Vehicle collision early warning method and device and vehicle

Abstract

The invention provides a vehicle collision early warning method and device and a vehicle. The method comprises the steps of: obtaining vehicle information of a remote vehicle; according to the vehicle information of the main vehicle and the remote vehicle, establishing a motion equation of the main vehicle and the remote vehicle by using a bicycle dynamics model; according to the motion equations of the main vehicle and the far vehicle, calculating the relative driving track of the far vehicle relative to the main vehicle at each preset time step length; respectively forming a first rectangular model of the main vehicle and a second rectangular model of the far vehicle according to the vehicle body sizes of the main vehicle and the far vehicle; according to the relative driving track of the far vehicle relative to the main vehicle at each preset time step length and the second rectangular model, calculating a first rectangular area passed by the second rectangular model relative to the first rectangular model at each preset time step length; judging whether the first rectangular area is overlapped with the first rectangular model or not; and when the first rectangular area is overlapped with the first rectangular model, deducing the collision risk of the main vehicle and the remote vehicle. According to the invention, the problem of large error of existing vehicle early warning is solved.

Description

Technical field [0001] The present invention relates to the field of smart automobiles, and more particularly to a vehicle collision warning method, apparatus and a car. Background technique [0002] With the popularity of the vehicle and the development of the vehicle network, the application and algorithm of V2X technology are increasingly received, and the most critical application function is the vehicle warning function, that is, the V2X technology to pre-remind the owner's potential danger to reduce traffic accident. [0003] Since the V2X system has no visual perception such as the camera and radar, most of the V2X technology-based vehicle early warning algorithms require road curvature information, and current road test equipment can not provide accurate road curvature, so most The vehicle warning algorithm can only be applied to the straightway or set curvature curve, but the actual road is likely to have a case where the curvature is uncertain. At this time, these conve...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a vehicle collision early warning method, device and automobile, which are used to solve the problem of relatively large errors in the existing vehicle early warning

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