CN111833651A - Highway automobile rear-end collision prevention system and working method thereof - Google Patents

Highway automobile rear-end collision prevention system and working method thereof Download PDF

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Publication number
CN111833651A
CN111833651A CN202010538581.XA CN202010538581A CN111833651A CN 111833651 A CN111833651 A CN 111833651A CN 202010538581 A CN202010538581 A CN 202010538581A CN 111833651 A CN111833651 A CN 111833651A
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vehicle
end collision
lane
early warning
rfid
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Inventor
周磊
王春娥
白雪飞
姚城诚
程志豪
曾亭亭
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Yancheng Institute of Technology
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Yancheng Institute of Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

The invention discloses a highway automobile rear-end collision prevention system and a working method thereof, wherein the system realizes vehicle positioning and vehicle speed identification by adopting a mode based on RFID non-contact radio frequency identification and pre-warns vehicle rear-end collision, solves the problem of failure of rear-end collision early warning of a rear-end collision system encountering a curve obstacle based on laser and radar technologies, solves the problem of poor real-time performance of rear-end collision early warning in the rear-end collision prevention system based on an image identification technology, and solves the problem that lanes cannot be distinguished in the rear-end collision prevention system based on a global positioning technology. The system has simple structure, and reads the PL playing at equal intervalsVehicle C is obtained by means of RFID non-contact radio frequency identification electronic tag placed on center line of traffic lanejThe position mode has 100% of obtaining accuracy and the shortest position obtaining time, is not influenced by weather factors and bend obstacles, and ensures the real-time performance of the early warning of the vehicle rear-end collision prevention system.

Description

Highway automobile rear-end collision prevention system and working method thereof
Technical Field
The invention belongs to the technical field of highway automobile traffic safety, and particularly relates to a highway automobile rear-end collision prevention system and a working method thereof.
Background
The main causes of highway traffic accidents include driver fatigue driving, overspeed, illegal lane change, distractions or carelessness in observation, tire burst or severe weather, and the like. Wherein, the occupation ratio of rear-end accidents is as high as nearly 50%. The position and the speed of the vehicle are acquired in real time, then the vehicle which is easy to have rear-end collision can be well pre-judged by utilizing a rear-end collision prevention algorithm, and warning is given, so that the occurrence of the rear-end collision can be well inhibited.
The core of the technical scheme for preventing the vehicle rear-end collision is to give a sound, light and image rear-end collision warning to a driver in advance on the premise of ensuring that the driver can basically avoid the time allowance of the rear-end collision operation, so that the driver can timely adopt effective safety measures. Therefore, the real-time acquisition of the relative distance and the relative speed of the vehicle is a key solution point in all vehicle rear-end collision prevention schemes. At present, common schemes for measuring distance and speed are based on laser, radar, image processing or global positioning and the like. The rear-end collision prevention scheme based on the laser and the radar is realized by utilizing the laser and microwave reflection principle, and misjudgment behaviors can occur when a curve obstacle is encountered; the rear-end collision prevention scheme based on image processing requires the challenge of completing image pickup, vehicle identification, vehicle relative distance identification and vehicle relative speed identification within a time interval of millisecond level, and has high hardware and software implementation difficulty and high cost; according to the rear-end collision prevention system realized based on the global positioning technology, the accuracy of 10m civil global positioning is not enough to correctly distinguish vehicles on different lanes on an expressway, and further misjudgment can occur.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a rear-end collision prevention system for an expressway automobile and a working method thereof, wherein the system realizes vehicle positioning and vehicle speed recognition and vehicle rear-end collision early warning by adopting a mode based on RFID non-contact radio frequency identification, solves the problem of rear-end collision early warning failure caused by a curve obstacle in the rear-end collision prevention system realized based on laser and radar technologies, solves the problem of poor real-time performance of rear-end collision early warning in the rear-end collision prevention system realized based on an image recognition technology, and solves the problem that a lane cannot be distinguished in the rear-end collision prevention system realized based on a global positioning technology.
A highway automobile rear-end collision prevention system is composed of a vehicle-mounted terminal, a wide area network, a remote server S and an RFID non-contact radio frequency identification electronic tag; the RFID non-contact radio frequency identification electronic tags are arranged on the center line of the lane at equal intervals, the RFID non-contact radio frequency identification electronic tags store the relevant information of the expressway, the vehicle-mounted terminal consists of an RFID electronic tag reader, keys, a display screen, a playback module, a wireless communication module and a controller, the controller calculates the position and the speed of the vehicle after reading the information in the RFID non-contact radio frequency identification electronic tags on the lane by the RFID electronic tag reader, then the position and the speed of the vehicle are sent to a remote server S by the wireless communication module through a wide area network, after the remote server S returns the positions and the speeds of other vehicles within the preset early warning radius of the vehicle, the controller carries out rear-end early warning according to preset early warning parameters and an early warning calculation method, and displays and prompts early warning results by the display screen and the playback module, the driver sets and checks the relevant parameters of the vehicle-mounted terminal by pressing keys.
The related information comprises the name of the expressway, the number of lanes where the vehicle is located, the driving direction of the vehicle and the distance between the vehicle and the starting point of the expressway.
The working method of the highway automobile rear-end collision prevention system comprises the following steps:
step 1, is a car CjMounting vehicle terminal CMj，CjIndicating the j-th vehicle, i.e. CMjRepresenting the vehicle-mounted terminal on the jth vehicle, each CMjAll have unique IDs;
step 2, assume car CjIn the m-th lane, denoted as RmSetting CMjThe reading range of the RFID electronic tag reader is half of the width of the non-emergency lane and is marked as RL/2, so that the RFID electronic tag reader is prevented from simultaneously reading RFID non-contact radio frequency identification electronic tags of adjacent lanes, and RL represents the width of the non-emergency lane;
step 3, setting CMjThe early warning radius WL is larger than 200 m;
step 4, driving the preprocessed vehicle into the expressway;
step 5, automobile CjCM abovejReading highway related information stored in an RFID (radio frequency identification) non-contact radio frequency identification electronic tag on the road surface of the lane;
step 6, submit CM to remote server SjThe ID of the RFID, the highway related information and the early warning radius WL stored in the RFID non-contact radio frequency identification electronic tag;
step 7, the remote server S updates the CMjAnd then back to CMjAs the circle center, the pre-warning radius WL is the position and speed of all vehicles within the radius;
step 8, CMjAnd based on data returned by the remote server S and preset early warning parameters, highlighting the position and the speed of the vehicle with the rear-end collision risk through a warning sound and a display screen by utilizing a rear-end collision early warning algorithm.
As an improvement, the specific steps of the step 7 are as follows: remote server S for each vehicle terminal CMjEstablishing a database, wherein the data in the database is CMjThe ID of the vehicle, the name of the highway, the number of lanes where the vehicle is located, the distance between the driving direction of the vehicle and the starting point of the highway, the information of the previous lane, the previous position, the current data updating time, the previous data updating time and the data updating time interval tj：
tjCurrent data update time-last data update time
CMjAt RmPiVelocity v ofj：
Figure BDA0002537987640000031
Warning distance radius WL, remote server S having updated CMjAfter all the information in the record, any data in the database is used for recording CMxCurrent position of minus CMjDetecting CM if absolute value of current position is less than WLxRecording set, classifying the recording set according to current lane, sorting the recording set according to current position and pushing the recording set back to CMjJudging CMjIf yes, and during the period of forbidding to occupy the emergency lane, the CM is controlledjReturning a traffic violation warning and reporting CM to traffic management centerjAnd illegally occupying an emergency lane.
In order to express the relevant information more clearly, the reference symbols are explained here.
RmRepresents the mth lane; rmPiAn ith RFID non-contact radio frequency identification electronic tag representing an mth lane; cjRepresents the jth car; CM (compact message processor)jThe vehicle-mounted terminal on the jth vehicle is shown; s represents a remote server; RL represents the width of a non-emergency lane; WL represents the pre-warning radius; t is tjRepresents; CM (compact message processor)jFrom RmPiTo RmPi+1、 Rm-1Pi+1Or Rm+1Pi+1The time of (d); PL represents RmPiTo RmPi+1A distance of, and
wherein PL should be larger than the maximum allowable driving speed of the traffic lane multiplied by the time required for the vehicle-mounted terminal to complete one rear-end collision avoidance warning flow (steps 5 to 8, i.e., M5 to M8 in fig. 4).
As an improvement, in step 8, with respect to the return data and adjacent CM is madexAnd CMx+1And (4) judging in advance after the collision, if:
|CMxcurrent position-CMx+1Current position of (c) | < | vx-vx+1|*ts+Max{Sx，Sx+1Judging CMxAnd CMx+1Vehicle CxAnd Cx+1There is a risk of rear-end collisions. Of these, Max { Sx，Sx+1Expressing CMxAnd CMx+1Maximum value of braking distance, CMxBraking distance Sx：
Figure BDA0002537987640000032
vxIs CMxG is 9.8m/s2Mu is the road surface friction coefficient of the expressway; v. ofx+1Representation CMx+1The vehicle speed of (1); t is tsRepresenting the reaction time of the driver;
when-distance vehicle CMjThe vehicle in the rear-end collision risk can have red marks on the display screen to remind a driver of the rear-end collision risk and the distance CMjThe farther the alarm sound frequency of the possible rear-end collision point is, the lower the flashing frequency is, and the lighter the red label is; otherwise distance CMjThe closer the alarm sound frequency of the possible rear-end collision point is, the higher the flash frequency is, and the deeper the red label is. Red-labeled CM with rear-end riskxAnd CMx+1On the display screen, sending out a sound alarm and a flash alarm; otherwise, marking CM with greenxAnd CMx+1On the display screen. According to the distance CM of rear-end collision pointsjThe distance is from low to high priority to alarm the rear-end collision.
Has the advantages that:
compared with the prior art, the highway automobile rear-end collision prevention system and the working method thereof have the following advantages:
1. the system has simple structure, and the vehicle C is obtained by reading the RFID non-contact radio frequency identification electronic tags with the equal interval PL placed on the center line of the lanejThe position mode has 100% of obtaining accuracy and the shortest position obtaining time, is not influenced by weather factors and bend obstacles, and ensures the real-time performance of the early warning of the vehicle rear-end collision prevention system;
2. using vehicle terminals CMjReading an equal roomVehicle C is obtained by placing RFID tags on center line of traffic lane at intervals of PLjThe position of the vehicle C can be identifiedjWhether the vehicle drives into an emergency lane or not is avoided, and the phenomenon that the emergency lane of the expressway is illegally occupied is avoided;
3. the introduction of the early warning radius WL can realize CMjTaking WL as all rear-end collisions within the radius as the center, further promoting CMjAnd (4) safe driving rate.
Drawings
FIG. 1 is a two-dimensional top view of a highway, 1-lane boundary line; 2-lane center line; 3-RFID tags, placed at equal intervals of PL on the center line of the traffic lane;
FIG. 2 shows a traffic lane RmCenterline profile view, 4-server S; 5-vehicle CjVehicle-mounted terminal CMj(ii) a 6-vehicle Cj；
FIG. 3 is CMj5.1-controller; 5.2-display screen; 5.3-RFID non-contact type radio frequency identification electronic tag; 5.4-push button; 5.5-wireless communication module; 5.6-playback module;
fig. 4 is a flowchart of a main routine of the rear-end collision prevention system.
Detailed Description
A highway automobile rear-end collision prevention system is composed of a vehicle-mounted terminal, a wide area network, a remote server S and an RFID non-contact radio frequency identification electronic tag; the RFID non-contact radio frequency identification electronic tags are arranged on the center line of the lane at equal intervals, the RFID non-contact radio frequency identification electronic tags store the relevant information of the expressway, the vehicle-mounted terminal consists of an RFID electronic tag reader, keys, a display screen, a playback module, a wireless communication module and a controller, the controller calculates the position and the speed of the vehicle after reading the information in the RFID non-contact radio frequency identification electronic tags on the lane by the RFID electronic tag reader, then the position and the speed of the vehicle are sent to a remote server S by the wireless communication module through a wide area network, after the remote server S returns the positions and the speeds of other vehicles within the preset early warning radius of the vehicle, the controller carries out rear-end early warning according to preset early warning parameters and an early warning calculation method, and displays and prompts early warning results by the display screen and the playback module, the driver sets and checks the relevant parameters of the vehicle-mounted terminal by pressing keys.
The related information comprises the name of the expressway, the number of lanes where the vehicle is located, the driving direction of the vehicle and the distance between the vehicle and the starting point of the expressway.
The working method of the highway automobile rear-end collision prevention system comprises the following steps:
step 1, is a car CjMounting vehicle terminal CMj，CjIndicating the j-th vehicle, i.e. CMjRepresenting the vehicle-mounted terminal on the jth vehicle, each CMjAll have unique IDs;
step 2, assume car CjIn the m-th lane, denoted as RmSetting CMjThe reading range of the RFID electronic tag reader is half of the width of the non-emergency lane and is marked as RL/2, so that the RFID electronic tag reader is prevented from simultaneously reading RFID non-contact radio frequency identification electronic tags of adjacent lanes, and RL represents the width of the non-emergency lane;
step 3, setting CMjThe early warning radius WL is larger than 200 m;
step 4, driving the preprocessed vehicle into the expressway;
step 5, CM on automobile CjjReading highway related information stored in an RFID non-contact radio frequency identification electronic tag on the road surface of the lane;
step 6, submit CM to remote server SjThe ID of the RFID, the highway related information and the early warning radius WL stored in the RFID non-contact radio frequency identification electronic tag;
step 7, the remote server S updates the CMjAnd then back to CMjTaking the position and the speed of all vehicles with the radius as the circle center and the radius WL as the radius;
step 8, CMjAnd based on data returned by the remote server S and preset early warning parameters, highlighting the position and the speed of the vehicle with the rear-end collision risk through a warning sound and a display screen by utilizing a rear-end collision early warning algorithm.
Wherein, the specific steps of the step 7 are as follows: remote server S for each vehicle terminal CMjEstablishing a database, the data in the database being CMjThe ID of the vehicle, the name of the highway, the number of lanes where the vehicle is located, the distance between the driving direction of the vehicle and the starting point of the highway, the information of the previous lane, the previous position, the current data updating time, the previous data updating time and the data updating time interval tj：
tjCurrent data update time-last data update time
CMjAt RmPiVelocity v ofj：
Figure BDA0002537987640000061
Warning distance radius WL, remote server S having updated CMjAfter all the information in the record, any data in the database is used for recording CMxCurrent position of minus CMjDetecting CM if absolute value of current position is less than WLxRecording set, classifying the recording set according to current lane, sorting the recording set according to current position and pushing the recording set back to CMjJudging CMjIf yes, and during the period of forbidding to occupy the emergency lane, the CM is controlledjReturning a traffic violation warning and reporting CM to traffic management centerjAnd illegally occupying an emergency lane.
In order to express the relevant information more clearly, the reference symbols are explained here.
RmRepresents the mth lane; rmPiAn ith RFID non-contact radio frequency identification electronic tag representing an mth lane; cjRepresents the jth car; CM (compact message processor)jThe vehicle-mounted terminal on the jth vehicle is shown; s represents a remote server; RL represents the width of a non-emergency lane; WL represents the pre-warning radius; t is tjRepresents; CM (compact message processor)jFrom RmPiTo RmPi+1、 Rm-1Pi+1Or Rm+1Pi+1The time of (d); PL representationRmPiTo RmPi+1A distance of, and
where PL must satisfy:
Figure BDA0002537987640000071
adjacent CM in different lanes on return data in step 8xAnd CMx+1And (4) carrying out rear-end collision prejudgment, if so:
|CMxcurrent position-CMx+1Current position of (c) | < | vx-vx+1|*ts+Max{Sx，Sx+1Judging CMxAnd CMx+1Vehicle CxAnd Cx+1There is a risk of rear-end collisions. Of these, Max { Sx，Sx+1Expressing CMxAnd CMx+1Maximum value of braking distance, CMxBraking distance Sx：
Figure BDA0002537987640000072
vxIs CMxG is 9.8m/s2Mu is the road surface friction coefficient of the expressway; v. ofx+1Representation CMx+1The vehicle speed of (1); t is tsRepresenting the reaction time of the driver;
when-distance vehicle CMjThe vehicle in the rear-end collision risk can have red marks on the display screen to remind a driver of the rear-end collision risk and the distance CMjThe farther the alarm sound frequency of the possible rear-end collision point is, the lower the flashing frequency is, and the lighter the red label is; otherwise distance CMjThe closer the alarm sound frequency of the possible rear-end collision point is, the higher the flash frequency is, and the deeper the red label is. Red-labeled CM with rear-end riskxAnd CMx+1On the display screen, sending out a sound alarm and a flash alarm; otherwise, marking CM with greenxAnd CMx+1On the display screen. According to the distance CM of rear-end collision pointsjThe distance is from low to high priority to alarm the rear-end collision.
The specific times mentioned in the following examples, e.g., M5-M8, are determined by the components used and the status of the wide area network.
Example 1
Taking the maximum allowable speed of the highway as 120km/h, taking M5 in FIG. 4 and needing 30ms, M6 and M7 and M8 respectively, and taking 40ms, therefore, CM in FIG. 4jThe total time for completing the rear-end collision prevention early warning process from M5 to M8 is 30+30+30+ 40-130 ms. It can be calculated that the RFID tag placement interval PL needs to satisfy:
Figure BDA0002537987640000073
take PL as 10 m. If the highway traffic lane width RL is 3.75m, the reading range of the RFID tag reader is set to 3.75/2 ≈ 1.8 m. It is required that the read time of the RFID tag reader should be less than:
Figure BDA0002537987640000081
taking the coefficient of friction mu of the rubber tire and the asphalt pavement in (dry) sliding friction as 0.9, and the driver reaction time tsWhen WL is 500m, R is 2smPiCM ofjV isjGet R randomly at 110km/hmPi-15CM ofj-1V isj-1At 120km/h, due to CMjThe braking distance of (c):
Figure BDA0002537987640000082
，CMj-1the braking distance of (c):
Figure BDA0002537987640000083
CMjand CMj-1Distance:
|PL*(i-(i-15))|＝10*15＝150m
CMjand CMj-1Minimum safe driving distance:
Figure BDA0002537987640000084
CMjand CMj-1The distance is greater than the safe driving distance
150m＞68.4m
Can judge CMj-1And CMjThere is no risk of rear-end collisions in between.
Example 2
Taking the maximum allowable speed of the highway as 120km/h, taking M5 in FIG. 4 takes 30ms, M6 takes 30ms, M7 takes 30ms, and M8 takes 40ms, so the CM in FIG. 4jThe total time for completing the rear-end collision prevention early warning process from M5 to M8 is 30+30+30+ 40-130 ms. It can be calculated that the RFID tag placement interval PL needs to satisfy:
Figure BDA0002537987640000085
take PL as 10 m. If the highway traffic lane width RL is 3.75m, the reading range of the RFID tag reader is set to 3.75/2 ≈ 1.8 m. It is required that the read time of the RFID tag reader should be less than:
Figure BDA0002537987640000091
taking the coefficient of friction mu of the rubber tire and the asphalt pavement in (dry) sliding friction as 0.9, and the driver reaction time tsWhen WL is 500m, R is 2smPiCM ofjSubject to emergency braking, vehicle speed vjR is randomly selected as 30km/hmPi-10CM ofj-1V isj-1At 120km/h, due to CMjThe braking distance of (c):
Figure BDA0002537987640000092
CMj-1the braking distance of (c):
Figure BDA0002537987640000093
CMjand CMj-1Distance:
|PL*(i-(i-10))|＝10*10＝100m
CMjand CMj-1Minimum safe driving distance:
Figure BDA0002537987640000094
CMjand CMj-1The distance is less than the safe driving distance
100m＜112.9m
Can judge CMj-1And CMjWith the risk of rear-end collisions, CMjMarked with CMj-1For possible rear-end collisions with audible and visual warnings, CMj-1Marked with CMjTo possibly rear the vehicle and to issue an audible and visual warning.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are within the scope of the present invention.

Claims (5)

1. A highway automobile rear-end collision prevention system is characterized by comprising a vehicle-mounted terminal, a wide area network, a remote server S and an RFID non-contact radio frequency identification electronic tag; the RFID non-contact radio frequency identification electronic tags are arranged on the center line of the lane at equal intervals, the RFID non-contact radio frequency identification electronic tag stores relevant information of a highway, the vehicle-mounted terminal consists of an RFID electronic tag reader, keys, a display screen, a playback module, a wireless communication module and a controller, the controller calculates the position and the speed of the vehicle after reading information in an RFID non-contact radio frequency identification electronic tag on a lane through the RFID electronic tag reader, the vehicle position and speed are then transmitted via the wide area network to the remote server S via the wireless communication module, after the remote server S returns the positions and the speed of other vehicles within the preset early warning radius of the vehicle, the controller carries out rear-end collision early warning according to preset early warning parameters and an early warning algorithm, the early warning result is displayed and prompted through the display screen and the playback module, and a driver sets and checks relevant parameters of the vehicle-mounted terminal through keys.
2. The system of claim 1, wherein the related information comprises a name of the highway, a lane number of the vehicle, a driving direction of the vehicle, and a distance from the vehicle to a starting point of the highway.
3. The working method of the rear-end collision prevention system for the highway automobiles according to claim 1 is characterized by comprising the following steps:
step 1, is a car CjMounting vehicle terminal CMj，CjIndicating the j-th vehicle, i.e. CMjRepresenting the vehicle-mounted terminal on the jth vehicle, each CMjAll have unique IDs;
step 2, assume car CjIn the m-th lane, denoted as RmSetting CMjThe reading range of the RFID electronic tag reader is half of the width of the non-emergency lane and is marked as RL/2, so that the RFID electronic tag reader is prevented from simultaneously reading RFID non-contact radio frequency identification electronic tags of adjacent lanes, and RL represents the width of the non-emergency lane;
step 3, setting CMjThe early warning radius WL>200 m;
step 4, driving the preprocessed vehicle into the expressway;
step 5, automobile CjCM abovejReading highway related information stored in an RFID (radio frequency identification) non-contact radio frequency identification electronic tag on the road surface of the lane;
step 6, submitting CM to remote server SjThe ID of the RFID, the highway related information and the early warning radius WL stored in the RFID non-contact radio frequency identification electronic tag;
step 7, the remote server S updates the CMjAnd then back to CMjTaking the position and the speed of all vehicles with the radius WL as the circle center and early warning radius WL as the radius;
step 8, CMjAnd based on data returned by the remote server S and preset early warning parameters, highlighting the position and the speed of the vehicle with the rear-end collision risk through a warning sound and a display screen by utilizing a rear-end collision early warning algorithm.
4. The working method of the rear-end collision preventing system for the highway automobiles according to claim 3, wherein the concrete steps of the step 7 are as follows: remote server S for each vehicle terminal CMjEstablishing a database record, the key component element of the record having CMjThe ID of the vehicle, the name of the highway, the lane where the vehicle is located, the distance between the driving direction of the vehicle and the starting point of the highway, the information of the previous lane, the previous position, the current data updating time, the previous data updating time and the data updating time interval tj
tjCurrent data update time-last data update time
CMjAt RmPiVelocity v ofj
Figure FDA0002537987630000021
Warning radius WL, remote server S has updated CMjAfter all information in the record, with CMxCurrent position of minus CMjCondition that the absolute value of the current position of the database is less than WL, searching all CM in the database which meets the requirementxRecording set, classifying the recording set according to current lane, sorting the recording set according to current position and pushing the recording set back to CMjJudging CMjIf the current lane is in the emergency lane, if so, during the period of forbidding to occupy the emergency lane, the CM is controlledjReturning a traffic violation warning and reporting CM to traffic management centerjIllegal emergency lane occupancy, wherein PL should be greater than maximum allowable lane occupancyThe driving speed is multiplied by the time required by the vehicle-mounted terminal to finish the one-time rear-end collision prevention early warning process.
5. The working method of the rear-end collision preventing system for the highway automobiles according to claim 3, wherein the concrete steps of the step 8 are as follows: centralizing adjacent CM in different lanes for return recordsxAnd CMx+1Making a rear-end collision prediction if
|CMxCurrent position-CMx+1Current position $
＜|vx-vx+1|*ts+Max{Sx,Sx+1}
Decision CMxAnd CMx+1Vehicle CxAnd Cx+1There is a risk of rear-end collisions, of which Max { S }x,Sx+1Means CM is solvedxAnd CMx+1The maximum value of the braking distance; CM (compact message processor)xBraking distance Sx
Figure FDA0002537987630000031
vxIs CMxG is 9.8m/s2Mu is the road surface friction coefficient of the expressway; v. ofx+1Representation CMx+1The vehicle speed of (1); t is tsRepresenting driver reaction time;
when-distance vehicle CMjWhen the vehicle is in the rear-end collision risk, a red mark appears on the display screen to remind the driver of the rear-end collision risk and the distance CMjThe farther the alarm sound frequency of the possible rear-end collision point is, the lower the flashing frequency is, and the lighter the red label is; otherwise distance CMjThe closer the alarm sound frequency of the possible rear-end collision point is, the higher the flash frequency is, and the deeper the red label is; marking CM with rear-end risk with RedxAnd CMx+1On the display screen, sending out a sound alarm and a flash alarm; otherwise, marking CM with greenxAnd CMx+1On a display screen; according to the distance CM of rear-end collision pointsjThe distance is from low to high priority to alarm the rear-end collision.
CN202010538581.XA 2020-06-13 2020-06-13 Highway automobile rear-end collision prevention system and working method thereof Pending CN111833651A (en)

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CN103778789A (en) * 2012-10-24 2014-05-07 航天信息股份有限公司 Vehicle speed measuring method and system based on radio frequency identification
CN103871272A (en) * 2012-12-18 2014-06-18 江南大学 ZigBee-based vehicle-mounted intersection collision avoidance system
CN105844938A (en) * 2016-06-12 2016-08-10 东北林业大学 Highway intelligent road button system
CN110310517A (en) * 2019-06-20 2019-10-08 张定宇 A kind of anti-alarming method for power to knock into the back of vehicle on highway and system

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CN1949292A (en) * 2006-10-31 2007-04-18 天津大学 Real-time testing system and method for speed and relative position of vehicle on expressway
WO2010122570A1 (en) * 2009-04-21 2010-10-28 Council Of Scientific & Industrial Research Tracking and monitoring system for opencast mines
CN102226932A (en) * 2011-05-31 2011-10-26 东北大学 Vehicle speed measuring method based on radio frequency identification technology
CN103778789A (en) * 2012-10-24 2014-05-07 航天信息股份有限公司 Vehicle speed measuring method and system based on radio frequency identification
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