The invention discloses a vehicle-road cooperative early warning method, system and equipment, and the method comprises the steps: judging whether an out-of-control vehicle is a vehicle in front of the vehicle in the same direction or not when the early warning broadcast information transmitted by the out-of-control vehicle is received, and the current driving vehicle type of the vehicle is a straight lane; wherein the early warning broadcast information comprises vehicle attributes; if the out-of-control vehicle is the vehicle in front of the vehicle in the same direction, acquiring a first distance detected by a driving assistance system, establishing a coordinate system by taking the vehicle as a coordinate starting point, and respectively establishing a first area circle and a second area circle by taking the vehicle and the out-of-control vehicle as circle centers; and when the first area circle and the second area circle intersect, performing early warning according to the vehicle attribute of the out-of-control vehicle. According to the invention, the type of the out-of-control vehicle can be accurately determined, omnibearing and different levels of early warning can be provided, and positioning with errors can be processed, so that positioning errors caused by satellite positioning are reduced, and the early warning accuracy is improved.
本发明公开了一种车路协同预警方法、系统及设备,包括:当接收到失控车辆的发出的预警广播信息,且车辆当前的行驶车辆类型为直行车道时,判断所述失控车辆是否为本车的同向前方的车辆;其中,所述预警广播信息包括:车辆属性;若所述失控车辆为本车的同向前方的车辆,则获取驾驶辅助系统检测的第一距离,并以本车为坐标起点建立坐标系,分别以本车与所述失控车辆为圆心构建第一区域圆和第二区域圆;当第一区域圆和第二区域圆相交时,根据所述失控车辆的车辆属性,进行预警。本发明能够精确失控车辆的类型,能够提供全方位的、不同等级的预警,能够处理存在误差的定位,从而降低使用卫星定位带来的定位误差,进而提高预警的精准度。
Vehicle infrastructure collaborative early warning method, system and equipment
一种车路协同预警方法、系统及设备
2023-07-14
Patent
Electronic Resource
Chinese
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