patents
Alarm system and method between running vehicles Download PDFInfo
- Publication number
- CN108335527B CN108335527B CN201710044611.XA CN201710044611A CN108335527B CN 108335527 B CN108335527 B CN 108335527B CN 201710044611 A CN201710044611 A CN 201710044611A CN 108335527 B CN108335527 B CN 108335527B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- processing module
- module
- wireless communication
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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 an alarm system and method between running vehicles, wherein the alarm system comprises a first vehicle and a second vehicle, the first vehicle is provided with a first processing module and a first vehicle-mounted wireless communication module, the second vehicle is provided with a second processing module and a second vehicle-mounted wireless communication module, the first vehicle-mounted wireless communication module receives the current running road and running direction of the first vehicle and sends the current running road and running direction to the second vehicle-mounted wireless communication module according to a first preset frequency, the second processing module judges whether the current running road and running direction of the first vehicle are the same as the current running road and running direction of the second vehicle, if yes, a self-organized wireless communication network is built between the first vehicle and the second vehicle, and when the first vehicle is detected to be stopped emergently, the first alarm information is sent to the second vehicle. The invention improves the real-time performance of alarm transmission and effectively prevents serious accidents from happening.
Description
Technical Field
The invention relates to an alarm system and method between running vehicles.
Background
When the individual vehicles on the highway are in conditions of anchorage, tire burst, emergency stop and the like, serious accidents of continuous vehicle collision of more than ten or even dozens of vehicles are often caused, especially in rainy days, foggy days and snowy days with poor visibility at night. The fundamental reason is that when the front vehicle has an emergency, the following vehicles cannot be detected in time. When the vehicle is detected, the vehicle is too fast to respond to the braking.
This hardly occurs in rail traffic such as subways, trains or high-speed trains which also run at high speed. The reason is that the rail transit has a complete and mature vehicle operation monitoring and signal communication system. When a preceding vehicle is in a situation, a following vehicle can know and take safety countermeasures for the first time. Automobiles lack similar operation monitoring and communication systems and can only make announcements through radio stations or electronic bulletin boards (message boards) arranged along roads. However, both broadcasting stations and electronic bulletin boards along the line have poor real-time performance, and vehicles with kilometers behind accident points cannot be automatically notified within seconds or even hundreds of milliseconds; moreover, the broadcasting station is easily influenced by the field geographic environment, and the signal is unstable; due to the limitation of economic cost, the arrangement intervals of the electronic bulletin boards along the line are relatively large (for example, only one electronic bulletin board is arranged for several kilometers), and the actual effect is influenced.
Disclosure of Invention
The invention aims to overcome the defect that when a fault occurs in the driving process of an automobile in the prior art, the real-time performance of alarm transmission is poor, so that serious accidents are caused, and provides an alarm system and an alarm method for driving vehicles.
The invention solves the technical problems through the following technical scheme:
the alarm system between running vehicles is characterized by comprising a first vehicle and a second vehicle, wherein the first vehicle is respectively provided with a first processing module and a first vehicle-mounted wireless communication module;
the first vehicle-mounted wireless communication module is used for receiving the current driving road and driving direction of the first vehicle from the first processing module, sending the current driving road and driving direction of the first vehicle to the second vehicle-mounted wireless communication module according to a first preset frequency, the second processing module is used for receiving the current driving road and driving direction of the first vehicle from the second vehicle-mounted wireless communication module, judging whether the current driving road and driving direction of the first vehicle are the same as the current driving road and driving direction of the second vehicle or not, and if yes, building an ad-hoc wireless communication network between the first vehicle and the second vehicle;
after the self-organizing wireless communication network is built, when the first vehicle is detected to stop emergently, the first vehicle-mounted wireless communication module sends first alarm information to the second vehicle-mounted wireless communication module.
Preferably, the alarm system further comprises a road network database, the first vehicle is further provided with a first driving route identification module and a first satellite positioning module, the first driving route identification module and the first satellite positioning module are respectively and electrically connected with the first processing module, the first processing module is in communication connection with the road network database, the second vehicle is further provided with a second driving route identification module and a second satellite positioning module, the second driving route identification module and the second satellite positioning module are respectively and electrically connected with the second processing module, and the second processing module is in communication connection with the road network database;
the first satellite positioning module is used for sending the current coordinate of the first vehicle to the first processing module, the first processing module is also used for inquiring the current road information of the first vehicle from the road network database, and the first driving route identification module is used for combining the current coordinate and the road information of the first vehicle to generate a current driving road and a driving direction and sending the current driving road and the driving direction of the first vehicle to the first processing module;
the second satellite positioning module is used for sending the current coordinate of the second vehicle to the second processing module, the second processing module is further used for inquiring the current road information of the second vehicle from the road network database, and the second driving line identification module is used for generating a current driving road and a driving direction by combining the current coordinate and the road information of the second vehicle and sending the current driving road and the driving direction of the second vehicle to the second processing module.
In this scheme, the satellite Positioning module can adopt a GPS (Global Positioning System) module or a beidou Positioning module.
Preferably, the first vehicle is further provided with a first acceleration sensor, the first acceleration sensor is electrically connected with the first processing module, the first acceleration sensor sends the current acceleration of the first vehicle to the first processing module, the first processing module is further configured to detect whether the first vehicle is stopped emergently through the acceleration of the first vehicle, the second vehicle is further provided with a second acceleration sensor, the second acceleration sensor is electrically connected with the second processing module, the second acceleration sensor sends the current acceleration of the second vehicle to the second processing module, and the second processing module is further configured to detect whether the second vehicle is stopped emergently through the acceleration of the second vehicle; and/or the presence of a gas in the gas,
the first vehicle is further provided with a first networking state database, the first networking state database is electrically connected with the first processing module, after the self-organizing wireless communication network is built, the first networking state database is used for storing state data of a second vehicle and updating data in the first networking state database according to the first preset frequency, the second vehicle is further provided with a second networking state database, the second networking state database is electrically connected with the second processing module, after the self-organizing wireless communication network is built, the second networking state database is used for storing the state data of the first vehicle and updating data in the second networking state database according to the second preset frequency.
In the scheme, the acceleration sensor can acquire the instantaneous acceleration of the vehicle during running instantly, and particularly can immediately feed back the current instantaneous acceleration to the processing module when collision and emergency braking occur. Different from the satellite positioning module which calculates the speed and the acceleration through the coordinate change, the acceleration sensor has stronger real-time performance and can give an acceleration value within millisecond time, thereby improving the real-time performance of the alarm system.
Preferably, the first vehicle-mounted wireless communication module is further configured to receive a current vehicle speed of the first vehicle from the first processing module, and send the current vehicle speed of the first vehicle to the second vehicle-mounted wireless communication module according to the first preset frequency, and the second processing module is further configured to determine whether the current vehicle speed of the first vehicle is greater than or equal to a preset running vehicle speed after receiving the current vehicle speed of the first vehicle from the second vehicle-mounted wireless communication module, and if so, build an ad hoc wireless communication network between the first vehicle and the second vehicle.
In the scheme, vehicles with similar speed need to be screened out in consideration of the vehicles entering the service area. Even if the vehicles enter the service area on the same road, the vehicles entering the service area do not need to be considered, and the vehicles entering the service area generally decelerate or stop, so that whether the current vehicle speed is greater than or equal to the preset running vehicle speed can be regarded as the vehicles running normally, and the preset running vehicle speed can be set by the vehicle.
Preferably, the alarm system further comprises a third vehicle, and the second vehicle and the third vehicle build an ad hoc wireless communication network by building the ad hoc wireless communication network between the first vehicle and the second vehicle;
before the first alarm information is sent, the processing module is further used for judging whether the distance between the first vehicle and the second vehicle is smaller than a preset alarm distance, if so, the first vehicle-mounted wireless communication module also sends a first routing signal to the second vehicle-mounted wireless communication module when the first alarm information is sent, and if not, the first vehicle-mounted wireless communication module sends the first alarm information to the second vehicle-mounted wireless communication module;
the second processing module receives the first routing signal from the second vehicle-mounted wireless communication module, and then judges whether the distance between the first vehicle and the third vehicle is smaller than the preset alarm distance, if so, the second vehicle-mounted wireless communication module sends the first alarm information and the second routing signal to the third vehicle, and if not, the second vehicle-mounted wireless communication module sends the first alarm information to the third vehicle.
An alarm method between running vehicles, characterized in that the alarm method is realized by using the alarm system, and the alarm method comprises the following steps:
S1the first vehicleThe current driving road and the driving direction of the vehicle are sent to a second vehicle according to a first preset frequency;
S2judging whether the current driving road and the driving direction of the first vehicle are the same as those of the second vehicle or not, if so, building a self-organizing wireless communication network between the first vehicle and the second vehicle;
S3and when the first vehicle is detected to be stopped emergently, the first vehicle sends first alarm information to the second vehicle.
Preferably, the alarm system further comprises a road network database, the first vehicle is further provided with a first driving route identification module and a first satellite positioning module, the first driving route identification module and the first satellite positioning module are respectively and electrically connected with the first processing module, the first processing module is in communication connection with the road network database, the second vehicle is further provided with a second driving route identification module and a second satellite positioning module, the second driving route identification module and the second satellite positioning module are respectively and electrically connected with the second processing module, and the second processing module is in communication connection with the road network database;
the first satellite positioning module is used for sending the current coordinate of the first vehicle to the first processing module, the first processing module is also used for inquiring the current road information of the first vehicle from the road network database, and the first driving route identification module is used for combining the current coordinate and the road information of the first vehicle to generate a current driving road and a driving direction and sending the current driving road and the driving direction of the first vehicle to the first processing module;
the second satellite positioning module is used for sending the current coordinate of the second vehicle to the second processing module, the second processing module is further used for inquiring the current road information of the second vehicle from the road network database, and the second driving line identification module is used for generating a current driving road and a driving direction by combining the current coordinate and the road information of the second vehicle and sending the current driving road and the driving direction of the second vehicle to the second processing module.
In this scheme, the satellite positioning module can adopt GPS module or big dipper orientation module etc..
Preferably, the first vehicle is further provided with a first acceleration sensor, the first acceleration sensor is electrically connected with the first processing module, the first acceleration sensor sends the current acceleration of the first vehicle to the first processing module, the first processing module is further configured to detect whether the first vehicle is stopped emergently through the acceleration of the first vehicle, the second vehicle is further provided with a second acceleration sensor, the second acceleration sensor is electrically connected with the second processing module, the second acceleration sensor sends the current acceleration of the second vehicle to the second processing module, and the second processing module is further configured to detect whether the second vehicle is stopped emergently through the acceleration of the second vehicle; and/or the presence of a gas in the gas,
the first vehicle is further provided with a first networking state database, the first networking state database is electrically connected with the first processing module, after the self-organizing wireless communication network is built, the first networking state database is used for storing state data of a second vehicle and updating data in the first networking state database according to the first preset frequency, the second vehicle is further provided with a second networking state database, the second networking state database is electrically connected with the second processing module, after the self-organizing wireless communication network is built, the second networking state database is used for storing the state data of the first vehicle and updating data in the second networking state database according to the second preset frequency.
In the scheme, the acceleration sensor can acquire the instantaneous acceleration of the vehicle during running instantly, and particularly can immediately feed back the current instantaneous acceleration to the processing module when collision and emergency braking occur. Different from the satellite positioning module which calculates the speed and the acceleration through the coordinate change, the acceleration sensor has stronger real-time performance and can give an acceleration value within millisecond time, thereby improving the real-time performance of the alarm system.
Preferably, in step S1The current speed of the first vehicle is sent to the second vehicle according to the first preset frequency;
in step S2And if so, judging whether the current speed of the first vehicle is greater than or equal to a preset running speed, and if so, building a self-organizing wireless communication network between the first vehicle and the second vehicle.
In the scheme, vehicles with similar speed need to be screened out in consideration of the vehicles entering the service area. Even if the vehicles enter the service area on the same road, the vehicles entering the service area do not need to be considered, and the vehicles entering the service area generally decelerate or stop, so that whether the current vehicle speed is greater than or equal to the preset running vehicle speed can be regarded as the vehicles running normally, and the preset running vehicle speed can be set by the vehicle.
Preferably, the alarm system further comprises a third vehicle, and the second vehicle and the third vehicle build an ad hoc wireless communication network by building the ad hoc wireless communication network between the first vehicle and the second vehicle;
in step S3Before the first alarm information is sent, whether the distance between the first vehicle and the second vehicle is smaller than a preset alarm distance is judged, if yes, a first routing signal is sent to the second vehicle when the first vehicle sends the first alarm information, and if not, the first vehicle sends the first alarm information to the second vehicle;
in step S3Then, the alarm method further comprises the following steps:
S4when the second vehicle receives the first routing signal, whether the distance between the first vehicle and the third vehicle is smaller than the preset alarm distance or not is judged, and if yes, the second vehicle will beAnd sending the first alarm information and the second routing signal to the third vehicle, and if not, sending the first alarm information to the third vehicle by the second vehicle.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention utilizes the vehicle-mounted wireless communication module to build a self-organizing network between the vehicles in the same direction and the same line in the coverage range of the wireless communication signal, when the vehicles in the network have emergency (such as an accident), the network is utilized to send out a safety alarm to the vehicles in the places where the accident is to be approached, the vehicles can decelerate, stop or detour after the alarm, so as to ensure the driving safety, the alarm is timely, the real-time performance of alarm transmission is improved, and the alarm can be transmitted no matter whether the vehicles are outside the safe distance or the visible distance, thereby effectively preventing the occurrence of serious accidents on the road surface.
Drawings
Fig. 1 is a schematic diagram illustrating connection between a first vehicle and a road network database in an alarm system between running vehicles according to a preferred embodiment of the present invention.
Fig. 2 is a flowchart of a warning method between running vehicles according to a preferred embodiment of the present invention.
FIG. 3 is a schematic diagram of warning information transmitted between vehicles according to a preferred embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a cross highway according to a preferred embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
As shown in fig. 1, the warning system between traveling vehicles according to the present embodiment includes a first vehicle 1, a second vehicle, a third vehicle, and a road network database 2, where the first vehicle 1 is respectively provided with a first processing module 11, a first vehicle-mounted wireless communication module 12, a first traveling route identification module 13, a first GPS module 14, a first acceleration sensor 15, and a first networking state database 16, and the first vehicle-mounted wireless communication module 12, the first traveling route identification module 13, the first GPS module 14, the first acceleration sensor 15, and the first networking state database 16 are respectively electrically connected to the first processing module 11; the second vehicle is respectively provided with a second processing module, a second vehicle-mounted wireless communication module, a second driving line identification module, a second GPS module, a second acceleration sensor and a second networking state database, and the second vehicle-mounted wireless communication module, the second driving line identification module, the second GPS module, the second acceleration sensor and the second networking state database are respectively and electrically connected with the second processing module; a third vehicle is respectively provided with a third processing module, a third vehicle-mounted wireless communication module, a third traveling vehicle route identification module, a third GPS module, a third acceleration sensor and a third networking state database, and the third vehicle-mounted wireless communication module, the third traveling vehicle route identification module, the third GPS module, the third acceleration sensor and the third networking state database are respectively and electrically connected with the third processing module; the first processing module 11, the second processing module and the third processing module are respectively in wireless communication connection with the road network database 2.
In the present embodiment, since the structures of the second vehicle and the third vehicle are similar to the structure of the first vehicle 1, they are not illustrated. The alarm system is not particularly limited to the specific number of vehicles, and the vehicles may be cars, trucks and other various types of automobiles. In this embodiment, each module and component is not limited to a specific device, and as long as the corresponding function can be realized, various different devices may be adopted, for example, the Processing module may adopt a Central Processing Unit (CPU), and the vehicle-mounted Wireless communication module may adopt a Zigbee (ieee 802.15.4 standard-based low power consumption local area network protocol) communication module, a Wi-Fi (Wireless-Fidelity) module, a bluetooth module, or the like. In this embodiment, the GPS module is a satellite positioning module, but is not limited to the GPS module, and other satellite positioning modules such as a beidou positioning module may be used according to actual conditions.
Specifically, in the driving process of the first vehicle, the first GPS module is configured to send the current coordinate of the first vehicle to the first processing module in real time, the first processing module is configured to query the current road information of the first vehicle from the road network database in real time, the road network database is configured to store information such as an identification number, a name, and a road coordinate of a road (a road section, a ramp), so that the first processing module queries information such as an identification number, a name, and a position coordinate of the current driving road of the first vehicle from the road network database, and the first driving route identification module is configured to combine the current coordinate of the first vehicle and the road information to generate a current driving road and a driving direction, and send the current driving road and the driving direction of the first vehicle to the first processing module.
In this embodiment, the functions of the modules and components of the second vehicle and the third vehicle are similar to the functions of the modules and components of the first vehicle with corresponding names, for example, the functions of the first GPS module, the second GPS module, and the third GPS module implemented on the respective vehicles are similar, and thus the modules and components of the second vehicle and the third vehicle are not described in detail.
The first processing module sends the state data of the first vehicle to the first vehicle-mounted wireless communication module, wherein the state data comprises a vehicle identification number, current coordinates, a current vehicle speed, current road information, a current driving road and a current driving direction, and is not limited to such information, and can be selected according to actual conditions and requirements.
Specifically, the first vehicle-mounted wireless communication module carries the state data of the first vehicle in a broadcast and propagates the state data to a wireless signal transceiving range, and when the second vehicle enters the wireless signal transceiving range of the first vehicle, the state data of the first vehicle can be received by other vehicles as long as the second vehicle enters the wireless signal transceiving range of the first vehicle.
The second processing module is used for judging whether the current driving road and the driving direction of the first vehicle are the same as those of the second vehicle or not after receiving the state data of the first vehicle from the second vehicle-mounted wireless communication module, if so, judging whether the current speed of the first vehicle is greater than or equal to a preset driving speed, and if so, building a self-organized wireless communication Network between the first vehicle and the second vehicle, namely building a vehicle-mounted Ad-hoc Network (VANET). Specifically, when the first vehicle is in an emergency, only the vehicles on the same road and in the same driving direction need to be alarmed, so that the vehicles on the same road and in the same driving direction are temporarily networked, and even if the vehicles are not on the same road when approaching the intersection of the roads in 4 directions in the cross highway shown in fig. 4, the vehicles can enter the wireless signal transceiving range, so that the state data is received, and therefore, the screening condition needs to be set. In this embodiment, in consideration of vehicles entering the service area, it is necessary to select vehicles having similar vehicle speeds. Even if the vehicles enter the service area on the same road, the vehicles entering the service area do not need to be considered, and the vehicles entering the service area generally decelerate or stop, so that whether the current vehicle speed is greater than or equal to the preset running vehicle speed can be regarded as the vehicles running normally, and the preset running vehicle speed can be set by the vehicle.
After the self-organizing wireless communication network is built, the first networking state database is used for storing state data and networking information of the second vehicle, data in the first networking state database is updated according to the first preset frequency, and the second networking state database is used for storing the state data and the networking information of the first vehicle. Specifically, the first networking state database is specially used for storing vehicle information of the established temporary network, updating is carried out according to the first preset frequency, if vehicles which do not accord with networking conditions any more exist after screening again, the networking state is removed, and corresponding vehicle information is deleted, so that the networking stability is ensured, and the network data flow and load are reduced.
The first acceleration sensor is used for sending the current acceleration of the first vehicle to the first processing module in real time, the first processing module is further used for detecting whether the first vehicle is in emergency stop or not through the acceleration of the first vehicle, similarly, the second acceleration sensor is used for sending the current acceleration of the second vehicle to the second processing module in real time, and the second processing module is further used for detecting whether the second vehicle is in emergency stop or not through the acceleration of the second vehicle. Specifically, the acceleration sensor can instantly acquire the instantaneous acceleration of the vehicle during running, and particularly can instantly feed the current instantaneous acceleration back to the processing module when collision and emergency braking occur. Different from the GPS module which calculates the speed and the acceleration through the coordinate change, the acceleration sensor has stronger real-time performance and can give an acceleration value within millisecond time, thereby improving the real-time performance of the alarm system.
When the first processing module detects that the first vehicle stops emergently, whether the distance between the first vehicle and the second vehicle is smaller than a preset alarm distance or not is judged, if yes, the first vehicle-mounted wireless communication module sends the first routing signal and the first alarm information to the second vehicle-mounted wireless communication module, and if not, the first vehicle-mounted wireless communication module sends the first alarm information to the second vehicle-mounted wireless communication module. Specifically, when the first vehicle is in an emergency state, the first vehicle can send out a safety alarm to vehicles in an accident site in the temporary network, meanwhile, the alarm information is carried in a broadcast and spread to a wireless signal receiving and sending range, whether the vehicles are in the accident site or on different roads, the alarm information can be received as long as the vehicles enter the wireless signal receiving and sending range, whether the drivers are prompted after the vehicles automatically set and receive the alarm information according to actual conditions, and after the vehicles receive the alarm information, different corresponding measures can be taken according to different distances between the vehicles and the accident site, such as the drivers are reminded to decelerate and detour. The preset alarm distance is the transmission range of alarm information, for example, the preset alarm distance is set as the highest speed limit of a road or a 12-minute vehicle distance driven by the current vehicle speed, for example, the preset alarm distance is set as 24km on an expressway (the speed limit is 120km/h), and the preset alarm distance is 16km on an ordinary urban expressway (the speed limit is 80 km/h). The preset warning distance is usually much greater than the safe braking distance of the vehicle, and the visibility distance at night or in rainy and foggy weather. In this embodiment, the second vehicle is set as the vehicle with the farthest distance from the vehicle temporarily networked with the first vehicle, and when it is detected that the distance between the first vehicle and the second vehicle is smaller than the preset warning distance, it indicates that the wireless signal propagation distance of the first vehicle may not cover the preset warning distance, so in order to transmit the warning information to the preset warning distance, a route vehicle transmission mode needs to be adopted, and at this time, the first vehicle sends the route signal to the second vehicle in addition to the warning information.
The second vehicle and the third vehicle build the self-organization wireless communication network in a mode of building the self-organization wireless communication network between the first vehicle and the second vehicle, the third vehicle is set as the vehicle which is farthest away from the vehicle which is temporarily networked with the second vehicle, after the second vehicle receives the first routing signal, whether the distance between the first vehicle and the third vehicle is smaller than a preset alarm distance or not is judged, if yes, the second vehicle-mounted wireless communication module sends the first alarm information and the second routing signal to the third vehicle, and if not, the second vehicle-mounted wireless communication module sends the first alarm information to the third vehicle. Specifically, the first vehicle takes the second vehicle as the route vehicle to continue transmitting the alarm information, at the moment, the second vehicle takes the third vehicle as the route vehicle to send the alarm information to the third vehicle, and if the preset alarm distance is not reached, the third vehicle continues to select other vehicles as the route vehicles to transmit the alarm information until the preset alarm distance is reached.
To more clearly illustrate the alarm transmission process, reference may be made to fig. 3, which shows that there are B, C, D, E vehicles in the networking status database of vehicle a, wherein vehicle B is almost parallel to it (due to GPS positioning accuracy, it may not be possible to distinguish whether it is an advance or not), C, D, E is all its following vehicles, and E is the following vehicle farthest from a. When the vehicle a is in an emergency state, the vehicle a selects the vehicle E as a routing vehicle and broadcasts an emergency alert to surrounding vehicles. After the vehicle E receives the alarm, if the distance from the vehicle A, E does not exceed the preset alarm distance, the vehicle G farthest from the vehicle E is selected from the networking database of the vehicle E as a routing vehicle, and the alarm is broadcasted again. And if the vehicle G finds that the distance to the vehicle A does not exceed the preset alarm distance, selecting the farthest rear vehicle from the networking state database as a routing vehicle, and continuously broadcasting the alarm to the surrounding vehicles again. Therefore, the alarm information is transmitted in a relay mode until the preset alarm distance is reached.
After the alarm occurs, the broadcast is continuously carried out until the time is out or the broadcast is artificially closed before the road returns to normal traffic. The timeout may be preset, for example, to 1 hour or more (considering that a major traffic accident takes longer to recover).
As shown in fig. 2, the present embodiment further provides an alarm method between running vehicles, where the alarm method is implemented by using the alarm system as described above, and the alarm method includes the following steps:
In this step, the first GPS module sends the current coordinate of the first vehicle to the first processing module in real time, the first processing module queries the current road information of the first vehicle from the road network database in real time, and the road network database stores the identification number, name, road coordinate and other information of the road (road segment, ramp), so that the first processing module queries the identification number, name, position coordinate and other information of the current driving road of the first vehicle from the road network database, and the first driving road identification module combines the current coordinate of the first vehicle and the road information to generate the current driving road and driving direction, and sends the current driving road and driving direction of the first vehicle to the first processing module.
The first processing module sends the state data of the first vehicle to the first vehicle-mounted wireless communication module, wherein the state data comprises a vehicle identification number, current coordinates, a current vehicle speed, current road information, a current driving road and a current driving direction, and is not limited to such information, and can be selected according to actual conditions and requirements.
Specifically, the first vehicle-mounted wireless communication module carries the state data of the first vehicle in a broadcast and propagates the state data to a wireless signal transceiving range, and when the second vehicle enters the wireless signal transceiving range of the first vehicle, the state data of the first vehicle can be received by other vehicles as long as the second vehicle enters the wireless signal transceiving range of the first vehicle.
And 102, judging whether the current driving road and the driving direction of the first vehicle are the same as those of the second vehicle, if so, judging whether the current speed of the first vehicle is greater than or equal to a preset driving speed, and if so, building a self-organizing wireless communication network between the first vehicle and the second vehicle.
In this step, after receiving the state data of the first vehicle from the second vehicle-mounted wireless communication module, the second processing module determines whether the current driving road and the driving direction of the first vehicle are the same as those of the second vehicle, if so, determines whether the current speed of the first vehicle is greater than or equal to a preset driving speed, and if so, builds an ad hoc wireless communication network between the first vehicle and the second vehicle, namely builds a vehicle-mounted ad hoc network. Specifically, when the first vehicle is in an emergency, only the vehicles on the same road and in the same driving direction need to be alarmed, so that the vehicles on the same road and in the same driving direction are temporarily networked, and even if the vehicles are not on the same road when approaching the intersection of the roads in 4 directions in the cross highway shown in fig. 4, the vehicles can enter the wireless signal transceiving range, so that the state data is received, and therefore, the screening condition needs to be set. In this embodiment, in consideration of vehicles entering the service area, it is necessary to select vehicles having similar vehicle speeds. Even if the vehicles enter the service area on the same road, the vehicles entering the service area do not need to be considered, and the vehicles entering the service area generally decelerate or stop, so that whether the current vehicle speed is greater than or equal to the preset running vehicle speed can be regarded as the vehicles running normally, and the preset running vehicle speed can be set by the vehicle.
After the self-organizing wireless communication network is built, the first networking state database stores state data and networking information of the second vehicle, data in the first networking state database is updated according to the first preset frequency, and similarly, the second networking state database stores state data and networking information of the first vehicle. Specifically, the first networking state database is specially used for storing vehicle information of the established temporary network, updating is carried out according to the first preset frequency, if vehicles which do not accord with networking conditions any more exist after screening again, the networking state is removed, and corresponding vehicle information is deleted, so that the networking stability is ensured, and the network data flow and load are reduced.
In this step, the first acceleration sensor sends the current acceleration of the first vehicle to the first processing module in real time, the first processing module detects whether the first vehicle is stopped emergently through the acceleration of the first vehicle, similarly, the second acceleration sensor sends the current acceleration of the second vehicle to the second processing module in real time, and the second processing module detects whether the second vehicle is stopped emergently through the acceleration of the second vehicle. Specifically, the acceleration sensor can instantly acquire the instantaneous acceleration of the vehicle during running, and particularly can instantly feed the current instantaneous acceleration back to the processing module when collision and emergency braking occur. Different from the GPS module which calculates the speed and the acceleration through the coordinate change, the acceleration sensor has stronger real-time performance and can give an acceleration value within millisecond time, thereby improving the real-time performance of the alarm system.
When the first processing module detects that the first vehicle stops emergently, whether the distance between the first vehicle and the second vehicle is smaller than a preset alarm distance or not is judged, if yes, the first vehicle-mounted wireless communication module sends the first routing signal and the first alarm information to the second vehicle-mounted wireless communication module, and if not, the first vehicle-mounted wireless communication module sends the first alarm information to the second vehicle-mounted wireless communication module. Specifically, when the first vehicle is in an emergency state, the first vehicle can send out a safety alarm to vehicles in an accident site in the temporary network, meanwhile, the alarm information is carried in a broadcast and spread to a wireless signal receiving and sending range, whether the vehicles are in the accident site or on different roads, the alarm information can be received as long as the vehicles enter the wireless signal receiving and sending range, whether the drivers are prompted after the vehicles automatically set and receive the alarm information according to actual conditions, and after the vehicles receive the alarm information, different corresponding measures can be taken according to different distances between the vehicles and the accident site, such as the drivers are reminded to decelerate and detour. The preset alarm distance is the transmission range of alarm information, for example, the preset alarm distance is set as the highest speed limit of a road or a 12-minute vehicle distance driven by the current vehicle speed, for example, the preset alarm distance is set as 24km on an expressway (the speed limit is 120km/h), and the preset alarm distance is 16km on an ordinary urban expressway (the speed limit is 80 km/h). The preset warning distance is usually much greater than the safe braking distance of the vehicle, and the visibility distance at night or in rainy and foggy weather. In this embodiment, the second vehicle is set as the vehicle with the farthest distance from the vehicle temporarily networked with the first vehicle, and when it is detected that the distance between the first vehicle and the second vehicle is smaller than the preset warning distance, it indicates that the wireless signal propagation distance of the first vehicle may not cover the preset warning distance, so in order to transmit the warning information to the preset warning distance, a route vehicle transmission mode needs to be adopted, and at this time, the first vehicle sends the route signal to the second vehicle in addition to the warning information.
And step 104, when the second vehicle receives the first routing signal, judging whether the distance between the first vehicle and the third vehicle is smaller than a preset alarm distance, if so, sending the first alarm information and the second routing signal to the third vehicle by the second vehicle, and if not, sending the first alarm information to the third vehicle by the first vehicle.
In this step, the second vehicle and the third vehicle build the ad hoc wireless communication network by building the ad hoc wireless communication network between the first vehicle and the second vehicle, and set the third vehicle as the vehicle with the farthest distance among the vehicles temporarily networked with the second vehicle, after the second vehicle receives the first routing signal, determine whether the distance between the first vehicle and the third vehicle is smaller than a preset alarm distance, if so, the second vehicle-mounted wireless communication module sends the first alarm information and the second routing signal to the third vehicle, and if not, the second vehicle-mounted wireless communication module sends the first alarm information to the third vehicle. Specifically, the first vehicle takes the second vehicle as the route vehicle to continue transmitting the alarm information, at the moment, the second vehicle takes the third vehicle as the route vehicle to send the alarm information to the third vehicle, and if the preset alarm distance is not reached, the third vehicle continues to select other vehicles as the route vehicles to transmit the alarm information until the preset alarm distance is reached.
To more clearly illustrate the alarm transmission process, reference may be made to fig. 3, which shows that there are B, C, D, E vehicles in the networking status database of vehicle a, wherein vehicle B is almost parallel to it (due to GPS positioning accuracy, it may not be possible to distinguish whether it is an advance or not), C, D, E is all its following vehicles, and E is the following vehicle farthest from a. When the vehicle a is in an emergency state, the vehicle a selects the vehicle E as a routing vehicle and broadcasts an emergency alert to surrounding vehicles. After the vehicle E receives the alarm, if the distance from the vehicle A, E does not exceed the preset alarm distance, the vehicle G farthest from the vehicle E is selected from the networking database of the vehicle E as a routing vehicle, and the alarm is broadcasted again. And if the vehicle G finds that the distance to the vehicle A does not exceed the preset alarm distance, selecting the farthest rear vehicle from the networking state database as a routing vehicle, and continuously broadcasting the alarm to the surrounding vehicles again. Therefore, the alarm information is transmitted in a relay mode until the preset alarm distance is reached.
After the alarm occurs, the broadcast is continuously carried out until the time is out or the broadcast is artificially closed before the road returns to normal traffic. The timeout may be preset, for example, to 1 hour or more (considering that a major traffic accident takes longer to recover).
The embodiment utilizes the vehicle-mounted wireless communication module to build the self-organizing network between the automobiles in the same direction and the same line in the coverage range of the wireless communication signal, when an emergency (such as an accident) occurs to the automobile in the network, the network is utilized to send out a safety alarm to the automobile which is going to approach the accident site, the automobile can decelerate, park or detour after the alarm, so as to ensure the driving safety, the alarm is timely, the real-time performance of alarm transmission is improved, and the alarm can be transmitted no matter whether the automobile is out of the safe distance or the visible distance, so that the occurrence of serious accidents on the road surface can be effectively prevented.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The alarm system between running vehicles is characterized by comprising a first vehicle and a second vehicle, wherein the first vehicle is respectively provided with a first processing module and a first vehicle-mounted wireless communication module;
the first vehicle-mounted wireless communication module is used for receiving the current driving road and driving direction of the first vehicle from the first processing module, sending the current driving road and driving direction of the first vehicle to the second vehicle-mounted wireless communication module according to a first preset frequency, the second processing module is used for receiving the current driving road and driving direction of the first vehicle from the second vehicle-mounted wireless communication module, judging whether the current driving road and driving direction of the first vehicle are the same as the current driving road and driving direction of the second vehicle or not, and if yes, building an ad-hoc wireless communication network between the first vehicle and the second vehicle;
after the self-organizing wireless communication network is built, when the first vehicle is detected to stop emergently, the first vehicle-mounted wireless communication module sends first alarm information to the second vehicle-mounted wireless communication module.
2. The warning system according to claim 1, further comprising a road network database, wherein the first vehicle is further provided with a first driving route identification module and a first satellite positioning module, respectively, the first driving route identification module and the first satellite positioning module are electrically connected to the first processing module, respectively, the first processing module is in communication connection with the road network database, the second vehicle is further provided with a second driving route identification module and a second satellite positioning module, respectively, the second driving route identification module and the second satellite positioning module are electrically connected to the second processing module, respectively, and the second processing module is in communication connection with the road network database;
the first satellite positioning module is used for sending the current coordinate of the first vehicle to the first processing module, the first processing module is also used for inquiring the current road information of the first vehicle from the road network database, and the first driving route identification module is used for combining the current coordinate and the road information of the first vehicle to generate a current driving road and a driving direction and sending the current driving road and the driving direction of the first vehicle to the first processing module;
the second satellite positioning module is used for sending the current coordinate of the second vehicle to the second processing module, the second processing module is further used for inquiring the current road information of the second vehicle from the road network database, and the second driving line identification module is used for generating a current driving road and a driving direction by combining the current coordinate and the road information of the second vehicle and sending the current driving road and the driving direction of the second vehicle to the second processing module.
3. The warning system of claim 2, wherein the first vehicle is further provided with a first acceleration sensor, the first acceleration sensor is electrically connected with the first processing module, the first acceleration sensor sends the current acceleration of the first vehicle to the first processing module, the first processing module is further configured to detect whether the first vehicle is stopped emergently through the acceleration of the first vehicle, the second vehicle is further provided with a second acceleration sensor, the second acceleration sensor is electrically connected with the second processing module, the second acceleration sensor sends the current acceleration of the second vehicle to the second processing module, and the second processing module is further configured to detect whether the second vehicle is stopped emergently through the acceleration of the second vehicle; and/or the presence of a gas in the gas,
the first vehicle is further provided with a first networking state database, the first networking state database is electrically connected with the first processing module, after the self-organizing wireless communication network is built, the first networking state database is used for storing state data of a second vehicle and updating data in the first networking state database according to the first preset frequency, the second vehicle is further provided with a second networking state database, the second networking state database is electrically connected with the second processing module, after the self-organizing wireless communication network is built, the second networking state database is used for storing the state data of the first vehicle and updating data in the second networking state database according to the second preset frequency.
4. The warning system of claim 1, wherein the first vehicle-mounted wireless communication module is further configured to receive a current vehicle speed of the first vehicle from the first processing module, and send the current vehicle speed of the first vehicle to the second vehicle-mounted wireless communication module according to the first preset frequency, the second processing module is further configured to determine whether the current vehicle speed of the first vehicle is greater than or equal to a preset running vehicle speed after receiving the current vehicle speed of the first vehicle from the second vehicle-mounted wireless communication module, and if so, a self-organizing wireless communication network is established between the first vehicle and the second vehicle.
5. The alarm system according to any one of claims 1-4, further comprising a third vehicle, wherein the second vehicle and the third vehicle build an ad hoc wireless communication network by building an ad hoc wireless communication network between the first vehicle and the second vehicle;
before the first alarm information is sent, the processing module is further used for judging whether the distance between the first vehicle and the second vehicle is smaller than a preset alarm distance, if so, the first vehicle-mounted wireless communication module also sends a first routing signal to the second vehicle-mounted wireless communication module when the first alarm information is sent, and if not, the first vehicle-mounted wireless communication module sends the first alarm information to the second vehicle-mounted wireless communication module;
the second processing module receives the first routing signal from the second vehicle-mounted wireless communication module, and then judges whether the distance between the first vehicle and the third vehicle is smaller than the preset alarm distance, if so, the second vehicle-mounted wireless communication module sends the first alarm information and the second routing signal to the third vehicle, and if not, the second vehicle-mounted wireless communication module sends the first alarm information to the third vehicle.
6. A warning method between running vehicles, characterized in that the warning method is implemented using the warning system according to claim 1, the warning method comprising the steps of:
S1sending the current driving road and the driving direction of the first vehicle to a second vehicle according to a first preset frequency;
S2judging whether the current driving road and the driving direction of the first vehicle are the same as those of the second vehicle or not, if so, overlapping the first vehicle and the second vehicleEstablishing an ad hoc wireless communication network;
S3and when the first vehicle is detected to be stopped emergently, the first vehicle sends first alarm information to the second vehicle.
7. The warning method according to claim 6, wherein the warning system further comprises a road network database, the first vehicle is further provided with a first driving route identification module and a first satellite positioning module, the first driving route identification module and the first satellite positioning module are respectively and electrically connected with the first processing module, the first processing module is in communication connection with the road network database, the second vehicle is further provided with a second driving route identification module and a second satellite positioning module, the second driving route identification module and the second satellite positioning module are respectively and electrically connected with the second processing module, and the second processing module is in communication connection with the road network database;
the first satellite positioning module is used for sending the current coordinate of the first vehicle to the first processing module, the first processing module is also used for inquiring the current road information of the first vehicle from the road network database, and the first driving route identification module is used for combining the current coordinate and the road information of the first vehicle to generate a current driving road and a driving direction and sending the current driving road and the driving direction of the first vehicle to the first processing module;
the second satellite positioning module is used for sending the current coordinate of the second vehicle to the second processing module, the second processing module is further used for inquiring the current road information of the second vehicle from the road network database, and the second driving line identification module is used for generating a current driving road and a driving direction by combining the current coordinate and the road information of the second vehicle and sending the current driving road and the driving direction of the second vehicle to the second processing module.
8. The warning method according to claim 7, wherein a first acceleration sensor is further arranged on the first vehicle, the first acceleration sensor is electrically connected with the first processing module, the first acceleration sensor sends the current acceleration of the first vehicle to the first processing module, the first processing module is further used for detecting whether the first vehicle is stopped emergently through the acceleration of the first vehicle, a second acceleration sensor is further arranged on the second vehicle, the second acceleration sensor is electrically connected with the second processing module, the second acceleration sensor sends the current acceleration of the second vehicle to the second processing module, and the second processing module is further used for detecting whether the second vehicle is stopped emergently through the acceleration of the second vehicle; and/or the presence of a gas in the gas,
the first vehicle is further provided with a first networking state database, the first networking state database is electrically connected with the first processing module, after the self-organizing wireless communication network is built, the first networking state database is used for storing state data of a second vehicle and updating data in the first networking state database according to the first preset frequency, the second vehicle is further provided with a second networking state database, the second networking state database is electrically connected with the second processing module, after the self-organizing wireless communication network is built, the second networking state database is used for storing the state data of the first vehicle and updating data in the second networking state database according to the second preset frequency.
9. The alarm method according to claim 6, characterised in that in step S1The current speed of the first vehicle is sent to the second vehicle according to the first preset frequency;
in step S2Judging whether the current driving road and the driving direction of the first vehicle are the same as those of the second vehicle, if so, judging whether the current speed of the first vehicle is greater than or equal to a preset driving speed, and if so, judging whether the current speed of the first vehicle is greater than or equal to the preset driving speed of the second vehicleAnd an ad-hoc wireless communication network is established between the two.
10. The alarm method according to any one of claims 6 to 9, wherein the alarm system further comprises a third vehicle, and the second vehicle and the third vehicle build an ad hoc wireless communication network by building the ad hoc wireless communication network between the first vehicle and the second vehicle;
in step S3Before the first alarm information is sent, whether the distance between the first vehicle and the second vehicle is smaller than a preset alarm distance is judged, if yes, a first routing signal is sent to the second vehicle when the first vehicle sends the first alarm information, and if not, the first vehicle sends the first alarm information to the second vehicle;
in step S3Then, the alarm method further comprises the following steps:
S4and when the second vehicle receives the first routing signal, judging whether the distance between the first vehicle and the third vehicle is smaller than the preset alarm distance, if so, sending the first alarm information and the second routing signal to the third vehicle by the second vehicle, and if not, sending the first alarm information to the third vehicle by the second vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710044611.XA CN108335527B (en) | 2017-01-19 | 2017-01-19 | Alarm system and method between running vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710044611.XA CN108335527B (en) | 2017-01-19 | 2017-01-19 | Alarm system and method between running vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108335527A CN108335527A (en) | 2018-07-27 |
| CN108335527B true CN108335527B (en) | 2020-12-29 |
Family
ID=62921625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710044611.XA Active CN108335527B (en) | 2017-01-19 | 2017-01-19 | Alarm system and method between running vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108335527B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7294199B2 (en) * | 2020-03-13 | 2023-06-20 | トヨタ自動車株式会社 | Communication device, communication system, vehicle, communication program, and communication method |
| CN113950026B (en) * | 2021-12-22 | 2022-03-22 | 交通运输部公路科学研究所 | Vehicle-mounted wireless network multichannel accurate synchronization method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2572043B1 (en) * | 1984-10-18 | 1987-02-13 | Matra Transport | METHOD OF DEVICE FOR TRANSMITTING DATA BETWEEN VEHICLES MOVING ON A TRACK |
| EP0493141A1 (en) * | 1990-11-13 | 1992-07-01 | Thomson-Csf | Hyperfrequency device for preventing collisions among vehicles, and corresponding data transmission method |
| CN1534553A (en) * | 2004-05-10 | 2004-10-06 | 中国科学院计算技术研究所 | Method of realizing automobile anticollision on high speed highway by using radio self organizing network technology |
| EP1745605A1 (en) * | 2004-05-04 | 2007-01-24 | Philips Intellectual Property & Standards GmbH | Communication system, method of communication between and among vehicles and vehicle comprising such a communication system |
| CN101031161A (en) * | 2006-02-21 | 2007-09-05 | 通用汽车环球科技运作公司 | Inter vehicular ad hoc routing protocol and communication system |
| CN103578292A (en) * | 2012-07-25 | 2014-02-12 | 现代摩比斯株式会社 | Apparatus for preventing vehicle control error of V2V communication system and method thereof |
| CN103810903A (en) * | 2014-02-27 | 2014-05-21 | 长安大学 | Warning message pushing method based on vehicle to vehicle communications |
| CN103871273A (en) * | 2014-04-04 | 2014-06-18 | 上海扬梓投资管理有限公司 | Vehicle-mounted communication device, vehicle and vehicle communication method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101763741B (en) * | 2009-12-28 | 2011-11-23 | 东北大学 | Method and device for early warning of vehicle rear-end accident on expressway |
| SE536693C2 (en) * | 2012-09-25 | 2014-05-27 | Scania Cv Ab | Safety system for a vehicle to avoid collision with objects, and a method in connection with the safety system |
| CN103295421B (en) * | 2013-05-16 | 2015-11-25 | 广西工学院 | A kind of highway automobile collision early warning system |
| CN104200703B (en) * | 2014-08-11 | 2017-01-25 | 奇瑞汽车股份有限公司 | Accident pre-warning method, device and system |
| CN104392621A (en) * | 2014-11-26 | 2015-03-04 | 长安大学 | Road abnormal parking early warning method based on vehicle to vehicle communication and implementation system thereof |
| CN105847369A (en) * | 2016-03-31 | 2016-08-10 | 东华大学 | Vehicle network information transmission method based on event driving |
| CN105938660B (en) * | 2016-06-07 | 2018-10-12 | 长安大学 | A kind of automobile anti-rear end collision method for early warning and system |
-
2017
- 2017-01-19 CN CN201710044611.XA patent/CN108335527B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2572043B1 (en) * | 1984-10-18 | 1987-02-13 | Matra Transport | METHOD OF DEVICE FOR TRANSMITTING DATA BETWEEN VEHICLES MOVING ON A TRACK |
| EP0493141A1 (en) * | 1990-11-13 | 1992-07-01 | Thomson-Csf | Hyperfrequency device for preventing collisions among vehicles, and corresponding data transmission method |
| EP1745605A1 (en) * | 2004-05-04 | 2007-01-24 | Philips Intellectual Property & Standards GmbH | Communication system, method of communication between and among vehicles and vehicle comprising such a communication system |
| CN1534553A (en) * | 2004-05-10 | 2004-10-06 | 中国科学院计算技术研究所 | Method of realizing automobile anticollision on high speed highway by using radio self organizing network technology |
| CN101031161A (en) * | 2006-02-21 | 2007-09-05 | 通用汽车环球科技运作公司 | Inter vehicular ad hoc routing protocol and communication system |
| CN103578292A (en) * | 2012-07-25 | 2014-02-12 | 现代摩比斯株式会社 | Apparatus for preventing vehicle control error of V2V communication system and method thereof |
| CN103810903A (en) * | 2014-02-27 | 2014-05-21 | 长安大学 | Warning message pushing method based on vehicle to vehicle communications |
| CN103871273A (en) * | 2014-04-04 | 2014-06-18 | 上海扬梓投资管理有限公司 | Vehicle-mounted communication device, vehicle and vehicle communication method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108335527A (en) | 2018-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7986247B2 (en) | Advisory system for previewing local conditions on a highway | |
| US10249204B2 (en) | Connected vehicle traffic safety system and a method of predicting and avoiding crashes at railroad grade crossings | |
| EP1738339B1 (en) | Intelligent transportation system | |
| US6615137B2 (en) | Method and apparatus for transferring information between vehicles | |
| US6650252B2 (en) | Vehicle warning system and method | |
| US8224370B2 (en) | Method of controlling a communication system in a motor vehicle | |
| US8917188B2 (en) | Method for detecting and warning against wrong-way drivers, and wrong-way driver reporting and warning system | |
| CN106846912B (en) | Road traffic early warning and method based on ZigBee | |
| JP3999363B2 (en) | Traffic information forming method and vehicle telematic device | |
| CN111918804B (en) | Automobile driver assistance | |
| CN111902321B (en) | Automobile driver assistance | |
| CN105321340A (en) | Vehicle-road-communication-based rescue signal sending method, device and vehicle | |
| EP2901720A1 (en) | Message transmission for vehicle-to-vehicle communication enabled devices | |
| WO2010005649A2 (en) | Real time traffic aide | |
| US20060178814A1 (en) | Method of, and system for, assessing the nature of movement of articles along a path of movement | |
| CN108335527B (en) | Alarm system and method between running vehicles | |
| CN110830956A (en) | Vehicle external environment detection system and method based on V2X | |
| KR101439171B1 (en) | System and Apparatus for Transmitting Traffic Information and Emergency Information Using Vehicle-Roadside Communications | |
| US20220132289A1 (en) | System and method for transmission of an emergency message from a host vehicle via a vehicle-to-x communication system | |
| JPH06180799A (en) | Method for information communication with on-road vehicle | |
| CN111902320B (en) | Automobile driver assistance | |
| EP4258703A1 (en) | Methods and systems for vehicle communication | |
| KR20050076111A (en) | Method for collecting traffic information in intelligent transportation system | |
| CN106382940A (en) | System and method for active alarming of abnormal travel stop of motor vehicle base on navigation | |
| CN110979322A (en) | Automobile visual field service system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |