CN103903479A - Vehicle safety driving pre-warning method and system and vehicle terminal device - Google Patents

Abstract

The invention provides a vehicle safety driving pre-warning method and system and a vehicle terminal device. By means of a vehicular network, driving information sent by an adjacent vehicle is received; when speed of a current vehicle and/or the adjacent vehicle is larger than a preset first threshold, the position and the driving direction of the adjacent vehicle relative to the current vehicle are determined; the probability of collision at a crossroad can be judged, and pre-warning is carried out when it is judged that the probability of the collision of the current vehicle and the adjacent vehicle at the crossroad exists. According to the vehicle safety driving pre-warning scheme, the information can be collected without the dependence on traditional active safety devices such as radar and sensors, the driving information of the adjacent vehicle is obtained through the vehicular network, and accordingly the information amount is large. Accordingly, the driving safety pre-warning range is larger, predictability is stronger, and driving safety of the vehicles is improved.

Description

Vehicle safe driving method for early warning, system and vehicle termination equipment

Technical field

The present invention relates to intelligent transportation and wireless communication technology field, be specifically related to a kind of vehicle safe driving method for early warning, system and vehicle termination equipment.

Background technology

Along with the development of highway and the raising of automotive performance, automobile driving speed is corresponding quickening also, in addition the increase of automobile quantity and communications and transportation are day by day busy, motor-vehicle accident increases caused casualties and property loss, become a social concern can not be ignored, it is extremely important that the traffic safety of automobile more seems.

Traditional passive security measure, for example, by securing band, air bag, bumper etc. are set, the harm that can not fundamentally avoid traffic accident and bring far away, therefore, automobile can initiatively be taken measures, and the active safety of avoiding accident to occur has become the developing important ring of current automotive engineering.Active safety is mainly realized by vehicle safe driving early warning system, the in the situation that vehicle safe driving early warning system can be overtaking other vehicles, move backward, change, dense fog, rainy day etc. are easily caused danger, the information of motor vehicle environment necessity is provided to driver, and can automatically take measures, effectively Accident prevention occurs.

Current vehicle safe driving initiatively early warning is mainly the sensor carrying by vehicle itself, the equipment such as radar gather traffic information or adjacent car information, and judge by vehicular control unit whether the information collecting constitutes a threat to the driving safety of this car, but, this vehicle safe driving by the sensor Information Monitoring driving safety that initiatively alarm mode is found threatens extremely urgent often, be only applicable in being about to have an accident, avoid the generation of accident by taking urgent measure, its foresight is not strong, cannot make driver select in advance other more reasonable, safer, mode is avoided the generation of accident more easily.

Therefore, need a kind of vehicle safe driving early warning scheme badly to solve above technical matters.

Summary of the invention

The present invention is directed to above shortcomings in prior art, a kind of vehicle safe driving method for early warning, system and vehicle termination equipment are provided, in order to solve the poor problem of existing scheme foresight, to improve the security of Vehicle Driving Cycle.

The present invention, for solving the problems of the technologies described above, adopts following technical scheme:

The invention provides a kind of vehicle safe driving method for early warning, described method is applied to car networking, and the method comprises the steps:

Receive the driving information that adjacent car sends, described driving information comprises the speed of a motor vehicle, travel direction and position;

This car speed of a motor vehicle and the adjacent car speed of a motor vehicle are compared with default first threshold respectively, the Ruo Benche speed of a motor vehicle and/or the adjacent car speed of a motor vehicle are greater than first threshold, according to the travel direction of the position of adjacent car and this car and this truck position, determine the position of adjacent car with respect to this car, and according to the travel direction of the travel direction of adjacent car and Ben Che, determine the travel direction of adjacent car with respect to this car;

According to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, if the possibility that exists crossroad to bump against is carried out early warning.

Preferably, this truck position comprises longitude and the latitude of this car, and adjacent truck position comprises longitude and the latitude of adjacent car;

Described according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, if the possibility that exists crossroad to bump against is sent early warning, specifically comprise:

According to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge whether adjacent car and this car can cross, if can cross, according to this truck position, this car travel direction, adjacent truck position and adjacent car travel direction, the joint position of calculating this car and adjacent car, described joint position comprises longitude and the latitude of joint;

According to the latitude of described joint, judge that described joint is whether in the front of this car driving path, if in the front of this car driving path, according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculate the time of this car to described joint, and, according to described joint position, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, and calculate this car and the mistiming of adjacent car to described joint;

Described mistiming and default Second Threshold are compared, if the described mistiming is less than Second Threshold, carry out early warning.

Preferably, in vehicle, be also provided with multiple time threshold scopes, and corresponding relation between described each time threshold scope and warning level;

If the described mistiming is less than Second Threshold,, before carrying out early warning, described method also comprises:

According to described mistiming and default threshold range, determine the time threshold scope that the described mistiming is affiliated, and according to the corresponding relation between described each time threshold scope and warning level, determine warning level;

Describedly carry out early warning, specifically comprise: according to described warning level, carry out early warning.

Preferably, be preset with the prewarning area for carrying out crossroad anticollision in vehicle, described prewarning area comprises left prewarning area and right prewarning area;

Described definite adjacent car, with respect to the position of this car, specifically comprises: judge that adjacent car is whether within the left prewarning area in this car, or whether within the right prewarning area in this car;

Described definite adjacent car comprises with respect to the travel direction of this car: determine that adjacent car travels with respect to this car left or determine adjacent car with respect to this car to right travel;

Described according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge that whether adjacent car and this car can cross, and specifically comprise:

If adjacent car is within the right prewarning area of this car, and adjacent car travels left with respect to this car, or, adjacent car within the left prewarning area of this car, and adjacent car with respect to this car to right travel, judge that adjacent car can cross with this car.

Preferably, described left prewarning area is (135 °, 225 °), and right prewarning area is (45 °, 45 °);

In the following manner, judge that adjacent car is whether within the left prewarning area in this car or within the no right prewarning area in this car:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, according to the longitude of this car and latitude, calculates longitude and the latitude of this car under postrotational coordinate system; And according to the longitude of adjacent car and latitude, calculate longitude and the latitude of adjacent car under postrotational coordinate system;

Calculate longitude difference and the latitude difference of adjacent car and this car;

According to the longitude difference of adjacent car and this car, latitude difference and default left prewarning area and right prewarning area, judge that adjacent car is whether within the left prewarning area in this car or within right prewarning area; Wherein, when described longitude difference is greater than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the right prewarning area of this car; When described longitude difference is less than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the left prewarning area of this car.

Preferably, the position of the joint of described this car of calculating and adjacent car, specifically comprises:

Calculate the longitude lng of the joint of this car and adjacent car according to formula (1):

$\ln g=\frac{\mathrm{lat}2-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1+\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g1*\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g2*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(1\right)$

Calculate the latitude lat of the joint of this car and adjacent car according to formula (2):

$\mathrm{lat}=\frac{\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}2*2\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1*\cot \mathrm{\&alpha;}2+(\ln g1-\ln g2)*\cot \mathrm{\&alpha;}1*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(2\right)$

Wherein, the longitude that lng1 is this car, the latitude that lat1 is this car, the longitude that lng2 is adjacent car, the latitude that lat2 is adjacent car, the travel direction thatα 1 is this car, the travel direction thatα 2 is adjacent car.

Preferably, describedly judge that described joint, whether in the front of this car driving path, specifically comprises:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, calculates the latitude of the described joint under latitude and the postrotational coordinate system of this car under postrotational coordinate system;

The latitude of the described joint under postrotational coordinate system is compared with the latitude of this car under postrotational coordinate system, if the former is greater than the latter, judge the front of described joint at this car driving path.

Preferably, described according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculate the time of this car to described joint, specifically comprise:

Calculate the time t1 of this car to described joint according to formula (3):

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}1=\frac{d1}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}1\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}1\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g1)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1};---\left(3\right)$

Wherein, d1 is the distance of this truck position to joint position, and v1 is this car speed of a motor vehicle, the latitude that lat1 is this car, the latitude that lat is joint, the longitude that lng1 is this car, the longitude that lng is joint;

Described according to the position of described joint, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, specifically comprise:

Calculate the time t2 of adjacent car to described joint according to formula (4):

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}2=\frac{d2}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}2\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}2\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g2)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2};---\left(4\right)$

Wherein, d2 is the distance of adjacent truck position to joint position, and v2 is the adjacent car speed of a motor vehicle, the latitude that lat2 is adjacent car, the latitude that lat is joint, the longitude that lng2 is adjacent car, the longitude that lng is joint.

Preferably, described according to the travel direction of the travel direction of adjacent car and Ben Che, determine the travel direction of adjacent car with respect to this car, specifically comprise:

According to the travel direction of the travel direction of adjacent car and Ben Che, calculate the travel direction differential seat angle △ α of adjacent car and this car; △ α=(α 2-α 1+360) %360,α 1 is this car travel direction,α 2 is adjacent car travel direction;

In the time of 45< △ α <135, determine that relative this car of adjacent car is to right travel;

In the time of 225< △ α <315, determine that relative this car of adjacent car travels left.

Further, described method also comprises: receive the road conditions early warning information that car networked server sends, and in the time receiving described road conditions early warning information, carry out early warning.

Preferably, described in carry out early warning, specifically comprise: start the motor of driver seat below, so that driver seat produces vibration.

The present invention also provides a kind of vehicle safe driving prior-warning device, and this application of installation is networked in car, comprising: DSRC communication unit, processing unit and prewarning unit;

DSRC unit, the driving information sending for receiving adjacent car, and send driving information to adjacent car, described driving information comprises the speed of a motor vehicle, travel direction and position;

Processing unit, for this car speed of a motor vehicle and the adjacent car speed of a motor vehicle are compared with default first threshold respectively, the Ruo Benche speed of a motor vehicle and/or the adjacent car speed of a motor vehicle are greater than first threshold, according to the travel direction of the position of adjacent car and this car and this truck position, determine the position of adjacent car with respect to this car, and according to the travel direction of the travel direction of adjacent car and Ben Che, determine the travel direction of adjacent car with respect to this car; And, according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, when exist crossroad to bump against possibility time, indication prewarning unit is carried out early warning.

Preferably, this truck position comprises longitude and the latitude of this car, and adjacent truck position comprises longitude and the latitude of adjacent car;

Described processing unit specifically for, according to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge whether adjacent car and this car can cross, if can cross, according to this truck position, this car travel direction, adjacent truck position and adjacent car travel direction, the joint position of calculating this car and adjacent car, described joint position comprises longitude and the latitude of joint; And, according to the latitude of described joint, judge that described joint is whether in the front of this car driving path, if in the front of this car driving path, according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculate the time of this car to described joint, and, according to described joint position, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, and calculate this car and the mistiming of adjacent car to described joint; And, described mistiming and default Second Threshold are compared, in the time that the described mistiming is less than Second Threshold, indication prewarning unit is carried out early warning.

Preferably, in described processing unit, be also provided with multiple time threshold scopes, and corresponding relation between described each time threshold scope and warning level;

Described processing unit also for: according to described mistiming and default threshold range, determine the time threshold scope under the described mistiming, and according to the corresponding relation between described each time threshold scope and warning level, determine warning level; And according to described warning level, indication prewarning unit is carried out early warning.

Preferably, be preset with the prewarning area for carrying out crossroad anticollision in described processing unit, described prewarning area comprises left prewarning area and right prewarning area;

Described processing unit specifically for, judge that adjacent car is whether within the left prewarning area in this car, or whether within the right prewarning area in this car; And, determine that adjacent car travels with respect to this car left or determine adjacent car with respect to this car to right travel; And within the right prewarning area of adjacent car at this car, and adjacent car travels left with respect to this car, or adjacent car is within the left prewarning area of this car, and adjacent car during to right travel, judges that adjacent car can cross with this car with respect to this car.

Preferably, described left prewarning area is (135 °, 225 °), and right prewarning area is (45 °, 45 °);

Described processing unit specifically for, in the following manner, judge that adjacent car is whether within the left prewarning area in this car or within the no right prewarning area in this car:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, according to the longitude of this car and latitude, calculates longitude and the latitude of this car under postrotational coordinate system; And according to the longitude of adjacent car and latitude, calculate longitude and the latitude of adjacent car under postrotational coordinate system; Calculate longitude difference and the latitude difference of adjacent car and this car; According to the longitude difference of adjacent car and this car, latitude difference and default left prewarning area and right prewarning area, judge that adjacent car is whether within the left prewarning area in this car or within right prewarning area; Wherein, when described longitude difference is greater than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the right prewarning area of this car; When described longitude difference is less than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the left prewarning area of this car.

Preferably, described processing unit specifically for, calculate the longitude lng of the joint of this car and adjacent car according to formula (1):

$\ln g=\frac{\mathrm{lat}2-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1+\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g1*\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g2*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(1\right)$

Calculate the latitude lat of the joint of this car and adjacent car according to formula (2):

$\mathrm{lat}=\frac{\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}2*2\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1*\cot \mathrm{\&alpha;}2+(\ln g1-\ln g2)*\cot \mathrm{\&alpha;}1*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(2\right)$

Wherein, the longitude that lng1 is this car, the latitude that lat1 is this car, the longitude that lng2 is adjacent car, the latitude that lat2 is adjacent car, the travel direction that α 1 is this car, the travel direction that α 2 is adjacent car.

Preferably, described processing unit specifically for, by the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, calculates the latitude of the described joint under latitude and the postrotational coordinate system of this car under postrotational coordinate system; The latitude of the described joint under postrotational coordinate system is compared with the latitude of this car under postrotational coordinate system, if the former is greater than the latter, judge the front of described joint at this car driving path.

Preferably, described processing unit specifically for, calculate this car to the time t1 of described joint according to formula (3):

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}1=\frac{d1}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}1\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}1\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g1)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1};---\left(3\right)$

Wherein, d1 is the distance of this truck position to joint position, and v1 is this car speed of a motor vehicle, the latitude that lat1 is this car, the latitude that lat is joint, the longitude that lng1 is this car, the longitude that lng is joint;

Calculate the time t2 of adjacent car to described joint according to formula (4):

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}2=\frac{d2}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}2\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}2\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g2)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2};---\left(4\right)$

Wherein, d2 is the distance of adjacent truck position to joint position, and v2 is the adjacent car speed of a motor vehicle, the latitude that lat2 is adjacent car, the latitude that lat is joint, the longitude that lng2 is adjacent car, the longitude that lng is joint.

Preferably, described processing unit specifically for, according to the travel direction of the travel direction of adjacent car and Ben Che, calculate the travel direction differential seat angle △ α of adjacent car and this car; △ α=(α 2-α 1+360) %360,α 1 is this car travel direction,α 2 is adjacent car travel direction; In the time of 45< △ α <135, determine that relative this car of adjacent car is to right travel; In the time of 225< △ α <315, determine that relative this car of adjacent car travels left.

Further, this vehicle termination equipment also comprises 3G unit, described 3G unit also for, receive the road conditions early warning information that car networked server sends;

Described processing unit also for, while receiving described road conditions early warning information in described 3G unit, indicate described prewarning unit to carry out early warning.

Described prewarning unit specifically for, start the motor of driver seat below, so that driver seat produces vibration.

The present invention also provides a kind of vehicle safe driving early warning system, and this system applies is networked in car, comprising: the vehicle termination equipment described in server and at least two.

Vehicle safe driving method for early warning provided by the invention, system and vehicle termination equipment, utilize car networking to receive the driving information that adjacent car sends, and in the time that Ben Che and/or the adjacent car speed of a motor vehicle are greater than default first threshold, determine position and the travel direction of adjacent car with respect to this car, and carry out crossroad and bump against possibility judgement, judge Ben Che and adjacent car exist crossroad bump against possibility time, carry out early warning, this vehicle safe driving early warning scheme does not rely on radar, the active safety equipment Information Monitoring that sensor is traditional, but network and obtain the driving information of adjacent car by means of car, the quantity of information of obtaining is larger, the driving safety early warning range of realizing is thus larger, foresight is stronger, improve the security of Vehicle Driving Cycle.

Accompanying drawing explanation

The network architecture schematic diagram of the vehicle safe driving early warning system that Fig. 1 provides for the embodiment of the present invention;

The vehicle safe driving early warning schematic flow sheet that Fig. 2 provides for the embodiment of the present invention;

The schematic diagram of the prewarning area that Fig. 3 provides for the embodiment of the present invention;

The judgement schematic flow sheet of possibility is bumped against in this car that Fig. 4 provides for the embodiment of the present invention and adjacent car crossroad;

The structural representation of the vehicle termination equipment that Fig. 5 provides for the embodiment of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in the present invention, the technical scheme in the present invention is carried out to clear, complete description, obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work, belongs to the scope of protection of the invention.

At present, urbanization traffic is progressively to intelligent transportation development, and car networking is exactly an aspect important in intelligent transportation.Car networking, refer to the radio communication device being loaded on vehicle, realize on information network platform the attribute information to all vehicles and quiet, multidate information extracts and effectively utilize, and effectively supervise and provide integrated service according to different functional requirements to the running status of all vehicles, and realize the information interaction between car and car, Che Yulu, car and people.

The invention provides a kind of vehicle safe driving early warning scheme, network and obtain adjacent car driving information and/or road conditions early warning information by car, realize communicating by letter between vehicle and server, vehicle and vehicle, in the time there is threatening the situation of vehicle safe driving, carry out early warning, so that driver can control vehicle in advance, thereby guarantee vehicle driving safety.

Below in conjunction with Fig. 1, the network architecture of the vehicle safe driving early warning system that the embodiment of the present invention is provided describes.As shown in Figure 1, this vehicle safe driving early warning system comprises:server 1 andvehicle termination 2,vehicle termination 2 can be multiple, in embodiments of the present invention, describe as an example of 2vehicle terminations 2 example, such as this car vehicle termination (being this car) and adjacent car vehicle termination (being adjacent car).Betweenserver 1 andvehicle termination 2, and can network and communicate by car between eachvehicle termination 2,server 1 can send road conditions early warning information tovehicle termination 2, the road conditions early warning information thatvehicle termination 2 can send according toserver 1 is carried out early warning, also the driving information of this car alternately between eachvehicle termination 2, and the driving information that can send according toother vehicle terminations 2 carries out crossroad and bump against possibility judgement, in the situation that existing crossroad to bump against possibility, carry out early warning.

Vehicle termination 2 can comprise: 3G (3rd-generation, 3G (Third Generation) Moblie technology) unit, DSRC (Dedicated Short Range Communications, Dedicated Short Range Communications, technology) unit, processing unit and prewarning unit, 3G unit is for communicating by letter withserver 1, DSRC unit for and the DSRC unit of adjacent car between carry out V2V (Vehicle to Vehicle) short haul connection, processing unit is used for carrying out crossroad and bumps against possibility judgement, and prewarning unit is used for carrying out early warning.

In processing unit, be preset with first threshold V and Second Threshold T, first threshold V is used for judging whether this car and adjacent car run at high speed, and Second Threshold T arrives the whether safety of the time interval of two car joints for judging this car and adjacent car.In processing unit, be also preset with the early warning angle θ for preventing that vehicle from bumping against at the parting of the ways, θ has reflected the size of Vehicle Driving Cycle blind area, and conventionally, θ gets 45 degree, and early warning angle θ forms prewarning area, and prewarning area is the blind area of vehicle.

Below in conjunction with Fig. 2, vehicle safe driving early warning flow process is elaborated, this flow process is mainly used in carrying out crossroad and bumps against early warning, and as shown in Figure 2, this flow process comprises the following steps:

Step 201, receives the driving information that adjacent car sends, and driving information comprises the speed of a motor vehicle, travel direction and position.

Concrete, between this car and adjacent car, can carry out V2V (Vehicle to Vehicle) communicates by letter, this communication mode is conventionally within the scope of 300-500 rice, the DSRC unit of this car can receive the driving information that other vehicles send, and also can send to other vehicles the driving information of this car.

In the time that the distance of adjacent car and this car reaches the V2V communication range of two cars, two cars can send the driving information of vehicle separately mutually by DSRC unit, for example, adjacent car sends the driving information of adjacent car to this car by DSRC unit, accordingly, the DSRC unit of this car receives the driving information that adjacent car sends, thereby realizes the V2V communication of two cars.In Vehicle Driving Cycle process, vehicle can pass through CAN (Controller Area Network, controller local area network) bus and obtain the driving information of this car, and its specific implementation belongs to prior art, does not repeat them here.

Driving information can comprise: the speed of a motor vehicle, travel direction and position, position is the coordinate of vehicle, can represent by longitude and latitude.

Step 202, compares this car speed of a motor vehicle and the adjacent car speed of a motor vehicle respectively with default first threshold.

Concrete, this car speed of a motor vehicle is v1, the adjacent car speed of a motor vehicle is v2, respectively v1 and v2 is compared with first threshold V.

Step 203, the Ruo Benche speed of a motor vehicle and/or the adjacent car speed of a motor vehicle are greater than first threshold, perform step 204, otherwise, process ends.

Concrete, if v1>V, or, v2>V, or v1>V and v2>V, illustrate that in this car and adjacent car, at least one car run at high speed, in the situation that travel speed exceedes first threshold V, if two cars cross at the parting of the ways, driver is difficult to dodge timely and effectively, therefore needs further to judge whether to exist the possibility of crossroad collision, to carry out early warning, perform step 204 and subsequent step; Ruo Benche speed of a motor vehicle v1 and adjacent car speed of a motor vehicle v2 are all not more than first threshold V, be v1≤V and v2≤V, illustrate that two cars all do not run at high speed, even if two cars cross at the parting of the ways, under such travel speed, driver also can process in time, can think that Vehicle Driving Cycle is safer, without judgement and the early warning of carrying out the possibility bumping against follow-up crossroad, this flow process finishes.

Step 204, according to the travel direction of the position of adjacent car and this car and this truck position, determines the position of adjacent car with respect to this car.

Concrete, can be by judging that adjacent car whether within the prewarning area of this car, determines the position of adjacent car with respect to this car.Fig. 3 has provided the schematic diagram of prewarning area, and as shown in the figure, prewarning area comprises left prewarning area and right prewarning area, and left prewarning area is (135 °, 225 °), and right prewarning area is (45 °, 45 °).In this car driving process, this car driver can't see the vehicle in the left prewarning area of this car and right prewarning area, if the vehicle forward crossroad direction running in prewarning area, two cars just easily crash at the parting of the ways.

Can be by judging that adjacent car is whether within the left prewarning area in this car, or judge that adjacent car is whether within the right prewarning area in this car, determine the position of adjacent car with respect to this car, concrete, processing unit can be in the following manner, judges that adjacent car is whether within the left prewarning area in this car or within the no right prewarning area in this car:

By this car of coordinate system rotationtravel direction α 1 of the position of vehicle, according to the longitude lng1 of this car and latitude lat1, calculate longitude lng1' and the latitude lat1' of this car under postrotational coordinate system.This cartravel direction α 1 is the running car parameter on GPS (Global Positioning System, GPS).The coordinate system of the position of vehicle can turn clockwise, also can be rotated counterclockwise, in embodiments of the present invention, being rotated counterclockwise this cartravel direction α 1 take the coordinate system of the position of vehicle describes as example, it is similar that coordinate system is rotated counterclockwise the turn clockwise computation process of this cartravel direction α 1 of the computation process of this cartravel direction α 1 and coordinate system, do not repeat them here.Longitude lng1' and the latitude lat1' under postrotational coordinate system is as follows for this car:

lng1'＝lng1*cosα1-lat1*sinα1；

lat1'＝lat1*cosα1+lng1*sinα1。

According to the longitude lng2 of adjacent car and latitude lat2, calculate longitude lng2' and the latitude lat2' of adjacent car under postrotational coordinate system:

lng2'＝lng2*cosα1-lat2*sinα1；

lat2'＝lat2*cosα1+lng2*sinα1。

Calculate longitude difference lng_dif and the latitude difference lat_dif of adjacent car and this car, wherein, lng_dif=lng2'-lng1', lat_dif=lat2'-lat1'.

According to longitude difference lng_dif, the latitude difference lat_dif of adjacent car and this car and default left prewarning area and right prewarning area, judge that adjacent car is whether within the left prewarning area in this car, or, whether within the right prewarning area in this car.

Concrete, left prewarning area is (135 °, 225 °), right prewarning area is (45 °, 45 °), works as lng_dif>0, and

time, judge that adjacent car is within the right prewarning area of this car; Work as lng_dif<0, and

time, judge that adjacent car is within the left prewarning area of this car.

Step 205, according to the travel direction of the travel direction of adjacent car and Ben Che, determines the travel direction of adjacent car with respect to this car.

Concrete, adjacent car comprises with respect to the travel direction of this car: adjacent car travel left with respect to this car and adjacent car with respect to this car to right travel.

According to adjacent car travel direction and Ben Che travel direction, calculate the travel direction differential seat angle of adjacent car and this car, △ α=(α 2-α 1+360) %360,α 1 is this car travel direction,α 2 is adjacent car travel direction, and △ α is the travel direction differential seat angle of adjacent car and this car, and % represents remainder.

In the time of 45< △ α <135, determine that relative this car of adjacent car is to right travel;

In the time of 225< △ α <315, determine that relative this car of adjacent car travels left.

When 0< △ α≤45, or 135≤△ α≤225, or 315< △ α≤360 o'clock, determine that the travel direction of adjacent car and this car is irrelevant.

Step 206, according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, if the possibility that exists crossroad to bump against performs step 207, otherwise, process ends.

Concrete, if processing unit is judged Ben Che and adjacent car and exist the possibility of crossroad collision, illustrate that current car travels to have potential safety hazard, need to carry out early warning, perform step 207; If processing unit judges the possibility that this car and adjacent car do not exist crossroad to bump against, current vehicle driving safety is described, process ends.

According to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge that whether this car and adjacent car exist the specific implementation process of the possibility that crossroad bumps against, and are elaborated follow-up.

Step 207, carries out early warning.

Preferably, in the time that processing unit is judged Ben Che and adjacent car and is had the possibility that crossroad bumps against, transmit control signal to the motor of driver seat below, turn round with starter motor, on the motor drive shaft of motor, be provided with eccentric wheel, in the time of revolution, eccentric center of circle particle, the turning in the heart of motor, does not make motor in continuous out-of-balance condition, under inertia effect, produce vibration, and drive driver seat vibration, thus send early warning, to remind driver.

Because people's sense of touch is often more responsive than vision and the sense of hearing, therefore, more easily cause driver's attention by making the mode of driver seat vibration carry out early warning, nor can affect normal driving, safer.

Can find out by above-mentioned steps 201-207, utilize car networking to receive the driving information of adjacent car, and in the time that Ben Che and/or the adjacent car speed of a motor vehicle are greater than first threshold, determine position and the travel direction of adjacent car with respect to this car, and judge Ben Che and adjacent car exist crossroad bump against possibility time, send early warning, this vehicle safe driving early warning scheme does not rely on radar, the active safety equipment Information Monitoring that sensor is traditional, but network and obtain the driving information of adjacent car by means of car, the quantity of information of obtaining is larger, driving safety early warning range is larger, foresight is stronger, improve the security of Vehicle Driving Cycle.

Further, this vehicle safe driving method for early warning can also comprise the following steps: receive the road conditions early warning information that car networked server sends, and in the time receiving described road conditions early warning information, carry out early warning.

Concrete, road conditions early warning information can comprise congestion in road early warning information and road ahead traffic hazard early warning information etc.

The road conditions early warning information thatvehicle termination 2 can send by 3Gunit reception server 1, processing unit is connected with prewarning unit with 3G unit respectively, in the time that 3G unit receives road conditions early warning information, processing unit transmits control signal to prewarning unit, controls prewarning unit and carries out early warning.

Prewarning unit can be for being arranged at the motor below driver seat, and processing unit can transmit control signal with starter motor running to motor, makes it to produce vibrations, carries out early warning.Preferably, processing unit can also be resolved road conditions early warning information, and demonstrates early warning content in vehicle-mounted LCDs, so that driver makes correct judgement and disposal.

Vehicle termination 2 can be uploaded traffic information toserver 1 in real time, the operations such as the traffic information thatserver 1 can be uploaded eachvehicle termination 2 gathers, arrangement, classification, judgement, and determining the generation traffic hazard of a certain section, or while there is the situations such as congestion in road, corresponding road conditions early warning information is sent to near thevehicle termination 2 this section, carry out early warning so that receive the vehicle termination of road conditions early warning information, like this, driver can select other sections to detour in advance, avoid front block up section or accident section, guarantee driving safety.

Vehicle termination 2 communicates by 3G unit andserver 1, and with respect to traditional radar, sensor active safety equipment, communication range is larger, and the scope of safe early warning is also larger, and the safe early warning time more shifts to an earlier date, and foresight is stronger.And, process byserver 1 traffic information thatvehicle termination 2 is uploaded, carry out congestion in road early warning and road ahead traffic hazard early warning, be not limited near the driving safety early warning of this car vehicle, but also can carry out vehicle driving safety early warning from the overall situation.

Below in conjunction with Fig. 4, to according to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge that whether this car and adjacent car exist the specific implementation process of the possibility that crossroad bumps against, and describe in detail.As shown in Figure 4, this flow process comprises the following steps:

Step 401, according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge that whether adjacent car and this car can cross, and if so, performstep 402; Otherwise, process ends.

Concrete, whether the possibility that this car bumps against at the parting of the ways with adjacent car is not only relevant within the prewarning area in this car with adjacent car, also relevant with respect to the travel direction of this car with adjacent car, as shown in Figure 3, if adjacent car within the right prewarning area of this car, and adjacent car travels left with respect to this car, or, adjacent car within the left prewarning area of this car, and adjacent car with respect to this car to right travel, adjacent car can cross with this car.

Wherein, adjacent car is described in detail in step 205 with respect to definite mode of the travel direction of this car, does not repeat them here.

Step 402, according to this truck position, this car travel direction, adjacent truck position and adjacent car travel direction, calculates the joint position of this car and adjacent car, i.e. the longitude of joint and latitude.

Concrete, if judging adjacent car, processing unit can cross with this car, carry out following operation:

Calculate theslope k 1 of this car travel direction and theslope k 2 of adjacent car travel direction.Wherein, k1=cot α 1, k2=cot α 2, the travel direction that α 1 is this car, the travel direction that α 2 is adjacent car.

According to k1 and k2, calculate longitude lng and the latitude lat of the joint of the driving path of this car and adjacent car.

$\ln g=\frac{\mathrm{lat}2-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1++\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}1*\ln g1-\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}2*\ln g2}{k1-\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}2}=\frac{\mathrm{lat}2-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1+\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g1*\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g2*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}};$

$\begin{array}{c}\mathrm{lat}=\frac{\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}1*\mathrm{lat}2-\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}2*\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1+\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}1*\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}2*(\ln g1-\ln g2)}{k1-\mathrm{<figure-callout\; label="k"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">k</figure-callout>}2}\\ =\frac{\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}2*\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1*\cot \mathrm{\&alpha;}2+(\ln g1-\ln g2)*\cot \mathrm{\&alpha;}1*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}}\end{array};$

Wherein, the longitude that lng1 is this car, the latitude that lat1 is this car, the longitude that lng2 is adjacent car, the latitude that lat2 is adjacent car.

Step 403, according to the latitude of joint, judges that joint, whether in the front of this car driving path, if in the front of this car driving path, performsstep 404; Otherwise, process ends.

Concrete, by this car of coordinate system rotationtravel direction α 1 of the position of vehicle, the latitude lat' of the joint under latitude lat1' and the postrotational coordinate system of calculating this car under postrotational coordinate system; Wherein, lat1'=lat1*cos α 1+lng1*sin α 1; Lat'=lat*cos α 1+lng*sin α 1.

Lat1' is compared with lat', if lat1'>lat' judges that the joint of driving path is in the front of this car driving path.

Step 404, according to joint position, this truck position and the Ben Che speed of a motor vehicle, calculates the time of this car to this joint, and, according to joint position, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to this joint, and calculate this car and the mistiming of adjacent car to this joint.

Concrete, calculate the time t1 of this car to joint by following formula:

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}1=\frac{d1}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}1\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}1\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g1)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1};$

Wherein, d1 is the distance of this truck position to joint position, and v1 is this car speed of a motor vehicle, the latitude that lat1 is this car, the latitude that lat is joint, the longitude that lng1 is this car, the longitude that lng is joint.

Calculate the time t2 of adjacent car to the joint of driving path by following formula:

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}2=\frac{d2}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}2\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}2\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g2)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2};$

Wherein, d2 is the distance of adjacent truck position to joint position, and v2 is the adjacent car speed of a motor vehicle, the latitude that lat2 is adjacent car, the latitude that lat is joint, the longitude that lng2 is adjacent car, the longitude that lng is joint.

Calculate this car and the mistiming Δ t of adjacent car to joint, Δ t=t2-t1.

Step 405, compares mistiming and default Second Threshold, if the mistiming is less than Second Threshold, carries out early warning; Otherwise, process ends.

Concrete, if Δ t< Second Threshold T illustrates that this car is too small with the time interval that adjacent car arrives joint, be not enough to make driver to take the safe measure of dodging, therefore carry out early warning, with the generation that prevents that crossroad from bumping against.If Δ t >=Second Threshold, illustrates that this car is larger with the time interval that adjacent car arrives joint, two cars can not bump against at joint, or driver has time enough to take the safe measure of dodging within this time interval, therefore without carrying out early warning.

Further, in order to reach better early warning effect, can also distinguish rank to early warning, threaten warning level corresponding to larger situation higher to driving safety, corresponding, the oscillation intensity of driver seat is larger.Specifically can realize in the following manner: in processing unit, be also provided with multiple time threshold scopes, and corresponding relation between each time threshold scope and warning level.

If processing unit is judged mistiming Δ t< Second Threshold T, before carrying out early warning, processing unit is according to Δ t and default threshold range, determine the time threshold scope that Δ t is affiliated, and according to the corresponding relation between default each time threshold scope and warning level, determine warning level, then carry out early warning according to warning level, motor oscillating intensity corresponding to different warning levels can be different.

By warning level is set, can distinguish the situation of different safety class, make driver can learn in time the urgency level of the situation that threatens safety traffic, to enhance your vigilance, take appropriate measures in time, guarantee driving safety.

The present invention also provides a kind of vehicle termination equipment, and as shown in Figure 5, this equipment is applied to car networking, comprising:DSRC communication unit 51, processingunit 52 andprewarning unit 53;

DSRC unit 51, for receiving the driving information of the adjacent car that adjacent car sends, and sends the driving information of this car to adjacent car, described driving information comprises the speed of a motor vehicle, travel direction and position;

Processingunit 52, for this car speed of a motor vehicle and the adjacent car speed of a motor vehicle are compared with default first threshold respectively, the Ruo Benche speed of a motor vehicle and/or the adjacent car speed of a motor vehicle are greater than first threshold, according to the travel direction of the position of adjacent car and this car and this truck position, determine the position of adjacent car with respect to this car, and according to the travel direction of the travel direction of adjacent car and Ben Che, determine the travel direction of adjacent car with respect to this car; And, according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, when exist crossroad to bump against possibility time,indication prewarning unit 53 is carried out early warning.

Preferably, this truck position comprises longitude and the latitude of this car, and adjacent truck position comprises longitude and the latitude of adjacent car;

Processingunit 52 specifically for, according to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge whether adjacent car and this car can cross, if can cross, according to this truck position, this car travel direction, adjacent truck position and adjacent car travel direction, the joint position of calculating this car and adjacent car, described joint position comprises longitude and the latitude of joint; And, according to the latitude of described joint, judge that described joint is whether in the front of this car driving path, if in the front of this car driving path, according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculate the time of this car to described joint, and, according to described joint position, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, and calculate this car and the mistiming of adjacent car to described joint; And, described mistiming and default Second Threshold are compared, in the time that the described mistiming is less than Second Threshold, indication prewarning unit is carried out early warning.

Preferably, in describedprocessing unit 52, be also provided with multiple time threshold scopes, and corresponding relation between described each time threshold scope and warning level;

Described processingunit 52 also for: according to described mistiming and default threshold range, determine the time threshold scope under the described mistiming, and according to the corresponding relation between described each time threshold scope and warning level, determine warning level; And according to described warning level,indication prewarning unit 53 is carried out early warning.

Preferably, in describedprocessing unit 52, be preset with the prewarning area for carrying out crossroad anticollision, described prewarning area comprises left prewarning area and right prewarning area;

Described processingunit 52 specifically for, judge that adjacent car is whether within the left prewarning area in this car, or whether within the right prewarning area in this car; And, determine that adjacent car travels with respect to this car left or determine adjacent car with respect to this car to right travel; And within the right prewarning area of adjacent car at this car, and adjacent car travels left with respect to this car, or adjacent car is within the left prewarning area of this car, and adjacent car during to right travel, judges that adjacent car can cross with this car with respect to this car.

Preferably, described left prewarning area is (135 °, 225 °), and right prewarning area is (45 °, 45 °);

Described processingunit 52 specifically for, in the following manner, judge that adjacent car is whether within the left prewarning area in this car or within the no right prewarning area in this car:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, according to the longitude of this car and latitude, calculates longitude and the latitude of this car under postrotational coordinate system; And according to the longitude of adjacent car and latitude, calculate longitude and the latitude of adjacent car under postrotational coordinate system; Calculate longitude difference and the latitude difference of adjacent car and this car; According to the longitude difference of adjacent car and this car, latitude difference and default left prewarning area and right prewarning area, judge that adjacent car is whether within the left prewarning area in this car or within right prewarning area; Wherein, when described longitude difference is greater than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the right prewarning area of this car; When described longitude difference is less than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the left prewarning area of this car.

Preferably, described processingunit 52 specifically for, calculate the longitude lng of the joint of this car and adjacent car according to formula (1):

$\ln g=\frac{\mathrm{lat}2-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1+\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g1*\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="ln\; g"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">ln</figure-callout>}g2*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(1\right)$

Calculate the latitude lat of the joint of this car and adjacent car according to formula (2):

$\mathrm{lat}=\frac{\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}2*2\cot \mathrm{\&alpha;}1-\mathrm{<figure-callout\; label="lat"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">lat</figure-callout>}1*\cot \mathrm{\&alpha;}2+(\ln g1-\ln g2)*\cot \mathrm{\&alpha;}1*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(2\right)$

Wherein, the longitude that lng1 is this car, the latitude that lat1 is this car, the longitude that lng2 is adjacent car, the latitude that lat2 is adjacent car, the travel direction that α 1 is this car, the travel direction that α 2 is adjacent car.

Preferably, described processingunit 52 specifically for, by the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, calculates the latitude of the described joint under latitude and the postrotational coordinate system of this car under postrotational coordinate system; The latitude of the described joint under postrotational coordinate system is compared with the latitude of this car under postrotational coordinate system, if the former is greater than the latter, judge the front of described joint at this car driving path.

Preferably, described processingunit 52 specifically for, calculate this car to the time t1 of described joint according to formula (3):

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}1=\frac{d1}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}1\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}1\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g1)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}1};---\left(3\right)$

Wherein, d1 is the distance of this truck position to joint position, and v1 is this car speed of a motor vehicle, the latitude that lat1 is this car, the latitude that lat is joint, the longitude that lng1 is this car, the longitude that lng is joint;

Calculate the time t2 of adjacent car to described joint according to formula (4):

$\mathrm{<figure-callout\; label="t"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">t</figure-callout>}2=\frac{d2}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}2\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}2\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g2)}\right\}}{\mathrm{<figure-callout\; label="v"\; filenames="HDA0000495216130000011.png"\; state="\{\{state\}\}">v</figure-callout>}2};---\left(4\right)$

Wherein, d2 is the distance of adjacent truck position to joint position, and v2 is the adjacent car speed of a motor vehicle, the latitude that lat2 is adjacent car, the latitude that lat is joint, the longitude that lng2 is adjacent car, the longitude that lng is joint.

Preferably, described processingunit 52 specifically for, according to the travel direction of the travel direction of adjacent car and Ben Che, calculate the travel direction differential seat angle △ α of adjacent car and this car; △ α=(α 2-α 1+360) %360,α 1 is this car travel direction,α 2 is adjacent car travel direction; In the time of 45< △ α <135, determine that relative this car of adjacent car is to right travel; In the time of 225< △ α <315, determine that relative this car of adjacent car travels left.

Further, this vehicle termination equipment also comprises3G unit 54,3G unit 54 also for, receive the road conditions early warning information that car networked server sends;

Described processing unit also for, while receiving described road conditions early warning information in3G unit 54, indicate prewarningunit 53 to carry out early warning.

Prewarning unit 53 specifically for, start the motor of driver seat below, so that driver seat produces vibration.

The present invention also provides a kind of vehicle safe driving early warning system, and this system applies is networked in car, as shown in Figure 1, comprising: server and at least two foregoing vehicle termination equipment.

Be understandable that, above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.

Claims (17)

1. a vehicle safe driving method for early warning, is characterized in that, described method is applied to car networking, and the method comprises the steps:

Receive the driving information that adjacent car sends, described driving information comprises the speed of a motor vehicle, travel direction and position;

This car speed of a motor vehicle and the adjacent car speed of a motor vehicle are compared with default first threshold respectively, the Ruo Benche speed of a motor vehicle and/or the adjacent car speed of a motor vehicle are greater than first threshold, according to the travel direction of the position of adjacent car and this car and this truck position, determine the position of adjacent car with respect to this car, and according to the travel direction of the travel direction of adjacent car and Ben Che, determine the travel direction of adjacent car with respect to this car;

According to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, if the possibility that exists crossroad to bump against is carried out early warning.

2. the method for claim 1, is characterized in that, this truck position comprises longitude and the latitude of this car, and adjacent truck position comprises longitude and the latitude of adjacent car;

Described according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, if the possibility that exists crossroad to bump against is sent early warning, specifically comprise:

According to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge whether adjacent car and this car can cross, if can cross, according to this truck position, this car travel direction, adjacent truck position and adjacent car travel direction, the joint position of calculating this car and adjacent car, described joint position comprises longitude and the latitude of joint;

According to the latitude of described joint, judge that described joint is whether in the front of this car driving path, if in the front of this car driving path, according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculate the time of this car to described joint, and, according to described joint position, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, and calculate this car and the mistiming of adjacent car to described joint;

Described mistiming and default Second Threshold are compared, if the described mistiming is less than Second Threshold, carry out early warning.

3. method as claimed in claim 2, is characterized in that, is preset with the prewarning area for carrying out crossroad anticollision in vehicle, and described prewarning area comprises left prewarning area and right prewarning area;

Described definite adjacent car, with respect to the position of this car, specifically comprises: judge that adjacent car is whether within the left prewarning area in this car, or whether within the right prewarning area in this car;

Described definite adjacent car comprises with respect to the travel direction of this car: determine that adjacent car travels with respect to this car left or determine adjacent car with respect to this car to right travel;

Described according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge that whether adjacent car and this car can cross, and specifically comprise:

If adjacent car is within the right prewarning area of this car, and adjacent car travels left with respect to this car, or, adjacent car within the left prewarning area of this car, and adjacent car with respect to this car to right travel, judge that adjacent car can cross with this car.

4. method as claimed in claim 3, is characterized in that, described left prewarning area is (135 °, 225 °), and right prewarning area is (45 °, 45 °);

In the following manner, judge that adjacent car is whether within the left prewarning area in this car or within the no right prewarning area in this car:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, according to the longitude of this car and latitude, calculates longitude and the latitude of this car under postrotational coordinate system; And according to the longitude of adjacent car and latitude, calculate longitude and the latitude of adjacent car under postrotational coordinate system;

Calculate longitude difference and the latitude difference of adjacent car and this car;

According to the longitude difference of adjacent car and this car, latitude difference and default left prewarning area and right prewarning area, judge that adjacent car is whether within the left prewarning area in this car or within right prewarning area; Wherein, when described longitude difference is greater than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the right prewarning area of this car; When described longitude difference is less than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the left prewarning area of this car.

5. method as claimed in claim 2, is characterized in that, the position of the joint of described this car of calculating and adjacent car, specifically comprises:

Calculate the longitude lng of the joint of this car and adjacent car according to formula (1):

$\ln g=\frac{\mathrm{lat}2-\mathrm{lat}1+\ln g1*\cot \mathrm{\&alpha;}1-\ln g2*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(1\right)$

Calculate the latitude lat of the joint of this car and adjacent car according to formula (2):

$\mathrm{lat}=\frac{\mathrm{lat}2*2\cot \mathrm{\&alpha;}1-\mathrm{lat}1*\cot \mathrm{\&alpha;}2+(\ln g1-\ln g2)*\cot \mathrm{\&alpha;}1*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(2\right)$

Wherein, the longitude that lng1 is this car, the latitude that lat1 is this car, the longitude that lng2 is adjacent car, the latitude that lat2 is adjacent car, the travel direction that α 1 is this car, the travel direction that α 2 is adjacent car.

6. method as claimed in claim 2, is characterized in that, describedly judges that described joint, whether in the front of this car driving path, specifically comprises:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, calculates the latitude of the described joint under latitude and the postrotational coordinate system of this car under postrotational coordinate system;

The latitude of the described joint under postrotational coordinate system is compared with the latitude of this car under postrotational coordinate system, if the former is greater than the latter, judge the front of described joint at this car driving path.

7. method as claimed in claim 2, is characterized in that, described according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculates the time of this car to described joint, specifically comprises:

Calculate the time t1 of this car to described joint according to formula (3):

$t1=\frac{d1}{v1}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}1\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}1\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g1)}\right\}}{v1};---\left(3\right)$

Wherein, d1 is the distance of this truck position to joint position, and v1 is this car speed of a motor vehicle, the latitude that lat1 is this car, the latitude that lat is joint, the longitude that lng1 is this car, the longitude that lng is joint;

Described according to the position of described joint, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, specifically comprise:

Calculate the time t2 of adjacent car to described joint according to formula (4):

$t2=\frac{d2}{v2}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}2\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}2\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g2)}\right\}}{v2};---\left(4\right)$

Wherein, d2 is the distance of adjacent truck position to joint position, and v2 is the adjacent car speed of a motor vehicle, the latitude that lat2 is adjacent car, the latitude that lat is joint, the longitude that lng2 is adjacent car, the longitude that lng is joint.

8. the method for claim 1, is characterized in that, described according to the travel direction of the travel direction of adjacent car and Ben Che, determines the travel direction of adjacent car with respect to this car, specifically comprises:

According to the travel direction of the travel direction of adjacent car and Ben Che, calculate the travel direction differential seat angle △ α of adjacent car and this car; △ α=(α 2-α 1+360) %360, α 1 is this car travel direction, α 2 is adjacent car travel direction;

In the time of 45< △ α <135, determine that relative this car of adjacent car is to right travel;

In the time of 225< △ α <315, determine that relative this car of adjacent car travels left.

9. a vehicle termination equipment, is characterized in that, this equipment is applied to car networking, comprising: DSRC communication unit, processing unit and prewarning unit;

DSRC unit, for receiving the driving information of the adjacent car that adjacent car sends, and sends the driving information of this car to adjacent car, described driving information comprises the speed of a motor vehicle, travel direction and position;

Processing unit, for this car speed of a motor vehicle and the adjacent car speed of a motor vehicle are compared with default first threshold respectively, the Ruo Benche speed of a motor vehicle and/or the adjacent car speed of a motor vehicle are greater than first threshold, according to the travel direction of the position of adjacent car and this car and this truck position, determine the position of adjacent car with respect to this car, and according to the travel direction of the travel direction of adjacent car and Ben Che, determine the travel direction of adjacent car with respect to this car; And, according to adjacent car with respect to the position of this car and adjacent car with respect to the travel direction of this car, judge the possibility whether this car and adjacent car exist crossroad to bump against, when exist crossroad to bump against possibility time, indication prewarning unit is carried out early warning.

10. vehicle termination equipment as claimed in claim 9, is characterized in that, this truck position comprises longitude and the latitude of this car, and adjacent truck position comprises longitude and the latitude of adjacent car;

Described processing unit specifically for, according to adjacent car with respect to the position of this car and adjacent car the travel direction with respect to this car, judge whether adjacent car and this car can cross, if can cross, according to this truck position, this car travel direction, adjacent truck position and adjacent car travel direction, the joint position of calculating this car and adjacent car, described joint position comprises longitude and the latitude of joint; And, according to the latitude of described joint, judge that described joint is whether in the front of this car driving path, if in the front of this car driving path, according to described joint position, this truck position and the Ben Che speed of a motor vehicle, calculate the time of this car to described joint, and, according to described joint position, adjacent truck position and the adjacent car speed of a motor vehicle, calculate the time of adjacent car to described joint, and calculate this car and the mistiming of adjacent car to described joint; And, described mistiming and default Second Threshold are compared, in the time that the described mistiming is less than Second Threshold, indication prewarning unit is carried out early warning.

11. vehicle termination equipment as claimed in claim 10, is characterized in that, are preset with the prewarning area for carrying out crossroad anticollision in described processing unit, and described prewarning area comprises left prewarning area and right prewarning area;

Described processing unit specifically for, judge that adjacent car is whether within the left prewarning area in this car, or whether within the right prewarning area in this car; And, determine that adjacent car travels with respect to this car left or determine adjacent car with respect to this car to right travel; And within the right prewarning area of adjacent car at this car, and adjacent car travels left with respect to this car, or adjacent car is within the left prewarning area of this car, and adjacent car during to right travel, judges that adjacent car can cross with this car with respect to this car.

12. vehicle termination equipment as claimed in claim 11, is characterized in that, described left prewarning area is (135 °, 225 °), and right prewarning area is (45 °, 45 °);

Described processing unit specifically for, in the following manner, judge that adjacent car is whether within the left prewarning area in this car or within the no right prewarning area in this car:

By the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, according to the longitude of this car and latitude, calculates longitude and the latitude of this car under postrotational coordinate system; And according to the longitude of adjacent car and latitude, calculate longitude and the latitude of adjacent car under postrotational coordinate system; Calculate longitude difference and the latitude difference of adjacent car and this car; According to the longitude difference of adjacent car and this car, latitude difference and default left prewarning area and right prewarning area, judge that adjacent car is whether within the left prewarning area in this car or within right prewarning area; Wherein, when described longitude difference is greater than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the right prewarning area of this car; When described longitude difference is less than zero, and the ratio of described latitude difference and described longitude difference is when being greater than tan (135 °) and being less than tan (45 °), judges that adjacent car is within the left prewarning area of this car.

13. vehicle termination equipment as claimed in claim 10, is characterized in that, described processing unit specifically for, calculate the longitude lng of the joint of this car and adjacent car according to formula (1):

$\ln g=\frac{\mathrm{lat}2-\mathrm{lat}1+\ln g1*\cot \mathrm{\&alpha;}1-\ln g2*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(1\right)$

Calculate the latitude lat of the joint of this car and adjacent car according to formula (2):

$\mathrm{lat}=\frac{\mathrm{lat}2*2\cot \mathrm{\&alpha;}1-\mathrm{lat}1*\cot \mathrm{\&alpha;}2+(\ln g1-\ln g2)*\cot \mathrm{\&alpha;}1*\cot \mathrm{\&alpha;}2}{\cot \mathrm{\&alpha;}1-\cot \mathrm{\&alpha;}2};---\left(2\right)$

Wherein, the longitude that lng1 is this car, the latitude that lat1 is this car, the longitude that lng2 is adjacent car, the latitude that lat2 is adjacent car, the travel direction that α 1 is this car, the travel direction that α 2 is adjacent car.

14. vehicle termination equipment as claimed in claim 10, it is characterized in that, described processing unit specifically for, by the coordinate system rotation of the position of vehicle one angle, this angle is this car travel direction corresponding angle in this car coordinate system, calculates the latitude of the described joint under latitude and the postrotational coordinate system of this car under postrotational coordinate system; The latitude of the described joint under postrotational coordinate system is compared with the latitude of this car under postrotational coordinate system, if the former is greater than the latter, judge the front of described joint at this car driving path.

15. vehicle termination equipment as claimed in claim 10, is characterized in that, described processing unit specifically for, calculate this car to the time t1 of described joint according to formula (3):

$t1=\frac{d1}{v1}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}1\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}1\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g1)}\right\}}{v1};---\left(3\right)$

Wherein, d1 is the distance of this truck position to joint position, and v1 is this car speed of a motor vehicle, the latitude that lat1 is this car, the latitude that lat is joint, the longitude that lng1 is this car, the longitude that lng is joint;

Calculate the time t2 of adjacent car to described joint according to formula (4):

$t2=\frac{d2}{v2}=\frac{1111.12*\cos \left\{\frac{1}{\sin \left(\mathrm{lat}2\right)*\sin \left(\mathrm{lat}\right)+\cos \left(\mathrm{lat}2\right)*\cos \left(\mathrm{lat}\right)*\cos (\ln g-\ln g2)}\right\}}{v2};---\left(4\right)$

Wherein, d2 is the distance of adjacent truck position to joint position, and v2 is the adjacent car speed of a motor vehicle, the latitude that lat2 is adjacent car, the latitude that lat is joint, the longitude that lng2 is adjacent car, the longitude that lng is joint.

16. require the vehicle termination equipment as described in 9 as profit, it is characterized in that, described processing unit specifically for, according to the travel direction of the travel direction of adjacent car and Ben Che, calculate the travel direction differential seat angle △ α of adjacent car and this car; △ α=(α 2-α 1+360) %360, α 1 is this car travel direction, α 2 is adjacent car travel direction; In the time of 45< △ α <135, determine that relative this car of adjacent car is to right travel; In the time of 225< △ α <315, determine that relative this car of adjacent car travels left.

17. 1 kinds of vehicle safe driving early warning systems, this system applies is networked in car, comprising: server and at least two vehicle termination equipment as described in claim 9-16 any one.

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