CN112349081A - Road vehicle control method and control device - Google Patents

Road vehicle control method and control device Download PDF

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Publication number
CN112349081A
CN112349081A CN201910935952.5A CN201910935952A CN112349081A CN 112349081 A CN112349081 A CN 112349081A CN 201910935952 A CN201910935952 A CN 201910935952A CN 112349081 A CN112349081 A CN 112349081A
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Prior art keywords
vehicle
communication address
early warning
warning information
position information
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董金龙
陈洋卓
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Hunan Ordnance And Light Weapons Research Institute Co ltd
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Hunan Ordnance And Light Weapons Research Institute Co ltd
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Priority to CN201910935952.5A priority Critical patent/CN112349081A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/008—Alarm setting and unsetting, i.e. arming or disarming of the security system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The invention discloses a road vehicle control method and a control device, wherein the method comprises the steps of receiving the collision force and the current position information of a collision sensor, which are acquired by a fault vehicle; judging whether the collision force reaches a first threshold value; when the collision force reaches a first threshold value, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen. By adopting the method, the information can be sent out in time after the vehicle sends the accident, and the rescue time is increased.

Description

Road vehicle control method and control device
Technical Field
The invention relates to a road vehicle control method and a road vehicle control device, and belongs to the field of vehicle control.
Background
With the popularization of vehicles, the requirements of people on the safety performance of the vehicles are higher and higher, and the global traffic accidents are increased gradually due to the increase of the vehicles and the numerous irregular driving behaviors. When the driver fails to ask for help by himself due to traffic accidents caused by accidents, the driver cannot ask for help from the outside in the first time, and the best rescue opportunity is lost. Furthermore, the continued driving of the rear vehicle without knowing the road ahead may also cause a rear-end collision and a large traffic jam.
The danger early warning technology is one of key technologies of vehicle active safety, and the existing vehicle active safety early warning systems such as a vehicle anti-collision early warning system, a lane departure early warning system, a dangerous blind spot detection system and the like mostly adopt a video image analysis technology or an infrared detection technology to sense the dangerous states of vehicles and vehicle roads in a short distance range, so that the functions of vehicle autonomous danger early warning and safety control are realized. Once environmental conditions such as wind, snow, rain and weather, large obstacles, dense mixed traffic flow and the like occur, the vehicles interfering with the detection technology cannot acquire reliable dangerous information, and the method comprises the prior short-range communication vehicle early warning method based on V2X, namely, the vehicle-related information such as vehicle speed, acceleration, engine speed, vehicle longitude and latitude steering wheel turning angle and the like is periodically broadcast and transmitted through an on-vehicle V2X terminal; meanwhile, relevant information of other vehicles around is received, and after the vehicle receives the relevant information of the vehicles around, the processing unit analyzes and processes the distance between the two vehicles and the time when the two vehicles are likely to collide based on the relevant information; if the distance between the two vehicles and the expected collision time are less than a certain threshold value, generating an alarm and giving a prompt to a driver; but only the accident early warning is prompted to the vehicle, and the early warning is not carried out on the emergency which is about to occur or is generated; in addition, such a warning system is only generated between two vehicles that may have an accident, and a warning or notification cannot be transmitted to a vehicle in the vicinity of the vehicle in a state of emergency. Therefore, the accident handling efficiency is influenced, and the rescue time is increased. On the other hand, if the vehicle-mounted danger early warning system lacks interaction with network information, the vehicle cannot perform real-time data transmission with a remote traffic control center, the danger early warning function cannot be organically combined with functions of remote data communication, vehicle positioning, navigation and the like, the vehicle becomes an information isolated island and cannot sense danger information and geographical position information existing in a large-range driving area in advance, the reliability of the vehicle-mounted autonomous danger early warning function is inevitably weakened, meanwhile, the active safety control capability of the vehicle is also reduced, particularly, under the condition that people are rarely in remote places such as at night or on mountain roads and the like, accidents happen to the vehicle, and if rescue cannot arrive in time, property and even life loss can be caused.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a road vehicle control method and a control device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a road vehicle control method, applied to a server, the method comprising:
receiving the collision force and the current position information of a collision sensor, which are acquired by a fault vehicle;
judging whether the collision force reaches a first threshold value;
when the collision force reaches a first threshold value, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force;
and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the method further comprises:
when the collision force does not reach a first threshold value, judging whether the fault vehicle receives first help information which is input by a driver and indicates that the vehicle cannot move;
if the fault vehicle receives first help seeking information input by a driver, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force;
and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the method further comprises:
judging whether the fault vehicle receives second help seeking information which is input by a driver and indicates that the vehicle needs to stop on an emergency lane of the expressway;
if the fault vehicle receives second help seeking information input by a driver, acquiring a communication address of a signal lamp with a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and acquiring the current geographical position information of the fault vehicle;
and sending the current geographical position information according to the communication address of the signal lamp and the communication address of the outdoor message receiving display screen.
In one embodiment, the first warning information of the signal lamp with the distance of 1 km from the current position information is displayed in red, the first warning information of the signal lamp with the distance of 2 km from the current position information is displayed in orange, and the first warning information of the signal lamp with the distance of 3 km from the current position information is displayed in yellow.
In one embodiment, the second warning information is a distance between the outdoor message receiving display screen and the current position information and a current accident number.
In one embodiment, the method further comprises:
acquiring an alarm telephone, a reserved parent telephone and an alarm public number according to the current position information;
calling according to the alarm telephone and the reserved parent telephone to inform current geographic position information and the license plate number of the failed vehicle;
and sending the current position information to the public warning number.
In one embodiment, the method further comprises:
the distance between the non-faulty vehicle and the faulty vehicle is periodically calculated, and the calculated distance is periodically broadcast to the non-faulty vehicle for the pair.
In one embodiment, the method further comprises:
establishing a dynamic model of a following vehicle which is positioned in the same lane as the fault vehicle and has a following relation with the fault vehicle in the fault vehicle and the non-fault vehicle;
calculating to obtain the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm;
and sending the brake control distance and the brake control speed to the corresponding following vehicle so that the following vehicle can control according to the brake control distance and the brake control speed.
In one embodiment, before calculating the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm, the method further includes:
and calculating a first communication delay parameter, and correcting the consistency control algorithm through the communication delay parameter.
In one embodiment, the method further comprises:
acquiring a first distance and a first speed difference between adjacent vehicles which are most adjacent to the following vehicle, and a second distance and a second speed difference between the following vehicle and a fault vehicle;
calculating a second communication delay parameter;
obtaining a local consistency control algorithm according to the first distance, the first speed difference, the second distance, the second speed difference and the second communication delay parameter;
calculating to obtain a target lane change of the following vehicle according to the local consistency control algorithm;
sending the target lane change to the following vehicle so that the following vehicle changes lane to the target lane change.
A road vehicle control apparatus comprising:
the receiving module is used for receiving the collision force and the current position information of the collision sensor, which are acquired by the fault vehicle;
the first judgment module is used for judging whether the collision force reaches a first threshold value;
the early warning information generation module is used for acquiring the communication address of a signal lamp and the communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information when the collision strength reaches a first threshold value, and generating first early warning information and second early warning information according to the collision strength;
and the early warning information sending module is used for sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
Compared with the prior art, the road vehicle control method and the road vehicle control device provided by the invention have the following advantages:
after a fault vehicle breaks down, the collision strength of a collision sensor and the current position information collected by a positioning module can be used for sending the collision strength and the current position information to a server, so that the server can judge the collision level of the vehicle according to the collision strength, for example, when the collision strength reaches a first threshold value, the vehicle is seriously collided, a driver dies in the morning and seriously injures the driver, the vehicle cannot move and the like, so that the server needs to acquire the communication address of a signal lamp at a preset distance and the communication address of an outdoor message receiving display screen according to the current geographical position information, generate first early warning information and second early warning information according to the collision strength, send the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and send the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen, by adopting the method, the information can be sent out in time after the vehicle sends the accident, and the rescue time is increased.
Drawings
FIG. 1 is a diagram of an environment in which the method of controlling a road vehicle of the present invention may be used;
FIG. 2 is a schematic diagram of a system architecture of a road vehicle control method according to the present invention;
FIG. 3 is a flow chart of a road vehicle control method of the present invention;
FIG. 4 is a structural diagram of a display device included in an alarm module of the system of the road vehicle control method according to the present invention;
FIG. 5 is a schematic diagram illustrating automatic signal transmission of a signal transmitter in a severe collision of a vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a signal emitted by a manual activation signal emitter when a relatively severe collision occurs in a vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a signal emitted by a manual start signal emitter when a vehicle fails or has a small accident according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating a manual activation signal transmitter transmitting a signal when an emergency stop of a vehicle is required according to an embodiment of the present invention;
fig. 9 is a flow chart showing the process of the signal emitter in the positioning module transmitting signals to the solar red-orange-yellow three-color signal receiving kilometer lights near the expressway according to the embodiment of the present invention;
FIG. 10 is a flow chart illustrating a signal transmitter transmitting signals to an outdoor solar message receiving display screen in a positioning module according to an embodiment of the present invention;
fig. 11 is a flowchart illustrating a signal transmitter in the positioning module receiving broadcast transmission signals to vehicle-mounted messages on other vehicles within 2 kilometers of an entering accident vehicle according to an embodiment of the present invention;
FIG. 12 is a flow chart illustrating a signal transmitter in the location module transmitting a signal to an accident vehicle software signal in accordance with an embodiment of the present invention;
FIG. 13 is a block diagram showing the construction of a road vehicle control device according to the present invention;
fig. 14 is a block diagram showing the structure of a computer device according to the present invention.
Detailed Description
The present invention will be described more fully with reference to the following examples and comparative examples.
The road vehicle control method provided by the application can be applied to the application environment shown in FIG. 1. In which the vehicle terminal 102 communicates with the server 104 through a network. The vehicle terminal 102 comprises a fault vehicle and a non-fault vehicle, wherein the fault vehicle comprises a collision sensor, a detection module and a positioning module, the collision sensor is associated with the airbag opening sensitivity, the collision sensor is installed at the side wall of the vehicle, the collision sensor transmits a signal to the detection module after collision, the positioning module comprises a GPS/Beidou positioning instrument and a signal transmitter of a signal transmitting device, when the vehicle collides, the vehicle is called as a fault vehicle, the detection module receives the collision force acquired by the collision sensor, the positioning module acquires the current position information and transmits the collision force and the current position information to the server 104 through the signal transmitter, the server judges whether the collision force reaches a first threshold value, if the collision force reaches the first threshold value, the communication address of a signal lamp at a preset distance and the communication address of an outdoor message receiving display screen are acquired according to the current geographical position information, the signal lamp and the outdoor message receiving display screen can be collectively called as a display device, namely the display device comprises a solar red-orange-yellow signal receiving kilometer display lamp and an outdoor solar message receiving display screen. So that the server 104 can generate first early warning information and second early warning information according to the collision strength; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen. After a fault vehicle breaks down, the collision force of a collision sensor and the current position information collected by a positioning module can be used for sending the collision force and the current position information to a server, so that the server can judge the collision grade of the vehicle according to the collision force, for example, when the collision force reaches a first threshold value, the vehicle is seriously collided, a driver dies in the morning, seriously injures and loses consciousness, the vehicle cannot move and the like, therefore, the server needs to acquire the communication address of a signal lamp with a preset distance and the communication address of an outdoor message receiving display screen according to the current geographical position information, generate first early warning information and second early warning information according to the collision force, send the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and send the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen, by adopting the method, the information can be sent out in time after the vehicle sends the accident, and the rescue time is increased. Wherein the server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, a road vehicle control method is provided, which is described by taking the method as an example applied to the server in fig. 1, and comprises the following steps:
s202: and receiving the collision force of the collision sensor collected by the fault vehicle and the current position information collected by the positioning module.
Wherein, collision sensor and gasbag bullet open sensitivity are relevant, and the sensor is installed in car lateral wall department, and collision sensor transmits the signal after the collision and gives detection module, and after collision strength reached certain degree, detection module control gasbag was opened to the collision dynamics with collision sensor collection transmits to signal transmitter, so that signal transmitter sends the collision dynamics to the server. The positioning module comprises a GPS/Beidou positioning instrument and a signal transmitter of a signal transmitting device, and can acquire current position information.
S204: and judging whether the collision force reaches a first threshold value.
S206: and when the collision force reaches a first threshold value, acquiring the communication address of the signal lamp and the communication address of the outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force.
Specifically, when the detection module detects that the collision strength is greater than the first threshold, the signal transmitter transmits the collision strength to the server, and the server also needs to determine whether the collision strength is automatically transmitted, therefore, whether the collision strength reaches the first threshold value is detected again, which indicates that the driver is dead and unconscious due to serious collision of the vehicle and the vehicle cannot move, the signal emitter automatically emits signals, the server generates first early warning information and second early warning information according to the collision force, the first early warning information of the signal lamp with the distance of 1 kilometer from the current position information is displayed in red, the first early warning information of the signal lamp with the distance of 2 kilometers from the current position information is displayed in orange, and the first early warning information of the signal lamp with the distance of 3 kilometers from the current position information is displayed in yellow. The second early warning information is the distance between the outdoor message receiving display screen and the current position information and the current accident number, and the display screens comprise an entrance display screen near an expressway and an exit display screen near the expressway.
S208: and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
Specifically, the server sends the first early warning information and the second early warning information to corresponding display devices respectively so as to remind the vehicles at all positions of the current road condition in real time.
Compared with the prior art, the road vehicle control method provided by the invention has the following advantages:
after a fault vehicle breaks down, the collision strength of a collision sensor and the current position information collected by a positioning module can be used for sending the collision strength and the current position information to a server, so that the server can judge the collision level of the vehicle according to the collision strength, for example, when the collision strength reaches a first threshold value, the vehicle is seriously collided, a driver dies in the morning and seriously injures the driver, the vehicle cannot move and the like, so that the server needs to acquire the communication address of a signal lamp at a preset distance and the communication address of an outdoor message receiving display screen according to the current geographical position information, generate first early warning information and second early warning information according to the collision strength, send the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and send the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen, by adopting the method, the information can be sent out in time after the vehicle sends the accident, and the rescue time is increased.
In one embodiment, the method further comprises: when the collision force does not reach a first threshold value, judging whether the fault vehicle receives first help information which is input by a driver and indicates that the vehicle cannot move; if the fault vehicle receives first help seeking information input by a driver, acquiring a communication address of a signal lamp at a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the method further comprises: judging whether the fault vehicle receives second help seeking information which is input by a driver and indicates that the vehicle needs to stop on an emergency lane of the expressway; if the fault vehicle receives second help seeking information input by a driver, acquiring a communication address of a signal lamp with a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and acquiring the current geographical position information of the fault vehicle; and sending the current geographical position information according to the communication address of the signal lamp and the communication address of the outdoor message receiving display screen.
In particular, when the vehicle is seriously collided to cause death and unconsciousness of a driver, and the vehicle cannot move, the signal emitter automatically emits signals. When the vehicle is seriously collided to cause injury to a driver and the vehicle cannot move, personnel in the vehicle can manually start the signal transmitter. When the vehicle is in failure or accident to cause the vehicle not to move and the driver is injured lightly and does not need to give an alarm, the personnel in the vehicle can start the signal emitter manually. If the current vehicle needs to stop on an emergency lane of a highway, personnel in the vehicle can manually start the signal transmitter.
Example 1
In the embodiment of the invention, as shown in fig. 5, if a vehicle is seriously collided, so that a driver dies, a heavy injury is unconscious, and the vehicle cannot move, after the collision sensor senses that the collision strength reaches a preset value, the GPS/beidou locator immediately confirms the position information of the accident vehicle, and the signal emitter automatically emits a signal.
As shown in fig. 6, if the vehicle is in a severe collision, which may cause injury to the driver and the vehicle is unable to move, the vehicle occupant may manually activate the signal transmitter to transmit a signal.
When the two conditions happen, the signal transmitter immediately transmits signals to the solar red, orange and yellow three-color signal receiving kilometer display lamp, the outdoor solar message receiving display screen, the vehicle-mounted message receiving broadcast on other vehicles within 2 kilometers of the accident vehicle and the software system of the accident vehicle.
As shown in fig. 9, the signal transmitter will transmit signals to the solar red-orange-yellow three-color signal receiving kilometer display lamps near the expressway, signal lamps near 1 kilometer will display red, signal lamps near 2 kilometers will display orange, and signal lamps near 3 kilometers will display yellow. As shown in fig. 10, the signal transmitter will transmit signals to the outdoor solar message receiving display screen near the expressway, and the entrance display screen near the expressway and the exit display screen near the expressway will display the distance from the accident vehicle and the number of accidents. As shown in fig. 11, the signal transmitter will receive and broadcast the transmission signal to the vehicle-mounted message on other vehicles within 2 km of the vehicle nearby the accident vehicle, so that the message is broadcasted to be close to the accident distance, and the message is updated every 30 seconds. As shown in fig. 12, the signal transmitter will transmit a signal to the software system 8 of the accident vehicle, the software system will automatically make an alarm call to nearby 120, 119,122, make a synchronous call to the reserved parent phone, and automatically report the current location, the license plate number, and the signal transmitter will send a location to 120, 119,122 WeChat public number or similar APP.
Example 2
In the embodiment of the invention, as shown in fig. 7, if a vehicle has a fault or a minor accident, the vehicle cannot move, and a driver is injured lightly without an alarm, a person in the vehicle can manually start the signal transmitter, and the GPS/beidou locator immediately confirms the position information of the accident vehicle and immediately transmits a signal.
When the accident happens, the signal transmitter immediately transmits signals to the solar red-orange-yellow three-color signal receiving kilometer display lamp, the outdoor solar message receiving display screen and the vehicle-mounted message receiving and broadcasting on other vehicles within 2 kilometers of the accident vehicle.
As shown in fig. 9, the signal transmitter will transmit signals to the solar red-orange-yellow three-color signal receiving kilometer display lamps near the expressway, signal lamps near 1 kilometer will display red, signal lamps near 2 kilometers will display orange, and signal lamps near 3 kilometers will display yellow. As shown in fig. 8, the signal transmitter 7 will transmit signals to the outdoor solar message receiving display screen near the expressway, and the entrance display screen near the expressway and the exit display screen near the expressway will display the distance from the accident vehicle and the number of accidents. As shown in fig. 11, the signal transmitter will receive and broadcast the transmission signal to the vehicle-mounted message on other vehicles within 2 km of the vehicle nearby the accident vehicle, so that the message is broadcasted to be close to the accident distance, and the message is updated every 30 seconds.
Example 3
In the embodiment of the invention, if the vehicle needs to stop in an emergency lane of a highway, personnel in the vehicle can manually start the signal transmitter, and the GPS/Beidou positioning instrument immediately confirms the position information of the accident vehicle and immediately transmits a signal.
When the accident happens, the signal transmitter immediately receives and broadcasts the transmitting signals to the solar red-orange-yellow three-color signal receiving kilometer display lamps and the vehicle-mounted message receiving broadcast signals on other vehicles within 2 kilometers of the accident vehicle.
As shown in fig. 9, the signal transmitter will transmit signals to the solar red-orange-yellow three-color signal receiving kilometer display lamps near the expressway, signal lamps near 1 kilometer will display red, signal lamps near 2 kilometers will display orange, and signal lamps near 3 kilometers will display yellow. As shown in fig. 11, the signal transmitter will receive and broadcast the transmission signal to the vehicle-mounted message on other vehicles within 2 km of the vehicle nearby the accident vehicle, so that the message is broadcasted to be close to the accident distance, and the message is updated every 30 seconds.
In one embodiment, the method further comprises: acquiring an alarm telephone, a reserved parent telephone and an alarm public number according to the current position information; calling according to the alarm telephone and the reserved parent telephone to inform current geographic position information and the license plate number of the failed vehicle; and sending the current position information to the public warning number.
In one embodiment, the method further comprises: the distance between the non-faulty vehicle and the faulty vehicle is periodically calculated, and the calculated distance is periodically broadcast to the non-faulty vehicle for the pair.
After receiving the signal sent by the signal transmitter, the server will dial an alarm call to nearby 120, 119,122, and synchronously dial a call to a reserved parent phone, automatically report the current position and the license plate number, and simultaneously send a location to 120, 119,122 WeChat public number or similar APP.
The server also broadcasts to the non-fault vehicles, and after the non-fault vehicles receive the signals sent by the message sender, the broadcasts can broadcast the distance between the current vehicle and the accident vehicle in voice, and the broadcasts are updated every 30 seconds.
In one embodiment, the method further comprises: establishing a dynamic model of a following vehicle which is positioned in the same lane as the fault vehicle and has a following relation with the fault vehicle in the fault vehicle and the non-fault vehicle; calculating to obtain the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm; and sending the brake control distance and the brake control speed to the corresponding following vehicle so that the following vehicle can control according to the brake control distance and the brake control speed.
In one embodiment, before calculating the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm, the method further includes: and calculating a first communication delay parameter, and correcting the consistency control algorithm through the communication delay parameter.
In one embodiment, the method further comprises: acquiring a first distance and a first speed difference between adjacent vehicles which are most adjacent to the following vehicle, and a second distance and a second speed difference between the following vehicle and a fault vehicle; calculating a second communication delay parameter; obtaining a local consistency control algorithm according to the first distance, the first speed difference, the second distance, the second speed difference and the second communication delay parameter; calculating to obtain a target lane change of the following vehicle according to the local consistency control algorithm; sending the target lane change to the following vehicle so that the following vehicle changes lane to the target lane change.
Particularly, when the accident happens unfortunately, in the vehicle networking environment, the surrounding vehicles can be told how to drive through network communication, so that the secondary traffic accident can be avoided. Each vehicle is an agent with independent and autonomous capability, mutual communication is realized through a communication topological structure (a front vehicle-leader following type PLF communication topological structure, a bidirectional-leader following type BDL communication topological structure), the vehicle distance, the speed difference and the brake performance between a follower vehicle and the nearest vehicle are considered, and the follower vehicle can brake or bypass to run within a certain distance by designing a corresponding algorithm, so that secondary accidents are avoided. Aiming at the condition that the road is narrow and the follower vehicles cannot bypass the accident vehicles, in order to avoid secondary accidents, the follower vehicles with different speeds must be braked within a certain distance to stop.
The embodiment provides a brake algorithm time-invariant leader condition.
For the situation of a time-invariant Leader, a Leader-Follower method is used for reference, the influence of a single vehicle queue of the longitudinal distance and the lateral distance of the vehicle is considered, effective time consistency control is carried out on different roles (namely the Leader or the Follower) played by the vehicle in road running, and the accident vehicle is considered as a Leader vehicle.
The dynamic model of the leader vehicle is established as follows:
Figure RE-GDA0002365107040000101
wherein x isL(t) ∈ R and vL(t) is the position and speed of the leader vehicle L, respectively, for R; u. ofL(t) e R is a control input.
In particular, when the leader vehicle has an accident, vL(t)＝0,uL(t)＝0。
The dynamic model of the following vehicle is established as follows:
Figure RE-GDA0002365107040000111
wherein x isi(t) ∈ R and vi(t) is the location and speed of the follower vehicle, respectively; u. ofi(t) epsilon R is a control input, and a consistency control algorithm comprises the following steps:
Figure RE-GDA0002365107040000112
wherein a isLi1 for the leader vehicle to be able to acquire the state information of the follower vehicle, the gain γ is controlled>And 0, adopting acceleration as a control input quantity, and simultaneously considering the influence and interaction between the vehicle position state and the vehicle speed state.
Figure RE-GDA0002365107040000113
Wherein, aijIs an element of the adjacency matrix, kiAre elements of a connection matrix; r isijFor the desired separation between vehicle i and vehicle, β and γ are gain parameters, respectively.
Defining an error equation:
Figure RE-GDA0002365107040000114
Figure RE-GDA0002365107040000115
the spacing of the vehicle i relative to the leader vehicle L,
Figure RE-GDA0002365107040000116
the speed of the vehicle i relative to the leader vehicle L.
By (1.4), the control algorithm (1.3) is simplified to:
Figure RE-GDA0002365107040000117
wherein i is 1,2
In the car networking environment, due to the fact that a channel for transmitting speed signals is limited or the signals are jammed, communication delay exists in the car-to-car communication process. Therefore, a vehicle queue control algorithm needs to be designed under the condition of communication delay.
Based on the leader follower models (1.1) - (1.2), by considering the longitudinal distance and the lateral distance between the target vehicle i and the surrounding vehicles, a vehicle queue control algorithm under the communication delay condition is designed as follows:
Figure RE-GDA0002365107040000121
wherein, aijFor vehicle i to be able to obtain the status information of vehicle j, assume ki1 indicates that the vehicle i can acquire the information of the leader vehicle, rijA desired spacing for the confidence level between vehicle i and vehicle j,
Figure RE-GDA0002365107040000122
for a desired spacing between the vehicle i and the leader vehicle L,
Figure RE-GDA0002365107040000123
and
Figure RE-GDA0002365107040000124
the desired longitudinal and lateral spacings, respectively, β and γ are gain parameters, respectively, τ (t) is the communication delay, and 0 < τ (t) < τ is satisfied, i.e., the communication delay is bounded. In particular, the leader vehicle has an accident, vL(t)＝0。
Defining:
Figure RE-GDA0002365107040000125
Figure RE-GDA0002365107040000126
xi (t) is a relative distance matrix of the following vehicle i and the leading vehicle L. ε (t) is the fitness matrix of the relative speed and relative distance of the following vehicle i and the lead vehicle L.
By means of the equations (1.4) and (1.5), the control algorithm (1.6) is simplified to:
Figure RE-GDA0002365107040000127
wherein the content of the first and second substances,
Figure RE-GDA0002365107040000128
epsilon (t) is a vehicle queue control effect function, when tau (t) is 0, namely, no communication time delay exists, the whole motorcade has only one vehicle, namely, the leader vehicle L, and the vehicle queue control effect function is only related to the self-running distance and speed; when following vehicles exist, tau (t) is not equal to 0, the vehicle queue control effect function is linearly related to the fitness function epsilon (t) of the leading vehicle L and the fitness function epsilon (t-tau (t)) of the following vehicle i, and the correlation coefficient matrix is E and F; h and K are coefficient matrixes; beta and gamma are gain parameters, respectively.
The braking algorithm has the effects that: when the leader vehicle has an accident, the rear follower vehicles safely and orderly brake according to the queue to avoid the occurrence of secondary accidents.
Further, for the case where the road is wide and the rear follower vehicle can enter the side lane. In order to avoid secondary accidents, the rear follower vehicle can enter a nearby lane besides braking.
In this embodiment, a corresponding detour algorithm is also designed.
By taking the idea of group consistency as a reference, corresponding control algorithms are respectively designed for leader vehicles in different lanes and leader vehicles and follower vehicles in the same queue, so that the follower vehicle behind a lane can safely change to a lane beside after an accident happens to the lane.
Step23, establishing a dynamic model of the leader vehicle as follows:
Figure RE-GDA0002365107040000131
wherein x isL P(t) ∈ R and vL P(t) belongs to R and is the leader position and speed of the pth lane respectively; u. ofL P(t) e R is a control input. In particular, a lane (set as P)0) The leader vehicle is in the event of an accident,
Figure RE-GDA0002365107040000132
the dynamic model of the follower vehicle is established as follows:
Figure RE-GDA0002365107040000133
wherein x isi P(t) ∈ R and vi P(t) E.R is the follower position and speed in the pth queue respectively; u. ofi P(t) e R is a control input.
For vehicles in a vehicle queue, a control algorithm based on local consistency is designed by considering the vehicle distance and speed difference between a follower vehicle and the nearest vehicle, and the vehicle distance and speed difference between the follower vehicle and a leader vehicle in the queue, and simultaneously considering communication delay:
Figure RE-GDA0002365107040000134
wherein, aij PAn adjacency matrix element between follower vehicles in the P-th vehicle queue; k is a radical ofi PA connection matrix element between a follower vehicle and a leader vehicle in the P-th vehicle queue; gamma ray1And gamma2Is a control parameter; τ (t) is the communication delay, and 0 < τ (t) < τ is satisfied, i.e., the communication delay is bounded. In particular, P0The vehicle of the lane leader is in an accident,
Figure RE-GDA0002365107040000135
the bypass algorithm has the effects that: when a leader vehicle of a certain lane has an accident, the rear follower vehicles safely and orderly enter the lanes beside, so that secondary accidents are avoided.
It should be understood that although the various steps in the flow charts of fig. 2-12 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-12 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 13, there is provided a road vehicle control apparatus including:
the receiving module 100 is configured to receive collision strength of a collision sensor acquired by a faulty vehicle and current position information acquired by the positioning module;
the first judging module 200 is configured to judge whether the collision strength reaches a first threshold;
the early warning information generating module 300 is configured to, when the collision strength reaches a first threshold, obtain a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generate first early warning information and second early warning information according to the collision strength;
and the early warning information sending module 400 is configured to send the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and send the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the apparatus further comprises:
the second judgment module is used for judging whether the fault vehicle receives first help seeking information which is input by a driver and indicates that the vehicle cannot move or not when the collision force does not reach a first threshold value;
the early warning information generating module 300 is further configured to, if the faulty vehicle receives first help-seeking information input by a driver, obtain a communication address of a signal lamp at a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and generate first early warning information and second early warning information according to the collision strength;
the warning information sending module 400 is further configured to send the first warning information to the corresponding signal lamp according to the communication address of the signal lamp, and send the second warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the apparatus further comprises:
the third judgment module is used for judging whether the fault vehicle receives second help-seeking information which is input by a driver and indicates that the vehicle needs to stop on an emergency lane of the expressway;
the early warning information sending module 400 is further configured to, if the faulty vehicle receives second help-seeking information input by a driver, obtain, according to the current geographical position information, a communication address of a signal lamp at a preset distance and a communication address of an outdoor message receiving display screen, and obtain the current geographical position information of the faulty vehicle; and sending the current geographical position information according to the communication address of the signal lamp and the communication address of the outdoor message receiving display screen.
In one embodiment, the first warning information of the signal lamp with the distance of 1 km from the current position information is displayed in red, the first warning information of the signal lamp with the distance of 2 km from the current position information is displayed in orange, and the first warning information of the signal lamp with the distance of 3 km from the current position information is displayed in yellow.
In one embodiment, the second warning information is a distance between the outdoor message receiving display screen and the current position information and a current accident number.
In one embodiment, the apparatus further comprises:
the information acquisition module is used for acquiring an alarm telephone, a reserved parent telephone and an alarm public number according to the current position information;
the telephone dialing module is used for dialing a telephone according to the alarm telephone and the reserved parent telephone so as to inform the current geographic position information and the license plate number of the failed vehicle;
and the position sending module is used for sending the current position information to the alarm public number.
In one embodiment, the apparatus further comprises:
and the broadcasting module is used for periodically calculating the distance between the non-fault vehicle and the fault vehicle and periodically broadcasting the calculated distance to the pair of non-fault vehicles.
In one embodiment, the apparatus further comprises:
the dynamic model establishing module is used for establishing a dynamic model of a following vehicle which is positioned in the same lane with the fault vehicle and has a following relation in the fault vehicle and the non-fault vehicle;
the algorithm calculation module is used for calculating and obtaining the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm;
and the control module is used for sending the brake control distance and the brake control speed to the corresponding following vehicle so that the following vehicle can control according to the brake control distance and the brake control speed.
In one embodiment, the apparatus further comprises:
and the correction module is used for calculating a first communication delay parameter and correcting the consistency control algorithm through the communication delay parameter.
In one embodiment, the apparatus further comprises:
the parameter acquisition module is used for acquiring a first distance and a first speed difference between adjacent vehicles which are most adjacent to the following vehicle, and a second distance and a second speed difference between the following vehicle and a fault vehicle; calculating a second communication delay parameter;
the local consistency control algorithm obtaining module is used for obtaining a local consistency control algorithm according to the first distance, the first speed difference, the second distance, the second speed difference and the second communication delay parameter;
the target lane change acquisition module is used for calculating to obtain a target lane change of the following vehicle according to the local consistency control algorithm;
the control module is further used for sending the target lane change to the following vehicle so that the following vehicle changes lane to the target lane change.
For specific limitations of the road vehicle control device, reference may be made to the above limitations of the road vehicle control method, which are not described in detail herein. The respective modules in the above-described road vehicle control apparatus may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 14. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a road vehicle control method.
Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: receiving the collision force of a collision sensor acquired by a fault vehicle and the current position information acquired by a positioning module; judging whether the collision force reaches a first threshold value; when the collision force reaches a first threshold value, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the collision force does not reach a first threshold value, judging whether the fault vehicle receives first help information which is input by a driver and indicates that the vehicle cannot move; if the fault vehicle receives first help seeking information input by a driver, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the processor, when executing the computer program, further performs the steps of: judging whether the fault vehicle receives second help seeking information which is input by a driver and indicates that the vehicle needs to stop on an emergency lane of the expressway; if the fault vehicle receives second help seeking information input by a driver, acquiring a communication address of a signal lamp with a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and acquiring the current geographical position information of the fault vehicle; and sending the current geographical position information according to the communication address of the signal lamp and the communication address of the outdoor message receiving display screen.
In one embodiment, the first warning information related to the processor executing the computer program is that the first warning information of the signal lamp which is 1 km away from the current position information is displayed in red, the first warning information of the signal lamp which is 2 km away from the current position information is displayed in orange, and the first warning information of the signal lamp which is 3 km away from the current position information is displayed in yellow.
In one embodiment, the second warning information involved in the processor executing the computer program is a distance between the outdoor message receiving display screen and the current position information and a current accident number.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring an alarm telephone, a reserved parent telephone and an alarm public number according to the current position information; calling according to the alarm telephone and the reserved parent telephone to inform current geographic position information and the license plate number of the failed vehicle; and sending the current position information to the public warning number.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the distance between the non-faulty vehicle and the faulty vehicle is periodically calculated, and the calculated distance is periodically broadcast to the non-faulty vehicle for the pair.
In one embodiment, the processor, when executing the computer program, further performs the steps of: establishing a dynamic model of a following vehicle which is positioned in the same lane as the fault vehicle and has a following relation with the fault vehicle in the fault vehicle and the non-fault vehicle; calculating to obtain the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm; and sending the brake control distance and the brake control speed to the corresponding following vehicle so that the following vehicle can control according to the brake control distance and the brake control speed.
In one embodiment, before calculating the braking control distance and the braking control speed of the following vehicle according to the global consistency control algorithm, the processor when executing the computer program further comprises: and calculating a first communication delay parameter, and correcting the consistency control algorithm through the communication delay parameter.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a first distance and a first speed difference between adjacent vehicles which are most adjacent to the following vehicle, and a second distance and a second speed difference between the following vehicle and a fault vehicle; calculating a second communication delay parameter; obtaining a local consistency control algorithm according to the first distance, the first speed difference, the second distance, the second speed difference and the second communication delay parameter; calculating to obtain a target lane change of the following vehicle according to the local consistency control algorithm; sending the target lane change to the following vehicle so that the following vehicle changes lane to the target lane change.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving the collision force of a collision sensor acquired by a fault vehicle and the current position information acquired by a positioning module; judging whether the collision force reaches a first threshold value; when the collision force reaches a first threshold value, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the collision force does not reach a first threshold value, judging whether the fault vehicle receives first help information which is input by a driver and indicates that the vehicle cannot move; if the fault vehicle receives first help seeking information input by a driver, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force; and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
In one embodiment, the computer program when executed by the processor further performs the steps of: judging whether the fault vehicle receives second help seeking information which is input by a driver and indicates that the vehicle needs to stop on an emergency lane of the expressway; if the fault vehicle receives second help seeking information input by a driver, acquiring a communication address of a signal lamp with a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and acquiring the current geographical position information of the fault vehicle; and sending the current geographical position information according to the communication address of the signal lamp and the communication address of the outdoor message receiving display screen.
In one embodiment, the first warning information related to the computer program when executed by the processor is that the first warning information of the signal lamp which is 1 km away from the current position information is displayed in red, the first warning information of the signal lamp which is 2 km away from the current position information is displayed in orange, and the first warning information of the signal lamp which is 3 km away from the current position information is displayed in yellow.
In one embodiment, the second warning information related to the execution of the computer program by the processor is a distance between the outdoor message receiving display screen and the current position information and a current accident number.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring an alarm telephone, a reserved parent telephone and an alarm public number according to the current position information; calling according to the alarm telephone and the reserved parent telephone to inform current geographic position information and the license plate number of the failed vehicle; and sending the current position information to the public warning number.
In one embodiment, the computer program when executed by the processor further performs the steps of: the distance between the non-faulty vehicle and the faulty vehicle is periodically calculated, and the calculated distance is periodically broadcast to the non-faulty vehicle for the pair.
In one embodiment, the computer program when executed by the processor further performs the steps of: establishing a dynamic model of a following vehicle which is positioned in the same lane as the fault vehicle and has a following relation with the fault vehicle in the fault vehicle and the non-fault vehicle; calculating to obtain the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm; and sending the brake control distance and the brake control speed to the corresponding following vehicle so that the following vehicle can control according to the brake control distance and the brake control speed.
In one embodiment, before calculating the braking control distance and the braking control speed of the following vehicle according to the global consistency control algorithm, the computer program when executed by the processor further comprises: and calculating a first communication delay parameter, and correcting the consistency control algorithm through the communication delay parameter.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a first distance and a first speed difference between adjacent vehicles which are most adjacent to the following vehicle, and a second distance and a second speed difference between the following vehicle and a fault vehicle; calculating a second communication delay parameter; obtaining a local consistency control algorithm according to the first distance, the first speed difference, the second distance, the second speed difference and the second communication delay parameter; calculating to obtain a target lane change of the following vehicle according to the local consistency control algorithm; sending the target lane change to the following vehicle so that the following vehicle changes lane to the target lane change.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Finally, it must be said here that: the above embodiments are only used for further detailed description of the technical solutions of the present invention, and should not be understood as limiting the scope of the present invention, and the insubstantial modifications and adaptations made by those skilled in the art according to the above descriptions of the present invention are within the scope of the present invention.

Claims (9)

1. A road vehicle control method is applied to a server, and comprises the following steps:
receiving the collision force of a collision sensor acquired by a fault vehicle and the current position information acquired by a positioning module;
judging whether the collision force reaches a first threshold value;
when the collision force reaches a first threshold value, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force;
and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
2. The method of claim 1, further comprising:
when the collision force does not reach a first threshold value, judging whether the fault vehicle receives first help information which is input by a driver and indicates that the vehicle cannot move;
if the fault vehicle receives first help seeking information input by a driver, acquiring a communication address of a signal lamp and a communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information, and generating first early warning information and second early warning information according to the collision force;
and sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp, and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
3. The method of claim 2, further comprising:
judging whether the fault vehicle receives second help seeking information which is input by a driver and indicates that the vehicle needs to stop on an emergency lane of the expressway;
if the fault vehicle receives second help seeking information input by a driver, acquiring a communication address of a signal lamp with a preset distance and a communication address of an outdoor message receiving display screen according to the current geographical position information, and acquiring the current geographical position information of the fault vehicle;
and sending the current geographical position information according to the communication address of the signal lamp and the communication address of the outdoor message receiving display screen.
4. The method according to any one of claims 1 to 3, wherein the first warning information of the signal lamp with the distance of 1 km from the current position information is displayed in red, the first warning information of the signal lamp with the distance of 2 km from the current position information is displayed in orange, and the first warning information of the signal lamp with the distance of 3 km from the current position information is displayed in yellow.
5. The method according to any one of claims 1 to 3, wherein the second warning information is a distance from the outdoor message receiving display screen to the current position information and a current accident number.
6. A method according to any one of claims 1 to 3, characterized in that the method further comprises:
acquiring an alarm telephone, a reserved parent telephone and an alarm public number according to the current position information;
calling according to the alarm telephone and the reserved parent telephone to inform current geographic position information and the license plate number of the failed vehicle;
and sending the current position information to the public warning number.
7. A method according to any one of claims 1 to 3, characterized in that the method further comprises:
the distance between the non-faulty vehicle and the faulty vehicle is periodically calculated, and the calculated distance is periodically broadcast to the non-faulty vehicle for the pair.
8. A method according to any one of claims 1 to 3, characterized in that the method further comprises:
establishing a dynamic model of a following vehicle which is positioned in the same lane as the fault vehicle and has a following relation with the fault vehicle in the fault vehicle and the non-fault vehicle;
calculating to obtain the brake control distance and the brake control speed of the following vehicle according to the global consistency control algorithm;
and sending the brake control distance and the brake control speed to the corresponding following vehicle so that the following vehicle can control according to the brake control distance and the brake control speed.
9. A road vehicle control device, characterized by comprising:
the receiving module is used for receiving the collision force of the collision sensor acquired by the fault vehicle and the current position information acquired by the positioning module;
the first judgment module is used for judging whether the collision force reaches a first threshold value;
the early warning information generation module is used for acquiring the communication address of a signal lamp and the communication address of an outdoor message receiving display screen at a preset distance according to the current geographical position information when the collision strength reaches a first threshold value, and generating first early warning information and second early warning information according to the collision strength;
and the early warning information sending module is used for sending the first early warning information to the corresponding signal lamp according to the communication address of the signal lamp and sending the second early warning information to the corresponding outdoor message receiving display screen according to the communication address of the outdoor message receiving display screen.
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