The invention discloses a vehicle forward collision early warning method based on vehicle-road cooperation. The method comprises the following steps that the position information of a vehicle is obtained, basic data of the vehicle are obtained, the position information and basic data of other vehicles are obtained, and relative azimuth angles and relative course angles of the vehicle and the other vehicles are calculated; the basic data at least comprise speed and acceleration; other vehicles closest to the vehicle on the driving lane in front of the vehicle are screened, distance difference between the vehicle and the vehicle is calculated, whether the collision time of the two vehicles is smaller than or equal to a collision early warning threshold value or not is calculated, if yes, early warning is conducted, and if not, judgment is ended. The method can normally execute forward collision early warning under the conditions of low visibility, long distance and shielding, is not only suitable for single-lane or multi-lane straight roads, but also suitable for roundabout, curve and viaduct up-and-down scenes, and is extremely high in practicability.

    本发明公开了一种基于车路协同的车辆前向碰撞预警方法,包括以下步骤:获取本车位置信息,采集本车的基本数据,获取其他车辆的位置信息和基本数据,并计算得到本车和其他车辆的相对方位角和相对航向角;所述基本数据至少包括速度和加速度;筛选本车前方行驶车道上距离本车最近的其他车辆,计算本车与该车辆的距离差,计算出两车的碰撞时间是否小于或等于碰撞预警阈值,若是,则进行预警,若否,则结束判断。本发明能在能见度比较低、距离比较远有遮挡情况下,辅助驾驶系统能正常执行前向碰撞预警,且不但适用于单车道或者是多车道直行道路,同样适用于环岛、弯道以及上下高架桥场景,实用性极强。


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    Title :

    Vehicle forward collision early warning method and system based on vehicle-road cooperation


    Additional title:

    一种基于车路协同的车辆前向碰撞预警方法与系统


    Contributors:
    ZHAO YIMING (author) / LI RUIPIAN (author) / XIAN ZHIWEI (author) / LIU PENG (author) / XU XINYI (author)

    Publication date :

    2021-11-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



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