Vehicle motion state information delay compensation method and device

Abstract

The present invention discloses a vehicle motion state information delay compensation method and device. The method comprises the steps of: obtaining first moment motion state information comprising afirst moment displacement, a first moment speed and a first moment accelerated speed of vehicles around; predicting and obtaining second moment motion state prediction information of the vehicles around posterior to the first moment according to the first moment motion state information and a motion state equation obtained based on a current statistic model; and performing compensation to obtainsecond moment target motion state information of the vehicle around according to delayed time, the second moment motion state prediction information and a delay compensation algorithm obtained based on a displacement-speed relation and a speed-accelerated speed relation. The delay compensation algorithm performs certain delay compensation of the second moment motion state prediction information toobtain more accurate second moment motion state information so as to allow the vehicles to timely regulate the vehicle driving strategies themselves according to the accurate motion state informationand improve the vehicle driving safety.

Description

technical field [0001] The invention relates to the technical field of vehicle-vehicle communication, in particular to a method and device for delay compensation of vehicle motion state information. Background technique [0002] With the development of science and technology, vehicle-to-vehicle communication (English: vehicle-to-vehicle communication, abbreviation: V2V) technology is becoming more and more popular. V2V technology refers to wireless-based data transmission between vehicles, which is developed from wireless communication technology. , requiring autonomous communication between vehicles. According to the V2V technology, the driver can know the movement state information of other vehicles around him in the range beyond the visual range, so that he can timely adjust the driving strategy of his own vehicle based on the movement state information, and effectively avoid the occurrence of traffic accidents. Therefore, V2V technology is extremely important for smart ...

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Problems solved by technology

[0003] However, the inventor has found through research that during the driving process of the vehicle, the V2V technology will be affected by factors such as the high-speed movement of the vehicle and the attenuation of the broadcast channel, and there will be a certain communication delay.

The communication delay seriously affects the accuracy of information transmission between vehicles, so

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