Abstract: In the delay time of the Forward Collision Warning (FCW) system under Vehicle-to-Vehicle (V2V) communication, the traditional model assumes uniform speed of the host vehicle and error-free Global Positioning System (GPS), so as to significantly underestimate the risk of collision. Aiming at this problem, a new FCW strategy was proposed with correcting GPS errors and considering the movement state of the host vehicle within the delay time. Firstly, the overall workflow of the FCW system based on V2V communication was analyzed, and the key delays in the system were modeled by using the Gaussian model. Then, a collision avoidance model was established with correcting GPS errors and taking the movement state of the host vehicle within the delay time into consideration. And different warning strategies were formulated corresponding to three scenarios of the constant speed, acceleration and deceleration of the remote vehicle. Finally, in view of the situation where the host vehicle accelerated in the delay time, Matlab was used to simulate the proposed FCW strategy. Simulation results show that the average successful collision avoidance rate of the proposed warning strategy can reach 96%, verifying the effectiveness of it in different scenarios.

Key words: Vehicle-to-Vehicle (V2V) communication, delay time, Global Positioning System (GPS) error, collision avoidance, warning strategy

摘要： 针对车车（V2V）通信下前向碰撞预警（FCW）系统延时时间内，传统模型假定主车匀速和全球定位系统（GPS）无误差从而明显低估碰撞风险的问题，提出了一种修正GPS误差及考虑延时时间内主车运动状态的FCW策略。首先，分析了基于V2V通信的FCW系统的整体工作流程，并对其中的关键延时采用高斯模型进行建模；其次，确立了修正GPS误差并考虑延时时间内主车运动状态的碰撞避免模型，并根据远车匀速、加速、减速分为三种不同场景制定相应的预警策略；最后，针对延时时间内主车加速运动的情形，通过Matlab对提出的FCW策略进行仿真。仿真结果显示该预警策略的平均成功避撞率可达96%，表明了它在不同场景下预警的有效性。

关键词: 车车通信, 延时时间, 全球定位系统误差, 碰撞避免, 预警策略