CN109147394A - The vehicle collision prewarning method of intersection - Google Patents
The vehicle collision prewarning method of intersection Download PDFInfo
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- CN109147394A CN109147394A CN201811339947.XA CN201811339947A CN109147394A CN 109147394 A CN109147394 A CN 109147394A CN 201811339947 A CN201811339947 A CN 201811339947A CN 109147394 A CN109147394 A CN 109147394A
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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
Abstract
The invention discloses a kind of vehicle collision prewarning methods of intersection, comprising: obtains the remote vehicle information of setting regions around main vehicle information and main vehicle；Judge whether there is threat vehicle；If it is present obtaining the time for threatening vehicle and the main vehicle to collide；Judge whether to meet early-warning conditions according to the time；If met, anti-collision warning is carried out to main vehicle.The vehicle collision prewarning method of intersection provided by the invention threatens vehicle by screening, and calculates the time for threatening vehicle and main vehicle that may collide, and carries out early warning to main vehicle accordingly, is effectively prevented from the generation of collision.
Description
Technical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of vehicle collision prewarning methods of intersection.
Background technique
In road traffic, by V2X mechanics of communication, vehicle constantly can send and receive other vehicles, road equipment etc.
The traffic information sent can solve the traffic problem in the case of over the horizon, non line of sight by self poisoning and related algorithm, with
And corresponding movement measure (such as early warning or in conjunction with active safety ADAS) is made under dangerous situation.
But being directed to intersection, i.e., main vehicle (HV) moves towards the intersection that remote vehicle (RV) has collision with what is laterally travelled
When dangerous, there are no effective method for early warning in the prior art.
Summary of the invention
The object of the present invention is to provide a kind of vehicle collision prewarning method of intersection and systems, to solve the prior art
The problems in, early warning is issued to main vehicle in time, is avoided collision.
The present invention provides a kind of vehicle collision prewarning methods of intersection, wherein includes:
Obtain the remote vehicle information of setting regions around main vehicle information and main vehicle；
Judge whether there is threat vehicle；
If it is present obtaining the time for threatening vehicle and the main vehicle to collide；
Judge whether to meet early-warning conditions according to the time；
If met, anti-collision warning is carried out to main vehicle.
Preferably, the remote vehicle information for obtaining setting regions around main vehicle information and main vehicle includes:
Obtain main vehicle latitude and longitude coordinates, main vehicle course angle, remote vehicle latitude and longitude coordinates and remote vehicle course angle.
Preferably, judging whether there is threat vehicle includes:
Vehicle is obtained according to the main vehicle latitude and longitude coordinates, main vehicle course angle, remote vehicle latitude and longitude coordinates and remote vehicle course angle
The latitude and longitude coordinates of the following conflict point；
The main vehicle is obtained according to the latitude and longitude coordinates of the conflict point, main vehicle latitude and longitude coordinates and remote vehicle latitude and longitude coordinates
The distance between described remote vehicle；
If the distance between the main vehicle and the remote vehicle are less than safety distance threshold, using the remote vehicle as threat
Vehicle.
Preferably, the acquisition time for threatening vehicle to collide with the main vehicle includes:
Wherein, TTC is the time that the threat vehicle and the main vehicle collide；L12For two vehicle headways, l1Based on
The vehicle width of vehicle projects to the length of two vehicle mass center lines；l2To threaten the vehicle width of vehicle to project to the length of two vehicle mass center lines, Vx
For projection of the relative velocity on coordinate system of main vehicle, VyTo threaten projection of the relative velocity of vehicle on coordinate system, φ is
The mass center line of two vehicles and the angle of coordinate system X-axis；And
Wherein, V1For the speed of main vehicle, V2For threaten vehicle speed,For the angle of the opposite driving direction of two vehicles.
Preferably, before carrying out anti-collision warning to main vehicle, the method also includes:
Identify the rank of anti-collision warning；
The anti-collision warning shown by rank is carried out to main vehicle.
Preferably, the setting regions is the left side and/or right side at main front side crossing.
The vehicle collision prewarning method of intersection provided by the invention threatens vehicle by screening, and calculates threat vehicle
The time that may be collided with main vehicle carries out early warning to main vehicle accordingly, is effectively prevented from the generation of collision.
Detailed description of the invention
Fig. 1 is the flow chart of the vehicle collision prewarning method of intersection provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
As shown in Figure 1, the embodiment of the invention provides a kind of vehicle collision prewarning methods of intersection, comprising:
S101 obtains the remote vehicle information of setting regions around main vehicle information and main vehicle.
Main vehicle (HV) moves towards the intersection, there may be risks of collision with the remote vehicle (RV) that drives towards same crossing.Wherein lead
Vehicle (HV) and remote vehicle (RV) driving direction are not limited to square crossing (90 °), can intersect for a certain range of multi-angle.
Preferably, the setting regions is the left side and/or right side at main front side crossing.Under normal circumstances, relative to master
Vehicle, target vehicle have the classification of following several positions, before forward and backward, left front, left back, right, it is right after, a left front distant place, a left back distant place,
Distant place etc. behind a right preceding distant place, the right side.After getting remote vehicle information, target classification module, which can filter out, is located at an intersection left side
The remote vehicle (RV) of side (Intersecting Left) or right region (Intersecting Right).
The remote vehicle information for obtaining setting regions around main vehicle information and main vehicle specifically includes: obtaining main vehicle longitude and latitude and sits
Mark, main vehicle course angle, remote vehicle latitude and longitude coordinates and remote vehicle course angle.
S102 judges whether there is threat vehicle.If it is present into S103.
Specifically, it is obtained according to the main vehicle latitude and longitude coordinates, main vehicle course angle, remote vehicle latitude and longitude coordinates and remote vehicle course angle
Obtain the latitude and longitude coordinates of vehicle future conflict point.
Wherein, x+, y+For the latitude and longitude coordinates of conflict point, x1, y1For the latitude and longitude coordinates of main vehicle, x2, y2For the warp of remote vehicle
Latitude coordinate, α1For the course angle that main garage sails, α2For the course angle of remote vehicle traveling.
The main vehicle is obtained according to the latitude and longitude coordinates of the conflict point, main vehicle latitude and longitude coordinates and remote vehicle latitude and longitude coordinates
The distance between described remote vehicle；
If the distance between the main vehicle and the remote vehicle are less than safety distance threshold, using the remote vehicle as threat
Vehicle.
S103 obtains the time for threatening vehicle and the main vehicle to collide.
Specifically, the acquisition time for threatening vehicle to collide with the main vehicle includes:
Wherein, TTC is the time that the threat vehicle and the main vehicle collide；L12For two vehicle headways, l1Based on
The vehicle width of vehicle projects to the length of two vehicle mass center lines；l2To threaten the vehicle width of vehicle to project to the length of two vehicle mass center lines, Vx
For projection of the relative velocity on coordinate system of main vehicle, VyTo threaten projection of the relative velocity of vehicle on coordinate system, φ is
The mass center line of two vehicles and the angle of coordinate system X-axis；And
Wherein, V1For the speed of main vehicle, V2For threaten vehicle speed,For the angle of the opposite driving direction of two vehicles.
S104 judges whether to meet early-warning conditions according to the time.If met, enter S105.
Preferably, before this step, the method also includes: identify the rank of anti-collision warning；
The anti-collision warning shown by rank is carried out to main vehicle.
S105 carries out anti-collision warning to main vehicle.
According to the scene of the unknown state in intersection, the trigger process and displaying process of scene are as follows:
1) it is communicated between vehicle by V2X technology come the information such as the GPS of interactive vehicle (location information)；
2) vehicle passes through local TC (Target Classification, target classification) module and TA (Threat
Algorith, danger early warning algorithm) module calculated, and the early warning situation and warning level for calculating RV for HV (pass through algorithm
Formula calculates the collision time estimated according to current driving status, makes corresponding early warning to RV according to the time and judges)；
3) if TC and TA module identifies that early warning happens, it will notice UI control module (such as MP5, broadcast)；
4) UI control module can carry out preliminary judgement according to the information that TC module and TA module transfer come, main to identify
The rank alarmed out, the information such as the direction of alarm and distance, and information is shown by UI module；
5) UI control module will notify UI display module to carry out the casting of early warning according to timing；
6) when TC module and TA module identify that the early warning of other vehicles has been eliminated, it will notice UI control module, UI
Control module can notify UI display module to eliminate warning information again.
The vehicle collision prewarning method of intersection provided in an embodiment of the present invention threatens vehicle by screening, and calculates prestige
The time that side of body vehicle and main vehicle may collide carries out early warning to main vehicle accordingly, is effectively prevented from the generation of collision.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings
Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention
Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings,
It should all be within the scope of the present invention.
Claims (6)
1. a kind of vehicle collision prewarning method of intersection characterized by comprising
Obtain the remote vehicle information of setting regions around main vehicle information and main vehicle；
Judge whether there is threat vehicle；
If it is present obtaining the time for threatening vehicle and the main vehicle to collide；
Judge whether to meet early-warning conditions according to the time；
If met, anti-collision warning is carried out to main vehicle.
2. the method according to claim 1, wherein obtaining the remote of setting regions around main vehicle information and main vehicle
Vehicle information includes:
Obtain main vehicle latitude and longitude coordinates, main vehicle course angle, remote vehicle latitude and longitude coordinates and remote vehicle course angle.
3. according to the method described in claim 2, it is characterized in that, judge whether there is threaten vehicle include:
Vehicle future is obtained according to the main vehicle latitude and longitude coordinates, main vehicle course angle, remote vehicle latitude and longitude coordinates and remote vehicle course angle
The latitude and longitude coordinates of conflict point；
The main vehicle and institute are obtained according to the latitude and longitude coordinates of the conflict point, main vehicle latitude and longitude coordinates and remote vehicle latitude and longitude coordinates
State the distance between remote vehicle；
If the distance between the main vehicle and the remote vehicle are less than safety distance threshold, using the remote vehicle as threat vehicle
?.
4. the method according to claim 1, wherein obtaining what the threat vehicle collided with the main vehicle
Time includes:
Wherein, TTC is the time that the threat vehicle and the main vehicle collide；L12For two vehicle headways, l1For main vehicle
Vehicle width projects to the length of two vehicle mass center lines；l2To threaten the vehicle width of vehicle to project to the length of two vehicle mass center lines, VxBased on
Projection of the relative velocity of vehicle on coordinate system, VyTo threaten projection of the relative velocity of vehicle on coordinate system, φ is two vehicles
Mass center line and coordinate system X-axis angle；And
Wherein, V1For the speed of main vehicle, V2For threaten vehicle speed,For the angle of the opposite driving direction of two vehicles.
5. the method according to claim 1, wherein the method is also wrapped before carrying out anti-collision warning to main vehicle
It includes:
Identify the rank of anti-collision warning；
The anti-collision warning shown by rank is carried out to main vehicle.
6. the method according to claim 1, wherein the setting regions be main front side crossing left side and/
Or right side.
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| CN201811339947.XA CN109147394A (en) | 2018-11-12 | 2018-11-12 | The vehicle collision prewarning method of intersection |
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| CN201811339947.XA CN109147394A (en) | 2018-11-12 | 2018-11-12 | The vehicle collision prewarning method of intersection |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109835250A (en) * | 2019-01-31 | 2019-06-04 | 唐山明天科技有限公司 | A kind of collision of motor vehicle system of defense and device based on ultrasonic distance measurement |
| CN110807951A (en) * | 2019-11-12 | 2020-02-18 | 安徽江淮汽车集团股份有限公司 | Vehicle collision avoidance method, device, equipment and storage medium |
| CN111477003A (en) * | 2020-04-13 | 2020-07-31 | 联陆智能交通科技(上海)有限公司 | Calculation method and system for acquiring time of collision with weak traffic and medium |
| CN111508274A (en) * | 2020-03-17 | 2020-08-07 | 东软集团股份有限公司 | Collision early warning method, device and equipment |
| WO2021037087A1 (en) * | 2019-08-26 | 2021-03-04 | 华为技术有限公司 | Early warning method and apparatus for present vehicle |
| CN112509319A (en) * | 2020-11-12 | 2021-03-16 | 东风汽车集团有限公司 | Vehicle collision analysis method, device, equipment and readable storage medium |
| CN112509314A (en) * | 2020-10-23 | 2021-03-16 | 东风汽车集团有限公司 | Intersection vehicle speed guiding method and device |
| CN112758088A (en) * | 2019-11-05 | 2021-05-07 | 深圳市大富科技股份有限公司 | Dangerous source reminding method and advanced driving assistance system |
| CN112991816A (en) * | 2019-12-13 | 2021-06-18 | 智博汽车科技(上海)有限公司 | Vehicle collision early warning method and device, storage medium and vehicle |
| CN113628477A (en) * | 2021-08-20 | 2021-11-09 | 东风汽车集团股份有限公司 | Crossroad left turn early warning anti-collision method based on V2X |
| CN113838307A (en) * | 2021-09-22 | 2021-12-24 | 中国重汽集团济南动力有限公司 | Vehicle intersection collision early warning system and method |
| CN113954746A (en) * | 2021-10-28 | 2022-01-21 | 联陆智能交通科技(上海)有限公司 | Blind area early warning processing method and system based on V2X technology |
| CN114155732A (en) * | 2021-12-28 | 2022-03-08 | 东风汽车有限公司东风日产乘用车公司 | Vehicle surrounding obstacle monitoring method, electronic device, and storage medium |
| CN114999220A (en) * | 2021-03-02 | 2022-09-02 | 深圳联友科技有限公司 | Conversion method and device for relative motion of vehicle |
| CN115100905A (en) * | 2022-06-23 | 2022-09-23 | 中国第一汽车股份有限公司 | Vehicle collision early warning method and device, vehicle and storage medium |
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| CN109835250A (en) * | 2019-01-31 | 2019-06-04 | 唐山明天科技有限公司 | A kind of collision of motor vehicle system of defense and device based on ultrasonic distance measurement |
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| CN112758088A (en) * | 2019-11-05 | 2021-05-07 | 深圳市大富科技股份有限公司 | Dangerous source reminding method and advanced driving assistance system |
| CN110807951A (en) * | 2019-11-12 | 2020-02-18 | 安徽江淮汽车集团股份有限公司 | Vehicle collision avoidance method, device, equipment and storage medium |
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| CN111508274A (en) * | 2020-03-17 | 2020-08-07 | 东软集团股份有限公司 | Collision early warning method, device and equipment |
| CN111477003A (en) * | 2020-04-13 | 2020-07-31 | 联陆智能交通科技(上海)有限公司 | Calculation method and system for acquiring time of collision with weak traffic and medium |
| CN112509314A (en) * | 2020-10-23 | 2021-03-16 | 东风汽车集团有限公司 | Intersection vehicle speed guiding method and device |
| CN112509314B (en) * | 2020-10-23 | 2022-04-01 | 东风汽车集团有限公司 | Intersection vehicle speed guiding method and device |
| CN112509319A (en) * | 2020-11-12 | 2021-03-16 | 东风汽车集团有限公司 | Vehicle collision analysis method, device, equipment and readable storage medium |
| CN114999220A (en) * | 2021-03-02 | 2022-09-02 | 深圳联友科技有限公司 | Conversion method and device for relative motion of vehicle |
| CN113628477A (en) * | 2021-08-20 | 2021-11-09 | 东风汽车集团股份有限公司 | Crossroad left turn early warning anti-collision method based on V2X |
| CN113838307A (en) * | 2021-09-22 | 2021-12-24 | 中国重汽集团济南动力有限公司 | Vehicle intersection collision early warning system and method |
| CN113954746A (en) * | 2021-10-28 | 2022-01-21 | 联陆智能交通科技(上海)有限公司 | Blind area early warning processing method and system based on V2X technology |
| CN114155732A (en) * | 2021-12-28 | 2022-03-08 | 东风汽车有限公司东风日产乘用车公司 | Vehicle surrounding obstacle monitoring method, electronic device, and storage medium |
| CN115100905A (en) * | 2022-06-23 | 2022-09-23 | 中国第一汽车股份有限公司 | Vehicle collision early warning method and device, vehicle and storage medium |
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