Vehicle collision preventing method based on collaborative relative positioning technologies

Abstract

The invention relates to the field of intelligent transportation, in particular to a vehicle collision preventing method based on collaborative relative positioning technologies. The positioning information measurement and exchange on the basis of a V2V network, an enhanced relative positioning method on the basis of pseudorange, a vehicle self-prediction positioning and navigation method based on Kalman filtering, and a vehicle collision preventing judgment mechanism based on the relative distance are included in the method. The vehicle collision preventing method based on the collaborative relative positioning technologies includes the steps that information between near vehicles is transmitted through the V2V network, the relative distance between the vehicles is calculated on the basis of the pseudorange or Kalman filtering, and a vehicle alarm mechanism is triggered when the relative distance is smaller than a safety threshold value. The vehicle collision preventing method based on the collaborative relative positioning technologies has the advantages that a collaborative relative positioning model is built according to the multipath transmission phenomenon of urban roads, satellite signals with low spatial correlation are removed according to the correlation, and the vehicle position is predicted according to a Kalman filtering method when a GPS signal interrupts. By means of the collaborative relative positioning method, the probability of occurrence of traffic accidents of urban roads can be reduced, and prediction accuracy is improved.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a vehicle anti-collision method based on cooperative relative positioning technology. Background technique [0002] GPS (Global Positioning System) is a global satellite navigation and positioning system established by the United States, which can realize high-precision, all-weather, real-time navigation and speed measurement. In recent years, GPS technology has been widely used in various fields such as surveying and mapping remote sensing, aerospace, communication, transportation, etc., and has profoundly changed people's lives. [0003] The application of positioning information analysis based on GPS system has been gradually extended to intelligent transportation system ITS (Intelligent Transportation System). In modern ITS systems, positioning information can be used for automatic vehicle navigation and safe driving. According to the principle of satellite navigat...

AI Technical Summary

Problems solved by technology

However, there are buildings on both sides of urban roads, which means that the line of sight path between the GPS satellite and the vehicle may be blocked, that is, the car GPS receiver can only receive the reflected signal of the satellite

Reflected signals from different paths from different buildings constitute the multipath transmission of the received signal, and the error caused by it may be as high as tens of meters, which undoubtedly reduces the accuracy of absolute positioning

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