针对车辆碰撞事故居高不下，而目前的单车碰撞预警又无法通知濒危的非视距临近车辆的问题，提出了为避免车辆连环碰撞的高精度定位、多车协同碰撞预警相关的算法和协议。重点研究将WAVE(车辆环境无线接入)获得的高精度局域定位信息、北斗与GPS融合获得的广域差分定位信息、OBD(车载诊断系统)与MEMS-INS(微惯导)融合获得的航位推算位置信息三者融合，实现车辆的高精度无缝定位，从而构建以高精度位置信息为核心的车辆群组管理；进而研究基于高精度位置信息的车联网通信组播路由协议和基于协同模式的车辆碰撞预警信息的通信协议，从而实现在各种路况下碰撞预警信息的低时延、远距离传输。课题将通过软件仿真和车载终端样机研制实现对研究内容的测试、评估和优化，最终解决多车协同碰撞预警中的关键技术问题。研究成果还可用于车辆的精细监控与导航、物联网节点的高精度协同定位、基于位置服务的其他应用领域中。

Vehicle incidence remains high, but the current single vehicle collision warning system is unable to notice the multiple endangered vehicles. Thus, the algorithms and protocols of high-precision positioning and multi-vehicle collaborative warning communication are proposed which can avoid the multi-vehicle collision in emergency. The project focuses on the following two problems. Firstly, to realize the group management of vehicles a seamless high-precision positioning method based-on three kind of multi-source information fusion is proposed, that is, the high-precision local positioning information provided by WAVE (Wireless Access for Vehicular Environment), the dual-mode wide area differential positioning information provided by the fusion of BDS and GPS, the position information of dead reckoning provided by the fusion of OBD (On-Board Diagnostic) and MEMS-INS (Micro-Electro-Mechanical System - Inertial Navigation System). Secondly, to achieve low latency and long distance transmission of collision warning information in a variety of road conditions, the following two protocols will be studied, that is, the multicast routing protocols of vehicle network based on high-precision location information and the communication protocols of vehicle collision warning message based on collaborative model. Software simulation and development of vehicle terminals will be used to test, evaluate and optimize the research, and finally the key technical of multi vehicle collision collaboration collision warning system will be solved. In addition, the research results can also be used in fine the fields of vehicle monitoring and navigation and the high accuracy positioning of IoT (Internet of Things) nodes and other applications of location-based services.