CN109413572A - Vehicle collision prewarning and the optimization method and system of speed guidance - Google Patents
Vehicle collision prewarning and the optimization method and system of speed guidance Download PDFInfo
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- CN109413572A CN109413572A CN201811281432.9A CN201811281432A CN109413572A CN 109413572 A CN109413572 A CN 109413572A CN 201811281432 A CN201811281432 A CN 201811281432A CN 109413572 A CN109413572 A CN 109413572A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- 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
- G08G1/0125—Traffic data processing
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- 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
-
- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention discloses the optimization methods that a kind of vehicle collision prewarning and speed guide, including main vehicle to obtain each target carriage signal in setting range, forms echo signal list according to acquisition time；The operating status of main vehicle vehicle is obtained in real time, and using the main vehicle driving trace of method optimizing and driving status of GPS and DR integrated navigation；Using the filtered driving status amount of main vehicle, present road curvature is estimated and optimized；Relative positional relationship is calculated using main vehicle and target carriage, the judgement of opposite lane, driving direction, orientation is carried out in conjunction with road curvature；Classify to echo signal, if target is vehicle, does based on trajectory predictions, carry out anti-collision warning by calculating collision time and collision distance；If target is roadside unit, corresponding roadside unit prompting and speed guidance are done；Obtain the warning information list of echo signal.There is good auxiliaring effect to automatic Pilot using the technical solution, more accurate warning information is provided, reduces and drives risk.
Description
Technical field
The present invention relates to intelligent transportation field, in particular to the optimization method of a kind of vehicle collision prewarning and speed guidance
And system.
Background technique
Vehicle drive assist system can targetedly carry out auxiliary and pre- especially in the intersection of traffic complex
It is alert, traffic efficiency can be effectively improved, the generation to avoid traffic accident.At present vehicle drive assist system be mostly based on camera,
The sensing datas such as radar calculate the motion profile and driving status of target, to carry out anti-collision warning and speed guidance.
At present existing vehicle collision prewarning system exist can early warning range it is relatively narrow, destination number is restricted, and early warning
The problems such as scene is single, larger to the restrictive condition of road, is influenced by weather；And warning algorithm be based only on mostly it is instantaneous
Body information, the rare use to historical track point, causes precision not high, and vehicle movement model be mostly based on uniform velocity, etc.
Course model is only applicable to the early warning of short distance, short time.
Summary of the invention
A kind of optimization method for being designed to provide vehicle collision prewarning and speed guidance of the embodiment of the present invention and it is
System has good auxiliaring effect to automatic Pilot, provides more accurate warning information, reduces and drive risk.
A kind of vehicle collision prewarning provided in an embodiment of the present invention and the optimization method of speed guidance, comprising:
Main vehicle obtains each target carriage signal in setting range, forms echo signal list according to acquisition time；
The operating status of main vehicle vehicle is obtained in real time, and rail is travelled using the main vehicle of the method optimizing of GPS and DR integrated navigation
Mark and driving status；
Using the filtered driving status amount of main vehicle, present road curvature is estimated and optimized；
Calculate relative positional relationship using main vehicle and target carriage, in conjunction with road curvature carry out opposite lane, driving direction,
The judgement in orientation；
Classify to echo signal, if target is vehicle, do based on trajectory predictions, by calculate collision time and
Collision distance carries out anti-collision warning；If target is roadside unit, corresponding roadside unit prompting and speed guidance are done；?
The warning information list of echo signal out.
Optionally, the acquisition methods of the road curvature include: the history speed and angular speed for storing main vehicle, pass through two
It is secondary smoothly to obtain real-time road curvature, reduce the error of curvature estimation.
Optionally, calculating the relative positional relationship between main vehicle and target carriage includes: to calculate relative rectilinear distance, orientation
Angle, the velocity component of speed and main vehicle and target carriage in an opposite direction.
Optionally, the anti-collision warning includes three kinds of static target carriage, normally travel and emergency braking situations, utilizes boat
Position projectional technique calculates the position of main vehicle Yu target carriage subsequent time, calculating collision distance and collision time, by with setting
Threshold value compares, if exceeding threshold value, issues alarm, and provides collision time and alarm grade.
Optionally, the roadside unit is reminded and speed guidance includes:
If echo signal is roadblock signal, restricting signal, emergency vehicle signal or slow-moving vehicle signal, issue corresponding
Position reminding；
If main vehicle receives the remaining time of traffic light signal and traffic lights, judge that current vehicle straight trip or turning are found out
Corresponding traffic light signal；According to the driving status of main vehicle according to uniformly accelerated motion model calculate by traffic lights need when
Between, and compared with traffic lights remaining time, if cannot be passed through according to current driving status, calculate in remaining time
The interior guidance speed that can pass through traffic lights；Its acceleration and guidance speed if going beyond the scope, must mention within a preset range
It wakes up main vehicle ramp to stop, waits red light to terminate, green light passes through.
In addition, the present invention also provides the optimization systems that a kind of vehicle collision prewarning and speed guide, comprising:
Echo signal acquiring unit is formed for obtaining each target carriage signal in main vehicle setting range according to acquisition time
Echo signal list；
Main vehicle vehicle-state computing unit for obtaining the operating status of main vehicle vehicle in real time, and uses GPS and DR group
Close the main vehicle driving trace of method optimizing and driving status of navigation；
Road curvature computing unit, using the filtered driving status amount of main vehicle, to present road curvature carry out estimation and
Optimization；
Relative position determination unit, for calculating relative positional relationship using main vehicle and target carriage, in conjunction with road curvature into
The judgement of row opposite lane, driving direction, orientation；
Interpretation of result unit, if target is vehicle, does based on trajectory predictions, leads to for classifying to echo signal
It crosses calculating collision time and collision distance carries out anti-collision warning；If target is roadside unit, does corresponding roadside unit and mention
It wakes up and speed guides；
Output unit, for obtaining the warning information list of echo signal.
Optionally, the calculation method of the road curvature includes: to store the history speed and angular speed of main vehicle, passes through two
It is secondary smoothly to obtain real-time road curvature, reduce the error of curvature estimation.
Optionally, the relative position determination unit further includes calculating relative rectilinear distance, azimuth, speed and main vehicle
With the velocity component of target carriage in an opposite direction.
Optionally, the anti-collision warning includes three kinds of static target carriage, normally travel and emergency braking situations, utilizes boat
Position projectional technique calculates the position of main vehicle Yu target carriage subsequent time, calculating collision distance and collision time, by with setting
Threshold value compares, if exceeding threshold value, issues alarm, and provides collision time and alarm grade.
Optionally, the roadside unit is reminded and speed guidance includes:
If echo signal is roadblock signal, restricting signal, emergency vehicle signal or slow-moving vehicle signal, issue corresponding
Position reminding；
If main vehicle receives the remaining time of traffic light signal and traffic lights, judge that current vehicle straight trip or turning are found out
Corresponding traffic light signal；According to the driving status of main vehicle according to uniformly accelerated motion model calculate by traffic lights need when
Between, and compared with traffic lights remaining time, if cannot be passed through according to current driving status, calculate in remaining time
The interior guidance speed that can pass through traffic lights；Its acceleration and guidance speed if going beyond the scope, must mention within a preset range
It wakes up main vehicle ramp to stop, waits red light to terminate, green light passes through.
Therefore using the present embodiment technical solution, since remote more mesh can be obtained in real time using V2X technology
Information, the not limitation vulnerable to ambient enviroment, destination number and type are marked, and communication distance is longer, had to automatic Pilot fine
Auxiliaring effect, more accurate warning information is provided, reduces and drives risk.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without any creative labor,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the method flow diagram of a kind of vehicle collision prewarning provided by the invention and speed guidance；
Fig. 2 is a kind of trajectory predictions of main vehicle provided by the invention and filtering estimation method flow chart；
Fig. 3 is a kind of road curvature estimation method flow chart provided by the invention；
Fig. 4 is that a kind of relative position provided by the invention calculates and judgment method flow chart；
Fig. 5 is a kind of anti-collision warning flow chart provided by the invention；
Fig. 6 is a kind of roadside unit prompting provided by the invention and speed boot flow figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment:
V2X (vehicle to anything) technology is emerging vehicle-mounted physical layer communication technology, is led by integrating GPS
Boat technology, V2X technology, wireless communication and long-range induction technology etc., obtain a systems such as real-time road, road information, pedestrian information
Column traffic information.V2X includes V2V (Che-vehicle), V2I (vehicle-infrastructure), V2P (vehicle-pedestrian) and V2N/V2C (vehicle-net
Network/cloud platform).Its transmission range is up to 300m or more, transmission frequency 50HZ；Strong real-time improves message handling ability
And efficiency, and compensate for the disadvantage that the sensors such as camera and radar are easily affected by environment, larger using limitation.
Using V2X technology, set forth herein a kind of methods that vehicle collision prewarning and speed guide, and can obtain mesh in real time
Motion state is marked, is guided simultaneously for potential dangerous progress early warning and speed.It is communicated using V2X, realizes touching between vehicle vehicle
Hit the speed guidance between early warning and vehicle and signal lamp.
The present embodiment provides the optimization methods that a kind of vehicle collision prewarning and speed guide, as shown in Figure 1, comprising:
Main vehicle obtains each target carriage signal in setting range by V2X technology, forms echo signal column according to acquisition time
Table.
The operating status of main vehicle vehicle is obtained in real time, and rail is travelled using the main vehicle of the method optimizing of GPS and DR integrated navigation
Mark and driving status；Main vehicle obtains real-time vehicle-state by GPS, can bus signals of itself, calculated by track and
Combined filter obtains current accurate state of motion of vehicle, realizes the prediction optimization of track.
Using the filtered driving status amount of main vehicle, present road curvature is estimated and optimized；
Calculate relative positional relationship using main vehicle and target carriage, in conjunction with road curvature carry out opposite lane, driving direction,
The judgement in orientation；According to information such as the position of main vehicle and echo signal, courses, the opposite position between main vehicle and target carriage is calculated
Relationship is set, is optimized before road according to curvature to the calculating of distance and the judgement of lane relative positional relationship；
Classify to echo signal, distinguish vehicle and roadside unit, be correspondingly processed according to different target categories,
If target is vehicle, do based on trajectory predictions, carries out anti-collision warning, such as forward direction by calculating collision time and collision distance
Collision, intersection-type collision, side collision etc.；If target is roadside unit, does corresponding roadside unit prompting and speed is drawn
It leads；The warning information list for obtaining echo signal optimizes output listing according to scene early warning priority.As roadblock is reminded, traffic
Accident is reminded, traffic light reminding and speed guide, according to the information after above-mentioned optimization, based on uniform acceleration model and most greatly
The setting of deceleration threshold calculates the guidance speed for passing through crossroad；Optimization algorithm reduces the repetition meter of echo signal
It calculates.
The warning information list that echo signal is obtained for different echo signals optimizes defeated according to the priority of setting
List out, mitigates the complexity of alarm, and vehicle assisted system makes corresponding alarm.
Each step concrete methods of realizing is as follows:
The trajectory predictions and filtering estimation of main vehicle, as shown in Figure 2:
Main vehicle saves the historical trajectory data in certain time, is believed using position of the dead reckoning algorithm to subsequent time
Breath is estimated, and the historical data in the real-time update period；
The trajectory error being calculated based on sensing data is larger, by integrated navigation filtering method, carries out to track
Optimization, obtains revised driving trace, meanwhile, current time accurate travel condition of vehicle is obtained, such as speed, angle
Speed, acceleration etc..
Road curvature estimation, as shown in Figure 3:
Due to not having road image and electronic map information, the lane information of present road can not be obtained in real time, so needing
Road curvature is obtained to judge the lane relationship between main vehicle and target carriage.Road curvature acquisition methods referred to herein
It is the history speed and turning velocity information for storing main vehicle, after carrying out smothing filtering to it, calculates the road curvature at per moment,
The road curvature at current time is smoothly obtained by secondary again.
Relative position calculates and judgement, as shown in Figure 4:
Relative position between main vehicle and target calculates, and using vector correlation, calculates the opposite position between main vehicle and target
It sets, the azimuth of the relative velocity on relative position and its component, target relative to main vehicle etc..
X=(x_r-x_h) * sind (theta_h)+(y_r-y_h) * cosd (theta_h)；
Y=- (x_r-x_h) * cosd (theta_h)+(y_r-y_h) * sind (theta_h)；
Dtheta=theta_r-theta_h；
Vx=(v_r*cosd (dtheta)-v_h)；
Vy=-v_r*sind (dtheta)；
Distance=sqrt ((x_r-x_h) * (x_r-x_h)+(y_r-y_h) * (y_r-y_h))；
Fai=atan2d (y, x)；
Dv=vx*cosd (fai)+vy*sind (fai)；
Dv_h=v_h*cosd (fai)；
Dv_r=v_r*cosd (dtheta) * cosd (fai)-v_r*sind (dtheta) * sind (fai)；
In formula, x_h, y_h, theta_h, v_h respectively indicate the east orientation position, north orientation position, course angle, traveling of main vehicle
Speed, x_r, y_r, theta_r, v_r respectively indicate the east orientation position, north orientation position, course angle, travel speed of target, x, y
Indicate location components of the target relative to main vehicle, vx, vy indicate that velocity component of the target relative to main vehicle, dtheta indicate master
The course angular difference of vehicle and target, distance indicate the relative distance between target and main vehicle, and fai indicates the relatively main vehicle of target
Azimuth, dv indicates that target and the relative velocity of main vehicle straight line in the straight direction, dv_h indicate main vehicle on the direction dv
Component, dv_r indicate component of the target on dv.
Anti-collision warning, as shown in Figure 5:
Partial objectives for vehicle is static, three kinds of situations of normally travel and emergency braking, and dead reckoning method is utilized to calculate main vehicle and mesh
The position of vehicle subsequent time is marked, collision distance DTC and collision time TTC is calculated, by compared with the threshold value of setting, if
Beyond threshold value, then alarm is issued, and provide collision time.
Roadside unit is reminded and speed guidance, as shown in Figure 6:
If echo signal is roadblock signal, restricting signal, emergency vehicle signal or slow-moving vehicle signal, issue corresponding
Position reminding, especially when intersection receives traffic light signal, provide speed guidance, shorten down time, so as to
Enough reduce the stopping state of intersection.
If main vehicle receives the remaining time of traffic light signal and traffic lights, judge that current vehicle straight trip or turning are found out
Corresponding traffic light signal；According to the driving status of main vehicle according to uniformly accelerated motion model calculate by traffic lights need when
Between, and compared with traffic lights remaining time, if cannot be passed through according to current driving status, calculate in remaining time
The interior guidance speed that can pass through traffic lights；Its acceleration and guidance speed if going beyond the scope, must mention within a preset range
It wakes up main vehicle ramp to stop, waits red light to terminate, green light passes through.
The present invention is based on v2x communications to realize, the not limitation vulnerable to ambient enviroment, destination number and type, and communication distance
It is longer, there is good auxiliaring effect to automatic Pilot, more accurate warning information is provided, reduce and drive risk.
In addition the present invention also provides the optimization systems that a kind of vehicle collision prewarning and speed guide, comprising:
Echo signal acquiring unit obtains each target carriage signal in setting range by V2X technology for main vehicle, according to
Acquisition time forms echo signal list.
Main vehicle vehicle-state computing unit for obtaining the operating status of main vehicle vehicle in real time, and uses GPS and DR group
Close the main vehicle driving trace of method optimizing and driving status of navigation；Main vehicle is obtained real-time by GPS, can bus signals of itself
Vehicle-state, calculated by track and combined filter obtain current accurate state of motion of vehicle, realize that the prediction of track is excellent
Change.
Road curvature computing unit, using the filtered driving status amount of main vehicle, to present road curvature carry out estimation and
Optimization；
Relative position determination unit, for calculating relative positional relationship using main vehicle and target carriage, in conjunction with road curvature into
The judgement of row opposite lane, driving direction, orientation；According to information such as the position of main vehicle and echo signal, courses, main vehicle is calculated
Relative positional relationship between target carriage optimizes calculating from road to distance and lane relative position before according to curvature
The judgement of relationship；
Interpretation of result unit distinguishes vehicle and roadside unit, according to different targets for classifying to echo signal
Classification is correspondingly processed, if target is vehicle, does based on trajectory predictions, by calculate collision time and collision distance into
Row anti-collision warning, such as forward direction collision, intersection-type collision, side collision；If target is roadside unit, corresponding road is done
Side unit is reminded and speed guidance；The warning information list for obtaining echo signal optimizes output column according to scene early warning priority
Table.If roadblock prompting, traffic accident prompting, traffic light reminding and speed guide, according to the information after above-mentioned optimization, be based on etc.
The setting of Fast track surgery and maximum acceleration-deceleration threshold value, calculates the guidance speed for passing through crossroad；Optimization algorithm reduces
Echo signal computes repeatedly.
Output unit, it is pre- according to scene for obtaining the warning information list of echo signal for different echo signals
Alert priority optimizes output listing, mitigates the complexity of alarm, vehicle assisted system makes corresponding alarm.
Main vehicle vehicle-state computing unit is used for the operating status for obtaining main vehicle vehicle in real time, as shown in Fig. 2:
Main vehicle saves the historical trajectory data in certain time, is believed using position of the dead reckoning algorithm to subsequent time
Breath is estimated, and the historical data in the real-time update period；
The trajectory error being calculated based on sensing data is larger, by integrated navigation filtering method, carries out to track
Optimization, obtains revised driving trace, meanwhile, current time accurate travel condition of vehicle is obtained, such as speed, angle
Speed, acceleration etc..
Road curvature computing unit is calculated for road curvature, as shown in Figure 3:
Due to not having road image and electronic map information, the lane information of present road can not be obtained in real time, so needing
Road curvature is obtained to judge the lane relationship between main vehicle and target carriage.Road curvature acquisition methods referred to herein
It is the history speed and turning velocity information for storing main vehicle, after carrying out smothing filtering to it, calculates the road curvature at per moment,
The road curvature at current time is smoothly obtained by secondary again.
Relative position determination unit relative position calculates and judgement, as shown in Figure 4:
Relative position between main vehicle and target calculates, and using vector correlation, calculates the opposite position between main vehicle and target
It sets, the azimuth of the relative velocity on relative position and its component, target relative to main vehicle etc..
X=(x_r-x_h) * sind (theta_h)+(y_r-y_h) * cosd (theta_h)；
Y=- (x_r-x_h) * cosd (theta_h)+(y_r-y_h) * sind (theta_h)；
Dtheta=theta_r-theta_h；
Vx=(v_r*cosd (dtheta)-v_h)；
Vy=-v_r*sind (dtheta)；
Distance=sqrt ((x_r-x_h) * (x_r-x_h)+(y_r-y_h) * (y_r-y_h))；
Fai=atan2d (y, x)；
Dv=vx*cosd (fai)+vy*sind (fai)；
Dv_h=v_h*cosd (fai)；
Dv_r=v_r*cosd (dtheta) * cosd (fai)-v_r*sind (dtheta) * sind (fai)；
In formula, x_h, y_h, theta_h, v_h respectively indicate the east orientation position, north orientation position, course angle, traveling of main vehicle
Speed, x_r, y_r, theta_r, v_r respectively indicate the east orientation position, north orientation position, course angle, travel speed of target, x, y
Indicate location components of the target relative to main vehicle, vx, vy indicate that velocity component of the target relative to main vehicle, dtheta indicate master
The course angular difference of vehicle and target, distance indicate the relative distance between target and main vehicle, and fai indicates the relatively main vehicle of target
Azimuth, dv indicates that target and the relative velocity of main vehicle straight line in the straight direction, dv_h indicate main vehicle on the direction dv
Component, dv_r indicate component of the target on dv.
Interpretation of result unit anti-collision warning, as shown in Figure 5:
Partial objectives for vehicle is static, three kinds of situations of normally travel and emergency braking, and dead reckoning method is utilized to calculate main vehicle and mesh
The position of vehicle subsequent time is marked, collision distance DTC and collision time TTC is calculated, by compared with the threshold value of setting, if
Beyond threshold value, then alarm is issued, and provide collision time.
Roadside unit is reminded and speed guidance, as shown in Figure 6:
If echo signal is roadblock signal, restricting signal, emergency vehicle signal or slow-moving vehicle signal, issue corresponding
Position reminding, especially when intersection receives traffic light signal, provide speed guidance, shorten down time, so as to
Enough reduce the stopping state of intersection.
If main vehicle receives the remaining time of traffic light signal and traffic lights, judge that current vehicle straight trip or turning are found out
Corresponding traffic light signal；According to the driving status of main vehicle according to uniformly accelerated motion model calculate by traffic lights need when
Between, and compared with traffic lights remaining time, if cannot be passed through according to current driving status, calculate in remaining time
The interior guidance speed that can pass through traffic lights；Its acceleration and guidance speed if going beyond the scope, must mention within a preset range
It wakes up main vehicle ramp to stop, waits red light to terminate, green light passes through.
The present invention is based on v2x communications to realize, the not limitation vulnerable to ambient enviroment, destination number and type, and communication distance
It is longer, there is good auxiliaring effect to automatic Pilot, more accurate warning information is provided, reduce and drive risk.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of vehicle collision prewarning and the optimization method of speed guidance characterized by comprising
Main vehicle obtains each target carriage signal in setting range, forms echo signal list according to acquisition time；
Obtain the operating status of main vehicle vehicle in real time, and using the main vehicle driving trace of method optimizing of GPS and DR integrated navigation and
Driving status；
Using the filtered driving status amount of main vehicle, present road curvature is estimated and optimized；
Using main vehicle and target carriage relative positional relationship is calculated, carries out opposite lane, driving direction, orientation in conjunction with road curvature
Judgement；
Classify to echo signal, if target is vehicle, do based on trajectory predictions, by calculate collision time and collision away from
From progress anti-collision warning；If target is roadside unit, corresponding roadside unit prompting and speed guidance are done；Show that target is believed
Number warning information list, according to scene early warning priority optimize output listing.
2. a kind of vehicle collision prewarning as described in claim 1 and the optimization method of speed guidance, which is characterized in that the road
The acquisition methods of road curvature include: the history speed and angular speed for storing main vehicle, smoothly obtain real-time road song by secondary
Rate reduces the error of curvature estimation.
3. a kind of vehicle collision prewarning as described in claim 1 and the optimization method of speed guidance, which is characterized in that calculate master
Relative positional relationship between vehicle and target carriage includes: that calculating relative rectilinear distance, azimuth, speed and main vehicle and target carriage exist
Velocity component in relative direction.
4. a kind of vehicle collision prewarning as described in claim 1 and the optimization method of speed guidance, which is characterized in that described to touch
Hitting early warning includes three kinds of static target carriage, normally travel and emergency braking situations, calculates main vehicle and mesh using dead reckoning method
The position of vehicle subsequent time is marked, collision distance and collision time are calculated, by compared with the threshold value of setting, if exceeding threshold
Value, then issue alarm, and provides collision time and alarm grade.
5. a kind of vehicle collision prewarning as described in claim 1 and the optimization method of speed guidance, which is characterized in that the road
Side unit is reminded and speed guidance includes:
If echo signal is roadblock signal, restricting signal, emergency vehicle signal or slow-moving vehicle signal, corresponding position is issued
It reminds；
If main vehicle receives the remaining time of traffic light signal and traffic lights, it is corresponding to judge that current vehicle straight trip or turning are found out
Traffic light signal；According to the time that the driving status of main vehicle is needed according to the calculating of uniformly accelerated motion model by traffic lights, and with
The comparison of traffic lights remaining time, if cannot pass through according to current driving status, calculating can pass through within remaining time
The guidance speed of traffic lights；Its acceleration and guidance speed must remind main vehicle to slow down within a preset range, if going beyond the scope
Parking waits red light to terminate, and green light passes through.
6. a kind of vehicle collision prewarning and the optimization system of speed guidance characterized by comprising
Echo signal acquiring unit forms target according to acquisition time for obtaining each target carriage signal in main vehicle setting range
Signal list；
Main vehicle vehicle-state computing unit for obtaining the operating status of main vehicle vehicle in real time, and uses GPS and DR integrated navigation
The main vehicle driving trace of method optimizing and driving status；
Road curvature computing unit is estimated and is optimized to present road curvature using the filtered driving status amount of main vehicle；
Relative position determination unit carries out phase in conjunction with road curvature for calculating relative positional relationship using main vehicle and target carriage
Judgement to lane, driving direction, orientation；
Interpretation of result unit if target is vehicle, does based on trajectory predictions for classifying to echo signal, passes through meter
It calculates collision time and collision distance carries out anti-collision warning；If target is roadside unit, do corresponding roadside unit remind and
Speed guidance；
Output unit optimizes output listing according to scene early warning priority for obtaining the warning information list of echo signal.
7. a kind of vehicle collision prewarning as claimed in claim 6 and the optimization system of speed guidance, which is characterized in that the road
The calculation method of road curvature includes: to store the history speed and angular speed of main vehicle, smoothly obtains real-time road song by secondary
Rate reduces the error of curvature estimation.
8. a kind of vehicle collision prewarning as claimed in claim 6 and the optimization system of speed guidance, which is characterized in that the phase
It further include calculating relative rectilinear distance, azimuth, speed and main vehicle and target carriage in an opposite direction to position determination unit
Velocity component.
9. a kind of vehicle collision prewarning as claimed in claim 6 and the optimization system of speed guidance, which is characterized in that described to touch
Hitting early warning includes three kinds of static target carriage, normally travel and emergency braking situations, calculates main vehicle and mesh using dead reckoning method
The position of vehicle subsequent time is marked, collision distance and collision time are calculated, by compared with the threshold value of setting, if exceeding threshold
Value, then issue alarm, and provides collision time and alarm grade.
10. a kind of vehicle collision prewarning as claimed in claim 6 and the optimization system of speed guidance, which is characterized in that described
Roadside unit is reminded and speed guidance includes:
If echo signal is roadblock signal, restricting signal, emergency vehicle signal or slow-moving vehicle signal, corresponding position is issued
It reminds；
If main vehicle receives the remaining time of traffic light signal and traffic lights, it is corresponding to judge that current vehicle straight trip or turning are found out
Traffic light signal；According to the time that the driving status of main vehicle is needed according to the calculating of uniformly accelerated motion model by traffic lights, and with
The comparison of traffic lights remaining time, if cannot pass through according to current driving status, calculating can pass through within remaining time
The guidance speed of traffic lights；Its acceleration and guidance speed must remind main vehicle to slow down within a preset range, if going beyond the scope
Parking waits red light to terminate, and green light passes through.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811281432.9A CN109413572A (en) | 2018-10-31 | 2018-10-31 | Vehicle collision prewarning and the optimization method and system of speed guidance |
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| CN201811281432.9A CN109413572A (en) | 2018-10-31 | 2018-10-31 | Vehicle collision prewarning and the optimization method and system of speed guidance |
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| CN110083153A (en) * | 2019-04-12 | 2019-08-02 | 杭州飞步科技有限公司 | Vehicle travel route acquisition methods and device |
| CN110148312A (en) * | 2019-04-30 | 2019-08-20 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of anti-collision warning method, apparatus and storage medium based on V2X system |
| CN110400463A (en) * | 2019-07-26 | 2019-11-01 | 合肥工业大学 | A kind of safe driving method for early warning recommended based on best travel speed |
| CN110738871A (en) * | 2019-09-29 | 2020-01-31 | 北京浪潮数据技术有限公司 | prompting method and system |
| CN110764109A (en) * | 2019-10-29 | 2020-02-07 | Oppo广东移动通信有限公司 | Vehicle danger early warning method and related product |
| CN110826464A (en) * | 2019-10-31 | 2020-02-21 | 北京海纳川汽车部件股份有限公司 | Target classification method and device and automobile |
| CN110843772A (en) * | 2019-11-19 | 2020-02-28 | 腾讯科技（深圳）有限公司 | Method, device, equipment and storage medium for judging relative direction of potential collision |
| CN111081067A (en) * | 2019-12-27 | 2020-04-28 | 武汉大学 | Vehicle collision early warning system and method based on IGA-BP neural network under vehicle networking environment |
| CN111126528A (en) * | 2019-12-26 | 2020-05-08 | 成都路行通信息技术有限公司 | Reference label generation method and system and collision label quality evaluation method and system |
| CN111640329A (en) * | 2020-05-28 | 2020-09-08 | 南京市德赛西威汽车电子有限公司 | Vehicle early warning method based on collision model |
| CN111653090A (en) * | 2020-05-08 | 2020-09-11 | 惠州市德赛西威智能交通技术研究院有限公司 | Non-threat vehicle screening method based on V2X |
| CN111932942A (en) * | 2020-08-28 | 2020-11-13 | 英华达（南京）科技有限公司 | Vehicle collision early warning method and device, terminal device and computer readable storage medium |
| CN111986477A (en) * | 2020-08-12 | 2020-11-24 | 南京市德赛西威汽车电子有限公司 | Early warning method for avoiding weak traffic participants based on V2X |
| CN112071072A (en) * | 2020-09-18 | 2020-12-11 | 成都锐美动力科技有限公司 | Vehicle road driving state pre-judgment prompt system |
| CN112218266A (en) * | 2020-08-25 | 2021-01-12 | 南京市德赛西威汽车电子有限公司 | Car following early warning method based on V2X |
| CN112289054A (en) * | 2020-09-29 | 2021-01-29 | 深圳市金溢科技股份有限公司 | Road safety early warning method, OBU, RSU, MEC equipment and system |
| 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 |
| CN112634629A (en) * | 2020-12-22 | 2021-04-09 | 东风汽车集团有限公司 | Intersection vehicle speed guiding method based on V2X |
| CN113261035A (en) * | 2019-12-30 | 2021-08-13 | 华为技术有限公司 | Trajectory prediction method and related equipment |
| CN113421443A (en) * | 2021-06-15 | 2021-09-21 | 东风汽车集团股份有限公司 | V2X-based vehicle intersection guiding method and device |
| CN113658451A (en) * | 2021-07-30 | 2021-11-16 | 三一专用汽车有限责任公司 | Control method and device for vehicle collision early warning, vehicle and readable storage medium |
| CN113660637A (en) * | 2021-08-17 | 2021-11-16 | 安徽江淮汽车集团股份有限公司 | Driving danger condition arbitration method based on vehicle-road cooperative system |
| CN113888902A (en) * | 2021-09-30 | 2022-01-04 | 安徽工业大学 | V2X technology-based loose coupling model for intersection dynamic bus priority feedback control and forward collision early warning |
| CN113963537A (en) * | 2021-10-19 | 2022-01-21 | 东软睿驰汽车技术（上海）有限公司 | Vehicle track prediction method for intersection and related device |
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| CN114913709A (en) * | 2021-02-07 | 2022-08-16 | 广州汽车集团股份有限公司 | Intersection collision early warning method and device based on vehicle-to-vehicle communication and storage medium |
| CN115376343A (en) * | 2022-07-15 | 2022-11-22 | 东风汽车集团股份有限公司 | Vehicle-road cooperative driving early warning method and related equipment |
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| CN116142180A (en) * | 2023-04-14 | 2023-05-23 | 北京裕峻汽车技术研究院有限公司 | Collision risk determination method based on millimeter wave radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110083153A (en) * | 2019-04-12 | 2019-08-02 | 杭州飞步科技有限公司 | Vehicle travel route acquisition methods and device |
| CN110148312A (en) * | 2019-04-30 | 2019-08-20 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of anti-collision warning method, apparatus and storage medium based on V2X system |
| CN110148312B (en) * | 2019-04-30 | 2021-04-16 | 惠州市德赛西威智能交通技术研究院有限公司 | Collision early warning method and device based on V2X system and storage medium |
| CN110400463A (en) * | 2019-07-26 | 2019-11-01 | 合肥工业大学 | A kind of safe driving method for early warning recommended based on best travel speed |
| CN110738871A (en) * | 2019-09-29 | 2020-01-31 | 北京浪潮数据技术有限公司 | prompting method and system |
| CN110764109A (en) * | 2019-10-29 | 2020-02-07 | Oppo广东移动通信有限公司 | Vehicle danger early warning method and related product |
| CN110826464A (en) * | 2019-10-31 | 2020-02-21 | 北京海纳川汽车部件股份有限公司 | Target classification method and device and automobile |
| CN110843772A (en) * | 2019-11-19 | 2020-02-28 | 腾讯科技（深圳）有限公司 | Method, device, equipment and storage medium for judging relative direction of potential collision |
| CN110843772B (en) * | 2019-11-19 | 2022-07-26 | 腾讯科技（深圳）有限公司 | Method, device, equipment and storage medium for judging relative direction of potential collision |
| CN111126528A (en) * | 2019-12-26 | 2020-05-08 | 成都路行通信息技术有限公司 | Reference label generation method and system and collision label quality evaluation method and system |
| CN111126528B (en) * | 2019-12-26 | 2023-04-25 | 成都路行通信息技术有限公司 | Reference tag generation method and system and collision tag quality evaluation method and system |
| CN111081067A (en) * | 2019-12-27 | 2020-04-28 | 武汉大学 | Vehicle collision early warning system and method based on IGA-BP neural network under vehicle networking environment |
| CN111081067B (en) * | 2019-12-27 | 2021-07-20 | 武汉大学 | Vehicle collision early warning system and method based on IGA-BP neural network under vehicle networking environment |
| CN113261035A (en) * | 2019-12-30 | 2021-08-13 | 华为技术有限公司 | Trajectory prediction method and related equipment |
| CN111653090A (en) * | 2020-05-08 | 2020-09-11 | 惠州市德赛西威智能交通技术研究院有限公司 | Non-threat vehicle screening method based on V2X |
| CN111653090B (en) * | 2020-05-08 | 2022-03-22 | 惠州市德赛西威智能交通技术研究院有限公司 | Non-threat vehicle screening method based on V2X |
| CN111640329A (en) * | 2020-05-28 | 2020-09-08 | 南京市德赛西威汽车电子有限公司 | Vehicle early warning method based on collision model |
| CN111986477A (en) * | 2020-08-12 | 2020-11-24 | 南京市德赛西威汽车电子有限公司 | Early warning method for avoiding weak traffic participants based on V2X |
| CN112218266A (en) * | 2020-08-25 | 2021-01-12 | 南京市德赛西威汽车电子有限公司 | Car following early warning method based on V2X |
| CN111932942A (en) * | 2020-08-28 | 2020-11-13 | 英华达（南京）科技有限公司 | Vehicle collision early warning method and device, terminal device and computer readable storage medium |
| CN112071072A (en) * | 2020-09-18 | 2020-12-11 | 成都锐美动力科技有限公司 | Vehicle road driving state pre-judgment prompt system |
| CN112289054A (en) * | 2020-09-29 | 2021-01-29 | 深圳市金溢科技股份有限公司 | Road safety early warning method, OBU, RSU, MEC equipment and system |
| 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 |
| WO2022087879A1 (en) * | 2020-10-28 | 2022-05-05 | 华为技术有限公司 | Method and apparatus for acquiring scene file |
| CN112634629A (en) * | 2020-12-22 | 2021-04-09 | 东风汽车集团有限公司 | Intersection vehicle speed guiding method based on V2X |
| CN114913709A (en) * | 2021-02-07 | 2022-08-16 | 广州汽车集团股份有限公司 | Intersection collision early warning method and device based on vehicle-to-vehicle communication and storage medium |
| CN113421443A (en) * | 2021-06-15 | 2021-09-21 | 东风汽车集团股份有限公司 | V2X-based vehicle intersection guiding method and device |
| WO2023273513A1 (en) * | 2021-06-30 | 2023-01-05 | 中兴通讯股份有限公司 | Early-warning method, electronic device and computer-readable storage medium |
| CN113658451B (en) * | 2021-07-30 | 2022-11-22 | 三一专用汽车有限责任公司 | Vehicle collision early warning control method and device, vehicle and readable storage medium |
| CN113658451A (en) * | 2021-07-30 | 2021-11-16 | 三一专用汽车有限责任公司 | Control method and device for vehicle collision early warning, vehicle and readable storage medium |
| CN113660637A (en) * | 2021-08-17 | 2021-11-16 | 安徽江淮汽车集团股份有限公司 | Driving danger condition arbitration method based on vehicle-road cooperative system |
| CN113660637B (en) * | 2021-08-17 | 2023-08-18 | 安徽江淮汽车集团股份有限公司 | Driving dangerous condition arbitration method based on vehicle-road cooperative system |
| CN113888902A (en) * | 2021-09-30 | 2022-01-04 | 安徽工业大学 | V2X technology-based loose coupling model for intersection dynamic bus priority feedback control and forward collision early warning |
| CN113963537A (en) * | 2021-10-19 | 2022-01-21 | 东软睿驰汽车技术（上海）有限公司 | Vehicle track prediction method for intersection and related device |
| CN114056337A (en) * | 2021-10-29 | 2022-02-18 | 阿里巴巴新加坡控股有限公司 | Vehicle driving behavior prediction method, device and computer program product |
| CN114056337B (en) * | 2021-10-29 | 2023-12-29 | 阿里巴巴新加坡控股有限公司 | Method, device and computer program product for predicting vehicle running behavior |
| CN115376343A (en) * | 2022-07-15 | 2022-11-22 | 东风汽车集团股份有限公司 | Vehicle-road cooperative driving early warning method and related equipment |
| CN115376343B (en) * | 2022-07-15 | 2023-12-19 | 东风汽车集团股份有限公司 | Vehicle-road cooperative driving early warning method and related equipment |
| CN116142180A (en) * | 2023-04-14 | 2023-05-23 | 北京裕峻汽车技术研究院有限公司 | Collision risk determination method based on millimeter wave radar |
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