Research On LTE-V-based Intelligent Connected Vehicle Forward Collision Warning Algorithm And Implementation

Forward collisions of vehicles are a frequent type of traffic accident,which seriously affects road safety.Effective and reliable forward collision warning systems can prevent and reduce the occurrence of such collisions.Vehicle to Everything(V2X)technology realizes realtime dynamic information interaction between vehicles and vehicles,vehicles and roads,vehicles and people,and vehicles and the network.It provides strong technical support and basic guarantees for the realization of intelligent connected vehicles forward collision warning systems which are based on vehicle-to-vehicle communication.This paper analyses the effects of information transmission delay,driver response delay,vehicle braking process delay and GPS error on the safety distance,proposes a multi-coupled safety distance model and designs a classification warning strategy for different working conditions.On this basis,the LTE-V based forward collision warning software and hardware system for intelligent connected vehicles is developed and implemented.The main work is as follows:(1)The existing vehicle-to-vehicle communication technologies are analyzed and compared.According to the characteristics of communication technology and application requirements,the overall architecture of the LTE-V-based forward collision warning system for intelligent connected vehicles is designed and the functions of each part of the system are introduced in detail.(2)By the pre-processing of information such as vehicle position coordinate mapping,vehicle trajectory fitting and vehicle screening,the reliability of the data is ensured and predetermination of collision risk is achieved.The Kalman filter-based vehicle motion prediction model is designed to predict the short-time motion of the vehicle and reduce the impact of speed jitter on the collision warning effect.(3)A multi-coupled safety distance model is proposed and a classification warning strategy for different working conditions is designed.The information propagation process based on the LTE-V forward warning system is analyzed,the composition of the system delay is studied and a system delay model is constructed in stages.On this basis,considering the influence of system delay,minimum stopping distance and GPS error on the safety distance model,a multi-coupled safety distance model is proposed,a classification warning strategy for different working conditions is designed,a joint Matlab/Simulink+PanoSim simulation system is built to verify the safety distance model.(4)Based on the overall system architecture,the LTE-V-based forward collision warning software and hardware system is developed and implemented.Besides,modular tests are carried out on the data acquisition and data transceiver modules.According to the available experimental conditions,a real vehicle test environment is set up in the experimental field and the forward collision warning application is tested in three scenarios: stationary,constant speed and emergency braking.In this paper,the proposed multi-coupled safety distance model and the developed LTE-V forward collision warning system are validated by a combination of joint simulation and real vehicle testing.The validation results of the joint Matlab/Simulink+PanoSim simulation system show that the collision warning model can provide effective warnings with taking the vehicle dynamics into account.The results of real vehicle testing in the experimental field show that the system can achieve collision warning in three scenarios: stationary,constant speed and emergency braking,with an average correct warning rate of 91.13%,a false alarm rate of 8.87%and a missed alarm rate of 0% for multiple experiments.