Vehicle anti-collision forewarning method, system and in-vehicle computer device

1. A vehicle anti-collision forewarning method, applied to an in-vehicle computer device, the method comprising:

determining a relative position vector and a rate of change of the relative position vector between the vehicle and an external object based on at least satellite pseudorange measurement data of the vehicle and satellite pseudorange measurement data of the external object;

determining a displacement vector of the vehicle based on a vehicle dynamics model and inertial navigation information;

continuously updating the relative position vector by use of the displacement vector of the vehicle;

determining a first parameter for representing a relative distance between the vehicle and the external object, and a second parameter for representing a relative motion velocity and/or a relative motion direction between the vehicle and the external object based on the relative position vector and the rate of change of the relative position vector;

acquiring, from an external terminal carried by the external object, a third parameter for representing a trend of a motion state change of the external object, wherein the third parameter corresponds to a confidence of the motion state change of the external object;

determining a collision risk index according to a predetermined rule based on the first to the third parameters, wherein the predetermined rule is: the smaller the first parameter, the shorter the relative distance, and the higher the collision risk index; the larger the second parameter, the higher the relative motion velocity or the smaller the angle of the relative motion direction, and the higher the collision risk index; the larger the third parameter, the higher a the confidence of the motion state change of the external object, and the higher the collision risk; and

identifying whether to send an anti-collision alarm according to the magnitude of the collision risk index.

2. The method of claim 1 , wherein the step of determining a relative position vector between the vehicle and the external object:

conducting an integral interpolation on the satellite pseudorange measurement data of the vehicle and the satellite pseudorange measurement data of the external object to obtain new satellite pseudorange measurement data of the vehicle and new satellite pseudorange measurement data of the external object to meet a preset update frequency;

performing a time synchronization between the new satellite pseudorange measurement data of the vehicle and the new satellite pseudorange measurement data of the external object; and

performing a dynamic differential on the synchronized data to determine the relative position vector between the vehicle and the external object.

3. The method of claim 1 , wherein the external object is an external pedestrian, the external terminal is a portable terminal device; or the external object is another vehicle, the external terminal is an in-vehicle computer device of the another vehicle.

4. The method of claim 1 , wherein the satellite pseudorange measurement data of the vehicle is obtained by a first satellite observation receiver arranged in the vehicle, and the satellite pseudorange measurement data of the external object is obtained by a second satellite observation receiver arranged in the external terminal.

5. The method of claim 1 , wherein the in-vehicle computer device communicates with the external terminal via a cellular mobile communication network, or the in-vehicle computer device communicates with the external terminal upon respective DSRC chips.

6. An in-vehicle computer device, comprising:

at least one processor; and

a memory communicably connected with the at least one processor for storing instructions executable by the at least one processor, wherein execution of the instructions by the at least one processor causes the at least one processor to:

determine a relative position vector and a rate of change of the relative position vector between the vehicle and an external object based on at least satellite pseudorange measurement data of the vehicle and satellite pseudorange measurement data of the external object;

determine a displacement vector of the vehicle based on a vehicle dynamics model and inertial navigation information for continuously updating the relative position vector;

determine a first parameter for representing a relative distance between the vehicle and the external object, and a second parameter for representing a relative motion velocity and/or a relative motion direction between the vehicle and the external object based on the relative position vector and the rate of change of the relative position vector;

acquire, from an external terminal carried by the external object, a third parameter for representing a trend of a motion state change of the external object, wherein the third parameter corresponds to a confidence of the motion state change of the external object;

determine a collision risk index according to a predetermined rule based on the first to the third parameters, wherein the predetermined rule is: the smaller the first parameter, the shorter the relative distance, and the higher the collision risk index; the larger the second parameter, the higher the relative motion velocity or the smaller the angle of the relative motion direction, and the higher the collision risk index; the larger the third parameter, the higher a the confidence of the motion state change of the external object, and the higher the collision risk; and

identify whether to send an anti-collision alarm according to the magnitude of the collision risk index.

7. The in-vehicle computer device of claim 6 , wherein execution of the instructions by the at least one processor causes the at least one processor to:

conduct an integral interpolation on the satellite pseudorange measurement data of the vehicle and the satellite pseudorange measurement data of the external object to obtain new satellite pseudorange measurement data of the vehicle and new satellite pseudorange measurement data of the external object to meet a preset update frequency;

perform a time synchronization between the new satellite pseudorange measurement data of the vehicle and the new satellite pseudorange measurement data of the external object; and

perform a dynamic differential on synchronized data to determine the relative position vector between the vehicle and the external object.

8. The in-vehicle computer device of claim 6 , wherein the satellite pseudorange measurement data of the vehicle is obtained by a satellite observation receiver arranged in the vehicle.

9. The in-vehicle computer device of claim 6 , wherein the in-vehicle computer device is provided with a chip supporting cellular mobile communication network or DSRC.

10. A vehicle anti-collision forewarning system comprising an in-vehicle computer device and an external terminal,

wherein the external terminal comprises a satellite observation receiver configured for obtaining satellite pseudorange measurement data of an external object, a transmitter configured for sending motion status information to the in-vehicle computer device; and

wherein the in-vehicle computer device having at least one processor, a memory in electronic communication with the processor and instructions stored in the memory, wherein execution of the instructions by the at least one processor causes the at least one processor to:

determine a relative position vector and a rate of change of the relative position vector between the vehicle and the external object based on at least satellite pseudorange measurement data of the vehicle and satellite pseudorange measurement data of the external object;

determine a displacement vector of the vehicle based on a vehicle dynamics model and inertial navigation information for continuously updating the relative position vector:

determine a first parameter for representing a relative distance between the vehicle and the external object, and a second parameter for representing a relative motion velocity and/or a relative motion direction between the vehicle and the external object based on the relative position vector and the rate of change of the relative position vector;

acquire, from the transmitter of the external terminal, a third parameter for representing a trend of a motion state change of the external object, wherein the third parameter corresponds to a confidence of the motion state change of the external object; determine a collision risk index according to a predetermined rule based on the first to the third parameters, wherein the predetermined rule is: the smaller the first parameter, the shorter the relative distance, and the higher the collision risk index; the larger the second parameter, the higher the relative motion velocity or the smaller the angle of the relative motion direction, and the higher the collision risk index; the larger the third parameter, the higher a the confidence of the motion state change of the external object, and the higher the collision risk; and

identify whether to send an anti-collision alarm according to the magnitude of the collision risk index.