CN116259194A - Anti-collision method and device for vehicle, equipment and storage medium - Google Patents
Anti-collision method and device for vehicle, equipment and storage medium Download PDFInfo
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- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The application discloses a vehicle anti-collision method, device, equipment and storage medium, comprising the following steps: acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode; collecting vehicle state information of the target vehicle at the current moment in real time; and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, but not limited to, vehicle anti-collision methods and apparatuses, devices, and storage media.
Background
With the continuous development of vehicle technology, vehicles are becoming more and more intelligent.
Currently, for vehicle collision avoidance, the related art schemes generally include: the positions of surrounding vehicles of the vehicle are detected by adopting vehicle-mounted sensors (for example, based on laser radars or cameras at the front end or the rear end of the vehicle, and the like), and anti-collision decisions are made based on the positions of the surrounding vehicles and the state of the vehicle.
However, in the above anti-collision scheme based on the vehicle-mounted sensor, the detection direction is single, the detection blind area is larger, and the remote detection cannot be realized, so that a larger potential safety hazard exists, thereby affecting the accuracy and safety of the vehicle anti-collision.
Disclosure of Invention
In order to solve the technical problems, the application provides a vehicle anti-collision method, device, equipment and storage medium, in the scheme, vehicles communicate through an inter-vehicle network (cellular vehicle to vehicle, C-V2V) based on a cellular network, so that a target vehicle can acquire the vehicle state of surrounding vehicles, and an anti-collision decision is made based on the vehicle state of the target vehicle and the vehicle state of the surrounding vehicles, thereby improving the anti-collision accuracy and the safety of the vehicles.
The technical scheme of the application is realized as follows:
in a first aspect, the present application provides a vehicle collision avoidance method for use with a target vehicle having capability to communicate with at least one surrounding vehicle via an inter-vehicle network C-V2V over a cellular network, the method comprising:
acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode;
Collecting vehicle state information of the target vehicle at the current moment in real time;
and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
In some embodiments, after acquiring the vehicle state information of each of the at least one nearby vehicle in real time, the method further comprises: for each of the at least one nearby vehicle, performing the following processing: determining a transmission distance between the target vehicle and the nearby vehicle based on the vehicle state information of the nearby vehicle and the vehicle state information of the target vehicle; determining a transmission delay based on the transmission distance; the transmission delay is used for representing the time for transmitting the vehicle state information of the surrounding vehicles; and correcting the vehicle state information of the surrounding vehicles based on the transmission delay.
In some embodiments, the acquiring, in real time, the vehicle status information of each of the at least one surrounding vehicle based on the C-V2V communication method includes: for each peripheral vehicle in the at least one peripheral vehicle, receiving vehicle state information sent by the peripheral vehicle in real time based on a first interface in a C-V2V communication mode; or, receiving the vehicle state information of each surrounding vehicle in the at least one vehicle sent by the control center in real time based on a second interface in the C-V2V communication mode; the first interface is different from the second interface.
In some embodiments, the making a vehicle collision avoidance decision based at least on the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one nearby vehicle includes: determining a target nearby vehicle based on vehicle state information of each of the at least one nearby vehicle; deleting vehicle state information of the at least one nearby vehicle that is not the target vehicle; and carrying out vehicle anti-collision decision based on the vehicle state information of the target surrounding vehicles and the vehicle state information of the target vehicles at the current moment.
In some embodiments, the determining a target nearby vehicle based on the vehicle state information of each of the at least one nearby vehicle includes: determining, for each of the at least one nearby vehicle, a traveling direction of each of the nearby vehicles based on vehicle state information of each of the nearby vehicles; a nearby vehicle having the same traveling direction as the target vehicle is determined as a target nearby vehicle.
In some embodiments, the determining a target nearby vehicle based on the vehicle state information of each of the at least one nearby vehicle includes: determining, for each of the at least one nearby vehicle, a distance value between each of the nearby vehicles and the target vehicle based on vehicle state information of each of the nearby vehicles; and determining the peripheral vehicles with the distance value smaller than or equal to a distance threshold value as the target peripheral vehicles in the at least one peripheral vehicle.
In some embodiments, the method further comprises: receiving road condition information sent by a control center; the making of a vehicle collision avoidance decision based at least on the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one nearby vehicle includes: and carrying out vehicle anti-collision decision based on the road condition information, the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
In some embodiments, the method further comprises: establishing a vehicle network map based on the vehicle state information of the target vehicle and the vehicle state information of each of the at least one nearby vehicle; the vehicle network map is used for representing the positions of lanes, the positions of the target vehicles and the positions of the surrounding vehicles; correcting the vehicle state information of the first vehicle based on the vehicle network map in the case that the vehicle state information of the first vehicle is abnormal; the first vehicle is any surrounding vehicle.
In a second aspect, the present application provides a vehicle collision avoidance device deployed on a target vehicle having the capability to communicate with at least one surrounding vehicle over a cellular-based inter-vehicle network C-V2V, the device comprising:
An acquisition unit configured to acquire vehicle state information of each of the at least one nearby vehicle in real time based on a C-V2V communication manner;
the acquisition unit is used for acquiring the vehicle state information of the target vehicle at the current moment in real time;
and the processing unit is used for making a vehicle anti-collision decision at least based on the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
In a third aspect, the present application also provides a vehicle comprising: the vehicle anti-collision system comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the vehicle anti-collision method when executing the program.
In a fourth aspect, the present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described vehicle collision avoidance method.
The vehicle anti-collision method, device, equipment and storage medium are applied to a target vehicle, the capability of communication between the target vehicle and at least one surrounding vehicle through an inter-vehicle network C-V2V based on a cellular network is provided, and the scheme specifically comprises the following steps: acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode; collecting vehicle state information of the target vehicle at the current moment in real time; and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
For the scheme of the application, because the target vehicle and at least one peripheral vehicle have the capability of C-V2V communication, the vehicle state information of the peripheral vehicles can be acquired in real time based on the C-V2V communication mode, and the vehicle anti-collision decision is made; it can be seen that the scheme of the application has comprehensive characteristics when acquiring the vehicle state information of surrounding vehicles, so that the problems that the detection direction is single, the detection blind area is large, the remote detection cannot be realized and the like in the related technology are solved. Further, the vehicle anti-collision decision is made based on the vehicle state information of the comprehensive surrounding vehicles, so that the anti-collision accuracy and the safety of the vehicles are improved.
Drawings
FIG. 1 is a schematic illustration of a first alternative configuration of a vehicle collision avoidance system provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a second alternative vehicle anti-collision system provided in an embodiment of the present application;
FIG. 3 is a schematic flow chart of a first alternative method for preventing a vehicle from collision according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of a second alternative method for preventing a vehicle from collision according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of a third alternative method for preventing a vehicle from collision according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a fourth alternative method for preventing a vehicle from collision according to an embodiment of the present disclosure;
fig. 7 is a schematic flow chart of a fifth alternative method for preventing a vehicle from collision according to an embodiment of the present application;
FIG. 8 is a schematic view of an alternative configuration of a vehicle anti-collision system according to an embodiment of the present disclosure;
fig. 9 is a schematic structural view of an alternative vehicle anti-collision device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are illustrative of the present application, but are not intended to limit the scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
In the following description, the term "first\second\third" is merely used for example to distinguish different objects, and does not represent a specific ordering for the objects, and does not have a limitation of precedence order. It will be appreciated that the "first-/second-/third-" may be interchanged with one another in the specific order or sequence of parts where appropriate to enable the embodiments of the present application described herein to be implemented in other than those illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
The embodiment of the application can provide a vehicle anti-collision method, a device, equipment and a storage medium. In practical applications, the vehicle anti-collision method may be implemented by a vehicle anti-collision device, and each functional entity in the vehicle anti-collision device may be cooperatively implemented by hardware resources of electronic equipment (such as terminal equipment), computing resources such as a processor, and communication resources (such as for supporting communications in various modes such as optical cables and cellular communications).
The vehicle anti-collision method provided by the embodiment of the application is applied to a vehicle anti-collision system.
The following describes a vehicle collision avoidance system.
In one possible embodiment, a vehicle collision avoidance system includes: the target vehicle and at least one surrounding vehicle. The target vehicle has the capability to communicate with at least one surrounding vehicle via an inter-vehicle network C-V2V based cellular network.
The target vehicle is configured to perform: acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode; collecting vehicle state information of the target vehicle at the current moment in real time; and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
As an example, the structure of the vehicle collision avoidance system may be as shown in fig. 1, including: the target vehicle 10 and a plurality of nearby vehicles 20. The target vehicle 10 has the capability of C-V2V communication with the surrounding vehicles 20.
The target vehicle 10 is configured to perform: acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode; collecting vehicle state information of the target vehicle at the current moment in real time; and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
In another possible embodiment, the vehicle collision avoidance system may further comprise a control center.
As an example, the structure of the vehicle collision avoidance system may be as shown in fig. 2, including: a target vehicle 10, a plurality of nearby vehicles 20, and a control center 30. The target vehicle 10, the surrounding vehicles 20, and the control center 30 have the capability of C-V2V communication therebetween.
The target vehicle 10 is configured to perform: acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode; collecting vehicle state information of the target vehicle at the current moment in real time; and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
Among the vehicles (target vehicles or nearby vehicles) described above may be vehicle devices having relevant data processing capabilities. The vehicle may be an intelligent vehicle or a non-intelligent vehicle, for example. The specific type of the vehicle is not limited in the embodiment of the application, and may be determined according to actual situations.
The control center may be an electronic device with associated data processing capabilities. Illustratively, the control center may be in communication with a cloud processing device or base station, or the like.
Embodiments of a vehicle anti-collision method, device, apparatus and storage medium provided in the embodiments of the present application are described below with reference to schematic diagrams of a vehicle anti-collision system shown in fig. 1 or fig. 2.
In a first aspect, an embodiment of the present application provides a vehicle anti-collision method, where the method is applied to a vehicle anti-collision device, where the vehicle anti-collision device may be deployed on an electronic device that is a target vehicle. The functions performed by the method may be performed by a processor in an electronic device, which may of course be stored in a computer storage medium, as will be seen, comprising at least a processor and a storage medium.
Next, a vehicle collision prevention method provided by the embodiment of the present application will be described.
The method is applied to a target vehicle, wherein the target vehicle is any vehicle in a vehicle anti-collision system. The target vehicle has the capability to communicate with at least one surrounding vehicle via an inter-vehicle network C-V2V based cellular network.
For example, the target vehicle and the at least one surrounding vehicle may communicate via a pre-configured C-V2V communication protocol.
Next, a vehicle collision prevention method provided in the embodiment of the present application will be described by taking a target vehicle as an execution subject. Fig. 3 is a schematic flow chart of a vehicle anti-collision method according to an embodiment of the present application, as shown in fig. 3, and the process may include, but is not limited to, S301 to S303 described below.
S301, the target vehicle acquires vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode.
The surrounding vehicle means a vehicle within a certain range of the target vehicle.
In one possible embodiment, the surrounding vehicles refer to all vehicles within a certain range of the target vehicle.
In another possible embodiment, the surrounding vehicle refers to a vehicle that is within a certain range of the target vehicle and is not blocked by other vehicles or objects from the target vehicle.
C-V2V communication mode refers to a network communication mode among vehicles based on a cellular network. In this manner of communication, communication between vehicles can be established.
Vehicle state information refers to information characterizing the current state of the vehicle. The embodiment of the application does not limit the specific content of the vehicle state information, and can be configured according to actual requirements.
In one possible embodiment, the vehicle state information may include: the absolute position of the vehicle at the current moment.
In another possible embodiment, the vehicle status information may further include one or more of the following: the speed of the vehicle at the current time, the heading angle, pitch angle, roll angle, etc. of the vehicle at the current time.
The embodiment of the application is not limited to a specific way of acquiring the vehicle state information of the surrounding vehicle, and may be configured according to actual situations. Either directly or indirectly.
In one possible implementation, S301 may be implemented as: the target vehicle directly receives the vehicle state information of the surrounding vehicles sent by the surrounding vehicles in real time based on the C-V2V communication mode.
In another possible implementation, S301 may be implemented as: the target vehicle receives vehicle state information of surrounding vehicles forwarded by other devices in real time based on a C-V2V communication mode.
It should be noted that, in the actual transmission process, the vehicle status information may be transmitted together with the identifier of the vehicle, so that the receiver may quickly distinguish when receiving the vehicle status information.
S302, the target vehicle acquires the vehicle state information of the target vehicle at the current moment in real time.
S302 may be implemented as: the target vehicle acquires vehicle state information of the own vehicle at the current moment in real time based on the vehicle-mounted sensor.
The embodiment of the application does not limit the type of the vehicle-mounted sensor and the specific content of the vehicle state information, and can be configured according to actual conditions.
For example, the target vehicle may acquire the location of the vehicle based on a global positioning system (Global Positioning System, GPS); the running speed of the vehicle can be acquired based on a speed sensor; the heading, pitch and roll angles of the vehicle, etc. may be acquired based on inertial measurement units (Inertial Measurement Unit, IMU).
S303, the target vehicle makes a vehicle anti-collision decision at least based on the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
According to the embodiment of the application, the information type according to which the target vehicle makes the vehicle anti-collision decision is not limited, and the configuration can be carried out according to actual conditions.
In one possible embodiment, the target vehicle makes a vehicle collision avoidance decision based on the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one nearby vehicle.
In another possible embodiment, the target vehicle makes a vehicle collision avoidance decision based on vehicle state information of the target vehicle at the current time, vehicle state information of each of the at least one nearby vehicle, and other information (e.g., road condition information, etc.).
The embodiment of the application does not limit the process of the anti-collision decision of the vehicle, and can be configured according to actual conditions.
For example, the target vehicle may determine a distance between the target vehicle and the nearby vehicle based on an absolute position of the own vehicle and an absolute position of the nearby vehicle, and if the distance value is greater than or equal to a safe distance value, it is considered that no collision occurs, and if the distance value is less than the safe distance value, it is considered that a collision may occur; at this point further deceleration or alerting etc. may be performed.
For example, the target vehicle may predict a travel locus of the target vehicle based on an absolute position, a current travel speed, and a course angle of the own vehicle, and predict a travel locus of the nearby vehicle based on the absolute position, the current travel speed, and the course angle of the nearby vehicle; judging whether the running track of the target vehicle and the running tracks of the surrounding vehicles intersect or not, and if so, determining that collision occurs; if not, it is determined that no collision occurs.
The vehicle anti-collision scheme provided by the embodiment of the application is applied to a target vehicle, the capability of communication between the target vehicle and at least one surrounding vehicle through an inter-vehicle network C-V2V based on a cellular network is provided, and the scheme specifically comprises the following steps: acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode; collecting vehicle state information of the target vehicle at the current moment in real time; and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
For the scheme of the application, because the target vehicle and at least one surrounding vehicle have the capability of C-V2V communication, the vehicle state information of the surrounding vehicles can be acquired in real time based on the C-V2V communication mode so as to make a vehicle anti-collision decision; it can be seen that the scheme of the application has comprehensive characteristics when acquiring the vehicle state information of surrounding vehicles, so that the problems that the detection direction is single, the detection blind area is large, the remote detection cannot be realized and the like in the related technology are solved. Further, the vehicle anti-collision decision is made based on the vehicle state information of the comprehensive surrounding vehicles, so that the anti-collision accuracy and the safety of the vehicles are improved.
According to the vehicle anti-collision method provided by the embodiment of the application, after the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle is obtained in real time, the obtained vehicle state information can be corrected.
Referring to what is shown in fig. 4, the following S401 to S403 are performed for each of the at least one nearby vehicle.
S401, a target vehicle determines a transmission distance between the target vehicle and the nearby vehicle based on the vehicle state information of the nearby vehicle and the vehicle state information of the target vehicle.
The transmission distance refers to the transmission distance of the vehicle state information.
In one possible implementation manner, the target vehicle directly receives the vehicle state information sent by the surrounding vehicles, and correspondingly, S401 may be implemented as follows: the target vehicle determines a position of the nearby vehicle and a position of the target vehicle based on the vehicle state information of the nearby vehicle and the vehicle state information of the target vehicle, and determines a distance between the position of the target vehicle and the position of the nearby vehicle as a transmission distance.
In one possible implementation manner, the surrounding vehicle sends the vehicle state information to the control center, and the target vehicle receives the vehicle state information sent by the control center, and correspondingly, S401 may be implemented as follows: the target vehicle determines a position of the nearby vehicle and a position of the target vehicle based on the vehicle state information of the nearby vehicle and the vehicle state information of the target vehicle, and determines a sum of a position of the target vehicle from the center and a position of the nearby vehicle from the control center as a transmission distance.
S402, the target vehicle determines transmission delay based on the transmission distance.
The transmission delay is used to characterize the time at which the vehicle state information of the nearby vehicle is transmitted.
S402 may be implemented as: the target vehicle determines a transmission delay based on the transmission distance and the current transmission rate.
S403, the target vehicle corrects the vehicle state information of the surrounding vehicles based on the transmission delay.
S403 may be implemented as: the target vehicle predicts the predicted position of the vehicle at the current time (i.e., the time at which the vehicle state information is received) based on the transmission delay and the traveling speed of the nearby vehicle, and corrects the vehicle position information in the vehicle state information of the nearby vehicle based on the predicted position.
Because a part of surrounding vehicles may be far away from the target vehicle, a certain time exists in the process of transmitting the vehicle state information to the target vehicle, and the positions of the surrounding vehicles may be changed in the time, the modification method provided by the embodiment of the invention can modify the vehicle state information based on the transmission time delay in the process of transmitting the vehicle state information, thereby improving the accuracy of the received vehicle state information of the surrounding vehicles and further improving the anti-collision accuracy and the safety of the vehicles.
Next, a process in which the target vehicle acquires the vehicle state information of each of the at least one nearby vehicle in real time based on the C-V2V communication method in S301 will be described.
This process may include, but is not limited to, case 1 or case 2 described below.
Case 1, for each of the at least one surrounding vehicle, receiving vehicle state information sent by the surrounding vehicle in real time based on a first interface in a C-V2V communication scheme.
Illustratively, the first interface may be: and a PC5 interface.
And 2, receiving the vehicle state information of each surrounding vehicle in the at least one vehicle sent by the control center in real time based on a second interface in the C-V2V communication mode.
The first interface is different from the second interface.
Illustratively, the second interface may be: an LTE-UU interface.
Next, a process of making a vehicle collision avoidance decision by the target vehicle in S303 based on at least the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one nearby vehicle will be described.
In one possible embodiment, as shown in fig. 5, the process may include, but is not limited to, S3031 to S3033 described below.
S3031, the target device determines a target nearby vehicle based on the vehicle state information of each of the at least one nearby vehicle.
The specific method for determining the target peripheral vehicle is not limited, and may be configured according to actual situations.
S3032, the target device deletes the vehicle state information of the at least one surrounding vehicle, which is not the target vehicle.
In this way, the data processing amount of the target device can be reduced, thereby improving the processing efficiency.
S3033, the target equipment makes a vehicle anti-collision decision based on the vehicle state information of the target surrounding vehicles and the vehicle state information of the target vehicles at the current moment.
The specific vehicle collision avoidance decision may refer to the detailed description in S303, and will not be described in detail here.
It is understood that the vehicle collision avoidance decision may also be made based on the vehicle state information of the target vehicle and the vehicle state information of all the nearby vehicles.
For the scheme of vehicle anti-collision based on the vehicle state information of the target peripheral vehicles, part of the vehicle state information of the non-target peripheral vehicles can be deleted, so that the data processing amount is reduced, and the data processing efficiency is improved.
Next, a process in which the target apparatus determines a target nearby vehicle based on the vehicle state information of each of the nearby vehicles in the at least one nearby vehicle in S3031 will be described.
This process may include, but is not limited to, implementation 1 or implementation 2 described below.
1, determining a target peripheral vehicle based on a driving direction;
implementation 2, determine the target surrounding vehicle based on the distance to the target vehicle.
Next, a process of realizing 1 to determine the target nearby vehicle based on the traveling direction will be described.
The process may include: the target apparatus determines, for each of the at least one nearby vehicle, a traveling direction of each of the nearby vehicles based on vehicle state information of each of the nearby vehicles; a nearby vehicle having the same traveling direction as the target vehicle is determined as a target nearby vehicle.
For example, the target vehicle may determine the traveling direction of the vehicle based on the heading angle in the vehicle state information.
Next, a process of determining the target nearby vehicle based on the distance from the target vehicle will be described in implementation 2.
The process may include: a target apparatus determines, for each of the at least one nearby vehicle, a distance value between each of the nearby vehicles and the target vehicle based on vehicle state information of each of the nearby vehicles; and determining the peripheral vehicles with the distance value smaller than or equal to a distance threshold value as the target peripheral vehicles in the at least one peripheral vehicle.
The specific value of the distance threshold is not limited, and the distance threshold can be configured according to actual conditions. By way of example, the distance threshold may be 20 meters.
It is to be understood that implementation 1 may also be combined with implementation 2, that is, a nearby vehicle, of which the traveling direction is the same as the traveling direction of the target vehicle and the distance from the target vehicle is less than or equal to the distance threshold value, may be determined as the target nearby vehicle. Specific implementation processes may refer to detailed descriptions of implementation 1 and implementation 2, and are not described herein in detail.
Referring to fig. 6, the vehicle anti-collision method provided in the embodiment of the present application may further include, but is not limited to, S304 described below.
S304, the target equipment receives the road condition information sent by the control center.
Road condition information refers to information characterizing the state of a road.
Exemplary, road condition information may include, but is not limited to: road congestion, road accidents, traffic light failures in roads, high winds or fog in roads, road smoothness, etc.
Here, the road condition information may be processed by the control center based on the vehicle state information of all the vehicles; alternatively, the road condition information may be directly reported by the surrounding vehicles.
The process of making a vehicle collision avoidance decision by the target device in the corresponding S303 based at least on the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one surrounding vehicle may be implemented as follows:
the target device makes a vehicle collision avoidance decision based on the road condition information, based on the vehicle state information of the target vehicle at the current time, and based on the vehicle state information of each of the at least one nearby vehicle.
For example, the target device receives the large fog in the road indicating the road ahead in the road condition information sent by the control center, considers that the probability of collision is increased, further improves the anti-collision level on the basis of the original anti-collision scheme, and reduces the speed of the target vehicle.
The vehicle anti-collision method provided by the embodiment of the application can also establish a vehicle network map and correct the vehicle state information of surrounding vehicles based on the vehicle network map.
As shown in fig. 7, the process may include, but is not limited to, S701 and S702 described below.
S701, the target device establishes a vehicle network map based on the vehicle state information of the target vehicle and the vehicle state information of each of the at least one surrounding vehicle.
The vehicle network map is used to characterize the location of the lane, the location of the target vehicle, and the location of the surrounding vehicles.
Specifically, the target device determines the position of the lane based on the position information in the vehicle state information of the target vehicle and the position information in the vehicle state information of each of the at least one surrounding vehicle, and distinguishes each lane based on the traveling direction of the vehicle, thereby obtaining the vehicle network map.
The vehicle network map may be updated in real time based on the vehicle state information.
S702, when the vehicle state information of the first vehicle is abnormal, the target device corrects the vehicle state information of the first vehicle based on the vehicle network map.
The first vehicle is any surrounding vehicle.
The specific type of the abnormality of the vehicle state information is not limited by the actual force, and can be determined according to the actual situation.
In one possible embodiment, the vehicle state information abnormality may refer to a positional abnormality of the vehicle, for example, the position of the vehicle is not within the lane.
In one possible embodiment, the abnormality of the vehicle state information may refer to abnormality of a traveling direction of the vehicle, for example, a traveling direction of the vehicle is different from that of other vehicles on the same lane.
S702 may be implemented as: the target device corrects the vehicle state information of the first vehicle based on the related information (e.g., lane information, traveling direction, or the like) in the vehicle network map in the case where the vehicle state information of the first vehicle is abnormal.
In an example, the first vehicle has an abnormal vehicle position, the first vehicle position is indicative of the first vehicle being in a non-lane, and the target vehicle corrects the first vehicle position based on the first vehicle's historical position information and the current lane information.
It should be noted that the process of creating the network map and correcting the vehicle information based on the network map may also be performed by the control center. The specific implementation process may refer to the detailed descriptions of S701 and S702, which are not described herein.
The following describes a vehicle anti-collision method provided in the embodiment of the present application through a specific and complete process.
In the related art, the anti-collision early warning system for the automatic driving vehicle has the problems of single detection direction, larger detection blind area, incapability of realizing remote detection and the like.
Referring to the description shown in fig. 8, the collision avoidance system includes a host vehicle 801 (corresponding to the target vehicle described above) and a plurality of nearby vehicles 802. This embodiment of the present application provides a solution: real-time information interaction between the vehicle and surrounding vehicles is realized through C-V2V communication, so that the state information of the surrounding vehicles can be accurately obtained. The state information of surrounding vehicles is input into the collision-prevention early warning system of the own vehicle to carry out early warning decision, and the potential safety hazard around the driver is prompted, so that traffic accidents are reduced, and driving safety is improved.
Specifically, this embodiment may include, but is not limited to, the following steps 1 to 4.
And step 1, obtaining corresponding state information such as absolute position, speed, yaw angle, pitch angle, roll angle and the like of the vehicle according to a vehicle-mounted sensor (such as an IMU, a GPS, a camera, a laser radar and the like) and a corresponding algorithm.
Step 2, building a V2V network from vehicle to vehicle in a 4G/5G network coverage environment, and transmitting a data packet through a PC5 interface or an LTE-UU interface, wherein the data packet information comprises: vehicle identification, vehicle position, travel rate, yaw angle, pitch angle, roll angle.
And 3, aligning information by the own vehicle through time stamps in the data transmitted by surrounding vehicles, and calculating the direct relative distance of the vehicles according to the data information in the data packet. Alignment here means that there is a possibility that the vehicle is relatively far apart, the transmitted position information has a time delay, the time of transmitting the information is calculated based on the position information, and then the position information of the vehicle is corrected based on the time.
And 4, judging the relative distance for preventing the vehicle from collision based on the relative distance, and triggering a vehicle-mounted alarm and triggering a vehicle emergency braking mechanism if the relative distance between adjacent vehicles is smaller than or equal to the safety distance.
This embodiment of the present application has the following technical effects:
firstly, can realize beyond the sight distance detection, the state information of vehicle around that the own car can be accurate simultaneously obtains carries out collision early warning and prejudges in advance, and then can improve driving security.
Second, the V2V communication based on the cellular network does not require installation of other communication devices, and can reduce costs.
In a second aspect, embodiments of the present application provide a vehicle collision avoidance device deployed on a target vehicle having the capability to communicate with at least one surrounding vehicle over a cellular-based inter-vehicle network C-V2V.
As shown in fig. 9, the vehicle collision preventing device 90 includes an acquisition unit 901, an acquisition unit 902, a processing unit 903:
an acquiring unit 901, configured to acquire vehicle state information of each of the at least one surrounding vehicle in real time based on a C-V2V communication manner;
the acquisition unit 902 is configured to acquire vehicle state information of the target vehicle at a current moment in real time;
the processing unit 903 is configured to make a vehicle collision avoidance decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each of the at least one surrounding vehicle.
In some embodiments, the vehicle collision avoidance device 90 may further include a correction unit for:
after acquiring the vehicle state information of each of the at least one nearby vehicle in real time, the following processing is performed for each of the at least one nearby vehicle: determining a transmission distance between the target vehicle and the nearby vehicle based on the vehicle state information of the nearby vehicle and the vehicle state information of the target vehicle; determining a transmission delay based on the transmission distance; the transmission delay is used for representing the time for transmitting the vehicle state information of the surrounding vehicles; and correcting the vehicle state information of the surrounding vehicles based on the transmission delay.
In some embodiments, the obtaining unit 901 is specifically configured to:
for each peripheral vehicle in the at least one peripheral vehicle, receiving vehicle state information sent by the peripheral vehicle in real time based on a first interface in a C-V2V communication mode; or, receiving the vehicle state information of each surrounding vehicle in the at least one vehicle sent by the control center in real time based on a second interface in the C-V2V communication mode; the first interface is different from the second interface.
In some embodiments, the processing unit 903 is further configured to:
determining a target nearby vehicle based on vehicle state information of each of the at least one nearby vehicle; deleting vehicle state information of the at least one nearby vehicle that is not the target vehicle; and carrying out vehicle anti-collision decision based on the vehicle state information of the target surrounding vehicles and the vehicle state information of the target vehicles at the current moment.
In some embodiments, the processing unit 903 is further configured to: determining, for each of the at least one nearby vehicle, a traveling direction of each of the nearby vehicles based on vehicle state information of each of the nearby vehicles; a nearby vehicle having the same traveling direction as the target vehicle is determined as a target nearby vehicle.
In some embodiments, the processing unit 903 is further configured to: determining, for each of the at least one nearby vehicle, a distance value between each of the nearby vehicles and the target vehicle based on vehicle state information of each of the nearby vehicles; and determining the peripheral vehicles with the distance value smaller than or equal to a distance threshold value as the target peripheral vehicles in the at least one peripheral vehicle.
In some embodiments, the acquisition unit 901 is further configured to: receiving road condition information sent by a control center; correspondingly, the processing unit 903 is further configured to: and carrying out vehicle anti-collision decision based on the road condition information, the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
In some embodiments, the vehicle anti-collision device 90 may further include a correction unit for: establishing a vehicle network map based on the vehicle state information of the target vehicle and the vehicle state information of each of the at least one nearby vehicle; the vehicle network map is used for representing the positions of lanes, the positions of the target vehicles and the positions of the surrounding vehicles; correcting the vehicle state information of the first vehicle based on the vehicle network map in the case that the vehicle state information of the first vehicle is abnormal; the first vehicle is any surrounding vehicle.
It should be noted that, the vehicle anti-collision device provided in the embodiment of the present application includes each unit, which may be implemented by a processor in an electronic device; of course, the method can also be realized by a specific logic circuit; in practice, the processor may be a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, micro Processor Unit), a digital signal processor (DSP, digital Signal Processor) or a Field programmable gate array (FPGA, field-Programmable Gate Array), or the like.
The description of the apparatus embodiments above is similar to that of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.
It should be noted that, in the embodiment of the present application, if the above-mentioned vehicle anti-collision method is implemented in the form of a software functional module, and sold or used as a separate product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributing to the related art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
In a third aspect, an embodiment of the present application provides a vehicle apparatus, including a memory and a processor, where the memory stores a computer program executable on the processor, and the processor implements the steps in the vehicle collision avoidance method provided in the above embodiment when the program is executed.
In a fourth aspect, embodiments of the present application provide a storage medium, that is, a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps in the vehicle collision avoidance method provided in the above embodiments.
It should be noted here that: the description of the storage medium and apparatus embodiments above is similar to that of the method embodiments described above, with similar benefits as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus of the present application, please refer to the description of the method embodiments of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributing to the related art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.
The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. A vehicle collision avoidance method, the method being applied to a target vehicle having capability to communicate with at least one surrounding vehicle via an inter-vehicle network C-V2V over a cellular network, the method comprising:
acquiring vehicle state information of each surrounding vehicle in the at least one surrounding vehicle in real time based on a C-V2V communication mode;
collecting vehicle state information of the target vehicle at the current moment in real time;
and carrying out vehicle anti-collision decision based on at least the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
2. The method of claim 1, wherein after acquiring the vehicle state information of each of the at least one nearby vehicle in real time, the method further comprises:
for each of the at least one nearby vehicle, performing the following processing:
determining a transmission distance between the target vehicle and the nearby vehicle based on the vehicle state information of the nearby vehicle and the vehicle state information of the target vehicle;
Determining a transmission delay based on the transmission distance; the transmission delay is used for representing the time for transmitting the vehicle state information of the surrounding vehicles;
and correcting the vehicle state information of the surrounding vehicles based on the transmission delay.
3. The method according to claim 1 or 2, wherein the acquiring, in real time, the vehicle state information of each of the at least one nearby vehicle based on the C-V2V communication scheme includes:
for each peripheral vehicle in the at least one peripheral vehicle, receiving vehicle state information sent by the peripheral vehicle in real time based on a first interface in a C-V2V communication mode;
or, receiving the vehicle state information of each surrounding vehicle in the at least one vehicle sent by the control center in real time based on a second interface in the C-V2V communication mode; the first interface is different from the second interface.
4. The method according to claim 1 or 2, wherein the making of the vehicle collision avoidance decision based at least on the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one nearby vehicle comprises:
Determining a target nearby vehicle based on vehicle state information of each of the at least one nearby vehicle;
deleting vehicle state information of the at least one nearby vehicle that is not the target vehicle;
and carrying out vehicle anti-collision decision based on the vehicle state information of the target surrounding vehicles and the vehicle state information of the target vehicles at the current moment.
5. The method of claim 4, wherein the determining a target nearby vehicle based on vehicle state information of each of the at least one nearby vehicle comprises:
determining, for each of the at least one nearby vehicle, a traveling direction of each of the nearby vehicles based on vehicle state information of each of the nearby vehicles;
a nearby vehicle having the same traveling direction as the target vehicle is determined as a target nearby vehicle.
6. The method of claim 4, wherein the determining a target nearby vehicle based on vehicle state information of each of the at least one nearby vehicle comprises:
determining, for each of the at least one nearby vehicle, a distance value between each of the nearby vehicles and the target vehicle based on vehicle state information of each of the nearby vehicles;
And determining the peripheral vehicles with the distance value smaller than or equal to a distance threshold value as the target peripheral vehicles in the at least one peripheral vehicle.
7. The method according to claim 1, wherein the method further comprises:
receiving road condition information sent by a control center;
the making of a vehicle collision avoidance decision based at least on the vehicle state information of the target vehicle at the current time and the vehicle state information of each of the at least one nearby vehicle includes:
and carrying out vehicle anti-collision decision based on the road condition information, the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
8. The method according to claim 1, wherein the method further comprises:
establishing a vehicle network map based on the vehicle state information of the target vehicle and the vehicle state information of each of the at least one nearby vehicle; the vehicle network map is used for representing the positions of lanes, the positions of the target vehicles and the positions of the surrounding vehicles;
Correcting the vehicle state information of the first vehicle based on the vehicle network map in the case that the vehicle state information of the first vehicle is abnormal; the first vehicle is any surrounding vehicle.
9. A vehicle collision avoidance device, the device being deployed on a target vehicle having capability to communicate with at least one surrounding vehicle via an inter-vehicle network C-V2V over a cellular network, the device comprising:
an acquisition unit configured to acquire vehicle state information of each of the at least one nearby vehicle in real time based on a C-V2V communication manner;
the acquisition unit is used for acquiring the vehicle state information of the target vehicle at the current moment in real time;
and the processing unit is used for making a vehicle anti-collision decision at least based on the vehicle state information of the target vehicle at the current moment and the vehicle state information of each surrounding vehicle in the at least one surrounding vehicle.
10. A vehicle apparatus, characterized in that the vehicle comprises a memory and a processor, the memory having stored thereon a computer program which, when executed, implements the vehicle collision avoidance method of any of claims 1 to 8.
11. A computer readable storage medium having a computer program stored thereon, which when executed, implements the vehicle collision avoidance method of any of claims 1 to 8.
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