CN103117007A - Vehicle positioning and anti-collision pre-warning system based on ZigBee and GPS (global positioning system) - Google Patents
Vehicle positioning and anti-collision pre-warning system based on ZigBee and GPS (global positioning system) Download PDFInfo
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Abstract
The invention discloses a vehicle positioning and anti-collision pre-warning system based on ZigBee and GPS (global positioning system). The vehicle positioning and anti-collision pre-warning system is characterized by comprising an information acquisition and communication unit, a main controller unit and an information display and audible and visual alarm unit. The information acquisition and communication unit acquires vehicle information of a vehicle and a wireless communication signal including vehicle information of vehicles in front of the vehicle through a GPS module, an electronic compass module and a ZigBee communication module and transmits a wireless communication signal including vehicle information of the vehicle to vehicles behind. The main controller unit calculates distance between the vehicle and vehicles in front by utilizing the vehicle information and strength of the wireless communication signal, and judges danger grade by utilizing vehicle speed, vehicle moving direction information and the distance. The information display and audible and visual alarm unit displays and alarms the danger grade. The vehicle positioning and anti-collision pre-warning system is used for acquiring adjacent vehicle distance and vehicle speed information, and accordingly a driver can be warned in advance to keep safe driving distance.
Description
Technical field
The present invention relates to wireless sensor network technology in the concrete application that road vehicle travels, is a kind of vehicle location based on ZigBee and GPS and anti-collision early warning system specifically.
Background technology
In prior art, vehicle positioning is to adopt GPS (Global Positioning System) technology substantially, obtains longitude and the Position Latitude information of vehicle itself.But adopt GPS to locate the text that will receive simultaneously at least four GPS navigation satellite launchs and just can calculate the particular location of vehicle, if vehicle is in the complex-terrains such as mountain area or tunnel, GPS can not receive simultaneously four satellite-signals thereby can't realize the location; In addition, the GPS technology can only realize vehicle to the location of self at present, can't know the pitch information between Ben Che and adjacent front vehicles, and the mode that only relies on driver and crew to estimate the judgement spacing can't satisfy the application demand of collision prevention of vehicle.
The Common Accidents of highway is the collisions of knocking into the back of many cars, and this Frequent Accidents life is large in the magnitude of traffic flow, the speed of a motor vehicle is high, bad weather, driver tired driving etc. cause spaces of vehicles too small, in the situation that the driver can't dispose in advance.The mode that present vehicle-mounted collision avoidance system adopts camera to take and analyze more realizes, can't realize in very low situations of visibility such as running into abominable rain, snow, mist.
Summary of the invention
The present invention is for solving the existing weak point of above-mentioned prior art, a kind of vehicle location based on ZigBee and GPS and anti-collision early warning system are provided, combine with GPS with ZigBee, the spaces of vehicles that obtains by wireless communication signals, in the situation that may cause danger, the driver's regulation speed that gives warning in advance is to keep the vehicle safety spacing.
Technical solution problem of the present invention adopts following technical scheme:
The present invention a kind of vehicle location and anti-collision early warning system based on ZigBee and GPS are characterized in: include information acquisition and communication unit, Main Control Unit, information demonstration and acousto-optic warning unit;
Described information acquisition and communication unit are to be made of GPS module, digital compass module and ZigBee communication module, the vehicle position information that obtains car speed and characterized by longitude and latitude with described GPS module; Obtain the vehicle mobile directional information of this car with described digital compass module; Obtain the wireless communication signals of the information of vehicles that includes front vehicles that sent by front vehicles with described ZigBee communication module, and under the control of described Main Control Unit with described ZigBee communication module rearward vehicle send the wireless communication signals of the information of vehicles that includes this car; Described information of vehicles comprises car speed, vehicle position information and vehicle mobile directional information;
Described Main Control Unit utilizes information of vehicles calculate to obtain spaces of vehicles L1 between this car and front vehicles, or the signal intensity of the wireless communication signals that is sent by front vehicles that utilizes that described ZigBee communication module receives is calculated the spaces of vehicles L2 that obtains between this car and front vehicles; Utilize car speed, vehicle mobile directional information and calculate the spaces of vehicles L1 of acquisition or the danger classes that spaces of vehicles L2 judges this car;
Described information shows and acousto-optic warning unit is by LCD MODULE, sound and light alarm module composition, the spaces of vehicles and this car danger classes that are received from Main Control Unit by described LCD MODULE show, and are reported to the police by the sound and light alarm module.
The present invention is based on vehicle location and the anti-collision early warning system of ZigBee and GPS, its characteristics also are: in the deterministic process to this car danger classes, for described spaces of vehicles L1 and spaces of vehicles L2, preferentially use spaces of vehicles L1.
The described method of utilizing information of vehicles to calculate the spaces of vehicles between this car of acquisition and front vehicles is:
The longitude that makes this car (B) is N2, latitude E2; The longitude N1 of front vehicles (A), latitude are E1, calculate the spacing L1 that obtains between this car (B) and front vehicles (A) by formula (1):
A=E1-E2 in formula (1), b=N1-N2.
The signal intensity of the wireless communication signals that is sent by front vehicles that the described ZigBee of utilization communication module receives is calculated the method that obtains the spaces of vehicles between this car and front vehicles:
The ZigBee communication signal strength that makes the received front vehicles of this car (B) (A) is RSSI, calculates the spacing L2 that obtains between this car (B) and front vehicles (A) by formula (2):
In formula (2), Pt is the transmission power level of ZigBee communication module in the unified vehicle of setting.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention is directed to that on fastlink, adjacent vehicle distances is dangerous, the car group is intensive, the speed of a motor vehicle is undesired etc. may cause collision or a chain of situation about knocking into the back, adopt the ZigBee communication module that the locating information of single unit vehicle is broadcast near vehicle, solve GPS and located the problem that to obtain spaces of vehicles information, realize obtaining of adjacent spacing, speed information, and then realized anti-collision early warning;
2, the present invention is combined with the GPS locator data with the ZigBee locator data, can not receive the deficiency of gps signal for complicated highway section, adopt and ZigBee location method as a supplement, realize the location of vehicle in any case, adopt the digital compass module to replenish the locating information of ZigBee, realize interpretation and the early warning of vehicle in the same way;
3, extended capability of the present invention is strong, by at the Main Control Unit spare interface, realize adding of multiple communication module, easily the remote data transmission modules such as GPRS, 3G are linked in system, for freeway management department remote centralized control Vehicle Driving Cycle situation, obtain the running data spare interface;
4, the present invention is directed to fastlink driver and crew negligence or fatigue driving and cause degradation situation under reaction capacity, adopt acousto-optic warning unit, voice reminder and liquid crystal display demonstration are combined, while is for the different situations of spacing and the speed of a motor vehicle, dangerous situation is carried out classification, in conjunction with the sound and light alarm of different mode, reminding driver is correctly processed dangerous situation, avoids accident to occur;
5, the present invention take vehicle power as system power supply, adopts the lithium battery stand-by power supply simultaneously, works with the safeguards system all-the-time stable.
6, the present invention is combined the GPS module with the ZigBee module, realize to be calculated and is controlled by the ARM controller, and implementation method is simple, reliability is high, with low cost.
Description of drawings
Fig. 1 is the explanation schematic diagram that the present invention uses on highway;
Fig. 2 is vehicle location and the anti-collision early warning system single assembly structural representation that the present invention is based on ZigBee and GPS;
Fig. 3 is that the present invention utilizes information of vehicles to calculate the spaces of vehicles schematic diagram that obtains between this car and front vehicles;
Fig. 4 is vehicle location and the anti-collision early warning system workflow diagram that the present invention is based on ZigBee and GPS;
Fig. 5 is that the vehicle-mounted lcd screen of the present invention shows schematic diagram;
Number in the figure: 1 highway; 2 vehicles.
Embodiment
As shown in Figure 1, on highway 1, each vehicle 2 is installed vehicle location and an anti-collision early warning system based on ZigBee and GPS, pays close attention to separately the place ahead spacing and the dense degree of driving vehicle in the same way, remain a safe distance behind the car in front with them, avoid sending and knock into the back and extensive collision accident.
As shown in Figure 2, in the present embodiment, vehicle location and the anti-collision early warning system based on ZigBee and GPS comprises: information acquisition and communication unit, Main Control Unit, information show and acousto-optic warning unit:.
Information acquisition and communication unit are to be made of GPS module, digital compass module and ZigBee communication module, the vehicle position information that obtains car speed and characterized by longitude and latitude with the GPS module; Obtain the vehicle mobile directional information of this car with the digital compass module; Obtain the wireless communication signals of the information of vehicles that includes front vehicles that sent by front vehicles with the ZigBee communication module, and under the control of Main Control Unit with the ZigBee communication module rearward vehicle send the wireless communication signals of the information of vehicles that includes this car; Information of vehicles comprises car speed, vehicle position information and vehicle mobile directional information;
When vehicle running environment is good, in the time of can realizing the GPS location, system selects the GPS location automatically; When meeting the rugged surroundings such as tunnel, when GPS can't accurately locate, system selected ZigBee system location automatically, and in conjunction with the digital compass directions, guaranteed that data are accurate.
The GPS module will have supporting external antenna, considers vehicle-mounted use, and the present embodiment adopts the antenna that lengthens feeder line.The ZigBee module adopts based on the RSSI(received signal strength with vehicle in the certain limit of travelling in the same way) location technology form self-organization network.The ZigBee module is also completed the communication task that the data that main control unit is calculated send to front vehicle.Data by digital compass module output comprise the data that two different directions driving vehicles transmit, due to danger mostly from the place ahead vehicle in the same way, so mainly consider the information of vehicles of this vehicle front vehicle.
Main Control Unit utilizes information of vehicles calculate to obtain spaces of vehicles L1 between this car and front vehicles, or the signal intensity of the wireless communication signals that is sent by front vehicles that utilizes that the ZigBee communication module receives is calculated the spaces of vehicles L2 that obtains between this car and front vehicles; Utilize car speed, vehicle mobile directional information and calculate the spaces of vehicles L1 of acquisition or the danger classes that spaces of vehicles L2 judges this car;
In concrete enforcement, in the deterministic process to this car danger classes, for spaces of vehicles L1 and spaces of vehicles L2, preferentially use spaces of vehicles L1.
As shown in Figure 3, the method for utilizing information of vehicles to calculate the spaces of vehicles between this car of acquisition and front vehicles is:
The longitude that makes this car (B) is N2, latitude E2; The longitude N1 of front vehicles (A), latitude are E1, calculate the spacing L1 that obtains between this car (B) and front vehicles (A) by formula (1):
A=E1-E2 in formula (1), b=N1-N2.
The signal intensity of the wireless communication signals that is sent by front vehicles that utilizes that the ZigBee communication module receives is calculated the method that obtains the spaces of vehicles between this car and front vehicles and is:
The ZigBee communication signal strength that makes the received front vehicles of this car (B) (A) is RSSI, calculates the spacing L2 that obtains between this car (B) and front vehicles (A) by formula (2):
In formula (2), Pt is the transmission power level of ZigBee communication module in the unified vehicle of setting.
Main Control Unit is by ARM core board module, interface board module composition, reception is from GPS and two kinds of locator datas of ZigBee of information acquisition and communication unit, the temperature and humidity information of reference environment adopts certain algorithm that the absolute location information of this vehicle or the relative position information of other vehicles in the certain limit of the place ahead are calculated; Simultaneously in conjunction with the ZigBee module receive around the data of other vehicles, by around the information such as position data, travel speed, direction of each vehicle, judge comprehensively whether this vehicle has the danger of collision; While is in conjunction with the general knowledge of fastlink spaces of vehicles, with the possibility size fractionation of danger.Main Control Unit by the interface board module, is given respectively the different units such as information demonstration and sound and light alarm with these locator data, danger classes information that gathers, processes and analyze; Simultaneously by the ZigBee communication module with the useful information wireless transmission to surrounding vehicles.
As shown in Figure 4, the present embodiment is as follows based on the course of work of the vehicle location of ZigBee and GPS and anti-collision early warning system:
After a, system power-up started, the ARM controller is the initialization system process at first, and the ZigBee chip is completed the wireless communication initialization networking simultaneously, the backward feedback ARM controller of networking success.
After b, ARM controller receive networking and become function signal, send data acquisition command.
After c, ARM controller are received gps data and Temperature Humidity Sensor data, select suitable subsystem and algorithm, the preliminary position of calculating book vehicle and running data.
D, system send position data request by the ZigBee module near other vehicles, utilize the ZigBee signal of communication to obtain to send into after data the ARM processing enter and carry out data and process.
After e, data processing finished, ARM sent data processed result, is shown on display screen, sends simultaneously suitable warning.
Information shows and acousto-optic warning unit is by LCD MODULE, sound and light alarm module composition, and the spaces of vehicles and this car danger classes that are received from Main Control Unit by LCD MODULE show, and reported to the police by the sound and light alarm module.
Master controller based on multiple supplementary, carries out Risk Assessments as data such as humiture, regional vehicle, travel speed, weather conditions, pavement behaviors according to the spacing and the speed of a motor vehicle that calculate, sends early warning.In the present embodiment, according to the much informations such as the safety traffic spacing of highway, road surface situation, weather conditions with the Vehicle Driving Cycle scope of drawing be divided into the place of safety, than the place of safety, than the different zone in explosive area and four, explosive area, as shown in Figure 5, take this vehicle as benchmark, in conjunction with spacing information, vehicle fleet size in demonstration vehicle front certain limit and the position of each vehicle, each vehicle is presented on screen with a significant point; The information alarm when being in dangerous situation, vehicle is provided simultaneously.The sound and light alarm module is exactly sound and the light alarm that different caution degree are provided when vehicle is in different harmful grade situation, informs vehicle driver and crew the place ahead dangerous information.
In the present embodiment, information shows and acousto-optic warning unit adopts liquid crystal display, warning lamp, loudspeaker or hummer.In warning voice and the emergency action prompting of master controller internal storage different brackets, avoid the driver panic in advance.Avoid simultaneously tired driver to drive sleeping, coordinate the caution of certain light and intensity of sound to remind.
The Power supply unit is to be made of lithium battery module, power supply conversion and interface module; Power supply conversion and interface module are from the vehicle power power taking, the power supply of module when solving the long distance travel of vehicle, simultaneously can be for lithium battery module provide charging inlet, provide standby lithium battery power supply at vehicle power during unstable or fault, guarantee security of system stable operation.
Claims (4)
1. vehicle location and anti-collision early warning system based on ZigBee and a GPS, is characterized in that: include information acquisition and communication unit, Main Control Unit, information demonstration and acousto-optic warning unit;
Described information acquisition and communication unit are to be made of GPS module, digital compass module and ZigBee communication module, the vehicle position information that obtains car speed and characterized by longitude and latitude with described GPS module; Obtain the vehicle mobile directional information of this car with described digital compass module; Obtain the wireless communication signals of the information of vehicles that includes front vehicles that sent by front vehicles with described ZigBee communication module, and under the control of described Main Control Unit with described ZigBee communication module rearward vehicle send the wireless communication signals of the information of vehicles that includes this car; Described information of vehicles comprises car speed, vehicle position information and vehicle mobile directional information;
Described Main Control Unit utilizes information of vehicles calculate to obtain spaces of vehicles L1 between this car and front vehicles, or the signal intensity of the wireless communication signals that is sent by front vehicles that utilizes that described ZigBee communication module receives is calculated the spaces of vehicles L2 that obtains between this car and front vehicles; Utilize car speed, vehicle mobile directional information and calculate the spaces of vehicles L1 of acquisition or the danger classes that spaces of vehicles L2 judges this car;
Described information shows and acousto-optic warning unit is by LCD MODULE, sound and light alarm module composition, the spaces of vehicles and this car danger classes that are received from Main Control Unit by described LCD MODULE show, and are reported to the police by the sound and light alarm module.
2. vehicle location and anti-collision early warning system based on ZigBee and GPS according to claim 1, is characterized in that: in the deterministic process to this car danger classes, for described spaces of vehicles L1 and spaces of vehicles L2, preferentially use spaces of vehicles L1.
3. vehicle location and anti-collision early warning system based on ZigBee and GPS according to claim 1 is characterized in that: describedly utilize information of vehicles to calculate the method that obtains the spaces of vehicles between this car and front vehicles to be:
The longitude that makes this car (B) is N2, latitude E2; The longitude N1 of front vehicles (A), latitude are E1, calculate the spacing L1 that obtains between this car (B) and front vehicles (A) by formula (1):
A=E1-E2 in formula (1), b=N1-N2.
4. vehicle location and anti-collision early warning system based on ZigBee and GPS according to claim 1 is characterized in that: the signal intensity of the wireless communication signals that is sent by front vehicles that the described ZigBee of utilization communication module receives is calculated the method that obtains the spaces of vehicles between this car and front vehicles and is:
The ZigBee communication signal strength that makes the received front vehicles of this car (B) (A) is RSSI, calculates the spacing L2 that obtains between this car (B) and front vehicles (A) by formula (2):
In formula (2), Pt is the transmission power level of ZigBee communication module in the unified vehicle of setting.
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| CN108665702A (en) * | 2018-04-18 | 2018-10-16 | 北京交通大学 | Construction road multistage early warning system and method based on bus or train route collaboration |
| CN108665702B (en) * | 2018-04-18 | 2020-09-29 | 北京交通大学 | Construction road multistage early warning system and method based on vehicle-road cooperation |
| CN108320585A (en) * | 2018-04-22 | 2018-07-24 | 周孜宁 | A kind of prior-warning device and method for vehicle risk transport condition |
| CN108922246A (en) * | 2018-07-26 | 2018-11-30 | 榆林学院 | Safe distance prompt system and reminding method between a kind of vehicle |
| CN110395207A (en) * | 2019-07-15 | 2019-11-01 | 东北大学 | A kind of mine car avoiding collision and device |
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