CN102426802B - Safety early warning method of bus at bus stop in vehicle Internet based environment - Google Patents

Abstract

Translated fromChinese

一种基于车联网环境下公交车在公交站点安全预警方法，车联网包括车辆智能终端、路边基座和公交安全信息服务中心，车辆智能终端包括：信息采集模块，用以使用定位系统、传感器及微处理器来获得车辆运行信息；无线通讯模块，用以使车辆信息系统与公交安全信息中心系统进行单向或双向通讯；信息处理模块，用以处理来自车载数据库和通讯系统的数据，并结合地理信息系统技术，给驾驶员提供人机接口；安全状态判别模块，用以依照信息处理模块的结果，对安全状态进行判别并能够接收车辆上电子控制单元的命令；显示报警模块，用以根据安全状态判别模块的结果，将得到危险警告信息进行发布。本发明实现智能安全预警、有效消除安全隐患。

A method for early warning of bus safety at bus stops based on the Internet of Vehicles environment. The Internet of Vehicles includes a vehicle intelligent terminal, a roadside base, and a bus safety information service center. The vehicle intelligent terminal includes: an information collection module for using a positioning system, a sensor And the microprocessor to obtain the vehicle running information; the wireless communication module is used to make the vehicle information system and the bus safety information center system conduct one-way or two-way communication; the information processing module is used to process the data from the on-board database and communication system, and Combined with geographic information system technology, it provides the driver with a man-machine interface; the safety state discrimination module is used to judge the safety state according to the results of the information processing module and can receive commands from the electronic control unit on the vehicle; the display alarm module is used to According to the results of the safety state discrimination module, the danger warning information will be obtained and issued. The invention realizes intelligent safety early warning and effectively eliminates potential safety hazards.

Description

Translated fromChinese

一种基于车联网环境下公交车在公交站点安全预警方法A safety warning method for buses at bus stops based on Internet of Vehicles environment

技术领域technical field

本发明涉及一种公交车站点的智能辅助控制方法。The invention relates to an intelligent auxiliary control method for a bus stop.

背景技术Background technique

城市公交站点是城市道路的基础设施，是公交车与服务对象乘客建立的联系，因此保证公交站点的公交安全具有重要意义。公交站点附近往往等候公交出行公众较多，车辆密集，公交车在进入站点和出站重新汇入车道过程中，容易与原车道行驶的车辆发生交织，严重时引发事事故。为方便乘客乘车及零距离换乘，不同公交线路的站点常常设置在一起，这往往会造成公交车在公交站点前大排长龙的现象，前车还未出站，后车接踵而至，造成公交车在公交站点停靠无秩序，后面公交完成停靠服务后还没等前面公交完成停靠服务离站就超越其驶出站台，不仅影响公交车辆的运行效率，而且存在较大的安全隐患。此外，行人和乘客的不良交通行为对公交车安全停靠非常不利.例如乘客站到了站台的停车道上候车，成为公交事故的诱因。因此，以上的情况都将导致公交车行驶在公交站点的危险性提高。Urban bus stops are the infrastructure of urban roads and the connection between buses and passengers. Therefore, it is of great significance to ensure the safety of public transport at bus stops. There are often many people waiting for the bus near the bus station, and the vehicles are dense. When the bus enters the station and exits the station and remerges into the lane, it is easy to interweave with the vehicles driving in the original lane, which may cause accidents in serious cases. For the convenience of passengers and zero-distance transfers, stops of different bus lines are often set up together, which often results in a long queue of buses in front of the bus stops. Cause the bus to stop at the bus stop in an orderly manner, after the back bus completes the stop service and has not waited for the front bus to complete the stop service and leave the station, it will overtake it and drive out of the platform, which not only affects the operating efficiency of the bus vehicle, but also has a greater safety hazard. In addition, the bad traffic behavior of pedestrians and passengers is very unfavorable to the safe parking of buses. For example, passengers stand on the parking lane of the platform and wait for the bus, which becomes the cause of bus accidents. Therefore, above situation all will cause the danger of bus driving to improve at bus stop.

发明内容Contents of the invention

为了克服已有公交车站点的无智能控制、存在安全隐患的不足，本发明提供一种实现智能安全预警、有效消除安全隐患的基于车联网环境下公交车在公交站点安全预警方法。In order to overcome the lack of intelligent control and potential safety hazards in existing bus stops, the present invention provides a safety warning method for buses at bus stops based on the Internet of Vehicles environment that realizes intelligent safety warnings and effectively eliminates safety hazards.

本发明解决其技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve its technical problems is:

一种基于车联网环境下公交车在公交站点安全预警方法，所述车联网包括车辆智能终端、路边基座和公交安全信息服务中心，所述车辆智能终端包括：信息采集模块，用以使用定位系统、传感器及微处理器来获得车辆运行信息；无线通讯模块，用以使车辆信息系统与公交安全信息中心系统进行单向或双向通讯；信息处理模块，用以处理来自车载数据库和通讯系统的数据，并结合地理信息系统技术，给驾驶员提供人机接口；安全状态判别模块，用以依照信息处理模块的结果，对安全状态进行判别并能够接收车辆上电子控制单元的命令，使车辆具有状态识别和自身故障诊断功能；显示报警模块，用以根据安全状态判别模块的结果，将得到危险警告信息进行发布；所述车辆智能终端与路边基通信连接，所述路边基与所述公交安全信息服务中心通信连接；所述安全预警方法包括：A method for early warning of bus safety at a bus stop based on the Internet of Vehicles environment, the Internet of Vehicles includes a vehicle intelligent terminal, a roadside base, and a public transportation safety information service center, and the vehicle intelligent terminal includes: an information collection module for use Positioning system, sensors and microprocessors to obtain vehicle running information; wireless communication module, used to enable one-way or two-way communication between the vehicle information system and the bus safety information center system; information processing module, used to process information from the on-board database and communication system combined with geographic information system technology to provide the driver with a man-machine interface; the safety state discrimination module is used to judge the safety state according to the results of the information processing module and can receive commands from the electronic control unit on the vehicle to make the vehicle It has the functions of state identification and self-fault diagnosis; the display alarm module is used to publish the danger warning information according to the result of the safety state discrimination module; the vehicle intelligent terminal is connected to the roadside base by communication, and the roadside base Described bus safety information service center communication connection; Described safety warning method comprises:

当公交车减速进站时，采用超声波传感器检测从本车后面对角线方向，如果公交驾驶员打转向信号准备换道行驶，但有车从此方向接近并超过设定安全距离时，通过车辆智能终端的识别将发出警告；当公交车加速离站时，超声波传感器检测换入车道本车前方对角线方向的正在接近的公交车的车辆，当距离超过设定安全距离时通过车辆智能终端的识别将发出警告。When the bus decelerates and enters the station, the ultrasonic sensor is used to detect the diagonal direction from the back of the bus. If the bus driver turns the turn signal to change lanes, but there is a car approaching from this direction and exceeding the set safety distance, the passing vehicle will The identification of the intelligent terminal will issue a warning; when the bus accelerates to leave the station, the ultrasonic sensor detects the vehicle that is approaching the bus in the diagonal direction in front of the vehicle, and passes through the intelligent terminal of the vehicle when the distance exceeds the set safety distance. will issue a warning.

进一步，所述安全预警方法还包括：在公交车辆内安装视频检测传感器，用于辅助驾驶员检测公交站点内的状况，通过公交站点内移动行为进行采样信号检测，包括行人和车辆存在是否影响当前公交车辆进站，检测的信息通过总线系统传递给信息处理模块，信息处理模块基于移动检测原理的危险行为判断识别算法和人脸识别算法对影响公交车辆停靠的车辆和行人进行识别跟踪，并通过安全状态识别模块对决策信息进行安全状态的判别，得出危险警告信息，危险警告信息在车载内部网下通过显示报警单元发布，驾驶员得到报警信息。Further, the safety warning method also includes: installing a video detection sensor in the bus to assist the driver to detect the situation in the bus stop, and to perform sampling signal detection through the movement behavior in the bus stop, including whether the presence of pedestrians and vehicles affects the current situation. When the bus enters the station, the detected information is transmitted to the information processing module through the bus system. The information processing module recognizes and tracks the vehicles and pedestrians that affect the bus stop through the dangerous behavior judgment and recognition algorithm based on the mobile detection principle and the face recognition algorithm. The safety state recognition module judges the safety state of the decision-making information, and obtains the danger warning information. The danger warning information is released through the display alarm unit under the vehicle intranet, and the driver gets the alarm information.

再进一步，公交安全信息中心通过广域无线通信技术进行信息收发，并将所述危险警告信息通过电子站牌发布，公交电子站牌上的报警器被激活，警示影响公交车辆进站的行人和车辆。Furthermore, the bus safety information center sends and receives information through wide-area wireless communication technology, and releases the danger warning information through the electronic stop sign. vehicle.

更进一步，所述安全预警方法还包括：当多辆公交车同时到达站点时，通过车辆智能终端中的无线通信模块，公交车辆之间的运行状况能够通过车-车通信方式实现信息共享，同时车载智能终端能够对公交车前后距离进行探测，如果跟驰公交车辆行驶速度超过有序进站的预设界限时，根据安全判别模块中安全跟车模型测算，跟驰进站公交车利用传感器信息对前方车辆和车距的检测，当发现安全车距不足时，及时向驾驶员发出报警提示。Furthermore, the safety early warning method also includes: when multiple buses arrive at the site at the same time, through the wireless communication module in the vehicle intelligent terminal, the operating conditions between the buses can be shared through vehicle-to-vehicle communication, and at the same time The vehicle-mounted intelligent terminal can detect the distance between the front and rear of the bus. If the driving speed of the car-following bus exceeds the preset limit for orderly entering the station, according to the safe car-following model in the safety judgment module, the car-following bus uses the sensor information For the detection of the vehicle in front and the distance between vehicles, when the safe distance between vehicles is found to be insufficient, an alarm will be sent to the driver in time.

所述安全预警方法还包括：当公交站点有交通事故发生时，驾驶员通过车载智能终端中的人机接口，将公交站点的异常状况输入人机耦合单元，并通过无线通信和路边基实现的车-路通信，并发送到公交安全信息服务中心，所述公交安全信息服务中心生成应急方案，并将道路交通安全信息心通过广域无线通信技术发送给途经该公交站点的公交车辆。The safety early warning method also includes: when a traffic accident occurs at the bus station, the driver inputs the abnormal condition of the bus station into the man-machine coupling unit through the man-machine interface in the vehicle-mounted intelligent terminal, and realizes it through wireless communication and roadside base. Vehicle-road communication, and send to the bus safety information service center, the bus safety information service center generates an emergency plan, and sends the road traffic safety information center to the bus passing through the bus station through wide area wireless communication technology.

本发明的有益效果主要表现在：实现智能安全预警、有效消除安全隐患；减少公交车辆换道进站与出站与其他车辆发生碰撞，保证公交有序进站，减少公交车在公交站点延误，实时检测公交站点安全状况，便于公交安全运行管理。The beneficial effects of the present invention are mainly manifested in: realizing intelligent safety early warning, effectively eliminating potential safety hazards; reducing collisions between bus vehicles entering and exiting stations when changing lanes, ensuring that buses enter stations in an orderly manner, and reducing bus delays at bus stops. Real-time detection of the safety status of bus stops is convenient for bus safety operation management.

附图说明Description of drawings

图1是公交站台的车辆网的示意图。Figure 1 is a schematic diagram of a vehicle network at a bus stop.

图2是车载智能终端的示意图。Fig. 2 is a schematic diagram of a vehicle-mounted intelligent terminal.

具体实施方式Detailed ways

下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.

参照图1和图2，一种基于车联网环境下公交车在公交站点安全预警方法，所述车联网包括车辆智能终端、路边基座和公交安全信息服务中心，车载智能终端主要包括定位模块、信息采集模块、信息处理模块、安全状态判别模块、无线通讯模块和显示报警模块。信息采集模块使用定位系统、传感器及微处理器来获得车辆各部件运行信息；无线通讯模块使车辆信息系统与公交安全信息中心系统进行单向或双向通讯，使驾驶员和信息中心都能知道当前信息和其他服务性信息；信息处理模块处理来自车载数据库和通讯系统的数据，并结合地理信息系统(Geographic Information System，简称GIS)技术和专门用户程序，给驾驶员提供良好的人机接口；控制决策模块能够对信息处理模块的相应的结果对其安全状态的判别并能够接收车辆上电子控制单元的命令，使车辆具有简单的状态识别和自身故障诊断功能。显示报警模块根据控制决策的结果，将得到危险警告信息进行发布。同时在路边设置以无线数据通信、信息存储和转发为主要功能的路边基(Roadside Unit，简称RSU)，各个路边基站储存相关站点信息以及道路静态属性，并能通过无线通信或光缆等有线通信介质与公交安全信息服务中心建立通信连接。Referring to Fig. 1 and Fig. 2, a kind of method for early warning of bus safety at a bus stop based on the Internet of Vehicles environment, the Internet of Vehicles includes a vehicle intelligent terminal, a roadside base and a bus safety information service center, and the vehicle-mounted intelligent terminal mainly includes a positioning module , an information collection module, an information processing module, a security state judgment module, a wireless communication module and a display alarm module. The information collection module uses the positioning system, sensors and microprocessors to obtain the running information of various parts of the vehicle; the wireless communication module enables the vehicle information system to communicate with the bus safety information center system in one-way or two-way, so that both the driver and the information center can know the current situation. information and other service information; the information processing module processes data from the on-board database and communication system, and combines Geographic Information System (GIS for short) technology and special user programs to provide the driver with a good man-machine interface; control The decision-making module can judge the safety status of the corresponding results of the information processing module and can receive commands from the electronic control unit on the vehicle, so that the vehicle has simple state recognition and self-fault diagnosis functions. According to the result of control decision-making, the display alarm module will get dangerous warning information and publish it. At the same time, a Roadside Unit (RSU) is set up on the roadside with wireless data communication, information storage and forwarding as the main functions. The wired communication medium establishes a communication connection with the bus safety information service center.

公交车辆联网包括2个部分；①在车辆上安装车载智能终端并通过信息传感设备与车辆设备连接起来，实现智能化监控和管理，即车载内部网。车载内部网使用汽车现场总线作为基本通信总线，如汽车CAN(Controller Area Network)总线、LIN(Local InterconnectNetwork)总线，可采用总线型与星型相结合的网络拓扑结构连接传感器，通过车载网络可进行汽车控制以及实现车内数据交换和信息共享相应的无线通信模块可作为一个无线接口被搭建在汽车总线系统网络上，数据可在内部总线系统网上传输。②用移动通信技术把车载终端与外部网络连接起来，实现公交车辆间、公交车辆和路边基站之间的信息交换，即车辆外部网。车辆外部网交互的数据可通过广域无线通信技术，如副信道调频广播、CDPD技术、GSM/GPRS技术进行收发，同时采用局域无线通信技术，如专用短程通信DSRC，主要应用于路边基通过专用DSRC(Dedicated Short Range Communication)储存接收周围车辆的实时运动状态信息、相关站点信息和道路属性信息，同时进入路边基无线射频覆盖范围内的公交车辆接收相关站点的信息，道路属性数据等。The bus network includes two parts; ① Install the vehicle intelligent terminal on the vehicle and connect it with the vehicle equipment through information sensing equipment to realize intelligent monitoring and management, that is, the vehicle intranet. The vehicle internal network uses the vehicle field bus as the basic communication bus, such as the vehicle CAN (Controller Area Network) bus and the LIN (Local Interconnect Network) bus. The corresponding wireless communication module for vehicle control and realizing in-vehicle data exchange and information sharing can be built on the vehicle bus system network as a wireless interface, and data can be transmitted on the internal bus system network. ②Use mobile communication technology to connect the vehicle-mounted terminal with the external network to realize the information exchange between public transport vehicles, public transport vehicles and roadside base stations, that is, the vehicle external network. The data exchanged by the vehicle's external network can be sent and received through wide-area wireless communication technologies, such as sub-channel FM broadcasting, CDPD technology, and GSM/GPRS technology. At the same time, local area wireless communication technologies, such as dedicated short-range communication DSRC, are mainly used Through dedicated DSRC (Dedicated Short Range Communication) to store and receive real-time motion status information of surrounding vehicles, related site information and road attribute information, and at the same time, buses entering the roadside base radio frequency coverage area receive information about related sites, road attribute data, etc. .

预警方法说明如下：The warning method is described as follows:

(1)公交车辆减速进站和加速出站是一个换道过程，如图当公交车减速进站时此时可采用利超声波传感器检测从本车后面对角线方向，如果公交驾驶员打转向信号准备换道行驶，但有车从此方向接近时，通过车载智能终端的识别将发出警告。当公交车加速离站时，超声波传感器可检测换入车道本车前方对角线方向的正在接近的公交车的车辆。(1) The bus vehicle decelerates into the station and accelerates out of the station is a process of changing lanes. As shown in the figure, when the bus decelerates into the station, the ultrasonic sensor can be used to detect the diagonal direction from the back of the bus. The turn signal is ready to change lanes, but when there is a car approaching from this direction, a warning will be issued through the recognition of the on-board smart terminal. When the bus accelerates to leave the station, the ultrasonic sensor can detect the vehicle of the approaching bus in the diagonal direction in front of the vehicle that changes into the lane.

(2)在公交车辆停靠过程中，为了保证公交车辆免受周围车辆、行人的干扰，在公交车辆装有视频检测传感器，用于辅助驾驶员检测公交站点内的状况，通过公交站点内移动行为进行移动行为进行采样信号检测，包括行人和车辆存在是否影响当前公交车辆进站，检测的信息通过相应的总线系统传递给相应的信息处理模块，信息处理模块基于移动检测原理的危险行为判断识别算法和人脸识别算法对影响公交车辆停靠的车辆和行人进行识别跟踪，并通过安全状态识别模块对其相应的决策信息进行安全状态的判别，得出的相应的危险警告信息，危险警告信息一方面在车载内部网下通过显示报警单元发布，驾驶员得到相应的报警信息，可立即调整当前的行驶状态，采取相应的规避措施，另一方面在车辆外部网，公交安全信息中心通过广域无线通信技术进行信息收发，并将相应的危险警告通过电子站牌发布，公交电子站牌上的报警器其被激活，以警示影响公交车辆进站的行人和车辆。(2) During the parking process of the bus, in order to ensure that the bus is free from the interference of surrounding vehicles and pedestrians, the bus is equipped with a video detection sensor to assist the driver to detect the situation in the bus station, and through the movement behavior in the bus station Carry out sampling signal detection for mobile behavior, including whether the presence of pedestrians and vehicles affects the current bus vehicle entering the station, and the detected information is transmitted to the corresponding information processing module through the corresponding bus system. The information processing module judges and recognizes the algorithm of dangerous behavior based on the principle of mobile detection And face recognition algorithm to identify and track the vehicles and pedestrians that affect the bus stop, and judge the safety state of the corresponding decision information through the safety state recognition module, and obtain the corresponding danger warning information. On the one hand, the danger warning information In the internal network of the vehicle, the driver gets the corresponding alarm information by displaying the alarm unit, and can immediately adjust the current driving state and take corresponding evasive measures. The technology sends and receives information, and releases the corresponding danger warning through the electronic stop sign, and the alarm on the bus electronic stop sign is activated to warn pedestrians and vehicles that affect the entry of buses.

(3)多辆公交车同时到达站点时，后面的公交车往往会超越前方公交车辆在相邻车道上停靠，等前面公交车完成停靠服务出站后再换道驶入站内停靠，严重阻碍了本车道和相邻车道车流的运行，同时由于公交站点停靠的公交车辆较多，造成组织混乱，由于公交车辆上都装有车载智能终端，通过智能终端中的无线通信模块，公交车辆之间的运行状况能够通过车-车通信方式(Vehicle to Vehicle，简称V2V)实现信息共享，同时车载智能终端能够对公交车一定范围内的情况进行时时探测，一旦跟驰公交车辆行驶速度超过有序进站的预设界限时，根据安全判别模块中安全跟车模型测算和程序控制，跟驰进站公交车利用传感器信息对前方车辆和车距的实时有效检测，当发现安全车距不足时，及时向驾驶员发出报警提示。该方法能够使依次进站的公交车辆之间相互协作，减少公交车辆在进站过程中的延误，对潜在的公交车辆之间公交事故能够预警，避免公交车辆之间的碰撞和进站侧碰等事故发生。(3) When multiple buses arrive at the station at the same time, the buses behind will often overtake the front buses and stop in the adjacent lane. After the front bus completes the stop service and exits the station, it will change lanes and drive into the station to stop, which seriously hinders The operation of the traffic flow in this lane and adjacent lanes, at the same time, due to the large number of bus vehicles parked at the bus station, the organization is chaotic. Since the bus vehicles are equipped with vehicle-mounted intelligent terminals, through the wireless communication module in the intelligent terminal, the communication between the bus vehicles The operating status can be shared through vehicle-to-vehicle communication (Vehicle to Vehicle, referred to as V2V). At the same time, the vehicle-mounted intelligent terminal can constantly detect the situation within a certain range of the bus. According to the calculation and program control of the safe car-following model in the safety judgment module, the car-following incoming bus uses the sensor information to detect the vehicle in front and the distance between them in real time and effectively. The driver issues an alert. This method can make the bus vehicles that enter the station in turn cooperate with each other, reduce the delay of the bus vehicles in the process of entering the station, and can provide early warning of potential bus accidents between buses, and avoid collisions between buses and side collisions when entering the station Wait for the accident to happen.

(4)当公交站点附近有交通事故等危险事件发生时，驾驶员通过车载智能终端中的人机接口，将相应公交站点的异常状况输入人机耦合单元，并通过无线通信和路边基RSU，实现的车-路通信(Vehicle toRoadside，简称V2R)，最终公交安信息中心能够立即获得异常情况，并及时生成应急方案，并及时的将相应的道路交通安全信息心通过广域无线通信技术发送给途经该公交站点的公交车辆。(4) When dangerous events such as traffic accidents occur near the bus stop, the driver will input the abnormal situation of the corresponding bus stop into the man-machine coupling unit through the man-machine interface in the vehicle-mounted intelligent terminal, and through wireless communication and roadside RSU , the vehicle-to-road communication (Vehicle to Roadside, referred to as V2R) is realized, and finally the bus safety information center can immediately obtain abnormal situations, generate emergency plans in time, and timely send corresponding road traffic safety information centers through wide-area wireless communication technology To the bus vehicles passing through the bus stop.

本实施例在车联网环境下，并将公交车辆驾驶员、公交车辆、公交运行环境、公交安全信息服务中心应用现代网络和通讯技术将作为整个公交系统有机体，其核心是在公交车辆、公交行驶环境和公交驾驶员之间形成无线通讯协作机制，互相协作完成各自的交通行为，在公交车辆内载入车载智能终端，用于收集、处理、决策车辆运行状态的数据，当公交车辆行驶在公交站点附近，能够对运行进入公交站点的公交车辆安全状况实时检测，及时实施预警，减少公交驾驶员负担和判断错误，保证公交车辆行驶更加便捷、安全、智能。In this embodiment, under the environment of Internet of Vehicles, the application of modern network and communication technology to bus drivers, bus vehicles, bus operating environment, and bus safety information service center will be used as the whole bus system organism. A wireless communication cooperation mechanism is formed between the environment and bus drivers, and they cooperate with each other to complete their respective traffic behaviors. The vehicle-mounted intelligent terminal is loaded in the bus to collect, process, and determine the data of the vehicle's operating status. When the bus is driving on the bus Near the station, it is possible to detect the safety status of buses entering the bus station in real time, implement early warning in time, reduce the burden on bus drivers and make mistakes in judgment, and ensure that the bus driving is more convenient, safe and intelligent.

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Translated fromChinese

1.一种基于车联网环境下公交车在公交站点安全预警方法，其特征在于：所述车联网包括车辆智能终端、路边基座和公交安全信息服务中心，所述车辆智能终端包括：信息采集模块，用以使用定位系统、传感器及微处理器来获得车辆运行信息；无线通讯模块，用以使车辆信息系统与公交安全信息中心系统进行单向或双向通讯；信息处理模块，用以处理来自车载数据库和通讯系统的数据，并结合地理信息系统技术，给驾驶员提供人机接口；安全状态判别模块，用以依照信息处理模块的结果，对安全状态进行判别并能够接收车辆上电子控制单元的命令，使车辆具有状态识别和自身故障诊断功能；显示报警模块，用以根据安全状态判别模块的结果，将得到危险警告信息进行发布；所述车辆智能终端与路边基通信连接，所述路边基与所述公交安全信息服务中心通信连接；所述安全预警方法包括：1. A bus safety early warning method at a bus stop based on the Internet of Vehicles environment, characterized in that: the Internet of Vehicles includes a vehicle intelligent terminal, a roadside base and a public transport safety information service center, and the vehicle intelligent terminal includes: information The acquisition module is used to obtain vehicle operation information by using the positioning system, sensors and microprocessors; the wireless communication module is used to enable one-way or two-way communication between the vehicle information system and the bus safety information center system; the information processing module is used to process The data from the on-board database and communication system, combined with geographic information system technology, provides the driver with a man-machine interface; the safety status judgment module is used to judge the safety status according to the results of the information processing module and can receive electronic control on the vehicle The command of the unit enables the vehicle to have state recognition and self-fault diagnosis functions; the display alarm module is used to publish the danger warning information according to the result of the safety state discrimination module; Described roadside base is communicated with described bus safety information service center; Described safety early warning method comprises:当公交车减速进站时，采用超声波传感器检测从本车后面对角线方向，如果公交驾驶员打转向信号准备换道行驶，但有车从此方向接近并超过设定安全距离时，通过车辆智能终端的识别将发出警告；当公交车加速离站时，超声波传感器检测换入车道本车前方对角线方向的正在接近的公交车的车辆，当距离超过设定安全距离时通过车辆智能终端的识别将发出警告；所述安全预警方法还包括：When the bus decelerates and enters the station, the ultrasonic sensor is used to detect the diagonal direction from the back of the bus. If the bus driver turns the turn signal to change lanes, but there is a car approaching from this direction and exceeding the set safety distance, the passing vehicle will The identification of the intelligent terminal will issue a warning; when the bus accelerates to leave the station, the ultrasonic sensor detects the vehicle that is approaching the bus in the diagonal direction in front of the vehicle, and passes through the intelligent terminal of the vehicle when the distance exceeds the set safety distance. The identification of will issue a warning; the safety warning method also includes:在公交车辆内安装视频检测传感器，用于辅助驾驶员检测公交站点内的状况，通过公交站点内移动行为进行采样信号检测，包括行人和车辆存在是否影响当前公交车辆进站，检测的信息通过总线系统传递给信息处理模块，信息处理模块基于移动检测原理的危险行为判断识别算法和人脸识别算法对影响公交车辆停靠的车辆和行人进行识别跟踪，并通过安全状态判别模块对决策信息进行安全状态的判别，得出危险警告信息，危险警告信息在车载内部网下通过显示报警单元发布，驾驶员得到报警信息。Install a video detection sensor in the bus to assist the driver to detect the situation in the bus stop, and perform sampling signal detection through the movement behavior in the bus stop, including whether the presence of pedestrians and vehicles affects the current bus entry, and the detected information is transmitted through the bus The system is passed to the information processing module. The information processing module recognizes and tracks the vehicles and pedestrians that affect the parking of buses based on the dangerous behavior judgment and recognition algorithm based on the principle of mobile detection, and the safety status of the decision-making information is determined by the safety status judgment module. According to the judgment, the danger warning information is obtained, and the danger warning information is released through the display alarm unit under the vehicle intranet, and the driver gets the alarm information.2.如权利要求1所述的基于车联网环境下公交车在公交站点安全预警方法，其特征在于：公交安全信息中心通过广域无线通信技术进行信息收发，并将所述危险警告信息通过电子站牌发布，公交电子站牌上的报警器被激活，警示影响公交车辆进站的行人和车辆。2. The bus safety early warning method at bus stops based on the Internet of Vehicles environment as claimed in claim 1, wherein: the bus safety information center sends and receives information through wide area wireless communication technology, and sends and sends the dangerous warning information through electronic The stop sign is released, and the alarm on the bus electronic stop sign is activated to warn pedestrians and vehicles that affect the entry of buses.3.如权利要求1或2所述的基于车联网环境下公交车在公交站点安全预警方法，其特征在于：所述安全预警方法还包括：当多辆公交车同时到达站点时，通过车辆智能终端中的无线通信模块，公交车辆之间的运行状况能够通过车-车通信方式实现信息共享，同时车载智能终端能够对公交车前后距离进行探测，如果跟驰公交车辆行驶速度超过有序进站的预设界限时，根据安全判别模块中安全跟车模型测算，跟驰进站公交车利用传感器信息对前方车辆和车距的检测，当发现安全车距不足时，及时向驾驶员发出报警提示。3. as claimed in claim 1 or 2, based on the Internet of Vehicles environment, the bus safety warning method at the bus station is characterized in that: the safety warning method also includes: when a plurality of buses arrive at the station at the same time, through the vehicle intelligence With the wireless communication module in the terminal, the operating status of buses can be shared through vehicle-to-vehicle communication. At the same time, the vehicle-mounted intelligent terminal can detect the distance between the front and rear of the bus. When the preset limit is set, according to the calculation of the safe following model in the safety judgment module, the following bus uses the sensor information to detect the vehicle in front and the distance between vehicles. When the safe distance is found to be insufficient, an alarm will be sent to the driver in time. .4.如权利要求3所述的基于车联网环境下公交车在公交站点安全预警方法，其特征在于：所述安全预警方法还包括：当公交站点有交通事故发生时，驾驶员通过车载智能终端中的人机接口，将公交站点的异常状况输入人机耦合单元，并通过无线通信和路边基实现的车-路通信，并发送到公交安全信息服务中心，所述公交安全信息服务中心生成应急方案，并将道路交通安全信息心通过广域无线通信技术发送给途经该公交站点的公交车辆。4. The bus safety warning method at a bus stop based on the Internet of Vehicles environment as claimed in claim 3, wherein: the safety warning method also includes: when a traffic accident occurs at a bus stop, the driver passes through the vehicle-mounted intelligent terminal The human-machine interface in the bus station inputs the abnormal situation of the bus station into the man-machine coupling unit, and through the vehicle-road communication realized by wireless communication and roadside base, and sends it to the bus safety information service center, the bus safety information service center generates emergency plan, and send the road traffic safety information center to the bus passing through the bus station through wide area wireless communication technology.

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