The invention relates to the technical field of vehicle perception, and discloses a V2X-based non-line-of-sight scene vehicle information perception and early warning method, which comprises the following steps: step 1, configuring a road side unit and a vehicle-mounted unit based on a V2X technology; the road side unit periodically broadcasts road prompt information and map information; 2, a vehicle-mounted unit of the test vehicle senses a non-line-of-sight target object through broadcast of a road side unit; when a non-line-of-sight target object is sensed, an early warning range is determined according to a connection steering relation of a road section where a test vehicle is located, whether the target object exists or not is searched in the early warning range, and if yes, a vehicle-mounted unit of the test vehicle calculates the distance between the test vehicle and the target object and the predicted arrival time; the calculation result is used as a sensing result and is returned to the tested vehicle so as to make a sensing decision; and if not, no processing is carried out. The method can be used for solving the technical problem of sensing failure of the automatic emergency braking function in a non-line-of-sight scene, and high sensing and early warning accuracy can be achieved.
本发明涉及车辆感知技术领域,公开了一种基于V2X的非视距场景车辆信息感知及预警方法,包括以下步骤:步骤1:基于V2X技术配置路侧单元和车载单元;由路侧单元周期性地广播道路提示信息和地图信息;步骤2:由测试车辆的车载单元通过路侧单元的广播感知非视距目标物;在感知非视距目标物时,首先根据测试车辆所处路段的连接转向关系确定预警范围,再在预警范围内搜寻是否存在目标物,若是,则由测试车辆的车载单元计算测试车辆与目标物的距离和预计到达时间,并将计算结果作为感知结果返回给测试车辆,以进行感知决策;若否,则不做处理。本发明能够用来解决非视距场景下自动紧急制动功能感知失效的技术问题,能够达到较高的感知及预警精准度。
Non-line-of-sight scene vehicle information sensing and early warning method based on V2X
基于V2X的非视距场景车辆信息感知及预警方法
2023-11-14
Patent
Elektronische Ressource
Chinesisch
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