Study On Intersection Collision Warning Algorithm Based On V2X

With rapid increase in car ownership,reducing the accident rate has become a severe world problem.In view of the fact that intersections are prone to traffic accidents,scholars at home and abroad have done a lot of work to improve the safety and traffic efficiency of intersections.In this paper,aiming at the non-line-of-sight scene limited by traditional cameras,radars and other sensors,we use v2 x vehicle networking technology to obtain vehicle related information,and take the safe passage of vehicles at intersections as the research object.The main work is as follows:(1)The key technologies for vehicle collision warning at intersections are introduced.The differences between the communication protocol standards of European standard and national standard is introduced,the vehicle information needed for collision early warning is propsed,the kinematic model of vehicle is established,and gradually the model is simplified,and then combines it with extended Kalman filter to improve the accuracy of vehicle pose estimation,so as to improve the accuracy of collision early warning.Finally,the joint simulation is used to verify the extended Kalman filter to improve the vehicle pose The validity of estimation accuracy.(2)Through analyzing the forming mechanism and the evolution process of intersection,an intersection vehicle collision warning system is proposed and the function and working principle of the system are introduced.And then the categories of intersection collisions are classified.Based on the relative positions and driving intentions of different vehicles,a filter is designed to reduce useless calculations,and increase the efficiency of the system.The different vehicle collision judgment models are compared,and a calculation method of collision time TTC are proposed.A method of hierarchical conflict warning is proposed after analyzing the braking process of vehicle.Drivers could accept warnings from different strength and levels based on the collision time.Finally,a Simulink solution model is built.(3)The theory of vehicle conflict is analyzed,and it is pointed out that vehicle conflict is the competition of vehicles for a specific conflict area Then,it is proposed that the conflict and collision can be avoided by various ways such as accelerating,decelerating and braking before the vehicle collision warning system taking effect.A method for calculating the expected speed using the vector motion relationship of the vehicle are propoded,and this speed is limited based on the comfort of the members.The Simulink model is set up according to the calculation strategy of the expected speed,which lays a foundation for subsequent research.(4)Introducing the evaluation method of simulation test,also pointing out simulation test is an indispensable step in the development process,with the characteristics of reproducibility and enforceability.Secondly,the standardized scene construction process based on ISO 26262 and the simulation experiment platform(Pre Scan software)are introduced.Based on the intersection accident data,three typical test scenarios are established.Then the vehicle model,V2 X sensor model are established to integrate the simulation system.The collision warning strategy and conflict resolution strategy proposed in the present article are verified through three typical scenarios.The effectiveness of the collision early warning strategy and conflict resolution strategy are verified by analyzing the simulation results.And the research provides the basis for the cooperation of vehicles at intersections.