CN108986541A - A kind of vehicle collision avoidance method for routing based on VANETs - Google Patents
A kind of vehicle collision avoidance method for routing based on VANETs Download PDFInfo
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- CN108986541A CN108986541A CN201810653736.7A CN201810653736A CN108986541A CN 108986541 A CN108986541 A CN 108986541A CN 201810653736 A CN201810653736 A CN 201810653736A CN 108986541 A CN108986541 A CN 108986541A
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- vehicle
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- driving status
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Classifications
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
Abstract
The present invention relates to a kind of vehicle collision avoidance method for routing based on VANETs, the following steps are included: the driving status and traffic signal light condition according to vehicle are classified, determine that possible collision is gathered compared with the remaining time of traffic lights using the time that vehicle reaches crossing；Under determining collision set, next-hop vehicle is preferentially selected according to the driving status function between vehicle to obtain collision set running information；The vehicle collision time difference is calculated according to this vehicle driving information and collision set running information, judges to issue early warning information if there is risk of collision with the presence or absence of risk of collision between vehicle using collision time difference.The present invention can sensed in advance vehicle collision it is dangerous, take risk avoidance measures to provide safeguard for driver.
Description
Technical field
The present invention relates to vehicle collision avoidance technical fields, route more particularly to a kind of vehicle collision avoidance based on VANETs
Method.
Background technique
With the development of economy with the continuous improvement of personal lifestyle level, automobile quantity is continuously increased so that urban transportation
Situation deteriorates further, brings many traffic accidents, especially vehicle collision accident, to find out its cause, being due to driving mostly
Member's fatigue driving is overtaken other vehicles, caused by the reasons such as road emergency situations, in addition to this, is exactly there are one more importantly reason
Vehicle is unable to the presence of sensed in advance danger, and issues early warning to driver, closely prevents driver from taking in advance
Risk avoidance measures.Therefore information of vehicles is obtained using vehicular ad hoc network route technology, the presence of sensing collision danger is vehicle
Anti-collision warning provides reliable foundation, it has also become the emphasis of current generation vehicle collision avoidance research.
Vehicular ad hoc network (Vehicular Ad Hoc Networks, VANETs) is a kind of special movement from group
Knitmesh network (Mobile Ad Hoc Networks, MANET), basic thought are that the vehicle in communication range can exchange vehicle
Essential information, such as the position of vehicle, speed, the information such as driving direction establish one using vehicle as the mobile network of node, by force
Adjust multi-hop, self-organizing, acentric concept, have be easy deployment, not by energy constraint the advantages of.In vehicular ad hoc network
Vehicle is furnished with vehicle-mounted OBU and wireless communication module, with powerful information storage and computing capability and communication capacity.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of vehicle collision avoidance method for routing based on VANETs, can
Sensed in advance vehicle collision is dangerous, takes risk avoidance measures to provide safeguard for driver.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of vehicle collision avoidance based on VANETs
Method for routing, comprising the following steps:
(1) according to the driving status of vehicle and traffic signal light condition classification, time and the friendship at crossing are reached using vehicle
The remaining time of logical lamp relatively determines possible collision set；
(2) under determining collision set, preferentially select next-hop vehicle to obtain according to the driving status function between vehicle
Take collision set running information；
(3) the vehicle collision time difference is calculated according to this vehicle driving information and collision set running information, utilizes collision
Time difference judges to issue early warning information if there is risk of collision with the presence or absence of risk of collision between vehicle.
The step (1) specifically: determine that vehicle is possible according to next driving status that this vehicle wishes to carry out and touch
Hit the section position of set；Position and the velocity information for obtaining vehicle calculate the running time that vehicle reaches crossing, according to friendship
The remaining time and vehicle arrival crossing time of logical lamp judge whether vehicle enters collision set, so that it is determined that under each driving status
Vehicle collision set.
Pass throughCalculate the running time that vehicle reaches crossing, wherein diAnd viIt respectively indicates current vehicle and reaches road
The distance of mouth and the current travel speed of vehicle.
The step (2) specifically: judge purpose vehicle whether this vehicle communication range, if in communication range,
Directly with purpose vehicle communication to obtain information；If purpose vehicle not in this vehicle communication range, will pass through the shape of multi-hop
Formula transmits information, obtains the car status information that this vehicle one jumps communication range, establishes the driving status function between vehicle, preferentially examine
The big neighbours' vehicle of driving status functional value is considered as next-hop and forwards vehicle, if there is the identical vehicle of multiple driving status functional values
, then vehicle will be forwarded as next-hop apart from farther away vehicle；If the driving status functional value in a jump range between vehicle is all
It is 0, then considers that the angle of neighbours' vehicle and source vehicle line and purpose vehicle and source vehicle line existsAnd distance sources vehicle
Farthest neighbours' vehicle forwards vehicle as next-hop；If not meeting the vehicle of above-mentioned requirements, this vehicle carries waiting and turns
Hair.
When the driving status of vehicle is to turn left or keep straight on, vehicle running state function representation isWhen the driving status of vehicle is to turn right, the driving status function of vehicle
It is expressed asWherein, vs、vnAnd vdRespectively indicate source vehicle, Lin Juche
And purpose vehicle.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: after In-vehicle networking foundation, the vehicle in In-vehicle networking can carry out wireless communication the present invention, obtain traffic lights letter
The information of breath and the vehicle within the scope of vehicle communication, sensed in advance vehicle collision is dangerous, effective solution urban road crossing vehicle
Collision problem improves urban road crossing vehicle driving safety.In addition, the present invention is according to the driving state of the vehicle, direction and position
It sets, provides a kind of selection mechanism of information transmission, effectively reduce data packet transmitting redundancy.
Detailed description of the invention
Fig. 1 is the collision set physical map of vehicle in the case of different driving status of the invention；
Fig. 2 is vehicle routing iinformation transmitting physical realization block diagram in the case of different driving status of the invention；
Fig. 3 is vehicle collision detection rough schematic view of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of vehicle collision avoidance method for routing based on VANETs, and the vehicle is equipped with
On board unit (OBU), communication module, GPS module；The GPS module is used to obtain position, the velocity information of vehicle；Described
Communication module is used to establish with external vehicle and facility and wirelessly communicate, obtain nearby information of vehicles, traffic lights information with
And forwarding warning information；The on board unit module is for storing information of vehicles and calculating the vehicle collision time difference.Specific steps
It is as follows:
Classified first according to the driving status of this vehicle and the state of traffic lights the collision set of determining vehicle.Such as Fig. 1 institute
Show, when to give traffic lights be green light, the possibility collision collection area and road of vehicle of the main vehicle under different driving status
Section.Since in the case where considering the influence of traffic, when traffic lights is red light, vehicle cannot turn left and keep straight on, but turn right not
It is restricted, therefore it is collided shown in collection area and section such as Fig. 1 (d).The determining concrete condition of collision set is as follows: passing through vehicle
Installation GPS module obtain vehicle position and velocity information, calculate vehicle reach crossing running timeIts
In, diAnd viIt respectively indicates current vehicle and reaches the distance at crossing and the current travel speed of vehicle.Crossing is reached using vehicle
Running time tiWith the remaining time T of traffic lightslrCompare, judges whether vehicle can enter vehicle collision set, if
ti< Tlr, then it is assumed that the vehicle belongs to vehicle collision set.
In the case where the collision set of vehicle has been determined, first determine whether purpose vehicle whether this vehicle communication range,
If within its scope, directly obtaining information with purpose vehicle communication；If purpose vehicle in this vehicle communication range,
Consider to transmit information by way of multi-hop, obtains the car status information that this vehicle one jumps communication range, establish the row between vehicle
Sail function of state.When the driving status of vehicle is to turn left or keep straight on, vehicle running state function can be expressed as
Wherein, vs、vnAnd vdRespectively indicate source vehicle, neighbours' vehicle and purpose vehicle.When the driving status of vehicle is to turn right
When, the driving status function of vehicle can be expressed as
The big neighbours' vehicle of driving status functional value is paid the utmost attention to according to the driving state of the vehicle as next-hop forwards vehicle
, if there is multiple such vehicles, basis considers to forward vehicle as next-hop apart from farther away vehicle herein；Source vehicle
Position and the position of neighbours' vehicle can use v respectivelys(xs,ys) and vn(xn,yn) indicate.The distance between they can be expressed as
If a driving status function jumped in range between vehicle is all 0, neighbours' vehicle and source vehicle line and mesh are considered
Vehicle and source vehicle line anglePay the utmost attention to angleVehicle in range, and away from
The vehicle farthest from source vehicle is as next-hop forward node.If not meeting the vehicle of above-mentioned requirements, this vehicle carries data
Packet etc. is to be forwarded.As shown in Fig. 2, giving different driving status example scenarios of the invention, specific message transmitting procedure is such as
Under: such as Fig. 2 (a) and Fig. 2 (b), the driving status of vehicle A is to turn left and keep straight on respectively, and purpose vehicle D is not in the communication of vehicle A
In range, it is therefore desirable to which driving status function f is paid the utmost attention in the transmission for carrying out information by way of multi-hop in the case1
(vs,vn,vd) value is greatly and apart from remote vehicle, then the transmission path A → B → D preferentially selected, A → B → F, if such vehicle
There is no then consider angleAnd apart from remote vehicle as forward node, transmission path is A → C → D, A → E
→F.Fig. 2 (c) and Fig. 2 (d) give message transmitting procedure of the vehicle in different traffic signal light condition infradextroversions, at this time
Pay the utmost attention to driving status function f when turning right2(vs,vn,vd), in conjunction with the distance between vehicle and the angle between vehicle
Preferred transmission path and alternate transmission paths are given, are A → B → D and A → C → D respectively.
The vehicle collision time difference is calculated according to the information of vehicles of acquisition, is judged between vehicle using the vehicle collision time difference
Whether collide, if there is risk of collision, issues warning information.As shown in figure 3, giving vehicle collision detection of the invention
Rough schematic view assumes vehicle 1 and vehicle 2 in figure all along straight-line travelling, and the speed of vehicle is respectively v1And v2, P point is vehicle
Travel conflict point, i.e. vehicle collision point, DTCP1And DTCP2It is distance of the vehicle driving to point of impingement P respectively, vehicle reaches collision
The time TTCP=DTCP/v of point, the time difference that then vehicle reaches point of impingement P can be expressed as
Td=| TTCP1-TTCP2|
If two cars reach point of impingement P simultaneously, i.e. collision time difference is 0, then has the danger of collision, vehicle between vehicle
Issue warning information.
It is not difficult to find that the present invention utilizes vehicular ad hoc network, traffic lights information and vehicle communication range are obtained
The information of interior vehicle, sensed in advance vehicle collision is dangerous, and effective solution urban road crossing vehicle collision problem improves city
City crossing vehicle driving safety.In addition, the present invention is according to the driving state of the vehicle, direction and position provide a kind of information biography
Defeated selection mechanism effectively reduces data packet transmitting redundancy.
Claims (5)
1. a kind of vehicle collision avoidance method for routing based on VANETs, which comprises the following steps:
(1) according to the driving status of vehicle and traffic signal light condition classification, time and the traffic lights at crossing are reached using vehicle
Remaining time relatively determine possible collision set；
(2) under determining collision set, next-hop vehicle is preferentially selected to touch to obtain according to the driving status function between vehicle
Hit set running information；
(3) the vehicle collision time difference is calculated according to this vehicle driving information and collision set running information, utilizes collision time
Difference judges if there is risk of collision to issue early warning information with the presence or absence of risk of collision between vehicle.
2. the vehicle collision avoidance method for routing according to claim 1 based on VANETs, which is characterized in that the step
(1) specifically: the section position of the possible collision set of vehicle is determined according to next driving status that this vehicle wishes to carry out；
Position and the velocity information for obtaining vehicle calculate the running time that vehicle reaches crossing, according to the remaining time of traffic lights and
The vehicle arrival crossing time judges whether vehicle enters collision set, so that it is determined that vehicle collision set under each driving status.
3. the vehicle collision avoidance method for routing according to claim 2 based on VANETs, which is characterized in that pass through
Calculate the running time that vehicle reaches crossing, wherein diAnd viIt respectively indicates current vehicle and reaches the distance at crossing and working as vehicle
Preceding travel speed.
4. the vehicle collision avoidance method for routing according to claim 1 based on VANETs, which is characterized in that the step
(2) specifically: judge purpose vehicle whether this vehicle communication range, if in communication range, it is directly logical with purpose vehicle
Letter is to obtain information；If purpose vehicle not in this vehicle communication range, will transmit information by way of multi-hop, this is obtained
Vehicle one jumps the car status information of communication range, establishes the driving status function between vehicle, pays the utmost attention to driving status functional value
Big neighbours' vehicle will be apart from farther out if there is the identical vehicle of multiple driving status functional values as next-hop forwarding vehicle
Vehicle as next-hop forward vehicle；If a driving status functional value jumped in range between vehicle is all 0, neighbours' vehicle is considered
Exist with the angle of source vehicle line and purpose vehicle and source vehicle lineAnd the neighbours' vehicle farthest apart from source vehicle
Vehicle is forwarded as next-hop；If not meeting the vehicle of above-mentioned requirements, it is to be forwarded that this vehicle carries etc..
5. the vehicle collision avoidance method for routing according to claim 4 based on VANETs, which is characterized in that when the row of vehicle
When sailing state to turn left or keeping straight on, vehicle running state function representation isWork as vehicle
Driving status be turn right when, the driving status function representation of vehicle is
Wherein, vs、vnAnd vdRespectively indicate source vehicle, neighbours' vehicle and purpose vehicle.
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| CN108986541B (en) | 2020-12-18 |
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