The invention discloses a V2X-based T-junction collision judgment method. The method comprises the following steps of calculating a relative azimuth angle beta and a relative course angle gamma of a vehicle B relative to a vehicle A; judging whether there are intersection points in the driving directions of the two vehicles or not according to the turn-on conditions of steering lamps of the vehicle A and the vehicle B; calculating the time tA when the vehicle A arrives at the intersection and the time tB when the vehicle B arrives at the intersection; calculating the speed VA of the vehicle Areaching the intersection and the speed VB of the vehicle B reaching the intersection; and judging the collision probability of the two vehicles according to the relationship between the relative azimuth angle beta and the relative course angle gamma, the turn-on conditions of the steering lamps of the vehicle A and the vehicle B, the relationship between tA and tB and the relationship between VAand VB. According to the invention, a method for judging whether there are intersection points in the driving tracks of the vehicle A and the vehicle B is added; and through the information states ofthe steering lamps of the vehicle A and the vehicle B, the accuracy of expected tracks of the vehicle A and the vehicle B is further improved, and the misjudgment rate of collision between the vehicleA and the vehicle B is reduced.
本发明公开了一种基于V2X的丁字路口碰撞判断方法,包括以下步骤:计算得出车辆B相对车辆A的相对方位角β,相对航向角γ;通过车辆A与车辆B的转向灯开启情况判断两车行驶方向是否存在交叉点;计算车辆A到达路口的时间tA和车辆B到达路口的时间tB;计算车辆A到达路口的速度VA和车辆B到达路口的速度VB;根据相对方位角β和相对航向角γ之间的关系,车辆A与车辆B的转向灯开启情况,tA和tB之间的关系,VA和VB之间的关系,判断两车碰撞概率。本发明增加了车辆A和车辆B行驶轨迹存在交叉点的判断方法;通过车辆A和车辆B转向灯的信息状态,进一步提高了车辆A和车辆B预期的轨迹的精确度,减少了车辆A和车辆B发生碰撞的误判率。
V2X-based T-junction collision judgment method
一种基于V2X的丁字路口碰撞判断方法
2021-01-22
Patent
Elektronische Ressource
Chinesisch
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