The invention belongs to the field of vehicle collision early warning, and particularly discloses a vehicle collision early warning method, which specifically comprises the following steps: step 1, collecting real-time point cloud data of roads around a current vehicle and other vehicles; 2, resolving the collected high-precision differential point cloud data at the frequency of 50 times per second to generate high-precision vehicle positioning data; 3, according to the collected road information and the high-frequency position information of other vehicles, the running speed and steering speed of the other vehicles are calculated, and the motion trail is fitted; a vehicle-mounted point cloud data acquisition instrument is used for acquiring vehicle surrounding environment data, fitting running paths of other vehicles and predicting positions of a target vehicle at different moments, and according to an AEB algorithm, the time required for two vehicles to run at the current speed until collision occurs from the current moment is calculated, so that the collision speed of the two vehicles is calculated. And when the speed of the rear vehicle is greater than that of the front vehicle, performing a TTC algorithm, determining an AEB trigger type according to a TTC value, and determining an early warning level.
本发明属于车辆碰撞预警领域,具体公开了一种车辆碰撞预警方法,具体步骤如下:步骤1:采集当前车辆周围道路及其他车辆的实时点云数据;步骤2:以1秒50次的频率对采集到的高精度差分点云数据进行解算,生成高精度车辆定位数据;步骤3:根据采集的道路信息、其他车辆高频位置信息,计算其他车辆的行驶速度、转向速度,拟合运动轨迹;本发明通过采用车载点云数据采集仪进行车辆周围环境数据进行采集,拟合其他车辆的行驶路径,预测目标车辆不同时刻的位置,并根据AEB算法,计算从当前时刻开始,两车保持当前车速行驶直到发生碰撞所需的时间,当后车车速大于前车车速时进行TTC算法,根据TTC值决定AEB触发类型,确定预警等级。
Vehicle collision early warning method
一种车辆碰撞预警方法
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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