Vehicle anti-collision method and device for mining area intersection based on C-V2X technology

Abstract

The invention discloses a vehicle anti-collision method and device for a mining area intersection based on the C-V2X technology in the technical field of intelligent traffic, and the method comprises the steps: obtaining the vehicle information of a vehicle, and judging whether the vehicle enters an area around the intersection or an intersection area or not according to the vehicle information of the vehicle; after the vehicle drives into the surrounding area of the intersection, vehicle information of a nearby vehicle is obtained through V2V communication; after the vehicle is driven into the intersection area, judging whether a nearby vehicle is driven into the intersection area or not according to the vehicle information of the nearby vehicle; if there is an adjacent vehicle entering the intersection area, predicting driving tracks of the own vehicle and the adjacent vehicle in the intersection area according to the vehicle information of the own vehicle and the adjacent vehicle; and performing anti-collision processing according to the driving tracks of the own vehicle and the adjacent vehicle in the intersection area. According to the invention, the traffic safety of the intersection of the mining area can be obviously improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a vehicle collision avoidance method and device at a mining intersection based on C-V2X technology. Background Art

[0002] The open-pit mining area has a complex environment, with a variety of large-scale equipment and vehicles operating frequently. The intersections in the mining area are high-incidence areas for vehicle collision accidents, especially in the environment where manned and unmanned vehicles are mixed. The risk is more prominent. There are situations where vehicles are blocked by turning and the on-board radar cannot perceive the information of surrounding vehicles in advance. Traditional intersection collision warning measures mainly rely on traffic lights, signs and drivers' visual judgment, which are often difficult to effectively prevent accidents in mining areas with limited visibility and low visualization index. Unmanned vehicles usually rely on sensors for environmental perception, and these sensors may misjudge or miss judgments in complex movements, environments with multiple obstacles, and intersection turning environments, increasing the risk of collision. Traditional collision avoidance systems are mostly independent and cannot share information with other vehicles or facilities, resulting in insufficient early warning of potential dangers.

[0003] C-V2X: Cellular Vehicle-to-Everything, is a vehicle networking technology based on cellular networks, mainly used to improve road safety and traffic efficiency. The anti-collision method based on C-V2X can achieve accurate position detection, path prediction and obstacle avoidance control between vehicles through real-time data transmission and intelligent decision-making, improve the speed and accuracy of information transmission, thereby improving the vehicle's environmental perception ability, effectively reducing the risk of collision, ensuring the safety and automation level of mining operations, and providing technical support for the further development of unmanned driving and intelligent scheduling systems. In the current study, an end-to-end trajectory fusion prediction model applied to V2X information sharing scenarios is recorded. The model can process and fuse data from different information sources, and predict the future motion trajectory of the surrounding intelligent bodies and the environmental lane lines. Starting from the existing open source single-vehicle intelligent trajectory prediction dataset, a trajectory fusion prediction dataset specifically for V2X information sharing scenarios is constructed, and an end-to-end model training strategy is proposed. By scoring the prediction results of each target source, the model can identify and output the prediction results with the best accuracy. However, this model relies on an open-source bicycle trajectory dataset, and it is difficult to obtain a reliable source of training data for vehicle operation scenarios in open-pit mines where sample data is scarce and roads frequently change. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a vehicle collision avoidance method and device at a mine intersection based on C-V2X technology to solve the technical problem of potential dangers in the mixed passage of unmanned vehicles and manned vehicles in the complex environment of a mine intersection.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a vehicle collision avoidance method at a mining intersection based on C-V2X technology, comprising: Acquire vehicle information of the own vehicle, and determine whether to enter the area around the intersection or the intersection area according to the vehicle information of the own vehicle; After the vehicle enters the area around the intersection, it obtains the vehicle information of the neighboring vehicles through V2V communication; After the own vehicle enters the intersection area, it is determined whether there is an adjacent vehicle entering the intersection area according to the vehicle information of the adjacent vehicle; If there is an adjacent vehicle entering the intersection area, predicting the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area according to the vehicle information of the own vehicle and the adjacent vehicle; Anti-collision processing is performed according to the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area.

[0006] Optionally, the vehicle information includes location information; Determine whether the vehicle has entered the area around the intersection or the intersection area based on the vehicle's location information: The vehicle's location information is unified into a preset local coordinate system to obtain the vehicle's location coordinates in the local coordinate system; the local coordinate system is a northeast celestial coordinate system with the mining area differential base station as the origin, and the intersection surrounding area and the intersection area are pre-unified into the northeast celestial coordinate system according to their location information; In the local coordinate system, whether the vehicle enters the area around the intersection or the intersection area is determined based on the coordinate relationship among the vehicle, the area around the intersection, and the intersection area.

[0007] Optionally, the vehicle information also includes a turn signal and a steering wheel angle; According to the vehicle's turn signal and steering wheel angle, the vehicle's straight trajectory prediction or vehicle turning trajectory prediction is determined: If the vehicle's turn signal is empty and the vehicle's steering wheel angle is within the preset angle range, the vehicle's straight trajectory prediction is performed; otherwise, the vehicle's turning trajectory prediction is performed; Among them, the angle range is , , where is the corner threshold, , is the vehicle's steering wheel ratio and front and rear wheelbase, is the width of the lane where the vehicle is located, It is the length of the intersection area in the direction of vehicle travel.

[0008] Optionally, the vehicle information also includes speed, heading angle and acceleration; The vehicle straight track prediction comprises: Construct the vehicle state model under the vehicle straight trajectory: ; In the formula, for The vehicle status at the moment, is the prediction step length, For vehicles in The coordinate value at the time, For vehicles in Speed, heading angle and acceleration at the moment; ; According to the vehicle state model under the vehicle straight trajectory, the vehicle straight trajectory equation is constructed: ; In the formula, is the coordinate value of the vehicle's straight trajectory.

[0009] Optionally, the vehicle information also includes speed, heading angle and acceleration; The vehicle turning trajectory prediction comprises: Determine the lane corresponding to the turning direction according to the turn signal, take the starting point of the lane as the end point of the turning trajectory of the vehicle, take the number of lanes as the number of turning trajectories of the vehicle; take the end point of the lane where the vehicle is located as the turning base point; When the vehicle's turn signal is not empty, If the steering wheel angle of the vehicle is within the preset angle range, the vehicle straight trajectory is predicted before the vehicle reaches the turning base point; after the vehicle reaches the turning base point, the vehicle turning trajectory with the maximum radius is predicted; If the vehicle's steering wheel angle exceeds a preset angle range, and the turn signal is consistent with the direction of the steering wheel angle, the vehicle's turning trajectory is predicted by taking the vehicle's position where the vehicle's steering wheel angle exceeds the preset angle range as the starting point of the vehicle's turning trajectory.

[0010] Optionally, the predicting of the vehicle turning trajectory includes: Perform turning arc fitting according to the starting point and end point of the vehicle turning trajectory: ; ; ; In the formula, is the coordinate of the center of the turning arc, is the starting coordinate of the vehicle turning trajectory, The heading angle of the vehicle at the start of the vehicle turning trajectory, is the turning arc radius; Calculate the vehicle's approximate turning radius based on the steering wheel angle : ; The turning arc radius of each vehicle turning trajectory is expanded by serial coordinates to obtain an expanded sequence of serial coordinates: ; In the formula, For the The turning arc radius of the vehicle turning trajectory, is the number of vehicle turning trajectories; The extended sequence is interpolated by least squares to obtain an interpolation equation, and the approximate turning radius is Solve the interpolation sequence number as a known value; According to the sequence number in the sequence coordinate, obtain the turning arc radius corresponding to the interpolation sequence number closest to the interpolation sequence number , which is used as the final turning arc radius ; According to the final turning arc radius , construct the equation for the vehicle turning trajectory: ; In the formula, is the turning arc radius The corresponding center coordinates are, is the turning arc radius The corresponding starting point coordinates of the vehicle turning trajectory, is the turning arc radius The corresponding end point coordinates of the vehicle turning trajectory; The vehicle turning trajectory prediction with the maximum radius includes: The maximum turning arc radius is used as the final turning arc radius ; According to the final turning arc radius , construct the vehicle turning trajectory equation.

[0011] Optionally, the performing collision avoidance processing according to the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area includes: The own vehicle and the adjacent vehicles are numbered: If one of the own vehicle or the neighboring vehicle is an unmanned vehicle and the other is a manned vehicle, the unmanned vehicle is recorded as vehicle , manned vehicles are recorded as vehicles ; If the own vehicle and the adjacent vehicle are both unmanned vehicles or unmanned vehicles, the vehicle closest to the mining intersection area is recorded as the vehicle , vehicles far from the intersection of the mining area are recorded as vehicles ; Identify the vehicle and vehicles Does the straight-line trajectory equation of the vehicle or the turning trajectory equation of the vehicle intersect? If so, calculate the Calculate the time it takes to reach the intersection point based on its velocity and acceleration ; According to vehicle The speed of the vehicle is calculated By time The acceleration required to reach the collision point ; According to the acceleration The collision warning level is divided into different levels, and the vehicle is and vehicles Perform anti-collision processing.

[0012] Optionally, the acceleration The collision warning level classification includes: If the acceleration , then the collision warning level is zero collision warning level; For vehicles The range of maximum deceleration and maximum acceleration; If the acceleration ,and: Acceleration , then the collision warning level is the first collision warning level; is the preset disturbance average acceleration; Acceleration or , then the collision warning level is the second level collision warning level; Acceleration or , the collision warning level is level three.

[0013] Optionally, the vehicle is and vehicles Anti-collision processing includes: If the collision warning level is level 3: vehicle When it is an unmanned vehicle, control the vehicle Maintain original driving behavior; vehicle When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Constant speed driving; vehicle When it is a car with people in it, Issue constant speed driving reminder and voice broadcast of oncoming vehicle information; If the collision warning level is level 2: vehicle When it is an unmanned vehicle, control the vehicle Maintain original driving behavior; vehicle When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Take less than The vehicle decelerates to a stop and waits; When it is a car with people in it, Issue avoidance prompts, warning prompts and voice broadcasts of oncoming vehicle information; If the collision warning level is level 1: vehicle When it is an unmanned vehicle, control the vehicle Reduce speed according to the preset ratio; When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Take less than The vehicle decelerates to a stop and waits; When it is a car with people in it, Issue avoidance prompts, warning prompts and voice broadcasts of oncoming vehicle information.

[0014] In a second aspect, the present invention provides a vehicle collision avoidance device for a mine intersection based on C-V2X technology. The vehicle collision avoidance device is deployed on a vehicle equipped with a V2V communication function within the mine, and is used to execute the steps of the above-mentioned vehicle collision avoidance method.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a vehicle collision avoidance method and device for a mine intersection based on C-V2X technology. The C-V2X technology can share key vehicle information such as the position, speed, and driving status of the mine intersection in real time. Based on this information, the system can predict in advance the subsequent straight and turning paths of each vehicle at the mine intersection, and perform collision risk assessment at the intersection. When a potential collision risk is detected, the risk level is assessed, and the system will immediately issue a corresponding warning signal to prompt the driver or the automatic driving system to take corresponding measures to avoid collision. Compared with traditional methods, the invention can significantly improve the traffic safety of mine intersections, especially in complex scenarios where manned and unmanned vehicles are mixed, effectively reducing the accident rate and ensuring work in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of a vehicle collision avoidance method at a mining intersection based on C-V2X technology provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a marking intersection area provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a left-turn trajectory of a vehicle in an intersection area provided by an embodiment of the present invention; Figure 4 is a schematic diagram of trajectories of oncoming vehicles traveling straight provided by an embodiment of the present invention; Figure 5 This is a schematic diagram of trajectories of oncoming vehicles both going straight and turning, provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of trajectories of oncoming vehicles turning provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0018] Embodiment 1:

[0019] like Figure 1 As shown, an embodiment of the present invention provides a vehicle collision avoidance method at a mining intersection based on C-V2X technology, comprising the following steps: Step S1, obtaining vehicle information of the own vehicle, and determining whether to enter the area around the intersection or the intersection area according to the vehicle information of the own vehicle.

[0020] Specifically in this embodiment, the vehicle information includes the vehicle's current latitude and longitude, speed, acceleration, heading angle, steering wheel angle, turn signal signal, front and rear wheelbase, maximum acceleration, maximum deceleration and other information; the vehicle's current latitude and longitude, speed, acceleration, heading angle, steering wheel angle and other information are dynamic data, which are obtained through vehicle-mounted positioning equipment and road test equipment; the vehicle's front and rear wheelbase, maximum acceleration, maximum deceleration and other information are vehicle model configuration information, which are static data; the vehicle's turn signal signal (left turn signal, right turn signal) is obtained through vehicle-mounted sensors or road test cameras.

[0021] Specifically in this embodiment, it is determined whether the vehicle enters the area around the intersection or the intersection area according to the vehicle's position information: The vehicle's location information is unified into a preset local coordinate system to obtain the vehicle's location coordinates in the local coordinate system; the local coordinate system is a northeast celestial coordinate system with the mining area differential base station as the origin, and the intersection surrounding area and the intersection area are pre-unified into the northeast celestial coordinate system according to their location information; In the local coordinate system, whether the vehicle enters the area around the intersection or the intersection area is determined based on the coordinate relationship among the vehicle, the area around the intersection, and the intersection area.

[0022] In this embodiment, after a vehicle enters the intersection area, it is not allowed to change lanes in the same direction.

[0023] Step S2: After the vehicle enters the area around the intersection, the vehicle information of the neighboring vehicles is obtained through V2V communication.

[0024] Vehicles involved in the control of the mining area are connected to the same vehicle network through C-V2X communication and can send and receive messages to each other.

[0025] Step S3: After the vehicle enters the intersection area, determine whether there is an adjacent vehicle entering the intersection area based on the vehicle information of the adjacent vehicle.

[0026] Step S4: If there is an adjacent vehicle entering the intersection area, predict the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area based on the vehicle information of the own vehicle and the adjacent vehicle.

[0027] Specifically in this embodiment, the vehicle straight track prediction or vehicle turning track prediction is determined based on the vehicle's turn signal and steering wheel angle: If the vehicle's turn signal is empty and the vehicle's steering wheel angle is within the preset angle range, the vehicle's straight trajectory prediction is performed; otherwise, the vehicle's turning trajectory prediction is performed; The turning angle range is , , where is the corner threshold, , is the vehicle's steering wheel ratio and front and rear wheelbase, is the width of the lane where the vehicle is located, It is the length of the intersection area in the direction of vehicle travel.

[0028] like Figure 2 As shown, the vehicle straight trajectory prediction includes: Construct the vehicle state model under the vehicle straight trajectory: ; In the formula, for The vehicle status at the moment, is the prediction step length, For vehicles in The coordinate value at the time, For vehicles in Speed, heading angle and acceleration at the moment; ; According to the vehicle state model under the vehicle straight trajectory, the vehicle straight trajectory equation is constructed: ; In the formula, is the coordinate value of the vehicle's straight trajectory.

[0029] like Figure 3 As shown, vehicle turning trajectory prediction includes: Determine the lane corresponding to the turning direction according to the turn signal, take the starting point of the lane as the end point of the vehicle turning trajectory, and the number of lanes as the number of vehicle turning trajectories; take the end point of the lane where the vehicle is located as the turning base point; Figure 3 For example, after the vehicle turns left, there are two lanes, and the end point of the vehicle turning trajectory is , the turning point is ; When the vehicle's turn signal is not empty, If the steering wheel angle of the vehicle is within the preset turning angle range, the vehicle straight trajectory is predicted before the vehicle reaches the turning base point; after the vehicle reaches the turning base point, the vehicle turning trajectory with the maximum radius is predicted; If the vehicle's steering wheel angle exceeds the preset angle range, and the turn signal is consistent with the direction of the steering wheel angle, the vehicle's position where the vehicle's steering wheel angle exceeds the preset angle range is taken as the starting point of the vehicle's turning trajectory. , to predict vehicle turning trajectory.

[0030] Among them, vehicle turning trajectory prediction includes: Fit the turning arc according to the starting point and end point of the vehicle turning trajectory: ; ; ; In the formula, is the coordinate of the center of the turning arc, is the starting coordinate of the vehicle turning trajectory, The heading angle of the vehicle at the start of the vehicle turning trajectory, is the turning arc radius; Calculate the vehicle's approximate turning radius based on the steering wheel angle : ; The turning arc radius of each vehicle turning trajectory is expanded by serial coordinates to obtain the expanded sequence of serial coordinates: ; In the formula, For the The turning arc radius of the vehicle turning trajectory, is the number of vehicle turning trajectories; The interpolation equation is obtained by least squares interpolation of the extended sequence, and the approximate turning radius is Solve the interpolation sequence number as a known value; According to the serial number in the serial coordinate, get the corresponding turning arc radius when it is closest to the interpolation serial number , which is used as the final turning arc radius ; According to the final turning arc radius , construct the equation for the vehicle turning trajectory: ; In the formula, is the turning arc radius The corresponding center coordinates are, is the turning arc radius The corresponding starting point coordinates of the vehicle turning trajectory, is the turning arc radius The corresponding end point coordinates of the vehicle turning trajectory; Predicting the maximum radius of a vehicle turning trajectory includes: The maximum turning arc radius is used as the final turning arc radius ; According to the final turning arc radius , construct the vehicle turning trajectory equation: ; In the formula, is the turning arc radius The corresponding center coordinates are, is the turning arc radius The corresponding starting point coordinates of the vehicle turning trajectory, is the turning arc radius The corresponding end point coordinates of the vehicle turning trajectory.

[0031] Step S5: perform anti-collision processing according to the driving trajectories of the own vehicle and the adjacent vehicles in the intersection area. Specifically, it includes: Number your own vehicle and adjacent vehicles: If one of the own vehicle or the neighboring vehicles is an unmanned vehicle and the other is a manned vehicle, the unmanned vehicle is recorded as the vehicle , manned vehicles are recorded as vehicles ; If both the own vehicle and the adjacent vehicles are unmanned vehicles or unmanned vehicles, the vehicle closest to the intersection area of ​​the mining area is recorded as the vehicle , vehicles far from the intersection of the mining area are recorded as vehicles ; Identify the vehicle and vehicles Does the straight-line trajectory equation of the vehicle or the turning trajectory equation of the vehicle intersect? If so, calculate the Calculate the time it takes to reach the intersection point based on its velocity and acceleration ; According to vehicle The speed of the vehicle is calculated By time The acceleration required to reach the collision point ; According to the acceleration The collision warning level is divided into different levels, and the vehicle is and vehicles Perform anti-collision processing.

[0032] like Figures 4 to 6 As shown, the vehicle and vehicles There are four types of driving behaviors: Type 1: Vehicle Straight, Vehicle straight; Type 2: Vehicle Turn, vehicle straight; Type 3: Vehicle Straight, Vehicle Turn; Type 4: Vehicle Turn, vehicle Turn; In type 1, the trajectory equations intersect, i.e. the collision point , whose expression is: ; ; In the formula, For vehicles The coordinate value of For vehicles The coordinate value of For vehicles and vehicles The heading angle; According to vehicle Speed and acceleration Calculate the time it takes to reach the intersection : ; ; Calculating vehicles By time The acceleration required to reach the collision point for: ; In type 2, the trajectory equations intersect, i.e. the collision point , whose expression is: ; ; In the formula, For vehicles The turning arc radius; According to vehicle Speed and acceleration Calculate the time it takes to reach the intersection : ; ; In the formula, For vehicles The center angle of the turning trajectory around the turning center; Calculating vehicles By time The acceleration required to reach the collision point for: ; In type three, the situation is similar to type two and will not be elaborated on.

[0033] In type 4, the trajectory equation intersection point, i.e. the collision point , whose expression is: ; ; For vehicles The turning point, For vehicles The turning point, For vehicles The turning point, For vehicles The turning end point; According to vehicle Speed and acceleration Calculate the time it takes to reach the intersection : ; ; Calculating vehicles By time The acceleration required to reach the collision point for: ; ; Specifically in this embodiment, according to the acceleration The collision warning level classification includes: If the acceleration ,vehicle Keep the original driving behavior conditions, the vehicle No matter accelerating or decelerating, it is impossible to Arriving at the collision point, the collision warning level is zero collision warning level; For vehicles The range of maximum deceleration and maximum acceleration; If the acceleration ,and: Acceleration , is the preset disturbance average acceleration, which can be taken as 0.4m / s 2 , when the vehicle is under the disturbance average acceleration, it is considered that the vehicle is traveling at a constant speed. Keep the original driving behavior conditions, the vehicle When the vehicle is subsequently driven at a relatively constant speed, a collision may occur, and the collision warning level is the first level. Acceleration or ,vehicle Keep the original driving behavior conditions, the vehicle When the vehicle is subsequently driven at fluctuating acceleration, the two vehicles may collide, and the collision warning level will be level 2. Acceleration or ,vehicle Keep the original driving behavior conditions, the vehicle Subsequent extreme acceleration or deceleration may cause the two vehicles to collide, and the collision warning level will be level three.

[0034] Specifically in this embodiment, the vehicle is and vehicles Anti-collision processing includes: If the collision warning level is level 3: vehicle When it is an unmanned vehicle, control the vehicle Maintain original driving behavior; vehicle When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Constant speed driving; vehicle When it is a car with people in it, Issue constant speed driving reminder and voice broadcast of oncoming vehicle information; If the collision warning level is level 2: vehicle When it is an unmanned vehicle, control the vehicle Maintain original driving behavior; vehicle When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Take less than The vehicle decelerates to a stop and waits; When it is a car with people in it, Issue avoidance prompts, warning prompts and voice broadcasts of oncoming vehicle information; If the collision warning level is level 1: vehicle When it is an unmanned vehicle, control the vehicle Reduce speed according to the preset ratio; When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Take less than The vehicle decelerates to a stop and waits; When it is a car with people in it, Issue avoidance prompts, warning prompts and voice broadcasts of oncoming vehicle information.

[0035] Embodiment 2:

[0036] Based on Example 1, an embodiment of the present invention provides a vehicle collision avoidance device for a mine intersection based on C-V2X technology. The vehicle collision avoidance device is deployed on a vehicle equipped with a V2V communication function in the mine, and is used to execute the steps of the above-mentioned vehicle collision avoidance method.

[0037] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0038] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0039] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0040] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle collision avoidance method at a mining intersection based on C-V2X technology, characterized in that: include: Acquire vehicle information of the own vehicle, and determine whether to enter the area around the intersection or the intersection area according to the vehicle information of the own vehicle; After the vehicle enters the area around the intersection, it obtains the vehicle information of the neighboring vehicles through V2V communication; After the own vehicle enters the intersection area, it is determined whether there is an adjacent vehicle entering the intersection area according to the vehicle information of the adjacent vehicle; If there is an adjacent vehicle entering the intersection area, predicting the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area according to the vehicle information of the own vehicle and the adjacent vehicle; Anti-collision processing is performed according to the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area.

2. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 1 is characterized in that: The vehicle information includes location information; Determine whether the vehicle has entered the area around the intersection or the intersection area based on the vehicle's location information: The vehicle's location information is unified into a preset local coordinate system to obtain the vehicle's location coordinates in the local coordinate system; the local coordinate system is a northeast celestial coordinate system with the mining area differential base station as the origin, and the intersection surrounding area and the intersection area are pre-unified into the northeast celestial coordinate system according to their location information; In the local coordinate system, whether the vehicle enters the area around the intersection or the intersection area is determined based on the coordinate relationship among the vehicle, the area around the intersection, and the intersection area.

3. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 1 is characterized in that: The vehicle information also includes turn signal and steering wheel angle; According to the vehicle's turn signal and steering wheel angle, the vehicle's straight trajectory prediction or vehicle turning trajectory prediction is determined: If the vehicle's turn signal is empty and the vehicle's steering wheel angle is within the preset angle range, the vehicle's straight trajectory prediction is performed; otherwise, the vehicle's turning trajectory prediction is performed; Among them, the angle range is , , where is the corner threshold, , is the vehicle's steering wheel ratio and front and rear wheelbase, is the width of the lane where the vehicle is located, It is the length of the intersection area in the direction of vehicle travel.

4. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 3 is characterized in that: The vehicle information also includes speed, heading angle and acceleration; The vehicle straight track prediction comprises: Construct the vehicle state model under the vehicle straight trajectory: ； In the formula, for The vehicle status at the moment, is the prediction step length, For vehicles in The coordinate value at the time, For vehicles in Speed, heading angle and acceleration at the moment; ; According to the vehicle state model under the vehicle straight trajectory, the vehicle straight trajectory equation is constructed: ； In the formula, is the coordinate value of the vehicle's straight trajectory.

5. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 3 is characterized in that: The vehicle information also includes speed, heading angle and acceleration; The vehicle turning trajectory prediction comprises: Determine the lane corresponding to the turning direction according to the turn signal, take the starting point of the lane as the end point of the turning trajectory of the vehicle, take the number of lanes as the number of turning trajectories of the vehicle; take the end point of the lane where the vehicle is located as the turning base point; When the vehicle's turn signal is not empty, If the steering wheel angle of the vehicle is within the preset angle range, the vehicle straight trajectory is predicted before the vehicle reaches the turning base point; after the vehicle reaches the turning base point, the vehicle turning trajectory with the maximum radius is predicted; If the vehicle's steering wheel angle exceeds a preset angle range, and the turn signal is consistent with the direction of the steering wheel angle, the vehicle's turning trajectory is predicted by taking the vehicle's position where the vehicle's steering wheel angle exceeds the preset angle range as the starting point of the vehicle's turning trajectory.

6. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 5 is characterized in that: The vehicle turning trajectory prediction comprises: Perform turning arc fitting according to the starting point and end point of the vehicle turning trajectory: ； ； ； In the formula, is the coordinate of the center of the turning arc, is the starting coordinate of the vehicle turning trajectory, The heading angle of the vehicle at the start of the vehicle turning trajectory, is the turning arc radius; Calculate the vehicle's approximate turning radius based on the steering wheel angle : ； The turning arc radius of each vehicle turning trajectory is expanded by serial coordinates to obtain an expanded sequence of serial coordinates: ； In the formula, For the The turning arc radius of the vehicle turning trajectory, is the number of vehicle turning trajectories; The extended sequence is interpolated by least squares to obtain an interpolation equation, and the approximate turning radius is Solve the interpolation sequence number as a known value; According to the sequence number in the sequence coordinate, obtain the turning arc radius corresponding to the interpolation sequence number closest to the interpolation sequence number , which is used as the final turning arc radius ; According to the final turning arc radius , construct the equation for the vehicle turning trajectory: ； In the formula, is the turning arc radius The corresponding center coordinates are, is the turning arc radius The starting coordinates of the corresponding vehicle turning trajectory, is the turning arc radius The corresponding end point coordinates of the vehicle turning trajectory; The vehicle turning trajectory prediction with the maximum radius includes: The maximum turning arc radius is used as the final turning arc radius ; According to the final turning arc radius , construct the vehicle turning trajectory equation.

7. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 1 is characterized in that: The anti-collision processing according to the driving trajectories of the own vehicle and the adjacent vehicle in the intersection area includes: The own vehicle and the adjacent vehicles are numbered: If one of the own vehicle or the neighboring vehicle is an unmanned vehicle and the other is a manned vehicle, the unmanned vehicle is recorded as vehicle , manned vehicles are recorded as vehicles ; If the own vehicle and the adjacent vehicle are both unmanned vehicles or unmanned vehicles, the vehicle closest to the mining intersection area is recorded as the vehicle , vehicles far from the intersection of the mining area are recorded as vehicles ; Identify the vehicle and vehicles Does the straight-line trajectory equation of the vehicle or the turning trajectory equation of the vehicle intersect? If so, calculate the Calculate the time it takes to reach the intersection point based on its velocity and acceleration ; According to vehicle The speed of the vehicle is calculated By time The acceleration required to reach the collision point ; According to the acceleration The collision warning level is divided into different levels, and the vehicle is and vehicles Perform anti-collision processing.

8. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 7 is characterized in that: The acceleration according to The collision warning level classification includes: If the acceleration , then the collision warning level is zero collision warning level; For vehicles The range of maximum deceleration and maximum acceleration; If the acceleration ,and: Acceleration , then the collision warning level is the first collision warning level; is the preset disturbance average acceleration; Acceleration or , then the collision warning level is the second level collision warning level; Acceleration or , the collision warning level is level three.

9. The vehicle collision avoidance method at a mining intersection based on C-V2X technology according to claim 8 is characterized in that: The vehicle is and vehicles Anti-collision processing includes: If the collision warning level is level 3: vehicle When it is an unmanned vehicle, control the vehicle Maintain original driving behavior; vehicle When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Constant speed driving; vehicle When it is a car with people in it, Issue constant speed driving reminder and voice broadcast of oncoming vehicle information; If the collision warning level is level 2: vehicle When it is an unmanned vehicle, control the vehicle Maintain original driving behavior; vehicle When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Take less than The vehicle decelerates to a stop and waits; When it is a car with people in it, Issue avoidance prompts, warning prompts and voice broadcasts of oncoming vehicle information; If the collision warning level is level 1: vehicle When it is an unmanned vehicle, control the vehicle Reduce speed according to the preset ratio; When it is a car with people in it, Send out voice broadcast to maintain the original driving behavior and oncoming vehicle information; vehicle When it is an unmanned vehicle, control the vehicle Take less than The vehicle decelerates to a stop and waits; When it is a car with people in it, Issue avoidance prompts, warning prompts and voice broadcasts of oncoming vehicle information.

10. A vehicle collision avoidance device at a mining intersection based on C-V2X technology, characterized in that: The vehicle collision avoidance device is deployed on a vehicle equipped with a V2V communication function in a mining area, and is used to execute the steps of the vehicle collision avoidance method as described in any one of claims 1-9.

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