CN114419926A - Intersection left-turning auxiliary early warning system and method based on vehicle-road cooperation - Google Patents

Intersection left-turning auxiliary early warning system and method based on vehicle-road cooperation Download PDF

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CN114419926A
CN114419926A CN202210077813.5A CN202210077813A CN114419926A CN 114419926 A CN114419926 A CN 114419926A CN 202210077813 A CN202210077813 A CN 202210077813A CN 114419926 A CN114419926 A CN 114419926A
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collision
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CN114419926B (en
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罗明波
王谦
朱芸
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Zhejiang Haikang Zhilian Technology Co ltd
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    • G—PHYSICS
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    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
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    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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    • G08G—TRAFFIC CONTROL SYSTEMS
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Abstract

An intersection left-turn auxiliary early warning method based on vehicle-road cooperation comprises the steps of S1, turning on a left turn light, turning on a left-turn auxiliary enable, and obtaining MAP information; step S2, acquiring a crossing vehicle list, and screening vehicles with collision risks; and step S3, calculating the time difference between the host vehicle and the coming vehicle respectively reaching the collision point, and if the time difference is smaller than a preset value, sending a left-turn auxiliary safety prompt to the host vehicle. The invention utilizes the vehicle-road cooperation technology to acquire the vehicle information and the map information in real time and provide rich data basis for vehicle early warning and reminding; a vehicle edge collision point model is established, and the vehicle edge collision distance precision is improved; by means of the prediction analysis of the left-turn vehicle track by using the map information, the accurate calculation of the collision point is achieved, the collision risk early warning accuracy is improved, and the method has good applicability to the crossroad or the X-type intersection.

Description

Intersection left-turning auxiliary early warning system and method based on vehicle-road cooperation
Technical Field
The invention relates to the field of road traffic communication, in particular to an intersection left-turn auxiliary early warning system and method based on vehicle-road cooperation.
Background
Allowing left-turn and oncoming straight vehicles to pass with acceptable clearance is an effective solution to reduce intersection traffic delays. When there is a conflicting demand while the vehicle is turning left and going straight ahead, the left-turning person should give way to the traffic participant with the conflict. Studies and research reports conducted by the National Highway Traffic Safety Administration (NHTSA) in the united states previously reported that about 40% of vehicle collisions in the united states occurred at intersections, and that of intersection collisions reported during 2005 to 2007, an accident exceeding 480000 was a vehicle making a left turn when the vehicle was on a green light signal, and it was known that a left turn collision is highly likely to cause serious injury or death. A common reason behind these types of collisions is that the driver cannot accurately determine whether there is sufficient clearance for the oncoming vehicle to pass due to the obstructed line of sight.
The current solution of the left-turn collision danger is to sense and warn by configuring a left-turn auxiliary device. The existing intersection vehicle left-turning auxiliary scheme mainly comprises the following steps of realizing the perception of information around a vehicle by installing a laser radar on the vehicle, and making early warning judgment by judging the distance between other traffic participants and the vehicle: for example, patent CN108216228A, a left turn warning of a vehicle is realized by combining a method of predicting a path and a laser radar, and the method can realize a good warning for traffic participants in a short distance range, but cannot make an accurate judgment for vehicles with a vehicle vision blind area and a medium and long distance; patent CN109817008A divides the collision area in the intersection through the method of GPS autonomous positioning and laser video radar to realize the early warning assistance of left-turning vehicles in the intersection, but the method has low calculation precision of collision early warning time, insufficient accuracy of vehicle collision point prediction and high false warning probability of collision early warning.
The method is an existing technical solution, the two methods have certain effects in the intersection left-turn auxiliary process, the position estimation of the vehicle can be realized through the laser radar, but a visual blind area exists, the early warning distance is limited, the other method realizes left-turn auxiliary early warning through the combination of the GPS and the laser radar, but the method is low in precision and cannot meet the requirement of collision early warning safety time precision. More importantly, the conventional device sets the predetermined range on the premise that the vehicle enters the entrance lane of the signalized intersection, so that when the vehicle turns in the left direction, other vehicles do not enter the preset range of the vehicle, and other vehicles may move across the running path of the vehicle.
Based on the situation, the invention provides the left-turn auxiliary device based on the vehicle-road cooperative environment, so that effective left-turn passing intersection suggestions are provided for the driver, and the accident occurrence probability is reduced.
Disclosure of Invention
The invention provides an intersection left-turning auxiliary early warning system and method based on vehicle-road coordination, aiming at providing a left-turning auxiliary driving device under the vehicle-road coordination environment, wherein the vehicle left-turning auxiliary driving device can provide reliable attention reminding for a driver under the condition that other vehicles possibly cross a driving path when a vehicle turns leftwards at an intersection. The invention will be further elucidated below.
An intersection left-turn auxiliary early warning method based on vehicle-road cooperation comprises the following steps:
step S1, turning on a left turn light, turning on a left turn auxiliary enable, and acquiring MAP information;
step S2, acquiring a crossing vehicle list, and screening vehicles with collision risks;
and step S3, calculating the time difference between the host vehicle and the coming vehicle respectively reaching the collision point, and if the time difference is smaller than a preset value, sending a left-turn auxiliary safety prompt to the host vehicle.
Further, step 3 comprises the steps of:
step S31, calculating collision points;
the following information is obtained: acquiring longitude and latitude information corresponding to a stop line and longitude and latitude information of another same lane corresponding to a preset distance behind the stop line from lane information of an entrance lane where the vehicle HV is located, wherein the longitude and latitude information and the latitude information correspond to a point B and a point A respectively; the lane information of the coming vehicle RV, the longitude and latitude information of the stop line corresponding to the lane of the coming vehicle RV and the longitude and latitude information corresponding to the other same lane corresponding to the preset distance behind are respectively corresponding to the point E and the point F; the target lane information of the HV left steering of the vehicle comprises longitude and latitude information of an entrance point of an exit channel and longitude and latitude information of another same lane point in a preset distance in front of the exit channel, wherein the longitude and latitude information and the latitude information are respectively corresponding to a point C and a point D;
assume that the acquired map information is a (lon)A,latA)，B(lonB,latB)，C(lonC,latC)，D(lonD,latD)，E(lonE,latE)，F(lonF,latF) Converting longitude and latitude coordinates in the map into an mercator projection coordinate system through mercator coordinate conversion to respectively obtain new coordinate points A (x)A,xA)，B(xB,xB)，C(xC,xC)，D(xD,xD)，E(xE,xE)，F(xF,xF) O is calculated from the positional relationship between the straight line AB and CD2Coordinate information of the point, and the O can be calculated by respectively taking B, C as a vertical point to make AB and CD vertical lines1The coordinate information of the point is calculated according to the following formula:
Figure BDA0003484817560000021
Figure BDA0003484817560000022
Figure BDA0003484817560000031
Figure BDA0003484817560000032
step S32, calculating collision risk points;
the turning radius R of the vehicle HV is obtained through coordinate calculation, and the method for calculating the turning radius R is as follows:
Figure BDA0003484817560000033
acquiring longitude and latitude information of the vehicle HV and the remote vehicle RV, and calculating the distance between the two vehicles:
Disthv_rv＝sqrt((xhv-xrv)2+(yhv-yrv)2)；
obtaining heading angle information heading of the vehicle HV and the remote vehicle RVhvAnd the GPS position between the two vehicles, acquiring the angular relationship angle _ HV _ RV of the remote vehicle RV and the vehicle HV, and further calculating the transverse distance between the two vehicles:
HO1＝R-DistHorizontal；
∠BO1K＝arccos(HO1/R)；
Figure BDA0003484817560000034
step S33, calculating the distance between the vehicle HV and the collision point and the distance between the vehicle RV and the collision point;
DistVertical＝Disthv_rv*cos(abs(headinghv-anglehv_rv)；
L2＝DistVertical-R*sin(∠BO1K)；
the distance the host vehicle HV reaches the stop line is: l is4＝sqrt((xHV-xB)2+(yHV-yB)2)；
The distance from the far vehicle RV to the stop line is: l is3＝sqrt((xRV-xE)2+(yRV-yE)2)；
After the vehicle crosses the stop line, calculating the time of the vehicle for reaching the collision point by means of travel distance estimation:
Figure BDA0003484817560000035
as can be seen from the above calculation, the distances from the collision point between the host vehicle HV and the distant vehicle RV are:
DistHV＝L1+L3-LHV；
DistRV＝L2+L4-LRV；
in the formula: l isHVCalculating the driving distance for the vehicle HV after entering the intersection; l isRVCalculating the driving distance for the vehicle RV after entering the intersection;
step S34, calculating collision time;
the formula for calculating the time for the vehicle to reach the collision risk point is as follows:
TTCHV＝(DistHV-lengthHV/2)/vhv；
TTCRV＝(DistRV-lengthRV/2)/vrv；
the time difference between the two vehicles reaching the collision risk point is as follows:
ΔTTC＝abs(TTCHV-TTCRV)；
if the delta TTC is smaller than the preset value, the vehicle is considered to have collision risk, and a left-turn auxiliary safety prompt is sent to the main vehicle;
step S35, calculating the early warning safety distance;
Figure BDA0003484817560000041
in the formula, VHVIs HV vehicle speed, VRVRV vehicle speed, T driver reaction time, T1For brake coordination time, t2For deceleration increase time, S is the warning safety distance, asFor average driver braking deceleration, d0A safe distance is reserved.
Further, step 3 is followed by step S4, wherein the early warning safety distance is preset or obtained, the abstract vehicle is a rectangular model for collision correction, and the collision risk point judgment is obtained by comparing the relationship between the shortest collision point and the early warning safety distance; the method comprises the following steps:
step S41, abstracting the main vehicle and the coming vehicle into an edge rectangular model;
establishing an edge rectangular model based on the length and the width of the vehicle, wherein eight edge points are established on the edge of the vehicle by the model, namely S1-S8, wherein S1, S3, S5 and S7 are edge points at four corners of the vehicle, S2, S4, S6 and S8 are four points on the central axis of the vehicle, and the eight points are used as reference points of the edge of the vehicle;
step S42, calculating a heading angle;
calculating to obtain a vehicle body driving direction angle theta of the vehicle by adopting the vehicle historical track points and combining the current time position information;
step S43, calculating a vehicle edge reference point;
taking the point S1 as an example, the direction angle of the vehicle motion is θ, the point S1 is located on the left side of the heading angle, and its value is- γ, so the relative north-north angle of S1 is:
δ＝θ+(-γ)；
Figure BDA0003484817560000042
in the formula, Length is the Length of the vehicle, and Width is the Width of the vehicle;
the diagonal distance of the vehicle can be obtained through the vehicle length and the vehicle width, the collection point is determined to be located at the center of the vehicle, and the distance from S1 to the collection is as follows:
Figure BDA0003484817560000051
and (3) converting longitude and latitude, knowing the length and width information of the vehicle and the angle position relationship of each point, and calculating the GPS position information of each edge point according to the acquired position, wherein the calculation method comprises the following steps:
firstly, referring to the position of the acquisition point, converting the projection coordinate of the mercator into a mercator projection coordinate system,
and (3) converting a geographic coordinate system and a mercator projection coordinate system:
x＝2π*Rearth*lon/180；
y＝2π*Rearth*ln(tan((90+lat)*π/360))/(π/180)；
and (3) converting a geographic coordinate system of a mercator projection coordinate system:
lon＝180*x/2π*Rearth；
Figure BDA0003484817560000052
in the formula, RearthIs the radius of the earth;
the coordinates of the edge points can be calculated through the coordinate offset, and the calculation method is as follows:
xS1＝x+Ls1*cos(δ)；
yS1＝y+Ls1*sin(δ)；
to give S1 (x)S1,yS1) After the coordinates in the mercator coordinate system, the coordinates are converted into geography S1' (lon) through the mercator winning systemS1,latS1) Calculating to obtain the collision distance between the vehicles;
step S44, collision risk point judgment, including the following steps:
step S441, vehicle position determination;
calculating the azimuth angle of the vehicle, wherein the azimuth angle of the vehicle is obtained by calculating the real-time GPS positions of the vehicle HV and the far vehicle RV, and if abs (angle) is greater than 90 degrees, the vehicle is in front of the vehicle; if abs (angle) < ═ 90 °, it indicates that the vehicle is behind the host vehicle;
step S442, judging collision points;
if abs (θ)hv-θrv)<90 degrees, the driving directions of the host vehicle and the distant vehicle are the same, if the host vehicle is behind, the collision risk is in front of the host vehicle and behind the distant vehicle, namely the S1 of the host vehicle needs to be considered,s2 and S3 and faraway cars S5, S6 and S7 have a risk of collision; if the host vehicle is in front of the host vehicle, the collision risk is between the rear of the host vehicle and the front of the far vehicle, namely the collision risk is considered in S5, S6 and S7 and the far vehicles S1, S2 and S3 of the host vehicle;
if abs (θ)hv-θrv)>When the two vehicles are driven oppositely, the collision risk is between the front of the vehicle and the front of the far vehicle, namely the collision risks are considered in S1, S2 and S3 and the far vehicles S1, S2 and S3 of the vehicle;
if the difference value of the vehicle heading angle is 60 DEG<＝abs(θhv-θrv)<At 120 deg., there is a certain risk of side impact to the vehicle, and at this angle, a forward or opposite impact needs to be taken into account at S4 and S8;
step S443, preliminarily screening out points with collision risks according to the position and the course angle of the vehicle, and obtaining the shortest collision distance minDist by performing a traversal on the points between the points with collision risks;
and step S444, by comparing the relation between the shortest collision point and the early warning safety distance, a left-turn auxiliary function can be provided when the vehicle turns left, and if minDist is less than or equal to S, a safety early warning prompt is sent to the vehicle.
Has the advantages that: compared with the prior art, the method and the system have the advantages that the vehicle information and the map information are acquired in real time by utilizing the vehicle-road cooperation technology, and a rich data basis is provided for vehicle early warning reminding; a vehicle edge collision point model is established, and the vehicle edge collision distance precision is improved; by means of the prediction analysis of the left-turn vehicle track by using the map information, the accurate calculation of the collision point is achieved, the collision risk early warning accuracy is improved, and the method has good applicability to the crossroad or the X-type intersection.
Drawings
FIG. 1: the invention relates to a flow chart of a left turn auxiliary early warning method;
FIG. 2: schematic diagram of an X-type bidirectional four-lane intersection in the embodiment;
FIG. 3: abstract the vehicle into a schematic diagram of a rectangular model;
FIG. 4: and establishing a schematic diagram of eight edge points based on the edge rectangle model of the length and the width of the vehicle.
Detailed Description
A specific embodiment of the present invention will be described in detail with reference to fig. 1-4.
An intersection left-turn auxiliary early warning system based on vehicle-road cooperation comprises a vehicle-mounted unit OBU (on Board Unit) and a road side unit RSU (road side Unit), wherein,
the on-board unit OBU is used for monitoring other vehicles around this car, includes:
the high-precision positioning module is used for collecting lane-level high-precision positioning information;
the state information acquisition module is used for acquiring the state information of the vehicle in real time, wherein the state information comprises longitude and latitude, speed, course angle and the like;
the vehicle-mounted terminal V2X wireless communication module is used for sending and receiving the acquired vehicle self state data to the road side equipment RSU and other nearby vehicles in a V2X mode;
the intelligent analysis module is used for carrying out comprehensive analysis processing according to the collected information of nearby vehicles, the information of the vehicles per se and the information of MAP MAP and the like acquired by road side equipment to obtain whether to give an early warning prompt for left turning of the vehicles or not and feeding back the processed information of the vehicles to a user;
the RSU comprises a road side wireless communication module and is used for providing MAP MAP information for vehicles, the MAP information comprises longitude and latitude information of each lane of an intersection entrance lane and an exit lane, and the longitude and latitude information of the intersection is collected until a stop line and a lane entrance line.
The intersection left-turn auxiliary early warning method based on the vehicle-road cooperation is further provided, and the specific real-time scheme flow is as follows:
step S1, turning on a left turn light, turning on a left turn auxiliary enable, and acquiring MAP information;
step S2, acquiring a crossing vehicle list, and screening vehicles with collision risks;
step S3, calculating the time and the early warning safety distance when the vehicle and the coming vehicle respectively reach the collision point;
and step S4, performing collision correction on the abstract vehicle for the rectangular model to obtain collision risk point judgment, and sending out early warning prompt.
Regarding the acquisition of the MAP information in step S1.
When the vehicle enters an intersection entrance road, the vehicle starts a left turn light to indicate that the vehicle has the intention of turning left to pass through the intersection, the vehicle starts left turn auxiliary enabling, the vehicle-mounted equipment OBU sends a MAP MAP request message to the roadside equipment RSU, and the OBU acquires MAP information. As shown in fig. 2, this example is an X-type bidirectional four-lane intersection, where the number of the intersection is a node, the node corresponds to four entrance lanes and four exit lanes, according to the protocol standard of "application layer and application data interaction standard for cooperative intelligent transportation system (TCSAE53-2017), the current MAP information stores the information about the link and lane of the entrance lane corresponding to the current node, and the information about the link and lane of the exit lane is stored in the node information corresponding to the next entrance lane, so that the link information in the node associated with the exit lane needs to be found.
Firstly, the vehicle carries out MAP matching on the position of the vehicle according to the current position information of the vehicle and the received MAP information, information corresponding to the node, link and lane where the vehicle is located can be obtained through MAP matching, the position of the vehicle in the MAP can be determined through the obtained information, and the distance of the collision point in the left-turn auxiliary middle way is further calculated.
Regarding the acquisition of the vehicle information in step S2.
Firstly, after map information is acquired through an on-board unit (OBU), a Basic Safety Message (BSM) message list sent by all surrounding vehicles is received at the same time, a vehicle which is in a straight line in an opposite inlet lane is screened out from the BSM message list, and the straight-line vehicle can be judged according to the driving intention of the opposite vehicle or whether the lane in which the vehicle is located is a straight-line function; then, one non-parking vehicle nearest to the vehicle is screened out from all the straight lanes, and early warning judgment is added to three nearest vehicles in the lanes for prediction calculation in the lanes with the left-turn straight or turning function, so that failure of vehicle collision early warning reminding caused by wrong vehicle driving intention judgment is prevented.
The calculation of the time and the early warning safety distance of the collision point in the step 3 comprises the following steps:
step S31, calculation of collision point.
The invention calculates the collision position of the vehicle and the opposite straight-ahead vehicle by presetting the left-turning running track of the vehicle, calculates whether the time difference when the vehicle reaches the collision point is in the threshold range, and calculates the time when the vehicle reaches the collision point or the collision according to the threshold.
The information to be used is mainly the following: acquiring longitude and latitude information corresponding to a stop line and longitude and latitude information of another same lane corresponding to a preset distance (for example, about 10m is preferred, the same applies below) behind the stop line from lane information of an entrance lane where the vehicle HV is located, wherein the longitude and latitude information and the latitude information correspond to a point B and a point A in the figure respectively; the lane information of the coming vehicle RV, the longitude and latitude information of the stop line corresponding to the lane of the coming vehicle RV, and the longitude and latitude information of the other corresponding lane about 10m behind, such as point E and point F in the figure; and the target lane information of the vehicle HV left steering, namely, the longitude and latitude information of an entrance point of an exit lane and the longitude and latitude information of another same lane point about 10m in front of the exit lane, such as the point C and the point D in fig. 2, need to be acquired. It should be noted that, in the present invention, the GPS point collection is reliable and accurate, and the road section around 10m of the entrance lane is considered as the entrance lane being a straight lane.
Assume that the acquired map information is a (lon)A,latA)，B(lonB,latB)，C(lonC,latC)，D(lonD,latD)，E(lonE,latE)，F(lonF,latF) Converting longitude and latitude coordinates in the map into an mercator projection coordinate system through mercator coordinate conversion to respectively obtain new coordinate points A (x)A,xA)，B(xB,xB)，C(xC,xC)，D(xD,xD)，E(xE,xE)，F(xF,xF) O can be calculated from the positional relationship between the straight line AB and CD2Coordinate information of the point, and the O can be calculated by respectively taking B, C as a vertical point to make AB and CD vertical lines1Of dotsCoordinate information, the calculation formula is as follows:
Figure BDA0003484817560000081
Figure BDA0003484817560000082
Figure BDA0003484817560000083
Figure BDA0003484817560000084
the direction corresponding O can be obtained through the longitude and latitude coordinates of the lane1Point coordinates
Figure BDA0003484817560000085
And O2Point coordinates
Figure BDA0003484817560000086
Step S32, calculation of collision risk points.
The turning radius R of the vehicle HV can be calculated according to the coordinates, and the calculation method of the turning radius R is as follows:
Figure BDA0003484817560000087
according to the requirements of urban road engineering design Specification CJJ37-2012(2016 edition) and the research of Zhongwein et al, the requirements of the left turning radius of an urban road intersection are as follows: the minimum turning radius of the car at the intersection of the urban road can be 4.5-7.5 m; the minimum turning radius of the large vehicle can be more than 9.0m, and the minimum turning radius of the articulated vehicle can be more than 12.0 m.
The longitude and latitude information of the vehicle HV and the remote vehicle RV is obtained, the distance between the two vehicles can be obtained, and the calculation mode is as follows:
Disthv_rv＝sqrt((xhv-xrv)2+(yhv-yrv)2)；
obtaining heading angle information heading of the vehicle HV and the remote vehicle RVhvAnd the GPS position between the two vehicles, acquiring the angular relationship angle _ HV _ RV of the remote vehicle RV and the vehicle HV, and further calculating the transverse distance between the two vehicles, wherein the calculation formula is as follows:
HO1＝R-DistHorizontal；
∠BO1K＝arccos(HO1/R)；
Figure BDA0003484817560000091
the distance that HV will travel in the intersection can be calculated through the formula, meanwhile, the position of a collision risk point between RV and HV can be accurately obtained, and the position relation between the collision risk point and the RV of the vehicle to be detected can be obtained.
Step S33, calculation of the distance from the collision point.
The time TTC required by the two vehicles when arriving at the collision risk point can be known by calculating the distance between the RV and the collision risk point, and corresponding early warning can be provided for the left-turning auxiliary vehicle.
The distance formula of the remote vehicle RV to the collision risk point is as follows:
DistVertical＝Disthv_rv*cos(abs(headinghv-anglehv_rv)；
L2＝DistVertical-R*sin(∠BO1K)；
the distance the host vehicle HV reaches the stop line is:
L4＝sqrt((xHV-xB)2+(yHV-yB)2)；
wherein: the point B is a GPS point corresponding to the lane stop line of the HV entrance lane, and the point can acquire the point of the lane stop line in the lane from MAP information;
the distance from the far vehicle RV to the stop line is:
L3＝sqrt((xRV-xE)2+(yRV-yE)2)；
wherein: the point E is a GPS point corresponding to the lane stop line of the RV entrance lane, and the point can acquire the point of the lane stop line in the lane from the MAP information.
It should be noted that when the vehicle crosses the stop line, because map information is lacked in the intersection, map matching cannot be realized to obtain the vehicle position in real time, and the auxiliary device calculates the time of the vehicle to reach the collision point in a way of travel distance estimation. The calculation method is as follows:
Figure BDA0003484817560000101
as can be seen from the above calculation, the distances from the collision point between the host vehicle HV and the distant vehicle RV are:
DistHV＝L1+L3-LHV；
DistRV＝L2+L4-LRV；
in the formula: l isHVCalculating the driving distance for the vehicle HV after entering the intersection; l isRVAnd calculating the driving distance for the vehicle RV after entering the intersection.
Step S34, calculation of collision time.
The formula for calculating the time for the vehicle to reach the collision risk point is as follows:
TTCHV＝(DistHV-lengthHV/2)/vhv；
TTCRV＝(DistRV-lengthRV/2)/vrv；
the time difference between the two vehicles reaching the collision risk point is as follows:
ΔTTC＝abs(TTCHV-TTCRV)；
if the time difference delta TTC <0.5s when the two vehicles reach the collision risk point is that the vehicle has the collision risk, a left-turn auxiliary safety reminder needs to be sent to the main vehicle.
And step S35, calculating the early warning safety distance.
During the running process of the vehicle, the application of the moment of giving out the early warning must ensure that enough time or distance exists between the detected vehicle and the target for the driver to react and the vehicle is braked to the safe speed so as to avoid collision. Early warning or late warning will cause the driving feeling of the driver, and the trust degree of the system is reduced. Therefore, the selection of the early warning time is calculated according to the average reaction time and the average braking speed of the driver, and according to the requirements of the performance of the intelligent transportation system vehicle forward collision early warning system and the test regulation GB/T33577-2017 and the requirements of the technical conditions for motor vehicle operation safety GB7258-2017[4,5], the average reaction time of the driver in China is between 0.3s and 2s, and the average braking deceleration of the driver is 3.6m/s 2-7.9 m/s 2. In the embodiment, 0.4s of driver reaction time and 0.5s of brake coordination time are selected, the deceleration increase time is 0.2s, the safety distance is 3m when the vehicle is stationary, and the minimum full-load deceleration of the passenger vehicle is 5.9m/s2 to serve as the condition calculation of the vehicle early warning time.
The early warning safety distance calculation mode is as follows:
Figure BDA0003484817560000102
in the formula: vHVIs HV vehicle speed, VRVRV vehicle speed, T driver reaction time, T1For brake coordination time, t2For deceleration increase time, S is the warning safety distance, asFor average driver braking deceleration, d0A safe distance is reserved.
As shown in fig. 3, in the original vehicle model, the calculation of the safe collision distance of the vehicle by using the GPS acquisition point has a large error, which cannot provide accurate driving advice for the driver, and a safe distance model with higher precision needs to be established for the vehicle collision. That is, the technical problem solved in step 4 in this embodiment is to abstract the vehicle into a rectangular model for collision correction, and determine whether to issue an early warning prompt according to the collision risk, and specifically includes the following steps:
in step S41, the host vehicle and the following vehicle are abstracted to the edge rectangle model.
As shown in fig. 4, an edge rectangular model based on the length and width of the vehicle is established, and the model establishes eight edge points with the vehicle edge, which are respectively S1-S8, wherein S1, S3, S5 and S7 are edge points at four corners of the vehicle, S2, S4, S6 and S8 are four points on the central axis of the vehicle, and the eight points are used as reference points of the vehicle edge;
step S42, heading angle calculation.
The vehicle can obtain the vehicle course angle through the gyroscope sensor, but in the vehicle turning process, the course angle acquired by the vehicle through the gyroscope has great deviation with the vehicle body direction of the vehicle, and cannot be directly used, so the device adopts the vehicle historical track points and combines the current time position information to calculate and obtain the vehicle body running direction angle theta of the vehicle.
And step S43, calculating a vehicle edge reference point.
Taking the point S1 as an example, the direction angle of the vehicle motion is θ, the point S1 is located on the left side of the heading angle, and its value is- γ, so the relative north-north angle of S1 is:
δ＝θ+(-γ)；
Figure BDA0003484817560000111
in the formula: length is the Length of the vehicle, and Width is the Width of the vehicle;
the diagonal distance of the vehicle can be obtained through the vehicle length and the vehicle width, and the collection point is considered to be located at the center position of the vehicle, so the distance from S1 to collection is as follows:
Figure BDA0003484817560000112
converting the longitude and latitude;
knowing the length and width information of the vehicle and the angular position relationship of each point, the GPS position information of each edge point can be obtained by calculating the collected position, and the calculation method comprises the following steps:
firstly, converting a reference acquisition point position into an ink card holder projection coordinate system through an ink card holder projection coordinate, converting longitude and latitude into an ink card holder coordinate system, and converting the ink card holder coordinate system into a longitude and latitude coordinate system, wherein the conversion method comprises the following steps:
and (3) converting a geographic coordinate system and a mercator projection coordinate system:
x＝2π*Rearth*lon/180；
y＝2π*Rearth*ln(tan((90+lat)*π/360))/(π/180)；
and (3) converting a geographic coordinate system and a mercator projection coordinate system:
lon＝180*x/2π*Rearth；
Figure BDA0003484817560000121
in the formula: rearthThe radius of the earth is 6378137 m.
Similarly, taking the edge point S1 as an example, the coordinates of the edge point can be calculated by the coordinate offset, and the calculation method is as follows:
xS1＝x+Ls1*cos(δ)；
yS1＝y+Ls1*sin(δ)；
to give S1 (x)S1,yS1) After the coordinates in the mercator coordinate system, the coordinates are converted into geography S1' (lon) through the mercator winning systemS1,latS1) For calculating the collision distance between the vehicles.
And step S44, judging collision risk points.
The corresponding position of the collision risk possibly existing in the vehicle body can be known through the angle relation between the position relation and the course angle of the two vehicles.
Step S441, vehicle position judgment
Calculating the azimuth angle of the vehicle, wherein the azimuth angle of the vehicle is obtained by calculating the real-time GPS positions of the vehicle HV and the far vehicle RV, and if abs (angle) is greater than 90 degrees, the vehicle is in front of the vehicle; if abs (angle) < ═ 90 °, it indicates that the vehicle is behind the host vehicle.
Step S442, collision point judgment
If abs (θ)hv-θrv)<And 90 degrees, which indicates that the running directions of the host vehicle and the remote vehicle are the same. If the host vehicle is behind, the collision risk is in front of the host vehicle and behind the distant vehicle, i.e. S1, S2 and S3 and the distant vehicles S5, S6 and S7 of the host vehicle need to be considered to have collision risk; if the host vehicle is in front of the host vehicle, the collision risk is between the rear of the host vehicle and the front of the far vehicle, namely the collision risk is considered in S5, S6 and S7 and the far vehicles S1, S2 and S3 of the host vehicle;
if abs (θ)hv-θrv)>When the two vehicles are driven oppositely, the collision risk is between the front of the vehicle and the front of the far vehicle, namely the collision risks are considered in S1, S2 and S3 and the far vehicles S1, S2 and S3 of the vehicle;
if the difference value of the vehicle heading angle is 60 DEG<＝abs(θhv-θrv)<At 120 deg., there is a certain risk of side impact to the vehicle, and at this angle, a forward or opposite impact needs to be taken into account at S4 and S8;
in step S443, collision risk points can be preliminarily screened out according to the vehicle position and the heading angle, and the shortest collision distance minDist can be obtained by traversing points between the collision risk points.
Step S444, by comparing the relation between the shortest collision point and the early warning safety distance, a left turn auxiliary function can be provided when the vehicle turns left, and if minDist is less than or equal to S, a safety early warning prompt is sent to the vehicle; if the vehicle speed Vhv<And when the speed is 1km/h, stopping early warning.
According to the invention, through the real-time interaction of information between vehicles and vehicle roads at the intersection under the environment of vehicle-road cooperation, the vehicles which potentially run at risk and collide when the vehicles left turn through the entrance road are obtained, and the time difference between the vehicles reaching the collision occurrence point is calculated to judge whether the vehicles need to be sent with left turn auxiliary early warning prompt or not, so that the driving safety of the left turn vehicles is ensured, and the traffic safety of the intersection is improved.
The method can effectively provide good passing service for vehicles turning left at the intersection no matter the vehicles are at the crossroad or the X-shaped intersection or the intersection with the green belts of the exit road and the entrance road which are different in width and not aligned. According to the method, collision early warning reminding information among vehicles is obtained through real-time calculation of high-precision positioning information, and the early warning result is high in precision and good in accuracy.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. An intersection left-turn auxiliary early warning method based on vehicle-road cooperation is characterized by comprising the following steps:
step S1, turning on a left turn light, turning on a left turn auxiliary enable, and acquiring MAP information;
step S2, acquiring a crossing vehicle list, and screening vehicles with collision risks;
and step S3, calculating the time difference between the host vehicle and the coming vehicle respectively reaching the collision point, and if the time difference is smaller than a preset value, sending a left-turn auxiliary safety prompt to the host vehicle.
2. The intersection left-turn auxiliary early warning method according to claim 1, wherein the step 3 comprises the following steps:
step S31, calculating collision points;
the following information is obtained: acquiring longitude and latitude information corresponding to a stop line and longitude and latitude information of another same lane corresponding to a preset distance behind the stop line from lane information of an entrance lane where the vehicle HV is located, wherein the longitude and latitude information and the latitude information correspond to a point B and a point A respectively; the lane information of the coming vehicle RV, the longitude and latitude information of the stop line corresponding to the lane of the coming vehicle RV and the longitude and latitude information corresponding to the other same lane corresponding to the preset distance behind are respectively corresponding to the point E and the point F; the target lane information of the HV left steering of the vehicle comprises longitude and latitude information of an entrance point of an exit channel and longitude and latitude information of another same lane point in a preset distance in front of the exit channel, wherein the longitude and latitude information and the latitude information are respectively corresponding to a point C and a point D;
hypothesis separately obtainsThe obtained map information is A (lon)A，latA)，B(lonB，latB)，C(lonC，latC)，D(lonD，latD)，E(lonE，latE)，F(lonF，latF) Converting longitude and latitude coordinates in the map into an mercator projection coordinate system through mercator coordinate conversion to respectively obtain new coordinate points A (x)A，xA)，B(xB，xB)，c(xC，xC)，D(xD，xD)，E(xE，xE)，F(xF，xF) O is calculated from the positional relationship between the straight line AB and CD2Coordinate information of the point, and the O can be calculated by respectively taking B, C as a vertical point to make AB and CD vertical lines1The coordinate information of the point is calculated according to the following formula:
Figure FDA0003484817550000011
Figure FDA0003484817550000012
Figure FDA0003484817550000013
Figure FDA0003484817550000014
step S32, calculating collision risk points;
the turning radius R of the vehicle HV is obtained through coordinate calculation, and the method for calculating the turning radius R is as follows:
Figure FDA0003484817550000015
acquiring longitude and latitude information of the vehicle HV and the remote vehicle RV, and calculating the distance between the two vehicles:
Disthv_rv＝sqrt((xhv-xrv)2+(yhv-yrv)2)；
obtaining heading angle information heading of the vehicle HV and the remote vehicle RVhvAnd the GPS position between the two vehicles, acquiring the angular relationship angle _ HV _ RV of the remote vehicle RV and the vehicle HV, and further calculating the transverse distance between the two vehicles:
HO1＝R-DistHorizontal；
LBO1K＝arccos(HO1/R)；
Figure FDA0003484817550000021
step S33, calculating the distance between the vehicle HV and the collision point and the distance between the vehicle RV and the collision point;
DistVertical＝Disthv_rv*cos(abs(headinghv-anglehv_rv)；
L2＝DistVertical-R*sin(∠BO1K)；
the distance the host vehicle HV reaches the stop line is: l is4＝sqrt((xHV-xB)2+(yHV-yB)2)；
The distance from the far vehicle RV to the stop line is: l is3＝sqrt((xRV-xE)2+(yRV-yE)2)；
After the vehicle crosses the stop line, calculating the time of the vehicle for reaching the collision point by means of travel distance estimation:
Figure FDA0003484817550000023
as can be seen from the above calculation, the distances from the collision point between the host vehicle HV and the distant vehicle RV are:
DistHV＝L1+L4-LHV；
DistRV＝L2+L3-LRV；
in the formula, LHVCalculating the driving distance for the vehicle HV after entering the intersection; l isRVCalculating the driving distance for the vehicle RV after entering the intersection;
step S34, calculating collision time;
the formula for calculating the time for the vehicle to reach the collision risk point is as follows:
TTCHV＝(DistHV-lengthHV/2)/vhv；
TTCRV＝(DistRV-lengthRV/2)/vrv；
the time difference between the two vehicles reaching the collision risk point is as follows:
ΔTTC＝abs(TTCHV-TTCRV)；
if the delta TTC is smaller than the preset value, the vehicle is considered to have collision risk, and a left-turn auxiliary safety prompt is sent to the main vehicle;
step S35, calculating the early warning safety distance;
Figure FDA0003484817550000022
in the formula, VHVIs HV vehicle speed, VRVRV vehicle speed, T driver reaction time, T1For brake coordination time, t2For deceleration increase time, S is the warning safety distance, asFor average driver braking deceleration, d0A safe distance is reserved.
3. The intersection left turn auxiliary early warning method according to claim 2, characterized in that after the step S3, the method comprises the step S4 of presetting or obtaining an early warning safety distance, performing collision correction on an abstract vehicle as a rectangular model, and comparing the relationship between the shortest collision point and the early warning safety distance to obtain a collision risk point judgment; the method specifically comprises the following steps:
step S41, abstracting the main vehicle and the coming vehicle into an edge rectangular model;
establishing an edge rectangular model based on the length and the width of the vehicle, wherein eight edge points are established on the edge of the vehicle by the model, namely S1-S8, wherein S1, S3, S5 and S7 are edge points at four corners of the vehicle, S2, S4, S6 and S8 are four points on the central axis of the vehicle, and the eight points are used as reference points of the edge of the vehicle;
step S42, calculating a heading angle;
calculating to obtain a vehicle body driving direction angle theta of the vehicle by adopting the vehicle historical track points and combining the current time position information;
step S43, calculating a vehicle edge reference point;
taking the point S1 as an example, the direction angle of the vehicle motion is θ, the point S1 is located on the left side of the heading angle, and its value is- γ, so the relative north-north angle of S1 is:
δ＝θ+(-γ)；
Figure FDA0003484817550000031
in the formula, Length is the Length of the vehicle, and Width is the Width of the vehicle;
the diagonal distance of the vehicle can be obtained through the vehicle length and the vehicle width, the collection point is determined to be located at the center of the vehicle, and the distance from S1 to the collection is as follows:
Figure FDA0003484817550000032
the longitude and latitude conversion is carried out, the relation between the length and width information of a vehicle and the angle position of each point is known, the GPS position information of each edge point is obtained through the calculation of the collected position, the position of the collected point is referred, the ink card support projection coordinate is converted into an ink card support projection coordinate system, and the coordinate of the edge point can be calculated through the offset of the coordinate, wherein the calculation method comprises the following steps:
xS1＝x+Ls1*cos(δ)；
yS1＝y+Ls1*sin(δ)；
to give S1 (x)S1，yS1) After the coordinates in the mercator coordinate system, the coordinates are converted into geography S1' (lon) through the mercator winning systemS1，latS1) Calculating to obtain the collision distance between the vehicles;
step S44, collision risk point judgment, including the following steps:
step S441, vehicle position determination;
calculating the azimuth angle of the vehicle, wherein the azimuth angle of the vehicle is calculated by the real-time GPS positions of the vehicle HV and the remote vehicle RV, and if abs (angle) is more than 90 degrees, the vehicle is in front of the vehicle; if abs (angle) < ═ 90 °, it means that the vehicle is behind the vehicle;
step S442, judging collision points;
if abs (θ)hv-θrv) < 90 °, indicating that the driving direction of the host vehicle is the same as that of the distant vehicle, if the host vehicle is behind, the collision risk is in front of the host vehicle and behind the distant vehicle, i.e. S1, S2 and S3 and the distant vehicles S5, S6 and S7, which need to consider the host vehicle, have collision risk; if the host vehicle is in front of the host vehicle, the collision risk is between the rear of the host vehicle and the front of the far vehicle, namely the collision risk is considered in S5, S6 and S7 and the far vehicles S1, S2 and S3 of the host vehicle;
if abs (θ)hv-θrv) The angle is 90 degrees, and the collision risk is between the front of the vehicle and the front of the far vehicle, namely the collision risks of S1, S2 and S3 and the far vehicles S1, S2 and S3 of the vehicle are considered;
if the difference between the vehicle heading angles is 60 DEG abs (theta)hv-θrv) At angles < 120 °, the vehicle has a certain risk of side impact, and at such angles, a forward or opposite impact needs to be taken into account in S4 and S8;
step S443, preliminarily screening out points with collision risks according to the position and the course angle of the vehicle, and obtaining the shortest collision distance minDist by performing a traversal on the points between the points with collision risks;
and step S444, by comparing the relation between the shortest collision point and the early warning safety distance, a left-turn auxiliary function can be provided when the vehicle turns left, and if minDist is less than or equal to S, a safety early warning prompt is sent to the vehicle.
4. The intersection left turn auxiliary early warning method according to claim 1, characterized in that vehicle speed VhvAnd when the speed is less than 1km/h, stopping early warning.
5. The intersection left turn auxiliary early warning method according to claim 1, characterized by comprising: the distance of the preset distance in step S3 is 10 m.
6. The utility model provides an intersection left turn assists early warning system based on vehicle and road is cooperative which characterized in that includes:
the vehicle-mounted unit OBU is used for monitoring other vehicles around the vehicle, and comprises a high-precision positioning module used for collecting lane-level high-precision positioning information; the state information acquisition module is used for acquiring the state information of the vehicle in real time, wherein the state information comprises longitude and latitude, speed and course angle; the vehicle-mounted terminal V2X wireless communication module is used for sending and receiving the acquired vehicle self state data to the road side equipment RSU and other nearby vehicles in a V2X mode; the intelligent analysis module is used for carrying out comprehensive analysis processing according to the collected information of nearby vehicles, the information of the vehicles per se and the information of MAP MAP and the like acquired by road side equipment to obtain whether to give an early warning prompt for left turning of the vehicles or not and feeding back the processed information of the vehicles to a user;
the road side unit RSU comprises a road side wireless communication module and is used for providing MAP MAP information for vehicles, the MAP information comprises longitude and latitude information of each lane of an intersection entrance lane and an exit lane, and the longitude and latitude information of the intersection is collected until a stop line and a lane entrance line.
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