Research On DNPW Algorithm Based On C-V2X

As a way of reducing the occurrence of vehicle collision accidents,the vehicle collision avoidance system has become a standard function of many car companies because it can remind or warn the driver of the impending collision risk of the vehicle in advance.At present,the mainstream anti-collision systems on the market are ADAS advanced assisted driving systems based on sensor fusion.The anti-collision system came into being.As for the two standards in short-range wireless communication technology: DSRC and C-V2 X,although the former has been developed in Europe and the United States for more than ten years,due to its high cost,it has been abandoned by European and American countries and turned to C-V2 X.This paper designs a collision warning system for reverse overtaking scenarios based on C-V2 X.Vehicle information is transmitted（V2V）between the host vehicle（Host Vehicle,HV）and the remote vehicle（Remote Vehicle,RV）through C-V2 X.C-V2 X is transmitted（V2I）between HV and roadside equipment（Road Side Unit,RSU）.According to the real-time collected data of the selfvehicle and surrounding distant vehicles,as well as the current road section information that may exist,it can identify and analyze all the surrounding vehicles.The distant car is related to the position relationship of the own vehicle.When the own vehicle is about to use the opposite lane to overtake or has started to overtake,it can filter out the vehicles driving in the same direction in front of the vehicle in the same lane and the vehicles driving in the opposite direction in front of the adjacent left lane.The driver is reminded of the collision risk in advance,which is used to assist the driver to avoid or reduce the collision during the overtaking process,and improve the safety of reverse overtaking.In this paper,a complete set of ITS C-V2 X protocol stack is designed based on hardware communication equipment for V2 X communication.For the early warning algorithm,vehicle tracking filtering is implemented by maintaining a vehicle linked list containing all RV data around the HV.After receiving the RV data,the target screening module（Target Classification,TC）is used to complete the identification of the positional relationship of each RV relative to the HV.TC also distinguishes two working modes according to whether there is Road Side Unit（RSU）assistance.When there is no RSU assistance,it mainly uses the historical path and path prediction to judge the position relationship.The location relationship can be judged through the MAP message broadcasted by the RSU.In this paper,we first determine whether the HV is overtaking or has a tendency to overtake,and then screen out the RV data that conforms to the positional relationship for calculation and processing,and finally pass the double standards of the estimated time to collision（TTC）and the minimum safe distance model.Judging whether there is a risk of collision,and issuing a warning to the driver,among which,in addition to the most basic turning on the turn signal,the identification of the overtaking behavior on the road is also carried out.Prediction.Finally,the virtual simulation engine VTD was used to build a reverse overtaking simulation scene,and software-in-loop（SIL）,hardware-in-loop（HIL）and large-scale functional tests were carried out.The algorithm designed in this paper can effectively warn the collision risk in the reverse overtaking scenario when the HV is overtaking,which verifies the effectiveness of the algorithm.