中文摘要：

通过车-路通信构建协作型交叉路口防碰撞安全预警系统,能保证车辆在交叉路口行驶过程安全的同时,提高交叉路口的通行率,然而车辆防碰撞安全预警需要对车辆行驶路线进行准确地估计,当车辆有碰撞危险时,需要给出安全速度区间,通知车辆减速或制动.为解决这一问题,提出了交叉路口道路时空网格车辆避碰算法,其基本思想是将交叉路口划分为多个网格,利用路侧单元根据车辆当前车速、方向预测车辆行驶轨迹即车辆所占的网格数,若在某一时刻两车占用相同的网格则会发生碰撞,此时根据车辆当前的运动状态给出车辆能避开冲突的安全速度建议.为了对算法进行验证,在无信号灯交叉路口和有信号灯交叉路口环境中对所提出的算法进行了仿真实验和真实测试,实验结果表明,所提出的算法能准确预判出在交叉路口处于潜在碰撞危险中的车辆,并给予车速建议,证明了该系统的有效性和准确性.

英文摘要：

Nowadays, the development of wireless communications technology makes vehicle-road communication possible. Building vehicle-road communication based cooperative intersection collision avoidance systems can ensure the safety of vehicles traveling at an intersection and improve the passing rate of the intersection, however, vehicle collision warning system needs accurately estimating the vehicle＇ s route, when vehicle＇s in danger, giving the safe speed range and informing the vehicle to decelerate or brake. A grid-based space-time synchronization algorithm for vehicle collision avoidance warning is pro- posed, which will divide the intersection into several grids. Roadside unit through the vehicle velocity, direction and attribute to determine the vehicle trajectory, which is the vehicle occupied grid number. If two vehicles occupy the same grid at the same moment, the risk of collision will occur. Then the unit gives a safe speed based on the state of motion of the vehicle to the vehicle to avoid the collision. To test the algorithm, the algorithm is simulated and truly tested in the scenario of intersection with signal lights and intersection without signal lights. Experimental results demonstrate the proposed algorithm can accu- rately detect the vehicles which are in potential collision in the intersection and give the advised speed. The results also demonstrate the effectiveness and accuracy of the system.