CN109756867A - A kind of bus or train route collaboration car-mounted terminal application system based on LTE-V - Google Patents
A kind of bus or train route collaboration car-mounted terminal application system based on LTE-V Download PDFInfo
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Abstract
The invention discloses a kind of, and the bus or train route based on LTE-V cooperates with car-mounted terminal application system.In this system, vehicle utilizes the characteristics of low latency of LTE-V communication is with high coverage area, keeps wireless short wave to communicate in real time with other vehicles, roadside device, and cooperate with background server interactive information with bus or train route by 4G network.This vehicle is by receiving the real time status information of other vehicles, the traffic participant real time information of roadside device transmission, it perceives surrounding traffic situation, and judges and analyze the map road relationship, road distance, collision time of this vehicle Yu other traffic participants, traffic sign or event according to this car state information and local lane tracing point cartographic information.The different traffic scenes got are judged according to system, the traffic events for prompting driver different by visualizing and warning information, the safety for strengthening driving simultaneously, improve traffic efficiency.
Description
Technical field
The present invention relates to vehicle networking technical fields, and in particular to a kind of bus or train route collaboration car-mounted terminal application based on LTE-V
System.
Background technique
As the rise of bus or train route coordination technique and Internet of Things/car networking flourish, it is desirable that service eventually vehicle positioning
End can pass through vehicle vehicle, bus or train route information exchange and share, and realize the intelligence between vehicle and infrastructure, between vehicle and vehicle
Collaboration and cooperation, the target for reaching Optimum utilization system resource, improving traffic safety, alleviating traffic congestion.
With the continuous growth of traffic accident and traffic congestion, a large amount of traffic controls and traffic guidance facility are applied to reality
In the road traffic system of border, the data basis operated normally is all types of traffic sensor, but these sensors are adopted
The traffic data of collection often only derive from Floating Car, partial intersection crossing and a small amount of section, compared to for entire city only
It is only local traffic data, these data are often incomplete for traffic control and traffic guidance, cause traffic control
It is tended not in real time effectively with traffic guidance.On the other hand, it is only to rely on Traffic Announcement radio station that vehicle, which obtains traffic information,
The changeable message signs in information broadcast and roadside, these information delays are often larger, and are difficult to driver with global, intuitive
With real-time traffic information, driver's driver behavior response lag is caused；Driver was also difficult to short time and short distance simultaneously
The traffic events of interior generation judge and emergency reaction.
Automobile and field of traffic are the typical field of application of wireless network, and car-mounted terminal becomes a kind of important mobile communication
Terminal.With " Che-vehicle (Vehicle-to-Vehicle, V2V) " and " Che-road (Vehicle-to-Infrastructure,
V2I bus or train route cooperative system (the Cooperative Vehicle and based on information exchange) " is carried out between wireless communication device
Infrastructure System, CVIS), in order to effectively provide information service for car-mounted terminal, realize people, vehicle, road integration
Information reconciliation cooperation, bus or train route cooperative system depend heavily on plurality of wireless networks technology and carry out application deployment.On the other hand, adjoint
The high speed development of various wireless communication techniques and the widespread deployment of wireless network infrastructure, in many communication scenes, no
Superimposition lid of laying equal stress on, such as 3G (3rd-Generation, 3rd generation mobile communication technology) honeycomb largely coexists in the network of same type
Network, WiFi (Wireless Fidelity, adopting wireless fidelity technology) wireless network, DSRC (Dedicated Short Range
Communications, dedicated short-range communication technology), On Satellite-earth Microwave Communication network etc. together form complicated more net environment,
Diversified transfer function is provided for the information interactive process in bus or train route cooperative system between car-mounted terminal and trackside facility.But this
A little wireless communication techniques are not significant in low latency and effect in high coverage area.
Summary of the invention
In view of this, in order to solve the above problem in the prior art, the present invention proposes a kind of bus or train route association based on LTE-V
With car-mounted terminal application system.
The present invention is solved the above problems by following technological means:
A kind of bus or train route collaboration car-mounted terminal application system based on LTE-V, comprising:
This vehicle sensor, for receiving the location data of this vehicle positioning device, the vehicle-state number in vehicle control bus
According to；
This locomotive safety information management module, for collecting location data, vehicle status data, and the positioning number that will be collected into
State-detection is carried out according to the train safety information of, vehicle status data integration cost vehicle, and to the train safety information of this vehicle；
Radio receiving transmitting module, for the train safety information of this vehicle to be reported bus or train route Collaboration Server；
LTE-V transceiver module is directly established LTE-V communication with other vehicles for this system, is established with roadside device
LTE-V communication receives the train safety information of other vehicles transmission, the traffic participant information of roadside device transmission, map letter
Breath, traffic light status information, traffic sign and event information；
Cartographic information management module, for carrying out state-detection and update to the cartographic information received；
Traffic lights information management module, for carrying out state-detection and update to the traffic light status information received；
Remote locomotive safety information management module, the train safety information for sending to other vehicles received carry out state
Detection and update；
Trackside safety information management module, for carrying out state-detection and update to the traffic participant information received；
Mark and event manager module, for traffic sign and event information the progress state-detection received and more
Newly；
Map relevant calculation module, for judging the road of this vehicle Yu other traffic participants according to the cartographic information received
Road relationship, road distance and collision time；
Car-mounted terminal early warning business module, the vehicle peace for detecting the train safety information of this vehicle, other vehicles are sent
Full information, the validity of traffic participant information and cartographic information that roadside device is sent, if in real time effectively, in conjunction with the vehicle of this vehicle
The train safety information that security information, other vehicles are sent, the traffic participant information and cartographic information that roadside device is sent,
By this vehicle and the road relation of all traffic participants, road distance, collision time instantly of calculating, further according to different items
Part judges whether there is corresponding early warning triggering, finally prompts most dangerous early warning to complete the pre- of dynamic traffic event to driver
Alert analysis；
Simultaneously for detecting the train safety information of this vehicle, the traffic light status information that roadside device is sent, traffic sign
It is sent if effective in real time in conjunction with the train safety information, roadside device of this vehicle with the validity of event information, cartographic information
Traffic light status information, traffic sign and event information, cartographic information, by the traffic sign of calculating and event spot with
The road relation and distance in this vehicle place complete the early warning analysis of static traffic event；
Early warning management module, the analysis for being applied according to car-mounted terminal early warning business module early warning, triggering are corresponding
Interface and voice prompting are completed in early warning.
Further, the early warning of dynamic traffic event includes preceding to anti-collision warning, the urgent status early warning of vehicle, emergency vehicle
It reminds, intersection anti-collision warning, auxiliary of turning left, blind area lane change early warning, early warning of inversely overtaking other vehicles, the collision of weak tendency traffic participant is pre-
It is alert.
Further, the early warning of static traffic event includes speed limit early warning, interior label prompt, early warning of making a dash across the red light, green wave
Speed guidance, congestion ahead early warning.
Further, the map relevant calculation module includes:
Lane location unit, for information, remote locomotive safety information, this locomotive safety information according to the map, by Ben Che with it is other
Traffic participant positions on lane, by calculating lane tracing point coordinate distance all in vehicle coordinate and cartographic information,
Nearest tracing point is found out, it is final to determine place lane；
Road relation computing unit, for carrying out road pass after determining this vehicle and traffic participant lane location information
System's judgement；
Road distance computing unit carries out two after the road relation judgement for completing vehicle and other traffic participants
Real road distance between person calculates；
Road Collision time calculation unit, for Ruo Benche and traffic participant all in lane, then road according to the map
Road relationship calculates relative velocity and calculates road collision time by relative velocity and road distance.
Further, road relation includes section relationship, lane relationship, context.
Further, the radio receiving transmitting module is 4G transceiver module.
Compared with prior art, beneficial effects of the present invention include at least:
1, it is perceived different from traditional laser radar/image recognition technology road, the present invention is logical using the LTE-V in workshop
The LTE-V of news, vehicle and roadside device is communicated, and passes through the location information and status information of traffic participants other in communication information
To complete road perception.It is at low cost compared to expensive laser radar；Compared to traditional location algorithm, real-time is higher.
2, simple to install of the present invention, on existing vehicle, only need new clothes with a car-mounted terminal, LTE-V communication apparatus with
GNSS positioning device can access early warning application.Traditional early warning application is needed through multiple laser radars, camera or millimeter
Wave radar is reequiped to whole.
3, this vehicle supports 14 bus or train routes to cooperate with early warning application: forward direction anti-collision warning, emergency braking early warning, abnormal vehicle mention
It wakes up, early warning to lose control of one's vehicle, road hazard prompt, speed limit early warning, interior label prompt, emergency vehicle prompting, intersection collision
Early warning, auxiliary of turning left, blind area lane change early warning, early warning of inversely overtaking other vehicles, early warning of making a dash across the red light, weak tendency traffic participant anti-collision warning are green
The guidance of wave speed, congestion ahead are reminded.While providing guarantee for safe driving, keep traffic more efficient.
4, compared to traditional road sensory perceptual system by camera and laser radar, the present invention by between vehicle,
The LTE-V of vehicle and roadside device communication, can perceive except sighting distance or more remote traffic conditions.
5, the status information of the invention by reporting vehicle to bus or train route Collaboration Server, the real-time prison of energy additional transport state
Control.Supervising platform is by issuing traffic events simultaneously, and vehicle to driver by prompting traffic events early warning to carry out traffic pivot
Knob.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is that the present invention is based on the structural schematic diagrams of the bus or train route of LTE-V collaboration car-mounted terminal application system；
Fig. 2 is that the present invention is based on the network topological diagrams of the bus or train route of LTE-V collaboration car-mounted terminal application system；
Fig. 3 is the structural schematic diagram of cartographic information of the present invention；
Fig. 4 is the structural schematic diagram of train safety information of the present invention；
Fig. 5 is the structural schematic diagram of traffic light status information of the present invention；
Fig. 6 is the structural schematic diagram of traffic participant information of the present invention；
Fig. 7 is the structural schematic diagram of traffic sign and event information of the present invention；
Fig. 8 is the flow chart of lane location of the present invention；
Fig. 9 is the flow chart that section relationship calculates in road relation of the present invention；
Figure 10 is the flow chart that lane relationship calculates in road relation of the present invention；
Figure 11 is the flow chart that context calculates in road relation of the present invention；
Figure 12 is the flow chart that intersection relationship calculates in road relation of the present invention；
Figure 13 is the flow chart that road distance of the present invention calculates；
Figure 14 is the flow chart of road Collision time calculation of the present invention；
Figure 15 is the flow chart of traffic dynamic information early warning detection application of the present invention；
Figure 16 is traffic static information early warning of the present invention using the flow chart with analysis method；
Figure 17 is that the flow chart guided with wave speed green in analysis method is applied in traffic static information early warning of the present invention；
Figure 18 is traffic static information early warning of the present invention using the flow chart with early warning of making a dash across the red light in analysis method.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with attached drawing and specifically
Embodiment technical solution of the present invention is described in detail.It should be pointed out that described embodiment is only this hair
Bright a part of the embodiment, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram that car-mounted terminal application system is cooperateed with based on LTE-V bus or train route.This system is by receiving this vehicle
Vehicle status data in the location data of positioning system, vehicle control bus, integrates train safety information (the vehicle shape of this vehicle
State information), and train safety information is reported into bus or train route Collaboration Server.Meanwhile this system directly establishes LTE-V with other vehicles
Communication establishes LTE-V communication with roadside device, and the road for completing this vehicle and other traffic participants by road location Calculation is fixed
Position judges eventually by the map road relationship of Ben Che and other traffic participants, completes the analysis of early warning application, and triggering is corresponding
Interface and voice prompting are completed in early warning.
Wherein this system receives the vehicle of other vehicles transmission by keeping LTE-V communication with other vehicles, roadside device
Security information, the traffic participant information and cartographic information that roadside device is sent, and dynamic traffic thing is completed using these information
The early warning analysis of part.Early warning includes: preceding to anti-collision warning, the urgent status early warning of vehicle, emergency vehicle prompting, intersection collision
Early warning, auxiliary of turning left, blind area lane change early warning, early warning of inversely overtaking other vehicles, weak tendency traffic participant anti-collision warning.
This system also receives traffic light status information, traffic sign and the event information of roadside device transmission simultaneously, and makes
The early warning analysis of static traffic event is completed with these information.Early warning includes: speed limit early warning, and interior label prompt is made a dash across the red light pre-
It is alert, green wave speed guidance, congestion ahead early warning.
1, system structure and network topology
Fig. 2 describes the network topology of bus or train route collaboration car-mounted terminal application system:
In bus or train route synergistic application system, the network connection between Ben Che and roadside device, between Ben Che and other vehicles
Network connection is all to be wirelessly communicated to realize by LTE-V.It is wherein communicated by LTE-V, this system can this vehicle of radio broadcasting safety letter
Breath receives the train safety information that other vehicles are sent, and receives other traffic participant information, map letter that roadside device is sent
Breath, traffic light status information, traffic sign and event information.Meanwhile bus or train route collaboration car-mounted terminal application system is also by 4G net
Network is communicated with bus or train route Collaboration Server, real-time report this vehicle information.It is real-time that bus or train route cooperates with car-mounted terminal application system to pass through
Remote vehicle information, this vehicle information, traffic light status information, traffic sign and event information, cartographic information, complete different bus or train routes
Cooperate with early warning application.
System obtains car status information (such as car light, brake system, speed) by CAN controller, fixed by difference
Position equipment obtains the location information of this vehicle, these information will be used as the early warning analysis of this vehicle, and simultaneity factor passes through LTE-V network
This vehicle information is sent to other vehicles.
2, LTE-V interaction data is described in detail
It illustrates between vehicle below, the structure of interaction data and define explanation between vehicle and roadside device.
2.1, cartographic information
Structure and definition explanation
In this system, cartographic information be used for lane location of the auxiliary judgment traffic participant in map, it is vehicle-mounted in ground
Figure information is obtained by roadside device by LTE-V Web broadcast, and cartographic information is defined as follows description.As shown in figure 3, map is believed
In breath, road section information and lane information are contained.Two of them ordered nodes define an oriented section, and node can be one section
The starting point on road or crossing.Include the coordinate and id information of upstream node and this node in road section information, node can be passed through
Upstream-downstream relationship judge the order of connection in section.Meanwhile road section information contains section title, speed limit, width, section rail
Mark point information, lane information list.Section tracing point information describes the road by defining a series of orderly coordinate points information
The track and direction of section, can pass through this position of Information locating vehicle in section.Lane information list in road section information is fixed
The justice lane information in all lanes in the section.Orderly lane ID (from left to right), carriageway type are contained in lane information (such as
Bus zone, cycle track etc.), lane end allow direction information (keep straight on, turn left, turning around), lane speed-limiting messages, vehicle
Road tracing point information, lane connection attribute.Wherein the section for the downstream road section that the lane is connected is contained in the connection attribute of lane
Point information, the id information in the lane being attached thereto, the direction information and the corresponding traffic lights phase of lane end node of tie point
Position ID.
Section and lane tracing point are recorded
Map tracing point is travelled on road by real vehicle and acquires real-time GNSS data and obtained, it is desirable that tracing point spacing is small
GNSS error distance is added in the half of lane width, so as to lane location differentiation.It is after obtaining initial trace point data, its is whole
Reason is the format that the above cartographic information requires and uploads bus or train route Collaboration Server, or is directly stored in roadside device.
2.2, train safety information
Structure and definition explanation
This vehicle informs surrounding vehicles, the real time status information of this vehicle by LTE-V Web broadcast train safety information.This
Vehicle knows the state of other vehicles also by the information is received.Vehicle dynamic of the train safety information of surrounding vehicles broadcast at this
Play the role of assistant analysis in information early warning application.Fig. 4 describes the definition and structure of train safety information.Wherein position
Information, direction angle information are obtained by the GNSS positioning device of this vehicle, and other car status informations are controlled from the CAN of this vehicle
(state of such as brake system, car light state) is obtained in device.Vehicle license, size are obtained by preset configuration documentation.Vehicle
Location information in security information supports lane location of the vehicle in cartographic information, and deflection and turn signal Informational support are pre-
Lane change behavior of the measuring car on the steering behavior at crossing, section.Historical track point is used to judge the radius of curvature of current vehicle,
It is responsible for the foundation of equation of locus in the Collision time calculation of non-rice habitats, is handed over for judging whether with other traffic participant tracks
Fork.
2.3, traffic light status information
Structure definition and explanation
Roadside device is by informing multiple traffic lights near surrounding vehicles in LTE-V Web broadcast traffic light status information
State, applied to static information early warning application in green wave speed guidance and early warning of making a dash across the red light.Fig. 5 is traffic light status letter
The definition and structure of breath.Wherein all traffic lights are all and on the junction node in cartographic information, the traffic of out of phase ID
The corresponding one or more different lanes of lamp.Information (light color at the time of different traffic lights will report oneself all light color state
Include green light, amber light, Huang sudden strain of a muscle etc.).
Car-mounted terminal searches this lane end road by cartographic information when carrying out the traffic lights related application of vehicle-subgrade system
The traffic lights phase ID of mouth node.The traffic lights of the phase of the node is found by traffic light status information again, and obtains phase
Information at the time of off status.
2.4, traffic participant information
Structure definition and explanation
Fig. 6 is traffic participant information structure diagram, and vehicle is by receiving roadside device in the traffic person of LTE-V Web broadcast
Participation information learns other traffic participant information.So that vehicle is perceived not only by the security information between vehicle
The vehicle of surrounding can also perceive the environment of surrounding by the traffic participant information that roadside device is broadcasted.Vehicle can not be straight
When connecing other vehicles in succession, the state of other vehicles or pedestrians can be known by receiving traffic participant information.Traffic person
Participation information is applied to multidate information early warning applied analysis.
Roadside device identifies traffic participant by camera, then identifies depth information by millimetre-wave radar.Wherein " ginseng
With person's type " it is divided into motor vehicles, non power driven vehicle, pedestrian；" participant's data source " can be, millimetre-wave radar, monitoring
Screen, LTE-V network, information can also be from the oneself state information that traffic participant is broadcasted by LTE-V communication apparatus.
2.5, traffic sign and event information
Structure definition and explanation
Fig. 7 be traffic sign and event information structure chart, vehicle by receive roadside device send traffic sign with
Event information knows the existing mark of surrounding traffic or event type, the scene of event, sphere of action.Applied to static state
Information early warning analysis.Wherein traffic sign type includes GB 5768 " road signs and graticule part 2: road traffic
Mark " defined in all type of sign.Mobile unit distinguishes different marks by " indicating and event type ID ".It is vehicle-mounted
The flag information that system is sent by roadside device is initiated traffic sign to driver when driver will pass by mark and is mentioned
It wakes up.
" indicating and event type ID " is also used as distinguishing different traffic events, includes Dangerous Area, congestion road
Section, etc. customized traffic events.If customized traffic events, then event type need to be described in " verbal description ", such as
" road surface ahead is wet and slippery " etc..In vehicle-mounted prompt application, multiple marks or event if same place has been set out, vehicular applications will
The prepreerence mark of driver or event are prompted according to " priority level ".
3, map calculation method
The early warning analysis of car-mounted terminal need to judge the road relation of this vehicle and other traffic participants, road distance, with
Collision time.Firstly, will information, remote locomotive safety information, this locomotive safety information according to the map, by Ben Che and other traffic participants
It is positioned on lane.
3.1, lane location
In lane location, by calculating lane tracing point coordinate distance all in vehicle coordinate and cartographic information, find out
Nearest tracing point, it is final to determine place lane.Location Calculation also judges vehicle in the steering behavior at next crossing simultaneously.It is complete
After calculating, the tracing point information, lane tracing point information, upstream and downstream nodal information, vehicle intersection steering in positioning section are saved
Information.Flow chart is as shown in Figure 8.
3.2, road relation judges
After determining this vehicle and traffic participant lane location information, road relation judgement can be carried out.Road relation packet
Include section relationship, lane relationship, context.The result of road relation judgement will be applied to road distance calculating and collision time
It calculates.Road relation below is used to define the road of this vehicle and other traffic participants (vehicle, pedestrian) between the two and closes
System.
3.2.1, section relationship
The section relationship of two different traffic participants has same road segment relationship, connected upstream section relationship, is connected
Downstream road section relationship, adjacent reverse section relationship, distant place section relationship.Ruo Benche and section locating for other traffic participants
Upstream and downstream nodal information it is identical, then be same road segment.The downstream node in section locating for Ruo Benche and other traffic participant institutes
The upstream node for locating section is identical, and this vehicle upstream node is different from downstream node, then this vehicle belongs to other traffic participants
Connected downstream road section relationship.The downstream in section locating for the upstream node in section locating for Ruo Benche and other traffic participants, which is swum, to be saved
Point is identical, and this vehicle downstream node is different from upstream node, then this vehicle belongs to the upstream section being connected with other traffic participants
Relationship.The upstream node in the place section of Ruo Benche is identical as the downstream in section locating for other traffic participants trip node, and this vehicle
Downstream node is identical as the upstream node of other traffic participants, then section relationship is adjacent reverse section.Work as relation above
When being all unsatisfactory for, the section relationship for defining two vehicles is distant place section.Flow chart is as shown in Figure 9.
3.2.2, lane relationship
There are identical lane, connected upstream lane, connected downstream lane, adjacent reverse track, a left side in the relationship of lane
Square adjacent lane, right adjacent lane, distant place lane relationship.Ruo Benche and other traffic participants are same road segment, and locating
Lane ID it is identical, then lane relationship be identical lane.The section relationship of Ruo Benche and other traffic participants is downstream road section,
And all downstream lanes in lane contain the lane where other traffic participants where this vehicle, then lane relationship is to be connected
Downstream lane.The section relationship of Ruo Benche and other traffic participants is upstream section, and lane where other traffic participants
All downstream lanes contain the lane where this vehicle, then lane relationship is connected upstream lane.Ruo Benche and other friendships
Logical participant is same road segment, and lane ID locating for this vehicle differs 1 with the locating lane ID of other traffic participants, then lane is closed
System is left or right adjacent lane.Flow chart is as shown in Figure 10.
3.2.3, context
There are front, rear and undefined relationship in context.When section relationship is same road segment, the road locating for this vehicle
When the serial number of section tracing point is less than the serial number of other traffic participant sections tracing point, other traffic participants are in this Chinese herbaceous peony
Side, on the contrary it is in rear.When section relationship is the downstream road section to connect, other traffic participants are in this front side.It closes in section
When system is the upstream section to connect, other traffic participants are in this Che Houfang.When section relationship is reverse adjacent segments, it incite somebody to action this
The coordinate of vehicle is mapped to point nearest in the section tracing point where other traffic participants, if the section tracing point of the mapping point
Serial number is greater than the section tracing point serial number of other traffic participants, then other traffic participants are in this front side, on the contrary then locate
In rear.Flow chart is as shown in figure 11.
3.2.4, intersection relationship
In the relationship of intersection, it is broadly divided into the relationship of crossing and false relation.In crossing, when vehicle is not come in going the same way
Section, and finally when crossing with the same lane, the crossing relationship of two vehicles is the relationship that crosses.When the driving trace of vehicle is handed at crossing
Difference, and final traveling, when on different sections of highway, the crossing relationship of two vehicles is false relation.Steering according to this vehicle at crossing is believed
Crossing relationship then is finely divided from other vehicles in the different direction informations of crossing different direction, finally judges a distant place by breath
Vehicle will intersect or cross with this vehicle in what orientation at crossing.Flow chart is as shown in figure 12.
3.3, road distance calculates
After the road relation judgement for completing vehicle and other traffic participants, can carry out real road between the two away from
From calculating.Distance is calculated to be obtained by the way that section trajectory coordinates point distance is cumulative --- between two vehicles every two section tracing point away from
From error distance cumulative and plus vehicle and section tracing point.It is closed according to roads Ben Che different from other traffic participants
System and tracing point serial number, the cumulative range of distance are different.Figure 13 is that road distance calculates detailed flow chart signal.Wherein
The section relationship of Ruo Benche and other traffic participants is adjacent reverse section, then the coordinate of this vehicle is mapped to other traffic and joined
With point nearest in the section tracing point where person, then the mapping point is calculated to the distance at other traffic participant section ends, subtract
It goes other traffic participants to the distance at its section end, is just the real road distance of two vehicles.
3.4, road Collision time calculation
Figure 14 is detailed Collision time calculation process.Wherein, Ruo Benche or other traffic participants are away from nearest
Lane too far, then determines that traffic participant or this vehicle are not on lane.Collision time calculation except lane is needed
The trajectory predictions equation of this vehicle and traffic participant is established, whether solves on Future Trajectory with the presence of crosspoint, is calculated if having
Reach the time difference in crosspoint.Ruo Benche and traffic participant are all on lane, then road relation calculates relatively according to the map
Speed calculates road collision time by relative velocity and road distance.
4, traffic dynamic information early warning application and analysis method
Car-mounted terminal can acquire this vehicle information and other traffic participant information in reception LTE-V network, vehicle in real time
Security information, while in multidate information early warning detection application, it can first detect this vehicle information and other traffic participant information
Validity, if in real time effectively, when calculating this vehicle with the road relation of all traffic participants instantly, road distance, collision
Between.Further according to different conditions, corresponding early warning triggering is judged whether there is, most dangerous early warning is finally prompted to driver.Figure
15 flow charts applied for traffic dynamic information early warning detection.
4.1, each information real-time detection
The data interacted in all LTE-V networks all have recorded timestamp when information collection, pass through in early warning business and work as
The time difference of timestamp in ground time and information judge information whether effect property, according to the type of different information, the time difference is big
When a certain threshold values, information is considered as overtime invalid.
4.2, frontal collisions detect
Frontal collisions early warning application refers to that, when this vehicle is on lane, remote vehicle is in same or next connected vehicle
There are risk of collision, frontal collisions early warning, which is applied, issues risk of collision prompt to driver and in map for road, Ruo Benche and remote vehicle
Upper its orientation of mark.Using being equally applicable to bend, the scene that sight is stopped by other vehicles.The condition of triggering needs to meet,
The lane relationship of two vehicles is the lane that identical lane or downstream are connected, and context is judged as that remote vehicle is in this front side, and touches
The time is hit less than safe threshold.
4.3, the urgent state-detection of vehicle
The urgent status early warning of vehicle refers to that this vehicle travels on lane, when front same road segment or connects remote on section
Vehicle has freeed emergency braking unlatching, and double get out of the way opens (or stationary vehicle), and to lose control of one's vehicle when opening of device, Ruo Benche and remote vehicle exist
Risk of collision, or remote vehicle are within the scope of danger early warning, and early warning business can provide corresponding warning information to driver.Triggering
The section relationship that condition needs to meet remote Che Yuben vehicle is identical or next connected section, and context is that remote vehicle is in this Chinese herbaceous peony
Side, and remote vehicle car light state be emergency light open or brake system alarm to lose control of one's vehicle, anti-lock braking system open, brake auxiliary
System is opened.
4.4, emergency vehicle detects
In emergency vehicle prompting function, this vehicle traveling is on lane and the remote vehicle information of real-time reception, when having emergency vehicle (such as
Police car, fire fighting truck, ambulance) when appearing in the section to connect up and down or this section, emergency vehicle reminder application is to driver
The prompt for issuing evacuation emergency vehicle, enables driver to avoid in time.It is necessary to meet following condition for emergency vehicle early warning triggering,
When the section relationship of remote Che Yuben vehicle is that same road segment or upstream and downstream are connected section, and the vehicle fundamental type information of remote vehicle is
Fire fighting truck, redeem vehicle or police car.
4.5, blind area lane change auxiliary
Blind area lane change early warning refers to, in this Che You lane change behavior, if there are other vehicles for the adjacent lane in left and right, and
In the blind area of this vehicle, blind area lane change early warning can remind vehicle left or right blind area to have vehicle, allow the operator in time
Stop lane change.Blind area, lane change auxiliary triggering need to meet following condition, and the lane relationship of remote Che Yuben vehicle is the left side or the right phase
Adjacent lane, context are that remote vehicle is in this front side, and the car light state of this vehicle is that left steering lamp or right turn lamp are opened, remote vehicle
The time for driving to this vehicle blind area is less than the time of the safe lane change of this vehicle or the section distance of two vehicles is less than safe threshold (at remote vehicle
When blind area).
4.6, early warning of inversely overtaking other vehicles detects
Inversely overtake other vehicles in early warning, when this vehicle has the reverse passing behavior of piggybacking, if there are vehicles in reverse track, and with this
Vehicle has risk of collision, and early warning of inversely overtaking other vehicles can give a warning to driver, and driver is reminded to stop reverse passing behavior.It is reverse super
The triggering of vehicle early warning needs to meet following condition, and the lane relationship of remote Che Yuben vehicle is reverse adjacent lane, context is remote
The front of Che Ben vehicle, this vehicle car light state are left-hand rotation lamp opening, and the Encounter Time of two vehicles is less than the time valve overtaken other vehicles safely
Value.
4.7, intersection anti-collision warning detects
Intersection anti-collision warning refers to that this vehicle drives towards crossing, prepares straight trip or turns right, has when on the lane of side direction
There is vehicle, and with this vehicle when crossing may collide danger, driver is reminded to slow down, notices that crossing left or right are come
Vehicle.Intersection anti-collision warning needs to meet, the crossing relationship of Ben Che and remote vehicle be remote vehicle crossing from the left or right with this track
Mark intersects, and two vehicles arrive at the time difference in crosspoint less than safe threshold.
4.8, turn left to assist
In left-hand rotation assistance application, this vehicle drives towards crossing, prepares to turn left, when there is vehicle on opposite lane, and with this Che Lu
Mouth reminds driver to slow down there are when risk of collision, pays attention to carrying out vehicle in front of crossing.Intersection anti-collision warning needs to meet, this
The crossing relationship of Che Yuyuan vehicle is that remote vehicle intersects at crossing from front and this wheel paths, and the time difference in two vehicles arrival crosspoint is small
In safe threshold.
4.9, weak tendency traffic participant collision detection
In weak tendency traffic participant anti-collision warning, this vehicle travels on lane or other positions, has pedestrian's appearance when neighbouring
Nearby, Ruo Benche has the danger of collision pedestrian, and weak tendency traffic participant anti-collision warning is applied to issue to driver and be reminded.In advance
Police needs to meet, and the collision time on the road of pedestrian and vehicle is less than safe threshold or vehicle and pedestrian reaches track cross
The time difference of point is less than safe threshold or pedestrian and is less than safe threshold at a distance from vehicle.
5, traffic static information early warning application and analysis method
As shown in figure 16, car-mounted terminal can acquire this vehicle information in real time and receive the traffic sign and thing of roadside device broadcast
Part information, traffic light status information, while in static early warning detection application, can first detect this vehicle information and traffic marking with
The validity of event.Static information early warning application mainly includes interior label early warning, speed limit early warning, congestion ahead early warning, green wave
Speed indication, early warning of making a dash across the red light.Early warning application preferentially first judges whether to trigger traffic lights related application.According to the sheet of acquisition
Vehicle location information positions on map lane, and further according to the matched traffic lights phase in lane, it is right in traffic lights information list to inquire
The status information for answering traffic lights analyses whether triggering early warning.If not triggering traffic lights early warning, other traffic static state early warning are analyzed
Using.According to the road relation of traffic sign and event spot and this vehicle place, analysis and early warning.
5.1, interior label
Interior label refers to, the roadside sign and event information of the broadcast of this vehicle real-time reception roadside device, when this vehicle travels
Section in front of there are when traffic sign, interior label is applied to driver and prompts logo content.Wherein, traffic sign and this vehicle
Section relationship be same road segment, context be traffic marking in the front of this vehicle.If multiple car label early warning are touched simultaneously
Hair then filters out most urgent mark according to road distance and priority and carries out early warning.
5.2, speed limit early warning
In speed limit warning function, the roadside sign and event information of this vehicle real-time reception roadside device broadcast (include speed limit
Mark), cartographic information (include speed-limiting messages), when travel speed of this vehicle on lane has been more than speed limit, speed limit early warning is answered
Overspeed prompting is issued with to driver.Early warning application can according to the location of this vehicle inquire current road segment on whether speed limit mark
Show there is mark then to judge whether current vehicle speed is greater than maximum speed limit as defined in mark, cartographic information can be inquired if not indicating
In whether have corresponding lane speed limit, then carry out speed judgement.
5.3, congestion ahead prompts
Congestion ahead function refers to that the roadside sign and event information of this vehicle real-time reception roadside device broadcast be not (comprising
With the congestion information in lane), when congestion place is next section to connect, congestion ahead early warning function with the section relationship of this vehicle
It can will be prompted to driver's congestion ahead.Wherein roadside device collects the shape of surrounding traffic participant according to oneself detection method
State information judges the congestion status in lane, if it is detected that congested link, is gathered around by traffic event information to surrounding vehicles broadcast
Stifled place and congestion range.After receiving the congested link information of roadside device, this vehicle can also be marked on map and be gathered around
Stifled section.
5.4, green wave speed guidance
Green wave speed guiding function refers to that this vehicle travels on lane, when the end in the affiliated lane of this vehicle has accordingly
When traffic lights, green wave speed direct application will provide a speed suggestion, and vehicle is enabled not have to the case where slowing down or stopping
Under smoothly pass crossing.The functional flow diagram is as shown in figure 17.
5.5, it makes a dash across the red light early warning
In early warning of making a dash across the red light using inner, the traffic light status information of this vehicle real-time reception roadside device broadcast, when this vehicle
When with the danger for rushing across red light, driver is reminded to slow down.Application scenarios are equally applicable to that sight is blocked or traffic lights will become
Red situation.Specific flow chart is as shown in figure 18.
In bus or train route collaboration car-mounted terminal application system proposed by the present invention based on LTE-V, vehicle utilizes LTE-V communication
It the characteristics of low latency and high coverage area, keeps wireless short wave to communicate in real time with other vehicles, roadside device, and passes through 4G network
Background server interactive information is cooperateed with bus or train route.This vehicle is sent by real time status information, the roadside device of the other vehicles of reception
Traffic participant real time information, to perceive surrounding traffic situation, and according to this car state information and local lane tracing point
Cartographic information come judge and analyze the map road relationship of this vehicle and other traffic participants, traffic sign or event, road away from
From, collision time.The different traffic scenes got, the traffic for prompting driver different by visualizing are judged according to system
Event and warning information, the safety for strengthening driving simultaneously, improve traffic efficiency.
The present invention includes preceding to anti-collision warning, emergency braking early warning, abnormal vehicle prompting, to lose control of one's vehicle early warning, road danger
Danger prompt, speed limit early warning, interior label prompt, emergency vehicle are reminded, intersection anti-collision warning, auxiliary of turning left, blind area lane change
Early warning, early warning of inversely overtaking other vehicles, early warning of making a dash across the red light, weak tendency traffic participant anti-collision warning, green wave speed guidance, congestion ahead mention
It wakes up.In different scenes, car-mounted terminal can trigger early warning in real time, and prompt corresponding warning information to driver, so that
Driver has time enough to take emergency measures, and avoids traffic accident.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (6)
1. a kind of bus or train route based on LTE-V cooperates with car-mounted terminal application system characterized by comprising
This vehicle sensor, for receiving the location data of this vehicle positioning device, the vehicle status data in vehicle control bus；
This locomotive safety information management module, for collecting location data, vehicle status data, and by the location data being collected into,
The train safety information of vehicle status data integration cost vehicle, and state-detection is carried out to the train safety information of this vehicle；
Radio receiving transmitting module, for the train safety information of this vehicle to be reported bus or train route Collaboration Server；
LTE-V transceiver module directly establishes LTE-V communication for this system with other vehicles, and it is logical to establish LTE-V with roadside device
News receive the train safety information of other vehicles transmission, the traffic participant information of roadside device transmission, cartographic information, traffic
Lamp status information, traffic sign and event information；
Cartographic information management module, for carrying out state-detection and update to the cartographic information received；
Traffic lights information management module, for carrying out state-detection and update to the traffic light status information received；
Remote locomotive safety information management module, the train safety information for sending to other vehicles received carry out state-detection
And update；
Trackside safety information management module, for carrying out state-detection and update to the traffic participant information received；
Mark and event manager module, for carrying out state-detection and update to the traffic sign and event information that receive；
Map relevant calculation module, for judging that the road of this vehicle and other traffic participants closes according to the cartographic information received
System, road distance and collision time；
Car-mounted terminal early warning business module, the vehicle safety letter for detecting the train safety information of this vehicle, other vehicles are sent
Breath, the validity of traffic participant information and cartographic information that roadside device is sent, if in real time effectively, pacifying in conjunction with the vehicle of this vehicle
The train safety information that full information, other vehicles are sent, the traffic participant information and cartographic information that roadside device is sent, passes through
This vehicle calculated and the road relation of all traffic participants, road distance, collision time instantly, further according to different conditions,
Corresponding early warning triggering is judged whether there is, is finally divided to the early warning that driver prompts most dangerous early warning to complete dynamic traffic event
Analysis；
Traffic light status information, traffic sign and thing for detecting the train safety information of this vehicle, roadside device is sent simultaneously
Part information, the validity of cartographic information, if in real time effectively, the traffic sent in conjunction with the train safety information of this vehicle, roadside device
Lamp status information, traffic sign and event information, cartographic information pass through the traffic sign of calculating and event spot and this vehicle
The road relation and distance in place complete the early warning analysis of static traffic event；
Early warning management module, the analysis for being applied according to car-mounted terminal early warning business module early warning, triggers corresponding early warning,
Complete interface and voice prompting.
2. the bus or train route according to claim 1 based on LTE-V cooperates with car-mounted terminal application system, which is characterized in that dynamic
The early warning of traffic events includes preceding to anti-collision warning, and the urgent status early warning of vehicle, emergency vehicle prompting, intersection collision is in advance
It is alert, auxiliary of turning left, blind area lane change early warning, early warning of inversely overtaking other vehicles, weak tendency traffic participant anti-collision warning.
3. the bus or train route according to claim 1 based on LTE-V cooperates with car-mounted terminal application system, which is characterized in that static
The early warning of traffic events includes speed limit early warning, interior label prompt, early warning of making a dash across the red light, green wave speed guidance, congestion ahead early warning.
4. the bus or train route according to claim 1 based on LTE-V cooperates with car-mounted terminal application system, which is characterized in that described
Map relevant calculation module includes:
Lane location unit, for information, remote locomotive safety information, this locomotive safety information according to the map, by Ben Che and other traffic
Participant positions on lane, by calculating lane tracing point coordinate distance all in vehicle coordinate and cartographic information, finds out
Nearest tracing point, it is final to determine place lane；
Road relation computing unit is sentenced for after determining this vehicle and traffic participant lane location information, carrying out road relation
It is disconnected；
Road distance computing unit carries out the two after the road relation judgement for completing vehicle and other traffic participants
Between real road distance calculate；
Road Collision time calculation unit, for Ruo Benche and traffic participant all in lane, then road closes according to the map
System calculates relative velocity and calculates road collision time by relative velocity and road distance.
5. the bus or train route according to claim 4 based on LTE-V cooperates with car-mounted terminal application system, which is characterized in that road
Relationship includes section relationship, lane relationship, context.
6. the bus or train route according to claim 1 based on LTE-V cooperates with car-mounted terminal application system, which is characterized in that described
Radio receiving transmitting module is 4G transceiver module.
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