Vehicle collision preventing method based on collaborative relative positioning technologies

The invention relates to the field of intelligent transportation, in particular to a vehicle collision preventing method based on collaborative relative positioning technologies. The positioning information measurement and exchange on the basis of a V2V network, an enhanced relative positioning method on the basis of pseudorange, a vehicle self-prediction positioning and navigation method based on Kalman filtering, and a vehicle collision preventing judgment mechanism based on the relative distance are included in the method. The vehicle collision preventing method based on the collaborative relative positioning technologies includes the steps that information between near vehicles is transmitted through the V2V network, the relative distance between the vehicles is calculated on the basis of the pseudorange or Kalman filtering, and a vehicle alarm mechanism is triggered when the relative distance is smaller than a safety threshold value. The vehicle collision preventing method based on the collaborative relative positioning technologies has the advantages that a collaborative relative positioning model is built according to the multipath transmission phenomenon of urban roads, satellite signals with low spatial correlation are removed according to the correlation, and the vehicle position is predicted according to a Kalman filtering method when a GPS signal interrupts. By means of the collaborative relative positioning method, the probability of occurrence of traffic accidents of urban roads can be reduced, and prediction accuracy is improved.