CN105774650B - A kind of anticollision of motor vehicles method for early warning and system based on satellite navigation - Google Patents
A kind of anticollision of motor vehicles method for early warning and system based on satellite navigation Download PDFInfo
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- CN105774650B CN105774650B CN201610121054.2A CN201610121054A CN105774650B CN 105774650 B CN105774650 B CN 105774650B CN 201610121054 A CN201610121054 A CN 201610121054A CN 105774650 B CN105774650 B CN 105774650B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
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- Transportation (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Navigation (AREA)
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Abstract
The present invention relates to anticollision of motor vehicles early warning technology, the invention discloses a kind of anticollision of motor vehicles method for early warning based on satellite navigation belongs to technical field of intelligent traffic.The satellite navigation signals received based on motor vehicle, mode realizes sending and receiving for satellite navigation message between vehicle and motor vehicle characteristic information by radio communication, processing unit is based on the surrounding's motor vehicle navigation text received, this vehicle navigation message and raw measurement data, structure difference measurement equation is simultaneously solved, obtain the high-precision relative position and velocity information of surrounding vehicles, the position of subsequent time is predicted simultaneously, this vehicle can around real-time perception motor vehicle exact position, alarm is triggered before it may collide, driver is reminded to take corresponding measures to keep clear, realize the anti-collision early warning of motor vehicle.
Description
Technical field
The present invention relates to anticollision of motor vehicles technology, specifically a kind of anticollision of motor vehicles method for early warning based on satellite navigation and
System.
Background technology
With the fast development of China's economy, national life level improves rapidly, and automobile must as improvement family life
One of estovers.On Chinese auto industry development international symposiums in 2010, in Ministry of Industry and Information's estimated 10 years before the year two thousand twenty, in
Newly-increased car ownership is more than 1.3 hundred million by state, and sum will be more than 200,000,000.While automobile offers convenience for people's lives, traffic thing
Therefore but become the big trap on happy life road, and there is ten hundreds of life cigarette due to traffic accident jade that disappears to fall from the sky or outer space every year, it is countless
A family becomes incoherent because of traffic accident.A large amount of traffic accidents statistics indicate that, 80% or more traffic accident is due to driving
Caused by member's operation error, 65% automobile crash is rear-end collision, remaining belongs to side or front and bumps against.Data table related
It is bright, if driver, which can shift to an earlier date 1 second, recognizes potential danger, correct operation is made, then 90% rear-end collision and 60%
Collision can effectively avoid.
Traffic safety has become the problem of whole society's extensive concern, and the major automobile vendor in the whole world also puts into huge fund to automobile
Anti-collision technique is studied, and the main flow direction of automobile collision preventing technology is all kinds of automobile collision avoidance radars of research and development at present, but Anticollision Radar
It is of high cost, measurement accuracy is relatively low, operating distance is limited, it is difficult to realize remote, comprehensive anti-collision early warning.
With the development of Satellite Navigation Technique, the especially maturation of China's triones navigation system, Vehicular satellite navigates gradually
Industrialization, navigation equipment cost constantly reduce, and navigation accuracy is but continuously improved, using differential position, relative positional accuracy
Can reach Centimeter Level, fully meet needed for anticollision of motor vehicles measurement accuracy requirement, along with Vehicular satellite navigation equipment by
It gradually popularizes so that the anticollision of motor vehicles early warning technology based on satellite navigation has sufficient feasibility.
CN201310180483.3 discloses a kind of anti-collision system for automobile based on satellite positioning, including several automobile peace
Total system, the sub- security system of automobile include power module, control module and the collision sensing being connected respectively with control module
Device, satellite positioning module, radio-frequency module, information output apparatus；Wherein, power module is that each module is powered.Control module
By the satellite positioning module of real-time working, obtain the position of the sub- security system of the automobile at this time, and by the location information with touch
Information is hit to be sent out in a manner of broadcast singal through radio-frequency module.But this patent only obtains each vehicle satellite locating module
This truck position information be broadcasted, and at present commercial satellite locating module can be obtained positioning accuracy be 5-10 meters, it is military
The positioning accuracy that grade satellite positioning module can reach is about 2 meters, the anticollision effect that can be played based on such positional precision
It is very limited, during vehicle is in and runs at high speed, along with the reaction time that driver takes action, merely with present bit
Confidence ceases to judge whether two vehicles have collision dangerous also unreasonable.
Invention content
For above-mentioned technical problem existing for anti-collision early warning in the prior art, the invention discloses one kind to be led based on satellite
The anticollision of motor vehicles method for early warning and system of boat.
Technical scheme is as follows：
The present invention provides a kind of anticollision of motor vehicles method for early warning based on satellite navigation, specifically includes following steps：
Step 1: the satellite navigation aerial on motor vehicle receives satellite navigation signals, satellite navigation module again leads the satellite extracted
Avionics text and raw measurement data are sent to the processing unit of this vehicle；Step 2: the processing unit of this vehicle is electric by the navigation of this vehicle
Text, raw measurement data, vehicle characteristics and vehicle identity information are sent to wireless communication module, and module is outside by radio communication
Emit this vehicle navigation message；Step 3: wireless communication module receives navigation message, the original measurement of other motor vehicle transmittings simultaneously
Data, vehicle characteristics and vehicle identity information, and the navigation message received hair and raw measurement data are sent to the machine processing
Unit；Step 4: the machine processing unit builds difference measurement according to the navigation message of Ben Che and other vehicles, raw measurement data
Equation simultaneously solves, and obtains the relative position between motor vehicle and relative velocity, while being carried out to the relative position of subsequent time pre-
It surveys, judges whether to collide according to the characteristic informations such as predicted position and Vehicle length and width, to which sensed in advance goes out
The risk of collision being likely to occur reminds driver to take measures, avoids collision generation.
Further, the above-mentioned relative position obtained between motor vehicle and the method for relative velocity are to solve difference measurement
Equation.The positional precision that satellite navigation can obtain at present is 5-10 meters, it is assumed that vehicle is in urban district travel speed
40km/h, corresponding vehicle each second travel 11.1m, and travel speed is 100km/h on expressway, corresponding traveling vehicle each second
27.8m, add driver reaction time, merely with the vehicle position information given by navigation equipment be cannot be satisfied it is anti-
Hit requirement.Navigation message based on satellite navigation and raw measurement data build difference measurement equation by processing unit
And solve, high-precision relative position and velocity information between vehicle can be obtained, relative positional accuracy can reach 5cm, phase between vehicle
0.5cm/s can reach to velocity accuracy, recycle the relative position of velocity information prediction two vehicle of subsequent time.
The above method further includes the relative position and speed in motor-driven workshop being obtained according to Differential positioning, then predict two vehicles
Relative position after T seconds, so as to shift to an earlier date T seconds sensing collision risks.
The above method further includes, if the distance between vehicle body Boundary Prediction position of two vehicles is less than the minimum anticollision between vehicle
Safe distance d then sends out collision alarm, reminds driver to take urgent measure, avoids collision generation.
The above method further includes that the relative position of motor vehicle around, dangerous warning information are sent to display unit, shown
Unit shows information of vehicles in different ways, prompts driver's hazardous vehicles present position, driver is facilitated according to circumstances to take
Stringent effort.
The above method further includes, by vehicle characteristic information, vehicle identity information simultaneously by radio communication module to outgoing
It send.
The anticollision of motor vehicles early warning system based on satellite navigation that the invention also discloses a kind of, specifically includes mounted on machine
Satellite navigation aerial, satellite navigation module on motor-car, processing unit and wireless communication module, the satellite navigation aerial is for connecing
Satellite navigation signals are received, satellite navigation module is used to the satellite navigation message extracted and raw measurement data being sent to this vehicle
Processing unit；The processing unit is used for the navigation message hair, raw measurement data, vehicle characteristics, vehicle identification of this vehicle
Information gives wireless communication module, wireless communication module emit outward this vehicle navigation message, raw measurement data, vehicle characteristics,
Vehicle identity information；Navigation message, raw measurement data, the vehicle that wireless communication module receives other motor vehicle transmittings simultaneously are special
The information such as sign, vehicle identification, and the information received is sent to the machine processing unit；The machine processing unit according to Ben Che and its
The navigation message, raw measurement data of its vehicle build difference measurement equation and solve, while to the relative position of subsequent time
It is predicted, judges whether to collide according to predicted position and Vehicle length and width information, to which sensed in advance goes out
The risk of collision being likely to occur reminds driver to take measures, avoids collision generation.
By using above technical solution, beneficial effects of the present invention are：Present invention combination Ben Che and surrounding vehicles
Navigation message builds difference measurement equation, completes dynamic difference positioning, extracts the relative position and relative velocity of surrounding vehicles, profit
With relative position between vehicle and relative velocity, the position of surrounding vehicles subsequent time is predicted, according to anticollision decision-making mechanism
Collision anticipation is made, anticollision alarm is triggered once detecting anticollision wind, driver's hazardous vehicles present position is reminded, convenient for driving
The person of sailing takes urgent measure.Using this technical solution, relative position and relative velocity between very accurate vehicle can be provided, together
When the relative position of subsequent time is predicted, sensed in advance risk of collision takes measures in advance convenient for driver, and early warning is accurate
True rate is high, easy to use, has important social value and high economic benefit.Meanwhile when emergency occurs in motor vehicle
(parking, failure, danger, abduction etc.), processing unit can trigger emergency pattern, and by radio communication module to outgoing
It penetrates.Display unit completes the display of the information such as surrounding vehicles position, vehicle characteristics, emergency and anticollision alarm, convenient for driving
Member according to circumstances takes counter-measure in advance.
The present invention is the original navigation text obtained based on satellite navigation module, by exchanging navigation message and original between vehicle
Beginning measurement data completes Differential positioning using processing unit, extracts high-precision relative position and speed between vehicle, the phase in two workshops
5cm can be reached to positional precision, relative velocity precision can reach 0.5cm/s, believe based on current high precision position and speed
Breath, predicts two shop locations of subsequent time, in conjunction with vehicle characteristic informations such as Vehicle length, width, according to two workshops
Frontier distance bumps against risk to determine whether existing.Take differential position that can obtain high-precision relative position and speed letter
Breath, while the relative position of two vehicles of subsequent time is accurately predicted using current location and velocity information, it can shift to an earlier date
Sensing collision risk, gives warning in advance, and allows driver to have enough time to take measures to avoid bumping against, to realize anticollision.
Description of the drawings
Fig. 1 is anti-collision early warning equipment schematic.
Fig. 2 is body of motor vehicle coordinate schematic diagram.
Fig. 3 is the car body coordinate plane schematic diagram in same ground region.
Fig. 4 is the automobile safety early warning schematic diagram in same ground region.
Fig. 5 is anti-collision early warning process flow.
Fig. 6 is anticollision of motor vehicles early warning system structure chart.
Specific implementation mode
With reference to the accompanying drawings of the specification, the specific implementation mode that the present invention will be described in detail.
The invention discloses a kind of anticollision of motor vehicles method for early warning based on satellite navigation, this method are connect based on motor vehicle
The satellite navigation signals of receipts utilize navigation message, raw measurement data, vehicle characteristics, vehicle between cordless communication network completion vehicle
The exchange of identity information, based on navigation message, raw measurement data, by processing unit complete between vehicle relative position with it is opposite
The high-precision of speed resolves, and predicts the relative position of motor vehicle subsequent time around, makes anticollision decision in due course, shows
Show that unit completes the display of relevant information.
The basic component units of the anticollision of motor vehicles early warning based on satellite navigation are anti-collision early warning equipment, and composition is former
Reason figure is as shown in Figure 1, include mainly satellite navigation aerial, satellite navigation module, wireless receiving and dispatching antenna, wireless communication module, place
Manage unit and display unit.Specific implementation step is as follows：
1. the satellite navigation message that this vehicle is received and raw measurement data are sent to processing by Vehicular satellite navigation module
Unit；Navigation message includes complete satellite almanac data, the reference time containing ephemeris, semi-major axis of satellite orbit, orbital eccentricity,
Orbit inclination angle etc., satellite almanac data include pseudorange, pseudorange change for calculating satellite position and movement velocity, raw measurement data
Rate, phase and Doppler measurement etc..Difference measurement side is built using satellite position, movement velocity and raw measurement data
Journey solves relative position and relative velocity between difference measurement equation acquisition vehicle；
2. processing unit is by the satellite navigation message of this vehicle, raw measurement data, vehicle characteristic information, vehicle identity information
It is sent out Deng module by radio communication；Vehicle characteristic information includes Vehicle length, width and height etc., vehicle identity information
Including Vehicle Identify Number, license plate number etc.；
3. processing unit, which synchronizes, receives this vehicle navigation message, raw measurement data and other vehicles from wireless communication module
Raw measurement data, vehicle characteristic information, vehicle identity information etc.；
4. processing unit builds difference measurement equation, obtains to the measurement data of combination this vehicle measurement data and other vehicles
Relative position and speed between pick-up, and the relative position of subsequent time is predicted between vehicle, is believed in conjunction with vehicle characteristics
Breath calculates the minimum range on two vehicle boundaries, judges whether to trigger anticollision alarm, basic handling flow is shown in Fig. 5.Specific implementation step
For：
(1) according to shown in Fig. 2 using car body left-front corner as coordinate origin O, be that X-axis is square using the line of left-front corner and right anterior angle
To using the line of left-front corner and left rear corner as the positive direction of Y-axis, using origin O as starting point, perpendicular to XOY plane and upward direction
The bodywork reference frame of this vehicle is established for Z axis；Under respective bodywork reference frame, the navigation antenna center institute of motor vehicle A0 and A1 are in place
It is set to respectively R0(x0,y0,z0) and R1(x1,y1,z1)。
(2) with this motor vehicle A0To refer to, based on this vehicle navigation message, this vehicle measurement data and the other machines received
Motor-car A1Measurement data, motor vehicle Ai(i=0,1) in t moment about the m satellite SmPseudo-range Equation be expressed as：
Wherein ρi mFor motor vehicle AiTo satellite SmPseudo-range measurements, λ is satellite signal wave lengths,For motor vehicle AiTo defending
Star SmPhase measurement, ri mFor motor vehicle AiTo satellite SmGeometric distance, c is propagation velocity of electromagnetic wave, δ tuiFor motor vehicle
AiThe receiver clock-offsets of upper satellite navigation module, δ tsmFor satellite SmClock difference, △ Ii mFor ionospheric error, △ Ti mFor
Tropospheric propagation error, ε are unknown pseudo range measurement error.
(3) extraction regards the phase difference measurement of satellite altogether, is according to (2) formula structure difference measurement equation：
WhereinFor phase difference measured value, λ is satellite signal wave lengths,It is illustrated respectively in t moment machine
Motor-car A1And A0Altogether regard satellite SmCorresponding phase measurement data,Indicate that n-th regards satellite S altogethernCorresponding phase
Position measurement data, ε is measurement error.
(4) it is located at t moment motor vehicle A1And A0There is the public measured value of (M+1) satellite, it is right
Measuring the measurement equation group after equation linearisation is：
WhereinFor phase difference measured value,For motor vehicle A0With satellite SmPoint of line vector in the X-axis direction
Amount, similarlyFor the component in X-direction,For the component in Z-direction.Difference measurement equation (3) formula is indicated with matrix
For：
Y=BX-AN (4)
(5) least square solution of difference measurement equation is：
Wherein y is the measurement vector of M × 1, and the unknown basic lineal vector that X is 3 × 1, N is fuzzy vector, and B is the baseline of M × 3
Coordinate design matrix, A are that double difference obscures item design matrix.Motor vehicle A can be acquired by solving equation group (5)1With A0It is opposite
Position coordinates are X=[x, y, z]T。
(6) it differentiates to Pseudo-range Equation (1), then motor vehicle A0, A1With satellite SmCorresponding pseudorange change rate measurement side
Cheng Wei：
WhereinFor pseudorange change rate, unit vectorIndicate motor vehicle Ai
X, Y, the velocity component in Z-direction,Indicate satellite SmIn X, Y, the velocity component in Z-direction,To lead
Model plane block the changing value of receiver clock error,For satellite clock correction change rate.
(7) combine multi-satellite measured value, can obtain about motor vehicle A0Rate equation be：
Motor vehicle A can be acquired according to equation (7)0Speed V0。
(8) can obtain relative velocity equation according to formula (6) is：
(9) k moment motor vehicles A is set1With A0Relative motion state be
To the state at (k+1) momentIt is predicted：
Wherein F is state-transition matrix：
T is the time interval at (k+1) moment and k moment in formula (10).Due to using differential position, can effectively disappear
Except a variety of error components such as navigation equipment receiver clock-offsets, satellite clock correction, ephemeris error and refraction error, high-precision can be obtained
Vehicle between relative position and relative velocity, Centimeter Level can be reached to the precision of prediction of subsequent time vehicle location.
(10) A is calculated according to predicted position1With A0The distance of boundary point remembers rminFor the minimum range of two vehicle boundary points, if
rmin<D assesses danger classes according to the speed of related movement of two vehicles, exports motor vehicle A respectively1With A0Danger classes and touch
Hit dangerous motor vehicle position, triggering anticollision alarm.
5. the display unit of anticollision gear receives warning information, the display and alarm of Anticollision information are completed.
The anticollision of motor vehicles early warning system based on satellite navigation that the invention also discloses a kind of specifically includes and is arranged in machine
Satellite navigation aerial, satellite navigation module, processing unit on motor-car and wireless communication module；The satellite navigation aerial is used for
Receive satellite navigation signals；This vehicle navigation message and raw measurement data are sent to processing unit by the navigation module；It is described
Processing unit after being combined with vehicle identity information, characteristic information, passes through for receiving this vehicle navigation message and raw measurement data
Wireless communication module emits outward；The also synchronous navigation electricity for receiving other vehicles from wireless communication module of the processing unit
Text, raw measurement data, vehicle characteristic information and measure identity information, are decoded navigation message, are led in combination with this vehicle
Avionics text, raw measurement data structure difference measurement equation simultaneously solve, and complete dynamic difference positioning, extract the opposite position between vehicle
Set and relative velocity, and predicted according to the position of current location and speed between subsequent time vehicle, in conjunction with Vehicle length,
The characteristic informations such as width calculate the minimum range between two vehicle boundaries, when the minimum Prediction distance on two workshop boundaries is less than minimum
When safe distance, triggering anticollision alarm reminds driver's potential danger, and inform hazardous vehicles position, convenient for driving in advance
The person of sailing, which according to circumstances takes urgent measure, to avoid bumping against, to achieve the purpose that anticollision.
Due to using differential position, receiver clock-offsets, satellite clock correction, the ephemeris that can effectively eliminate navigation equipment miss
A variety of error components such as difference and refraction error, can obtain relative position and relative velocity between high-precision vehicle, under
The precision of prediction of one moment vehicle location can reach Centimeter Level, in conjunction with characteristic informations such as Vehicle length, width, can with li
Meter accuracy predicts that motor vehicle boundary position, risk of collision of the sensed in advance from each side all around are eliminated to a certain extent
Blind area existing for rearview mirror can effectively avoid the collision of motor vehicle.
Above-mentioned processing unit further includes emergency trigger element, and the emergency trigger element occurs tight in motor vehicle
It is triggered when anxious situation, module emits outward by radio communication.Such as when emergency (parking, failure, danger occurs in motor vehicle
Danger, abduction etc.), processing unit triggers emergency pattern and module emits outward by radio communication, is carried convenient for surrounding vehicles
Before take counter-measure.
Above system further includes display unit, and the display unit is used for surrounding vehicles position, vehicle characteristics, urgent shape
Condition and anticollision warning information are shown.Display unit is completed surrounding vehicles position, vehicle characteristics, emergency and anticollision and is accused
The display of the information such as alert, counter-measure is according to circumstances taken convenient for driver in advance.
The inventive method and system cannot be only used for the anticollision of motor vehicle, be equally applicable to the anticollision of train and motor-driven
The fields such as the illegal monitoring of vehicle, motor vehicle flow monitoring.The coefficient and parameter gone out given in the above embodiments, is available to ability
The technical staff in domain realizes or that using invention, invention, which does not limit, only takes aforementioned disclosed numerical value, do not departing from invention
In the case of thought, those skilled in the art can carry out above-described embodiment various modifications or adjustment, thus the guarantor invented
Shield range is not limited by above-described embodiment, and should be the maximum magnitude for meeting the inventive features that claims are mentioned.
Claims (8)
1. a kind of anticollision of motor vehicles method for early warning based on satellite navigation, specific steps include：Step 1: defending on motor vehicle
Star navigation antenna receives satellite navigation signals, and satellite navigation module sends the satellite navigation message of acquisition, raw measurement data
To the processing unit of this vehicle；Step 2: the navigation message of this vehicle, raw measurement data are sent to wirelessly by the processing unit of this vehicle
Communication module, by radio communication module emit this vehicle navigation message and raw measurement data outward；Step 3: radio communication mold
Block receives the navigation message and raw measurement data of other motor vehicles transmitting simultaneously, and by the navigation message received and original survey
Amount data are sent to the machine processing unit；Step 4: the machine processing unit is led according to the navigation message of this vehicle, surrounding motor vehicle
Avionics text, two vehicles raw measurement data structure difference measurement equation and solve, obtain the relative position and phase between motor vehicle
To speed, while the position opposite to subsequent time is predicted, judges whether to collide according to predicted position；
The wherein described structure difference measurement equation includes the following steps：
(a) using car body left-front corner as coordinate origin O, using the line of left-front corner and right anterior angle as X-axis positive direction, with left-front corner and a left side
The line of relief angle is the positive direction of Y-axis, is that Z axis establishes this vehicle perpendicular to XOY plane and upward direction using origin O as starting point
Bodywork reference frame；Under respective bodywork reference frame, motor vehicle A0With A1Navigation antenna center position be respectively R0(x0,
y0,z0) and R1(x1,y1,z1)；
(b) with this motor vehicle A0To refer to, based on this vehicle navigation message, this vehicle measurement data and the other motor vehicles received
A1Measurement data, motor vehicle Ai(i=0,1) in t moment about the m satellite SmPseudo-range Equation be expressed as：
WhereinFor motor vehicle AiTo satellite SmPseudo-range measurements, λ is satellite signal wave lengths,For motor vehicle AiTo satellite Sm
Phase measurement, ri mFor motor vehicle AiTo satellite SmGeometric distance, c is propagation velocity of electromagnetic wave, δ tuiFor motor vehicle AiOn
The receiver clock-offsets of satellite navigation module, δ tsmFor satellite SmClock difference,For ionospheric error, Δ Ti mFor convection current
Es-region propagations error, ε are unknown pseudo range measurement error；
(c) extraction regards the phase difference measurement of satellite altogether, is according to (2) formula structure difference measurement equation：
WhereinFor phase difference measured value, λ is satellite signal wave lengths,It is illustrated respectively in t moment motor vehicle A1
And A0Altogether regard satellite SmCorresponding phase measurement data,Indicate that n-th regards satellite S altogethernCorresponding phase measurement
Data, ε are measurement error.
2. the anticollision of motor vehicles method for early warning based on satellite navigation as described in claim 1, which is characterized in that difference measurement
Equation solution includes the following steps：
(d) it is located at t moment motor vehicle A1And A0The public measured value for having (M+1) satellite, to measuring the measurement after equation linearizes
Equation group is：
WhereinFor phase difference measured value,For motor vehicle A0With satellite SmThe component of line vector in the X-axis direction, together
ReasonFor the component in Y direction,For the component in Z-direction；Difference measurement equation (3) formula is expressed in matrix as：
Y=BX-AN；
(e) least square solution of difference measurement equation is：
Wherein y is the measurement vector of M × 1, and the unknown basic lineal vector that X is 3 × 1, N is fuzzy vector, and B is the baseline coordinate of M × 3
Design matrix, A are that double difference obscures item design matrix；Motor vehicle A can be acquired by solving equation group (5)1With A0Relative position
Coordinate is X=[x, y, z]T；
(f) it differentiates to Pseudo-range Equation (1), then motor vehicle A0, A1With satellite SmCorresponding pseudorange change rate measures equation
For：
WhereinFor pseudorange change rate, unit vectorIndicate motor vehicle AiIn X, Y,
Velocity component in Z-direction,Indicate satellite SmIn X, Y, the velocity component in Z-direction,For the mould that navigates
Block the changing value of receiver clock error,For satellite clock correction change rate；
(g) combine multi-satellite measured value, can obtain about motor vehicle A0Rate equation be：
Motor vehicle A can be acquired according to equation (7)0Speed V0；
(h) can obtain relative velocity equation according to formula (6) is：
WhereinIn conjunction with speed V0, solve equation
(8) it can get motor vehicle A1With A0Relative velocity
(i) k moment motor vehicles A is set1With A0Relative motion state beTo the state at (k+1) momentIt is predicted：
Wherein F is state-transition matrix：
T is the time interval at (k+1) moment and k moment in formula (10)；
(j) A is calculated according to predicted position1With A0The distance of boundary point remembers rminFor the minimum range of two vehicle boundary points, if rmin＜
D assesses danger classes according to the speed of related movement of two vehicles, exports motor vehicle A respectively1With A0Danger classes and have collision endanger
Dangerous motor vehicle position, triggering anticollision alarm.
3. the anticollision of motor vehicles method for early warning based on satellite navigation as described in claim 1, it is characterised in that the method is also
Including, according to Differential positioning obtain motor vehicle and around vehicle relative position and relative velocity after, predict one under motor-driven workshop
The relative position at moment carries out anti-collision early warning judgement in conjunction with vehicle characteristic information according to the minimum range on two workshop boundaries.
4. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 3, it is characterised in that the method is also
Including if the distance between vehicle body Boundary Prediction position is less than the minimum Collsion proof safety distance d between vehicle, sending out anticollision announcement
It is alert.
5. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 4, it is characterised in that the method is also
Including by vehicle characteristic information, vehicle identity information, module is sent out to other vehicles by radio communication simultaneously.
6. the anticollision of motor vehicles method for early warning based on satellite navigation as claimed in claim 5, it is characterised in that the method is also
Including motor vehicle current location, vehicle characteristics, vehicle identity information and warning information are sent to display unit.
7. a kind of anticollision of motor vehicles early warning system based on satellite navigation, it is characterised in that specifically include and defended on motor vehicle
Star navigation antenna, satellite navigation module, and the processing unit on motor vehicle and wireless communication module, the satellite are led
Space flight line is for receiving satellite navigation signals, and satellite navigation module is for exporting the satellite navigation message received to this vehicle
Processing unit；The processing unit is used to the navigation message of this vehicle being sent to wireless communication module；Module by radio communication
Emit this vehicle navigation message outward, wireless communication module receives the navigation message of other motor vehicle transmittings simultaneously, and will receive
Navigation message be sent to the machine processing unit；The motor vehicle of navigation message and surrounding of the machine processing unit based on this vehicle
Navigation message obtains the relative position between motor vehicle and relative velocity, according to phase by building difference measurement equation and solving
The relative position of two workshop subsequent time of position and relative velocity pair is predicted, length, width in combination with motor vehicle
Vehicle characteristic information, judges whether two vehicles will collide in advance；
The wherein described structure difference measurement equation includes the following steps：
(a) using car body left-front corner as coordinate origin O, using the line of left-front corner and right anterior angle as X-axis positive direction, with left-front corner and a left side
The line of relief angle is the positive direction of Y-axis, is that Z axis establishes this vehicle perpendicular to XOY plane and upward direction using origin O as starting point
Bodywork reference frame；Under respective bodywork reference frame, motor vehicle A0With A1Navigation antenna center position be respectively R0(x0,
y0,z0) and R1(x1,y1,z1)；
(b) with this motor vehicle A0To refer to, based on this vehicle navigation message, this vehicle measurement data and the other motor vehicles received
A1Measurement data, motor vehicle Ai(i=0,1) in t moment about the m satellite SmPseudo-range Equation be expressed as：
WhereinFor motor vehicle AiTo satellite SmPseudo-range measurements, λ is satellite signal wave lengths,For motor vehicle AiTo satellite Sm
Phase measurement, ri mFor motor vehicle AiTo satellite SmGeometric distance, c is propagation velocity of electromagnetic wave, δ tuiFor motor vehicle AiOn
The receiver clock-offsets of satellite navigation module, δ tsmFor satellite SmClock difference,For ionospheric error, Δ Ti mFor troposphere
Propagated error, ε are unknown pseudo range measurement error；
(c) extraction regards the phase difference measurement of satellite altogether, is according to (2) formula structure difference measurement equation：
WhereinFor phase difference measured value, λ is satellite signal wave lengths,It is illustrated respectively in t moment motor vehicle A1
And A0Altogether regard satellite SmCorresponding phase measurement data,Indicate that n-th regards satellite S altogethernCorresponding phase measurement
Data, ε are measurement error.
8. the anticollision of motor vehicles early warning system based on satellite navigation as claimed in claim 7, which is characterized in that difference measurement
Equation solution includes the following steps：
(d) it is located at t moment motor vehicle A1And A0The public measured value for having (M+1) satellite, to measuring the measurement after equation linearizes
Equation group is：
WhereinFor phase difference measured value,For motor vehicle A0With satellite SmThe component of line vector in the X-axis direction, together
ReasonFor the component in Y direction,For the component in Z-direction；Difference measurement equation (3) formula is expressed in matrix as：
Y=BX-AN (4)；
(e) least square solution of difference measurement equation is：
Wherein y is the measurement vector of M × 1, and the unknown basic lineal vector that X is 3 × 1, N is fuzzy vector, and B is the baseline coordinate of M × 3
Design matrix, A are that double difference obscures item design matrix；Motor vehicle A can be acquired by solving equation group (5)1With A0Relative position
Coordinate is X=[x, y, z]T；
(f) it differentiates to Pseudo-range Equation (1), then motor vehicle A0, A1With satellite SmCorresponding pseudorange change rate measures equation
For：
WhereinFor pseudorange change rate, unit vectorIndicate motor vehicle AiIn X, Y,
Velocity component in Z-direction,Indicate satellite SmIn X, Y, the velocity component in Z-direction,For the mould that navigates
Block the changing value of receiver clock error,For satellite clock correction change rate；
(g) combine multi-satellite measured value, can obtain about motor vehicle A0Rate equation be：
Motor vehicle A can be acquired according to equation (7)0Speed V0；
(h) can obtain relative velocity equation according to formula (6) is：
WhereinIn conjunction with speed V0, it is available motor-driven to solve equation (8)
Vehicle A1With A0Relative velocity
(i) k moment motor vehicles A is set1With A0Relative motion state beTo the state at (k+1) momentIt is predicted：
Wherein F is state-transition matrix：
T is the time interval at (k+1) moment and k moment in formula (10)；
(j) A is calculated according to predicted position1With A0The distance of boundary point remembers rminFor the minimum range of two vehicle boundary points, if rmin＜
D assesses danger classes according to the speed of related movement of two vehicles, exports motor vehicle A respectively1With A0Danger classes and have collision endanger
Dangerous motor vehicle position, triggering anticollision alarm.
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| CN109413584B (en) * | 2017-08-14 | 2020-08-25 | 中国电信股份有限公司 | Passenger flow trajectory tracking method, device and system |
| CN108932870A (en) * | 2018-07-16 | 2018-12-04 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle early warning method and device |
| CN110955233A (en) * | 2018-09-25 | 2020-04-03 | 上海云绅智能科技有限公司 | Robot anti-collision method, robot and anti-collision system |
| CN111045061B (en) * | 2018-10-15 | 2022-11-25 | 千寻位置网络有限公司 | V2V-based cooperative positioning and distance sensing method and device between vehicles |
| CN109455183B (en) * | 2018-11-14 | 2020-05-29 | 安徽江淮汽车集团股份有限公司 | Vehicle collision pre-judging method and system |
| TWI694018B (en) * | 2019-01-28 | 2020-05-21 | 褚志鵬 | Local vehicle and vehicle control method |
| CN109991976B (en) * | 2019-03-01 | 2022-05-13 | 江苏理工学院 | Method for avoiding dynamic vehicle by unmanned vehicle based on standard particle swarm optimization |
| CN110148312B (en) * | 2019-04-30 | 2021-04-16 | 惠州市德赛西威智能交通技术研究院有限公司 | Collision early warning method and device based on V2X system and storage medium |
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