The invention discloses a collision early warning method, a collision early warning device and equipment. The method comprises a vehicle filtering method executed before the collision early warning ofa vehicle. The vehicle filtering method comprises the steps that: far vehicles in the communication distance range of a local vehicle are determined, and form a far vehicle set of the local vehicle;far vehicles in the far vehicle set which are located at the left side and the right side of an intersection relative to the position of the local vehicle are determined as first to-be-filtered far vehicles; if the time when the local vehicle arrives at a collision point is greater than an intersection arrival time threshold, filtering is performed in the far vehicle set, and otherwise, the firstto-be-filtered far vehicles of which the time for reaching the collision point is greater than the intersection collision time threshold are filtered; the first to-be-filtered far vehicles of which the time difference with the local vehicle in arriving at the collision point is larger than a time difference threshold are filtered; and collision early warning is performed based on the far vehiclesin the filtered far vehicle set. The number of vehicles participating in collision early warning calculation is reduced through vehicle filtering, and the calculated amount is reduced on the basis that collision early warning accuracy is not affected.
本申请公开一种碰撞预警方法、装置及设备,碰撞预警方法包括在对本车进行碰撞预警之前执行的车辆过滤方法,车辆过滤方法包括:确定处于本车的通信距离范围内的远车,构成本车的远车集合;将远车集合中与本车的车辆位置关系为交叉路口左侧和交叉路口右侧的远车,确定为第一待过滤远车;如果本车到达碰撞点的时间大于到达路口时间阈值,从远车集合中过滤;否则,将到达碰撞点的时间大于路口碰撞时间阈值的第一待过滤远车过滤;将与本车到达碰撞点的时间之差大于时间差阈值的第一待过滤远车过滤;基于经过过滤的远车集合中的远车,进行碰撞预警。通过车辆过滤减少参与碰撞预警计算的车辆数量,在不影响碰撞预警准确性的基础上,降低计算量。
Collision early warning method, device and equipment
一种碰撞预警方法、装置及设备
2020-08-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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