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題名 基於共識協議之車輛協同碰撞預警機制
Vehicle Collaborative Collision Warning Based on Consensus Protocol作者 許育誠
Hsu, Yu-Cheng貢獻者 張宏慶
Jang, Hung-Chin
許育誠
Hsu, Yu-Cheng關鍵詞 共識協議
廣播風暴
弱勢用路人
碰撞潛勢區
碰撞預警
Consensus protocol
Broadcast radiation
Vulnerable road users
Collision potential zones
Collision warning日期 2022 上傳時間 2-Sep-2022 15:04:52 (UTC+8) 摘要 近年來，先進駕駛輔助系統及車聯網陸續被提出，這些新技術也重新定義駕駛新篇章。但這一類的技術也並非完全下放至機車、腳踏車等兩輪運輸工具，也未必以行人角度來提供安全防護。特別在人口稠密的台灣，錯綜複雜的省、縣道，加上台灣大宗民眾使用機車與特殊的用路特性，讓馬路如虎口的隱憂一直深植人心。本研究欲強化搭載各項輔助系統的汽車預警能力外，在給出一套主動式碰撞預警機制提供弱勢用路人使用。試圖修改較具安全性的恆星共識協議框架，分享汽車傳感器偵測到的空間認知，讓所有用路人有一致性的共識。然後，利用車輛及智慧行動裝置的邊緣運算，檢測是否有發生碰撞的可能性，進而改善用弱勢路人缺乏先進駕駛輔助系統的缺陷。為了驗證機制成效是否有達預期目標，本研究採用Matlab & Simulink進行數值模擬，驗證提出機制是否可以充分反映複雜交通。從實驗結果證明能縮小定位誤差，以滿足車道級定位的要求。最後，也以經濟性角度評判所提出機制的市場接受度，善用既有設備和著眼于軟體開發，確實符合大眾需求。
In recent years, advanced driver assistance systems and the Internet of Vehicles have been proposed, and these new technologies have also redefined a new era of driving. However, this type of technology does not well consider two-wheeled vehicles such as locomotives and bicycles, nor does it provide safety protection from the perspective of pedestrians. Especially in densely populated Taiwan, the intricate provincial and county roads, coupled with the locomotives and special driving characteristics used by many people in Taiwan, traffic safety issues have always been a concern for passersby.This study intends to strengthen the early warning capability of vehicles equipped with various auxiliary systems and provides a set of active collision early warning mechanisms for vulnerable pedestrians to use. We try to modify the more secure Stellar consensus protocol to share the spatial cognition detected by vehicle sensors so that all passersby can have a consistent consensus. Then, the edge computing of vehicles and smart mobile devices is used to detect whether there is a possibility of a collision, thereby improving the problem of the lack of advanced driving assistance systems for passersby.In order to verify whether the proposed method can effectively achieve the expected goal, this study uses Matlab & Simulink for numerical simulation to verify whether the proposed method can comprehensively reflect the complex traffic problems. The experimental results show that the proposed method can reduce the positioning error and meet the requirements of lane-level positioning. Finally, the market acceptance of the proposed method is evaluated from an economic point of view to ensure that the use of existing equipment and focus on software development can meet the public`s needs.參考文獻 [1] World Health Organization, "Road traffic injuries," [Online]. Available: https://www.who.int/health-topics/road-safety#tab=tab_1. [Accessed 19 5 2022].[2] Decker, Jeremy A., Haus, Samantha H., Sherony, Rini and Gabler, Hampton C., "Potential Benefits of Animal-Detecting Automatic Emergency Braking Systems Based on U.S. Driving Data," Transportation Research Record: Journal of the Transportation Research Board, pp. 678-688, 13 5 2021.[3] Surendhar M, "Exclusive: Hyundai Creta & Alcazar To Get ADAS In India Soon," GaadiWaadi.com, 4 3 2022. [Online]. Available: https://gaadiwaadi.com/exclusive-hyundai-creta-alcazar-to-get-adas-this-year/. [Accessed 15 8 2022].[4] 中華民國交通部公路總局, “交通部公路總局統計查詢網,” [線上]. Available: https://stat.thb.gov.tw/hb01/webMain.aspx?sys=100&funid=11100. [存取日期: 23 5 2022].[5] 中華民國內政部戶政司, “人口統計資料,” [線上]. Available: https://www.ris.gov.tw/app/portal/346. [存取日期: 23 5 2022].[6] 中華民國交通部道路交通安全督導委員會, “道安資訊查詢網,” [線上]. Available: https://roadsafety.tw/Dashboard/Custom?type=%E7%B5%B1%E8%A8%88%E5%BF%AB%E8%A6%BD. [存取日期: 23 5 2022].[7] World Health Organization, "Global status report on road safety 2015," [Online]. Available: https://www.afro.who.int/publications/global-status-report-road-safety-2015. [Accessed 5 6 2022].[8] World Health Organization, "EUROPEAN REGIONAL STATUS REPORT ON ROAD SAFETY 2019," [Online]. Available: https://www.euro.who.int/en/publications/abstracts/european-regional-status-report-on-road-safety-2019. [Accessed 5 6 2022].[9] Tibor Petrov, Peter Pocta, Ján Roman, Ľuboš Buzna and Milan Dado, "A Feasibility Study of Privacy Ensuring Emergency Vehicle Approaching Warning System," Applied Sciences, vol. 10 (1), no. 298, 27 12 2019.[10] G. De Angelis, A. De Angelis, V. Pasku and A. Moschit, "An experimental system for tightly coupled integration of GPS and AC magnetic positioning," IEEE Transactions on Instrumentation and Measurement, vol. 65, no. 5, pp. 1232-1241, 5 4 2016.[11] João B.Pinto Neto, Lucas C.Gomes, Fernando M.Ortiza, Thales T.Almeida, Miguel Elias M.Campista, Luís Henrique M.K.Costa and Nathalie Mitton, "An accurate cooperative positioning system for vehicular safety application," Computers & Electrical Engineering, vol. 83, no. 106591, 13 2 2020.[12] Sanghyuck Nam, Danhee Lee, Jaehwan Lee and Sangoh Park, "CNVPS: Cooperative Neighboring Vehicle Positioning System Based on Vehicle-to-Vehicle Communication," IEEE Access, vol. 7, pp. 16847-16857, 24 1 2019.[13] Xiangmo Zhao, Shoucai Jing, Fei Hui, Ronghui Liu and Asad J. Khattak, "DSRC-based rear-end collision warning system – An error-component safety distance model and field test," Transportation Research Part C: Emerging Technologies, vol. 107, pp. 92-104, 10 2019.[14] Shahab Haider, Ghulam Abbas, Zahid Halim, Ziaul Haq Abbas and Saadi Boudjit, "P-DACCA: A Probabilistic Direction-Aware Cooperative Collision Avoidance Scheme for VANETs," Future Generation Computer Systems, vol. 103, pp. 1-17, 2 2020.[15] Cao Xin, Liu Dan and Huang Shuo, "Research on Deceleration Early Warning Model Based on V2X," in 2020 12th International Conference on Measuring Technology and Mechatronics Automation (ICMTMA), Phuket, Thailand, 2020.[16] William Payre and CyrielDiels, "I want to brake free: The effect of connected vehicle features on driver behaviour, usability and acceptance," Applied Ergonomics, vol. 82, 1 2020.[17] Muhammad Rony Hidayatullah, Jyh-Ching Juang, Zhao-Shun Zheng and Wei-Hsuan Chang, "Cooperative Perception using Cellular V2X in Mixed Traffic Scenario," in 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), Mauritius, Mauritius, 2021.[18] Haijian Li, Guoqiang Zhao, Lingqiao Qin, Xiaohua Zhao and Yanfang Yang, "A Survey of Safety Warnings Under Connected Vehicle Environments," IEEE Transactions on Intelligent Transportation Systems, vol. 22, no. 5, pp. 2572-2588, 5 2021.[19] Bo Tang, Stanley Chien, Zhi Huang and Yaobin Chen, "Pedestrian protection using the integration of V2V and the Pedestrian Automatic Emergency Braking System," in 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Rio de Janeiro, Brazil, 2016.[20] Ahmed Hussein, Fernando García, José María Armingol and Cristina Olaverri-Monreal, "P2V and V2P communication for Pedestrian warning on the basis of Autonomous Vehicles," in 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Rio de Janeiro, Brazil, 2016.[21] Chi-Yu Li, Giovanni Salinas, Po-Hao Huang, Guan-Hua Tu, Guo-Huang Hsu and Tien-Yuan Hsieh, "V2PSense: Enabling Cellular-Based V2P Collision Warning Service through Mobile Sensing," in 2018 IEEE International Conference on Communications (ICC), Kansas City, MO, USA, 2018.[22] Yina Wu, Mohamed Abdel-Aty, Ou Zheng, Qing Cai and Lishengsa Yue, "Developing a Crash Warning System for the Bike Lane Area at Intersections with Connected Vehicle Technology," Transportation Research Record: Journal of the Transportation Research Board, vol. 2673, no. 4, p. 47–58, 12 4 2019.[23] Minjin Baek, Donggi Jeong, Dongho Choi and Sangsun Lee, "Vehicle Trajectory Prediction and Collision Warning via Fusion of Multisensors and Wireless Vehicular Communications," Sensors 2020, vol. 20(1), no. 288, 4 1 2020.[24] Ing-Chau Chang, Wei-Rong Chen, Xun-Mei Kuo, Ya-Jing Song, Ping-Hao Liao and Chunghui Kuo, "An Artificial Intelligence-based Proactive Blind Spot Warning System for Motorcycles," in 2020 International Symposium on Computer, Consumer and Control (IS3C), Taichung City, Taiwan, 2021.[25] Muhammd Awais Hassan, Ume Habiba, Usman Ghani and Muhmmad Shoaib, "A secure message-passing framework for inter-vehicular communication using blockchain," International Journal of Distributed Sensor Networks, vol. 15, no. 2, 14 1 2019.[26] M. M. Joe and B. Ramakrishnan , "Live Emergency and Warning Alerts Through Android Application for Vehicular Ad Hoc Network Communication (Android VANET)," Wireless Personal Communications, p. 125–151, 8 8 2021.[27] 黃明祥 且 林詠章, 資訊與網路安全概論：看見比特幣, 台北市: 東華書局, 2014.[28] 張哲維, “使用恆星共識協議於車載隨意行動網路以確保訊息傳遞的安全性,” 國立政治大學資訊科學系碩士論文, 台北市, 2020.[29] Krishna Khadka and Rohit Singh, "Polygeohasher: an optimized way to create geohashes," [Online]. Available: https://www.geospatialworld.net/blogs/polygeohasher-an-optimized-way-to-create-geohashes/. [Accessed 8 2022].[30] Vladimir Vukadinovic and Stefan Mangold, "Performance of Collaborative GPS Localization in Pedestrian Ad Hoc Networks," in MobiOpp’12, Zurich, Switzerland, 2012.[31] Sijun Li, Jiufei Luo and Haiqing Li, "Collision Warning System Based on Potential Energy Field Model under Dynamic Conditions," in 2021 IEEE International Conference on Emergency Science and Information Technology (ICESIT), Chongqing, China, 2021.[32] William Payre and CyrielDiels, "I want to brake free: The effect of connected vehicle features on driver behaviour, usability and acceptance," Applied Ergonomics, vol. 82, 21 8 2019.[33] Samantha H. Haus, Rini Sherony and Hampton C. Gabler, "Estimated benefit of automated emergency braking systems for vehicle–pedestrian crashes in the United States," Peer-Reviewed Journal for the 26th International Technical Conference on the Enhanced Safety of Vehicles (ESV), vol. 20(sup1), pp. 171-176, 8 2019.[34] 臺灣桃園地方法院, “臺灣桃園地方法院 105 年度交易字第 126 號刑事判決,” [線上]. Available: https://law.judicial.gov.tw/FJUD/data.aspx?ty=JD&id=TYDM,105%2c%e4%ba%a4%e6%98%93%2c126%2c20171201%2c1. [存取日期: 20 8 2022].[35] 小雄律師, “【小雄律師】疏未注意車前狀況,” [線上]. Available: https://harryd1229.pixnet.net/blog/post/328033966-%E3%80%90%E5%B0%8F%E9%9B%84%E5%BE%8B%E5%B8%AB%E3%80%91%E7%96%8F%E6%9C%AA%E6%B3%A8%E6%84%8F%E8%BB%8A%E5%89%8D%E7%8B%80%E6%B3%81. [存取日期: 20 8 2022].[36] Jie Bai, Sen Li , Han Zhang, Libo Huang and Ping Wang , "Robust Target Detection and Tracking Algorithm Based on Roadside Radar and Camera," Sensors 2021, vol. 21(4), no. 1116, 1 2 2021.[37] MathWorks, "MATLAB and Simulink," [Online]. Available: https://www.mathworks.com. [Accessed 28 5 2022]. 描述 碩士
國立政治大學
資訊科學系
107753001資料來源 http://thesis.lib.nccu.edu.tw/record/#G0107753001 資料類型 thesis dc.contributor.advisor 張宏慶 zh_TW dc.contributor.advisor Jang, Hung-Chin en_US dc.contributor.author (Authors) 許育誠 zh_TW dc.contributor.author (Authors) Hsu, Yu-Cheng en_US dc.creator (作者) 許育誠 zh_TW dc.creator (作者) Hsu, Yu-Cheng en_US dc.date (日期) 2022 en_US dc.date.accessioned 2-Sep-2022 15:04:52 (UTC+8) - dc.date.available 2-Sep-2022 15:04:52 (UTC+8) - dc.date.issued (上傳時間) 2-Sep-2022 15:04:52 (UTC+8) - dc.identifier (Other Identifiers) G0107753001 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/141638 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 資訊科學系 zh_TW dc.description (描述) 107753001 zh_TW dc.description.abstract (摘要) 近年來，先進駕駛輔助系統及車聯網陸續被提出，這些新技術也重新定義駕駛新篇章。但這一類的技術也並非完全下放至機車、腳踏車等兩輪運輸工具，也未必以行人角度來提供安全防護。特別在人口稠密的台灣，錯綜複雜的省、縣道，加上台灣大宗民眾使用機車與特殊的用路特性，讓馬路如虎口的隱憂一直深植人心。本研究欲強化搭載各項輔助系統的汽車預警能力外，在給出一套主動式碰撞預警機制提供弱勢用路人使用。試圖修改較具安全性的恆星共識協議框架，分享汽車傳感器偵測到的空間認知，讓所有用路人有一致性的共識。然後，利用車輛及智慧行動裝置的邊緣運算，檢測是否有發生碰撞的可能性，進而改善用弱勢路人缺乏先進駕駛輔助系統的缺陷。為了驗證機制成效是否有達預期目標，本研究採用Matlab & Simulink進行數值模擬，驗證提出機制是否可以充分反映複雜交通。從實驗結果證明能縮小定位誤差，以滿足車道級定位的要求。最後，也以經濟性角度評判所提出機制的市場接受度，善用既有設備和著眼于軟體開發，確實符合大眾需求。 zh_TW dc.description.abstract (摘要) In recent years, advanced driver assistance systems and the Internet of Vehicles have been proposed, and these new technologies have also redefined a new era of driving. However, this type of technology does not well consider two-wheeled vehicles such as locomotives and bicycles, nor does it provide safety protection from the perspective of pedestrians. Especially in densely populated Taiwan, the intricate provincial and county roads, coupled with the locomotives and special driving characteristics used by many people in Taiwan, traffic safety issues have always been a concern for passersby.This study intends to strengthen the early warning capability of vehicles equipped with various auxiliary systems and provides a set of active collision early warning mechanisms for vulnerable pedestrians to use. We try to modify the more secure Stellar consensus protocol to share the spatial cognition detected by vehicle sensors so that all passersby can have a consistent consensus. Then, the edge computing of vehicles and smart mobile devices is used to detect whether there is a possibility of a collision, thereby improving the problem of the lack of advanced driving assistance systems for passersby.In order to verify whether the proposed method can effectively achieve the expected goal, this study uses Matlab & Simulink for numerical simulation to verify whether the proposed method can comprehensively reflect the complex traffic problems. The experimental results show that the proposed method can reduce the positioning error and meet the requirements of lane-level positioning. Finally, the market acceptance of the proposed method is evaluated from an economic point of view to ensure that the use of existing equipment and focus on software development can meet the public`s needs. en_US dc.description.tableofcontents 第一章 緒論 11.1 研究背景 11.2 研究動機 41.3 問題陳述 61.4 研究目標 71.5 研究範圍與限制 81.6 論文架構 10第二章 相關研究 122.1 對協同碰撞預警的研究 122.2 對弱勢用路人碰撞預警的研究 162.4 小結 20第三章 研究方法 223.1 機制步驟 233.2 經濟性分析 453.3 小結 47第四章 模擬實驗與結果分析 484.1 台灣交通問題分析 484.2 驗證場域 494.3 建置模擬環境 514.4 實驗設定 524.5 模擬操作說明 594.6 實驗結果分析 604.7 小結 65第五章 結論與未來研究 675.1 結論 675.2 未來研究 685.3 鳴謝 69參考文獻 70 zh_TW dc.format.extent 3185092 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0107753001 en_US dc.subject (關鍵詞) 共識協議 zh_TW dc.subject (關鍵詞) 廣播風暴 zh_TW dc.subject (關鍵詞) 弱勢用路人 zh_TW dc.subject (關鍵詞) 碰撞潛勢區 zh_TW dc.subject (關鍵詞) 碰撞預警 zh_TW dc.subject (關鍵詞) Consensus protocol en_US dc.subject (關鍵詞) Broadcast radiation en_US dc.subject (關鍵詞) Vulnerable road users en_US dc.subject (關鍵詞) Collision potential zones en_US dc.subject (關鍵詞) Collision warning en_US dc.title (題名) 基於共識協議之車輛協同碰撞預警機制 zh_TW dc.title (題名) Vehicle Collaborative Collision Warning Based on Consensus Protocol en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) [1] World Health Organization, "Road traffic injuries," [Online]. Available: https://www.who.int/health-topics/road-safety#tab=tab_1. [Accessed 19 5 2022].[2] Decker, Jeremy A., Haus, Samantha H., Sherony, Rini and Gabler, Hampton C., "Potential Benefits of Animal-Detecting Automatic Emergency Braking Systems Based on U.S. Driving Data," Transportation Research Record: Journal of the Transportation Research Board, pp. 678-688, 13 5 2021.[3] Surendhar M, "Exclusive: Hyundai Creta & Alcazar To Get ADAS In India Soon," GaadiWaadi.com, 4 3 2022. [Online]. Available: https://gaadiwaadi.com/exclusive-hyundai-creta-alcazar-to-get-adas-this-year/. [Accessed 15 8 2022].[4] 中華民國交通部公路總局, “交通部公路總局統計查詢網,” [線上]. Available: https://stat.thb.gov.tw/hb01/webMain.aspx?sys=100&funid=11100. [存取日期: 23 5 2022].[5] 中華民國內政部戶政司, “人口統計資料,” [線上]. Available: https://www.ris.gov.tw/app/portal/346. [存取日期: 23 5 2022].[6] 中華民國交通部道路交通安全督導委員會, “道安資訊查詢網,” [線上]. Available: https://roadsafety.tw/Dashboard/Custom?type=%E7%B5%B1%E8%A8%88%E5%BF%AB%E8%A6%BD. [存取日期: 23 5 2022].[7] World Health Organization, "Global status report on road safety 2015," [Online]. Available: https://www.afro.who.int/publications/global-status-report-road-safety-2015. [Accessed 5 6 2022].[8] World Health Organization, "EUROPEAN REGIONAL STATUS REPORT ON ROAD SAFETY 2019," [Online]. Available: https://www.euro.who.int/en/publications/abstracts/european-regional-status-report-on-road-safety-2019. [Accessed 5 6 2022].[9] Tibor Petrov, Peter Pocta, Ján Roman, Ľuboš Buzna and Milan Dado, "A Feasibility Study of Privacy Ensuring Emergency Vehicle Approaching Warning System," Applied Sciences, vol. 10 (1), no. 298, 27 12 2019.[10] G. De Angelis, A. De Angelis, V. Pasku and A. 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