A method for implementing V2X fast FCW

Abstract

The application discloses a V2X fast FCW implementation method, comprising the following steps: acquiring a MessageSet signal M h of a vehicle; r acquiring a MessageSet signal M r of other vehicles; fcw calculating a collision warning information M fcw of the vehicle and the other vehicles; fcw when M fcw is equal to M r , triggering an effective FCW processing. According to the technical scheme of the application, after the MessageSet signal M h of the vehicle and the MessageSet signal M r of the other vehicles are acquired, massive data processing can be accurately and effectively performed through the above formula, and early warning can be performed if there is any.

Description

Technical Field

[0001] This invention relates to the field of automotive intelligent technology, and in particular to a method for implementing V2X fast FCW. Background Technology

[0002] In V2X forward collision (FCW) calculations, if there are 50 forward-rear vehicles around the host vehicle, more than 500 data points need to be processed per second to determine whether to trigger FCW. Traditional processing methods cannot process so much data in a timely manner.

[0003] In summary, designing a fast and stable method to implement FCW data computation and processing in V2X is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The main objective of this invention is to propose a fast FCW implementation method for V2X, which aims to provide a fast FCW data processing method that can accurately and effectively process massive amounts of data and provide early warnings when FCW occurs.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is to provide a V2X fast FCW implementation method, including the following steps:

[0006] Obtain the MessageSet signal M of this vehicle h ;

[0007] Get the MessageSet signal M from other vehicles r ;

[0008] The formula for calculating ΔM between this vehicle and other vehicles is as follows:

[0009] δM=M h -M r

[0010] =[t h , lng h lat h v h ]-[t r , lng r lat r v r ]

[0011] =[t h -t r , lng h -lng r lat h -latr v h -v r ]

[0012] Calculate collision warning information M between this vehicle and other vehicles. fcw The calculation formula is:

[0013]

[0014] When M fcw Equal to M r This triggers a valid FCW process.

[0015] Furthermore, the MessageSet signal includes: time, longitude position, latitude position, and vehicle speed; therefore:

[0016] M h ={t h , lng h lat h v h},

[0017] M r ={t r , lng r lat r v r}

[0018] Furthermore, the step of calculating ΔM between this vehicle and other vehicles includes:

[0019] Define the set of elements that satisfy FCW as:

[0020] M S ={(δ t δ l ng, δ l at, δ v )|

[0021] 0 <= δ t <100ms,

[0022] -0.000519 <= δ l ng < 0.000519,

[0023] -0.000449 <= δ l at < 0.000449,

[0024] 0.0 <= δ v <130km / h

[0025] }

[0026] The formula for calculating ΔM is derived.

[0027] The technical solution of the present invention is to acquire the MessageSet signal M of the vehicle. h MessageSet signal M from other vehicles r Then, the above formula can be used to process massive amounts of data accurately and effectively, and early warnings can be given if any issues arise. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is a flowchart illustrating the steps of the V2X fast FCW implementation method described in this invention.

[0030] Figure 2 This is a structural block diagram of the V2X fast FCW implementation method described in this invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0033] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "several" or "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0036] This invention proposes a fast FCW implementation method for V2X, aiming to provide a fast FCW data processing method that can accurately and effectively process massive amounts of data and provide early warnings when FCW occurs.

[0037] The V2X fast FCW implementation method proposed in this invention will be described below in specific embodiments:

[0038] In the technical solution of this embodiment, such as Figure 1 , Figure 2 As shown, a method for implementing fast FCW in V2X includes the following steps:

[0039] S10: Obtain the MessageSet signal Mh of this vehicle;

[0040] S20: Obtain the MessageSet signal Mr from other vehicles;

[0041] S30: Calculate the ΔM between this vehicle and other vehicles. The calculation formula is as follows:

[0042] δM=M h -M r

[0043] =[t h , lng h lat h v h ]-[t r , lng r lat r v r ]

[0044] =[t h -t r , lng h-lng r lat h -lat r v h -v r ]

[0045] S40: Calculate collision warning information between this vehicle and other vehicles. fcw The calculation formula is:

[0046]

[0047] S50: When M fcw Equal to M r This triggers a valid FCW process.

[0048] Understandably, when the MessageSet signal M of this vehicle is obtained... h MessageSet signal M from other vehicles (the vehicle in front, the adjacent vehicle, etc.) r Then, the above formula can be used to process massive amounts of data accurately and effectively, and early warnings can be given if any issues arise.

[0049] In one feasible implementation, if M fcw =[0,0,0,0] indicates that this vehicle is in a safe condition compared to other vehicles.

[0050] In one feasible implementation, the V2X fast FCW implementation method is applied to a T-Box with integrated V2X functionality.

[0051] Furthermore, the MessageSet signal includes: time, longitude position, latitude position, and vehicle speed; therefore:

[0052] M h ={t h , lng h lat h v h},

[0053] M r ={t r , lng r lat r v r}

[0054] Understandably, the unit of time is ms, and the symbol is t; the unit of longitude is deg, and the symbol is lng; the unit of latitude is deg, and the symbol is lat; and the unit of vehicle speed is m / s, and the symbol is v.

[0055] Furthermore, the step of calculating the AM of this vehicle and other vehicles includes:

[0056] Define the set of elements that satisfy FCW as:

[0057] M S ={(δ t δ l ng, δ l at, δ v )|

[0058] 0 <= δ t <100ms,

[0059] -0.000519 <= δ l ng < 0.000519,

[0060] -0.000449 <= δ l at < 0.000449,

[0061] 0.0 <= δ v <130km / h

[0062] }

[0063] The formula for calculating ΔM is derived and calculated.

[0064] Understandably, δt, because the standard defines the maximum delay of FCW as <100ms, means that for two data points involved in the calculation, a time difference of <100ms is considered a valid value; otherwise, for Mfcw, the data is considered invalid.

[0065] δlng is usually taken as a longitude value between -50 meters and 50 meters. Here, the calculation method takes Shanghai as an example: Shanghai is located at 30 degrees north latitude, and the circumference of the latitude is 34,668 kilometers. That is, the longitude value corresponding to 1 meter is equal to 360 degrees / 34,668 kilometers, that is, 1 meter ≈ 0.00001038 degrees.

[0066] δlat is usually taken as a latitude value between -50 meters and 50 meters. The calculation method is as follows: the circumference of the meridian is 40076 kilometers, that is, the latitude value corresponding to 1 meter is equal to 360 degrees / 40076 kilometers, that is, 1 meter ≈ 0.00000898 degrees.

[0067] δv is calculated by comparing the vehicle speeds of HV and RV:

[0068] =0 means v h =v r

[0069] <0 indicates v h <v r

[0070] >0 indicates v h >v r .

[0071] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for implementing fast FCW in V2X, characterized in that, Includes the following steps: Obtain the MessageSet signal of this vehicle ; Obtain MessageSet signals from other vehicles ; Calculate the difference between this vehicle and other vehicles. The calculation formula is: ； Calculate collision warning information between this vehicle and other vehicles. The calculation formula is: ； when equal This triggers a valid FCW process if =[0,0,0,0] indicates that this vehicle is in a safe condition compared to other vehicles; The MessageSet signal includes: time, longitude position, latitude position, and vehicle speed, wherein the unit of time is ms and the symbol is t; the unit of longitude position is deg and the symbol is lng; the unit of latitude position is deg and the symbol is lat; and the unit of vehicle speed is m / s and the symbol is v. but: ， ； The calculation of this vehicle and other vehicles The steps include: Define the set of elements that satisfy FCW as: ； Where, δ v Indicates v h With v r The difference; δ v =0 indicates v h =v r δ v <0 indicates v h <v r δ v >0 indicates v h >v r ; δ t The time difference between the two data points involved in the calculation, 0 <= δ t <100ms is a valid value; otherwise, for M fcw To put it another way, the data is considered invalid, δ lng Take the longitude value from -50 meters to 50 meters, δ lat Take the latitude value from -50 meters to 50 meters.

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