CN112258895A - T-shaped intersection collision judgment method based on V2X - Google Patents
T-shaped intersection collision judgment method based on V2X Download PDFInfo
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- CN112258895A CN112258895A CN202011136230.2A CN202011136230A CN112258895A CN 112258895 A CN112258895 A CN 112258895A CN 202011136230 A CN202011136230 A CN 202011136230A CN 112258895 A CN112258895 A CN 112258895A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention discloses a T-shaped intersection collision judgment method based on V2X, which comprises the following steps: calculating to obtain a relative azimuth angle beta and a relative course angle gamma of the vehicle B relative to the vehicle A; judging whether the driving directions of the two vehicles have a cross point or not according to the turn-on conditions of the turn lamps of the vehicle A and the vehicle B; calculating the time t for the vehicle A to reach the intersectionAAnd the time t when the vehicle B arrives at the intersectionB(ii) a Calculating the speed V of the vehicle A to the intersectionAAnd the speed V of the vehicle B arriving at the intersectionB(ii) a According to the relation between the relative azimuth angle beta and the relative course angle gamma, the turn lights of the vehicle A and the vehicle B are turned on, tAAnd tBRelation between, VAAnd VBAnd judging the collision probability of the two vehicles according to the relationship between the two vehicles. The invention adds a method for judging the intersection of the running tracks of the vehicle A and the vehicle B; by passingThe information states of the turn lights of the vehicle A and the vehicle B further improve the accuracy of the expected tracks of the vehicle A and the vehicle B, and reduce the misjudgment rate of the collision of the vehicle A and the vehicle B.
Description
Technical Field
The invention relates to the technical field of information, in particular to a T-shaped intersection collision judgment method based on V2X.
Background
The V2X, namely the connection between a vehicle and anything, mainly comprises a V2V vehicle and vehicle, a V2I vehicle and infrastructure, a V2P vehicle and person, and a V2N vehicle and cloud, and particularly relates to a technology that the vehicle communicates with other surrounding vehicles, persons and things through sensors and network communication technology, and carries out analysis and decision-making according to collected information.
The automobile senses the state information of other traffic participants in the driving environment through V2X network communication, further calculates whether the influence exists on the driving state of the automobile, and then correspondingly reminds the driver.
The invention of prior art patent No. CN201510790332.9, entitled intersection collision possibility evaluation method based on vehicle speed and distance, provides a measuring and calculating method, which calculates based on vehicle speed, distance of vehicle intersection center and time of vehicle reaching intersection center to judge collision possibility. The scheme lacks a method for judging the existence of intersection points of the driving tracks of the vehicle A and the vehicle B; this solution determines the possibility of collision only by time, but does not consider that the traveling direction may change before the vehicle reaches the intersection, and no collision occurs, and the probability of erroneous determination is very high.
Disclosure of Invention
The invention aims to provide a T-shaped intersection collision judgment method based on V2X, which is additionally provided with a judgment method for judging that a running track of a vehicle A and a running track of a vehicle B have an intersection; the accuracy of the expected tracks of the vehicle A and the vehicle B is further improved through the information states of the steering lamps of the vehicle A and the vehicle B, and the misjudgment rate of the collision of the vehicle A and the vehicle B is reduced.
In order to solve the technical problems, the technical scheme of the invention is as follows: a T-shaped intersection collision judgment method based on V2X comprises the following steps:
calculating to obtain a relative azimuth angle beta and a relative course angle gamma of the vehicle B relative to the vehicle A;
judging whether the driving directions of the two vehicles have a cross point or not according to the turn-on conditions of the turn lamps of the vehicle A and the vehicle B;
calculating the time t for the vehicle A to reach the intersectionAAnd the time t when the vehicle B arrives at the intersectionB；
Calculating the speed V of the vehicle A to the intersectionAAnd the speed V of the vehicle B arriving at the intersectionB；
According to the relation between the relative azimuth angle beta and the relative course angle gamma, the turn lights of the vehicle A and the vehicle B are turned on, tAAnd tBRelation between, VAAnd VBAnd judging the collision probability of the two vehicles according to the relationship between the two vehicles.
Further, the method comprises the following steps: and performing information interaction on the judgment result in the vehicle A and the vehicle B.
Further, the method for calculating the relative azimuth angle β and the relative heading angle γ is as follows: and obtaining the positions of the vehicle A and the vehicle B through a positioning device, and calculating the relative azimuth angle beta and the relative heading angle gamma of the vehicle B relative to the vehicle A according to the historical track coordinates of the vehicle A and the vehicle B.
Further, the positioning device is an inertial navigation device or a GPS.
Further, the method for judging the collision probability of the two vehicles comprises the following steps: respectively establishing relative azimuth angle beta and relative course angle gamma relation collision standards, judging whether the two vehicles have collision possibility when the steering lamps of the vehicle A and the vehicle B are turned on, and judging whether the two vehicles have collision possibility according to tAAnd tBRelationship between, VAAnd VBThe relationship between them further calculates the collision probability.
Further, the relative azimuth angle β and the relative heading angle γ are related to collision criteria including scene 1, scene 2, scene 3 and scene 4; wherein the content of the first and second substances,
the scene 1 is that when the beta belongs to (0 degrees, 90 degrees) and the gamma belongs to (180 degrees, 360 degrees), the possibility of collision is judged to exist, and the two vehicles have a cross point;
the scene 2 is that when the beta belongs to (90 degrees, 180 degrees) and the gamma belongs to (270 degrees, 360 degrees), the possibility of collision is judged, and a cross point exists between the two vehicles;
the scene 3 is that when the beta belongs to (180 degrees, 270 degrees) and the gamma belongs to (0 degrees, 90 degrees), the possibility of collision is judged, and the two vehicles have a cross point;
the scene 4 is that when the beta belongs to (270 degrees, 360 degrees) and the gamma belongs to (0 degrees, 180 degrees), the possibility of collision is judged, and the two vehicles have an intersection.
Further, the collision standard of the turning-on condition of the turn lights of the vehicle a and the vehicle B is as follows:
in scenario 1: the steering lamp of the vehicle A is not turned on, the steering lamp of the vehicle B is not turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the left turn light of the vehicle B is turned on, and the collision probability is judged to be high; turning on a left steering lamp of the vehicle A, turning on a right steering lamp of the vehicle B, and judging that the collision probability is extremely low; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be small; the right turn light of the vehicle A is turned on, the left turn light of the vehicle B is turned on, and the collision probability is judged to be small; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is small;
in scenario 2: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be extremely low; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; turning on a left steering lamp of the vehicle A, turning on a right steering lamp of the vehicle B, and judging that the collision probability is extremely low; turning on a right turn light of the vehicle A, and turning on no turn light of the vehicle B, so that the collision probability is judged to be extremely low; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is high; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is high;
in the scenario 3: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be small; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; the left turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be high; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is small;
in scenario 4: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be small; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; the left turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be high; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; and the right turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small.
Compared with the prior art, the invention has the beneficial effects that:
the invention judges the position relation between the two vehicles through the relative direction angle and the relative course angle between the two vehicles, and can relatively accurately judge whether the driving directions of the two vehicles have a cross point; by increasing the information input to the steering lamps of the two vehicles, the expected driving directions of the two vehicles are further accurate, and the collision misjudgment rate is further reduced.
Drawings
FIG. 1 is a logic flow diagram of an embodiment of the present invention;
FIG. 2 is a diagram illustrating a hardware configuration according to an embodiment of the present invention;
FIG. 3 is a schematic view of a vehicle position according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a collision criterion relating a relative azimuth angle β and a relative heading angle γ according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a collision criterion scenario 1 in the case of turning on the turn signals of the vehicle A and the vehicle B according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of a standard collision scenario 2 in the case of turning on the turn signals of the vehicle A and the vehicle B according to the embodiment of the present invention;
FIG. 7 is a schematic diagram of a standard collision scenario 3 in the case of turning on the turn signals of the vehicle A and the vehicle B according to the embodiment of the present invention;
fig. 8 is a schematic diagram of a collision standard scenario 4 in the case of turning on the turn signals of the vehicle a and the vehicle B according to the embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.
The technical scheme of the invention is as follows: a T-junction collision judgment method based on V2X is shown in figure 1 and comprises the following steps:
calculating to obtain a relative azimuth angle beta and a relative course angle gamma of the vehicle B relative to the vehicle A;
judging whether the driving directions of the two vehicles have a cross point or not according to the turn-on conditions of the turn lamps of the vehicle A and the vehicle B;
calculating the time t for the vehicle A to reach the intersectionAAnd the time t when the vehicle B arrives at the intersectionB；
Calculating the speed V of the vehicle A to the intersectionAAnd the speed V of the vehicle B arriving at the intersectionB；
According to the relation between the relative azimuth angle beta and the relative course angle gamma, the turn lights of the vehicle A and the vehicle B are turned on, tAAnd tBRelation between, VAAnd VBAnd judging the collision probability of the two vehicles according to the relationship between the two vehicles.
Further, the method comprises the following steps: and performing information interaction on the judgment result in the vehicle A and the vehicle B.
As shown in fig. 2, a vehicle-to-vehicle (V2V) direct communication system architecture is presented, which generally includes several subsystems:
1. radio communication system-receive and transmit V2X PC5 signals.
2. Antenna-implements the reception and transmission of radio frequency signals.
3. The information processing and calculating unit is mainly responsible for processing the received data and/or the sensed data, the unit performs information interaction with the vehicle-mounted equipment units of other vehicles, and the vehicle equipped with the terminal equipment can periodically and ceaselessly broadcast the running state information of the current vehicle, including but not limited to speed, acceleration, braking state, vehicle signal lamp state and the like.
Further, the method for calculating the relative azimuth angle β and the relative heading angle γ is as follows: and obtaining the positions of the vehicle A and the vehicle B through a positioning device, and calculating the relative azimuth angle beta and the relative heading angle gamma of the vehicle B relative to the vehicle A according to the historical track coordinates of the vehicle A and the vehicle B.
As shown in fig. 3, SARepresents the distance, S, of the vehicle A from the center of the intersectionBRepresents the distance, S, of the vehicle B from the center of the intersectionABThe distance between the vehicle A and the vehicle B is represented, the vehicle A is assumed to be the vehicle, a coordinate system is suggested by taking the vehicle as an origin, and then the position and the driving direction of the vehicle B in the coordinate system are calculated.
The azimuth angle of the coordinate system established by the vehicle B with the vehicle A as the origin is beta, the dereferencing range is [0,2 pi ], the included angle between straight lines from the center of mass of the vehicle to the center of mass of an adjacent vehicle in the coordinate system is measured clockwise from the positive direction of the longitudinal axis of the coordinate axis, and the included angle is the azimuth angle relative to the vehicle. In the coordinate system, the coordinates of the vehicle a are the origin (0,0), the coordinates of the vehicle B are (X _ r, Y _ r), and the azimuth angle calculation formula of the vehicle B in the coordinate system is:
the heading angle of the vehicle B in the coordinate system established by the vehicle A as the original point is alpha, the value range is [0,2 pi ], namely 0-360 degrees, the heading angle refers to the included angle between straight lines determined by the vector from the original point of the coordinate system of the vehicle and the heading of an adjacent vehicle in the coordinate system from the positive direction of the longitudinal axis of the coordinate axis in a clockwise manner, and the heading angle of the vehicle B in the coordinate system is the heading angle of the vehicle B.
Further, the positioning device is an inertial navigation device or a GPS.
Further, the method for judging the collision probability of the two vehicles comprises the following steps: respectively establishing relative azimuth angle beta and relative course angle gamma relation collision standards, judging whether the two vehicles have collision possibility when the steering lamps of the vehicle A and the vehicle B are turned on, and judging whether the two vehicles have collision possibility according to tAAnd tBRelationship between, VAAnd VBThe relationship between them further calculates the collision probability.
Further, the relative azimuth angle β and the relative heading angle γ are related to collision criteria including scene 1, scene 2, scene 3 and scene 4; as shown in figure 4 of the drawings,
the scene 1 is that when the beta belongs to (0 degrees, 90 degrees) and the gamma belongs to (180 degrees, 360 degrees), the possibility of collision is judged to exist, and the two vehicles have a cross point;
the scene 2 is that when the beta belongs to (90 degrees, 180 degrees) and the gamma belongs to (270 degrees, 360 degrees), the possibility of collision is judged, and a cross point exists between the two vehicles;
the scene 3 is that when the beta belongs to (180 degrees, 270 degrees) and the gamma belongs to (0 degrees, 90 degrees), the possibility of collision is judged, and the two vehicles have a cross point;
the scene 4 is that when the beta belongs to (270 degrees, 360 degrees) and the gamma belongs to (0 degrees, 180 degrees), the possibility of collision is judged, and the two vehicles have an intersection.
And judging the track change of the two vehicles when the two vehicles reach the intersection according to the current states of the steering lamps of the vehicle A and the vehicle B, judging that the vehicles go straight through the intersection if the steering lamps are not turned on, turning on the left steering lamp, turning left the vehicles at the intersection, turning on the right steering lamp, turning right the vehicles at the intersection, and further screening the collision range.
Further, the collision standard of the turning-on condition of the turn lights of the vehicle a and the vehicle B is as follows:
as shown in fig. 5, in the scenario 1: the steering lamp of the vehicle A is not turned on, the steering lamp of the vehicle B is not turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the left turn light of the vehicle B is turned on, and the collision probability is judged to be high; turning on a left steering lamp of the vehicle A, turning on a right steering lamp of the vehicle B, and judging that the collision probability is extremely low; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be small; the right turn light of the vehicle A is turned on, the left turn light of the vehicle B is turned on, and the collision probability is judged to be small; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is small;
as shown in fig. 6, in the scenario 2: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be extremely low; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; turning on a left steering lamp of the vehicle A, turning on a right steering lamp of the vehicle B, and judging that the collision probability is extremely low; turning on a right turn light of the vehicle A, and turning on no turn light of the vehicle B, so that the collision probability is judged to be extremely low; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is high; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is high;
as shown in fig. 7, in the scenario 3: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be small; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; the left turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be high; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is small;
as shown in fig. 8, in the scenario 4: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be small; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; the left turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be high; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; and the right turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small.
The invention judges the position relation between the two vehicles through the relative direction angle and the relative course angle between the two vehicles, and can relatively accurately judge whether the driving directions of the two vehicles have a cross point; by increasing the information input to the steering lamps of the two vehicles, the expected driving directions of the two vehicles are further accurate, and the collision misjudgment rate is further reduced.
It should be understood that reference to t in this patent is made toAAnd tBCalculation and use of VAAnd VBThe calculation and use of the above are in the prior art, and therefore, they are not described in more detail.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the present invention and these changes and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A T-shaped intersection collision judgment method based on V2X is characterized by comprising the following steps:
calculating to obtain a relative azimuth angle beta and a relative course angle gamma of the vehicle B relative to the vehicle A;
judging whether the driving directions of the two vehicles have a cross point or not according to the turn-on conditions of the turn lamps of the vehicle A and the vehicle B;
calculating the time t for the vehicle A to reach the intersectionAAnd the time t when the vehicle B arrives at the intersectionB；
Calculating the speed V of the vehicle A to the intersectionAAnd the speed V of the vehicle B arriving at the intersectionB；
According to the relation between the relative azimuth angle beta and the relative course angle gamma, the turn lights of the vehicle A and the vehicle B are turned on, tAAnd tBRelation between, VAAnd VBAnd judging the collision probability of the two vehicles according to the relationship between the two vehicles.
2. The method of claim 1, further comprising the step of: and performing information interaction on the judgment result in the vehicle A and the vehicle B.
3. The method of claim 1, wherein the relative azimuth angle β and the relative heading angle γ are calculated by: and obtaining the positions of the vehicle A and the vehicle B through a positioning device, and calculating the relative azimuth angle beta and the relative heading angle gamma of the vehicle B relative to the vehicle A according to the historical track coordinates of the vehicle A and the vehicle B.
4. The method of claim 3, wherein the positioning device is an inertial navigation device or a GPS.
5. The method of claim 1, wherein the method of determining the probability of a collision between two vehicles comprises: respectively establishing relative azimuth angle beta and relative course angle gamma relation collision standards, judging whether the two vehicles have collision possibility when the steering lamps of the vehicle A and the vehicle B are turned on, and judging whether the two vehicles have collision possibility according to tAAnd tBRelationship between, VAAnd VBFurther counting the relation betweenAnd (5) calculating the collision probability.
6. The method of claim 5, wherein the relative azimuth β and relative heading γ relational collision criteria comprise scene 1, scene 2, scene 3, and scene 4; wherein the content of the first and second substances,
the scene 1 is that when the beta belongs to (0 degrees, 90 degrees) and the gamma belongs to (180 degrees, 360 degrees), the possibility of collision is judged to exist, and the two vehicles have a cross point;
the scene 2 is that when the beta belongs to (90 degrees, 180 degrees) and the gamma belongs to (270 degrees, 360 degrees), the possibility of collision is judged, and a cross point exists between the two vehicles;
the scene 3 is that when the beta belongs to (180 degrees, 270 degrees) and the gamma belongs to (0 degrees, 90 degrees), the possibility of collision is judged, and the two vehicles have a cross point;
the scene 4 is that when the beta belongs to (270 degrees, 360 degrees) and the gamma belongs to (0 degrees, 180 degrees), the possibility of collision is judged, and the two vehicles have an intersection.
7. The method of claim 6, wherein the collision criteria for the turn-on condition of the turn signals of vehicle A and vehicle B are:
in scenario 1: the steering lamp of the vehicle A is not turned on, the steering lamp of the vehicle B is not turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the left turn light of the vehicle B is turned on, and the collision probability is judged to be high; turning on a left steering lamp of the vehicle A, turning on a right steering lamp of the vehicle B, and judging that the collision probability is extremely low; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be small; the right turn light of the vehicle A is turned on, the left turn light of the vehicle B is turned on, and the collision probability is judged to be small; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is small;
in scenario 2: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be extremely low; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; turning on a left steering lamp of the vehicle A, turning on a right steering lamp of the vehicle B, and judging that the collision probability is extremely low; turning on a right turn light of the vehicle A, and turning on no turn light of the vehicle B, so that the collision probability is judged to be extremely low; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is high; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is high;
in the scenario 3: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be small; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; the left turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be high; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; turning on a right turn light of the vehicle A, turning on a right turn light of the vehicle B, and judging that the collision probability is small;
in scenario 4: the turning lamp of the vehicle A is not turned on, the turning lamp of the vehicle B is not turned on, and the collision probability is judged to be extremely low; the turning lamp of the vehicle A is not turned on, the left turning lamp of the vehicle B is turned on, and the collision probability is judged to be high; the turning lamp of the vehicle A is not turned on, the right turning lamp of the vehicle B is turned on, and the collision probability is judged to be small; the left turn light of the vehicle A is turned on, the turn light of the vehicle B is not turned on, and the collision probability is judged to be high; turning on a left turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; the left turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small; the right turn light of the vehicle A is turned on, and the turn light of the vehicle B is not turned on, so that the collision probability is judged to be high; turning on a right turn light of the vehicle A, turning on a left turn light of the vehicle B, and judging that the collision probability is extremely low; and the right turn light of the vehicle A is turned on, the right turn light of the vehicle B is turned on, and the collision probability is judged to be small.
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