V2X-based collision warning and perception enhancement methods and systems

Abstract

This invention provides a V2X-based collision warning and perception enhancement method and system, including vehicle-side warning and perception enhancement, and portable smart device-side warning. The vehicle-side warning and perception enhancement method includes: broadcasting vehicle information messages to the outside of the vehicle; receiving messages from surrounding traffic participants and extracting their location information; judging the vehicle's safety status based on this location information and the vehicle's own location information, and providing warnings or automatic avoidance when danger is detected; and fusing the information from surrounding traffic participants and the vehicle's perception information to obtain enhanced perception results. The portable smart device-side warning method includes: acquiring the smart device's own location information and judging its motion state accordingly; broadcasting messages when the device is judged to be in a non-motorized state; receiving external messages and filtering messages from the vehicle, extracting their location information to judge the safety status, and providing warnings when danger is detected. Vehicle-side and smart device-side IDs are randomly generated to protect user privacy.

Description

Technical Field

[0001] This invention relates to the field of traffic safety technology, specifically to a collision warning and perception enhancement method and system based on V2X. Background Technology

[0002] In recent years, V2X (vehicle to everything) has become an important development direction in the automotive industry, attracting increasing attention. V2X-related functions such as V2X (vehicle to infrastructure), V2N (vehicle to network), and V2V (vehicle to vehicle) are gradually gaining public attention, bringing novel and excellent user experiences to vehicle users.

[0003] With the rapid development of electronic technology, high-performance, low-cost smart terminals are becoming increasingly widely used. Smart devices such as smartphones, smart tablets, and smartwatches are typically equipped with location tracking capabilities and can transmit data wirelessly. How to utilize these smart devices to connect with vehicles to ensure the safety of traffic participants is the problem this invention aims to solve. In light of this problem, the inventors, after extensive research and practice, have finally arrived at this invention. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a collision warning and perception enhancement method and system based on V2X.

[0005] The technical solution adopted in this invention is as follows:

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

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

[0008] S11: Broadcast vehicle information messages to the outside of the vehicle;

[0009] S12: Receive messages from surrounding traffic participants, extract the location information of surrounding traffic participants from the messages, judge the safety status of the vehicle based on the location information of surrounding traffic participants and the vehicle's own location information, and when a danger is determined, provide a reminder to the driver of the vehicle or automatically take hazard avoidance measures.

[0010] S13: Extract information about surrounding traffic participants from the message, and perform perception fusion with the vehicle's own perception information to obtain the fused enhanced perception result;

[0011] The portable smart device-based early warning method includes the following steps:

[0012] S21: Obtain the location information of the smart device itself, and determine the motion state of the smart device based on the location information. The motion state includes a motorized state and a non-motorized state. The motorized state is when the user of the smart device is driving or riding in a motorized vehicle, and the non-motorized state is when the user of the smart device is driving or riding in a non-motorized vehicle or walking. When the motion state of the smart device is determined to be a non-motorized state, broadcast the smart device information message to the outside.

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

[0014] In some implementations, 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 vehicle position, vehicle speed, and / or vehicle acceleration; the vehicle basic information includes vehicle category information and vehicle size information; and the vehicle ID information includes a randomly generated vehicle ID.

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

[0016] In some implementations, the random generation method for the vehicle ID is: periodic updating or external request updating; wherein,

[0017] Periodic update: Generate a random vehicle ID according to a preset period T;

[0018] External Request Update: When a message containing an ID update request is received from another vehicle in the vicinity, and the ID requested to be updated in the ID update request is the same as the vehicle ID, a random ID value is selected from the NUM group of optional ID values ​​in the ID update request as the updated vehicle ID.

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

[0020] The safety status of the vehicle is judged based on the distance distOpt between the vehicle and surrounding road users, where 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 position of the surrounding traffic participants, y1 is the y-axis coordinate of the position of the surrounding traffic participants, r0=b is the safe distance of the vehicle, and r1 is the safe distance in the messages sent by the surrounding traffic participants.

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

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

[0023] In some implementations, step S13 further includes: when it is detected that the location information of a message corresponding to the same ID sent by surrounding traffic participants changes or changes discontinuously within a preset time, or the category information changes repeatedly, an ID conflict is determined to have occurred; after detecting an ID conflict, an ID update request information is broadcast to the outside, wherein the ID update request information includes the ID value to be updated and a NUM group, wherein the ID value that can be selected in the NUM group is a randomly generated ID value that is different from the ID value of the currently received surrounding traffic participants, and the ID value to be updated is the ID value that is determined to have caused an ID conflict.

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

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

[0026] In some implementations, in step S21, when it is determined that the movement state of the smart device is a non-motorized state, the smart device information message is broadcast to the outside, which includes the smart device's own positioning information, the type of non-motorized state, the non-motorized safety boundary, and ID information; wherein, the safety boundary is calculated as follows: a preset non-motorized safety distance b1 and the size of the non-motorized traffic participant are selected according to the type of non-motorized state. The size of the non-motorized traffic participant includes: length l1, width w1, and height h1. 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 the radius 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 intelligent device-side unit; the vehicle-side unit is used to execute the above-described vehicle-side warning and perception enhancement method, and the portable intelligent device-side unit is used to execute the above-described portable intelligent 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 signal-connected to the vehicle-side intelligent driving domain controller, and the vehicle-side intelligent driving domain controller is signal-connected to the vehicle-side wireless communication module.

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

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

[0031] The vehicle-side uses V2X to acquire information about surrounding traffic participants and integrates 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); and a random ID generation mechanism protects user privacy. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the collision warning and perception enhancement method and system structure proposed in this invention based on V2X;

[0034] Figure 2 This is a flowchart of the vehicle-side workflow of the collision warning and perception enhancement method and system based on V2X proposed in this invention.

[0035] Figure 3 This is a flowchart of the intelligent device side of the collision warning and perception enhancement method and system based on V2X proposed in this invention;

[0036] Figure 4 This is a schematic diagram illustrating the collision warning and perception enhancement method and system collision warning distance calculation proposed in this invention based on V2X.

[0037] Figure 5 This is a schematic diagram of the collision warning and perception enhancement method and system perception fusion range proposed in this invention based on V2X. Detailed Implementation

[0038] The above-mentioned and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

[0039] See Figure 1 As shown, this invention consists of two parts: a vehicle-side unit and a portable smart device-side unit. The vehicle-side unit includes: a vehicle-side perception module 1, a vehicle-side positioning module 2, a vehicle-side intelligent driving domain controller 3, and a vehicle-side wireless communication module 4. The portable smart device-side unit includes: a smart device-side wireless communication module 5, a smart device-side controller 6, and a smart device-side 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 radar, lidar, ultrasonic radar, and combinations of two or more of these. The function of this module is to identify the environment surrounding the vehicle.

[0041] The vehicle-side positioning module 2 uses GPS (Global Positioning System), RTK (Real Time Kinematic), IMU (Inertial Measurement Unit), and combinations of two or more commonly used technologies in the field of intelligent driving. 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, and control in the field of intelligent driving, as well as vehicle-side positioning information transmission, vehicle-side collision warning, and vehicle-side perception enhancement as described in this invention.

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

[0044] The wireless communication module 5 for smart devices varies depending on the portable smart device possessed by the traffic participant. This portable smart device can be a mobile phone, tablet, or smart wearable device (smartwatch, smart bracelet, smart glasses), etc. For example, if the traffic participant is a pedestrian with a smartphone, this module is the wireless module inside the phone.

[0045] The smart device controller 6 varies depending on the portable smart device possessed by the traffic participant. For example, if the traffic participant is a pedestrian with a smartphone, this module is the controller inside the phone.

[0046] The location module 7 for smart devices varies depending on the portable smart device possessed by the traffic participant. For example, if the traffic participant is a pedestrian with a smartphone, this module is the location module inside the phone.

[0047] Wireless communication is achieved between vehicles and between vehicles and smart devices via broadcasting.

[0048] See Figure 2 As shown in Figure 2, this invention presents a V2X-based collision warning and perception enhancement method and system vehicle-side workflow diagram.

[0049] 1. Vehicle location information transmission: This is mainly used for the vehicle to broadcast its own location information to the outside world. The specific steps are as follows:

[0050] 1.1 Obtaining self-location information

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

[0052] The vehicle's location information includes its position, as well as speed and / or attitude information. The speed information includes the vehicle's speed and / or acceleration.

[0053] 1.2 Self-category determination

[0054] The vehicle-side intelligent driving domain controller 3 reads the preset basic vehicle information. This basic information includes vehicle category information and vehicle size information. The vehicle category information refers to the vehicle's type, including but not limited to: microcar, small car, mid-to-large car, van, truck, etc.

[0055] 1.3 Safety Boundary Calculation

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

[0057] The vehicle-side intelligent driving domain controller 3 selects a preset safe distance B based on the vehicle category obtained in section 1.2.

[0058] The vehicle-side intelligent driving domain controller 3 determines the vehicle's safety boundaries based on a comprehensive analysis of A and B. A specific example is as follows:

[0059] The dimensions of this vehicle are A = l * w * h; where l is the length, w is the width, and h is the height.

[0060] The pre-selected safety distance B=b;

[0061] The safety boundary is a circle with the vehicle center 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 a vehicle ID to ensure that the vehicle cannot be tracked and protect user privacy.

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

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

[0067] II. External Request Update: When the vehicle-side wireless communication module 4 receives an ID update request from another vehicle's vehicle-side wireless communication module 4, and the ID value requested for updating in the ID update request is the same as the vehicle ID, the vehicle-side intelligent driving domain controller 3 randomly selects one of the NUM group of selectable ID values ​​in the ID update request as the updated vehicle ID.

[0068] The ID update request information is sent by a vehicle-side wireless communication module 4 that is not part of the vehicle. The ID update request information includes the ID value to be updated, and NUM group of selectable ID values. NUM is a preset value. The selectable ID values ​​are randomly generated by the vehicle-side intelligent driving domain controller 3 and are different from the ID values ​​currently received by the vehicle-side intelligent driving domain controller 3.

[0069] It's important to note that vehicle-side systems require ID conflict detection and handling, while smart devices do not. The traffic participant information received by the vehicle is subsequently used for perception, and the perception results are used in subsequent planning, control algorithms, and vehicle control. This requires accurate information about each traffic participant: their specific location. Therefore, vehicle-side systems need to perform ID conflict detection and handling. On the other hand, smart devices only issue an alarm once a vehicle appears a certain time or distance from a non-motorized traffic participant, without considering which vehicle it is or its location.

[0070] 1.5 Message Sending

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

[0072] 2. Vehicle-to-Vehicle Collision Warning: Primarily used to monitor the distance between the vehicle and surrounding road users, and to alert the driver or automatically take hazard avoidance measures in case of danger. Surrounding road users include vehicles equipped with the vehicle-to-vehicle device described in this invention and pedestrians holding the smart device described in this invention.

[0073] 2.1 Obtaining location information of surrounding traffic participants

[0074] The vehicle-mounted intelligent driving domain controller 3 receives messages broadcast by surrounding traffic participants through the vehicle-mounted wireless communication module 4. It then extracts the location information of the surrounding traffic participants from these messages. The location information includes the positions of the surrounding traffic participants, as well as speed and / or attitude information. The speed information includes the vehicle's speed and / or acceleration.

[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's own positioning information obtained in 1.1 and the surrounding traffic participants' positioning information obtained in 2.1.

[0077] See Figure 4 , Figure 4 This diagram illustrates the collision warning and perception enhancement method and system collision warning distance calculation proposed in this invention, based on V2X. The method for calculating the distance distOpt between the vehicle and other road users is as follows:

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

[0079] distOpt=dist-r0-r1;

[0080] 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 position of the surrounding traffic participants, y1 is the y-axis coordinate of the position of the surrounding traffic participants, r0=b is the safe distance of the vehicle, and r1 is the safe distance in the messages sent by the surrounding traffic participants.

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

[0082] I. Distance Judgment: When the distance between the vehicle and other road users, distOpt, is less than the preset distance, Ddanger1, it is judged as extremely dangerous; when the distance between the vehicle and other road users is greater than the preset distance, Ddanger1, but less than the preset distance, Ddanger2, it is judged as dangerous.

[0083] II. Distance Judgment: When the distance between the vehicle and other road users, distOpt, divided by the relative speed between the vehicle and other road users, is less than the preset distance value Tdanger1, it is judged as extremely dangerous; when the distance between the vehicle and other road users, divided by the relative speed between the vehicle and other road users, is greater than the preset distance value Tdanger1 and less than the preset distance value Tdanger2, it is judged as dangerous.

[0084] 2.3 Safety Reminders / Hazard Avoidance

[0085] Based on the hazard level in section 2.2 Safety Status Determination, the vehicle-side intelligent driving domain controller 3 will issue safety warnings or hazard avoidance measures.

[0086] For example, when the safety status is determined to be extremely dangerous, the vehicle-side intelligent driving domain controller 3 controls the vehicle to stop urgently; when the safety status is determined to be dangerous, the vehicle-side intelligent driving domain controller 3 controls the vehicle's steering wheel to vibrate or issues an audible and visual alarm to alert the driver.

[0087] 3. Perception Enhancement

[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 on surrounding traffic participants

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

[0091] 3.2 ID Conflict Detection

[0092] The vehicle-side intelligent driving domain controller 3 checks the location and category information of surrounding traffic participants with the same ID information obtained from the surrounding traffic participant information obtained in section 3.1 within a preset time Tgap. When the location information of a traffic participant changes abruptly, such as when the coordinate position value jumps or changes discontinuously; or when the category information of a traffic participant changes repeatedly, it is determined that an ID conflict has occurred.

[0093] 3.3 ID Conflict Handling

[0094] Upon detecting an ID conflict, the vehicle-mounted intelligent driving domain controller 3 broadcasts an ID update request message to the outside world via the vehicle-mounted wireless communication module 4. The ID update request message includes the ID value to be updated, as well as optional ID values ​​from the NUM group. The optional ID values ​​are randomly generated by the vehicle-mounted intelligent driving domain controller 3 and are different from the ID values ​​of surrounding traffic participants currently received by the vehicle-mounted intelligent driving domain controller 3.

[0095] 3.4 Perceptual Fusion

[0096] The vehicle-mounted intelligent driving domain controller 3 selects traffic participants within a certain range around the vehicle for perception fusion. (See also...) Figure 4 , Figure 4 This diagram illustrates the collision warning and perception enhancement method and system based on V2X proposed in this invention, and the calculation of the collision warning distance. The selected range is a circle 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 a radius of Rmax around the vehicle, the location information of surrounding traffic participants, the size information, category information, and ID information in the safety boundary description parameters obtained in 3.1, and the ObjectList (target list) obtained by the vehicle-side intelligent driving domain controller 3 through the vehicle-side perception module and perception algorithm are fused together to obtain the fused enhanced perception result.

[0098] See Figure 3 As shown, Figure 3 This is a flowchart of the intelligent device-side workflow of the collision warning and perception enhancement method and system based on V2X proposed in this invention.

[0099] 4. Smart Device Location Information Transmission: This is mainly used to broadcast the location information of this smart device. The specific steps are as follows:

[0100] 4.1 Obtaining self-location information

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

[0102] 4.2 Determination of Maneuver Status

[0103] The intelligent device terminal controller 6 determines the mobility status of the intelligent device terminal based on the speed of the intelligent device terminal obtained from its own positioning information in section 4.1.

[0104] In a preferred example, when the speed of the smart device exceeds a preset speed Vman, it is determined that the person carrying the smart device is in a motorized state, i.e., the person is driving or riding in a motor vehicle. When the speed of the smart device is less than the preset speed Vman and the change in height or the change in height and its frequency within a preset time period exceeds a 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 height (height change range) or the change in height and its frequency within a preset time period is less than a 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 electric bicycle. It is understandable that when a road user puts a mobile phone or other smart device in their pocket, the change in height and the speed of movement of the smart device will exhibit different characteristics when walking, cycling, or riding in a vehicle, thus allowing the determination of whether the person is walking, cycling, or riding in a vehicle.

[0105] 4.3 Safety Boundary Calculation

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

[0107] The intelligent device terminal controller 6 determines the safety boundary of non-motorized traffic participants based on A1 and B1, where B1 is the preset safe distance B1 for non-motorized traffic participants.

[0108] One specific example is as follows:

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

[0110] The pre-selected safety distance B1=b1;

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

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

[0113] 4.4 Random ID Generation

[0114] The smart device controller 6 randomly generates non-motorized traffic participant IDs to ensure that non-motorized traffic participants are not tracked and to protect user privacy.

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

[0116] I. Periodic Updates: 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 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 controller 6 randomly selects one of the NUM group of selectable ID values ​​in the ID update request information as the updated vehicle ID.

[0118] 4.5 Message Sending

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

[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 provide warnings to non-motorized traffic participants in case of danger. The non-motorized traffic participants and vehicles are pedestrians and vehicles equipped with the intelligent device and vehicle-side device described in this invention, respectively.

[0122] 5.1 Obtaining location information of surrounding vehicles

[0123] The intelligent device controller 6 receives messages broadcast by surrounding traffic participants through the intelligent device wireless communication module 5. It then filters out traffic participants categorized as vehicles and extracts their location information from the messages.

[0124] 5.2 Safety Status Determination

[0125] The intelligent device terminal controller 6 determines the current safety status based on the location information obtained from obtaining its own location information in 4.1 and the location information of surrounding vehicles obtained in 5.1.

[0126] The method for calculating the distance distOpt1 between non-motorized traffic participants and surrounding vehicles is as follows:

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

[0128] distOpt1 = dist1 - r2 - r3;

[0129] Where 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' positions, y3 is the y-axis coordinate of the surrounding vehicles' positions, r2=b1 is the safe distance of the non-motorized traffic participant, and r3 is the safe distance in the messages 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 this non-motorized traffic participant and surrounding vehicles is less than the preset distance Ddanger3, it is judged as extremely dangerous; when the distance distOpt1 between this vehicle and traffic participants is greater than the preset distance Ddanger3 and less than the preset distance Ddanger4, it is judged as dangerous.

[0132] II. Distance Judgment: When the distance between the non-motorized traffic participant and surrounding vehicles, distOpt1, divided by the relative speed between the non-motorized traffic participant and surrounding vehicles, is less than the preset distance value Tdanger3, it is judged as extremely dangerous; when the distance between the non-motorized traffic participant and surrounding vehicles, distOpt1, divided by the relative speed between the non-motorized traffic participant and surrounding vehicles, is greater than the preset distance value Tdanger3 but less than the preset distance value Tdanger4, it is judged as dangerous.

[0133] 5.3 Safety Reminder

[0134] The intelligent device controller 6 issues a safety alert based on the hazard level in section 5.2 Safety Status Determination.

[0135] For example: when the safety condition is determined to be dangerous, the smart device terminal controller 6 controls the smart device to alert non-motorized traffic participants with vibrations and sounds of a certain frequency and amplitude. When the safety condition is determined to be extremely dangerous, the smart device terminal controller 6 controls the smart device to alert non-motorized traffic participants with vibrations and sounds of a higher frequency and amplitude.

[0136] In a preferred embodiment of the present invention, vehicle-side positioning information transmission, vehicle-side collision warning, and vehicle-side perception enhancement are integrated as sub-functions of the intelligent driving system into the vehicle-side intelligent driving controller. Specifically, vehicle-side positioning information transmission utilizes the original intelligent driving positioning function to obtain the vehicle's location; vehicle collision warning utilizes the original driver assistance functions such as steering wheel vibration alerts, the vehicle's built-in audible and visual alarms (including alert sounds and dashboard indicator lights), and AEB (Autonomous Emergency Braking) to alert the driver and facilitate hazard avoidance; vehicle-side perception enhancement utilizes the results obtained from the original intelligent driving perception function and then merges them with information about surrounding traffic participants obtained through the vehicle-side wireless communication module.

[0137] In a preferred embodiment of the present invention, the smart device is a smartphone. Location information transmission and collision warning are two functions within the smartphone's application. After the user selects to enable these functions, the smartphone continuously transmits its location information and, when the safety status is determined to be dangerous, provides vibration and sound alerts via the phone's built-in vibration device and speaker.

[0138] The above are merely preferred embodiments of the present invention and are illustrative rather than restrictive. The structure and connection methods of the components in the present invention can be varied, and any equivalent transformations and improvements made based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A method for collision warning and perception enhancement based on V2X, characterized in that, The application relates to a vehicle-end early warning perception enhancement method and a portable intelligent device-end early warning method. The vehicle-end early warning perception enhancement method comprises the following steps: S11: broadcasting a vehicle information message to the outside of the vehicle; S12: receiving a message sent by a surrounding traffic participant, extracting positioning information of the surrounding traffic participant from the message, judging the safety state of the vehicle based on the positioning information of the surrounding traffic participant and the positioning information of the vehicle, and giving a warning to the driver of the vehicle or automatically performing danger avoidance when danger is judged; S13: extracting the information of the surrounding traffic participant from the message, performing perception fusion on the extracted information and the perception information of the vehicle to obtain an enhanced perception result after fusion; when it is detected that the positioning information in the message corresponding to the same ID sent by the surrounding traffic participant is discontinuous or changes within a preset time or the category information repeatedly changes, it is judged that ID conflict occurs; after the ID conflict is detected, an ID update request information is broadcasted to the outside, and the ID update request information comprises an ID value to be updated and a NUM group, the optional ID value in the NUM group is a random ID value different from the ID value of the current surrounding traffic participant, and the ID value to be updated is the ID value for which it is judged that the ID conflict occurs. The portable intelligent device-end early warning method comprises the following steps: S21: acquiring the positioning information of the intelligent device itself, and judging the motion state of the intelligent device according to the positioning information, wherein the motion state comprises a motor state and a non-motor state; the motor state is that the carrier of the intelligent device is driving a motor vehicle, and the non-motor state is that the carrier of the intelligent device is driving a non-motor vehicle or walking; when the motion state of the intelligent device is judged as the non-motor state, an intelligent device information message is broadcasted to the outside; S22: receiving a message sent by a surrounding traffic participant, screening a message sent by a vehicle from the message, extracting the positioning information of the message sent by the vehicle, judging the safety state of the carrier of the intelligent device based on the extracted positioning information and the positioning information of the intelligent device, and giving a warning to the carrier of the intelligent device when danger is judged. In step S11, the vehicle information message comprises vehicle positioning information, vehicle basic information, a safety distance, a safety boundary and vehicle ID information; the vehicle positioning information comprises the position, speed and / or acceleration of the vehicle; the vehicle basic information comprises the category information and size information of the vehicle; and the vehicle ID information comprises a randomly generated vehicle ID.

2. The V2X-based collision warning and perception enhancement method of claim 1, wherein, In step S11, the calculation method of the safety boundary is as follows: a preset safety distance b is selected according to the category information and size information of the vehicle; the size information of the vehicle comprises the length l, width w and height h of the vehicle, the center of the vehicle and a safety radius Rsafe are obtained according to the size information of the vehicle, and Rsafe = l / 2 + b; and the safety boundary is a circle with the center of the vehicle as the center and the radius Rsafe.

3. The V2X-based collision warning and perception enhancement method of claim 2, wherein, The random generation method of the vehicle ID is periodic updating or external request updating; wherein 4. The V2X-based collision warning and perception enhancement method of claim 2, wherein, periodic updating: the vehicle ID is randomly generated according to a preset period T; ​ External request update: when receiving the message sent by the surrounding other vehicles contains ID update request information, and the ID update request information in the request to update the ID and the car ID is the same, randomly from the ID update request information in the NUM group of optional ID value selection as the updated car ID.

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

6. The V2X-based collision warning and perception enhancement method of claim 2, wherein, In step S13, the specific method for perception fusion is: Selecting the traffic participants within a certain range of the vehicle for perception fusion, the selected range is greater than or equal to the detection range of the vehicle perception module; within the selected range, the positioning information, size information, category information and ID information of the surrounding traffic participants are fused with the target list obtained based on the vehicle perception module and the perception algorithm to obtain the fused enhanced perception result.

7. The V2X-based collision warning and perception enhancement method of claim 1, wherein, In step S21, the positioning information of the intelligent device itself includes the position, speed and / or acceleration of the intelligent device.

8. The V2X-based collision warning and perception enhancement method of claim 7, wherein, In step S21, when the speed of the intelligent device is greater than the preset speed Vman, it is determined that the person carrying the intelligent device is in a mobile state; when the speed of the intelligent device is less than the preset speed Vman, it is determined that the person carrying the intelligent device is in a non-mobile state; when it is determined to be in a non-mobile state, the type of non-mobile state is determined according to the change range and / or change frequency of the intelligent device in the height direction, and the type of non-mobile state includes walking and non-motorized vehicle.

9. The V2X-based collision warning and perception enhancement method of claim 8, wherein, In step S21, the intelligent device information message broadcasted to the outside includes the positioning information of the intelligent device itself, the type of non-mobile state, the non-mobile safety boundary and the ID information; wherein the calculation method of the safety boundary is: selecting a preset non-mobile safety distance b1 and a non-mobile traffic participant size according to the type of non-mobile state, the non-mobile traffic participant size includes length l1, width w1 and height h1, obtaining the non-mobile traffic participant center and the safety radius Rsafe1 according to the non-mobile traffic participant size; the non-mobile safety boundary is a circle with the non-mobile traffic participant center as the center and the radius Rsafe1. 10.A V2X-based collision warning and perception enhancement system, characterized in that, Comprise: The vehicle end unit and the portable intelligent device end unit; The vehicle end unit is used to execute the vehicle end early warning perception enhancement method as claimed in any one of claims 1-8, and the portable intelligent device end unit is used to execute the portable intelligent device end early warning method as claimed in any one of claims 1-8; The vehicle end unit comprises a vehicle end perception module, a vehicle end positioning module, a vehicle end intelligent driving domain controller and a vehicle end wireless communication module; the vehicle end perception module and the vehicle end positioning module are respectively connected with the vehicle end intelligent driving domain controller, and the vehicle end intelligent driving domain controller is connected with the vehicle end wireless communication module; The portable intelligent device end unit comprises an intelligent device end wireless communication module, an intelligent device end controller and an intelligent device end positioning module; the intelligent device end wireless communication module is in communication connection with the vehicle end wireless communication module, the intelligent device end wireless communication module is in signal connection with the intelligent device end controller, and the intelligent device end controller is in signal connection with the intelligent device end positioning module.

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