The invention discloses a vehicle intersection guiding method and device based on V2X, and belongs to the technical field of roads and traffic, and the method comprises the steps: obtaining the positions of a main vehicle HV and a surrounding vehicle RV, and determining the relative azimuth angle and the relative course angle of the RV relative to the HV under a main vehicle coordinate system; when the heading of the RV and the heading of the HV are the same, determining the distance between the RV and the HV in the direction perpendicular to the lane or in the direction parallel to the lane based on the position relation between the RV and the HV, and then determining the lane where the RV and the HV are located; when no other vehicle exists in front of the HV, determining the driving speed according to the distance between the HV and the stop line of the intersection and the signal lamp information sent by the roadside equipment; and when other vehicles exist in front of the HV, screening out the front vehicle which is in the same lane with the HV and is closest to the HV, and performing collision early warning. The vehicle closest to the vehicle is screened out of the preceding vehicles on the lane where the vehicle is located, so that speed suggestions are given, and practicability is improved.
本发明公开了一种基于V2X的车辆路口引导方法及装置,属于道路与交通技术领域,方法的实现包括:获取主车HV与周边车辆RV的位置,确定RV在主车坐标系下的相对于HV的相对方位角和相对航向角;在RV与HV航向相同时,基于RV与HV之间的位置关系确定RV与HV在垂直于车道方向或者在平行于车道方向的距离,进而确定RV与HV所处的车道;在HV前方不存在其他车辆时,由HV与交叉口停止线的距离及路侧设备发送的信号灯信息确定行驶速度;在HV前方存在其他车辆时,筛选出与HV同车道且与HV最近的前方车辆,进行碰撞预警。通过筛选本车所在车道上前行车辆中的离本车最近的一辆车,从而给出速度建议,提高实用性。
Vehicle intersection guiding method and device based on V2X
一种基于V2X的车辆路口引导方法及装置
2021-09-21
Patent
Electronic Resource
Chinese
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