CN113954827A - Intersection vehicle collision probability calculation method and system considering positioning error and communication time delay - Google Patents

Intersection vehicle collision probability calculation method and system considering positioning error and communication time delay Download PDF

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CN113954827A
CN113954827A CN202111260299.0A CN202111260299A CN113954827A CN 113954827 A CN113954827 A CN 113954827A CN 202111260299 A CN202111260299 A CN 202111260299A CN 113954827 A CN113954827 A CN 113954827A
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vehicle
intersection
communication
communication unit
collision probability
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CN113954827B (en
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张驰
余宏伟
曹恺
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Dongfeng Motor Corp
Dongfeng Yuexiang Technology Co Ltd
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Dongfeng Yuexiang Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Abstract

The invention relates to an intersection vehicle collision probability calculation system considering positioning error and communication time delay, which comprises: the vehicle-mounted road side communication system comprises a vehicle-mounted communication unit OBU, a vehicle-mounted positioning module GPS, a road side communication unit RSU and an edge calculation unit MEC, wherein the vehicle-mounted positioning module GPS is used for collecting current position information of a vehicle, the road side communication unit RSU is used for collecting intersection map information, the vehicle-mounted communication unit OBU is mounted on the vehicle and used for downloading intersection map information sent by the RSU, and the edge calculation unit MEC is mounted on a road end and used for predicting vehicle positions, calculating collision probability and coordinating intersection traffic. According to the invention, the minimum safety distance considering the positioning error and the communication delay is constructed, so that the timeliness of early warning is ensured, and better early warning performance is provided for the vehicle.

Description

Intersection vehicle collision probability calculation method and system considering positioning error and communication time delay
Technical Field
The invention belongs to the field of automatic driving safety, and particularly relates to a method and a system for calculating the collision probability of vehicles at an intersection by considering positioning errors and communication time delay.
Background
With the development of the car networking technology, the active collision avoidance early warning system of the car becomes the current research hot. The vehicle networking technology promotes traffic integration, and a traffic system is changed into a coordinated and ordered whole through vehicle-vehicle and vehicle-road real-time information interaction, so that the traffic efficiency and the vehicle safety are improved to a great extent.
The intersection is a traffic scene in which vehicle collision accidents are easy to happen in road traffic, and due to the fact that vehicles have a plurality of blind areas in the intersection scene, drivers cannot fully perceive surrounding driving environment information, and the vehicle collision accidents are caused. At the intersection under the environment of the Internet of vehicles, the vehicles can complete information interaction in real time, the driving blind areas of the vehicles are expanded, the vision of drivers is enhanced, vehicle collision early warning is facilitated under the environment of the Internet of vehicles, and reliable safety guarantee is provided for the drivers under the environment of the intersection.
V2X, namely Vehicle-to-Everything, is one of the support technologies of intelligent automobiles and intelligent transportation. V2X includes: vehicle to vehicle V2V, vehicle to infrastructure V2I, vehicle to pedestrian V2P, vehicle to external network V2N, and the like. At present, vehicles can realize front collision early warning, lane change assistance, left turn assistance, cooperative adaptive cruise control and the like based on V2V communication, and can realize applications such as speed suggestion, traffic priority, road condition early warning, red light running early warning, current weather influence early warning, parking space and charging pile position finding and the like based on V2I communication; based on V2P communication, early warning and protection of the vulnerable road user can be realized, and based on V2N communication, services such as real-time traffic route planning and map updating can be realized.
Disclosure of Invention
In order to achieve the above object, the present invention provides an intersection vehicle collision probability calculation system considering a positioning error and a communication delay, including: the system comprises a vehicle-mounted communication unit OBU, a vehicle-mounted positioning module GPS, a road side communication unit RSU and an edge computing unit MEC;
the vehicle-mounted positioning module GPS is used for collecting the current position information of the vehicle, including lane information and vehicle position information;
the road side communication unit RSU is arranged at the road side of the intersection and used for collecting intersection map information, forwarding the intersection map information to all vehicle-mounted OBUs and keeping continuous communication of relative positions;
the vehicle-mounted communication unit OBU is arranged on a vehicle and used for downloading intersection map information sent by the RSU, replying the absolute position of the vehicle uploaded by the vehicle-mounted GPS, calculating the map information of the matched vehicle position and the relative position of the intersection in real time and interacting the vehicle state with the RSU;
a cloud control controller is integrated in the OBU;
the edge computing unit MEC is installed at a road end and used for predicting the position of a vehicle, calculating collision probability and coordinating intersection traffic.
The OBU is connected with the GPS through the CAN network;
the vehicle-mounted communication unit OBU and the roadside communication unit RSU are in communication connection based on V2X, and the vehicle-mounted communication unit OBU and the edge computing unit MEC are in communication connection based on V2X;
the edge computing unit MEC is in communication connection with the road side communication unit RSU based on V2X;
the vehicles are in communication connection with each other through an on-board communication unit OBU of the vehicles based on V2X.
The invention also provides a method for calculating the collision probability of the vehicles at the intersection by considering the positioning error and the communication delay, which comprises the following steps:
after a vehicle enters an intersection, communication connection is established among a vehicle-mounted communication unit OBU, a roadside communication unit RSU and an edge computing unit MEC based on V2X, the vehicle-mounted communication unit OBU is communicated through V2X, intersection map information is downloaded from the roadside communication unit RSU, and a rectangular coordinate system is established by the cloud control controller with the center of the intersection as an origin, the east direction as an X axis and the north direction as a Y axis;
and secondly, adding a positioning error and a communication time delay into the cloud control controller on the basis of the traditional minimum safe distance, and establishing the minimum safe distance of the vehicle.
The minimum safe distance model is:
Figure BDA0003324620370000031
wherein v is0As the current speed of the vehicle, tdrFor driver reaction time, tbdFor the driver to adopt the time delay from braking to brake application, tbmFor the time when deceleration increases to maximum, amaxFor maximum braking deceleration of the vehicle, LeIs the length of the vehicle, WhIs the width of the target vehicle, dminIs the minimum distance allowed between two vehicles, dtrDistance error, Δ E, caused by time delay of communication between vehiclesgPositioning an error for the vehicle;
step three, the vehicle-mounted positioning module GPS sends the collected current position information of the vehicle to a vehicle-mounted communication unit OBU of the vehicle, the vehicle-mounted communication unit OBU sends the current speed, the calculated minimum safe distance and the current position information of the vehicle to an edge calculation unit MEC in a V2X mode, the MEC calculates the received current speed, the minimum safe distance and the current position of all vehicles in the current communication range, and predicts the position of the vehicle, and the position prediction formula is as follows:
Figure BDA0003324620370000041
Figure BDA0003324620370000042
wherein v is0,x，v0,yRespectively is a speed component under a coordinate system of the intersection at the initial moment of the vehicle; a is0,x，a0,yRespectively is acceleration components under a coordinate system of the intersection at the initial moment of the vehicle;
step four, the edge calculation unit MEC calculates the probability that the predicted positions of the current vehicle and other vehicles simultaneously appear in the intersection collision area according to the predicted vehicle positions, namely, integrates the probability that the vehicles appear in the intersection vehicle collision area, so as to obtain the probability that the vehicles collide at the intersection, and integrates the intersection collision area to calculate the vehicle collision probability, wherein the collision probability calculation formula is as follows:
Figure BDA0003324620370000043
wherein y + and y-are the upper and lower boundaries of the intersection collision zone, x + and x-are the right and left boundaries of the intersection collision zone, respectively, and f (x)e,t,ye,t) And f (x)h,t,yh,t) The probability density distribution functions of the positions of the vehicle and the target vehicle are respectively, Pt is the probability of collision of the two vehicles in the intersection collision area at the moment t, t is determined by the minimum safe distance and the current speed of the vehicles,
the formula is as follows:
t＝dmsd/v0
step five, the edge calculation unit MEC sends the calculated vehicle collision probability Pt to the vehicles in the communication area in a V2X communication mode, and the vehicle-mounted communication unit OBU of the vehicles sends the received PtIf the value of Pt is greater than the threshold value of the vehicle collision probability, the vehicle-mounted communication unit OBU sends out early warning information to the vehicle, and if the value of Pt is less than the threshold value of the vehicle collision probability, no processing is carried out.
Preferably, in the third step, the edge calculating unit MEC is influenced by a satellite positioning error when calculating the predicted position of the vehicle, where the positioning error is expressed by:
Eg≈N(μ,σ2)
wherein, because the satellite positioning has no constant error, mu takes the value of 0, and sigma is the standard deviation of the positioning error;
preferably, in the third step, the edge calculating unit MEC is influenced by a communication delay when calculating the predicted position of the vehicle, where a distance error formula caused by the communication delay is as follows:
dtr≈v0·ttr
wherein v is0As the current speed of the vehicle, ttrWhen it is vehicle-to-vehicle communicationDelaying;
preferably, in the third step, the predicted vehicle position value follows a normal distribution, and the probability density distribution function is as follows:
Figure BDA0003324620370000051
wherein, deltax，δy，δx，δyRepresenting the covariance of the vehicle in the intersection coordinate system on the x-axis and y-axis, respectively,
Figure BDA0003324620370000052
and respectively predicting the position of the vehicle at the moment t under the intersection coordinate system.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with the existing vehicle collision early warning method, the method provided by the invention considers the influence of the vehicle positioning error and the communication delay on the early warning timeliness under the environment of the Internet of vehicles, and ensures the early warning timeliness by constructing the minimum safety distance considering the positioning error and the communication delay;
2. according to the method, the prediction time is calculated according to the minimum safe distance, the position of the vehicle is predicted, and the intersection collision area is integrated, so that the probability of collision of the vehicle at the intersection is calculated, and better early warning performance is provided for the vehicle.
Drawings
FIG. 1 is a diagram showing the connection of the components of the system of the present invention;
FIG. 2 is a schematic diagram of a coordinate system of the method of the present invention;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides an intersection vehicle collision probability calculation system considering positioning errors and communication time delay, which comprises: the system comprises a vehicle-mounted communication unit OBU1, a vehicle-mounted positioning module GPS2, a roadside communication unit RSU3 and an edge computing unit MEC 4;
the vehicle-mounted positioning module GPS2 is used for acquiring the current position information of the vehicle, including lane information and vehicle position information;
the road side communication unit RSU3 is arranged at the road side of the intersection and used for collecting intersection map information, forwarding the intersection map information to all vehicle-mounted OBUs and keeping continuous communication of relative positions;
the vehicle-mounted communication unit OBU1 is mounted on a vehicle and used for downloading intersection map information sent by an RSU, replying the absolute position of the vehicle uploaded by a vehicle-mounted GPS, calculating the map information of the matched vehicle position and the relative position of the intersection in real time and interacting the vehicle state with the RSU; a cloud control controller is integrated in the vehicle-mounted communication unit OBU;
the edge computing unit MEC4 is installed at the road end and used for predicting the position of the vehicle, calculating the collision probability and coordinating the traffic at the intersection.
As shown in fig. 1, the on-board communication unit OBU1 is connected with the on-board positioning module GPS2 through a vehicle CAN network;
the vehicle-mounted communication unit OBU1 and the roadside communication unit RSU3 are in communication connection based on V2X, and the vehicle-mounted communication unit OBU1 and the edge computing unit MEC4 are in communication connection based on V2X;
the edge computing unit MEC4 is in communication connection with the road side communication unit RSU3 based on V2X;
the vehicles are in communication connection with each other through an own vehicle-mounted communication unit OBU1 based on V2X.
As shown in fig. 2 and fig. 3, the present invention further provides a method for calculating a collision probability of vehicles at an intersection in consideration of a positioning error and a communication delay, including:
s1, after a vehicle enters the intersection, communication connection is established among the vehicle-mounted communication unit OBU1, the roadside communication unit RSU3 and the edge computing unit MEC4 based on V2X, the vehicle-mounted communication unit OBU1 is communicated through V2X, intersection map information is downloaded from the roadside communication unit RSU3, the cloud control controller takes the center of the intersection as an origin, the east direction as an X axis and the north direction as a Y axis, and a rectangular coordinate system is established;
and S2, adding a positioning error and a communication time delay into the cloud control controller on the basis of the traditional minimum safe distance, and establishing the minimum safe distance of the vehicle.
The minimum safe distance model is:
Figure BDA0003324620370000081
wherein v is0As the current speed of the vehicle, tdrFor driver reaction time, tbdFor the driver to adopt the time delay from braking to brake application, tbmFor the time when deceleration increases to maximum, amaxFor maximum braking deceleration of the vehicle, LeIs the length of the vehicle, WhIs the width of the target vehicle, dminIs the minimum distance allowed between two vehicles, dtrDistance error, Δ E, caused by time delay of communication between vehiclesgPositioning an error for the vehicle;
s3, the vehicle-mounted positioning module GPS2 sends the acquired current position information of the vehicle to a vehicle-mounted communication unit OBU1, the vehicle-mounted communication unit OBU1 sends the current speed, the calculated minimum safe distance and the current position information of the vehicle to an edge calculation unit MEC4 in a V2X mode, the MEC calculates the current speed, the minimum safe distance and the current position of all the vehicles in the received current communication range and predicts the position of the vehicle, and the edge calculation unit MEC4 is influenced by satellite positioning errors when calculating the predicted position of the vehicle, wherein the positioning error formula is as follows:
Eg≈N(μ,σ2)
wherein, because the satellite positioning has no constant error, mu takes the value of 0, and sigma is the standard deviation of the positioning error;
further, the edge calculating unit MEC4 is influenced by a communication delay when calculating the predicted position of the vehicle, wherein the distance error caused by the communication delay is expressed as:
dtr≈v0·ttr
wherein v is0As the current speed of the vehicle, ttrTime delay for vehicle-to-vehicle communication;
in the whole process, the predicted value of the vehicle position follows normal distribution, and the probability density distribution function is as follows:
Figure BDA0003324620370000091
wherein, deltax，δy，δx，δyRepresenting the covariance of the vehicle in the intersection coordinate system on the x-axis and y-axis, respectively,
Figure BDA0003324620370000092
and respectively predicting the position of the vehicle at the moment t under the intersection coordinate system.
The position prediction formula of the edge calculation unit MEC4 is:
Figure BDA0003324620370000093
Figure BDA0003324620370000094
wherein v is0,x，v0,yRespectively is a speed component under a coordinate system of the intersection at the initial moment of the vehicle; a is0,x，a0,yRespectively is acceleration components under a coordinate system of the intersection at the initial moment of the vehicle;
s4, the edge calculating unit MEC4 calculates the probability that the current vehicle and the predicted position of the other vehicle are simultaneously in the intersection collision area according to the predicted vehicle position, namely, the intersection vehicle collision area is integrated with the vehicle occurrence probability to obtain the probability that the vehicle collides at the intersection, and the intersection collision area is integrated to calculate the vehicle collision probability, wherein the collision probability calculation formula is as follows:
Figure BDA0003324620370000101
wherein y + and y-are the upper and lower boundaries of the intersection collision zone, x + and x-are the right and left boundaries of the intersection collision zone, respectively, and f (x)e,t,ye,t) And f (x)h,t,yh,t) The probability density distribution functions of the positions of the vehicle and the target vehicle are respectively, Pt is the probability that the two vehicles collide in the intersection collision area at the moment t, t is determined by the minimum safe distance and the current speed of the vehicles, and the formula is as follows:
t＝dmsd/v0
s5, the edge calculation unit MEC sends the calculated vehicle collision probability Pt to the vehicles in the communication area in a V2X communication mode, and the vehicle-mounted communication unit OBU1 of the vehicles sends the received PtIf the value of Pt is greater than the threshold value of the vehicle collision probability, the vehicle-mounted communication unit OBU1 sends out early warning information to the vehicle, and if the value of Pt is less than the threshold value of the vehicle collision probability, no processing is carried out.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1. An intersection vehicle collision probability calculation system that takes into account positioning error and communication delay, comprising: the system comprises a vehicle-mounted communication unit OBU, a vehicle-mounted positioning module GPS, a road side communication unit RSU and an edge computing unit MEC; the vehicle-mounted positioning module GPS is used for collecting the current position information of the vehicle, including lane information and vehicle position information; the road side communication unit RSU is arranged at the road side of the intersection and used for collecting intersection map information, forwarding the intersection map information to all vehicle-mounted OBUs and keeping continuous communication of relative positions; the vehicle-mounted communication unit OBU is arranged on a vehicle and used for downloading intersection map information sent by the RSU, replying the absolute position of the vehicle uploaded by the vehicle-mounted GPS, calculating the map information of the matched vehicle position and the relative position of the intersection in real time and interacting the vehicle state with the RSU; the edge computing unit MEC is installed at a road end and used for predicting vehicle positions, calculating collision probability and coordinating intersection traffic, and the OBU is integrated with a cloud control controller.
2. The intersection vehicle collision probability calculation system considering positioning errors and communication time delays as claimed in claim 1, wherein the vehicle-mounted communication unit OBU is connected with the vehicle-mounted positioning module GPS through a whole vehicle CAN network; the vehicle-mounted communication unit OBU and the roadside communication unit RSU are in communication connection based on V2X, and the vehicle-mounted communication unit OBU and the edge computing unit MEC are in communication connection based on V2X; the edge computing unit MEC and the roadside communication unit RSU are communicatively connected based on V2X.
3. An intersection vehicle collision probability calculation method considering positioning errors and communication time delays is applied to an intersection vehicle collision probability calculation system considering positioning errors and communication time delays as described in the right 1-2, and comprises the following steps:
after a vehicle enters an intersection, communication connection is established among a vehicle-mounted communication unit OBU, a roadside communication unit RSU and an edge computing unit MEC based on V2X, the vehicle-mounted communication unit OBU is communicated through V2X, intersection map information is downloaded from the roadside communication unit RSU, and a rectangular coordinate system is established by the cloud control controller with the center of the intersection as an origin, the east direction as an X axis and the north direction as a Y axis;
secondly, adding a positioning error and a communication time delay into the cloud control controller on the basis of the traditional minimum safe distance, and establishing a minimum safe distance of the vehicle;
the minimum safe distance model is:
Figure FDA0003324620360000021
wherein v is0As the current speed of the vehicle, tdrFor driver reaction time, tbdFor the driver to adopt the time delay from braking to brake application, tbmFor the time when deceleration increases to maximum, amaxFor maximum 0 braking deceleration of the vehicle, LeIs the length of the vehicle, WhIs the width of the target vehicle, dminIs the minimum distance allowed between two vehicles, dtrDistance error, Δ E, caused by time delay of communication between vehiclesgPositioning an error for the vehicle;
step three, the vehicle-mounted positioning module GPS sends the collected current position information of the vehicle to a vehicle-mounted communication unit OBU of the vehicle, the vehicle-mounted communication unit OBU sends the current speed, the calculated minimum safe distance and the current position information of the vehicle to an edge calculation unit MEC in a V2X mode, the MEC calculates the received current speed, the minimum safe distance and the current position of all vehicles in the current communication range, and predicts the position of the vehicle, and the position prediction formula is as follows:
Figure FDA0003324620360000022
Figure FDA0003324620360000023
wherein v is0,x，v0,yRespectively is a speed component under a coordinate system of the intersection at the initial moment of the vehicle; a is0,x，a0,yRespectively is acceleration components under a coordinate system of the intersection at the initial moment of the vehicle;
step four, the edge calculation unit MEC calculates the probability that the predicted positions of the current vehicle and other vehicles simultaneously appear in the intersection collision area according to the predicted vehicle positions, namely, integrates the probability that the vehicles appear in the intersection vehicle collision area, so as to obtain the probability that the vehicles collide at the intersection, and integrates the intersection collision area to calculate the vehicle collision probability, wherein the collision probability calculation formula is as follows:
Figure FDA0003324620360000031
wherein y + and y-are the upper and lower boundaries of the intersection collision zone, x + and x-are the right and left boundaries of the intersection collision zone, respectively, and f (x)e,t,ye,t) And f (x)h,t,yh,t) The probability density distribution functions of the positions of the vehicle and the target vehicle are respectively, Pt is the probability that the two vehicles collide in the intersection collision area at the moment t, t is determined by the minimum safe distance and the current speed of the vehicles, and the formula is as follows:
t＝dmsd/v0
step five, the edge calculation unit MEC sends the calculated vehicle collision probability Pt to the vehicles in the communication area in a V2X communication mode, and the vehicle-mounted communication unit OBU of the vehicles sends the received PtIf the value of Pt is greater than the threshold value of the vehicle collision probability, the vehicle-mounted communication unit OBU sends out early warning information to the vehicle, and if the value of Pt is less than the threshold value of the vehicle collision probability, no processing is carried out.
4. The intersection vehicle collision probability calculation method considering the positioning error and the communication delay as claimed in claim 3, wherein in the third step, the edge calculation unit MEC is influenced by the satellite positioning error when calculating the predicted position of the vehicle, wherein the positioning error is expressed by:
Eg≈N(μ,σ2)
since satellite positioning has no constant error, μ takes the value of 0, and σ is the standard deviation of the positioning error.
5. The intersection vehicle collision probability calculation method considering the positioning error and the communication delay as claimed in claim 3, wherein in the third step, the edge calculation unit MEC is influenced by the communication delay when calculating the predicted position of the vehicle, and the distance error caused by the communication delay is expressed as:
dtr≈v0·ttr
wherein v is0As the current speed of the vehicle, ttrThe time delay of vehicle-to-vehicle communication is realized.
6. The intersection vehicle collision probability calculation method considering positioning errors and communication delays as claimed in claim 3, wherein in the third step, the vehicle position prediction value follows a normal distribution, and the probability density distribution function is as follows:
Figure FDA0003324620360000041
wherein, deltax，δy，δx，δyRepresenting the covariance of the vehicle in the intersection coordinate system on the x-axis and y-axis, respectively,
Figure FDA0003324620360000042
and respectively predicting the position of the vehicle at the moment t under the intersection coordinate system.
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CN115240470A (en) * 2022-07-25 2022-10-25 广东轻工职业技术学院 NR-V2X-based weak traffic participant collision early warning system and method

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