WO2018233175A1

WO2018233175A1 - Danger early-warning method and system, v2x vehicle-mounted terminal and memory

Info

Publication number: WO2018233175A1
Application number: PCT/CN2017/108666
Authority: WO
Inventors: 史立东
Original assignee: 深圳市金溢科技股份有限公司
Priority date: 2017-06-21
Filing date: 2017-10-31
Publication date: 2018-12-27
Also published as: CN107248320A

Abstract

Provided are a danger early-warning method and system, a V2X vehicle-mounted terminal and a memory. The danger early-warning method comprises: a state acquisition step (S10): acquiring driving state parameters of a vehicle and driving state parameters of surrounding vehicles; a direction determination step (S20): determining, according to the driving state parameters, whether the driving directions of the surrounding vehicles are opposite to the driving direction of the vehicle; a lane determination step (S30): determining, according to the driving state parameters, whether the surrounding vehicles are in the leftmost lane in the driving directions thereof; and an early-warning generation step (S40): if the driving directions of the surrounding vehicles are opposite to the driving direction of the vehicle and the surrounding vehicles are in the leftmost lane in the driving directions thereof, and an intersection is in front of the vehicle and/or left-turn indicators of the surrounding vehicles are in an on state, generating collision early-warning information. By means of the method, danger early-warning can be carried out accurately and efficiently, and the safety of a driver can be ensured.

Description

Hazard warning method, system, V2X vehicle terminal and memory

Technical field

The invention relates to the field of Intelligent Transportation System (ITS), in particular to a dangerous early warning method and system based on DSRC (Dedicated Short Range Communication), a V2X vehicle terminal and a memory.

Background technique

The intelligent networked vehicle is an important part of the intelligent transportation (ITS) system. Its scope includes automotive information and entertainment services represented by navigation, road information services and remote vehicle condition diagnosis, as well as collision warning and vehicle out-of-control warning. Prevent safety services such as pedestrian collisions. In Europe, it is also defined as a communication-based intelligent transportation system, namely ITSC (ITS Communication). This standard technology is based on the intelligent traffic service of DSRC communication technology. The DSRC series standards include IEEE 802.11p, IEEE 1609 series and SAE J2735, J2945 standards. In vehicle network applications, including V2V (Vehicle to Vehicle), V2P (Vehicle to Pedestrian), V2I (Vehicle to Infrastructure) and V2N (Vehicle to Network) Network) intelligent transportation business.

With the advancement of technology, in the field of intelligent transportation, in the past ten years, in order to improve driving safety, traffic efficiency and enhance the user experience, cars and automobiles, automobiles and pedestrians, and automobiles and transportation facilities are connected to each other to form vehicles. New scenarios for pedestrians and infrastructure interconnection. Intelligent networked vehicles and intelligent transportation systems with vehicle driving safety, efficiency improvement and information services as the main application scenarios become such The focus in the trend. There are many types of security applications in the Internet of Vehicles, including collision warning, vehicle out of control warning, and prevention of pedestrian collisions.

Intelligent networked cars can give ADAS and autopilot systems through car-to-vehicle communication (V2V), car-roadside infrastructure communication (V2I), car-to-person communication (V2P), and car-network/cloud communication (V2N/V2C) Bringing significant value. By providing 360-degree non-line-of-sight information to vehicles and vehicle drivers, traffic and road safety can be significantly improved, and traffic, road, and vehicle and network collaboration can effectively improve traffic congestion, improve traffic efficiency, and provide Timely and accurate information services, including real-time navigation, payment, automatic parking, car entertainment and more.

During the running of the vehicle, the driver needs to quickly respond correctly to changes in the surrounding environment. For example, the driver turns on the left turn signal, which may make a left turn or a left change lane, so the left turn and the left change track The state of the vehicle is dangerously different in vehicle safety applications. However, in the traditional collision algorithm, the left turn signal is usually judged that the car needs to make a left turn, and the processing scene is also processed according to the left turn collision warning scene. In this processing scenario, many straight left lane vehicles have very A high probability is falsely reported as a left turn collision warning.

Summary of the invention

The technical problem to be solved by the present invention is to provide a DSRC-based hazard warning method and system, a V2X vehicle terminal and a memory, which can accurately and efficiently carry out hazard warnings against the defects of the above-mentioned misleading left-turn collision warning of the prior art. .

The technical solution adopted by the present invention to solve the technical problem is to construct a DSRC-based danger warning method, including:

a state acquisition step: acquiring a driving state parameter of the host vehicle and a driving state parameter of the surrounding vehicle;

Direction determining step: determining whether the driving direction of the surrounding vehicle is based on the driving state parameter Reversed from the direction of travel of the vehicle;

a lane determining step of: determining, according to the driving state parameter, whether the surrounding vehicle is in a leftmost lane in a traveling direction thereof;

The warning generating step: if the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle and the surrounding vehicle is in the leftmost lane of the traveling direction; meanwhile, the front of the vehicle is an intersection, and/or When the left turn signal of the surrounding vehicle is in an open state, collision warning information is generated.

Preferably, the front of the vehicle is determined as an intersection according to the following steps:

Determining whether there is a vehicle in the surrounding vehicle that intersects with the traveling direction of the host vehicle, or determining whether there is a vehicle in the surrounding vehicle that makes a left turn on the lane in the same direction as the traveling direction of the host vehicle, and if so, determining the vehicle The front is an intersection.

Preferably, the lane determination step comprises:

Determining whether the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle;

If the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, determining whether the adjacent lane of the surrounding vehicle has a vehicle in the same direction as the traveling direction of the host vehicle, and if so, determining that the surrounding vehicle is in the vehicle The leftmost lane in the direction of travel.

or,

If the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, it is determined whether the surrounding vehicle is in an adjacent lane of the host vehicle, and if so, the leftmost lane of the surrounding vehicle in the traveling direction is determined.

Specifically, the specific step of determining the adjacent lane is: calculating a distance in a direction substantially perpendicular between the vehicles on the horizontal plane of the road and the driving direction, if greater than or equal to the preset value of the first lane, and less than or equal to the preset value of the second lane, Then it is judged as an adjacent lane.

Preferably, the direction determining step comprises:

Obtaining, in the driving state parameter, a direction angle indicating a traveling direction of the vehicle, where the direction angle is an angle between a driving direction of the vehicle and a true north direction of the earth;

Calculating an absolute value of a difference in a direction angle of the host vehicle and the surrounding vehicle;

If the absolute value of the difference is within a preset range, it is determined that the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, and the preset range is 140 to 220 degrees.

Preferably, before the step of generating an early warning, the method further includes:

The height determining step is: calculating the height of the surrounding vehicle and the height of the host vehicle according to the driving state parameter, and determining whether the absolute value of the difference between the heights of the two is less than a preset height value, and if so, performing the following steps.

The invention also constructs a V2X vehicle terminal, comprising:

a state acquisition module, configured to acquire a driving state parameter of the host vehicle and a driving state of the surrounding vehicle;

a direction determining module, configured to determine, according to the driving state parameter, whether a driving direction of the surrounding vehicle is opposite to a driving direction of the host vehicle;

a lane determining module, configured to determine, according to the driving state parameter, whether the surrounding vehicle is in a leftmost lane in a traveling direction thereof;

The warning generating module is configured to reverse the traveling direction of the surrounding vehicle and the traveling direction of the host vehicle, and the surrounding vehicle is in the leftmost lane of the traveling direction, and at the same time, the front of the vehicle is an intersection, and Alternatively, when the left turn signal of the surrounding vehicle is in an open state, it is determined that the intention of the surrounding vehicle is a left turn, and collision warning information is generated.

The present invention also contemplates a V2X vehicle-mounted terminal comprising a processor and a memory, wherein the memory is for storing program instructions that are loaded by the processor and that perform the steps of implementing the method as described above.

The invention also constructs a memory having program instructions stored thereon, characterized in that the program The instructions are loaded by the processor and perform the steps of implementing the method as described above.

The present invention also constructs a DSRC based hazard warning system comprising at least two of the above V2X vehicle terminals.

According to the technical solution of the present invention, the DS2-based V2X technology analyzes the driving state parameters of the host vehicle and surrounding vehicles, if the following three conditions are met: (1) the traveling direction of the surrounding vehicles is opposite to the host vehicle; (2) surrounding The leftmost lane of the vehicle in its direction of travel; (3) the intersection of the vehicle in front of the vehicle, and/or the left turn signal of the surrounding vehicle is open, it can be determined that the surrounding vehicle has a left turn or a U-turn intention, and The vehicle has the risk of collision. At this time, the vehicle will generate collision warning information. Therefore, the danger warning can be carried out accurately and efficiently, ensuring the safety of the driver and having certain social and economic benefits.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work. In the figure:

1 is a schematic diagram of an application scenario;

2 is a flow chart of Embodiment 1 of a DSRC-based hazard warning method according to the present invention;

3 is a flow chart of Embodiment 2 of a DSRC-based hazard warning method according to the present invention;

4 is a schematic diagram of an application scenario of a straight road segment;

FIG. 5 is a schematic diagram of an application scenario of an intersection;

Fig. 6 is a logic structural diagram of Embodiment 1 of the V2X vehicle-mounted terminal of the present invention.

Detailed ways

As the vehicle travels, the driver needs to respond quickly to changes in the surrounding environment. In the V2V safety application, the basic application judges the vehicle and its vehicle status based on basic safety messages such as vehicle position, direction angle, and vehicle speed, and processes according to these states. In the vehicle communication, the vehicle turns lanes or turns left or turns around by turning the left turn signal. However, during driving, lane change, left turn, and U-turn have different collision risks for the opposite lane. In combination with Figure 1, the cars C and D go straight, the car B turns left, and the car A changes direction to the left and then goes straight. In this scenario, the vehicle C has a collision risk with the left-turned vehicle B, and the vehicle C has no risk of collision with the left-turned lane A, and the left turn signals of the vehicle A and the vehicle B are both open. Car C receives the BSM (Basic Safety Message) of both A and B cars, including their respective positions, directions and the left turn signal to open the message, how to identify the possibility of collision between the two cars, and improve the accuracy of the early warning Sex is especially important.

2 is a flowchart of Embodiment 1 of a DSRC-based danger warning method according to the present invention. The danger warning method of the embodiment includes the following steps:

S10. State acquisition step: acquiring a driving state parameter of the host vehicle and a driving state parameter of the surrounding vehicle;

Specifically, the driving state parameters include, but are not limited to, speed information, geographic location information, and traffic light state information. In addition, the V2X vehicle terminal is installed in the car. The V2X vehicle terminal can obtain the status signal of the vehicle speed and the left turn signal from the car Can bus, receive the geographical location information provided by the GNSS (Global Navigation Satellite System), and receive the surrounding vehicles through the DSRC. Location information, speed information, status signals for the left turn signal. At the same time, the DSRC broadcasts its own geographical location information, speed information, and status signals of the left turn signal to surrounding vehicles.

S20. A direction determining step: determining, according to the driving state parameter, whether a driving direction of the surrounding vehicle is opposite to a traveling direction of the host vehicle;

S30. Lane determination step: determining, according to the driving state parameter, whether the surrounding vehicle is in a leftmost lane in a traveling direction thereof;

S40. An early warning generating step: if the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle and the surrounding vehicle is in the leftmost lane of the traveling direction; meanwhile, the front of the vehicle is an intersection, and/or When the left turn signal of the surrounding vehicle is in an open state, collision warning information is generated.

Specifically, if it is determined that a certain vehicle meets the following three conditions at the same time: (1) the traveling direction of the vehicle is opposite to the vehicle; (2) the vehicle is traveling in the leftmost lane; (3) the front of the vehicle is an intersection, And/or, if the left turn signal of the vehicle is in an open state, it can be determined that the vehicle has a left turn or a U-turn intention, and there is a risk of collision with the vehicle. At this time, collision warning information will be generated. Moreover, the generated warning information can be transmitted to the display through the Can bus or Ethernet or WIFI for the display to output to the user, the display can be the display of the V2X vehicle terminal, or the display of the car, It can be the display of a user terminal (such as a mobile phone, PAD). What needs to be explained here, the surrounding vehicles mentioned in this article refer to vehicles that may affect the driving of the vehicle. For example, if the distance between the two vehicles is farther and farther, it means that the two vehicles have already been handed over and will not have an impact, so they are not considered to be Vehicles around. It is easy to understand that if the two cars are far apart, such as more than 200 meters, then the surrounding vehicles are not considered.

3 is a flowchart of a second embodiment of the DSRC-based danger warning method according to the present invention. The danger warning method of the embodiment is different from the embodiment shown in FIG. 2 only in that between step S10 and step S20, Also includes:

S50. The height determining step is: calculating a height of the surrounding vehicle and a height of the host vehicle according to the driving state parameter, and determining whether an absolute value of the difference between the heights of the two is less than a preset height value, and if yes, executing step S20, preset The height value is, for example, 3 meters.

In this embodiment, the host vehicle receives the driving state parameter information of the surrounding vehicle, first performs height calculation, and classifies the vehicle according to the height. If the absolute difference between the height difference values of the two vehicles is less than the preset height value, It is considered that the two cars are driving on the road of the same height, and then the subsequent direction determining step and the lane determining step are performed, and determining whether to generate the collision warning information according to the judgment result; if the absolute difference between the height difference values of the two is not less than the preset height The value is that the two cars are not driving on roads of the same height (such as on overpasses and underpasses). At this time, there is no risk of collision between the two cars, and there is no need to carry out subsequent steps.

Finally, it should be noted that this is only one embodiment of the present invention. In other embodiments, step S50 may also be disposed between step S20 and step S30, or may be disposed between step S30 and step S40.

On the basis of the foregoing embodiment, further, step S20 may specifically include:

S21. Obtain a direction angle indicating a traveling direction of the vehicle in the driving state parameter, where the direction angle is an angle between a driving direction of the vehicle and a true north direction of the earth;

S22. Calculate a difference between a direction angle of the host vehicle and the surrounding vehicle;

S23. If the difference is within a preset range, determine that the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, and the preset range is 140 to 220 degrees, preferably 170 to 190 degrees.

In this embodiment, it can be judged whether the traveling directions of the two vehicles are the same by comparing the direction angles of the two vehicles. For example, if the difference between the direction angles of the two vehicles is less than 10 degrees, the traveling directions of the two vehicles are considered to be the same direction; If the difference between the direction angles of the car is between 80 and 100 degrees, the direction of travel of the two cars is considered to be crossed. If the difference between the direction angles of the two cars is between 170 and 190 degrees, the direction of travel of the two cars is considered to be reversed. .

Further, the front of the vehicle may be determined as an intersection according to the following steps: determining whether there is a vehicle in the surrounding vehicle that crosses the traveling direction of the host vehicle, or determining whether the surrounding vehicle is in the same direction as the driving direction of the host vehicle. A vehicle that makes a left turn on the lane, and if so, determines that the front of the vehicle is an intersection. Preferably, in order to prevent an individual vehicle from being misjudged due to excessive steering or illegal driving, it is possible to increase the judgment redundancy and satisfy the condition that the direction angle difference satisfies the condition. The number is set to a plurality of, for example, three. If it is judged that the difference in the direction angle between the host vehicle and the three or more vehicles satisfies the condition, for example, between 80 and 100 degrees, it is determined that there is an intersection in front of the intersection.

In a specific embodiment, step S30 may include:

S31. determining whether the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle;

S32. If the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, determine whether the surrounding vehicle is in an adjacent lane of the host vehicle, and if yes, determine that the surrounding vehicle is at the leftmost side of the traveling direction thereof Lane.

In another specific embodiment, step S30 may specifically include:

S33. determining whether the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle;

S34. If the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, determine whether the adjacent lane of the surrounding vehicle has a vehicle in the same direction as the traveling direction of the host vehicle, and if yes, determine the surrounding vehicle. The leftmost lane in its direction of travel.

It can be understood that the vehicle may have a collision risk with the vehicle having the intention of turning left, regardless of the lane in which the vehicle is traveling, that is, the vehicle and the vehicle having the intention of making a left turn may be on the adjacent lane. It is also possible to differ between two or more lanes.

Preferably, the method for determining the adjacent lanes is: calculating a distance in a direction substantially perpendicular between the vehicles on the horizontal plane of the road and the direction of travel, if greater than or equal to the preset value of the first lane, and less than or equal to the preset value of the second lane, Then it is judged as an adjacent lane. Specifically, a general algorithm for calculating the distance between two points of the earth can be used when calculating the vertical distance between the two vehicles. In addition, it can be assumed that the lane width is 3 m. If the vertical distance between the two cars is less than 1.5 meters, the two cars are considered to be in the same lane; if the vertical distance between the two cars is between 1.5 meters and 3 meters, the two cars are considered to be in the adjacent lane; If the vertical distance of the car relative to travel is greater than 4.5 meters, the two cars are considered to be in non-adjacent lanes.

The following describes how to effectively distinguish surrounding vehicles for both straight lanes and intersections. Whether it has a collision risk with the car:

Referring to the schematic diagram of the application scenario of the straight road section shown in FIG. 4, the vehicle C receives the driving state parameter information of the vehicles A, B, and D during the straight running process, and can know that the left turn signals of the vehicles A and B are all open. . At this time, the car C first determines the direction of travel of the vehicles A and B by the comparison of the direction angles, and the traveling direction of the vehicle D is in the same direction. Then, for the vehicles A, B, the vehicle C further calculates the vertical distance between the vehicle A and the vehicle B, and can determine that the vehicle B is in its adjacent lane, and the vehicle C is in its adjacent far lane. The vehicle C can determine that the intention of the car B to turn the left turn signal is a U-turn, which is at risk of collision. The intention of the car A to turn left is to change to the left, and the risk of collision with it is lower.

Referring to the schematic diagram of the intersection application scenario shown in FIG. 5, it is first explained that the risk of a left-turning vehicle colliding with a straight-through vehicle at the intersection is extremely high, and a vehicle having a left-turning intention may be different from the own lane. And above. In the vehicle-to-vehicle communication without the roadside equipment, no roadside equipment indicates that the road section is an intersection or other forked intersection. Therefore, in the case of no roadside equipment, it is necessary to first judge the front as an intersection. As shown in FIG. 5, when the vehicle C is traveling forward, according to the received driving state parameter information of the surrounding vehicle, it is judged that there is a vehicle E traveling in the lateral direction (the difference of the direction angles of the two vehicles is 80 to 100 degrees). In order to judge whether there is an intersection in front, or to judge that there is an intersection ahead by judging that the vehicle D traveling in the same direction and making a left turn in the leftmost lane. Meanwhile, in FIG. 5, if the vehicle B is reversely driven on the adjacent two lanes and the vehicle D is turned left in the adjacent lane, the presence of the intersection ahead can be estimated. After judging that there is a junction in front, it can be further determined that the driving direction of the vehicle B is opposite to the driving direction of the vehicle C, and the left side lane of the vehicle B in the traveling direction thereof can determine that the vehicle B has a left turning intention, and the vehicle The risk of collision in C is large, and collision warning information should be generated.

In a preferred embodiment, the road condition is determined by receiving the driving state parameter information of the surrounding vehicle on the premise that the vehicle has no map parameters and no roadside unit is provided on the road. Specific flow The process is as follows:

1. Target classification process

The vehicle receives the information of the surrounding vehicles, then judges the height, selects the vehicles traveling at the same altitude, and then subdivides the vehicles at the same height into the same direction vehicles according to the direction of travel (the difference of the direction angle is less than 10 degrees), and the reverse Vehicles (direction angle difference between 170 and 190 degrees) and cross-traveling vehicles (direction angle difference between 80 and 100 degrees).

2. Lane judgment process

In the lane determination, the classified vehicle to be used is the same-direction vehicle data and reverse vehicle data of the vehicle. The purpose of the lane determination is only to determine whether the surrounding co-directional vehicle and the reverse vehicle are in the leftmost lane of the traveling direction, specifically: for the surrounding same-direction vehicle, if the adjacent lane has a reverse-traveling vehicle, it is considered The surrounding vehicle in the direction of the leftmost lane of the same direction of travel, and vice versa; for the surrounding reverse vehicle, if the adjacent lane has a vehicle traveling in the opposite direction relative to the vehicle (the direction of travel of the vehicle and the vehicle) If the direction of travel is the same, the surrounding vehicle in the same direction is considered to be the leftmost lane in the direction of travel, and vice versa. Through the above process, the vehicle can determine whether the surrounding vehicle is in the leftmost lane of the traveling direction. The method is more accurate when the vehicle is more, and can accurately provide whether the vehicle is in the leftmost lane. However, when there are few vehicles, especially if no adjacent vehicles are found, the method is not accurate enough. However, in this scenario, the risk of left-turn collision itself is very low, so the use of this method will be extremely great. Enrich the warning and algorithm for the left turn intention scene. When it is judged whether the surrounding vehicle is in its leftmost lane, it can judge the intention of the left turn signal to be turned on, for example, the left lane of the vehicle in its traveling direction, and the left turn signal is turned on to symbolize that it has a left turn. It is inclined that if the car is not in the leftmost lane of the driving direction, its left turn signal is turned on to indicate that it has a leftward lane change intention.

3. Intersection judgment process

The intersection is judged to complement the integrity of the method, especially for straight-through vehicles. When there is an intersection in front, there is a possibility of preventing collision in advance for the reverse leftmost vehicle. If the vehicle is in the process of driving, it is known that there is an intersection in front and the opposite direction of the intersection is in the leftmost vehicle. The vehicle is likely to be in the left turn lane. In this way, when the car has not turned on the left turn signal, the car has been able to determine its intention of making a left turn and prepare in advance. The data source for the intersection judgment is the crossover vehicle. If the number of crossover vehicles is greater than three, it is considered that there is an intersection ahead.

4. Left turn signal classification

In a collision scenario, the left turn is highly risky to collide with the reversely traveling vehicle, so that in particular for the reverse driving and the left turn intention of the leftmost vehicle, the vehicle has the possibility of colliding with all forward traveling vehicles.

It is assumed that the traveling direction of the vehicle is positive, and the reverse traveling vehicle is divided into the leftmost lane in the traveling direction and the rightmost lane in the traveling direction, and the driver's intention indicated by the left turn signal of the different lanes is different. In the reverse direction, only the left-turning vehicle will collide with the vehicle that is driving in the forward direction, thus effectively improving the effectiveness of the warning. Here, a method for classifying the reverse turn of a reverse vehicle is analyzed, which works in the same direction for a vehicle that is moving forward. A complement to this type of method is that at the intersection, an advance judgment can be made on the vehicle that does not turn on the left turn signal. Effectively reduces the risk of intersections and left turns colliding with other vehicles.

FIG. 6 is a logical structural diagram of Embodiment 1 of the V2X vehicle-mounted terminal of the present invention. The V2X vehicle-mounted terminal of the embodiment includes a state acquisition module 10, a direction determination module 20, a lane determination module 30, and an early warning generation module 40. The state acquisition module 10 is configured to acquire a driving state parameter of the host vehicle and a driving state of the surrounding vehicle. The direction determining module 20 is configured to determine, according to the driving state parameter, whether the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle. The lane determination module 30 is configured to determine, according to the driving state parameter, whether the surrounding vehicle is in the leftmost lane in the traveling direction thereof. The warning generating module 40 is configured to reverse the traveling direction of the surrounding vehicle and the traveling direction of the host vehicle, and the surrounding vehicle is in the leftmost lane of the traveling direction thereof, and at the same time, the front of the vehicle is an intersection, and/ Or, When the left turn signal of the surrounding vehicle is in an open state, it is determined that the intention of the surrounding vehicle is a left turn, and collision warning information is generated.

The present invention also contemplates a V2X vehicle-mounted terminal comprising a processor and a memory for storing program instructions loaded by the processor and performing the steps of implementing the danger warning method as described above.

The present invention also contemplates a memory having stored thereon program instructions that, when loaded and executed by the processor, implement the steps of the hazard warning method described above.

The present invention also constructs a DSRC based hazard warning system comprising at least two of the V2X vehicle terminals described above.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any tampering, equivalent substitution, improvement, etc., within the spirit and scope of the present invention are intended to be included within the scope of the appended claims.

Claims

A DSRC-based hazard warning method, characterized in that it comprises:

a state acquisition step: acquiring a driving state parameter of the host vehicle and a driving state parameter of the surrounding vehicle;

a direction determining step: determining, according to the driving state parameter, whether a traveling direction of the surrounding vehicle is opposite to a traveling direction of the host vehicle;

a lane determining step of: determining, according to the driving state parameter, whether the surrounding vehicle is in a leftmost lane in a traveling direction thereof;

The warning generating step: if the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle and the surrounding vehicle is in the leftmost lane of the traveling direction; meanwhile, the front of the vehicle is an intersection, and/or When the left turn signal of the surrounding vehicle is in an open state, collision warning information is generated.
The DSRC-based danger warning method according to claim 1, wherein the front of the vehicle is determined as an intersection according to the following steps:

Determining whether there is a vehicle in the surrounding vehicle that intersects with the traveling direction of the host vehicle, or determining whether there is a vehicle in the surrounding vehicle that makes a left turn on the lane in the same direction as the traveling direction of the host vehicle, and if so, determining the vehicle The front is an intersection.
The DSRC-based danger warning method according to claim 1, wherein the lane determination step comprises:

Determining whether the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle;

If the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, determining whether the adjacent lane of the surrounding vehicle has a vehicle in the same direction as the traveling direction of the host vehicle, and if so, determining that the surrounding vehicle is in the vehicle The leftmost lane in the direction of travel;

Or,

If the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, it is determined whether the surrounding vehicle is in an adjacent lane of the host vehicle, and if so, the leftmost lane of the surrounding vehicle in the traveling direction is determined.
The DSRC-based danger warning method according to claim 3, wherein the specific step of determining the adjacent lane is: calculating a distance in a direction substantially perpendicular between the vehicles on the horizontal plane of the road and the traveling direction, if greater than or equal to the first The lane preset value is less than or equal to the second lane preset value, and is determined to be an adjacent lane.
The DSRC-based danger warning method according to claim 1, wherein the direction determining step comprises:

Obtaining, in the driving state parameter, a direction angle indicating a traveling direction of the vehicle, where the direction angle is an angle between a driving direction of the vehicle and a true north direction of the earth;

Calculating an absolute value of a difference in a direction angle of the host vehicle and the surrounding vehicle;

If the absolute value of the difference is within a preset range, it is determined that the traveling direction of the surrounding vehicle is opposite to the traveling direction of the host vehicle, and the preset range is 140 to 220 degrees.
The DSRC-based danger warning method according to any one of claims 1 to 5, further comprising: before the early warning generating step, further comprising:

The height determining step is: calculating the height of the surrounding vehicle and the height of the host vehicle according to the driving state parameter, and determining whether the absolute value of the difference between the heights of the two is less than a preset height value, and if so, performing the following steps.
A V2X vehicle terminal, comprising:

a state acquisition module, configured to acquire a driving state parameter of the host vehicle and a driving state of the surrounding vehicle;

a direction determining module, configured to determine, according to the driving state parameter, whether a driving direction of the surrounding vehicle is opposite to a driving direction of the host vehicle;

a lane determining module, configured to determine, according to the driving state parameter, whether the surrounding vehicle is in a leftmost lane in a traveling direction thereof;

The warning generating module is configured to reverse the traveling direction of the surrounding vehicle and the traveling direction of the host vehicle, and the surrounding vehicle is in the leftmost lane of the traveling direction, and at the same time, the front of the vehicle is an intersection, and Alternatively, when the left turn signal of the surrounding vehicle is in an open state, it is determined that the intention of the surrounding vehicle is a left turn, and collision warning information is generated.
A V2X vehicle-mounted terminal, comprising a processor and a memory, wherein the memory is for storing program instructions, the program instructions being loaded by the processor and executing the method of any one of claims 1-6 A step of.
A memory having program instructions stored thereon, wherein the program instructions are loaded by a processor and perform the steps of implementing the method of any of claims 1-6.
A DSRC-based danger warning system comprising at least two V2X vehicle-mounted terminals according to claim 7 or 8.