The invention relates to a ghost probe early warning avoiding method and system based on the Internet of Vehicles technology. According to the early warning avoidance method, detected obstacles with ghost probe risks are divided into vehicle type obstacles or non-vehicle type obstacles, visual blind area images are obtained for the two obstacles in a direct and indirect mode, whether pedestrians exist in a blind area or not is judged according to the visual blind area images, and when pedestrians exist, the vehicle type obstacles or the non-vehicle type obstacles are subjected to early warning. A hypothetical collision area is divided by combining the current position of the vehicle, the current movement speed of the vehicle, the pedestrian position in the blind area and the pedestrian movement speed, and finally a decision of limiting the vehicle speed is made based on the hypothetical collision area. According to the early warning and avoiding method, early warning and avoiding can be effectively carried out on the ghost probe phenomenon, other vehicles are communicated with the vehicle, the sensing capacity of the vehicle is expanded, the limitation of the traditional vehicle sensing capacity is broken through, different and effective decisions can be made for different obstacles and visual blind areas, and the application range is wide.

    本发明涉及一种基于车联网技术的鬼探头预警避让方法及系统。该预警避让方法将探测到存在鬼探头风险的障碍物,划分为车辆类或非车辆障碍物,对针对两者分别以直接和间接的方式获取视觉盲区图像,然后根据视觉盲区图像判断出盲区是否存在行人,当存在行人时,结合本车当前位置、本车当前运动速度、盲区中的行人位置以及行人运动速度,划分出假设碰撞区域,最后基于假设碰撞区域作出限制车速的决策。该预警避让方法能够有效对鬼探头现象作出预警避让,通过将其他车辆与本车连通,扩展本车的感知能力,从而突破传统但车辆感知能力的局限性,并且针对不同障碍物、视觉盲区能作出不同且有效的决策,应用范围广。


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    Title :

    Ghost probe early warning avoidance method and system based on Internet of Vehicles technology


    Additional title:

    一种基于车联网技术的鬼探头预警避让方法及系统


    Contributors:
    YANG JUN (author) / QI RUI (author) / BECHOYI (author) / ZHU TIANMING (author) / ZHENG YAN (author) / YANG YI (author)

    Publication date :

    2022-08-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



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