CN110335504A - Intelligent collision warning system and method based on bus or train route collaboration under vehicle follow gallop state - Google Patents
Intelligent collision warning system and method based on bus or train route collaboration under vehicle follow gallop state Download PDFInfo
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- CN110335504A CN110335504A CN201910599501.9A CN201910599501A CN110335504A CN 110335504 A CN110335504 A CN 110335504A CN 201910599501 A CN201910599501 A CN 201910599501A CN 110335504 A CN110335504 A CN 110335504A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The embodiment of the invention provides the intelligent collision warning systems based on bus or train route collaboration under a kind of vehicle follow gallop state, comprising: Vehicle Controller and central controller.The present invention also provides a kind of intelligent collision warning methods based on bus or train route collaboration under vehicle follow gallop state, comprising the following steps: acquisition vehicle position information and vehicle speed information in real time；Its following state is determined according to the vehicle position information；Front truck deceleration regime is monitored according to the vehicle speed information, while its average retardation rate is determined according to its deceleration change rate；The rear car criticality safety reaction time is calculated according to vehicle speed information and the average retardation rate, and determines whether to issue warning information；Judge whether to carry out automatically controlling vehicle according to the vehicle position information and vehicle speed information.The present invention helps driver to react in time, reduces emergency brake；Meanwhile two truck position relationship of real-time monitoring intervenes vehicle and automatically controls when being unsatisfactory for safety condition, support vehicles safety traffic.
Description
Technical field
The present invention relates to traffic safety technology field and emergency traffic administrative skill field more particularly to a kind of vehicle follow gallops
Intelligent collision warning system and method based on bus or train route collaboration under state.
Background technique
Road traffic accident generally can be divided into according to accident pattern to knock into the back, side crash, bumps against etc. with pedestrian or fixture, and chases after
Tail accident is the highest a kind of accident of occurrence frequency in all traffic accidents.During the follow the bus of driver, front truck subtracts suddenly
Speed necessarily causes rear car motion state to change.Once driver attention does not concentrate at this time, or relatively fast for vehicle
Degree and position judgement inaccuracy, will make two vehicle space headways insufficient, eventually lead to the generation of rear-end collision.Due to rear-end collision
Occurrence frequency is high, and rear-end collision accident may occur under extreme case, causes the loss of personal property of more vehicles, therefore such as
What is responded to driver alerts, and reduces its mistake, and the generation for reducing rear-end collision becomes one of urgent problem to be solved.
The continuous development of bus or train route coordination technique at present provides new approaches to reduce rear-end collision risk, and knock into the back anti-collision system
It comes into being.The technology can be monitored the motion state of vehicle by certain monitoring device, once on discovery road
Vehicle deceleration, and when threatening to rear car, then will remind driver by interior early warning system, it is proposed that driver and
When take deceleration collision avoidance measure；Can real-time judge driver slow down safely simultaneously, if it could not, control vehicle enters automatic control
State processed.By this technology, the false judgment of driver can be reduced to a certain extent, reduce vehicle and rear-end collision occurs
Probability.
Existing car knock into the back collision avoidance algorithm be usually according between two vehicles relative position and speed, calculate its current state
Under stopping distance judge whether to need to issue warning information by comparing with preset safe stopping distance.However,
It is less able to monitor the deceleration of vehicle in real time in existing system, the key variables of selection are generally definite value.Therefore it needs
Design a kind of intelligent collision warning system and method that knocks into the back that real-time judge and feedback can be carried out according to vehicle current motion state.
Summary of the invention
The embodiment provides under a kind of vehicle follow gallop state based on bus or train route collaboration intelligent collision warning system and side
Information of vehicles can be carried out transmission with the control equipment on road and be exchanged by method by bus or train route coordination technique, can be according to vehicle
Instantaneous deceleration situation of change judges its average retardation rate being likely to be breached, while when front truck slows down, can be according between vehicle
Time-space relationship calculate driver the criticality safety reaction time.Once being more than the criticality safety reaction time rear car to be still not detected
Slow down, then provide corresponding warning for driver, enable them to adjust vehicle-state in time according to voice prompting, reduces vehicle
Speed promotes driver drives vehicle experience to enable a driver to slow down with more comfortable deceleration.If driver does not adjust
Not in time, which will intervene vehicle control, automatic retarding processing be carried out, to guarantee for whole vehicle-state or adjustment vehicle-state
Traffic safety overcomes the defect of the prior art.
To achieve the goals above, this invention takes following technical solutions.
Intelligent collision warning system based on bus or train route collaboration under a kind of vehicle follow gallop state, comprising: Vehicle Controller and center control
Device processed；
The information of vehicles is sent to the central controller for acquiring information of vehicles by the Vehicle Controller, and
Receive the warning information and automatically control information that the central controller is sent, the information of vehicles include vehicle speed information and
Vehicle position information；
The central controller judges vehicle follow gallop state, monitoring vehicle deceleration variation for receiving the information of vehicles
Rate calculates average retardation rate and rear car criticality safety reaction time, judges safe distance, by warning information and automatically controls information
It is sent to the Vehicle Controller.
Preferably, the Vehicle Controller includes that vehicle information collection unit, information of vehicles transmission unit, warning information connect
It receives unit, phonetic warning unit, automatically control information receiving unit and automatic control unit；
The vehicle information collection unit is for acquiring vehicle speed information and vehicle position information；
The information of vehicles transmission unit is for the vehicle speed information and vehicle position information to be sent in described
Entreat controller；
The warning information receiving unit is for receiving the warning information；
The phonetic warning unit is for broadcasting the warning information；
The automatic control information receiving unit is for receiving the automatic control information；
The automatic control unit is automatically controlled for vehicle.
Preferably, the central controller includes that information of vehicles receiving unit, follow the bus condition judgment unit, vehicle deceleration are sentenced
Disconnected unit, deceleration change rate monitoring unit, safety condition computing unit, warning information transmission unit, safe distance judgement are single
Member and automatic control information transmitting unit；
The information of vehicles receiving unit be used to receive the vehicle speed information that the information of vehicles transmission unit is sent and
Vehicle position information, and the vehicle speed information and location information be sent to the follow the bus condition judgment unit, vehicle subtracts
Fast judging unit, deceleration change rate monitoring unit, safety condition computing unit and safe distance judging unit；
The follow the bus condition judgment unit is used to judge whether two vehicles are in shape of speeding according to the vehicle position information
State；
The vehicle deceleration judging unit is used to calculate vehicle deceleration in real time, and sentence according to the vehicle speed information
Whether the vehicle that breaks reduces speed now；
The deceleration change rate monitoring unit is used for according to the vehicle speed information, after calculating slowing down since front truck
The t time in, the deceleration change rate of rear car, and judge the maximum value of rear car deceleration change rate in the t time；
The safety condition computing unit is used to be changed according to the vehicle speed information, vehicle position information and deceleration
The criticality safety reaction time of rate information calculating rear car；
The warning information transmission unit is used for according to the criticality safety reaction time of the rear car and the deceleration of rear car
Situation of change determines whether to send the early warning receiving unit of warning information to the Vehicle Controller；
The safe distance judging unit is used for according to the vehicle speed information and vehicle position information and safety condition
Judge that can the vehicle safe collision avoidance；
The information transmitting unit that automatically controls is sent certainly for the judging result according to the safe distance judging unit
The signal of control is moved to the automatic control information receiving unit of the Vehicle Controller.
Preferably, the safety condition computing unit judges that time of driver's reaction is reacted greater than the rear car criticality safety
When the time, the warning information transmission unit sends warning information to the warning information receiving unit；
When the safe distance judging unit judges that vehicle location is less than safety condition, sent out by the automatic control information
It send unit to send and automatically controls information to the automatic control information receiving unit.
A kind of intelligent collision warning method based on bus or train route collaboration under vehicle follow gallop state, comprising the following steps:
Step 1: acquisition vehicle position information and vehicle speed information in real time；
Step 2: its following state is determined according to the vehicle position information；
Step 3: front truck deceleration regime being monitored according to the vehicle speed information, while according to its front truck deceleration change rate
Determine front truck average retardation rate；
Step 4: the rear car criticality safety reaction time is calculated according to vehicle speed information and the front truck average retardation rate, and
Determine whether to issue warning information；
Step 5: judging whether to carry out automatically controlling vehicle according to the vehicle position information and vehicle speed information.
Preferably, the step 1 includes:
Acquire vehicle position information X in real time by GPS moduleVehicleWith vehicle speed information VVehicle。
Preferably, the step 2 includes:
According to vehicle position information (Xl、Xf) judge whether vehicle meets follow the bus condition, it is based on the accident-free vehicle of " three seconds spacing "
Away from judgment method, therefore follow the bus condition calculation formula are as follows: Xl(t)-Xf(t) 3 × V of <f(t)；
Wherein:
Xl(t) --- front truck is in the position of t moment；
Xf(t) --- rear car is in the position of t moment；
Vf(t) --- speed of the rear car in t moment.
Preferably, the step 3 includes:
Front truck deceleration is calculated in real time, while monitoring whether front truck slows down, its calculation formula is: al(t)=(Vl(t)-Vl
(t-T))/T, wherein T is signals of vehicles renewal time, works as al(t) < -0.5m/s2When, it is defined as front truck and reduces speed now；
Wherein:
Vl(t) --- speed of the front truck in t moment；
Vl(t-T) --- speed of the front truck at the t-T moment；
T --- signals of vehicles renewal time；
al(t) --- deceleration of the front truck in t moment；
Front truck reduces speed now, and the deceleration moment is t0, (0, t is calculated in real time0+ 0.5s) the deceleration change rate of front truck in the time,
Its calculation formula is: Jl(t)=(al(t)-al(t-T))/T, and further determine that front truck average retardation rate；
Wherein: Jl(t) --- deceleration change rate of the front truck in t moment；
al(t-T) --- it is deceleration change rate of the front truck at the t-T moment.
Preferably, the step 4 includes:
The criticality safety reaction time for calculating rear car, its calculation formula is:If
Rear car is in (t0+0.5s,t0+tr_safe) in do not slow down, then in t0+tr_safeMoment issues warning information；
Wherein, vfFor rear vehicle speed, vlFor preceding vehicle speed, L0For initial space headway, L1For final space headway, alIt is preceding
Vehicle deceleration, afFor rear car deceleration, tr-safeFor the rear car criticality safety reaction time calculated under particular state.
Preferably, which is characterized in that the step 5 includes:
In front truck moderating process, according to vehicle speed information VVehicleWith vehicle position information XVehicle, safe condition is calculated in real time
Under safe bus head spacing, safety condition calculation formula are as follows:When between safe bus head
When away from being less than safety condition, i.e., when two vehicles will collide, manipulation vehicle deceleration is carried out automatically controlling to vehicle, wherein vf
For rear vehicle speed, vlFor preceding vehicle speed, L0For initial space headway, L1-safeFor safe bus head spacing, alFor front truck deceleration, af
For rear car deceleration, trFor driver's real reaction time.
As can be seen from the technical scheme provided by the above-mentioned embodiment of the present invention, the embodiment of the invention provides a kind of vehicles
Intelligent collision warning system and method based on bus or train route collaboration under train tracing model works as vehicle by certain sensing and detection device
Preceding state is monitored and is tracked, and monitors front truck deceleration in real time under following state, when calculating the reaction of rear car criticality safety
Between, warning information is communicated to by driver by interior prior-warning device, helps driver to react in time, reduces emergency brake；Meanwhile it is real
When monitor two truck position relationships, when being unsatisfactory for safety condition, to vehicle intervene automatically control, support vehicles safety traffic.Cause
This, the present invention provides early warning to it according to the difference of time of driver's reaction, reduce as the reaction time it is too long caused by subtract
Speed not in time, and due to caused by false judgment deceleration it is improper caused by rear-end collision, ensure that the traveling under following state
Safety.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the intelligent collision warning system knot based on bus or train route collaboration under a kind of vehicle follow gallop state provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 2 is the intelligent collision warning method stream based on bus or train route collaboration under a kind of vehicle follow gallop state provided in an embodiment of the present invention
Journey schematic diagram.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
The embodiment of the invention provides the intelligent collision warning system based on bus or train route collaboration under a kind of vehicle follow gallop state, such as Fig. 1
It is shown, comprising: Vehicle Controller and central controller；
Information of vehicles is sent to central controller and receives center control by Vehicle Controller for acquiring information of vehicles
The warning information and automatically control information that device processed is sent, control vehicle safety slows down, wherein information of vehicles includes car speed letter
Breath and vehicle position information.
Vehicle Controller includes vehicle information collection unit, information of vehicles transmission unit, warning information receiving unit, voice
Prewarning unit automatically controls information receiving unit and automatic control unit.
Vehicle information collection unit is for acquiring vehicle speed information and vehicle position information；
Information of vehicles transmission unit, which is used to for vehicle speed information and vehicle position information to be sent to information of vehicles, receives list
Member；
Warning information receiving unit is for receiving warning information；
Phonetic warning unit is for broadcasting warning information；
It automatically controls information receiving unit and automatically controls information for receiving；
Automatic control unit is automatically controlled for vehicle.
Central controller judges vehicle follow gallop state, monitors vehicle for receiving vehicle speed information and vehicle position information
Deceleration change rate calculates average retardation rate and rear car criticality safety reaction time, judges safe distance, and by warning information
Vehicle Controller is sent to information is automatically controlled.
Central controller includes information of vehicles receiving unit, follow the bus condition judgment unit, vehicle deceleration judging unit, slows down
Spend change rate monitoring unit, safety condition computing unit, warning information transmission unit, safe distance judging unit and automatic control
Information transmitting unit.
Information of vehicles receiving unit is used to receive the vehicle speed information and vehicle location of information of vehicles transmission unit transmission
Information, and vehicle speed information and location information are sent to follow the bus condition judgment unit, vehicle deceleration judging unit, deceleration
Change rate monitoring unit, safety condition computing unit and safe distance judging unit；
Follow the bus condition judgment unit is used to judge whether two vehicles are in train tracing model according to vehicle position information；
Vehicle deceleration judging unit is used to calculate vehicle deceleration in real time, and judge that vehicle is according to vehicle speed information
It is no to reduce speed now；
Deceleration change rate monitoring unit is used for the t time according to vehicle speed information, after calculating slowing down since front truck
It is interior, the deceleration change rate of rear car, and judge the maximum value of rear car deceleration change rate in the t time；
Safety condition computing unit is based on according to vehicle speed information, vehicle position information and deceleration rate of change information
Calculate the criticality safety reaction time of rear car；
Warning information transmission unit according to criticality safety reaction time and rear car deceleration situation of change for determining whether
Send the early warning receiving unit of warning information to Vehicle Controller；
Safe distance judging unit is used to judge vehicle according to vehicle speed information and vehicle position information and safety condition
It can safe collision avoidance；
Information transmitting unit is automatically controlled for the judging result according to safe distance judging unit, sends automatic control
Signal to Vehicle Controller automatic control information receiving unit.
When safety condition computing unit determines that time of driver's reaction is greater than the criticality safety reaction time, believed by early warning
It ceases transmission unit and sends warning information to the warning information receiving unit of Vehicle Controller；When safe distance judging unit judges vehicle
When position is less than safety condition, by automatically control information transmitting unit send automatically control information to Vehicle Controller from
Dynamic control information receiving unit, controls vehicle safety with this and slows down.
This embodiment offers under a kind of vehicle follow gallop state based on bus or train route collaboration intelligent collision warning method flow schematic diagram,
As shown in Figure 2, comprising the following steps:
Step 1: acquisition vehicle position information and vehicle speed information in real time specifically include: the GPS mould in Vehicle Controller
Block acquires vehicle position information (X in real timeVehicle) and vehicle speed information (VVehicle), and vehicle letter is sent by information of vehicles transmission unit
Cease central controller；
Step 2: its following state being determined according to vehicle position information, is specifically included: the information of vehicles in central controller
Receiving unit receives the information of vehicles sent by the information of vehicles transmission unit of Vehicle Controller, meanwhile, the judgement of follow the bus condition is single
Member is according to vehicle position information (Xl、Xf) judge whether vehicle meets follow the bus condition.
In the present embodiment, according to " People's Republic of China Road Traffic Safety Law Implementation Regulations ", under different driving conditions,
Due to the difference of speed, following distance and safe distance between vehicles all can (i.e. speed exist under difference, such as high speed driving conditions
100km/h or more) when, safe distance between vehicles should be greater than 100m.Based on the safe distance between vehicles judgment method of " three seconds spacing ", therefore follow the bus condition
Calculation formula are as follows: Xl(t)-Xf(t) 3 × V of <f(t), in which: Xl(t) --- front truck is in the position of t moment；Xf(t) --- rear car
In the position of t moment；Vf(t) --- speed of the rear car in t moment.
Step 3: according to vehicle speed information monitor front truck deceleration regime, while according to front truck deceleration change rate determine before
Vehicle average retardation rate, specifically includes:
When meeting follow the bus condition, central controller will calculate front truck deceleration, while vehicle deceleration judging unit in real time
Whether monitoring front truck slows down.Its calculation formula is: al(t)=(Vl(t)-Vl(t-T))/T, when wherein T is that signals of vehicles updates
Between, in the present embodiment, T=1/60s can be set as.According to previous investigation and experience, work as al(t) < -0.5m/s2When, it is defined as
Front truck reduces speed now, wherein Vl(t) --- speed of the front truck in t moment；Vl(t-T) --- speed of the front truck at the t-T moment；
T --- signals of vehicles renewal time；al(t) --- deceleration of the front truck in t moment.
Once front truck reduces speed now, (the deceleration moment is t0), the deceleration change rate monitoring unit of central controller will be real-time
Calculate (0, t0+ 0.5s) the deceleration change rate of front truck in the time, its calculation formula is: Jl(t)=(al(t)-al(t-T))/T,
And further determine that front truck average retardation rate.According to previous investigation and experience, in the present embodiment, J can be setl(t)∈(0,
6.02) when, al_ave=-2.4m/s2；Jl(t) when (6.02,9.12) ∈, al_ave=-3.75m/s2；Jl(t)∈(9.12,
13.94) when, al_ave=-4.0m/s2；Jl(t) >=13.94 when, al_ave=-5.4m/s2, in which: Jl(t) --- front truck is in t
The deceleration change rate at quarter；al(t-T) --- it is deceleration change rate of the front truck at the t-T moment.
Step 4: according to vehicle speed information and average deceleration calculation rear car criticality safety reaction time, and determining whether
Issue warning information, comprising: the criticality safety reaction time for calculating rear car, its calculation formula is:If rear car is in (t0+0.5s,t0+tr_safe) in do not slow down, then in t0+tr_safeWhen
It carves and warning information is sent to Vehicle Controller by the warning information transmission unit of central controller, wherein vfFor rear vehicle speed,
vlFor preceding vehicle speed, L0For initial space headway, L1For final space headway, alFor front truck deceleration, afFor rear car deceleration,
tr-safeFor the rear car criticality safety reaction time calculated under particular state.
Step 5: judging whether to carry out automatically controlling vehicle according to vehicle speed confidence breath and vehicle speed information, comprising:
In front truck moderating process, in spite of publication warning information, the safe distance judging unit of central controller will
According to the car speed location information, the safe bus head spacing under safe condition is calculated in real time.Its calculation formula is:vfFor rear vehicle speed, vlFor preceding vehicle speed, L0For initial space headway, L1-safe
For safe bus head spacing, alFor front truck deceleration, afFor rear car deceleration, trFor driver's real reaction time.Work as safe bus head
When spacing is unsatisfactory for safety condition, i.e., when two vehicles will collide, the automatic control information transmitting unit of central controller will
It sends rear car deceleration and gives rear car Vehicle Controller, information is received by the automatic control information receiving unit of Vehicle Controller, and
Vehicle deceleration is manipulated by the automatic control unit of the Vehicle Controller.
In conclusion the embodiment of the invention provides the intelligent collision warning systems based on bus or train route collaboration under a kind of vehicle follow gallop state
System and method judge whether two vehicles are in following state, root according to location information by acquiring road vehicle speed position information
Judge whether front truck slows down according to velocity information, and calculates the rear car criticality safety reaction time, it is determined whether publication warning information, together
When according to speed position information judge whether two vehicles meet deceleration safety condition, manipulated if being unsatisfactory for by automatic control unit
Rear car is slowed down, to provide reliable driving strategy for driver, is avoided when being reacted as caused by driver's false judgment
Between too long or rear-end collision caused by deceleration is insufficient generation, ensure that vehicle being capable of safe collision avoidance during follow the bus.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. the intelligent collision warning system based on bus or train route collaboration under a kind of vehicle follow gallop state characterized by comprising Vehicle Controller
And central controller；
The information of vehicles is sent to the central controller, and receive for acquiring information of vehicles by the Vehicle Controller
The warning information and automatically control information that the central controller is sent, the information of vehicles includes vehicle speed information and vehicle
Location information；
The central controller judges vehicle follow gallop state for receiving the information of vehicles, monitors vehicle deceleration change rate,
Average retardation rate and rear car criticality safety reaction time are calculated, judges safe distance, by warning information and automatically controls information hair
Give the Vehicle Controller.
2. system according to claim 1, which is characterized in that the Vehicle Controller include vehicle information collection unit,
Information of vehicles transmission unit, phonetic warning unit, automatically controls information receiving unit and automatic control at warning information receiving unit
Unit；
The vehicle information collection unit is for acquiring vehicle speed information and vehicle position information；
The information of vehicles transmission unit is used to for the vehicle speed information and vehicle position information being sent to the center and controls
Device processed；
The warning information receiving unit is for receiving the warning information；
The phonetic warning unit is for broadcasting the warning information；
The automatic control information receiving unit is for receiving the automatic control information；
The automatic control unit is automatically controlled for vehicle.
3. system according to claim 2, which is characterized in that the central controller include information of vehicles receiving unit,
Follow the bus condition judgment unit, vehicle deceleration judging unit, deceleration change rate monitoring unit, safety condition computing unit, early warning
Information transmitting unit, safe distance judging unit and automatic control information transmitting unit；
The information of vehicles receiving unit is used to receive vehicle speed information and vehicle that the information of vehicles transmission unit is sent
Location information, and the vehicle speed information and location information be sent to the follow the bus condition judgment unit, vehicle deceleration is sentenced
Disconnected unit, deceleration change rate monitoring unit, safety condition computing unit and safe distance judging unit；
The follow the bus condition judgment unit is used to judge whether two vehicles are in train tracing model according to the vehicle position information；
The vehicle deceleration judging unit is used to calculate vehicle deceleration in real time, and judge institute according to the vehicle speed information
State whether vehicle reduces speed now；
The deceleration change rate monitoring unit is used for the t according to the vehicle speed information, after calculating slowing down since front truck
In time, the deceleration change rate of rear car, and judge the maximum value of rear car deceleration change rate in the t time；
The safety condition computing unit is used to be believed according to the vehicle speed information, vehicle position information and deceleration change rate
Breath calculates the criticality safety reaction time of rear car；
The warning information transmission unit is used to be changed according to the criticality safety reaction time of the rear car and the deceleration of rear car
Situation determines whether to send the early warning receiving unit of warning information to the Vehicle Controller；
The safe distance judging unit is used to be judged according to the vehicle speed information and vehicle position information and safety condition
Can the vehicle safe collision avoidance；
The information transmitting unit that automatically controls sends automatic control for the judging result according to the safe distance judging unit
The signal of system to the Vehicle Controller automatic control information receiving unit.
4. system according to claim 3, which is characterized in that when the safety condition computing unit judges driver's reaction
Between be greater than the rear car criticality safety reaction time when, the warning information transmission unit is sent out to the warning information receiving unit
Send warning information；
When the safe distance judging unit judges that vehicle location is less than safety condition, sent by the automatic control information single
Member, which is sent, automatically controls information to the automatic control information receiving unit.
5. a kind of intelligent collision warning method based on bus or train route collaboration under vehicle follow gallop state, which comprises the following steps:
Step 1: acquisition vehicle position information and vehicle speed information in real time；
Step 2: its following state is determined according to the vehicle position information；
Step 3: front truck deceleration regime being monitored according to the vehicle speed information, while being determined according to its front truck deceleration change rate
Front truck average retardation rate；
Step 4: the rear car criticality safety reaction time being calculated according to vehicle speed information and the front truck average retardation rate, and is determined
Whether warning information is issued；
Step 5: judging whether to carry out automatically controlling vehicle according to the vehicle position information and vehicle speed information.
6. according to the method described in claim 5, it is characterized in that, the step 1 includes:
Acquire vehicle position information X in real time by GPS moduleVehicleWith vehicle speed information VVehicle。
7. according to the method described in claim 5, it is characterized in that, the step 2 includes:
According to vehicle position information (Xl、Xf) judging whether vehicle meets follow the bus condition, the safe distance between vehicles based on " three seconds spacing " is sentenced
Disconnected method, therefore follow the bus condition calculation formula are as follows: Xl(t)-Xf(t) 3 × V of <f(t)；
Wherein:
Xl(t) --- front truck is in the position of t moment；
Xf(t) --- rear car is in the position of t moment；
Vf(t) --- speed of the rear car in t moment.
8. according to the method described in claim 5, it is characterized in that, the step 3 includes:
Front truck deceleration is calculated in real time, while monitoring whether front truck slows down, its calculation formula is: al(t)=(Vl(t)-Vl(t-
T))/T, wherein T is signals of vehicles renewal time, works as al(t) < -0.5m/s2When, it is defined as front truck and reduces speed now；
Wherein:
Vl(t) --- speed of the front truck in t moment；
Vl(t-T) --- speed of the front truck at the t-T moment；
T --- signals of vehicles renewal time；
al(t) --- deceleration of the front truck in t moment；
Front truck reduces speed now, and the deceleration moment is t0, (0, t is calculated in real time0+ 0.5s) the deceleration change rate of front truck in the time, meter
Calculate formula are as follows: Jl(t)=(al(t)-al(t-T))/T, and further determine that front truck average retardation rate；
Wherein: Jl(t) --- deceleration change rate of the front truck in t moment；
al(t-T) --- it is deceleration change rate of the front truck at the t-T moment.
9. according to the method described in claim 5, it is characterized in that, the step 4 includes:
The criticality safety reaction time for calculating rear car, its calculation formula is:If rear car
In (t0+0.5s,t0+tr_safe) in do not slow down, then in t0+tr_safeMoment issues warning information；
Wherein, vfFor rear vehicle speed, vlFor preceding vehicle speed, L0For initial space headway, L1For final space headway, alSubtract for front truck
Speed, afFor rear car deceleration, tr-safeFor the rear car criticality safety reaction time calculated under particular state.
10. according to the method described in claim 5, it is characterized in that, the step 5 includes:
In front truck moderating process, according to vehicle speed information VVehicleWith vehicle position information XVehicle, calculate under safe condition in real time
Safe bus head spacing, safety condition calculation formula are as follows:When safe bus head spacing is small
When safety condition, i.e., when two vehicles will collide, manipulation vehicle deceleration is carried out automatically controlling to vehicle, wherein vfIt is rear
Vehicle speed, vlFor preceding vehicle speed, L0For initial space headway, L1-safeFor safe bus head spacing, alFor front truck deceleration, afIt is rear
Vehicle deceleration, trFor driver's real reaction time.
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| CN112218266A (en) * | 2020-08-25 | 2021-01-12 | 南京市德赛西威汽车电子有限公司 | Car following early warning method based on V2X |
| CN112498351A (en) * | 2020-11-20 | 2021-03-16 | 东风汽车集团有限公司 | Automatic driving optimization system and method based on V2V |
| CN112498351B (en) * | 2020-11-20 | 2021-11-23 | 东风汽车集团有限公司 | Automatic driving optimization system and method based on V2V |
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