CN111145589B

CN111145589B - Vehicle omnidirectional anti-collision early warning system based on vector algorithm

Info

Publication number: CN111145589B
Application number: CN201911300674.2A
Authority: CN
Inventors: 宋国华; 范鹏飞
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2021-10-08
Anticipated expiration: 2039-12-17
Also published as: CN111145589A

Abstract

The invention provides a vehicle omnidirectional anti-collision early warning system based on a vector algorithm, which belongs to the technical field of vehicle anti-collision early warning, and comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring vehicle information, target vehicle information and road information; the early warning information calculation module calculates early warning information between the vehicle and the target vehicle according to the vehicle information, the target vehicle information and the road information; the early warning time and the collision direction of the vehicle and the target vehicle; the collision avoidance strategy module makes a collision avoidance strategy for avoiding collision between the vehicle and the target vehicle according to the early warning information; and the collision early warning module outputs early warning information and a collision avoidance strategy. The vehicle collision early warning algorithm based on the vector fully considers the actual position of the GPS positioning device in the vehicle, establishes a physical model based on the actual length and the actual width of the vehicle in the early warning algorithm, realizes 360-degree all-dimensional collision early warning of the vehicle in different scenes, and is suitable for all scenes such as urban roads, intersections, curves and the like.

Description

Vehicle omnidirectional anti-collision early warning system based on vector algorithm

Technical Field

The invention relates to the technical field of vehicle anti-collision early warning, in particular to a vehicle omnidirectional anti-collision early warning system based on a vector algorithm.

Background

Among traffic accidents, casualties caused by vehicle collision accidents are the most serious. In a vehicle collision accident, in addition to a vehicle frontal collision, a rear collision (e.g., rear-end collision) and a side collision (e.g., intersection accident) also occupy a large proportion. The reasons for collision accidents include fatigue driving, drunk driving, overspeed driving, red light running and other illegal driving, and meanwhile, the obstruction of the driver's sight line caused by weather (such as rain, snow and fog) or physical conditions (such as curves and intersections) is also an important reason for vehicle collision accidents.

For the vehicle collision early warning problem, although the traditional adaptive cruise technology is mature, the systems are seriously dependent on range sensor equipment such as a vehicle-mounted radar, a laser radar or a camera, the equipment is usually expensive, the precision and stability requirements of the safety early warning system are met, the price of the equipment is even higher than that of a common automobile, and the equipment cannot be popularized and applied at the present stage. Meanwhile, the range sensor is very susceptible to interference of factors such as severe weather and physical conditions, and the detection performance and the detection range are limited. In some critical scenarios (e.g., high speed traffic flow scenarios), the adaptive cruise system still has many problems and cannot meet the safety requirements. Meanwhile, due to the limitation of the arrangement position of the sensor, the adaptive cruise system can only consider backward collision, does not fully consider the problem of lateral collision of the vehicle, and has very limited utility in the aspect of safety early warning.

Emerging approaches use vehicle-to-vehicle (V2V) communication technology that allows vehicles to exchange physical, motion, and trajectory information within their communication range. The V2V technology is not influenced by severe weather conditions, and the applicability of the system is high. Of which Dedicated Short Range Communication (DSRC) technology is more deeply studied. Dedicated Short Range Communication (DSRC) allows vehicles to communicate with each other, and a DSRC-based rear collision warning system (recrws) has its unique advantages. However, the DSRC-based early warning system has some problems which are difficult to solve, such as high false alarm rate and low report rate. Due to the limitation of the DSRC technology data transmission quality, the accuracy and stability of the RecWS system cannot be improved only by parameter correction. On the other hand, the DSRC-based recrws system has not been able to take into account information transfer delays that exist in the process of acquiring warning decisions from data, and does not take into account the impact of GPS errors on safe distances.

VANET uses a Dedicated Short Range Communication (DSRC) standard using 75MHz bandwidth (in the 5.9GHz band), which allows communication in the range of 300m to 1000 m. However, in practical cases, the DSRC transmission range is affected by many external factors such as physical conditions. The existing VANET standards are not sufficient to meet the requirements of VANET promised services, especially security services. Currently available VANET standards (IEEE 802.11p/DSRC) have low utilization in the 5.9GHz band, short communication range, and suffer from low bandwidth and transmission range, while cellular networks (3G, LTE and LTEA) suffer from high latency and information security, which pose challenges to current security applications.

Self-positioning of lane-level vehicles is a significant challenge in current autonomous driving and driver assistance systems. At present, almost all collision early warning systems do not consider lane-level positioning, and the assumption that vehicles always run in one lane is mostly established in a collision early warning model, so that the systems cannot be applied to multi-lane expressways and urban road situations in practical situations. The lane-level positioning not only needs a high-precision map, but also needs expensive compensation equipment and government policy support, and although the collision early warning model provided by the invention does not provide a compensation algorithm for the lane-level positioning, the vehicle collision early warning algorithm based on the vector can predict the collision of vehicles in different lanes through the change of the speed and the acceleration direction of the vehicle, and further issue comprehensive collision early warning information for the vehicles.

In the aspect of collision early warning algorithm, most of current researches only aim at a rear collision early warning system (RecWS), and provide a simple early warning algorithm based on a vehicle linear physical motion model based on the assumption that vehicles always move with even acceleration and all the vehicles are in the same lane. The side collision problem of the vehicle caused by the blocked sight distance at the urban intersection and the curve scene occupies a high proportion of the actual accident, and the safety early warning system cannot ignore the safety problem under the scene. Although a collision early warning system for a curved road exists at present, the algorithm of the system cannot be completely suitable for a straight road, a plurality of vehicle-mounted sensors and curved road side node units need to be installed at the same time, the V2I communication technology is heavily relied on, and the equipment cost is extremely high. Based on the above, the invention provides a vector-based vehicle collision early warning algorithm, which is used for calculating and analyzing the collision condition according to the change of the relative position of the vehicle, so as to realize 360-degree all-dimensional collision early warning of the vehicle in different scenes, and the algorithm is suitable for all scenes such as urban roads, intersections, curves and the like.

On the other hand, all current collision early warning algorithms do not consider the physical conditions of the vehicle, and only take the GPS positioning result as the center of a circle and make a circular area in a specific radius range to represent the position of the vehicle on the premise of making the assumption that the GPS positioning device is installed in the middle of the vehicle. Meanwhile, for large vehicles, the length and the width of the vehicle body of the large vehicle are hardly considered independently by the conventional early warning algorithm. Therefore, the false alarm rate of most of the current early warning algorithms is very high, continuous alarm conditions of vehicles can occur in a high-density traffic flow scene, the driving experience of drivers is seriously influenced, and meanwhile, the real early warning information can be covered by the high false alarm rate, so that the performance of an early warning system is seriously restricted. Based on the above, the invention provides a vector-based vehicle collision early warning algorithm, which fully considers the actual position of a GPS positioning device in a vehicle, sets a plurality of items of characteristic information such as vehicle type, color, physical size and the like of the vehicle when the system is installed, establishes a physical model based on the actual length and width of the vehicle in the early warning algorithm, and solves the problems of high false report rate, high report loss rate and the like of the current early warning system to a great extent.

In the aspect of hardware equipment of an early warning system, the current early warning system mostly takes DSRC as a technical basis, and vehicle-mounted DSRC equipment, a vehicle-mounted intelligent computer and a vehicle-mounted display screen need to be installed independently. And the equipment meeting the safety early warning performance is expensive, the technical transformation of the vehicle is complex, and the popularization condition is not met. Based on the vehicle collision early warning method, the vehicle collision early warning is realized by means of the mobile intelligent terminal equipment based on 5G communication. The system can meet the equipment requirements of the safety early warning system only by one mobile intelligent terminal device (such as an intelligent mobile phone), the mobile intelligent terminal device obtains partial motion information of a vehicle by means of a USB data interface, the data analysis process runs in a background of the mobile intelligent terminal device and does not affect other normal operations of the device, the system outputs graded early warning information and graded early warning collision avoidance strategies according to early warning emergency degree, the graded early warning information is issued in a suspended popup window mode through vision and hearing, for the vehicle provided with the driving auxiliary system, the mobile intelligent terminal device can also output the collision avoidance strategies to a vehicle controller, automatic collision avoidance under emergency early warning is achieved, meanwhile, the system can also record accident data and provide data support for vehicle driving safety analysis. The vehicle omnidirectional collision early warning system based on 5G communication provided by the invention does not need to modify vehicles and add redundant physical equipment, is simple and convenient to operate, has extremely low operation cost, and can be popularized and used on the premise of meeting the performance of a safety early warning system.

Disclosure of Invention

The invention aims to provide a vehicle omnidirectional anti-collision early warning system based on a vector algorithm, so as to solve at least one technical problem in the background technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a vehicle omnidirectional anti-collision early warning system based on a vector algorithm, which comprises a data acquisition module, a data transmission module, an early warning information calculation module, a collision avoidance strategy module and a collision early warning module, wherein the data acquisition module is used for acquiring a vehicle omnidirectional anti-collision early warning signal;

the data acquisition module is used for acquiring vehicle information, target vehicle information and road information and sending the information to the data transmission module;

the data transmission module is used for receiving the self vehicle information, the target vehicle information and the road information which are acquired by the data acquisition module, storing the information and sending the information to the early warning information calculation module;

the early warning information calculation module is used for calculating early warning information between the vehicle and the target vehicle according to the vehicle information, the target vehicle information and the road information; wherein the early warning information comprises: the early warning time and the collision direction of the self vehicle and the target vehicle are determined, wherein the collision direction comprises backward collision, forward and lateral collision;

the collision avoidance strategy module is used for making a collision avoidance strategy for avoiding collision between the vehicle and the target vehicle according to the early warning information;

and the collision early warning module is used for outputting the early warning information and a collision avoidance strategy.

Preferably, the data acquisition module acquires the road information through a cloud electronic map; the data acquisition module acquires the self-vehicle information through a vehicle OBD unit; the data acquisition module acquires the target vehicle information through the V2V Internet of vehicles.

Preferably, the road information comprises road physical information, road speed limit information and path navigation information; the self-vehicle information comprises self-vehicle motion information and physical information of the self-vehicle; the target vehicle information includes motion information of a target vehicle and physical information of the target vehicle;

the motion information of the vehicle comprises the position, the speed and the acceleration information of the vehicle, and the motion information of the target vehicle comprises the position, the speed and the acceleration information of the target vehicle;

the physical information of the self vehicle comprises the color, the vehicle type and the vehicle body size information of the self vehicle, and the physical information of the target vehicle comprises the color, the vehicle type and the vehicle body size information of the target vehicle; the physical information of the vehicle is preset in a vehicle-mounted GPS system of the vehicle, and the physical information of the target vehicle is preset in the vehicle-mounted GPS system of the target vehicle.

Preferably, the data transmission module is a 5G communication module.

Preferably, the early warning information calculation module includes:

a position calculation unit configured to calculate a minimum relative position distance between the host vehicle and the target vehicle and a time at which the minimum relative position distance occurs, based on the host vehicle information and the target vehicle information;

and the collision occurrence judging unit is used for judging the collision direction of the self vehicle and the target vehicle by combining the vehicle body size information according to the minimum relative position distance and the time when the minimum relative position distance appears.

Preferably, the collision early warning module comprises an intelligent mobile terminal, and the intelligent mobile terminal displays/broadcasts the collision information; or the intelligent mobile terminal displays/broadcasts the collision avoidance strategy.

Preferably, the position calculation unit calculating the minimum relative position distance between the own vehicle and the target vehicle and the time at which the minimum relative position distance occurs includes:

when t is sufficiently small, the vehicle can be considered to do uniform variable speed motion in i time periods t, and the speed V of the vehicle A and the target vehicle B at the next time interval is respectively calculated by utilizing a motion formula_A,i+1、V_B,i+1And a passing displacement D in the t time interval_A,i、D_B,i：

Wherein, V_A,iRepresenting the initial speed, V, of the vehicle A during the ith time interval t_B,iRepresenting the initial speed, A, of the vehicle B during the ith time interval t_A,iRepresenting the acceleration of the vehicle A during the ith time interval t, A_B,iRepresents the acceleration of the vehicle B at the ith time interval t;

position of vehicle a at the end of ith time interval t: p_A,i+1＝P_A,i+D_A,i(ii) a Position of vehicle B at the end of ith time interval t: p_B,i+1＝P_B,i+D_B,i；

Wherein, P_A,i、P_B,iRespectively representing the positions of the vehicle A and the vehicle B at the beginning of the ith time interval t;

D_AB,ithe separation distance between the vehicle a and the vehicle B at the beginning of the ith time interval t is represented, and then the separation distance between the vehicle a and the vehicle B at the beginning of the (i + 1) th time interval t is:

D_AB,i+1＝D_AB,i+D_B,i-D_A,i；

at P_B,iAnd P_B,i+1Find a point C on the connection line of (A) so that P_A,iPerpendicular to P_B,i P_B,i+1；

When the time interval t is sufficiently small, the relative positions of the vehicle B and the vehicle A are determined by P_B,iAlong line segment P_B,i P_B,i+1Move to P_B,i+1I.e. when the vehicle B moves to point C, the vehicleThe relative distance between the B and the vehicle A is shortest, the position vector of the vehicle B and the vehicle A at the moment is represented by a vector AC, and the length | AC | of the line segment AC is the small relative position distance between the vehicle A and the vehicle B; then, the time at which the minimum relative position distance occurs is:

preferably, the collision occurrence determination unit determining the collision direction of the own vehicle with the target vehicle includes:

when the vehicle A and the vehicle B move in the same direction, if the absolute value AC is smaller than the backward early warning distance, judging that backward collision early warning is carried out; wherein the backward early warning distance is L_W＝L_A,A+L_B,B+L_S，L_A,AIndicates the length of the head of the vehicle A, i.e. the distance between the installation position of the GPS system of the vehicle A and the head of the vehicle A, L_B,BIndicating the length of the tail of vehicle B, i.e. the distance between the GPS system of vehicle B and the tail of vehicle B, L_SRepresenting a preset additional safety distance;

when the vehicle A and the vehicle B move oppositely, if the absolute value AC is smaller than the forward early warning distance, the vehicle A and the vehicle B judge that the vehicle A and the vehicle B are in forward collision early warning; wherein, the forward early warning distance L_W＝L_A，A+L_A，B+L_S；L_A,BThe length of the head of the vehicle B is represented, namely the distance between the installation position of the GPS system of the vehicle B and the head of the vehicle B;

when the vehicle A and the vehicle B move vertically, if the absolute value AC is smaller than the positive lateral early warning distance, judging that the vehicle A and the vehicle B perform positive lateral collision early warning; wherein, the positive side direction early warning distance

Wherein, W_BRepresents the width of the vehicle B;

when the vehicle A and the vehicle B move laterally, if the absolute value AC is smaller than the lateral early warning distance, judging that the vehicle A and the vehicle B perform lateral collision early warning; wherein, the lateral early warning distance

Wherein the content of the first and second substances,L_R,Athe front lateral length of the vehicle A is shown, namely the maximum distance between the installation position of the GPS system of the vehicle A and the outer contour of the head of the vehicle A.

Preferably, the collision avoidance strategy module, according to the early warning information, makes a collision avoidance strategy for avoiding collision between the vehicle and the target vehicle, including:

under the current initial speed, calculating the minimum relative position distance between the early warning vehicle and the target vehicle to be more than or equal to the minimum deceleration required by the safety early warning distance; and determining an early warning level according to the minimum deceleration, and determining a corresponding collision avoidance strategy according to the early warning level.

Preferably, the minimum deceleration a_sThe calculation method of (2) is as follows:

when the shortest distance between the early warning vehicle and the target vehicle occurs when the relative speed of the two vehicles is 0, then:

ΔV²-0²＝2a_s(D_AB-L_W)

where Δ V represents a speed difference between the own vehicle and the target vehicle.

The invention has the beneficial effects that: the method realizes higher capacity, end-to-end ultra-low delay, higher data rate and higher equipment connectivity; D2D supports direct discovery services and communication between nearby users, enabling direct V2V and V2I communication without traversing cellular infrastructure and traditional cellular (i.e., upstream/downstream) communication; the vehicle-mounted broadcast based on D2D can realize high spectral efficiency, high data transmission rate, low transmission power and low delay, supports data encryption through a user plane and a network slice, and can adjust security parameters; the vehicle collision early warning algorithm based on the vector fully considers the actual position of the GPS positioning device in the vehicle, sets a plurality of characteristic information of the vehicle type, color, physical size and the like of the vehicle when the system is installed, establishes a physical model based on the actual length and width of the vehicle in the early warning algorithm, and realizes 360-degree all-directional collision early warning of the vehicle in different scenes.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic block diagram of a vehicle omnidirectional anti-collision warning system based on a vector algorithm according to embodiment 1 of the present invention.

Fig. 2 is a schematic block diagram of a vehicle omnidirectional anti-collision warning system based on a vector algorithm according to embodiment 2 of the present invention.

Fig. 3 is a schematic view of an operation flow of the vehicle omnidirectional anti-collision warning system based on the vector algorithm according to embodiment 2 of the present invention.

Fig. 4 is a schematic view of a display of an intelligent terminal early warning interface of the vehicle omnidirectional anti-collision early warning system based on the vector algorithm in embodiment 2 of the present invention.

Fig. 5 is a schematic diagram of displaying warning information of a vehicle instrument panel of the vehicle omnidirectional anti-collision warning system based on the vector algorithm in embodiment 2 of the present invention.

Fig. 6 is a schematic diagram of inter-vehicle distance vector calculation of a vehicle omnidirectional anti-collision warning system based on a vector algorithm according to embodiment 3 of the present invention.

Fig. 7 is a schematic diagram of a distance between two vehicles when the vehicle omnidirectional anti-collision warning system based on the vector algorithm calculates that the moving direction of the two vehicles does not change according to embodiment 3 of the present invention.

Fig. 8 is a schematic diagram of a distance between two vehicles when the vehicle omnidirectional anti-collision warning system based on the vector algorithm according to embodiment 3 calculates that the moving direction of the two vehicles changes.

Fig. 9 is a schematic diagram of the judgment of the early warning direction of the vehicle omnidirectional anti-collision early warning system based on the vector algorithm in embodiment 3 of the present invention.

Fig. 10 is a flow chart for formulating a collision avoidance strategy of the vehicle omnidirectional anti-collision warning system based on the vector algorithm in embodiment 3 of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by way of the drawings are illustrative only and are not to be construed as limiting the invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

In the description of this patent, it is noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "coupled," and "disposed" are intended to be inclusive and mean, for example, that they may be fixedly coupled or disposed, or that they may be removably coupled or disposed, or that they may be integrally coupled or disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

For the purpose of facilitating an understanding of the present invention, the present invention will be further explained by way of specific embodiments with reference to the accompanying drawings, which are not intended to limit the present invention.

It should be understood by those skilled in the art that the drawings are merely schematic representations of embodiments and that the elements shown in the drawings are not necessarily required to practice the invention.

Example 1

The embodiment 1 of the invention provides a Vehicle omnidirectional anti-collision early warning system, which accurately acquires position information of a current Vehicle by using a global positioning satellite (GPS/Beidou positioning) technology, selectively transmits position, physical and motion information of a target Vehicle with a potential collision risk in an area by using a Vehicle-to-Vehicle communication (V2V) technology based on 5G communication, calculates and analyzes a collision condition by using the change of a relative position of the Vehicle through a Vehicle omnidirectional collision early warning algorithm based on a vector, and realizes 360-degree omnidirectional collision early warning of the Vehicle in different scenes such as urban roads, intersections, curves and the like. The intelligent mobile terminal device (such as a smart phone) is used for sending collision grading early warning information to a Driver to assist the Driver in safe driving, a System can directly output collision avoidance strategies to a vehicle controller in case of emergency, and the Advanced Driver Assistance System (ADAS) is used for executing the collision avoidance strategies such as automatic deceleration, turning or emergency braking. Finally, the purposes of reducing the vehicle collision risk in different scenes and improving the driving safety are achieved.

As shown in fig. 1, the vehicle omnidirectional anti-collision early warning system based on the vector algorithm includes: the system comprises a data acquisition module, a data transmission module, an early warning information calculation module, a collision avoidance strategy module and a collision early warning module;

The data acquisition module acquires the road information through a cloud electronic map; the data acquisition module acquires the self-vehicle information through a vehicle OBD unit; the data acquisition module acquires the target vehicle information through the V2V Internet of vehicles.

The road information comprises road physical information, road speed limit information and path navigation information; the self-vehicle information comprises self-vehicle motion information and physical information of the self-vehicle; the target vehicle information includes motion information of a target vehicle and physical information of the target vehicle;

The data transmission module is a 5G communication module.

The early warning information calculation module comprises:

The collision early warning module comprises an intelligent mobile terminal, and the intelligent mobile terminal displays/broadcasts the collision information; or the intelligent mobile terminal displays/broadcasts the collision avoidance strategy.

Example 2

The vehicle omnidirectional anti-collision early warning system based on the 5G communication and the vector algorithm, provided by the embodiment 2 of the invention, completes the analysis and calculation of collision information and the formulation and release of a collision avoidance strategy by acquiring the physical and motion information of the vehicle per se and acquiring the physical and motion information of the target vehicle in an area.

As shown in fig. 2 and 3, the system mainly includes a data acquisition device, a data analysis device, an information distribution device, and a vehicle-to-vehicle communication mode. Wherein, 1) data acquisition: the information needing to be collected in the vehicle collision early warning system comprises road information, vehicle physical information and vehicle motion information. The road information comprises road physical information, road speed limit information, path navigation information and the like in a certain range of the vehicle, and is mainly obtained through an electronic map at the cloud. The vehicle physical information comprises vehicle physical size, color, vehicle type and the like, and is mainly obtained through initial setting of an early warning system. The vehicle motion information comprises vehicle real-time position, motion direction, speed, acceleration and the like and is divided into self vehicle motion information and target vehicle motion information, wherein the self vehicle motion information is obtained through a vehicle OBD and a mobile intelligent terminal, and the target vehicle motion information is obtained through the mobile intelligent terminal and 5G-based V2V vehicle networking communication; 2) data transmission (sharing): each vehicle can accurately acquire own physical information and motion information and transmits (shares) the physical information and the motion information to vehicles which are possibly collided in the area in a 5G-based V2V vehicle networking communication mode; 3) and (3) data analysis: after physical and motion information of a target vehicle is received, information such as whether collision occurs, a collided object vehicle and collision time is calculated and analyzed by utilizing a vector-based vehicle omnidirectional collision early warning algorithm in combination with the physical and motion information of the vehicle; 4) and (3) information output: and outputting collision avoidance strategies corresponding to the collision early warning information and the grading early warning information, providing driving suggestions for the driver, and assisting the driver in executing the collision avoidance strategies.

Specifically, the structure of the vehicle omnidirectional anti-collision warning system based on 5G communication and vector algorithm shown in embodiment 2 of the present invention mainly includes the following:

1. data acquisition equipment

The data acquisition equipment is divided into two parts, namely vehicle-mounted data acquisition equipment and mobile intelligent terminal equipment.

(1) Vehicle-mounted data acquisition equipment

The vehicle-mounted data acquisition equipment integrates an acceleration sensor into a vehicle-mounted diagnosis system (OBD) and acquires data such as speed, acceleration and steering angle of a vehicle in real time.

(2) Mobile intelligent terminal equipment

The mobile intelligent terminal device is a core device of the system, and data acquisition is divided into two parts, namely vehicle data acquisition and target vehicle data acquisition. In the self-vehicle data acquisition process, a driver sets physical information of the self-vehicle such as the vehicle type, the color, the head length, the body width and the like before the system is used; in the running process of the system, the mobile intelligent terminal device uses a built-in GPS module to accurately position the position information of the vehicle and acquire the longitude, latitude and other data of the vehicle. The data acquisition process of the target vehicle is explained in the following information receiving apparatus section.

2. Information receiving apparatus

The information receiving process of the early warning system is mainly realized through mobile intelligent terminal equipment. The mobile intelligent terminal equipment utilizes a built-in communication module and a mature 5G communication technology to realize high-quality transmission and reception of information. In order to ensure the efficiency and quality of information transmission and reception, the system initially screens data transmission and reception objects through an algorithm, and selectively transmits potential target vehicle information which is possibly collided.

3. Information analysis apparatus

The information analysis process of the early warning system is mainly realized through early warning software installed on mobile intelligent terminal equipment, and a vector-based vehicle omnidirectional collision early warning algorithm and a corresponding collision avoidance strategy are built in the software. The information analysis process runs in the background of the system, an interface is not designed independently, the computing resources of the mobile intelligent terminal device are not occupied too much, and other operations of the mobile intelligent terminal device are not influenced. The system analyzes and calculates whether collision occurs or not, the collision object vehicle and the collision time and other information in the system background by using the collected physical and motion information of the vehicle and the target vehicle through a vehicle omnidirectional collision early warning algorithm, and formulates a corresponding collision avoidance strategy.

4. Information output apparatus

In the embodiment, the driving behavior of the driver is guided together through the three contents of the mobile intelligent terminal device loudspeaker, the mobile intelligent terminal device display screen and the advanced driving assistance system, driving advice is provided for the driver, the driver is assisted to execute a collision avoidance strategy, and the purpose of improving driving safety is achieved.

(1) Mobile intelligent terminal device loudspeaker

In this embodiment, the issued hierarchical warning information is mainly divided into two modes, namely, auditory mode and visual mode. The hearing early warning information is issued in real time through a loudspeaker of the mobile intelligent terminal device. When mild early warning information is issued, the loudspeaker gives out a 'dripping' alarm; when the moderate early warning information is issued, the loudspeaker gives out continuous three alarms of 'dripping, dripping and dripping'; when the emergency early warning information is issued, the loudspeaker gives out continuous sharp buzzing alarm. The sound early warning alarm has the highest authority of the loudspeaker of the mobile intelligent terminal device, and when the alarm is triggered in the music playing or conversation process, the current loudspeaker content is closed, and early warning information is issued. When the early warning degree is gradually decreased, the sound early warning alarm is gradually decreased.

(2) Display screen of mobile intelligent terminal device/display screen of vehicle instrument panel

In the embodiment of the invention, the visual early warning information of the system is issued in real time through the display screen of the mobile intelligent terminal device, and the early warning level and the early warning target vehicle related information are mainly displayed.

The early warning system can output a plurality of information such as the current speed, the expected safe speed, the minimum deceleration, the current speed, the model and the color of a target vehicle, the estimated time of collision and the like of the vehicle, but as the safe early warning system, the early warning system mainly aims to provide timely and accurate driving suggestions and collision avoidance strategies for a driver, if the issued information is too numerous, the driver can hardly acquire important information and make decisions in a very short time, and the safe early warning performance of the system is reduced. Therefore, the default warning information issuing interface of the system is shown in fig. 4. The system is not provided with a special page, and when the collision alarm is triggered, the system pops up an early warning interface in a popup window mode.

And a grading alarm symbol is arranged above the early warning interface and is distinguished by different marks and colors, for example, a blue triangular mark is used for mild early warning, a yellow triangular mark is used for moderate early warning, and a red brake mark is used for emergency early warning. The middle part of the interface is provided with collision avoidance strategy text reminding, and the collision avoidance strategies of three early warning levels are corresponding to deceleration, braking and braking. Meanwhile, the relative position and the physical information of the collision target vehicle are issued, the relative position of the collision target vehicle is prompted by the characters of the corresponding colors, the body color of the collision target vehicle is prompted by the characters of the corresponding colors, and the model information of the collision target vehicle is prompted by the characters of the passenger car, the car and the like.

The bottom of the interface is provided with a speed instrument panel icon, wherein the pointer points to the real-time speed of the vehicle, and the speed interval is distinguished by different colors, such as red, yellow and green. Wherein the red zone represents a dangerous speed zone in which a collision will occur or an overspeed zone of the current road section; the green interval represents a safe speed interval or an expected or comfortable speed interval of the current road section and the traffic flow state, which can avoid collision; the yellow interval belongs to a transition interval between the red interval and the green interval, and represents a speed interval in which a potential collision risk exists and a driver needs to increase the attention or further decelerate to avoid the collision risk. The ranges of all levels of intervals change continuously along with the change of the running condition of the vehicle, if the vehicle instrument panel can display intelligently, the system can send speed interval data to the vehicle-mounted computer and directly display the speed interval data on the vehicle instrument panel, and the display screen interface of the vehicle instrument panel is designed as shown in figure 5, so that the information such as the relative position of the early warning target vehicle and the vehicle, the type and the color of the target vehicle and the like can be displayed in real time. The user can also perform self-defined setting on the early warning interface and select to display more early warning information.

(3) MCU controller for advanced driving auxiliary system

For the vehicle equipped with the advanced driving auxiliary system, under the condition of emergency early warning, the invention outputs collision avoidance strategies such as automatic deceleration, lane change, braking and the like to the vehicle MCU controller, and the vehicle can avoid collision in time with correct and accurate operation. The data signal transmits a collision avoidance strategy to the MCU in a USB communication mode through a data interface of the mobile intelligent terminal device, so that the reflecting time of a driver is avoided, the braking reliability is improved, and the reliability and the safety of the early warning system are improved.

Example 3

The embodiment 3 of the invention provides a vector-based vehicle omnidirectional collision early warning algorithm, which fully considers the actual position of a GPS positioning device in a vehicle, sets a plurality of items of characteristic information of the vehicle type, color, physical size and the like of the vehicle when the system is installed, establishes a physical model based on the actual length and width of the vehicle in the early warning algorithm, calculates and analyzes the collision condition according to the change of the relative position of the vehicle, realizes the 360-degree omnidirectional collision early warning of the vehicle in different scenes, and is suitable for all scenes of urban roads, intersections, curves and the like.

Algorithm symbol interpretation:

the vehicle A represents a self early warning vehicle, and the vehicle B represents an early warning target vehicle; the self-early-warning vehicle can effectively avoid the collision vehicle through deceleration or braking.

P_A,i、P_B,iRespectively representing the coordinate positions of the vehicle A and the vehicle B at the beginning of the ith time interval t;

vector D_AB,iThe distance vector representing the distance between the vehicle A and the vehicle B at the beginning of the ith time interval t comprises the distance length and the direction;

vector V_A,i、V_B,iRespectively showing a vehicle A and a vehicleThe speed of the vehicle B at the beginning of the ith time interval t comprises the speed and the direction;

vector A_A,i、A_B,iRespectively representing the acceleration of the vehicle A and the acceleration of the vehicle B at the beginning of the ith time interval t, wherein the acceleration comprises the magnitude and the direction of the acceleration;

vector D_A,i、D_B,iRespectively representing the passing displacement of the vehicle A and the vehicle B in a time interval t, including the magnitude and the direction of the displacement;

t is the minimum time interval of the early warning algorithm and is related to the GPS position refreshing frequency and the speed acquisition frequency, and the smaller the value of the T is, the higher the early warning precision is;

t is the time at which the minimum relative position distance to the target vehicle occurs.

The algorithm operation process comprises the following steps:

as shown in fig. 6, when t is sufficiently small, the vehicle can be considered to make uniform variable speed motion in i time periods t, and the speed V of the vehicle a and the target vehicle B at the next time interval is calculated by using the motion formula_A,i+1、V_B,i+1And a passing displacement D in the t time interval_A,i、D_B,i：

when the vehicle does non-linear motion within the time interval t, that is, the speed is not consistent with the acceleration direction (the vehicle is shown to pass through a curve or turn at an intersection in an actual scene), the vector operation of the kinematic formula is still applicable, and the specific operation process is not described herein again.

D_AB,i+1＝D_AB,i+D_B,i-D_A,i；

and continuously repeating the operation based on the new position vector, the speed and the acceleration of the next time interval to obtain the position vector of the next time interval. As shown in fig. 7 and 8, P can always be the same_B,iAnd P_B,i+1Find a point C on the line of (A) such that AC is perpendicular to P_B,i P_B,i+1. When the time interval t is sufficiently small, it can be considered that the relative positions of the vehicle B and the vehicle A are represented by P_B,iAlong line segment P_B,iP_B,i+1Move to P_B,i+1That is, when the vehicle B moves to the point C, the relative distance between the vehicle B and the vehicle a is shortest, and the position vector of the vehicle B and the vehicle a at this time is represented by a vector AC. The length | AC | of the line segment AC is the small relative position distance between the vehicle A and the vehicle B; then, the time at which the minimum relative position distance occurs is:

and (3) collision judgment rules:

the collision judgment rule determines what calculation result is to be regarded as a collision. In the present embodiment, the physical size of the vehicle is first considered. Due to different vehicle types, the length and the width of the vehicle have obvious difference, which cannot be ignored in the collision early warning, and the accuracy of the collision early warning is obviously influenced by whether the physical size of the vehicle is considered fully or not. Meanwhile, the GPS positioning device (namely the intelligent mobile terminal) of the system is arranged on a control panel in front of a vehicle driving position, the distances from the vehicle head to the vehicle tail are different, and the distance is fully considered under different collision scenes.

Wherein:

w represents the total width of the vehicle; l is_AThe length of the head of the vehicle is represented, namely the distance between a control panel of the driving position and the head of the vehicle; l is_BThe length of the tail of the vehicle is represented, namely the distance between a driving position control panel and the tail of the vehicle; l is_SAdditional safety distances indicating a predetermined collision warning, L in different directions in the system_SThe same; l is_WThe early warning distance is represented, namely the distance of the vehicle which is judged to be collided by the system; l is_RThe front lateral length of the vehicle, i.e. the maximum distance of the driver's seat control panel from the outer contour of the vehicle head, can be approximated by

After the shortest relative position distance between the vehicles is determined, whether collision occurs can be respectively calculated according to different directions of the relative position vector, and the judgment process is as shown in fig. 9:

when the vehicle A and the vehicle B move in the same direction, if the absolute value AC is smaller than the backward early warning distance, judging that backward collision early warning is carried out; wherein the backward early warning distance is L_W＝L_A,A+L_B,B+L_S，L_A,AIndicating the head length of vehicle A, i.e. the distance of the mounting position of the system GPS system from the head of A, L_B,BIndicates the length of the tail of the vehicle B, i.e., the distance between the driver's seat control panel (the installation position of the GPS system) and the tail of the vehicle B, L_SRepresenting a preset additional safety distance;

when the vehicle A and the vehicle B move oppositely, if the absolute value AC is smaller than the forward early warning distance, the vehicle A and the vehicle B judge that the vehicle A and the vehicle B are in forward collision early warning; wherein, the forward early warning distance L_W＝L_A，A+L_A，B+L_S；L_A,BThe length of the head of the vehicle B is represented, namely the distance between the control panel of the driving position and the head of the vehicle B;

when the vehicle A and the vehicle B move vertically, if the absolute value AC is smaller than the positive lateral early warning distance, judging that the vehicle A and the vehicle B perform positive lateral collision early warning; wherein, the positive lateral early warning distanceSeparation device

Wherein, W_BRepresents the width of the vehicle B;

Wherein L is_R,AThe front lateral length of the vehicle A is shown, namely the maximum distance between the control panel of the driving position and the outer contour of the head of the vehicle A.

Defining an early warning level:

the early warning system can not only output collision early warning information, but also output corresponding collision avoidance strategies to a driver and a vehicle, and is used as a safety auxiliary driving system to improve driving safety. Therefore, it is very important to grade the early warning state and make a corresponding collision avoidance strategy.

The important measure for collision avoidance is deceleration, and the system can calculate the minimum deceleration corresponding to collision avoidance. However, it is difficult for the driver to maintain a certain deceleration after receiving the warning information. Therefore, the system should output a collision avoidance strategy of a corresponding level in addition to the corresponding deceleration degree.

In this embodiment, the collision avoidance policy module, according to the warning information, making a collision avoidance policy for avoiding collision between the own vehicle and the target vehicle includes:

Minimum deceleration a_sThe calculation method of (2) is as follows:

when the vehicle is a backward collision early warning, the shortest distance between the early warning vehicle and the target vehicle is when the relative speed of the two vehicles is 0, then:

ΔV²-0²＝2a_s(D_AB-L_W)

wherein Δ V ═ V_A-V_BThat is, the pre-warning vehicle speed is reduced from the target vehicle speed, and in this case, the rear vehicle speed is reduced from the front vehicle speed in the pre-warning of the rear collision.

Collision type in all directions_sThe above-described notations apply to vector calculation in which different collision situations are distinguished by different directions of relative positions of the two vehicles when the vehicle speed, the direction of acceleration, and the minimum relative position occur.

The current related research does not provide a collision algorithm suitable for all directions, and the vector calculation method provided by the embodiment can simply and uniformly judge collision early warning in all directions.

As shown in fig. 10, in this embodiment, the judgment of the hierarchical warning strategy of the vehicle omnidirectional collision warning algorithm is as follows: reference acceleration-2 m/s for setting the range of gradation²And-5.5 m/s²Can be adjusted properly under different road conditions and vehicle conditions. The formulated collision avoidance strategy is shown in table 1.

Table 1:

firstly at-2 m/s²Calculating whether the acceleration can avoid collision or not, and outputting mild early warning if the collision can be effectively avoided; if the collision can not be effectively avoided, the speed is minus 5.5m/s²The acceleration is calculated again to judge whether the collision can be avoided, if the collision can be effectively avoided, a moderate early warning is output; otherwise, outputting an emergency early warning, immediately making a braking and lane changing strategy suitable for execution, and requiring the vehicle ADAS system to execute immediately. Because the vehicle speed is gradually reduced, the collision early warning level is gradually reduced, and the early warning information is gradually released, which is helpful for the gradual reduction of the vehicle speedThe driver intuitively feels the cancellation of the collision warning.

In summary, the vehicle anti-collision early warning system based on the vector algorithm according to the embodiment of the present invention fully utilizes the characteristics of high data transmission rate, low transmission power and low delay of the 5G communication enabling D2D communication, and makes up for the disadvantages of low frequency band utilization rate, short communication range, high data transmission delay and incapability of guaranteeing information safety of the conventional cellular network (3G, LTE and LTEA) and DSRC technologies; the vehicle collision early warning algorithm based on the vector fully considers the actual position of the GPS positioning device in the vehicle, sets a plurality of characteristic information of the vehicle type, color, physical size and the like of the vehicle when the system is installed, establishes a physical model based on the actual length and width of the vehicle in the early warning algorithm, realizes 360-degree all-around collision early warning of the vehicle in different scenes, and is suitable for all scenes of urban roads, intersections, curves and the like; and the early warning of vehicle collision is realized by means of the mobile intelligent terminal equipment. The system can meet the equipment requirements of the safety early warning system only by one mobile intelligent terminal device (such as a common intelligent mobile phone), the motion information of the vehicle is acquired by means of a USB data line, and the data analysis process runs in the background of the mobile intelligent terminal device and does not affect other normal operations of the device.

The system outputs grading early warning information and grading early warning collision avoidance strategies according to the early warning emergency degree, the grading early warning information is issued in a floating popup window mode through vision and hearing, for a vehicle provided with a driving auxiliary system, the mobile intelligent terminal device can also directly output the collision avoidance strategies to a vehicle controller, automatic collision avoidance under the emergency early warning is achieved, meanwhile, the system can also record accident data, and data support is provided for vehicle driving safety analysis. The vehicle omnidirectional collision early warning system based on 5G communication provided by the embodiment of the invention does not need to modify vehicles and add redundant physical equipment, is simple and convenient to operate, has extremely low operation cost, and can be popularized and used on the premise of meeting the performance of a safety early warning system.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A vehicle omnidirectional anti-collision early warning system based on a vector algorithm is characterized by comprising a data acquisition module, a data transmission module, an early warning information calculation module, a collision avoidance strategy module and a collision early warning module;

the collision early warning module is used for outputting the early warning information and a collision avoidance strategy;

the physical information of the self vehicle comprises the color, the vehicle type and the vehicle body size information of the self vehicle, and the physical information of the target vehicle comprises the color, the vehicle type and the vehicle body size information of the target vehicle; the physical information of the vehicle is preset in a vehicle-mounted GPS system of the vehicle, and the physical information of the target vehicle is preset in the vehicle-mounted GPS system of the target vehicle;

the early warning information calculation module comprises:

the collision occurrence judging unit is used for judging the collision direction of the self vehicle and the target vehicle by combining the vehicle body size information according to the minimum relative position distance and the time when the minimum relative position distance appears;

the position calculation unit calculating the minimum relative position distance between the own vehicle and the target vehicle and the time at which the minimum relative position distance occurs includes:

V_A,i+1＝V_A,i+A_A,i×t，V_B,i+1＝V_B,i+A_B,i×t，

Wherein, V_A,iRepresenting the initial speed, V, of the vehicle A during the ith time interval t_B,iTo representInitial speed of vehicle B at i-th time interval t, A_A,iRepresenting the acceleration of the vehicle A during the ith time interval t, A_B,iRepresents the acceleration of the vehicle B at the ith time interval t;

D_AB，ithe separation distance between the vehicle a and the vehicle B at the beginning of the ith time interval t is represented, and then the separation distance between the vehicle a and the vehicle B at the beginning of the (i + 1) th time interval t is:

D_AB,i+1＝D_AB,i+D_B,i-D_A,i；

at P_B,iAnd P_B,i+1Find a point C on the connection line of (A) so that P_A,iPerpendicular to P_B,iP_B,i+1；

When the time interval t is sufficiently small, the relative positions of the vehicle B and the vehicle A are determined by P_B,iAlong line segment P_B,iP_B,i+1Move to P_B,i+1When the vehicle B moves to the point C, the relative distance between the vehicle B and the vehicle a is the shortest, the vector AC represents the position vector of the vehicle B and the vehicle a at the moment, and the length | AC | of the line segment AC is the minimum relative position distance between the vehicle a and the vehicle B; then, the time at which the minimum relative position distance occurs is:

2. the vehicle omnidirectional anti-collision early warning system based on the vector algorithm as claimed in claim 1, wherein: the data acquisition module acquires the road information through a cloud electronic map; the data acquisition module acquires the self-vehicle information through a vehicle OBD unit; the data acquisition module acquires the target vehicle information through the V2V Internet of vehicles.

3. The vehicle omnidirectional anti-collision early warning system based on the vector algorithm as claimed in claim 1, wherein: the data transmission module is a 5G communication module.

4. The vehicle omnidirectional anti-collision early warning system based on the vector algorithm according to claim 1, wherein the collision early warning module comprises an intelligent mobile terminal, and the intelligent mobile terminal displays/broadcasts the collision information; or the intelligent mobile terminal displays/broadcasts the collision avoidance strategy.

5. The vehicle omnidirectional anti-collision warning system based on the vector algorithm according to claim 1, wherein the collision occurrence determination unit determining the collision direction of the own vehicle with the target vehicle comprises:

Wherein, W_BRepresents the width of the vehicle B;

Wherein L is_R,AThe front lateral length of the vehicle A is shown, namely the maximum distance between the installation position of the GPS system of the vehicle A and the outer contour of the head of the vehicle A.

6. The vehicle omnidirectional anti-collision early warning system based on the vector algorithm as claimed in claim 5, wherein the collision avoidance strategy module, according to the early warning information, making a collision avoidance strategy for avoiding collision between the own vehicle and the target vehicle comprises:

7. The vector algorithm-based omnidirectional anti-collision warning system for vehicles according to claim 6, wherein the minimum deceleration a is_sThe calculation method of (2) is as follows:

ΔV²-0²＝2a_s(D_AB-L_W)