Collision early warning and perception enhancement method and system based on V2X

Abstract

The invention provides a V2X-based collision early warning and perception enhancement method and system. The method comprises vehicle end early warning and perception enhancement and portable intelligent equipment end early warning. The vehicle end early warning perception enhancement method comprises the following steps: broadcasting a vehicle information message to the outside of a vehicle; receiving messages sent by surrounding traffic participants, extracting positioning information in the messages, judging the safety state of the vehicle based on the positioning information and the positioning information of the vehicle, and reminding or automatically avoiding in case of danger; and performing sensing fusion on the information of the surrounding traffic participants and the sensing information of the vehicle to obtain an enhanced sensing result. The portable intelligent equipment end early warning method comprises the following steps: acquiring positioning information of the intelligent equipment, judging a motion state according to the positioning information, and broadcasting a message outwards when the motion state is judged to be a non-maneuvering state; external messages are received, the messages sent by the vehicle end are screened out, positioning information in the messages is extracted to judge the safety state, and reminding is given in case of danger. IDs of the vehicle end and the intelligent equipment end are randomly generated, and user privacy is protected.

Description

Technical Field

[0001] The present invention relates to the field of traffic safety technology, and in particular to a V2X-based collision warning and perception enhancement method and system. Background Art

[0002] In recent years, V2X (vehicle to everything) has become an important development direction in the automotive field and has received increasing attention from the industry. Related functions in the V2X direction, such as vehicle to infrastructure, vehicle to network, and vehicle to vehicle, are gradually entering the public's field of vision, bringing novel and excellent user experience to vehicle users.

[0003] With the rapid development of electronic technology, high-performance, low-cost smart terminals are increasingly widely used. Smart phones, smart tablets, smart watches and other smart devices are usually equipped with positioning functions and can send data wirelessly. How to use these smart devices to connect with vehicles to ensure the safety of traffic participants is the problem to be solved by the present invention. In view of this problem, the creator of the present invention finally obtained the present invention after a long period of research and practice. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a V2X-based collision warning and perception enhancement method and system.

[0005] The technical solution adopted by the present invention is:

[0006] On the one hand, a V2X-based collision warning and perception enhancement method is provided, including: a vehicle-side warning perception enhancement method and a portable smart device-side warning method;

[0007] The vehicle-side warning perception enhancement method includes the following steps:

[0008] S11: broadcast vehicle information message to the outside of the vehicle;

[0009] S12: receiving messages sent by surrounding traffic participants, extracting positioning information of surrounding traffic participants from the messages, judging the safety status of the vehicle based on the positioning information of surrounding traffic participants and the positioning information of the vehicle, and giving a reminder to the driver of the vehicle or automatically avoiding the danger when a danger is determined;

[0010] S13: extracting information of surrounding traffic participants from the message, and fusing the extracted information with the perception information of the vehicle to obtain a fused enhanced perception result;

[0011] The portable smart device-side early warning method comprises the following steps:

[0012] S21: Acquire the positioning information of the smart device itself, and determine the motion state of the smart device according to the positioning information, wherein the motion state includes a motorized state and a non-motorized state; wherein the motorized state means that the carrier of the smart device is riding a motorized vehicle, and the non-motorized state means that the carrier of the smart device is riding a non-motorized vehicle or walking; when determining that the motion state of the smart device is a non-motorized state, broadcast the information message of the smart device externally;

[0013] S22: Receive messages sent by surrounding traffic participants, filter out messages sent by the vehicle from the messages, extract positioning information of the messages sent by the vehicle, judge the safety status of the carrier of the smart device based on the extracted positioning information and the positioning information of the smart device, and give a reminder to the carrier of the smart device when danger is determined.

[0014] In some embodiments, in step S11, the vehicle information message includes: vehicle positioning information, vehicle basic information, safety distance, safety boundary, and vehicle ID information; the vehicle positioning information includes the vehicle position, vehicle speed and / or vehicle acceleration; the vehicle basic information includes vehicle category information and vehicle size information; the vehicle ID information includes a randomly generated vehicle ID.

[0015] In some embodiments, in step S11, the calculation method of the safety boundary is: selecting a preset safety distance b based on the vehicle category information and the vehicle size information; the vehicle size information includes: vehicle length l, vehicle width w, vehicle height h, and the vehicle center and safety radius Rsafe are obtained according to the vehicle size information, Rsafe=l / 2+b; the safety boundary is a circle with the center of the vehicle as the center and a radius of Rsafe.

[0016] In some embodiments, the random generation method of the vehicle ID is: periodic update or external request update; wherein,

[0017] Periodic update: randomly generate the vehicle ID according to the preset period T;

[0018] External request update: When a message sent by other vehicles in the surrounding area contains an ID update request message, and the ID requested to be updated in the ID update request message is the same as the vehicle ID, a random ID is selected from the NUM group of optional ID values ​​in the ID update request message as the updated vehicle ID.

[0019] In some implementations, in step S12, the method for determining the safety status of the vehicle is:

[0020] Based on the distance distOpt between the vehicle and surrounding traffic participants, the safety status of the vehicle is judged, distOpt=((x0-x1) 2 +(y0-y1) 2 ) 0.5 -r0-r1, where x0 is the x-axis coordinate of the vehicle's position, y0 is the y-axis coordinate of the vehicle's position, x1 is the x-axis coordinate of the surrounding traffic participants' positions, y1 is the y-axis coordinate of the surrounding traffic participants' positions, r0=b is the safety distance of the vehicle, and r1 is the safety distance in the message sent by the surrounding traffic participants.

[0021] In some implementations, in step S13, the specific method for performing perception fusion is:

[0022] Traffic participants within a certain range around the vehicle are selected for perception fusion, and the selected range is greater than or equal to the detection range of the vehicle's perception module. Within the selected range, the positioning information, size information, category information, and ID information sent by the surrounding traffic participants are post-fused with the target list obtained based on the vehicle's perception module and perception algorithm to obtain the enhanced perception result after fusion.

[0023] In some embodiments, step S13 also includes: when it is detected that in the message corresponding to the same ID sent by the surrounding traffic participants, there is a jump or discontinuous change in the positioning information within a preset time, or when the category information changes repeatedly, it is determined that an ID conflict has occurred; when the ID conflict is detected, an ID update request message is broadcast externally, and the ID update request message includes the ID value requested to be updated and the NUM group, the optional ID value in the NUM group is a randomly generated ID value that is different from the currently received ID value of the surrounding traffic participants, and the ID value requested to be updated is the ID value that determines that an ID conflict has occurred.

[0024] In some implementations, in step S21, the positioning information of the smart device itself includes the position of the smart device, the speed and / or acceleration of the smart device.

[0025] In some embodiments, in step S21, when the speed of the smart device is greater than the preset speed Vman, it is determined that the person carrying the smart device is in a motorized state; when the speed of the smart device is less than the preset speed Vman and the change in the height direction of the smart device is greater than the preset value Zman, it is determined that the person carrying the smart device is in a non-motorized state, and the type of the non-motorized state is walking; when the speed of the smart device is less than the preset speed Vman and the change in the height direction of the smart device is less than the preset value Zman, it is determined that the person carrying the smart device is in a non-motorized state, and the type of the non-motorized state is a non-motorized means of transportation.

[0026] In some embodiments, in step S21, when the motion state of the smart device is determined to be a non-motorized state, the information message broadcasted to the outside includes the positioning information of the smart device itself, the type of non-motorized state, the non-motorized safety boundary, and ID information; wherein, the calculation method of the safety boundary is: according to the type of non-motorized state, a preset non-motorized safety distance b1 and the size of the non-motorized traffic participant are selected, and the size of the non-motorized traffic participant includes: length l1, width w1, and height h1, and the center of the non-motorized traffic participant and the safety radius Rsafe1 are obtained according to the size of the non-motorized traffic participant; the non-motorized safety boundary is a circle with the center of the non-motorized traffic participant as the center and a radius of Rsafe1.

[0027] On the other hand, a V2X-based collision warning and perception enhancement system is provided, comprising: a vehicle-side unit and a portable smart device-side unit; the vehicle-side unit is used to execute the above-mentioned vehicle-side warning perception enhancement method, and the portable smart device-side unit is used to execute the above-mentioned portable smart device-side warning method;

[0028] The vehicle-side unit includes: a vehicle-side perception module, a vehicle-side positioning module, a vehicle-side intelligent driving domain controller and a vehicle-side wireless communication module; the vehicle-side perception module and the vehicle-side positioning module are respectively connected to the vehicle-side intelligent driving domain controller by signal, and the vehicle-side intelligent driving domain controller is connected to the vehicle-side wireless communication module by signal;

[0029] The portable smart device end unit includes: a smart device end wireless communication module, a smart device end controller, and a smart device end positioning module; the smart device end wireless communication module is communicatively connected to the vehicle end wireless communication module, the smart device end wireless communication module is signal-connected to the smart device end controller, and the smart device end controller is signal-connected to the smart device end positioning module.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] The vehicle-side uses V2X to obtain information about surrounding traffic participants and integrate it with perception to improve the accuracy of perception. It can avoid collisions between vehicles and between vehicles and traffic participants holding smart devices (such as smartphones). A random ID generation mechanism is used to protect user privacy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the V2X-based collision warning and perception enhancement method and system structure organization proposed in the present invention;

[0034] Figure 2 The V2X-based collision warning and perception enhancement method and system vehicle-side workflow diagram proposed in the present invention;

[0035] Figure 3 This is a V2X-based collision warning and perception enhancement method and a system intelligent device end workflow diagram proposed by the present invention;

[0036] Figure 4 A schematic diagram of a V2X-based collision warning and perception enhancement method and a system collision warning distance calculation method proposed in the present invention;

[0037] Figure 5 This is a schematic diagram of the V2X-based collision warning and perception enhancement method and system perception fusion range proposed in the present invention. DETAILED DESCRIPTION

[0038] The above and other technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings.

[0039] See also Figure 1 As shown, the present invention is composed of two parts: the vehicle end and the smart device end. The vehicle end unit includes: a vehicle end perception module 1, a vehicle end positioning module 2, a vehicle end smart driving domain controller 3, and a vehicle end wireless communication module 4; the portable smart device end unit includes: a smart device end wireless communication module 5, a smart device end controller 6, and a smart device end positioning module 7.

[0040] The vehicle-side perception module 1 is a commonly used perception module in the field of intelligent driving, including but not limited to cameras, millimeter-wave radars, laser radars, ultrasonic radars, etc., and combinations of two or more thereof. The function of this module is to identify the surrounding environment of the vehicle.

[0041] The vehicle-side positioning module 2 is a commonly used GPS (Global Positioning System), RTK (Real Time Kinematic), IMU (Inertial measurement unit), etc. in the field of intelligent driving, and a combination of two or more thereof. The function of this module is to output positioning information.

[0042] The vehicle-side intelligent driving domain controller 3 is a commonly used domain controller in the field of intelligent driving. Its functions include perception, decision-making, planning, control in the field of intelligent driving, as well as the vehicle-side positioning information transmission, vehicle-side collision warning and vehicle-side perception enhancement described in the present invention.

[0043] The vehicle-side wireless communication module 4 is a T-BOX (Telematics BOX) commonly used in the automotive electronics field or a module with a wireless communication function. The function of this module is to send and receive information by wireless transmission.

[0044] The smart device-side wireless communication module 5 varies according to the portable smart device held by the traffic participant, and the portable smart device may be a mobile phone, a tablet computer, a smart wearable device (smart watch, smart bracelet, smart glasses), etc. For example, when the traffic participant is a pedestrian holding a smart phone, the module is the wireless module in the mobile phone.

[0045] The smart device end controller 6 is different according to the portable smart device held by the traffic participant. For example, when the traffic participant is a pedestrian holding a smart phone, the module is the controller in the mobile phone.

[0046] The smart device end positioning module 7 is different according to the portable smart device held by the traffic participant. For example, when the traffic participant is a pedestrian holding a smart phone, the module is the positioning module in the mobile phone.

[0047] Wireless communication is carried out between vehicles and between vehicles and smart devices through broadcasting.

[0048] See also Figure 2 As shown in FIG. 2 , a V2X-based collision warning and perception enhancement method and a vehicle-side workflow diagram of the system are shown in FIG.

[0049] 1. Sending vehicle-side positioning information: Mainly used for the vehicle-side to broadcast the vehicle's positioning information to the outside. The specific steps are as follows:

[0050] 1.1、Get your own location information

[0051] The vehicle-side intelligent driving domain controller 3 reads the vehicle positioning information output by the vehicle-side positioning module 2.

[0052] The vehicle positioning information includes the vehicle position, speed information and / or posture information, and the speed information includes the vehicle speed and / or acceleration.

[0053] 1.2. Self-category determination

[0054] The vehicle-side intelligent driving domain controller 3 reads the preset basic information of the vehicle. The basic information of the vehicle includes the vehicle category information and the vehicle size information. The vehicle category information here refers to the category of the vehicle, including but not limited to: mini car, small car, medium and large car, van, truck, etc.

[0055] 1.3 Safety Margin Calculation

[0056] The vehicle-side intelligent driving domain controller 3 reads the preset basic information of the vehicle and obtains the size A of the vehicle.

[0057] The vehicle-side intelligent driving domain controller 3 selects a preset safety distance B according to the vehicle category obtained in 1.2.

[0058] The vehicle-side intelligent driving domain controller 3 comprehensively determines the safety boundary of the vehicle based on A and B. A specific example is as follows:

[0059] The vehicle size A=l*w*h; l is the vehicle length, w is the vehicle width, and h is the vehicle height.

[0060] Pre-selected safety distance B=b;

[0061] The safety boundary is a circle with the center of the vehicle as the center and a radius Rsafe of l / 2+b;

[0062] The safety boundary description parameters are A and Rsafe.

[0063] 1.4. Random ID Generation

[0064] The vehicle-side intelligent driving domain controller 3 randomly generates the vehicle ID to ensure that the vehicle is not tracked and protect user privacy.

[0065] There are two ways to randomly generate a vehicle ID:

[0066] I. Periodic update: The vehicle-side intelligent driving domain controller 3 randomly generates the vehicle ID according to the preset period T;

[0067] II. External request update: When the vehicle-side wireless communication module 4 receives an ID update request message sent by the vehicle-side wireless communication module 4 of another vehicle, and the ID value requested to be updated in the ID update request message is the same as the vehicle ID, the vehicle-side intelligent driving domain controller 3 randomly selects one from the NUM group of optional ID values ​​in the ID update request message as the updated vehicle ID.

[0068] The ID update request information is sent by the vehicle-side wireless communication module 4 of the non-vehicle. The ID update request information includes the ID value requested to be updated and NUM groups of optional ID values. NUM is a preset value. The optional ID value is randomly generated by the vehicle-side intelligent driving domain controller 3 and is different from the ID value currently received by the vehicle-side intelligent driving domain controller 3.

[0069] It should be noted that the vehicle side needs ID conflict detection and processing, while the smart device side does not. The traffic participant information received by the vehicle side will be used for perception later, and the perception results will be used for subsequent planning, control algorithms, etc. to control the vehicle, that is, it is necessary to know the accurate information of each traffic participant: the specific location of each traffic participant, so the vehicle side needs to perform ID conflict detection and processing. On the smart device side, as long as the vehicle appears after a certain time interval or distance from the non-motorized traffic participant, an alarm will be sounded, regardless of which specific vehicle it is or where it is.

[0070] 1.5. Message sending

[0071] The vehicle-side intelligent driving domain controller 3 organizes the vehicle's positioning information, category information, safety boundary description parameters, and ID information into a message, and sends it out through the vehicle-side wireless communication module 4 in a broadcast mode.

[0072] 2. Vehicle-side collision warning: mainly used to monitor the distance between surrounding traffic participants and the vehicle, and to give the driver of the vehicle a reminder or automatically avoid danger when there is danger. Surrounding traffic participants include vehicles equipped with the vehicle-side device described in the present invention and pedestrians holding the smart device described in the present invention.

[0073] 2.1. Obtaining the location information of surrounding traffic participants

[0074] The vehicle-side intelligent driving domain controller 3 receives the message broadcast by the surrounding traffic participants through the vehicle-side wireless communication module 4. And extracts the positioning information of the surrounding traffic participants from the message. The positioning information includes the position of the surrounding traffic participants, as well as the speed information and / or posture information, and the speed information includes the speed and / or acceleration of the vehicle.

[0075] 2.2 Safety status determination

[0076] The vehicle-side intelligent driving domain controller 3 determines the current safety status of the vehicle based on the vehicle positioning information obtained from 1.1 acquiring the vehicle's own positioning information and the surrounding traffic participants positioning information obtained from 2.1 acquiring the surrounding traffic participants positioning information.

[0077] See also Figure 4 , Figure 4 This is a schematic diagram of the V2X-based collision warning and perception enhancement method and system collision warning distance calculation proposed by the present invention. The distance distOpt between the vehicle and the traffic participant is calculated as follows:

[0078] dist=((x0-x1) 2 +(y0-y1) 2 ) 0.5 ;

[0079] distOpt=dist-r0-r1;

[0080] Among them, x0 is the x-axis coordinate of the vehicle's position, y0 is the y-axis coordinate of the vehicle's position, x1 is the x-axis coordinate of the surrounding traffic participants' positions, y1 is the y-axis coordinate of the surrounding traffic participants' positions, r0=b is the safety distance of the vehicle, and r1 is the safety distance in the message sent by the surrounding traffic participants.

[0081] Two exemplary methods for judging the current safety status of the vehicle are as follows:

[0082] I. Distance judgment: When the distance distOpt between the vehicle and the traffic participant is less than the preset distance Ddanger1, it is judged as very dangerous; when the distance between the vehicle and the traffic participant is greater than the preset distance Ddanger1 and less than the preset distance Ddanger2, it is judged as dangerous.

[0083] II. Time distance judgment: When the value obtained by dividing the distance between the vehicle and the traffic participant distOpt by the relative speed between the vehicle and the traffic participant is less than the preset time distance value Tdanger1, it is judged as very dangerous; when the value obtained by dividing the distance between the vehicle and the traffic participant by the relative speed between the vehicle and the traffic participant is greater than the preset time distance value Tdanger1 and less than the preset time distance value Tdanger2, it is judged as dangerous.

[0084] 2.3. Safety reminder / danger avoidance

[0085] The vehicle-side intelligent driving domain controller 3 provides safety reminders or danger avoidance according to the danger level in 2.2 Safety Status Determination.

[0086] Exemplarily, for example, when the safety status is determined to be extremely dangerous, the vehicle-side intelligent driving domain controller 3 controls the vehicle to make an emergency stop; when the safety status is determined to be dangerous, the vehicle-side intelligent driving domain controller 3 controls the vehicle steering wheel to shake or sound and light alarms to alert the driver.

[0087] 3. Enhanced perception

[0088] The vehicle-side intelligent driving domain controller 3 receives information about surrounding traffic participants through the vehicle-side wireless communication module 4, and performs perception fusion to improve the accuracy of perception.

[0089] 3.1. Obtain information about surrounding traffic participants

[0090] The vehicle-side intelligent driving domain controller 3 receives the message broadcast by the surrounding traffic participants through the vehicle-side wireless communication module 4, and extracts the positioning information, safety boundary description parameters, category information, and ID information of the surrounding traffic participants from the message.

[0091] 3.2 ID conflict detection

[0092] The vehicle-side intelligent driving domain controller 3 checks the positioning information and category information of surrounding traffic participants with the same ID information obtained from the surrounding traffic participant information obtained by 3.1 within the preset time Tgap. When there is a jump in the positioning information of the traffic participant, for example, the coordinate position value jumps or the change is discontinuous; or when the category information of the traffic participant changes repeatedly; it is determined that an ID conflict has occurred.

[0093] 3.3 ID conflict handling

[0094] When an ID conflict is detected, the vehicle-side intelligent driving domain controller 3 broadcasts an ID update request message through the vehicle-side wireless communication module 4. The ID update request message includes the ID value requested to be updated and NUM groups of optional ID values. The optional ID value is randomly generated by the vehicle-side intelligent driving domain controller 3 and is different from the ID value of the surrounding traffic participants currently received by the vehicle-side intelligent driving domain controller 3.

[0095] 3.4 Perception Fusion

[0096] The vehicle-side intelligent driving domain controller 3 selects traffic participants within a certain range around the vehicle for perception fusion. Figure 4 , Figure 4 This is a schematic diagram of the V2X-based collision warning and perception enhancement method and system collision warning distance calculation proposed by the present invention. The selected range is a range with the center of the vehicle as the center and a radius of Rmax. Rmax is not less than the detection range of the vehicle-side perception module 1.

[0097] Within the radius of Rmax around the vehicle, the positioning information of surrounding traffic participants obtained in 3.1, the size information, category information, ID information in the safety boundary description parameters and the ObjectList (target list) obtained by the vehicle-side perception module and perception algorithm in the vehicle-side intelligent driving domain controller 3 are post-fused to obtain the enhanced perception result after fusion.

[0098] See also Figure 3 As shown, Figure 3 This is a flowchart of the V2X-based collision warning and perception enhancement method and the system intelligent device end work flow proposed in the present invention.

[0099] 4. Sending location information on smart devices: Mainly used to broadcast the location information of the smart device. The specific steps are as follows:

[0100] 4.1. Obtaining your own location information

[0101] The smart device controller 6 reads the smart device positioning information output by the smart device positioning module 7. The smart device positioning information includes the position of the smart device, and one or more of the speed and acceleration of the smart device.

[0102] 4.2. Determination of maneuvering status

[0103] The smart device controller 6 determines the maneuvering state of the smart device according to the speed of the smart device obtained from the self-positioning information obtained in 4.1.

[0104] In a preferred example, when the speed of the smart device is greater than the preset speed Vman, it is determined that the person carrying the smart device is in a motorized state, that is, the person is driving or riding a motor vehicle. When the speed of the smart device is less than the preset speed Vman and the change in the height direction of the smart device within the preset time or the change in the height direction and the change frequency are greater than the preset value, it is determined that the person carrying the smart device is in a non-motorized state and the person is walking; when the speed of the smart device is less than the preset speed Vman and the change in the height direction of the smart device within the preset time (height change range) or the change in the height direction and the change frequency are less than the preset value, it is determined that the person carrying the smart device is in a non-motorized state and the person is riding a bicycle or an electric bicycle. It is understandable that when traffic participants put smart devices such as mobile phones in their pockets, when walking, riding a bicycle, or riding a car, the changes in the height direction and the moving speed of the smart device will show different characteristics, and then it can be judged whether the person is walking, riding a bicycle or riding a car.

[0105] 4.3 Safety Margin Calculation

[0106] When the result of the motorized state determination in 4.2 is a non-motorized state, the smart device-side controller 6 sets the size A1 of the current non-motorized traffic participant to a pedestrian size or a bicycle size according to the motorized state.

[0107] The smart device-side controller 6 comprehensively determines the safety boundary of the non-motorized traffic participant based on A1 and B1, where B1 is the preset safety distance B1 of the non-motorized traffic participant.

[0108] A specific example is as follows:

[0109] The size of non-motorized traffic participants is A1=l1*w1*h1; l1 is the length, w1 is the width, and h1 is the height.

[0110] Preselected safety distance B1=b1;

[0111] The safety boundary is a circle with a radius Rsafe1 of l1 / 2+b1 and a center of the non-motorized traffic participant as the circle point;

[0112] The safety boundary description parameters are A1 and Rsafe1.

[0113] 4.4 Random ID Generation

[0114] The smart device-side controller 6 randomly generates a non-motorized traffic participant ID to ensure that the non-motorized traffic participant is not tracked and protect user privacy.

[0115] There are two ways to randomly generate non-motorized traffic participant IDs:

[0116] I. Periodic update: The smart device controller 6 randomly generates non-motorized traffic participant IDs according to a preset period T.

[0117] II. External request update: When the smart device wireless communication module 5 receives the ID update request information sent by the vehicle-side wireless communication module 4, and the ID value requested to be updated in the ID update request information is the same as the ID of this non-motorized traffic participant, the smart device-side controller 6 randomly selects one from the NUM group of optional ID values ​​in the ID update request information as the updated vehicle ID.

[0118] 4.5. Message sending

[0119] The smart device controller 6 organizes the non-motorized traffic participant's location information, maneuvering status, safety boundary description parameters, and ID information into a message, and sends it out through the smart device wireless communication module 5 in a broadcast mode.

[0120] 5. Collision warning on smart devices

[0121] It is mainly used to detect the distance between non-motorized traffic participants and vehicles, and to give non-motorized traffic participants a warning when in danger. The non-motorized traffic participants and vehicles are pedestrians and vehicles equipped with the smart device end and vehicle end device of the present invention respectively.

[0122] 5.1. Obtaining surrounding vehicle positioning information

[0123] The smart device controller 6 receives the messages broadcasted by the surrounding traffic participants through the smart device wireless communication module 5, and selects the traffic participants of the vehicle category, and then extracts the positioning information of the traffic participants of the vehicle category from the messages.

[0124] 5.2 Safety status determination

[0125] The smart device controller 6 determines the current safety status according to the positioning information obtained in 4.1 obtaining its own positioning information and the surrounding vehicle positioning information obtained in 5.1 obtaining surrounding vehicle positioning information.

[0126] The distance distOpt1 between non-motorized traffic participants and surrounding vehicles is calculated as follows:

[0127] Dist1=((x2-x3) 2 +(y2-y3) 2 ) 0.5 ;

[0128] distOpt1=dist1-r2-r3;

[0129] Among them, x2 is the x-axis coordinate of the non-motorized traffic participant's own position, y2 is the y-axis coordinate of the non-motorized traffic participant's own position, x3 is the x-axis coordinate of the surrounding vehicles' position, y3 is the y-axis coordinate of the surrounding vehicles' position, r2=b1 is the safety distance of the non-motorized traffic participant itself, and r3 is the safety distance in the message sent by the surrounding vehicles.

[0130] Two exemplary methods for determining the current safety status of non-motorized traffic participants are as follows:

[0131] I. Distance judgment: When the distance distOpt1 between the non-motorized traffic participant and the surrounding vehicles is less than the preset distance Ddanger3, it is judged as very dangerous; when the distance distOpt1 between the vehicle and the traffic participant is greater than the preset distance Ddanger3 and less than the preset distance Ddanger4, it is judged as dangerous;

[0132] II. Time distance judgment: When the value obtained by dividing the distance distOpt1 between the non-motorized traffic participant and the surrounding vehicles by the relative speed between the non-motorized traffic participant and the surrounding vehicles is less than the preset time distance value Tdanger3, it is judged as very dangerous; when the value obtained by dividing the distance distOpt1 between the non-motorized traffic participant and the surrounding vehicles by the relative speed between the non-motorized traffic participant and the surrounding vehicles is greater than the preset time distance value Tdanger3 and less than the preset time distance value Tdanger4, it is judged as dangerous.

[0133] 5.3 Safety Reminder

[0134] The smart device controller 6 issues a safety reminder based on the danger level in 5.2 Safety Status Determination.

[0135] For example, when the safety status is determined to be dangerous, the smart device controller 6 controls the smart device to vibrate and sound with a certain frequency and amplitude to remind non-motorized traffic participants. When the safety status is determined to be very dangerous, the smart device controller 6 controls the smart device to vibrate and sound with a higher frequency and amplitude to remind non-motorized traffic participants.

[0136] In the preferred implementation scheme of the present invention, the vehicle-side positioning information transmission, vehicle-side collision warning, and vehicle-side perception enhancement are integrated into the vehicle-side intelligent driving controller as sub-functions of the intelligent driving system. The vehicle-side positioning information transmission calls the original intelligent driving positioning function to obtain the vehicle position; the vehicle collision warning calls the steering wheel vibration reminder function in the original driving assistance, the original car's own sound and light alarm function (including prompt sound, instrument panel indicator light, etc.) and AEB (Autonomous Emergency Braking, automatic emergency braking system) function to complete the driver's reminder and danger avoidance; the vehicle-side perception enhancement calls the results obtained by the original intelligent driving perception function, and then fuses it with the surrounding traffic participant information obtained through the vehicle-side wireless communication module.

[0137] In a preferred embodiment of the present invention, the smart device at the smart device end is a smart phone. The smart device end positioning information transmission and the smart device end collision warning exist as two functions in the smart phone application. After the user chooses to turn on the function, the smart phone will continue to send the location information of the mobile phone, and when the safety status is determined to be dangerous, the mobile phone will vibrate and sound reminders through the vibration device and speaker of the mobile phone.

[0138] The above are only preferred embodiments of the present invention, which are only illustrative and not restrictive. The structures and connection modes of the components in the present invention can be changed, and any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A V2X-based collision warning and perception enhancement method, characterized in that: include: Vehicle-side warning perception enhancement method and portable smart device-side warning method; The vehicle-side warning perception enhancement method includes the following steps: S11: broadcast vehicle information message to the outside of the vehicle; S12: receiving messages sent by surrounding traffic participants, extracting positioning information of surrounding traffic participants from the messages, judging the safety status of the vehicle based on the positioning information of surrounding traffic participants and the positioning information of the vehicle, and giving a reminder to the driver of the vehicle or automatically avoiding the danger when a danger is determined; S13: extracting information of surrounding traffic participants from the message, and fusing the extracted information with the perception information of the vehicle to obtain a fused enhanced perception result; The portable smart device-side early warning method comprises the following steps: S21: Acquire the positioning information of the smart device itself, and determine the motion state of the smart device according to the positioning information, wherein the motion state includes a motorized state and a non-motorized state; wherein the motorized state means that the carrier of the smart device is riding a motorized vehicle, and the non-motorized state means that the carrier of the smart device is riding a non-motorized vehicle or walking; when determining that the motion state of the smart device is a non-motorized state, broadcast the information message of the smart device externally; S22: Receive messages sent by surrounding traffic participants, filter out messages sent by the vehicle from the messages, extract positioning information of the messages sent by the vehicle, judge the safety status of the carrier of the smart device based on the extracted positioning information and the positioning information of the smart device, and give a reminder to the carrier of the smart device when danger is determined.

2. A V2X-based collision warning and perception enhancement method as claimed in claim 1, characterized in that: In step S11, the vehicle information message includes: vehicle positioning information, vehicle basic information, safety distance, safety boundary, and vehicle ID information; the vehicle positioning information includes the vehicle position, vehicle speed and / or vehicle acceleration; the vehicle basic information includes vehicle category information and vehicle size information; the vehicle ID information includes a randomly generated vehicle ID.

3. A V2X-based collision warning and perception enhancement method as claimed in claim 2, characterized in that: In step S11, the calculation method of the safety boundary is: select a preset safety distance b according to the vehicle category information and the vehicle size information; the vehicle size information includes: vehicle length l, vehicle width w, vehicle height h, and obtain the vehicle center and safety radius Rsafe according to the vehicle size information, Rsafe=l / 2+b; the safety boundary is a circle with the center of the vehicle as the center and a radius of Rsafe.

4. A V2X-based collision warning and perception enhancement method as claimed in claim 2, characterized in that: The random generation method of the vehicle ID is: periodic update or external request update; wherein, Periodic update: randomly generate the vehicle ID according to the preset period T; External request update: When a message sent by other vehicles in the surrounding area contains an ID update request message, and the ID requested to be updated in the ID update request message is the same as the vehicle ID, a random ID is selected from the NUM group of optional ID values ​​in the ID update request message as the updated vehicle ID.

5. The V2X-based collision warning and perception enhancement method according to claim 1, characterized in that: In step S12, the method for judging the safety status of the vehicle is: Based on the distance distOpt between the vehicle and surrounding traffic participants, the safety status of the vehicle is judged, distOpt=((x0-x1) 2 +(y0-y1) 2 ) 0.5 -r0-r1, where x0 is the x-axis coordinate of the vehicle's position, y0 is the y-axis coordinate of the vehicle's position, x1 is the x-axis coordinate of the surrounding traffic participants' positions, y1 is the y-axis coordinate of the surrounding traffic participants' positions, r0=b is the safety distance of the vehicle, and r1 is the safety distance in the message sent by the surrounding traffic participants.

6. A V2X-based collision warning and perception enhancement method as claimed in claim 2, characterized in that: In step S13, the specific method of performing perception fusion is: Traffic participants within a certain range around the vehicle are selected for perception fusion, and the selected range is greater than or equal to the detection range of the vehicle's perception module. Within the selected range, the positioning information, size information, category information, and ID information sent by the surrounding traffic participants are post-fused with the target list obtained based on the vehicle's perception module and perception algorithm to obtain the enhanced perception result after fusion.

7. A V2X-based collision warning and perception enhancement method as claimed in claim 4, characterized in that: Step S13 also includes: when it is detected that in the message corresponding to the same ID sent by the surrounding traffic participants, within a preset time, there is a jump or discontinuous change in the positioning information, or when the category information changes repeatedly, it is determined that an ID conflict has occurred; after the ID conflict is detected, an ID update request message is broadcast externally, and the ID update request message includes the ID value requested to be updated and the NUM group, the optional ID value in the NUM group is a randomly generated ID value different from the currently received ID value of the surrounding traffic participants, and the ID value requested to be updated is the ID value for determining that an ID conflict has occurred.

8. The V2X-based collision warning and perception enhancement method according to claim 1, characterized in that: In step S21, the positioning information of the smart device itself includes the position of the smart device, the speed and / or acceleration of the smart device.

9. A V2X-based collision warning and perception enhancement method as claimed in claim 8, characterized in that: In step S21, when the speed of the smart device is greater than the preset speed Vman, it is determined that the person carrying the smart device is in a motorized state; when the speed of the smart device is less than the preset speed Vman, it is determined that the person carrying the smart device is in a non-motorized state; when it is determined to be in a non-motorized state, the type of the non-motorized state is determined based on the change range and / or change frequency of the smart device in the height direction, and the types of non-motorized states include walking and non-motorized transportation.

10. A V2X-based collision warning and perception enhancement method as claimed in claim 9, characterized in that: In step S21, the information message of the smart device broadcast outward includes the positioning information of the smart device itself, the type of non-motorized state, the non-motorized safety boundary, and ID information; wherein, the calculation method of the safety boundary is: according to the type of non-motorized state, the preset non-motorized safety distance b1 and the size of the non-motorized traffic participant are selected, and the size of the non-motorized traffic participant includes: length l1, width w1, height h1, and the center of the non-motorized traffic participant and the safety radius Rsafe1 are obtained according to the size of the non-motorized traffic participant; the non-motorized safety boundary is a circle with the center of the non-motorized traffic participant as the center and a radius of Rsafe1.

11. A V2X-based collision warning and perception enhancement system, characterized in that: include: Vehicle terminal unit and portable smart device terminal unit; The vehicle-side unit is used to execute the vehicle-side warning perception enhancement method as described in any one of claims 1-9, and the portable smart device-side unit is used to execute the portable smart device-side warning method as described in any one of claims 1-9; The vehicle-side unit includes: a vehicle-side perception module, a vehicle-side positioning module, a vehicle-side intelligent driving domain controller and a vehicle-side wireless communication module; the vehicle-side perception module and the vehicle-side positioning module are respectively connected to the vehicle-side intelligent driving domain controller by signal, and the vehicle-side intelligent driving domain controller is connected to the vehicle-side wireless communication module by signal; The portable smart device end unit includes: a smart device end wireless communication module, a smart device end controller, and a smart device end positioning module; the smart device end wireless communication module is communicatively connected to the vehicle end wireless communication module, the smart device end wireless communication module is signal-connected to the smart device end controller, and the smart device end controller is signal-connected to the smart device end positioning module.

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