Curve road section vehicle speed early warning method and system based on vehicle-infrastructure cooperation

The invention relates to a curve road section vehicle speed early warning method based on vehicle-infrastructure cooperation. The method comprises the following steps that 1, the current running state of a vehicle, vehicle parameters and curve road information are obtained; step 2, calculating a rollover critical speed and a sideslip critical speed of the vehicle according to the acquired information, and taking a smaller value Vth = min {Vr, Vs} as a turning speed threshold value; 3, after the vehicle passes through the weighing sensor in front of the curve, the vehicle is about to drive into the curve, and if the vehicle speed exceeds the turning speed threshold value Vth at the moment, an early warning is given to a driver or active control measures are taken; and 4, when the vehicle runs on the curve, using a Kalman filter to predict the running speed and acceleration of the vehicle in real time. According to the vehicle-road cooperation technology and the 5G-V2X technology, the accuracy and timeliness of