Vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication

Abstract

The invention discloses a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication, and relates to the technical field of safety monitoring of vehicles, and the vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication realizes RTK centimeter-level positioning, double-antenna positioning lane-level early warning, vehicle-to-vehicle communication, electronic fence detection and anti-collision detection. Vehicle operation video storage, driver behavior analysis, alarm and other functions are realized. Compared with the prior art, the collision risk possibly encountered by the vehicle in the working process of the mining area can be recognized and warned in time, the collision risk of the vehicle in the working process is effectively reduced, accidents are reduced, and the safety of working personnel and equipment in the mining area is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle safety monitoring, and in particular relates to a vehicle-mounted anti-collision terminal based on single Beidou RTK (Real-time kinematic, real-time dynamic carrier phase difference technology) positioning and V2V (Vehicle to Vehicle, vehicle to vehicle) communication. Background Art

[0002] The complexity of the mining operation environment and the high-risk characteristics of large mining vehicles make the anti-collision prediction technology of mining vehicles particularly important. In this context, although the traditional anti-collision technology provides safety guarantees to a certain extent, its limitations are also becoming increasingly prominent. The existing anti-collision technology for mining vehicles generally uses radar detectors and thermal imaging devices set around mining vehicles for anti-collision detection or distance measurement based on the vehicle GPS (Global Positioning System) positioning. However, radar detectors and thermal imaging devices are expensive, and their accuracy and reliability in the complex environment of mining areas need to be improved. In addition, large mining vehicles have large blind spots and long braking distances, which will increase the risk of vehicle collisions. Due to the poor positioning quality of GPS locators, only meter-level positioning accuracy can be achieved, which will also affect its reliability in the mining operation environment. Secondly, most of the existing vehicle-mounted anti-collision systems can only achieve vehicle-mounted anti-collision warnings, and their functions are relatively simple. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication. The technical problem to be solved by the present invention is achieved through the following technical solutions: The present invention provides a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication, comprising: A data acquisition module is used to obtain vehicle status information of the vehicle, wherein the vehicle status information includes RTK positioning information and speed information; A first data processing module is used to update the 6-level warning area of ​​the vehicle in real time according to the vehicle status information of the vehicle and preset vehicle parameters; A wireless communication module, used for broadcasting the vehicle status information and vehicle parameters of the vehicle to the vehicle-mounted anti-collision terminals of other vehicles within a preset range, and receiving the vehicle status information and vehicle parameters of other vehicles within the preset range; A first image data acquisition module, used for acquiring the driver image data of the vehicle in real time; A second data processing module is used to perform collision risk detection, electronic fence detection and driver status behavior detection according to the vehicle status information and 6-level warning area of ​​the vehicle, the vehicle status information and vehicle parameters of other vehicles, and the driver image data of the vehicle, and generate warning information according to the detection results; The warning reminder module is used to issue a warning to the driver according to the received warning information.

[0004] Compared with the prior art, the present invention has the following beneficial effects: 1. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication of the present invention can obtain high-precision RTK positioning information through the data acquisition module, and realize collision risk detection and electronic fence detection based on the RTK positioning information. Compared with traditional technologies, the present invention can timely identify and warn vehicles of possible collision risks during mining operations, and is not limited by dust coverage and lighting conditions, and can achieve more accurate distance measurement, effectively reduce accidents, and ensure the safety of mining workers and equipment. In addition, the integrated wireless communication module ensures high-speed and stable transmission of data between vehicles.

[0005] 2. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication of the present invention collects the driver image data of the vehicle in real time through the first image data acquisition module, and performs driver status behavior detection based on the driver image data, thereby further improving the driver's operating efficiency, thereby improving the overall efficiency of mining operations.

[0006] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a structural block diagram of a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication provided by an embodiment of the present invention; Figure 2 It is a transmission schematic diagram of vehicle status information acquisition and broadcasting provided by an embodiment of the present invention; Figure 3 It is a structural block diagram of another vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0008] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description of a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication proposed in accordance with the present invention, in combination with the accompanying drawings and specific implementation methods.

[0009] The above and other technical contents, features and effects of the present invention are clearly presented in the following detailed description of the specific implementation modes in conjunction with the accompanying drawings. Through the description of the specific implementation modes, the technical means and effects adopted by the present invention to achieve the predetermined purpose can be more deeply and specifically understood. However, the attached drawings are only for reference and explanation purposes and are not used to limit the technical solutions of the present invention.

[0010] The embodiment of the present invention provides a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication, see Figure 1 , Figure 1 1 is a structural block diagram of a vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication provided by an embodiment of the present invention. Figure 1 As shown, the vehicle-mounted collision avoidance terminal based on single Beidou RTK positioning and V2V communication of this embodiment includes a data acquisition module, a first data processing module, a wireless communication module, a first image data acquisition module, a second data processing module and an early warning reminder module.

[0011] Among them, the data acquisition module is used to obtain the vehicle status information of the vehicle, and the vehicle status information includes RTK positioning information and speed information.

[0012] In this embodiment, the RTK positioning information includes the center point position information and vehicle direction information of the vehicle.

[0013] Optionally, a single Beidou high-precision positioning and orientation module can be used to achieve centimeter-level positioning and high-precision orientation of the vehicle. For example, the UMD982 is used. This module has the characteristics of instantaneous RTK initialization technology, single Beidou full-frequency on-chip RTK positioning and dual-antenna orientation solution, built-in advanced anti-interference unit, and supports interference detection and interference information output, ensuring that the module can provide reliable and accurate positioning and orientation accuracy even in complex electromagnetic environments, ensuring that the precise location information and vehicle direction information of mining vehicles can be obtained.

[0014] Optionally, a double mushroom head external antenna can be used in conjunction with a single Beidou high-precision positioning and orientation module to enhance signal reception capabilities, so that the single Beidou high-precision positioning and orientation module can maintain stable signal reception in complex terrain in mining areas, ensuring accurate vehicle center point location information and vehicle direction information. The double mushroom head external antenna can be installed on the outside of the front of the vehicle.

[0015] Optionally, the vehicle speed information may be obtained through an on-board OBD (On-Board Diagnostics) device.

[0016] Among them, the first data processing module is used to update the level 6 warning area of ​​the vehicle in real time according to the vehicle status information of the vehicle and the preset vehicle parameters.

[0017] In this embodiment, the vehicle parameters include the vehicle-mounted anti-collision terminal address ID, vehicle length, vehicle width, warning road width, first-level distance threshold, second-level distance threshold, third-level distance threshold, first-level time threshold, second-level time threshold and third-level time threshold.

[0018] Optionally, the vehicle parameters may also include the vehicle's initial longitude, the vehicle's initial latitude, the mine monitoring platform address and port, the vehicle's anti-collision terminal model, the RTK server, the RTK user name, the RTK password, the RTK mounting point, the alarm distance threshold, the height difference threshold for coarse detection, the fine detection threshold, the vehicle position offset and the vehicle's direction angle.

[0019] In this embodiment, the 6-level warning area includes a 3-level collision warning area and a 3-level distance warning area. Accordingly, the first data processing module includes a collision warning area processing unit and a distance warning area processing unit.

[0020] The collision warning area processing unit is used to obtain the corresponding first-level collision length, second-level collision length and third-level collision length according to the speed information of the vehicle, the first-level time threshold, the second-level time threshold and the third-level time threshold, and obtain the third-level collision warning area in the forward area of ​​the vehicle according to the RTK positioning information of the vehicle, the vehicle length, the vehicle width, the first-level collision length, the second-level collision length and the third-level collision length.

[0021] In this embodiment, the three-level collision warning area in the forward area of ​​the vehicle includes the first-level collision warning area, the second-level collision warning area and the third-level collision warning area in the forward area of ​​the vehicle. Exemplarily, the calculation process of the first-level collision warning area is described by taking the first-level collision warning area as an example. First, the speed of the vehicle is multiplied by the first-level time threshold to obtain the corresponding first-level collision length. Then, the length of the first-level collision warning area is determined according to the center point position of the vehicle, the vehicle length and the first-level collision length. The width of the first-level collision warning area is the vehicle width, thereby obtaining the first-level collision warning area in the forward area of ​​the vehicle.

[0022] The distance warning area processing unit is used to obtain the level 3 distance warning area of ​​the front area of ​​the vehicle according to the RTK positioning information of the vehicle, the vehicle length, the vehicle width, the first-level distance threshold, the second-level distance threshold and the third-level distance threshold.

[0023] In this embodiment, the three-level distance warning area in the forward area of ​​the vehicle includes a first-level distance warning area, a second-level distance warning area and a third-level distance warning area in the forward area of ​​the vehicle. The first-level distance threshold, the second-level distance threshold and the third-level distance threshold are respectively the distances set with the center point of the vehicle as the starting point, for example, they can be 10m, 20m and 30m. Exemplarily, the calculation process is explained by taking the first-level distance warning area as an example. First, the length of the first-level distance warning area is determined according to the center point position of the vehicle, the vehicle length and the first-level distance threshold. The width of the first-level distance warning area is the vehicle width, thereby obtaining the first-level distance warning area in the forward area of ​​the vehicle of the vehicle.

[0024] The wireless communication module is used to broadcast the vehicle status information and vehicle parameters of the vehicle to the vehicle-mounted anti-collision terminals of other vehicles within a preset range, and receive the vehicle status information and vehicle parameters of other vehicles within a preset range. Figure 2 shown.

[0025] Optionally, the USR-FQ610 swarm self-organizing network module can be used to achieve millisecond-level fast and stable communication between vehicles within 1-3 kilometers, and can self-organize into a dynamic network without relying on a central controller. The USR-FQ610 module has the characteristics of self-organization, self-repair, flexibility and distribution, and can maintain the stability and reliability of communication in the complex environment of the mining area. It supports physical layer 16-level relay and 1-second fast networking, and can carry up to 1024 devices for communication, fully meeting the needs of large-scale vehicle networks.

[0026] The USR-FQ610 module adopts industrial-grade design standards, has wide temperature and voltage operating characteristics, and high-level hardware protection to ensure stable operation in harsh environments. RS232, 1 RS485 and 1 The Ethernet interface supports multiple transmission protocols such as TCP (Transmission Control Protocol) and UDP (User Datagram Protocol), and can achieve seamless conversion between serial port / network port and swarm wireless network, and supports wireless switch function. Built-in software and hardware dual watchdog and fault self-recovery mechanism enhance the robustness and self-maintenance ability of the system. In addition, the module is also highly secure and can automatically reroute data when a network node fails to ensure the continuity of communication, while ensuring the security of data transmission through advanced encryption technology.

[0027] Among them, the first image data acquisition module is used to acquire the driver image data of the vehicle in real time.

[0028] Optionally, a rear-facing high-definition camera can be arranged on the front windshield of the vehicle to collect real-time image data of the driver of the vehicle. It is understood that in order to cope with various lighting conditions, the camera can be equipped with a night vision function to ensure that clear images can be captured even in low-light environments, enhancing all-weather applicability.

[0029] Among them, the second data processing module is used to perform collision risk detection, electronic fence detection and driver status behavior detection based on the vehicle status information and level 6 warning area of ​​the vehicle, the vehicle status information and vehicle parameters of other vehicles, and the driver image data of the vehicle, and generate warning information based on the detection results.

[0030] In an optional embodiment, the second data processing module includes: a collision risk detection unit, a driver detection unit and an electronic fence detection unit.

[0031] The collision risk detection unit is used to perform collision risk detection based on the 6-level warning area of ​​the vehicle and the vehicle status information and vehicle parameters of other vehicles. When other vehicles are within the 6-level warning area of ​​the vehicle, collision warning information is generated.

[0032] Optionally, the collision risk of the vehicle can be calculated using the anti-collision algorithm based on the 6-level warning area of ​​the vehicle and the vehicle status information and vehicle parameters of other vehicles. Specifically, the relative speed of the two vehicles is obtained based on the center point position information, vehicle direction information and speed information of the vehicle and the other vehicle, and then based on the 6-level warning area of ​​the vehicle, the relative speed, the warning road width and the length and width of the other vehicle, it is determined whether the positions of the four vertices and the center point of the other vehicle are within the 6-level warning area of ​​the vehicle, and if so, a collision warning information is generated.

[0033] It is understandable that corresponding graded collision warning information can be generated according to which of the six level warning areas of the vehicle the position point of the other vehicle falls into.

[0034] The driver detection unit is used to detect the driver's image data according to the installed driver monitoring system to obtain the driver's status and behavior detection results. When the driver's status and behavior are abnormal, a driver warning message is generated.

[0035] In this embodiment, the image processing technology and target detection algorithm of the Driver Monitor System (DMS) can be used to monitor the driver's physiological state and behavior in real time. Through the facial features and eye movements of the driver captured by the high-definition camera, the DMS can accurately identify potential dangerous behaviors such as fatigue and distraction. When the driver is detected to be fatigued, has bad driving behavior or is inattentive, a driver warning message will be generated to reduce accidents caused by driver fatigue. In addition, the driver monitoring system can also monitor other abnormal behaviors of the driver, such as whether there are distracting activities such as making phone calls and smoking.

[0036] Specifically, based on the received driver image data, the driver monitoring system can detect the driver's facial area and identify key points (such as glasses, mouth, nose, etc.) using an image recognition algorithm. Then, edge detection technology is used to determine whether the camera is blocked, and target detection algorithms are used to detect driver abnormalities, smoking, making phone calls, playing with mobile phones, fatigue driving, distracted driving, and other behaviors. Based on these detection results, the driver's state can be further analyzed. For example, by detecting eye closure, blinking frequency, yawning, etc., it can be determined whether the driver is in a fatigued state. By detecting the distance between the smoke and the face, it can be determined whether the driver is smoking. By detecting the distance between the mobile phone and the face, it can be determined whether the driver is making a phone call or playing with the mobile phone. By detecting the position of the driver's eyes, it can be determined whether the driver is distracted. Whether the driver's state is abnormal can be determined by whether the driver can be detected.

[0037] In this embodiment, the driver detection unit detects the driver's status and behavior, which significantly improves the active safety performance during driving. It can not only reduce the risk of accidents caused by personal factors of the driver, but also provide driver behavior analysis data to fleet managers to help them optimize driving training and management strategies. Through this intelligent monitoring and early warning, drivers are given a higher level of safety protection.

[0038] The electronic fence detection unit is used to perform electronic fence detection based on the vehicle status information of the vehicle and the preset electronic map of the mining area. When the vehicle meets the preset fence conditions, an electronic fence warning message is generated.

[0039] Optionally, the preset fence conditions include intersection ahead, slippery road ahead, entering a restricted area, exiting a restricted area, forced dispatch, speeding, forced parking area and vehicles at an intersection.

[0040] In this embodiment, by judging whether the center point of the vehicle is within the preset fence condition, it is determined whether the vehicle meets the preset fence condition, and when the vehicle meets the preset fence condition, an electronic fence warning message is generated. It can be understood that corresponding electronic fence warning messages can be generated according to different preset fence conditions.

[0041] In this embodiment, the RK3568 core processor can be used as the data processor of the vehicle-mounted anti-collision terminal to realize the functions of the first data processing module and the second data processing module. The processor can provide fast data processing and excellent algorithm computing capabilities. The integrated Mali-G52 GPU and powerful video codec VPU further ensure high performance in image processing and multimedia functions. The industrial-grade design and multi-interface support enable RK3568 to operate stably in various environments and meet the requirements of vehicle-mounted systems.

[0042] The warning module is used to warn the driver according to the received warning information. In this embodiment, the warning module is used to warn the driver according to at least one of the received collision warning information, driver warning information and electronic fence warning information.

[0043] The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication in the embodiment of the present invention can obtain high-precision RTK positioning information through the data acquisition module, and realize collision risk detection and electronic fence detection based on the RTK positioning information. Compared with traditional technologies, the present invention can timely identify and warn vehicles of possible collision risks during mining operations, and is not limited by dust coverage and lighting conditions, and can achieve more accurate distance measurement, effectively reduce accidents, and ensure the safety of mining workers and equipment. In addition, the integrated wireless communication module ensures high-speed and stable transmission of data between vehicles.

[0044] The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication in an embodiment of the present invention collects the driver image data of the vehicle in real time through the first image data acquisition module, and performs driver status behavior detection based on the driver image data, thereby further improving the driver's operating efficiency and thus improving the overall efficiency of mining operations.

[0045] See also Figure 3 , Figure 3 is a structural block diagram of another vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication provided by an embodiment of the present invention, such as Figure 3 As shown, in an optional embodiment, the vehicle-mounted collision avoidance terminal based on single Beidou RTK positioning and V2V communication may also include a second image data acquisition module, a 5G communication module and a user interaction interface.

[0046] The second image data acquisition module is used to collect the vehicle operating environment and driving records of the vehicle in real time. The 5G communication module is used to remotely feed back the vehicle status information, driver image data, warning information, vehicle operating environment and driving records of the vehicle to the mining area monitoring platform and receive control signals from the mining area monitoring platform. The user interaction interface is used to display the vehicle status information of the vehicle and the vehicle status information of other vehicles within a preset range.

[0047] In this embodiment, the warning reminder module can issue a warning to the driver through the user interaction interface based on the received warning information.

[0048] Optionally, a forward-facing high-definition camera can be arranged on the front windshield of the vehicle to collect the vehicle operating environment and driving records in real time during the driving process of the vehicle. The forward-facing high-definition camera can monitor the operating environment of the vehicle in real time and provide first-hand visual information from the driver's perspective. In this embodiment, the first image data acquisition module and the second image data acquisition module can improve the driving safety of the vehicle.

[0049] Understandably, in order to cope with various lighting conditions, the camera can be equipped with night vision function to ensure that clear images can be captured even in low-light environments, enhancing all-weather applicability. In addition, the forward-facing HD camera also has real-time recording and collision process playback functions, which not only helps to record the situation during driving, but also provides key playback information after a collision for accident analysis and processing.

[0050] In this embodiment, the use of 5G technology can ensure that the communication with the mine monitoring platform is real-time and efficient. The 5G communication module supports low-latency and high-bandwidth data exchange, can provide rapid response capabilities, and meet the strict requirements of mine operations for high-speed communication. Through the reliability and coverage advantages of the 5G network, vehicles can seamlessly upload key information, including vehicle status information, driver image data, warning information, and driving records, thereby enhancing the safety and coordination of mine operations.

[0051] In addition, the 5G communication module can also receive control signals sent by the mine monitoring platform to set vehicle parameters or remotely view real-time video from high-definition cameras.

[0052] Optionally, the 5G communication module can encapsulate, encrypt and transmit data packets to mining area monitoring through the JT808 protocol to ensure the security and integrity of data in the network.

[0053] Optionally, the user interaction interface can use a touch display tablet, through which the vehicle status information and warning information can be intuitively displayed and the warning information can be voice broadcast. The driver can obtain key information and perform operations in real time and accurately, which significantly improves the interactivity of the vehicle-mounted collision avoidance terminal and the safety of operations.

[0054] It is understandable that in order to further improve the interactivity and emergency response capabilities of the vehicle-mounted collision avoidance terminal, multi-function buttons can be integrated on the touch display tablet, allowing the driver to quickly access the vehicle-mounted collision avoidance terminal functions or perform necessary operations in an emergency, support user-defined settings, and allow adjustment of warning parameters according to specific operational requirements.

[0055] The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication of the embodiment of the present invention can adopt an embedded Linux operating system as its software operating system. It can not only meet the requirements of long-term stable operation of the vehicle-mounted anti-collision terminal, but also support compatibility and integration with various hardware devices, ensuring the efficient data processing and real-time response capabilities of the vehicle-mounted anti-collision terminal. The introduction of the embedded Linux operating system provides a solid platform for the development and deployment of vehicle-mounted anti-collision terminal software. It supports a variety of programming languages ​​and development tools, simplifies the development process, and speeds up the development and iteration speed. In addition, the Linux operating system can effectively defend against external attacks, protect the vehicle-mounted anti-collision terminal from malware and network threats, and has high stability and security.

[0056] By selecting an embedded Linux operating system, the vehicle-mounted anti-collision terminal of the embodiment of the present invention can achieve a highly reliable software environment and provide the driver with a continuous and safe operating experience. At the same time, the maintenance and upgrade of the vehicle-mounted anti-collision terminal also become more convenient. The software update of the vehicle-mounted anti-collision terminal can be remotely controlled and updated through the mining area monitoring platform, or an automated software update process can be designed for update. Through self-diagnosis and maintenance functions, the stable operation and timely update of the system are ensured.

[0057] It can be understood that the vehicle-mounted collision avoidance terminal based on single Beidou RTK positioning and V2V communication in this embodiment is provided with a log management module for managing key operations and events of the vehicle-mounted collision avoidance terminal to facilitate subsequent analysis and debugging.

[0058] The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication in the embodiment of the present invention simplifies maintenance work through automated software update process and system log management, ensuring that the vehicle-mounted anti-collision terminal can continue to operate in the latest state. At the same time, through the application of data encryption and secure communication protocols, the security and integrity of data transmission are protected, providing a guarantee for the stable operation of the vehicle-mounted anti-collision terminal.

[0059] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant is intended to cover non-exclusive inclusion, so that the article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the article or device including the elements. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The orientation or position relationship indicated by "up", "down", "left", "right", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0060] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication, characterized in that: include: A data acquisition module is used to obtain vehicle status information of the vehicle, wherein the vehicle status information includes RTK positioning information and speed information; A first data processing module is used to update the 6-level warning area of ​​the vehicle in real time according to the vehicle status information of the vehicle and preset vehicle parameters; A wireless communication module, used for broadcasting the vehicle status information and vehicle parameters of the vehicle to the vehicle-mounted anti-collision terminals of other vehicles within a preset range, and receiving the vehicle status information and vehicle parameters of other vehicles within the preset range; A first image data acquisition module, used for acquiring the driver image data of the vehicle in real time; A second data processing module is used to perform collision risk detection, electronic fence detection and driver status behavior detection according to the vehicle status information and 6-level warning area of ​​the vehicle, the vehicle status information and vehicle parameters of other vehicles, and the driver image data of the vehicle, and generate warning information according to the detection results; The warning reminder module is used to issue a warning to the driver according to the received warning information.

2. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 1 is characterized in that: The RTK positioning information includes the center point position information and vehicle direction information of the vehicle.

3. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 1, characterized in that: The vehicle parameters include the vehicle-mounted anti-collision terminal address ID, vehicle length, vehicle width, warning road width, distance level 1 threshold, distance level 2 threshold, distance level 3 threshold, time level 1 threshold, time level 2 threshold and time level 3 threshold.

4. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 3 is characterized in that: The 6-level warning area includes a 3-level collision warning area and a 3-level distance warning area. Accordingly, the first data processing module includes a collision warning area processing unit and a distance warning area processing unit, wherein: The collision warning area processing unit is used to obtain the corresponding first-level collision length, second-level collision length and third-level collision length according to the speed information of the vehicle, the first-level time threshold, the second-level time threshold and the third-level time threshold, and obtain the third-level collision warning area of ​​the forward area of ​​the vehicle according to the RTK positioning information of the vehicle, the vehicle length, the vehicle width, the first-level collision length, the second-level collision length and the third-level collision length; The distance warning area processing unit is used to obtain the level 3 distance warning area of ​​the forward area of ​​the vehicle according to the RTK positioning information of the vehicle, the vehicle length, the vehicle width, the first-level distance threshold, the second-level distance threshold and the third-level distance threshold.

5. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 1, characterized in that: The second data processing module includes: A collision risk detection unit, configured to perform collision risk detection according to the 6-level warning area of ​​the vehicle and the vehicle status information and vehicle parameters of the other vehicle, and generate collision warning information when the other vehicle is within the 6-level warning area of ​​the vehicle; A driver detection unit, used to detect the driver image data according to the mounted driver monitoring system, obtain the driver's state and behavior detection results, and generate driver warning information when the driver's state and behavior are abnormal; The electronic fence detection unit is used to perform electronic fence detection according to the vehicle status information of the vehicle and a preset electronic map of the mining area, and generate electronic fence warning information when the vehicle meets the preset fence conditions.

6. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 5, characterized in that: The preset fence conditions include intersection ahead, slippery road ahead, entering a restricted area, exiting a restricted area, forced dispatch, speeding, forced parking area and vehicles at an intersection.

7. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 1, characterized in that: Also includes: The second image data acquisition module is used to collect the vehicle operating environment and driving records during the driving process of the vehicle in real time.

8. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 7, characterized in that: Also includes: The 5G communication module is used to remotely feed back the vehicle status information, the driver image data, the warning information, the vehicle operating environment and the driving record of the vehicle to the mining area monitoring platform, and receive the control signal of the mining area monitoring platform.

9. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 1, characterized in that: Also includes: The user interaction interface is used to display the vehicle status information of the vehicle and the vehicle status information of other vehicles within a preset range.

10. The vehicle-mounted anti-collision terminal based on single Beidou RTK positioning and V2V communication according to claim 9, characterized in that: The early warning reminder module is used to issue a warning to the driver through the user interaction interface based on the received early warning information.

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