CN109927718A - A kind of vehicle cooperative control method, device and equipment - Google Patents
A kind of vehicle cooperative control method, device and equipment Download PDFInfo
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- CN109927718A CN109927718A CN201910190445.3A CN201910190445A CN109927718A CN 109927718 A CN109927718 A CN 109927718A CN 201910190445 A CN201910190445 A CN 201910190445A CN 109927718 A CN109927718 A CN 109927718A
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Abstract
The present invention relates to a kind of vehicle cooperative control methods, which comprises obtains the real-time travelling data of current vehicle and the vehicle in the preset range of the current vehicle, the real-time travelling data includes position data and vehicle speed data；Monitoring the current vehicle based on the real-time travelling data whether there is risk of collision in the current lane；If so, determining the first object collaborative vehicle of the current lane；The request of the first Collaborative Control is sent to the first object collaborative vehicle；Judge the response message that the first Collaborative Control request whether is received in the first preset time；If it is not, determining the second target cooperative vehicle in the adjacent lane of the current vehicle；The request of the second Collaborative Control is sent to the second target cooperative vehicle, so that the current vehicle drives into the adjacent lane.Implement a kind of vehicle cooperative control method of the invention, can reduce vehicle in the process of moving with the collision of other vehicles.
Description
Technical field
The present invention relates to intelligent driving, in particular to a kind of vehicle cooperative control method, device and equipment.
Background technique
V2X (Vehicle to Everything) car networking mechanics of communication, can by being analyzed and processed to peripheral information
To provide the inquiry of the information such as traffic congestion, traffic accident, job location, traffic control, road conditions remittance is carried out to driver in time
Report and warning, make vehicle effectively avoid congested link, select best travel route.It can be applicable to road safety at present, stop automatically
Vehicle system, emergency vehicle give way, active follow the bus etc..
Existing V2X car networking application is more reminder alerting function, does not have bicycle control and more vehicles association mostly
Same control ability, and vehicle such as encounters emergency situations in the process of moving, it is easy to because having little time reaction causes traffic accident.
Summary of the invention
In view of the above problems in the prior art, the purpose of the present invention is to provide a kind of vehicle cooperative control methods, device
And equipment, by carrying out Collaborative Control between other of current lane or adjacent lane vehicle, thus reduce current vehicle with
The risk of collision of other vehicles.
First aspect present invention provides a kind of vehicle cooperative control method, which comprises obtain current vehicle and
The real-time travelling data of vehicle in the preset range of the current vehicle, the real-time travelling data includes position data and vehicle
Fast data；Monitoring the current vehicle based on the real-time travelling data whether there is risk of collision in the current lane；If
It is the first object collaborative vehicle for determining the current lane；The first Collaborative Control is sent to the first object collaborative vehicle
Request；Judge the response message that the first Collaborative Control request whether is received in the first preset time；If it is not, determining institute
State the second target cooperative vehicle in the adjacent lane of current vehicle；The second collaboration control is sent to the second target cooperative vehicle
System request, so that the current vehicle drives into the adjacent lane.
Further, the first object collaborative vehicle of the determination current lane comprises determining that the current lane
On the rear of the current vehicle vehicle be first object collaborative vehicle；And/or it determines on the current lane described
The vehicle in the front of current vehicle is first object collaborative vehicle.
Further, described to request to include: to work as to described to the first object collaborative vehicle the first Collaborative Control of transmission
The first object collaborative vehicle at vehicle in front rear sends the request of the first Collaborative Control, and the first Collaborative Control request includes slowing down
Request；And/or the first object collaborative vehicle in front of Xiang Suoshu current vehicle sends the first Collaborative Control and requests, described first
Collaborative Control request includes acceleration request.
Further, the second target cooperative vehicle in the adjacent lane of the determination current vehicle includes: judgement
Whether there is vehicle in the first pre-determined distance of rear in the adjacent lane of the current vehicle；If so, judging the adjacent lane
Whether the vehicle at interior rear and the current vehicle meet the first default cooperation condition；If so, determining in the adjacent lane
Rear vehicle be the second target cooperative vehicle.
Further, the second target cooperative vehicle in the adjacent lane of the determination current vehicle includes: judgement
Whether the current vehicle is danger of the current vehicle by its rear vehicle rear-end collision in the risk of collision of the current lane；
If so, judging whether there is vehicle in the second pre-determined distance of front in the adjacent lane of the current vehicle；If described work as front truck
Adjacent lane in the second pre-determined distance of front in have vehicle, judge the vehicle in the front in the adjacent lane with it is described
Whether current vehicle meets the second default cooperation condition；If so, determining that the vehicle in the front in the adjacent lane is the second mesh
Mark collaborative vehicle.
Further, described to monitor whether the current vehicle is deposited in the current lane based on the real-time travelling data
It include: whether to have vehicle in the front or behind third pre-determined distance for judging the current vehicle in risk of collision；If so, being based on
The real-time travelling data judges whether the vehicle of the front or behind of the current vehicle meets default safety condition；If it is not,
Judging the current vehicle, there are risks of collision in the current lane.
Further, after sending the request of the second Collaborative Control to the second target cooperative vehicle, the method is also
It include: the response message for judging whether to receive the second Collaborative Control request in the second preset time；If so, control institute
It states current vehicle and cooperates with traveling with the second target cooperative vehicle.
Further, the method also includes: if being not received by second Collaborative Control in the second preset time
The response message of request controls the vehicle based on the real-time travelling data and independently travels.
Second aspect of the present invention provides a kind of vehicle Collaborative Control device, and described device includes: that real-time travelling data obtains
Module, for obtaining the real-time travelling data of current vehicle and the vehicle in the preset range of the current vehicle, the reality
When travelling data include position data and vehicle speed data；Risk of collision monitoring modular, for based on the real-time travelling data prison
The current vehicle is surveyed in the current lane with the presence or absence of risk of collision；First object collaborative vehicle determining module is used for
There are the first object collaborative vehicles for when risk of collision, determining the current lane for the current vehicle；First Collaborative Control is asked
Sending module is sought, for sending the request of the first Collaborative Control to the first object collaborative vehicle；First response message receives mould
Block, the response message for judging whether to receive the first Collaborative Control request in the first preset time；Second target
Collaborative vehicle determining module, for working as described in determination when being not received by the response message of the first Collaborative Control request
The second target cooperative vehicle in the adjacent lane of vehicle in front；Second Collaborative Control request sending module is used for described current
The second target cooperative vehicle in the adjacent lane of vehicle sends the request of the second Collaborative Control, so that the current vehicle drives into institute
State adjacent lane.
Third aspect present invention provides a kind of vehicle Collaborative Control equipment, comprising: processor and memory, the memory
In be stored at least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, described at least one
Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize any vehicle Collaborative Control side
Method.
Due to above-mentioned technical proposal, the invention has the following beneficial effects:
The current vehicle plans planning driving path by being obtained from the real-time travelling data of vehicle He other vehicles automatically；
The current vehicle when current lane encounters risk of collision by with other vehicles carry out cooperating, avoid with
Other vehicles collide；
The current vehicle, first to the vehicle requesting cooperative of current lane, is being worked as when current lane encounters risk of collision
When the vehicle in preceding lane does not respond, to the vehicle requesting cooperative of adjacent lane, so as to more effective, more safely elimination collision
It is dangerous.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described.It should be evident that drawings in the following description are only some embodiments of the invention, it is right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of schematic diagram of vehicle cooperative control system provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of vehicle cooperative control method provided in an embodiment of the present invention；
Fig. 3 is to monitor the current vehicle in a kind of vehicle cooperative control method provided in an embodiment of the present invention to work as described
Preceding lane whether there is the flow diagram of risk of collision；
Fig. 4 is the adjacent vehicle that the current vehicle is determined in a kind of vehicle cooperative control method provided in an embodiment of the present invention
The flow diagram of the second target cooperative vehicle in road；
Fig. 5 is another determining current vehicle in a kind of vehicle cooperative control method provided in an embodiment of the present invention
The flow diagram of the second target cooperative vehicle in adjacent lane；
Fig. 6 is to send out in a kind of vehicle cooperative control method provided in an embodiment of the present invention to the second target cooperative vehicle
Flow diagram after sending the second Collaborative Control to request；
Fig. 7 is a kind of structural schematic diagram of vehicle Collaborative Control device provided in an embodiment of the present invention.
In attached drawing:
1- car-mounted terminal 2- background server
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that term " first ", " second " etc. in description and claims of this specification and attached drawing
It is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the number used in this way
According to being interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition to illustrating herein or describing
Those of other than sequence implement.In addition, term " includes " and " having " and their any deformation, it is intended that covering is not
Exclusive includes.
Referring to Fig. 1, Fig. 1 is a kind of schematic diagram of vehicle cooperative control system provided in an embodiment of the present invention, such as Fig. 1 institute
Show, the vehicle cooperative control system includes multiple car-mounted terminals 1 and background server 2.
Specifically, the car-mounted terminal 1 may include radar sensor, camera, positioning device, vehicle speed sensor etc.
It can be used for monitoring the ambient enviroment of car-mounted terminal Deng, the radar sensor and camera, the positioning device is for monitoring
The position of car-mounted terminal, the vehicle speed sensor are used to monitor the operating status of car-mounted terminal.
Specifically, the background server 2 may include an independently operated server or distributed server,
Or the server cluster being made of multiple servers.The background server may include having network communication unit, processor
With memory etc..
Multiple car-mounted terminals 1 can be by V2X (Vehicle to X, a kind of automobile and extraneous information exchange skill
Art) D2D (Device to Device) communication is carried out, it is logical LET-V/5G-V2X can also to be carried out by the background server 2
Letter, realizes sending and receiving for real-time travelling data.
Descending control method of the invention introduced below, Fig. 2 are a kind of vehicle Collaborative Controls provided in an embodiment of the present invention
The flow diagram of method, present description provides the method operating procedures as described in embodiment or flow chart, but based on conventional
It may include either more or less operating procedure without creative labor.The step of being enumerated in embodiment sequence be only
One of numerous step execution sequence mode does not represent and unique executes sequence.It is held in actual vehicle collaborative device product
When row, can be executed according to embodiment or method shown in the drawings sequence or it is parallel execute (such as parallel processor or
The environment of multiple threads).It is specific as shown in Fig. 2, the method may include:
Step S201: the real-time driving number of current vehicle and the vehicle in the preset range of the current vehicle is obtained
According to the real-time travelling data includes position data and vehicle speed data；
In embodiments of the present invention, the current vehicle can receive the reality of the vehicle in preset range by V2X technology
When travelling data.
In practical applications, the real-time travelling data can be direct by the positioning device and sensor of car-mounted terminal
It obtains.
Step S203: it whether there is based on the real-time travelling data monitoring current vehicle at the current lane and touch
Hit danger；
In embodiments of the present invention, the risk of collision can refer to the current vehicle on current lane and in front of it
The danger of vehicle collision can also refer to danger of the current vehicle on current lane with the vehicle collision at its rear.
In a specific embodiment, as shown in figure 3, described be based on working as front truck described in the real-time travelling data monitoring
May include: with the presence or absence of risk of collision in the current lane
Step S301: judge whether there is vehicle in the second pre-determined distance of the front or behind of the current vehicle；
In practical applications, can both be judged by the radar sensor and camera of car-mounted terminal, it can also be with
Judged by the real-time travelling data in preset range.
Step S303: if so, judging the vehicle of the front or behind of the current vehicle based on the real-time travelling data
Whether satisfaction presets safety condition；
The default safety condition in the embodiment of the present invention refer to guarantee the current vehicle not with its front or behind
The condition that collides of vehicle, comprising:
It is described to work as front truck when the speed of the front vehicles of the current vehicle is less than or equal to the speed of the current vehicle
Relative distance between the front vehicles of the current vehicle is more than or equal to third pre-determined distance, the third pre-determined distance
Less than the second pre-determined distance；Relative velocity between the current vehicle and the front vehicles of the current vehicle is less than or equal to the
One pre-set velocity, such as 5m/s；
It is described to work as front truck when the speed of the front vehicle of the current vehicle is more than or equal to the speed of the current vehicle
Relative distance between the front vehicle of the current vehicle is more than or equal to third pre-determined distance；The current vehicle and institute
The relative velocity stated between the front vehicle of current vehicle is less than or equal to the first pre-set velocity, such as 5m/s.
Step S305: if it is not, judging the current vehicle, in the current lane, there are risks of collision.
If being unsatisfactory for the default safety condition, as described in being less than or equal to the speed of the front vehicles when the current vehicle
When the speed of current vehicle, relative distance between the current vehicle and the front vehicles of the current vehicle is less than described the
Two pre-determined distances, judging the current vehicle, there are risks of collision with front vehicles in the current lane.
Step S205: if so, determining the first object collaborative vehicle of the current lane；
In a specific embodiment, the first object collaborative vehicle of the determination current lane may include:
Determine that the vehicle on the current lane at the rear of the current vehicle is first object collaborative vehicle；And/or
Determine that the vehicle on the current lane in the front of the current vehicle is first object collaborative vehicle.
S207: Xiang Suoshu first object collaborative vehicle of step sends the request of the first Collaborative Control；
In a specific embodiment, it is described to the first object collaborative vehicle send the first Collaborative Control request can
To include:
The request of the first Collaborative Control, first collaboration are sent to the first object collaborative vehicle at the current vehicle rear
Control request includes deceleration request；And/or
The request of the first Collaborative Control, first collaboration are sent to the first object collaborative vehicle in front of the current vehicle
Control request includes acceleration request.
Step S209: judge the response letter that the first Collaborative Control request whether is received in the first preset time
Breath；
The response message of the request of first Collaborative Control described in the embodiment of the present invention refers to the first object collaborative vehicle
Agree to the response message that Collaborative Control is carried out with the current vehicle.
Step S211: if it is not, determining the second target cooperative vehicle in the adjacent lane of the current vehicle；
In a specific embodiment, as shown in figure 4, in the adjacent lane of the determination current vehicle second
Target cooperative vehicle may include:
Step S401: judge whether there is vehicle in the first pre-determined distance of rear of the adjacent lane of the current vehicle；
In practical applications, can both be judged by the radar sensor and camera of car-mounted terminal, it can also be with
Judged by the real-time travelling data in preset range.
Step S403: if so, judging the vehicle at the rear in the adjacent lane and whether the current vehicle meets the
One default cooperation condition；
In embodiments of the present invention, the described first default cooperation condition includes:
The fore-and-aft distance of the vehicle at the rear in the adjacent lane and the current vehicle be more than or equal to the 5th it is default away from
From the 4th pre-determined distance is less than or equal to, such as larger than it is equal to 50m and is less than or equal to 100m, and the vehicle at the rear in the adjacent lane
Speed need to be more than or equal to the speed of the current vehicle, and the speed of the vehicle at the rear in the adjacent lane is less than or equal to
The speed of front vehicle of the current vehicle in current lane, and speed of the current vehicle in current lane is less than
Equal to the second pre-set velocity, such as 100km/h；
Alternatively, the fore-and-aft distance of the vehicle at the rear in the adjacent lane and the current vehicle it is default less than the 5th away from
From, such as less than 50m, and the speed of the vehicle at the rear in the adjacent lane need to be less than or equal to the speed of the current vehicle,
And speed of the current vehicle in current lane is less than or equal to the second pre-set velocity, such as 100km/h；
Alternatively, the fore-and-aft distance of the vehicle at the rear in the adjacent lane and the current vehicle be greater than the 4th it is default away from
From, and the speed of the vehicle at the rear in the adjacent lane need to be more than or equal to the speed of the current vehicle, and described adjacent
The speed of the vehicle at the rear in lane is less than or equal to the speed of front vehicle of the current vehicle in current lane, and institute
Speed of the current vehicle in current lane is stated greater than the second pre-set velocity, such as 100km/h；
And the distance between the front truck in the vehicle at the rear in the adjacent lane and its same lane is more than or equal to the
Five pre-determined distances, such as 50m, and the speed of the vehicle at the rear in the adjacent lane is less than or equal to the second pre-set velocity, such as
100km/h；
Alternatively, the distance between the front truck in the vehicle at the rear in the adjacent lane and its same lane is more than or equal to the
Four pre-determined distances, such as 100m, and the speed of the vehicle at the rear in the adjacent lane is greater than the second pre-set velocity, such as 100km/
h；
And the acceleration of the vehicle at the rear in the adjacent lane is less than or equal to the first predetermined acceleration, such as 1m/
s2；
And the deceleration of the front truck of the vehicle at the rear in the adjacent lane is less than or equal to the first default deceleration,
Such as 1m/s2；
And if the current vehicle drives into the adjacent lane, the vehicle at the rear in the adjacent lane with it is described
The collision remaining time of current vehicle is more than or equal to third preset time, such as 3s.
Step S405: if so, determining that the vehicle at the rear in the adjacent lane is the second target cooperative vehicle.
In a specific embodiment, as shown in figure 5, in the adjacent lane of the determination current vehicle second
Target cooperative vehicle may include:
Step S501: judge whether the current vehicle in the risk of collision of the current lane is the current vehicle quilt
The danger of its rear vehicle rear-end collision；
Step S503: if so, judging whether have in the second pre-determined distance of front in the adjacent lane of the current vehicle
Vehicle；
Step S505: if having vehicle in the second pre-determined distance of front in the adjacent lane of the current vehicle, judge institute
It states the vehicle in the front in adjacent lane and whether the current vehicle meets the second default cooperation condition；
In embodiments of the present invention, the described second default cooperation condition includes:
Speed of the current vehicle in current lane is more than or equal to third pre-set velocity, such as 100km/h, and the phase
The fore-and-aft distance of the vehicle in the front in adjacent lane and the current vehicle is less than or equal to the 6th pre-determined distance, is such as less than equal to
20m, and the speed of the vehicle in the front in the adjacent lane need to be less than or equal to the speed of the current vehicle；
Alternatively, speed of the current vehicle in current lane is less than third pre-set velocity, such as 100km/；And the phase
The fore-and-aft distance of the vehicle in the front in adjacent lane and the current vehicle is less than or equal to the 7th pre-determined distance, is such as less than equal to
10m, and the speed of the vehicle in the front in the adjacent lane need to be less than or equal to the speed of the current vehicle；
And the distance between the front truck in the vehicle in the front in the adjacent lane and its same lane is more than or equal to the
Five pre-determined distances, such as 50m, and the speed of the vehicle in the front in the adjacent lane is less than or equal to the second pre-set velocity, such as
100km/h；
Alternatively, the distance between the front truck in the vehicle in the front in the adjacent lane and its same lane is more than or equal to the
Four pre-determined distances, such as 100m, and the speed of the vehicle in the front in the adjacent lane is greater than the second pre-set velocity, such as 100km/
h；
And the acceleration of the vehicle in the front in the adjacent lane is less than or equal to the first predetermined acceleration, such as 1m/
s2；
And the deceleration of the front truck of the vehicle in the front in the adjacent lane is less than or equal to the first default deceleration,
Such as 1m/s2；
And if the current vehicle drives into the adjacent lane, the vehicle in the front in the adjacent lane with it is described
The collision remaining time of current vehicle is more than or equal to third preset time, such as 3s.
Step S507: if so, determining that the vehicle in the front in the adjacent lane is the second target cooperative vehicle.
S213: Xiang Suoshu second target cooperative vehicle of step sends the request of the second Collaborative Control, so that the current vehicle
Drive into the adjacent lane.
Second Collaborative Control request in the embodiment of the present invention may include acceleration request, also may include slowing down to ask
It asks.
In a specific embodiment, as shown in fig. 6, sending the second collaboration control to the second target cooperative vehicle
After system request, the method also includes:
Step S601: judge the response letter that the second Collaborative Control request whether is received in the second preset time
Breath；
The response message of the request of second Collaborative Control described in the embodiment of the present invention refers to the second target cooperative vehicle
Agree to the response message that Collaborative Control is carried out with the current vehicle.
Step S603: traveling is cooperateed with the second target cooperative vehicle if so, controlling the current vehicle.
In further embodiments, if being not received by the sound of the second Collaborative Control request in the second preset time
Information is answered, the vehicle is controlled based on the real-time travelling data and is independently travelled.
The embodiment of the invention also provides a kind of vehicle Collaborative Control devices, as shown in fig. 7, described device includes:
Real-time travelling data obtains module 710, for obtaining current vehicle and in the preset range of the current vehicle
Vehicle real-time travelling data, the real-time travelling data includes position data and vehicle speed data；
Risk of collision monitoring modular 720 is worked as monitoring the current vehicle based on the real-time travelling data described
Preceding lane whether there is risk of collision；
First object collaborative vehicle determining module 730, described in there are when risk of collision, being determined in the current vehicle
The first object collaborative vehicle of current lane；
First Collaborative Control request sending module 740, for sending the first collaboration control to the first object collaborative vehicle
System request；
First response message receiving module 750, for judging whether receive first association in the first preset time
With the response message of control request；
Second target cooperative vehicle determining module 760, in the sound for being not received by the first Collaborative Control request
When answering information, the second target cooperative vehicle in the adjacent lane of the current vehicle is determined；
Second Collaborative Control request sending module 770, for the second target into the adjacent lane of the current vehicle
Collaborative vehicle sends the request of the second Collaborative Control, so that the current vehicle drives into the adjacent lane.
In another embodiment, the second target cooperative vehicle determining module may include:
First vehicle judging submodule, the first pre-determined distance of rear in the adjacent lane for judging the current vehicle
Inside whether there is vehicle；
First collaboration judging submodule, in the first pre-determined distance of rear in the adjacent lane of the current vehicle
Judge whether the vehicle at the rear in the adjacent lane and the current vehicle meet the first default cooperation condition when having vehicle；
Second target cooperative vehicle determines submodule, expires for the vehicle in the adjacent lane with the current vehicle
Foot determines the second target cooperative vehicle in the adjacent lane when presetting cooperation condition.
In another embodiment, the second target cooperative vehicle determining module may include:
Risk of collision judging submodule, for judge the current vehicle the current lane risk of collision whether be
The current vehicle is by the danger of its rear vehicle rear-end collision；
Second vehicle judging submodule, for being the current vehicle by its rear in the risk of collision of the current vehicle
When the danger of vehicle rear-end collision, judge whether there is vehicle in the second pre-determined distance of front in the adjacent lane of the current vehicle；
Second collaboration judging submodule, in the second pre-determined distance of front in the adjacent lane of the current vehicle
When having vehicle, judge whether the vehicle in the front in the adjacent lane and the current vehicle meet second and default cooperate with item
Part；
Second target cooperative vehicle determines submodule, and the vehicle for being also used to the front in the adjacent lane is worked as with described
When vehicle in front meets the second default cooperation condition, the second target cooperative vehicle in the adjacent lane is determined.
In another embodiment, the collision monitoring modular may include:
Third vehicle judging submodule, in the front or behind third pre-determined distance for judging the current vehicle whether
There is vehicle；
Analysis submodule is sentenced when for having vehicle in the front or behind third pre-determined distance of the current vehicle
Whether the vehicle of front or behind of the current vehicle of breaking meets default safety condition；
Collision judgment submodule, it is discontented for the vehicle in the current vehicle and the front or behind of the current vehicle
Foot judges the current vehicle when presetting safety condition, and in the current lane, there are risks of collision.
Apparatus and method embodiment in the Installation practice is based on same inventive concept.
The embodiment of the invention also provides a kind of vehicle Collaborative Control equipment, comprising: processor and memory, the storage
Be stored at least one instruction, at least a Duan Chengxu, code set or instruction set in device, at least one instruction, it is described at least
One Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize the vehicle Collaborative Control side
Method.
The embodiment of the vehicle cooperative control system, method, apparatus or the equipment that are provided by aforementioned present invention is as it can be seen that the present invention
In by monitoring the current vehicle whether there is risk of collision in current lane, in the current vehicle, there are risks of collision
When, it is controlled first to the vehicle requesting cooperative of current lane, when the vehicle of current lane does not respond, then to the vehicle of adjacent lane
The control of requesting cooperative.The technical solution provided using this specification embodiment, the current vehicle is encountered in current lane to be touched
When hitting danger, it can avoid colliding with other vehicles, also, described current by carrying out cooperating with other vehicles
Vehicle, first to the vehicle requesting cooperative of current lane, is not rung when current lane encounters risk of collision in the vehicle of current lane
At once, to the vehicle requesting cooperative of adjacent lane, so as to it is more effective, more safely eliminate risk of collision.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For terminal and system embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Claims (10)
1. a kind of vehicle cooperative control method, which is characterized in that the described method includes:
Obtain the real-time travelling data of current vehicle and the vehicle in the preset range of the current vehicle, the real-time driving
Data include position data and vehicle speed data；
Monitoring the current vehicle based on the real-time travelling data whether there is risk of collision in the current lane；
If so, determining the first object collaborative vehicle of the current lane；
The request of the first Collaborative Control is sent to the first object collaborative vehicle；
Judge the response message that the first Collaborative Control request whether is received in the first preset time；
If it is not, determining the second target cooperative vehicle in the adjacent lane of the current vehicle；
The request of the second Collaborative Control is sent to the second target cooperative vehicle, so that the current vehicle drives into the adjacent vehicle
Road.
2. a kind of vehicle cooperative control method according to claim 1, which is characterized in that the determination current lane
First object collaborative vehicle include:
Determine that the vehicle on the current lane at the rear of the current vehicle is first object collaborative vehicle；And/or
Determine that the vehicle on the current lane in the front of the current vehicle is first object collaborative vehicle.
3. a kind of vehicle cooperative control method according to claim 2, which is characterized in that described to be assisted to the first object
Sending the request of the first Collaborative Control with vehicle includes:
The request of the first Collaborative Control, first Collaborative Control are sent to the first object collaborative vehicle at the current vehicle rear
Request includes deceleration request；And/or
The request of the first Collaborative Control, first Collaborative Control are sent to the first object collaborative vehicle in front of the current vehicle
Request includes acceleration request.
4. a kind of vehicle cooperative control method according to claim 1, which is characterized in that the determination current vehicle
Adjacent lane in the second target cooperative vehicle include:
Judge whether there is vehicle in the first pre-determined distance of rear in the adjacent lane of the current vehicle；
If so, judging whether the vehicle at the rear in the adjacent lane and the current vehicle meet first and default cooperate with item
Part；
If so, determining that the vehicle at the rear in the adjacent lane is the second target cooperative vehicle.
5. a kind of vehicle cooperative control method according to claim 1, which is characterized in that the determination current vehicle
Adjacent lane in the second target cooperative vehicle include:
Judge whether the current vehicle in the risk of collision of the current lane is that the current vehicle is chased after by its front vehicle
The danger of tail；
If so, judging whether there is vehicle in the second pre-determined distance of front in the adjacent lane of the current vehicle；
If having vehicle in the second pre-determined distance of front in the adjacent lane of the current vehicle, judge in the adjacent lane
Whether the vehicle in front and the current vehicle meet the second default cooperation condition；
If so, determining that the vehicle in the front in the adjacent lane is the second target cooperative vehicle.
6. a kind of vehicle cooperative control method according to claim 1, which is characterized in that described to be based on the real-time driving
Current vehicle described in data monitoring includes: with the presence or absence of risk of collision in the current lane
Judge whether there is vehicle in the front or behind third pre-determined distance of the current vehicle；
If so, judging whether the vehicle of the front or behind of the current vehicle meets default peace based on the real-time travelling data
Full condition；
If it is not, judging the current vehicle, in the current lane, there are risks of collision.
7. a kind of vehicle cooperative control method according to claim 1, which is characterized in that second target cooperative
After vehicle sends the request of the second Collaborative Control, the method also includes:
Judge the response message that the second Collaborative Control request whether is received in the second preset time；
Traveling is cooperateed with the second target cooperative vehicle if so, controlling the current vehicle.
8. a kind of vehicle cooperative control method according to claim 7, which is characterized in that the method also includes:
If being not received by the response message of the second Collaborative Control request in the second preset time, it is based on the real-time row
Car data controls the vehicle and independently travels.
9. a kind of vehicle Collaborative Control device, which is characterized in that described device includes:
Real-time travelling data obtains module, for obtaining current vehicle and the vehicle in the preset range of the current vehicle
Real-time travelling data, the real-time travelling data includes position data and vehicle speed data；
Risk of collision monitoring modular, for being in the current lane based on the real-time travelling data monitoring current vehicle
It is no that there are risks of collision；
First object collaborative vehicle determining module, for, there are when risk of collision, working as front truck described in determination in the current vehicle
The first object collaborative vehicle in road；
First Collaborative Control request sending module, for sending the request of the first Collaborative Control to the first object collaborative vehicle；
First response message receiving module, for judging that whether receiving first Collaborative Control in the first preset time asks
The response message asked；
Second target cooperative vehicle determining module, in the response message for being not received by the first Collaborative Control request
When, determine the second target cooperative vehicle in the adjacent lane of the current vehicle；
Second Collaborative Control request sending module, for the second target cooperative vehicle into the adjacent lane of the current vehicle
The request of the second Collaborative Control is sent, so that the current vehicle drives into the adjacent lane.
10. a kind of vehicle Collaborative Control equipment characterized by comprising processor and memory are stored in the memory
At least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, institute
Code set or instruction set is stated to be loaded by the processor and executed to realize vehicle collaboration control a method as claimed in any one of claims 1-8
Method processed.
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