The invention provides a mobile maintenance vehicle rear-end
collision risk real-time early warning method and
system based on a front time window, and relates to the technical field of intelligent traffic. The method comprises the steps of integrating sensors such as a GNSS / IMU, a
millimeter wave radar and a binocular camera on a mobile maintenance vehicle, obtaining information such as the relative distance, the speed, the acceleration and the lane position of a backward coming vehicle and the maintenance vehicle, constructing a
time sequence prediction model which takes historical fragments as input and applies front time window constraint to data nearby the current moment, and predicting the
time sequence of the
current time. Relative movement in a future short time period is predicted, safety indexes such as collision time TTC and required deceleration DRAC are calculated, threshold values are corrected in combination with road alignment, longitudinal slopes and
visibility, and a directional horn is used for achieving rear-end collision early warning. According to the method, the
false alarm rate and the missing alarm rate can be reduced in complex scenes such as curves, long slopes and low
visibility, the early warning accuracy and robustness are improved, and rear-end collision accidents of mobile maintenance operation are reduced.