Prompt Device Based on Vehicle Navigation Data Sharing and Conflict Prompting and Early Warning Method

Abstract

The present invention belongs to the field of automotive active safety technologies, and particularly relates to a prompting device and a conflict prompting and early warning method based on vehicle navigation data sharing. Through the cooperation of a satellite positioning and navigation host system, a Bluetooth data acquisition module and a cloud data processing platform, the present invention accurately acquires and analyzes vehicle information, accurately judges conflict risks, and effectively reduces the accident rate. In the past, drivers would wait and slow down because they were unsure of the intentions of the other party, causing congestion. By using this method for early warning, the driver is informed in advance of the passing direction of the oncoming vehicle and the conflict risk level. When there is no conflict direction risk, the driver is slightly reminded so that there is no need to slow down; when there are low or medium risk conflicts and the intentions of the oncoming vehicle are relatively clear or there is sufficient time to respond, reasonable prompting also avoids excessive deceleration, thus ensuring that the vehicle passes through the intersection stably, reducing stops, improving the intersection passing capacity, alleviating traffic congestion, and optimizing the utilization efficiency of road resources.

Description

Technical Field

[0001] The present invention belongs to the technical field of automotive active safety, and particularly relates to a prompting device based on vehicle navigation data sharing and a conflict prompting and warning method. Background Art

[0002] Traffic intersections are important hubs in the road system and areas where vehicle conflicts occur frequently. Due to road resource limitations or design reasons in some traffic intersections, there are shared lanes (that is, straight-going vehicles share the same lane with left-turning and right-turning vehicles, namely "straight-left" and "straight-right" lanes), which makes it difficult for drivers to accurately judge the specific driving intentions of other vehicles through the lanes where they are located. When drivers make pre-judgments of driving intentions based on incomplete information, they are prone to misjudgment, which may lead to traffic accidents. In addition, when drivers do not clearly understand the driving intentions of other vehicles, they often tend to observe and take deceleration measures. This situation of mutual caution not only increases the mental burden of drivers, but also easily leads to a decrease in traffic efficiency and exacerbates traffic congestion.

[0003] Therefore, there is an urgent need for an intersection conflict prompting and warning method to solve the problems that the incomplete acquisition of traffic information by drivers caused by shared lanes existing at road traffic intersections and the non-standard use of turn signals by drivers bring great risks to the vehicles driving normally at intersections, affect traffic efficiency, exacerbate traffic congestion, and even lead to traffic accidents.

[0004] In view of this, the present invention is specifically proposed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a prompting device based on vehicle navigation data sharing and a conflict prompting and warning method.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] On the one hand, the present invention provides a prompting device based on vehicle navigation data sharing, which is installed in a vehicle and specifically includes:

[0008] A satellite positioning and navigation host system, which is used to obtain and store the real-time position information of the vehicle, the vehicle navigation destination information, and the historical trajectory information;

[0009] A Bluetooth data acquisition module, which is connected to the vehicle-mounted OBD interface and is used to collect the turn signal and real-time vehicle speed in real time and send them to the satellite positioning and navigation host system;

[0010] A cloud data processing platform is used to receive information sent by a satellite positioning and navigation host system, perform spatial proximity detection and conflict risk detection based on real-time data, and send prompt and warning signals to the satellite positioning and navigation host system according to different levels of conflict risks.

[0011] On the other hand, the present invention provides a conflict prompt and warning method based on vehicle navigation data sharing. Based on the above-mentioned prompt device, the specific method is as follows:

[0012] Step 1: Mark the intersections where there are shared lanes for straight and left turns in the cloud data processing platform;

[0013] Step 2: The satellite positioning and navigation host system uploads the historical shared path trajectory information of the vehicle to the cloud data processing platform. The cloud data processing platform converts the longitude and latitude coordinates of the historical shared path trajectory into plane coordinates and superimposes the historical shared path trajectory, thereby inferring the range of the potential conflict area at the intersection, and obtaining its position coordinates (x c , y c ) and the radius R of the potential conflict area;

[0014] Step 3: The Bluetooth data acquisition module sends the vehicle turn signal and the vehicle's real-time speed to the satellite positioning and navigation host system. The satellite positioning and navigation host system uploads the vehicle position information, the vehicle's real-time speed, the turn signal, and the vehicle navigation destination information to the cloud data processing platform;

[0015] Step 4: Set one's own vehicle as the self-vehicle and the other vehicle as the oncoming vehicle. When the oncoming vehicle approaches the intersection, the cloud data processing platform performs spatial proximity detection on whether the oncoming vehicle enters the potential conflict area. If both the self-vehicle and the oncoming vehicle enter the potential conflict area, conflict risk judgment is performed;

[0016] Step 5: The cloud data processing platform uses the path planning algorithm to obtain the navigation planning path according to the navigation destination of the self-vehicle and infers the moving direction at the current intersection as straight / turn;

[0017] If the driving paths of the self-vehicle and the oncoming vehicle are the same, it is determined that there is no conflict direction risk, and the satellite positioning and navigation host system does not act;

[0018] If the driving paths of the self-vehicle and the oncoming vehicle are different, it is determined that there is a conflict direction risk. The conflict risk level is determined according to the turn signal and the time difference to reach the conflict center. The satellite positioning and navigation host system gives different degrees of prompts and warnings to the driver of the self-vehicle according to the determination result.

[0019] Specifically, in step 2, the potential conflict area refers to the area where the host vehicle continuing to drive within this area may conflict with the oncoming vehicle, affecting traffic efficiency and even causing traffic accidents. The specific steps for calculating the geometric center and radius of the potential conflict area are as follows:

[0020] Step 2.1: Collect the historical shared path trajectories of each vehicle passing through the target intersection. The historical shared path trajectories consist of the position information and time of the vehicle.

[0021] Step 2.2: For a specific intersection, overlay the historical shared path trajectories of all left-turning and straight-going vehicles onto the map data to generate a two-dimensional trajectory density distribution map, and calculate the number of trajectory overlaps at each position. Select the areas where the number of trajectory overlaps exceeds the preset threshold and mark them as potential conflict areas.

[0022] Step 2.3: Conduct geometric analysis on the set of overlapping points in the potential conflict area to calculate the geometric center coordinates (x c , y c ) and the radius R of the potential conflict area. The coordinates of the geometric center of the potential conflict area are calculated as follows:

[0023]

[0024] where n is all the trajectory points within the potential conflict area, i is the i-th trajectory point, x i , y i are the coordinates corresponding to the i-th trajectory point, taking the maximum value.

[0025] The radius R of the potential conflict area is calculated as:

[0026]

[0027] Specifically, in step 4, spatial proximity detection is performed on the vehicles approaching the intersection, specifically:

[0028]

[0029] When d 1c ≤R and d 2c ≤R, it is determined that both parties enter the potential conflict area and the conflict detection logic is activated. Among them, d 1c is the distance from the host vehicle to the center of the potential conflict area, and d 2c is the distance from the oncoming vehicle to the center of the potential conflict area.

[0030] Specifically, in step 5, the method for judging the conflict risk level based on the turn signal and the time difference to reach the conflict center is as follows:

[0031] The time for the host vehicle to reach the center point of the potential conflict area is t1:

[0032]

[0033] Among them, V1 is the instantaneous speed of the detected host vehicle, a1 is the instantaneous acceleration of the host vehicle. Similarly, the time t2 for the oncoming vehicle to reach the center point of the potential conflict area can be obtained;

[0034] Calculate the time difference between the host vehicle and the oncoming vehicle to reach the risk center of the potential conflict area:

[0035] Δt = |t1 - t2|

[0036] When Δt ≥ T danger At this time, the time difference between the two vehicles reaching the risk center of the potential conflict area is large, and the risk is small;

[0037] When Δt < T danger , the difference between the two vehicles reaching the risk center of the potential conflict area is small. When an emergency occurs, the driver's reaction time is too short, the risk is high, and traffic accidents are likely to occur; among them, T danger Is the time threshold for evaluating traffic conflict risks, obtained by setting the simulation scenario.

[0038] Specifically, in step 5, when it is determined that there is no risk in the conflict direction, there is no direction conflict between the host vehicle and the oncoming vehicle. In this scenario, there is no risk interaction between the two vehicles. The cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, and the satellite positioning and navigation host system slightly reminds the driver in the form of image text or voice, informing the driver of the oncoming vehicle's intersection passing direction.

[0039] Specifically, in step 5, when it is determined that there is a risk in the conflict direction, the determination of the conflict risk level is specifically as follows:

[0040] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is consistent with the navigation direction, and the time difference between the host vehicle and the oncoming vehicle reaching the risk center of the potential conflict area is large, and all the above conditions are met at the same time, then it is determined that there is a low-risk conflict between the host vehicle and the oncoming vehicle. However, the driving intention of the oncoming vehicle is clear and the time difference to reach the conflict center is large, and the host vehicle can accurately predict the trajectory of the oncoming vehicle; at this time, the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, and the satellite positioning and navigation host system slightly reminds the driver in the form of image text or voice, informing the driver of the oncoming vehicle's intersection passing direction.

[0041] Specifically, in step 5, when it is determined that there is a risk in the conflict direction, the determination of the conflict risk level is specifically as follows:

[0042] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the host vehicle and the oncoming vehicle reaching the risk center of the potential conflict area is large, and all the above conditions are met at the same time;

[0043] Or when there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is consistent with the navigation direction, the time difference between the two vehicles reaching the risk center of the potential conflict area is small, and all the above conditions are met simultaneously;

[0044] Then the host vehicle and the oncoming vehicle are determined to have a medium-risk conflict. The driving intention of the oncoming vehicle is unclear, but the time difference of reaching the conflict center is large, and the host vehicle has sufficient time to take countermeasures; at this time, the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, warning and reminding the driver of the unclear intention of the oncoming vehicle in the form of combined image text and a relatively high volume, and pay attention to avoiding.

[0045] Specifically, in step 5, when it is determined that there is a conflict direction risk, the determination of the conflict risk level is specifically as follows:

[0046] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, the time difference between the two vehicles reaching the risk center of the potential conflict area is small, and all the above conditions are met simultaneously, then the host vehicle and the oncoming vehicle are determined to have a high-risk conflict. There is a direction conflict between the host vehicle and the oncoming vehicle, and the driving behavior of the oncoming vehicle is contrary to the host vehicle's expectation. The time difference of reaching the conflict center is small, and the host vehicle does not have enough reaction time to take countermeasures, resulting in a high conflict risk and easy occurrence of traffic accidents; at this time, the cloud data processing platform timely sends a prompt warning signal to the satellite positioning and navigation host system, warning the driver of the driving risk of the oncoming vehicle and paying attention to avoiding in the form of high-brightness flashing and emergency warning sounds.

[0047] On the other hand, the present invention provides an application of a conflict prompt and warning method based on vehicle navigation data sharing. The conflict prompt and warning method based on vehicle navigation data sharing is applied in avoiding traffic accidents when there are shared lanes at road traffic intersections.

[0048] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0049] Through the cooperation of the satellite positioning and navigation host system, the Bluetooth data acquisition module and the cloud data processing platform, the present invention accurately collects and analyzes vehicle information, accurately judges conflict risks, and effectively reduces the accident rate. When there is a high risk of an accident between the host vehicle and the oncoming vehicle, the system timely warns and reminds the driver of the risk in advance in the form of high-brightness flashing and emergency warning sounds, so that the driver can take avoidance measures to avoid accidents, which effectively guarantees driving safety.

[0050] Furthermore, since past drivers observed and decelerated due to uncertainty about the intentions of the other party, causing congestion, this method is used for early warning to inform the driver in advance of the passing direction of the oncoming vehicle and the level of conflict risk. When there is no risk in the conflict direction, the driver is slightly reminded so that there is no need to decelerate; when there are low or medium risk conflicts and the intentions of the oncoming vehicle are relatively clear or there is sufficient time to respond, reasonable reminders also avoid excessive deceleration, thus ensuring the stable passage of vehicles through the intersection, reducing stops, improving the traffic capacity of the intersection, alleviating traffic congestion, and optimizing the utilization efficiency of road resources.

[0051] Furthermore, this method effectively reduces the mental burden of the driver. With the precise reminders of this method, the driver can calmly handle the intersection situation, make decisions based on the reminders, no longer be constantly on guard, reduce psychological pressure, reduce the hidden danger of fatigue driving, and improve the comfort and safety of driving.

[0052] In summary, the intersection conflict prompt and early warning method based on navigation data sharing demonstrates many advantages in terms of traffic safety, traffic efficiency, and driver experience, and has important value and positive significance for improving the road traffic situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings here are incorporated into the specification and form a part of this specification, and are used together with the specification to explain the principles of the present invention.

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0055] Figure 1 is a flowchart of the conflict prompt and early warning method of the present invention;

[0056] Figure 2 is an information flow diagram of the conflict prompt and early warning method of the present invention;

[0057] Figure 3 is a schematic diagram of the determination of the potential conflict area of the present invention;

[0058] Figure 4 is a flowchart of the potential conflict area determination module of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are only examples consistent with some aspects of the present invention detailed in the appended claims.

[0060] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0061] Embodiment

[0062] This embodiment provides a prompt device based on vehicle navigation data sharing, which is installed in the vehicle and specifically includes:

[0063] A satellite positioning and navigation host system, which is used to obtain and store the real-time position information of the vehicle, the vehicle navigation destination information, and the historical track information;

[0064] A Bluetooth data acquisition module, which is connected to the in-vehicle OBD interface and is used to collect the turn signal and the real-time vehicle speed in real time and send them to the satellite positioning and navigation host system;

[0065] A cloud data processing platform, which is used to receive the information sent by the satellite positioning and navigation host system, perform spatial proximity detection and conflict risk detection according to the real-time data, and send prompt and early warning signals to the satellite positioning and navigation host system according to different levels of conflict risks.

[0066] Specifically, as shown in Figure 2 , the present invention mainly relies on the information interaction between the satellite positioning and navigation host system and the cloud data processing platform and the real-time data processing ability of the cloud data processing platform. The satellite positioning and navigation host system shares the driving information to the cloud data processing platform, and the cloud data processing platform can determine the potential conflict area at the intersection according to the historical track information. Calculate whether the vehicle approaching the intersection enters the potential conflict area according to the real-time position. When the own vehicle and the oncoming vehicle enter the potential conflict area, infer the left-turn / straight-ahead situation of the vehicle at the current intersection according to the navigation destination and perform conflict direction judgment; perform conflict risk determination according to the turn signal information, real-time vehicle speed, and acceleration information, and give corresponding prompts and early warnings to the driver for different conflict risk levels.

[0067] This embodiment provides a conflict prompt and early warning method based on vehicle navigation data sharing. Based on the above-mentioned prompt device based on vehicle navigation data sharing, as shown in Figure 1 , the specific method is as follows:

[0068] Step 1: Mark the intersections where there are shared lanes for straight and left turns in the cloud data processing platform;

[0069] Step 2: The satellite positioning and navigation host system uploads the historical shared path trajectory information of the vehicle to the cloud data processing platform. The cloud data processing platform converts the longitude and latitude coordinates of the historical shared path trajectory into plane coordinates and superimposes the historical shared path trajectories, thereby inferring the range of the potential conflict area at the intersection, and obtaining its position coordinates (x c , y c ) and the radius R of the potential conflict area;

[0070] Step 3: The Bluetooth data acquisition module sends the vehicle turn signal and the vehicle's real-time speed to the satellite positioning and navigation host system. The satellite positioning and navigation host system uploads the vehicle position information, the vehicle's real-time speed, the turn signal, and the vehicle navigation destination information to the cloud data processing platform;

[0071] Step 4: Set one's own vehicle as the self-vehicle and the other vehicle as the opposing vehicle. When the opposing vehicle approaches the intersection, the cloud data processing platform performs a spatial proximity detection on whether the opposing vehicle enters the potential conflict area. If both the self-vehicle and the opposing vehicle enter the potential conflict area, a conflict risk judgment is made;

[0072] Step 5: The cloud data processing platform uses the path planning algorithm to obtain the navigation planning path based on the navigation destination of the self-vehicle and infers the moving direction of the current intersection as straight / turn;

[0073] If the driving paths of the self-vehicle and the opposing vehicle are the same, it is determined that there is no conflict direction risk, and the satellite positioning and navigation host system does not act;

[0074] If the driving paths of the self-vehicle and the opposing vehicle are different, it is determined that there is a conflict direction risk. The conflict risk level is determined based on the turn signal and the time difference to reach the conflict center. The satellite positioning and navigation host system gives different levels of prompts and warnings to the driver of the self-vehicle according to the determination result.

[0075] Specifically, in Step 2, the potential conflict area refers to the area where the self-vehicle continuing to drive within this area may conflict with the opposing vehicle, affecting traffic efficiency and even causing traffic accidents. The specific steps for calculating the geometric center and the radius of the potential conflict area are as follows:

[0076] Step 2.1: Collect the historical shared path trajectories of each vehicle passing through the target intersection. The historical shared path trajectory consists of the vehicle's position information and time;

[0077] Step 2.2: For a specific intersection, superimpose the historical shared path trajectories of all left-turning and straight-going vehicles onto the map data to generate a two-dimensional trajectory density distribution map, and calculate the number of trajectory overlaps at each position; Select the areas where the number of trajectory overlaps exceeds the preset threshold and mark them as potential conflict areas;

[0078] Step 2.3. Conduct geometric analysis on the set of overlapping points in the potential conflict area, and calculate the geometric center coordinates (x c , y c ) and the radius R of the potential conflict area; calculate the coordinates of the geometric center of the potential conflict area as:

[0079]

[0080] where n is the trajectory points within all potential conflict areas, i is the i-th trajectory point, x i , y i are the coordinates corresponding to the i-th trajectory point, taking the maximum value;

[0081] Calculate the radius R of the potential conflict area as:

[0082]

[0083] Specifically, in step 4, conduct spatial proximity detection on the vehicles approaching the intersection, specifically:

[0084]

[0085] When d 1c ≤R and d 2c ≤R, it is determined that both parties enter the potential conflict area and the conflict detection logic is activated; where d 1c is the distance from the host vehicle to the center of the potential conflict area, and d 2c is the distance from the oncoming vehicle to the center of the potential conflict area.

[0086] Specifically, in step 5, the method for judging the conflict risk level based on the turn signal and the time difference to reach the conflict center is as follows:

[0087] The time for the host vehicle to reach the center point of the potential conflict area is t1:

[0088]

[0089] where V1 is the instantaneous speed of the host vehicle being detected, a1 is the instantaneous acceleration of the host vehicle, and similarly, the time t2 for the oncoming vehicle to reach the center point of the potential conflict area can be obtained;

[0090] Calculate the time difference between the host vehicle and the oncoming vehicle to reach the risk center of the potential conflict area:

[0091] Δt = |t1 - t2|

[0092] When Δt ≥ T danger the time difference between the two vehicles reaching the risk center of the potential conflict area is large and the risk is small;

[0093] When Δt < Tdanger When the difference in the time for the two vehicles to reach the risk center of the potential conflict area is small, the driver's reaction time in case of an emergency is too short, the risk is high, and traffic accidents are likely to occur. Among them, T danger is the time threshold for evaluating traffic conflict risks, which is obtained by setting up a simulation scenario.

[0094] Specifically, in step 5, when it is determined that there is no risk in the conflict direction, there is no directional conflict between the host vehicle and the oncoming vehicle. In this scenario, there is no risk interaction between the two vehicles, and the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system. The satellite positioning and navigation host system slightly reminds the driver in the form of image text or voice, informing the driver of the oncoming vehicle's passing direction at the intersection.

[0095] Specifically, in step 5, when it is determined that there is a risk in the conflict direction, the determination of the conflict risk level is specifically as follows:

[0096] When there is a directional conflict between the host vehicle and the oncoming vehicle, the oncoming vehicle's turn signal is consistent with the navigation direction, and the time difference between the host vehicle and the oncoming vehicle reaching the risk center of the potential conflict area is large, and all the above conditions are met at the same time, then it is determined that there is a low-risk conflict between the host vehicle and the oncoming vehicle. However, the driving intention of the oncoming vehicle is clear and the time difference in reaching the conflict center is large, and the host vehicle can accurately predict the oncoming vehicle's trajectory. At this time, the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system. The satellite positioning and navigation host system slightly reminds the driver in the form of image text or voice, informing the driver of the oncoming vehicle's passing direction at the intersection.

[0097] Specifically, in step 5, when it is determined that there is a risk in the conflict direction, the determination of the conflict risk level is specifically as follows:

[0098] When there is a directional conflict between the host vehicle and the oncoming vehicle, the oncoming vehicle's turn signal is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the host vehicle and the oncoming vehicle reaching the risk center of the potential conflict area is large, and all the above conditions are met at the same time;

[0099] Or when there is a directional conflict between the host vehicle and the oncoming vehicle, the oncoming vehicle's turn signal is consistent with the navigation direction, and the time difference between the two vehicles reaching the risk center of the potential conflict area is small, and all the above conditions are met at the same time;

[0100] Then it is determined that there is a medium-risk conflict between the host vehicle and the oncoming vehicle. The driving intention of the oncoming vehicle is not clear, but the time difference in reaching the conflict center is large, and the host vehicle has sufficient time to take countermeasures. At this time, the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, warning and reminding the driver of the unclear intention of the oncoming vehicle in the form of a combination of image text and a relatively high volume, and pay attention to avoiding.

[0101] Specifically, in step 5, when it is determined that there is a risk in the conflict direction, the determination of the conflict risk level is specifically as follows:

[0102] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the two vehicles reaching the risk center of the potential conflict area is small, and all the above conditions are met at the same time, then the host vehicle and the oncoming vehicle are determined to have a high-risk conflict. There is a direction conflict between the host vehicle and the oncoming vehicle, and the driving behavior of the oncoming vehicle is contrary to the host vehicle's expectation. The time difference for reaching the conflict center is small, and the host vehicle does not have enough reaction time to take countermeasures, resulting in a high conflict risk and prone to traffic accidents. At this time, the cloud data processing platform sends a prompt warning signal to the satellite positioning and navigation host system in time, warning the driver of the driving risk of the oncoming vehicle and paying attention to avoiding it in the form of high-brightness flashing and emergency warning sounds.

[0103] This embodiment provides a prompt device based on vehicle navigation data sharing. First, the Bluetooth data acquisition module is used to collect the turn signal and the real-time vehicle speed and send them to the satellite positioning and navigation host system; the satellite positioning and navigation host system transmits the real-time position, the navigation destination position information, the signal light state, the real-time vehicle speed, etc. to the cloud data processing platform; the cloud data processing platform is a computing system based on the cloud architecture, which is used to match the path information of each intersection and perform real-time processing and calculation, judge the risk level, and feedback the conflict risk judgment result to the satellite positioning and navigation host system.

[0104] See Figure 3 As shown, this embodiment provides a method for judging a potential conflict area, which specifically includes the following steps:

[0105] S1. Transmit the historical vehicle trajectory and map data to the cloud data processing platform. The historical vehicle trajectory record format is (ID, Lat, Lon, t), which is used to represent the spatio-temporal position information. Remove the abnormal trajectory points including position jumps or repeated time periods in the trajectory; unify the historical trajectory and map data in the same plane coordinate system, and align the vehicle trajectory in time;

[0106] S2. Grid the roads in the map data, match the historical trajectory to the road grid, and at the same time mark the road section or intersection to which each trajectory point belongs, and mark the intersections where there are shared lanes for straight, left turn, and right turn;

[0107] S3. Screen the intersections with shared lanes, overlay the trajectory points of all left-turn and straight-going vehicles in the potential conflict area of the intersection onto the map to generate a two-dimensional density distribution map. g(i, j) represents the (i, j)th road grid unit, and assign weights to each trajectory point to make the trajectory weight in the recent time period larger and the historical trajectory weight lower; the corrected density is: Among them, the density weight Among them, P k is the trajectory coordinate point of the kth vehicle, and each coordinate point includes the spatial coordinate and the time information t k , δ(p k∈g(i,j) is a judgment function. If p k is within the grid, the function value is 1; otherwise, it is 0. N is the total number of trajectories of N vehicles, and α is the time decay coefficient. If the value is larger, the weight of older trajectory points is smaller. t now is the time at the latest moment, and t m is the time at moment m;

[0108] S4. Screen the grid cells with a density exceeding the threshold T and mark them as grid cells in potential conflict areas. All grid cells in potential conflict areas form a candidate set U of potential conflict areas. The threshold T needs to be adjusted and determined according to the actual road conditions. The specific determination process of the threshold T is as follows:

[0109] First, divide the road network into grid cells, and calculate the trajectory densities D1 and D2 in two directions for each grid cell respectively. Then, screen out the grid cells where the densities in both directions are not zero. Finally, add the densities in the two directions to obtain the threshold T = D1 + D2;

[0110] S5. Perform K-means spatial clustering analysis on the candidate set, merge the grid cells with the same pattern to obtain potential conflict areas. Each potential conflict area contains a point set P k ={(x1, y1), (x2, y2),...}; Calculate the convex hull for the point set of each potential conflict area to form the boundary of the potential conflict area. Among them, K-means is an unsupervised machine learning algorithm. The grid cells are regarded as data points, and these grid cells are divided into K clusters using the K-means algorithm. Each cluster represents a potential conflict area, and the trajectory densities of each potential conflict area are different;

[0111] S6. Perform set calculation on the obtained potential conflict areas to obtain the center of the potential conflict area set: Radius of the potential conflict area where w i is the density weight.

[0112] See Figure 4 As shown, this embodiment provides a method for detecting conflict risks, including the following steps:

[0113] S1. When the driver starts the vehicle, the satellite positioning and navigation host system uploads data such as location information, speed, turn signal, and navigation destination location information to the cloud data processing platform;

[0114] S2. Input the determined radius R of the potential conflict area and the threshold T danger , T danger is the risk threshold of the time difference between the host vehicle and the oncoming vehicle reaching the center of the potential conflict area. Its value can be obtained through traffic simulation technology and adjusted according to the actual scenario requirements. The said Tdanger The specific calculation method is as follows:

[0115] S2.1. Set up the scenario of a conflict intersection: The ego vehicle is a left-turning vehicle and the oncoming vehicle is a straight-going vehicle; the set values such as the lane width of the scenario need to be consistent with the actual intersection size;

[0116] S2.2. Set the simulation parameters: The speeds V1 and V2 of the ego vehicle and the oncoming vehicle, and the accelerations ɑ1 and ɑ2. The accelerations vary randomly with time (fluctuating within a reasonable range) to simulate the possible behaviors of vehicles under real road conditions;

[0117] S2.3. Calculate the time required for the leading vehicle and the following vehicle to reach the risk center of the potential conflict area. Assume that the time for the ego vehicle to reach is t1 and the time for the oncoming vehicle to reach is t2;

[0118] S2.4. Set the number of simulation times N, count all the simulation results, draw a graph of the relationship between |t2 - t1| and the number of collisions and non-collisions, and determine a suitable value as T danger ;

[0119] S3. Conduct a spatial proximity detection on the vehicles approaching the intersection, and calculate the distance d of the vehicle to the center of the potential conflict area 1c , and the specific formula is: If there exists d 1c ≤R and d 2c ≤R, then execute step S4; otherwise, do not conduct a conflict risk judgment;

[0120] S4. According to the expected left-turn / straight-going directions of the ego vehicle and the oncoming vehicle at the target intersection, conduct a conflict direction detection. If there is a conflict between the navigation planned path of the ego vehicle and the navigation planned path of the oncoming vehicle, then execute step S5; otherwise, determine it as a non-conflict state;

[0121] S5. Conduct a risk judgment on both parties with direction conflicts. First, calculate the instantaneous acceleration a1 according to the instantaneous speed V1 of the ego vehicle, and further calculate the arrival times t1 and t2 of the ego vehicle and the oncoming vehicle at the center: Among them, t1 takes a positive value, and similarly for t2. Then calculate the time difference Δt = |t1 - t2| between the ego vehicle and the oncoming vehicle arriving at the conflict center;

[0122] S6. Determine the conflict risk scenario according to the calculated time difference and the working state of the turn signal:

[0123] There is no direction conflict between the ego vehicle and the oncoming vehicle, which is a non-risk scenario. Slightly remind the driver in the form of image text or voice, and inform the driver of the passing direction of the oncoming vehicle at the intersection;

[0124] There is a direction conflict between the ego vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is consistent with the navigation direction, and the time difference between the two vehicles arriving at the risk center of the potential conflict area is large (Δt≥T danger) is a low-risk scenario, and the driver is gently reminded in the form of image text or voice, informing him / her of the passing direction at the intersection ahead;

[0125] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the two vehicles reaching the risk center of the potential conflict area is large (Δt≥T danger ) is a medium-risk scenario, and the driver is warned in the form of a combination of image text and a relatively high volume to pay attention to the unclear intention of the oncoming vehicle and avoid it;

[0126] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is consistent with the navigation direction, and the time difference between the two vehicles reaching the risk center of the potential conflict area is small (Δt<T danger ) is also a medium-risk scenario, and the driver is warned in the form of a combination of image text and a relatively high volume to pay attention to avoidance;

[0127] When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the two vehicles reaching the risk center of the potential conflict area is small (Δt<T danger ) is a high-risk scenario, and the driver is warned of the driving risk of the oncoming vehicle and to pay attention to avoidance in the form of high-brightness flashing and an emergency warning sound.

[0128] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0129] It should be understood that the present invention is not limited to the above-described content and can be modified and changed without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A conflict prompt and warning method based on vehicle navigation data sharing, characterized in that, The specific method is as follows: Step 1: Mark the intersections with shared lanes for straight and left turns in the cloud data processing platform; Step 2: The satellite positioning and navigation host system uploads the historical shared path trajectory information of the vehicle to the cloud data processing platform. The cloud data processing platform converts the longitude and latitude coordinates of the historical shared path trajectory information into plane coordinates and superimposes the historical shared path trajectory, thereby inferring the range of the potential conflict area at the intersection, and obtaining its position coordinates (x c , y c ) and the radius R of the potential conflict area; The specific steps for calculating the geometric center and radius of the potential conflict area are as follows: Step 2.1: Collect the historical shared path trajectories of each vehicle passing through the target intersection, where the historical shared path trajectory consists of the position information and time of the vehicle; Step 2.2: For a specific intersection, overlay the historical shared path trajectories of all left-turning and straight-going vehicles onto the map data to generate a two-dimensional trajectory density distribution map, and calculate the number of trajectory overlaps at each position; select the areas where the number of trajectory overlaps exceeds the preset threshold and mark them as potential conflict areas; Step 2.3: Conduct a geometric analysis on the set of overlapping points in the potential conflict area, and calculate the geometric center coordinates (x c , y c ) and the radius R of the potential conflict area; calculate the coordinates of the geometric center of the potential conflict area as: Among them, n is the trajectory points in all potential conflict areas, i is the i-th trajectory point, and x i , y i is the coordinate corresponding to the i-th trajectory point, taking the maximum value; Calculate the radius R of the potential conflict area as: Step 3: The satellite positioning and navigation host system uploads the vehicle position information, vehicle real-time speed, turn signal, and vehicle navigation destination information to the cloud data processing platform; Step 4: Set the own vehicle as the ego vehicle and the other vehicle as the other vehicle. When the other vehicle approaches the intersection, the cloud data processing platform performs a spatial proximity detection on whether the other vehicle enters the potential conflict area. If both the ego vehicle and the other vehicle enter the potential conflict area, a conflict risk judgment is made; Step 5: The cloud data processing platform uses the path planning algorithm to obtain the navigation planned path based on the navigation destination of the ego vehicle and infers the moving direction at the current intersection as straight / turn; If the driving paths of the ego vehicle and the other vehicle are the same, it is determined that there is no conflict direction risk, and the satellite positioning and navigation host system does not act; If the driving paths of the ego vehicle and the other vehicle are different, it is determined that there is a conflict direction risk. The conflict risk level is determined based on the turn signal and the time difference to reach the conflict center. The satellite positioning and navigation host system gives different levels of prompts and warnings to the driver of the ego vehicle according to the judgment result.

2. The conflict prompt and warning method based on vehicle navigation data sharing according to claim 1, wherein In Step 4, the spatial proximity detection of the vehicle approaching the intersection is specifically as follows: When d 1c ≤ R and d 2c ≤ R, it is determined that both parties enter the potential conflict area and the conflict detection logic is activated; where d 1c is the distance from the host vehicle to the center of the potential conflict area, and d 2c is the distance from the oncoming vehicle to the center of the potential conflict area.

3. The conflict prompt and warning method based on vehicle navigation data sharing according to claim 2, wherein In Step 5, the judgment method for determining the conflict risk level based on the turn signal and the time difference to reach the conflict center is as follows: The time for the ego vehicle to reach the center point of the potential conflict area is t1: Among them, V1 is the instantaneous speed of the ego vehicle being detected, a1 is the instantaneous acceleration of the ego vehicle. Similarly, the time t2 for the other vehicle to reach the center point of the potential conflict area can be obtained; Calculate the time difference between the ego vehicle and the other vehicle to reach the risk center of the potential conflict area: Δt = |t1 - t2| When Δt≥T danger At this time, the time difference between the two vehicles arriving at the risk center of the potential conflict area is large, and the risk is small; When Δt < T danger , the difference in the arrival times of the two vehicles at the risk center of the potential conflict area is small. In case of an emergency, the driver's reaction time is too short, resulting in a high risk and an increased likelihood of traffic accidents. Here, T danger is the time threshold for evaluating traffic conflict risks, which is obtained by setting up a simulation scenario.

4. The conflict prompt and warning method based on vehicle navigation data sharing according to claim 1, characterized in that, In Step 5, when it is determined that there is no conflict direction risk, there is no direction conflict between the ego vehicle and the other vehicle. In this scenario, there is no risk interaction between the two vehicles. The cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, and the satellite positioning and navigation host system slightly reminds the driver in the form of image text or voice, informing the driver of the passing direction of the other vehicle at the intersection.

5. The conflict prompt and warning method based on vehicle navigation data sharing according to claim 1, characterized in that, In Step 5, when it is determined that there is a conflict direction risk, the determination of the conflict risk level is specifically as follows: When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is consistent with the navigation direction, the time difference between the host vehicle and the oncoming vehicle reaching the risk center of the potential conflict area is large, and all the above conditions are met at the same time, then the host vehicle and the oncoming vehicle are determined to have a low-risk conflict. However, the driving intention of the oncoming vehicle is clear and the time difference of reaching the conflict center is large, so the host vehicle can accurately predict the trajectory of the oncoming vehicle. At this time, the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, and the satellite positioning and navigation host system slightly reminds the driver in the form of image text or voice, informing the driver of the passing direction of the oncoming vehicle at the intersection.

6. The conflict prompt and warning method based on vehicle navigation data sharing according to claim 1, characterized in that In step 5, when it is determined that there is a conflict direction risk, the determination of the conflict risk level is specifically as follows: When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the host vehicle and the oncoming vehicle reaching the risk center of the potential conflict area is large, and all the above conditions are met at the same time; Or when there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is consistent with the navigation direction, and the time difference between the two vehicles reaching the risk center of the potential conflict area is small, and all the above conditions are met at the same time; Then the host vehicle and the oncoming vehicle are determined to have a medium-risk conflict. The driving intention of the oncoming vehicle is not clear, but the time difference of reaching the conflict center is large, and the host vehicle has sufficient time to take countermeasures. At this time, the cloud data processing platform sends a prompt signal to the satellite positioning and navigation host system, warning and reminding the driver of the uncertainty of the oncoming vehicle's intention in the form of a combination of image text and a higher volume, and pay attention to avoiding.

7. The conflict prompt and warning method based on vehicle navigation data sharing according to claim 1, characterized in that In step 5, when it is determined that there is a conflict direction risk, the determination of the conflict risk level is specifically as follows: When there is a direction conflict between the host vehicle and the oncoming vehicle, the turn signal of the oncoming vehicle is inconsistent with the navigation direction or the turn signal is not turned on, and the time difference between the two vehicles reaching the risk center of the potential conflict area is small, and all the above conditions are met at the same time, then the host vehicle and the oncoming vehicle are determined to have a high-risk conflict. There is a direction conflict between the host vehicle and the oncoming vehicle, and the driving behavior of the oncoming vehicle is contrary to the host vehicle's expectation. The time difference of reaching the conflict center is small, and the host vehicle does not have enough reaction time to take countermeasures, resulting in a high conflict risk and prone to traffic accidents. At this time, the cloud data processing platform sends a prompt and warning signal to the satellite positioning and navigation host system in time, warning the driver of the driving risk of the oncoming vehicle and paying attention to avoiding in the form of high-brightness flashing and emergency warning sound.

8. A prompt device based on vehicle navigation data sharing, characterized in that, Based on the conflict prompt and warning method based on vehicle navigation data sharing according to any one of claims 1-7, installed in the vehicle, specifically including; A satellite positioning and navigation host system, which is used to obtain and store the real-time position information of the vehicle, the vehicle navigation destination information and the historical trajectory information; A Bluetooth data acquisition module, which is connected to the vehicle-mounted OBD interface and is used to collect the turn signal and the real-time vehicle speed in real time and send them to the satellite positioning and navigation host system; A cloud data processing platform, which is used to receive the information sent by the satellite positioning and navigation host system, perform spatial proximity detection and conflict risk detection according to the real-time data, and send prompt and warning signals to the satellite positioning and navigation host system according to different levels of conflict risks.

9. Application of the conflict prompt and warning method based on vehicle navigation data sharing according to any one of claims 1-7, characterized in that, Application of the conflict prompt and warning method based on vehicle navigation data sharing in avoiding traffic accidents when there are shared lanes at road traffic intersections.

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