CN105938660B - A kind of automobile anti-rear end collision method for early warning and system - Google Patents
A kind of automobile anti-rear end collision method for early warning and system Download PDFInfo
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- CN105938660B CN105938660B CN201610402224.4A CN201610402224A CN105938660B CN 105938660 B CN105938660 B CN 105938660B CN 201610402224 A CN201610402224 A CN 201610402224A CN 105938660 B CN105938660 B CN 105938660B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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Abstract
The invention discloses a kind of method and systems of automobile anti-rear end collision early warning, system includes the wireless communication DSRC equipment of roadside setting, in-vehicle wireless communications device, data acquisition unit and the car-mounted terminal installed on vehicle, wherein, there are data acquisition module, GPS module and acceleration transducer inside data acquisition unit；Vehicle vehicle, bus or train route wireless communication interaction are realized by vehicle-mounted dedicated short range communication equipment (DSRC)；Car-mounted terminal utilizes the minimum safetyspacing model cooperateed with based on bus or train route to calculate the safe distance from vehicle and front truck, by positional information calculation currently from the actual range of vehicle and front truck, judge whether rear end collision, if there is rear end collision, dangerous prompting is then shown on car-mounted terminal interface, and passes through audible alarm.The cost of rear-end collision prevention early warning system is reduced, and improves the accuracy of early warning.System has the characteristics that at low cost, small, early warning is accurate and is suitable for various road conditions conditions.
Description
Technical field
The invention belongs to traffic technical field of vehicle safety, more particularly to a kind of automobile anti-rear end collision method for early warning and system.
Background technology
At present in traditional field of automobile safety, relatively common vehicle anti-rear collision technology mainly by microwave radar and
Camera technology, but microwave radar and camera technology are easy to be interfered by weather, shelter, influence its performance, and
The equipment cost being made of microwave radar and camera technology is high, and general vehicle is difficult installation, and only passes through measurement distance
With speed there is no the acceleration information and information of road surface that consider front truck, the early warning of equipment is set to have certain hysteresis quality, and not
It can be suitably used for other road conditions, such as wet road surface, ice and snow road etc..
Invention content
In view of the above-mentioned drawbacks of the prior art or insufficient, the object of the present invention is to provide a kind of automobile anti-rear end collisions
Method and system enables the vehicle to the speed letter for obtaining surrounding vehicles over the horizon range using vehicle vehicle, the bus or train route communication technology
Breath, acceleration information and traffic information.
In order to realize that above-mentioned task, the present invention take following technical solution：
A kind of automobile anti-rear end collision early warning system, which is characterized in that include the following steps：
Step 1 is constantly broadcasted the traffic information set using wireless communication DSRC equipment outward；The road conditions
Information includes：
1) drying on road surface, humidity or ice and snow situation；
2) ground surface material is cement, pitch or sandy soil；
3) surface evenness；
Step 2, by data collecting module collected Vehicle Speed, by acceleration module collection vehicle acceleration,
The information of acquisition is sent to car-mounted terminal by GPS module collection vehicle location information, and by bluetooth；
Step 3, the broadcast message of surrounding vehicles is received using in-vehicle wireless communications device, and the broadcast message is main
Speed, acceleration, position including surrounding vehicles and body dimensions information；
Step 4, car-mounted terminal receive believing from the travel speed of vehicle, acceleration and vehicle location for acquisition by bluetooth
Breath, and the surrounding vehicles information passed back by the UDP communications reception in-vehicle wireless communications devices that USB network is shared, and these
Information is shown on car-mounted terminal screen, and acquisition is sent to wireless communication from the information of vehicle by way of UDP communications
DSRC equipment, wireless communication DSRC equipment is by radio broadcasting from vehicle information；
Step 5, car-mounted terminal determine current road first with the information of road surface of the wireless communication DSRC equipment of reception
Friction coefficient, determine and minimum safetyspacing model cooperate with based on bus or train route then utilized to calculate oneself from the maximum deceleration of vehicle
The safe distance of vehicle and front truck；
Step 6, car-mounted terminal utilize the actual range S that GPS is measured0With the minimum safe distance D of calculatingesCompare, judges
With the presence or absence of rear end collision, as actual range S0When more than minimum safe distance.Vehicle safe driving, when actual range is close or
When equal to safe distance, car-mounted terminal starts primary early warning, and when actual range is less than safe distance, car-mounted terminal starts promptly
Early warning, and with auditory tone cues.Including：Data acquisition unit, trackside wireless communication unit, in-vehicle wireless communication unit and vehicle-mounted
Terminal.
According to the present invention, the Safety distance model of the Safety distance model bus or train route collaboration based on bus or train route collaboration is main
Consider information transmission delay, the influence of GPS error and surface friction coefficient to Calculation of Safety Distance, is mainly divided into moderating process
Driver is connected to early warning to the distance S travelled with maximum deceleration deboost phase vehicle0, automobile with maximum deceleration brake institute
The distance S of traveling1, information propagation delay running car distance S2, the error D that brings of GPS rangingserrMake two vehicles with rear car braking
Keep identical speed or the static true headstock for being still to keep later away from df, minimum safe distance calculates as shown in Equation 1：
In formula, v0Indicate the speed from vehicle, t0Indicate that the reaction time of driver, Δ v indicate front truck and the speed from vehicle
Difference, Δ a indicate that front truck and acceleration from vehicle are poor, dfIndicate after rear car braking two vehicles keep identical speed or it is static after still
The true headstock to be kept is away from TdIndicate information transmission delay, DerrIndicate GPS error, DesFor the safety cooperateed with based on bus or train route
The safe distance that distance model calculates is Des。
Δ a in the Safety distance model based on bus or train route collaboration, as shown in following formula 2：
Δ a=gu-a1 (2)
In formula, g is acceleration of gravity, and u is surface friction coefficient, which set according to wireless communication DSRC
What the information of road surface of preparation cloth obtained, a1Indicate the acceleration of front truck.
The dfTwo vehicles keep identical speed or the static true vehicle for being still to keep later after indicating rear car braking
Head is away from being shown below：
df=(La+Lb)/2+d0 (3)
In formula, LaAnd LbIt is front truck and the length from vehicle, d0Indicate two vehicles keep identical speed or it is static after be still to protect
The headstock held away from.
The TdIt is communication information transmission delay, is divided into signal and is propagating delay T on the waytrInformation is received with system
Afterwards to the delay T in information processing periodap, TapFor the process cycle of tailgating-proof system, so Tap=T, obtains following formula：
Td=Ttr+T (4)
The Drr is GPS error, and the GPS error used calculates GPS error for ± 2.5m, according to normal distribution, obtains
The probability distribution of error is shown below：
The probability density function that error is obtained by the probability distribution of error is：
The wireless communication DSRC equipment, sets using the short-distance radio of IEEE802.11p and IEEE1609 agreements is special
It is standby；And the USB units for supporting USB network shared；Pass through wireless broadcast communication between wireless communication DSRC equipment.
The car-mounted terminal selects Android intelligent.
The wireless communication DSRC equipment and in-vehicle wireless communications device are set using the MK5 of CohdaWireless companies
It is standby.
A kind of automobile anti-rear end collision early warning system, which is characterized in that including：
The wireless communication DSRC equipment of roadside setting, is used for according to current traffic information, by traffic information with radio broadcasting
Mode periodic broadcast, the traffic information includes drying, humidity or the ice and snow situation on road surface, the cement of pavement usage,
Pitch or sandy soil material and surface evenness；
In-vehicle wireless communications device, data acquisition unit and the car-mounted terminal installed on vehicle, wherein the data
There are data acquisition module, GPS module and acceleration transducer inside collecting unit, for acquiring from the current speed of vehicle, accelerating
Degree and location information；
In-vehicle wireless communication unit is used to receive the broadcast message of surrounding vehicles, and the broadcast message includes surrounding vehicles
Speed, acceleration and location information, and acquisition is broadcasted from the speed of vehicle, acceleration and information and by radio broadcasting；
The mode that the wireless telecom equipment and in-vehicle wireless communications device of roadside setting are broadcasted by radio communication is handed over
Mutually；
The car-mounted terminal utilize minimum safetyspacing model cooperate with based on bus or train route calculate from vehicle and front truck safely away from
From by positional information calculation currently from the actual range of vehicle and front truck, rear end collision being judged whether, if there is knocking into the back
Danger then shows dangerous prompting on car-mounted terminal interface, and passes through audible alarm.
The automobile anti-rear end collision method for early warning and system of the present invention, that brings has the technical effect that：
Vehicle is communicated with vehicle, bus or train route and is communicated with the forms of broadcasting, need not be connected, and communication connection delay and communication network are reduced
Complexity.First, using vehicle-mounted OBD interfaces picking rate information, acceleration information is acquired using acceleration module, utilizes GPS
Acquisition position information.Then, from the information of road surface for receiving roadside unit broadcast, the friction coefficient on road surface is obtained, and calculate vehicle
Maximum deceleration so that Safety distance model is suitable for ice and snow, the various surface conditions such as wet and slippery, dry.Consider Che Chetong
The information transmission delay and GPS range errors of letter, and information transmission delay and GPS error are compensated, it has obtained more meeting
Actual minimum safetyspacing model finally measures actual range ratio at a distance from minimum safetyspacing model calculating using GPS
Compared with system early warning when actual range is close to or smaller than Safety distance model.The cost of rear-end collision prevention early warning system is reduced, and is carried
The high accuracy of early warning.System has the characteristics that at low cost, small, early warning is accurate and is suitable for various road conditions conditions.
Description of the drawings
Fig. 1 is the automobile anti-rear end collision method for early warning schematic diagram of the present invention；
Fig. 2 is the rear-end collision prevention early warning system structural schematic diagram of the present invention；
Fig. 3 is the anti-overtaking-collision method flow chart of the present invention.
Below in conjunction with drawings and examples, the present invention is described in further detail.
Specific implementation mode
The present embodiment provides a kind of automobile anti-rear end collision early warning system, including：
The wireless communication DSRC equipment of roadside setting, is used for according to current traffic information, by traffic information with radio broadcasting
Mode periodic broadcast, the traffic information includes road surface (dry, moist or ice and snow) situation, the material of pavement usage
(cement, pitch or sandy soil) and surface evenness；
In-vehicle wireless communications device, data acquisition unit and the car-mounted terminal installed on vehicle, wherein the data
There are data acquisition module, GPS module and acceleration transducer inside collecting unit, for acquiring from the current speed of vehicle, accelerating
Degree and location information；
In-vehicle wireless communications device is used to receive the broadcast message of surrounding vehicles, and the broadcast message includes surrounding vehicles
Speed, acceleration and location information, and acquisition is broadcasted from the speed of vehicle, acceleration and information and by radio broadcasting；
The wireless communication DSRC equipment and in-vehicle wireless communications device of roadside setting are realized by dedicated short range communication equipment
Wireless communication interaction；
The car-mounted terminal utilize minimum safetyspacing model cooperate with based on bus or train route calculate from vehicle and front truck safely away from
From by positional information calculation currently from the actual range of vehicle and front truck, rear end collision being judged whether, if there is knocking into the back
Danger then shows dangerous prompting on car-mounted terminal interface, and passes through audible alarm.
Data acquisition unit mainly acquires the GPS position information, velocity information and acceleration information from vehicle, car-mounted terminal peace
The anti-early warning APP (application program) that knocks into the back of dress, car-mounted terminal connect according to the information and in-vehicle wireless communications device of data acquisition unit
The surrounding vehicles information and traffic information of receipts, run the Safety distance model of the bus or train route collaboration in the anti-early warning APP that knocks into the back, and calculating is
No anti-alarm of knocking into the back.
In the present embodiment, the wireless communication DSRC equipment and in-vehicle wireless communications device use
The MK5 equipment of CohdaWireless companies, the data acquisition module use OBDEST527 chip data acquisition modules, add
Velocity sensor uses MMA7361 sensors, the car-mounted terminal to select Android intelligent.Car-mounted terminal and MK5 are set
It is connected using OGT USB lines between standby.
The schematic diagram for the automobile anti-rear end collision method for early warning that the present embodiment provides is as shown in Figure 1, automobile anti-rear end collision early warning system
Structural schematic diagram as shown in Fig. 2, mainly using GPS module measure from truck position information, using 50ms as the period, precision be ±
2.5m is the period from the velocity information for reading from vehicle from the OBD interfaces of vehicle using 100ms, and acceleration transducer is measured to be accelerated from vehicle
Information is spent, data acquisition module sends obtained data by bluetooth primary using 150ms as the period to car-mounted terminal.Data are adopted
Collect unit installation in the car.DSRC equipment is wirelessly communicated as radio broadcasting transceiver, communication distance is 500m~1000m,
Broadcast being installed from vehicle information, wireless communication DSRC equipment reception antenna and GPS receiving antenna for acquisition outward using 100ms as the period
In roof.It wirelessly communicates DSRC equipment and is mounted on roadside, be highly 2m, traffic information is broadcasted with 500ms, when car-mounted terminal receives
When to institute's information in need, the Safety distance model that cooperate with based on bus or train route is run, calculating minimum safe distance judges to knock into the back
Possibility.
Automobile anti-rear end collision method for early warning of the present invention is as follows：
As shown in figure 3, measuring velocity information, acceleration information and the position by this vehicle of data collecting module collected first
Information, and these information are sent back to vehicle-mounted terminal equipment.Secondly, vehicular communication equipment receives the broadcast message of surrounding vehicles,
The wireless communication DSRC device broadcasts information of trackside, and these information are transferred back into car-mounted terminal, then, car-mounted terminal will receive
To from vehicle information by UDP communicate in a manner of be sent to MK5 communication equipments, MK5 will be broadcasted from vehicle information.Finally, car-mounted terminal
Using obtaining from vehicle information, surrounding vehicles information and traffic information, the base in the anti-early warning APP (application program) that knocks into the back is utilized
Minimum safe distance is calculated in the Safety distance model of bus or train route collaboration, using positional information calculation actual range, by minimum safe
Distance and actual range compare, and when actual range is equal to or less than minimum safe distance, terminal passes through early warning color change
With the mode early warning of sound prompting.Safety distance model specifically based on bus or train route collaboration calculates as follows：
The above-mentioned Safety distance model based on bus or train route collaboration, is mainly in view of information transmission delay, GPS error and road surface and rubs
Coefficient is wiped, braking distance is divided into driver and is connected to early warning to the distance S travelled with maximum deceleration deboost phase vehicle0、
Automobile brakes the distance S travelled with maximum deceleration1, information propagation delay running car distance S2, GPS rangings bring
Error DerrTwo vehicles are made to keep identical speed or the static true headstock for being still to keep later away from d with rear car brakingf。
V in formula0Indicate the speed from vehicle, t0Indicate that the reaction time of driver, Δ v indicate front truck and the speed difference from vehicle,
Δ a indicates that front truck and acceleration from vehicle are poor, dfIndicate after rear car braking two vehicles keep identical speed or it is static after be still to
The true headstock kept is away from TdIndicate information transmission delay, DesThe peace calculated for the Safety distance model cooperateed with based on bus or train route
Full distance is Des。
Δ a in Safety distance model based on bus or train route collaboration, as shown in following formula 2：
Δ a=gu-a1 (2)
G is acceleration of gravity in formula, and u is surface friction coefficient, is the road surface letter of DSRC device broadcasts by radio communication
What breath obtained, a1Indicate the acceleration of front truck.
dfIndicate two vehicles after rear car braking keep identical speed or it is static after the true headstock that is still to keep away from obtaining
To being shown below：
df=(La+Lb)/2+d0 (3)
L in formulaaAnd LbIt is front truck and the length from vehicle, d0Indicate two vehicles keep identical speed or it is static after be still to protect
The headstock held away from.
TdIt is communication information transmission delay, is divided into signal and is propagating delay T on the waytrIt is received after information to letter with system
Cease the delay T of process cycleap。TapFor the process cycle of tailgating-proof system.
So Tap=T, obtains：
Td=Ttr+T (4)
Drr is GPS error, and the GPS error that system uses calculates GPS error for ± 2.5m, according to normal distribution, missed
The probability distribution of difference is shown below：
The probability density function that error is obtained by the probability distribution of error is：
Claims (7)
1. a kind of automobile anti-rear end collision method for early warning, which is characterized in that include the following steps：
Step 1 is constantly broadcasted the traffic information set using wireless communication DSRC equipment outward；The traffic information
Including：
1) drying on road surface, humidity or ice and snow situation；
2) ground surface material is cement, pitch or sandy soil；
3) surface evenness；
Step 2 is passed through by data collecting module collected Vehicle Speed by acceleration module collection vehicle acceleration
GPS module collection vehicle location information, and the information of acquisition is sent to by bluetooth by car-mounted terminal；
Step 3, the broadcast message of surrounding vehicles is received using DSRC in-vehicle wireless communications devices, and the broadcast message is main
Speed, acceleration, position including surrounding vehicles and body dimensions information；
Step 4, car-mounted terminal by bluetooth receive acquisition from the travel speed of vehicle, acceleration and vehicle position information, and
By USB network sharing functionality, the surrounding vehicles information passed back using socket communications reception in-vehicle wireless communications devices, and handle
These information are shown on car-mounted terminal screen, and are sent to acquisition wirelessly from the information of vehicle by way of socket communications
DSRC equipment is communicated, wireless communication DSRC equipment is by radio broadcasting from vehicle information；
Step 5, car-mounted terminal determine rubbing for current road first with the information of road surface of the wireless communication DSRC equipment of reception
Wipe coefficient, determine then utilized from the maximum deceleration of vehicle minimum safetyspacing model cooperate with based on bus or train route calculate from vehicle and
The safe distance of front truck；
The Safety distance model of the Safety distance model bus or train route collaboration based on bus or train route collaboration mainly considers that information transmission is prolonged
When, the influence of GPS error and surface friction coefficient to Calculation of Safety Distance, moderating process is mainly divided into driver and is connected to early warning
To the distance S travelled with maximum deceleration deboost phase vehicle0, automobile the distance S that is travelled is braked with maximum deceleration1, letter
Cease the distance S of propagation delay running car2, the error D that brings of GPS rangingserrTwo vehicles are made to keep identical speed with rear car braking
Or the static true headstock for being still to keep later is away from df, minimum safe distance calculates as shown in Equation 1：
In formula, v0Indicate the speed from vehicle, t0Indicate that the reaction time of driver, Δ v indicate front truck and the speed difference from vehicle, Δ a
Indicate that front truck and acceleration from vehicle are poor, dfIndicate after rear car braking two vehicles keep identical speed or it is static after be still to keep
True headstock away from TdIndicate information transmission delay, DerrIndicate GPS error, DesFor the safe distance mould cooperateed with based on bus or train route
The safe distance that type calculates is Des；
The TdIt is communication information transmission delay, is divided into signal and is propagating delay T on the waytrIt is right after information to be received with system
The delay T in information processing periodap, TapFor the process cycle of tailgating-proof system, so Tap=T, obtains following formula：
Td=Ttr+T (4)
The DerrFor GPS error, the GPS error used calculates GPS error for+2.5m, according to normal distribution, obtains error
Probability distribution be shown below：
The probability density function that error is obtained by the probability distribution of error is：
Step 6, car-mounted terminal utilize the actual range S that GPS is measured0With the minimum safe distance D of calculatingesCompare, judges whether
There are rear end collisions, as actual range S0When more than minimum safe distance, vehicle safe driving；When actual range is close or equal to
When safe distance, car-mounted terminal starts primary early warning；When actual range is less than safe distance, car-mounted terminal starts urgent pre-
It is alert, and with auditory tone cues.
2. the method as described in claim 1, which is characterized in that Δ a in the Safety distance model based on bus or train route collaboration,
As shown in following formula 2：
Δ a=gu-a1 (2)
In formula, g is acceleration of gravity, and u is surface friction coefficient, which is according to wireless communication DSRC equipment hair
What the information of road surface of cloth obtained, a1Indicate the acceleration of front truck.
3. the method as described in claim 1, which is characterized in that the dfTwo vehicles keep identical speed after indicating rear car braking
Degree or it is static after the true headstock that is still to keep away from being shown below：
df=(La+Lb)/2+d0 (3)
In formula, LaAnd LbIt is front truck and the length from vehicle, d0Indicate two vehicles keep identical speed or it is static after be still to keep
Headstock away from.
4. the method as described in claim 1, which is characterized in that the wireless communication DSRC equipment, using IEEE802.11p
With the short-distance radio special equipment of IEEE1609 agreements；And the USB units for supporting USB network shared；Wirelessly communicate DSRC equipment
Between pass through wireless broadcast communication.
5. the method as described in claim 1, which is characterized in that the car-mounted terminal selects Android intelligent.
6. the method as described in claim 1, which is characterized in that the wireless communication DSRC equipment and in-vehicle wireless communication are set
The standby MK5 equipment using CohdaWireless companies.
7. a kind of automobile anti-rear end collision early warning system for realizing claim 1-6 any one of them automobile anti-rear end collision method for early warning
System, which is characterized in that including：
The wireless communication DSRC equipment of roadside setting, is used for according to current traffic information, by traffic information with the side of radio broadcasting
Formula periodic broadcast, the traffic information include drying, humidity or the ice and snow situation on road surface, cement, the pitch of pavement usage
Or sandy soil material and surface evenness；
In-vehicle wireless communications device, data acquisition unit and the car-mounted terminal installed on vehicle, wherein the data acquisition
Have data acquisition module, GPS module and acceleration transducer inside unit, for acquire from the current speed of vehicle, acceleration and
Location information；
In-vehicle wireless communication unit is used to receive the broadcast message of surrounding vehicles, and the broadcast message includes the speed of surrounding vehicles
Degree, acceleration and location information, and from the speed of vehicle, the acceleration and information and by radio communication device broadcasts by acquisition；
The mode that the wireless telecom equipment and in-vehicle wireless communications device of roadside setting are broadcasted by radio communication interacts；
The car-mounted terminal utilizes the minimum safetyspacing model cooperateed with based on bus or train route to calculate the safe distance from vehicle and front truck, leads to
Positional information calculation is crossed currently from the actual range of vehicle and front truck, judges whether rear end collision, if there is rear end collision,
Dangerous prompting is then shown on car-mounted terminal interface, and passes through audible alarm.
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