CN110299006A - A kind of vehicle collision alarm method, device and equipment - Google Patents
A kind of vehicle collision alarm method, device and equipment Download PDFInfo
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- CN110299006A CN110299006A CN201910577851.5A CN201910577851A CN110299006A CN 110299006 A CN110299006 A CN 110299006A CN 201910577851 A CN201910577851 A CN 201910577851A CN 110299006 A CN110299006 A CN 110299006A
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
Abstract
The present invention relates to a kind of vehicle collision alarm methods, the described method includes: when apart from the first pre-determined distance of intersection, the first state information of current vehicle, the second status information, the trackside information of intersection of Adjacent vehicles in the second pre-determined distance of current vehicle are obtained；Based on the determining target vehicle with current vehicle with risk of collision of first state information, the second status information and default screening conditions；Determine that current vehicle travels on the first time period of intersection based on first state information and trackside information；The second time period that target vehicle travels on intersection is obtained, second time period is the second status information and the generation of trackside information that target vehicle is obtained based on it；When first time period has Chong Die time point with second time period, the driving status at k-th of moment (k >=1) based on current vehicle before current time executes vehicle collision and explicitly alerts.Implement the present invention, the generation of false-alarm in ICW algorithm can be reduced.
Description
Technical field
The present invention relates to vehicle drive control method, in particular to a kind of vehicle collision alarm method, device and equipment.
Background technique
ICW (Intersection Collision Warning, crossroad collision warning) function is that intelligent network connection is driven
The critical function in system is sailed, carries out speed control mainly for the vehicle moved towards the intersection from different directions, it is ensured that each
Vehicle can avoid collision risk alternately through intersection.The key of ICW algorithm is that main vehicle discovery can across front cross crossing
The remote vehicle that risk of collision can be generated reminds main vehicle to slow down.With the development of V2X function, the communication form of V2V is non-between vehicle
The realization of anti-collision warning function provides possibility in horizon range.After realizing the basic warning function of ICW, false-alarm is prevented
Appearance is equally a very important function.
Currently, the false-alarm of safety warning system in general sense has many relevant research achievements, still, for
17 kinds of scenes of V2X national standard (T/CSAE, the automobile-used communication system applications layer of cooperative intelligent transportation system and apply data interaction
Standard, 53-2017) false-alarm generate specific aim reason do not have substantially.
Summary of the invention
In view of the above problems in the prior art, the purpose of the present invention is to provide a kind of vehicle collision alarm methods, device
And equipment, to reduce the generation of false-alarm in ICW algorithm.
First aspect present invention provides a kind of vehicle collision alarm method, which comprises apart from intersection
When one pre-determined distance, the first state information of current vehicle, the adjacent vehicle in the second pre-determined distance of the current vehicle are obtained
The second status information, the trackside information of the intersection；Based on the first state information, second status information
With the determining target vehicle with the current vehicle with risk of collision of default screening conditions；Based on the first state information and
The trackside information determines that the current vehicle travels on the first time period of intersection；The target vehicle is obtained to travel on
The second time period of the intersection, the second time period are second state that the target vehicle is obtained based on it
Information and the trackside information generate；When the first time period has Chong Die time point with the second time period, base
Vehicle collision is executed in the driving status at k-th moment (k >=1) of the current vehicle before current time explicitly to alert.
Further, the traveling shape at k-th of moment (k >=1) based on the current vehicle before current time
State execute vehicle collision and explicitly alert include: k-th of moment in the current vehicle before the current time it is static when,
Record warning information simultaneously obtains the current vehicle before current time the history alarm at k time point records information；Work as institute
When stating k time point of the current vehicle before current time and recording warning information, executes vehicle collision and explicitly alert.
Further, the traveling shape at k-th of moment (k >=1) based on the current vehicle before current time
State execute vehicle collision and explicitly alert include: k-th of moment in the current vehicle before the current time when driving,
Vehicle collision is executed explicitly to alert.
Further, the default screening conditions include at least one of following: the current vehicle and the Adjacent vehicles
Course angle angle is in default angular range or the current vehicle and the Adjacent vehicles are travelled to the intersection
Time is all larger than equal to preset time.
Further, described to be determined based on the first state information, second status information and default screening conditions
Target vehicle with the current vehicle with risk of collision includes: to be believed based on the first state information and second state
Breath determines the first pre-selection collision vehicle in the Adjacent vehicles；Determine that first pre-selection is touched based on the default screening conditions
There is in collision with the current vehicle target vehicle of risk of collision.
Further, described to be determined based on the first state information, second status information and default screening conditions
There is the target vehicle of risk of collision with the current vehicle further include: determine the adjacent vehicle based on the default screening conditions
The second pre-selection collision vehicle in；Second pre-selection is determined based on the first state information and second status information
Collide the target vehicle in vehicle with the current vehicle with risk of collision.
Further, the value range of the k is 3 to 5.
Second aspect of the present invention provides a kind of vehicle collision alarm device, and described device includes: data obtaining module, is used for
When apart from the first pre-determined distance of intersection, obtain the first state information of current vehicle, the current vehicle it is second pre-
If the second status information, the trackside information of the intersection of the Adjacent vehicles in distance；Target vehicle confirmation module, is used for
There is collision with the current vehicle based on the first state information, second status information and default screening conditions are determining
The target vehicle of risk；First time period determining module, for being determined based on the first state information and the trackside information
The current vehicle travels on the first time period of intersection；Second time period obtains module, for obtaining the target carriage
Travel on the second time period of the intersection, the second time period is the target vehicle obtained based on it described in
Second status information and the trackside information generate；Execution module is alerted, for when the first time period is with described second
Between section have overlapping time point when, the traveling at k-th of moment (k >=1) based on the current vehicle before current time
State executes vehicle collision and explicitly alerts.
Further, the alarm execution module includes: alarm information record submodule, for existing in the current vehicle
When k-th of moment before the current time is static, warning information is recorded；History alarm acquisition of information submodule, for obtaining
The history alarm record information at take the current vehicle before current time k time point；Implementation sub-module is alerted, for working as
When k time point of the current vehicle before current time records warning information, executes vehicle collision and explicitly alert.
Third aspect present invention provides a kind of vehicle collision alarm equipment characterized by comprising processor and storage
Device is stored at least one instruction, at least a Duan Chengxu, code set or instruction set in the memory, and described at least one refers to
Enable, an at least Duan Chengxu, the code and or instruction set loaded by the processor and executed it is any described to realize
Vehicle collision alarm method.
Due to above-mentioned technical proposal, the invention has the following beneficial effects:
The characteristics of being designed according to ICW algorithm, using the vehicle client information of current vehicle and Adjacent vehicles, will have lower collision
The Adjacent vehicles of possibility exclude, and after ICW algorithmic decision, or progress ICW algorithmic decision, will have lower collision may
Property Adjacent vehicles exclude, reduce false-alarm occur a possibility that；
It is updated not in time for vehicle real time, design relies on the Shandong of the early warning mechanism increase ICW algorithm of historical data
Stick；
Using the trackside information of acquisition, target vehicle selected in current vehicle and Adjacent vehicles is integrated to intersection
Running time screens the Adjacent vehicles with lower collision possibility in advance, and the false-alarm for reducing false-alarm generation occurs
A possibility that.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of structural schematic diagram of vehicle collision warning system provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of vehicle collision alarm method provided in an embodiment of the present invention；
Based on the first state information and described in a kind of Fig. 3 vehicle collision alarm method provided in an embodiment of the present invention
Trackside information determines that the current vehicle travels on the flow diagram of the first time period of intersection；
Fig. 4 is the field that current vehicle enters intersection in a kind of vehicle collision alarm method provided in an embodiment of the present invention
Scape schematic diagram.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that term " first ", " second " etc. in description and claims of this specification and attached drawing
It is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the number used in this way
According to being interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition to illustrating herein or describing
Those of other than sequence implement.In addition, term " includes " and " having " and their any deformation, it is intended that covering is not
Exclusive includes.
Fig. 1 is a kind of structural schematic diagram of vehicle collision warning system provided in an embodiment of the present invention, as shown in Figure 1, institute
Stating vehicle collision prewarning system includes present vehicle information acquisition unit, Adjacent vehicles information acquisition unit, drive test information acquisition
Unit, ICW control unit and alarm unit use between the Adjacent vehicles information acquisition unit and the ICW control unit
V2V communication, is communicated between the drive test information acquisition unit and the ICW control unit using V2I, wherein the drive test letter
Breath acquisition unit defines the standard of test point, and the ICW control unit defines the ICW algorithm based on trackside information.
Vehicle announcement of the invention introduced below hits method for early warning, and Fig. 2 is a kind of vehicle collision provided in an embodiment of the present invention
The flow diagram of alarm method, present description provides the method operating procedures as described in embodiment or flow chart, but are based on
Routine may include more or less operating procedure without creative labor.The step of enumerating in embodiment sequence is only
Only one of numerous step execution sequence mode does not represent and unique executes sequence.It alerts and fills in actual vehicle collision
When setting product execution, can be executed according to embodiment or the execution of method shown in the drawings sequence or parallel (such as place parallel
Manage the environment of device or multiple threads).It is specific as shown in Fig. 2, the method may include:
Step S201: when apart from the first pre-determined distance of intersection, the first state information, described of current vehicle is obtained
The second status information, the trackside information of the intersection of Adjacent vehicles in second pre-determined distance of current vehicle；
In embodiments of the present invention, the first state information includes the location point of the current vehicle, course angle, speed
And acceleration, the first state information can be obtained by present vehicle information acquisition unit；The second status information packet
Location point, the course angle, velocity and acceleration of Adjacent vehicles are included, second status information is by Adjacent vehicles information acquisition unit
It obtains.
The trackside information can be obtained by trackside information acquisition unit, specifically, can refer to national standard document (T/
CSAE, the automobile-used communication system applications layer of cooperative intelligent transportation system and apply Data Exchange Standard, 53-2017), the trackside
It may include the lane at corresponding multiple crossings of the intersection in information into the position of the intersection, for example,
When corresponding four crossings in the intersection, the lane including four crossings enters the intersection in the trackside information
Position.
Step S203: based on the first state information, second status information and the determination of default screening conditions and institute
State the target vehicle that current vehicle has risk of collision；
In embodiments of the present invention, the default screening conditions include at least one of following: the current vehicle with it is described
The course angle angle of Adjacent vehicles is in default angular range or the current vehicle and the Adjacent vehicles are travelled to the friendship
The time of cross road mouth is all larger than equal to preset time.In a specific embodiment, the default angular range is between 0 degree
And between 15 degree or between 165 degree and 195 degree.
In a specific embodiment, described to be based on the first state information, second status information and preset
Screening conditions determine that the target vehicle with the current vehicle with risk of collision may include:
Determine that the first pre-selection in the Adjacent vehicles is touched based on the first state information and second status information
Collision；
It in embodiments of the present invention, can be based on determining the first traveling with the current vehicle of the first state information
Track, then determine based on second status information the second driving trace of the Adjacent vehicles in second estimation range, and
When second driving trace intersects with the first driving track mark, the Adjacent vehicles are determined as first pre-selection and are touched
Collision.
Determine in the first pre-selection collision vehicle that there is collision with the current vehicle based on the default screening conditions
The target vehicle of risk.
In embodiments of the present invention, by the adjacent vehicle with the course angle angle of the current vehicle in default angular range
From it is described first pre-selection collision vehicle in screen out, by it is remaining it is described first pre-selection collision vehicle be determined as with risk of collision
Target vehicle.
It is described based on the first state information, second status information and pre- in another specific embodiment
If the determining target vehicle with the current vehicle with risk of collision of screening conditions can also include:
The second pre-selection collision vehicle in the Adjacent vehicles is determined based on the default screening conditions；
In embodiments of the present invention, by the adjacent vehicle with the course angle angle of the current vehicle in default angular range
It screens out, the remaining Adjacent vehicles is determined as the second pre-selection collision vehicle.
Based on the first state information and second status information determine it is described second pre-selection collision vehicle in institute
State the target vehicle that current vehicle has risk of collision.
It in embodiments of the present invention, can be based on determining the first traveling with the current vehicle of the first state information
Track, then determine that second pre-selection in second estimation range collides the second of vehicle based on second status information
Driving trace, and when second driving trace intersects with the first driving track mark, by the second pre-selection collision vehicle
It is determined as the target vehicle with risk of collision.
Step S205: determine that the current vehicle travels on intersection based on the first state information and the trackside information
The first time period at crossing；
In a specific embodiment, as shown in figure 3, described be based on the first state information and the trackside information
Determine that the current vehicle travels on the first time period of intersection and may include:
Step S301: work as front truck based on the determination of the trackside information, the location point of the current vehicle and course angle is described
Enters the position of the intersection and be driven out to the position of the intersection；
In embodiments of the present invention, the trackside information includes entering the position of the lane line of intersection and being driven out to intersection
The position of the lane line at crossing, as shown in figure 4, the position that the current vehicle enters the intersection is the current vehicle
The dotted line that extends forward of headstock and enter the intersection lane line intersection point A, the current vehicle is driven out to the friendship
The position of cross road mouth is the friendship of dotted line and the lane line for being driven out to the intersection that the headstock of the current vehicle extends forward
Point B, it is clear that based on the trackside information, the location point of the current vehicle and course angle can determine the current vehicle into
Enter the position of the intersection and is driven out to the position of the intersection.
Step S303: location point, antenna based on the current vehicle to the fore-and-aft distance of the tailstock, speed, acceleration, when
The position that preceding time and the current vehicle enter the intersection determines that the current vehicle enters the intersection
Time point；
In embodiments of the present invention, the location point of the current vehicle is determined by the position of the antenna of the current vehicle.
The current vehicle enters the intersection and refers to that the entire vehicle body of the current vehicle just into the intersection, is shown
So, the current vehicle enters the intersection and needs location point that the distance that travels is the current vehicle to described current
The distance that vehicle enters the position of the intersection adds the antenna of the current vehicle to the fore-and-aft distance of the tailstock.Known
The current vehicle enters after the intersection needs the distance that travels, in conjunction with the current vehicle speed and acceleration,
It can determine that the current vehicle enters the time that the intersection needs, and combine current time, can determine described
Current vehicle enters the time point of the intersection.
Step S305: location point, antenna based on the current vehicle to the fore-and-aft distance of the tailstock, speed, acceleration, when
The position that preceding time and the current vehicle are driven out to the intersection determines that the current vehicle is driven out to the intersection
Time point；
In embodiments of the present invention, the current vehicle is driven out to the entire vehicle that the intersection refers to the current vehicle
Body is just driven out to the intersection, it is clear that it is described that the current vehicle, which is driven out to the intersection to need the distance travelled,
The location point of current vehicle to the current vehicle is driven out to the distance of the position of the intersection plus the current vehicle
Antenna to the tailstock fore-and-aft distance.After the distance that the known current vehicle is driven out to that the intersection needs to travel, then tie
The current vehicle speed and acceleration are closed, can determine that the current vehicle is driven out to the time that the intersection needs, with
And current time is combined, it can determine that the current vehicle enters the time point of the intersection.
Step S307: based on the current vehicle enter the crossroad time point and be driven out to the intersection when
Between put the first predicted time section for determining that the current vehicle travels on the intersection.
In embodiments of the present invention, when the time point of the current vehicle into the intersection is the described first prediction
Between section start time point, the time point for being driven out to the intersection be the first predicted time section the termination time
Point.
Step S207: the second time period that the target vehicle travels on the intersection, second time are obtained
Section is second status information and trackside information generation that the target vehicle is obtained based on it；
In embodiments of the present invention, the target vehicle can be calculated using calculation method same as the current vehicle
The second time period.
Step S209: when the first time period has Chong Die time point with the second time period, based on described
The driving status at k-th moment (k >=1) of the current vehicle before current time executes vehicle collision and explicitly alerts.
In vehicle backing, vehicle by static to just accelerating etc. in application scenarios, usually can due to vehicle location, gear,
The real time information such as course angle update causes ICW algorithm to generate erroneous judgement not in time, specific at one in order to reduce unnecessary alarm
Embodiment in, the driving status at k-th of moment (k >=1) based on the current vehicle before current time executes
Vehicle collision explicitly alerts
When k-th moment of the current vehicle before the current time is static, records warning information and obtain
The history alarm at current vehicle k time point before current time records information；
Specifically, the interval between any two adjacent time point before the current time can be according to actual needs
Setting, such as it is set as 0.1s.Waiting time, the k are alerted in order to not extend vehicle excessively while reducing alarm erroneous judgement
Value range be 3 to 5.
When the k time point before the current time of the current vehicle records warning information, vehicle collision is executed
Explicit alarm.
In further embodiments, k-th of moment (k >=1) based on the current vehicle before current time
Driving status execute vehicle collision and explicitly alert and can also include:
When k-th moment (k >=1) of the current vehicle before current time is driving status, executes vehicle and touch
Hit explicit alarm.
The embodiment of the invention also provides a kind of vehicle collision alarm device, described device includes:
Data obtaining module, for obtaining the first state of current vehicle when apart from the first pre-determined distance of intersection
Information, the current vehicle the second pre-determined distance in the second status information of Adjacent vehicles, the intersection trackside
Information；
Target vehicle confirmation module, for based on the first state information, second status information and default screening
The determining target vehicle with the current vehicle with risk of collision of condition；
First time period determining module, it is described current for being determined based on the first state information and the trackside information
Vehicle driving is in the first time period of intersection；
Second time period obtains module, and the second time of the intersection is travelled on for obtaining the target vehicle
Section, the second time period are second status information and trackside information life that the target vehicle is obtained based on it
At；
Execution module is alerted, for when the first time period and the second time period are with Chong Die time point,
The driving status at k-th of moment (k >=1) based on the current vehicle before current time executes vehicle collision and explicitly accuses
It is alert.
In a specific embodiment, the alarm execution module may include:
Alarm information record submodule, for quiet at k-th moment of the current vehicle before the current time
When only, warning information is recorded；
History alarm acquisition of information submodule, for obtaining the current vehicle before current time k time point
History alarm records information；
Implementation sub-module is alerted, records alarm for the k time point before the current time of the current vehicle
When information, executes vehicle collision and explicitly alert.
In further embodiments, the alarm implementation sub-module can be also used for when the current vehicle is described current
K-th of moment before time when driving, executes vehicle collision and explicitly alerts.
The device and the method embodiment of described device embodiment are based on same inventive concept.
The embodiment of the vehicle collision warning system, method, apparatus or the equipment that are provided by aforementioned present invention is as it can be seen that the present invention
The characteristics of embodiment is designed according to ICW algorithm, using the vehicle client information of current vehicle and Adjacent vehicles, will have lower collision can
The Adjacent vehicles of energy property exclude, and after ICW algorithmic decision, or progress ICW algorithmic decision, will have lower collision possibility
Adjacent vehicles exclude, reduce false-alarm occur a possibility that；It is updated not in time for vehicle real time, design relies on history
The early warning mechanism of data increases the robustness of ICW algorithm；Using the trackside information of acquisition, in comprehensive current vehicle and Adjacent vehicles
Selected target vehicle filters out the Adjacent vehicles with lower collision possibility to the running time of intersection in advance
A possibility that coming, reducing the false-alarm generation of false-alarm generation.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For terminal and system embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Claims (10)
1. a kind of vehicle collision alarm method, which is characterized in that the described method includes:
When apart from the first pre-determined distance of intersection, obtain the first state information of current vehicle, the current vehicle
The second status information, the trackside information of the intersection of Adjacent vehicles in two pre-determined distances；
Determine have with the current vehicle based on the first state information, second status information and default screening conditions
The target vehicle of risk of collision；
When determining that the current vehicle travels on the first of intersection based on the first state information and the trackside information
Between section；
The second time period that the target vehicle travels on the intersection is obtained, the second time period is the target carriage
Based on its obtain second status information and the trackside information generate；
When the first time period has Chong Die time point with the second time period, based on the current vehicle current
The driving status at k-th of moment (k >=1) before the time executes vehicle collision and explicitly alerts.
2. a kind of vehicle collision alarm method according to claim 1, which is characterized in that described to be based on the current vehicle
The driving status at k-th of moment (k >=1) before current time executes vehicle collision and explicitly alerts
When k-th moment of the current vehicle before the current time is static, record described in warning information and acquisition
The history alarm at current vehicle k time point before current time records information；
When k time point records warning information to the current vehicle before current time, executes vehicle collision and explicitly accuse
It is alert.
3. a kind of vehicle collision alarm method according to claim 1, which is characterized in that described to be based on the current vehicle
The driving status at k-th of moment (k >=1) before current time executes vehicle collision and explicitly alerts
K-th moment of the current vehicle before the current time when driving, execute vehicle collision explicitly alert.
4. a kind of vehicle collision alarm method according to claim 1, which is characterized in that the default screening conditions are at least
Including one of following:
The course angle angle of the current vehicle and the Adjacent vehicles is in default angular range or the current vehicle and institute
Stating the time that Adjacent vehicles are travelled to the intersection is all larger than equal to preset time.
5. a kind of vehicle collision alarm method according to claim 4, which is characterized in that described to be based on the first state
The determining target vehicle packet with the current vehicle with risk of collision of information, second status information and default screening conditions
It includes:
The first pre-selection collision vehicle in the Adjacent vehicles is determined based on the first state information and second status information
?；
Determine in the first pre-selection collision vehicle that there is risk of collision with the current vehicle based on the default screening conditions
Target vehicle.
6. a kind of vehicle collision alarm method according to claim 4, which is characterized in that described to be based on the first state
Information, second status information and default screening conditions are determining to have the target vehicle of risk of collision also with the current vehicle
Include:
The second pre-selection collision vehicle in the Adjacent vehicles is determined based on the default screening conditions；
It is determined in the second pre-selection collision vehicle based on the first state information and second status information and is worked as with described
Vehicle in front has the target vehicle of risk of collision.
7. a kind of vehicle collision alarm method according to claim 1, which is characterized in that the value range of the k be 3 to
5。
8. a kind of vehicle collision alarm device, which is characterized in that described device includes:
Data obtaining module, for when apart from the first pre-determined distance of intersection, obtain current vehicle first state information,
The second status information, the trackside information of the intersection of Adjacent vehicles in second pre-determined distance of the current vehicle；
Target vehicle confirmation module, for being based on the first state information, second status information and default screening conditions
The determining target vehicle with the current vehicle with risk of collision；
First time period determining module, for determining the current vehicle based on the first state information and the trackside information
Travel on the first time period of intersection；
Second time period obtains module, and the second time period of the intersection, institute are travelled on for obtaining the target vehicle
Stating second time period is second status information and trackside information generation that the target vehicle is obtained based on it；
Execution module is alerted, for being based on when the first time period has Chong Die time point with the second time period
The driving status at k-th moment (k >=1) of the current vehicle before current time executes vehicle collision and explicitly alerts.
9. a kind of vehicle collision alarm device according to claim 8, which is characterized in that the alarm execution module packet
It includes:
Alarm information record submodule, for when k-th moment of the current vehicle before the current time is static,
Record warning information；
History alarm acquisition of information submodule, the history for k time point that obtain the current vehicle before current time
Alarm record information；
Implementation sub-module is alerted, for recording warning information when k time point of the current vehicle before current time
When, it executes vehicle collision and explicitly alerts.
10. a kind of vehicle collision alarm equipment characterized by comprising processor and memory are stored in the memory
At least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, institute
State code and or instruction set loaded by the processor and executed to realize that vehicle collision as claimed in claim 1 is accused
Alarm method.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111489589A (en) * | 2020-04-15 | 2020-08-04 | 中车青岛四方机车车辆股份有限公司 | Vehicle anti-collision method, device, equipment and storage medium |
| CN111542019A (en) * | 2020-04-23 | 2020-08-14 | 浙江省交通规划设计研究院有限公司 | Traffic accident warning method and device, road side equipment and readable storage medium |
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