CN109927718B - Vehicle cooperative control method, device and equipment - Google Patents
Vehicle cooperative control method, device and equipment Download PDFInfo
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- CN109927718B CN109927718B CN201910190445.3A CN201910190445A CN109927718B CN 109927718 B CN109927718 B CN 109927718B CN 201910190445 A CN201910190445 A CN 201910190445A CN 109927718 B CN109927718 B CN 109927718B
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Abstract
The invention relates to a vehicle cooperative control method, which comprises the following steps: the method comprises the steps of obtaining real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, wherein the real-time driving data comprises position data and vehicle speed data; monitoring whether the current vehicle has collision danger in the current lane or not based on the real-time driving data; if so, determining a first target cooperative vehicle of the current lane; sending a first cooperative control request to the first target cooperative vehicle; judging whether response information of the first cooperative control request is received within first preset time; if not, determining a second target cooperative vehicle in the adjacent lane of the current vehicle; and sending a second cooperative control request to the second target cooperative vehicle so that the current vehicle enters the adjacent lane. The vehicle cooperative control method can reduce the collision between the vehicle and other vehicles in the driving process.
Description
Technical Field
The invention relates to intelligent driving, in particular to a vehicle cooperative control method, device and equipment.
Background
The V2X (Vehicle to influencing) internet-of-Vehicle communication technology can provide information query such as traffic jam, traffic accident, construction site, traffic control and the like by analyzing and processing surrounding information, and timely report and warn the road condition of the driver, so that the Vehicle effectively avoids the jammed road section and selects the optimal driving route. The method can be applied to the aspects of road safety, automatic parking systems, emergency vehicle yielding, active vehicle following and the like.
The existing V2X car networking application is more a warning function, most of the existing V2X car networking application does not have the single car control and multi-car cooperative control capability, and if the car meets an emergency in the driving process, traffic accidents are easily caused because of too late response.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a vehicle cooperative control method, device and apparatus, which perform cooperative control with other vehicles in a current lane or an adjacent lane, so as to reduce the risk of collision between the current vehicle and the other vehicles.
The first aspect of the invention provides a vehicle cooperative control method, including: the method comprises the steps of obtaining real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, wherein the real-time driving data comprises position data and vehicle speed data; monitoring whether the current vehicle has collision danger in the current lane or not based on the real-time driving data; if so, determining a first target cooperative vehicle of the current lane; sending a first cooperative control request to the first target cooperative vehicle; judging whether response information of the first cooperative control request is received within first preset time; if not, determining a second target cooperative vehicle in the adjacent lane of the current vehicle; and sending a second cooperative control request to the second target cooperative vehicle so that the current vehicle enters the adjacent lane.
Further, the determining the first target cooperative vehicle of the current lane includes: determining that a vehicle behind the current vehicle on the current lane is a first target cooperative vehicle; and/or determining that a vehicle in front of the current vehicle on the current lane is a first target cooperative vehicle.
Further, the sending the first cooperative control request to the first target cooperative vehicle includes: sending a first cooperative control request to a first target cooperative vehicle behind the current vehicle, wherein the first cooperative control request comprises a deceleration request; and/or sending a first cooperative control request to a first target cooperative vehicle in front of the current vehicle, wherein the first cooperative control request comprises an acceleration request.
Further, the determining a second target cooperating vehicle within an adjacent lane of the current vehicle comprises: judging whether a vehicle exists within a first preset distance behind the current vehicle in an adjacent lane; if yes, judging whether a vehicle behind the adjacent lane and the current vehicle meet a first preset cooperation condition or not; and if so, determining that the vehicle behind the adjacent lane is the second target cooperative vehicle.
Further, the determining a second target cooperating vehicle within an adjacent lane of the current vehicle comprises: judging whether the collision risk of the current vehicle in the current lane is the risk of rear-end collision of the current vehicle by a vehicle behind the current vehicle; if yes, judging whether a vehicle exists in a second preset distance in front of the adjacent lane of the current vehicle; if a vehicle exists in a second preset distance in front of the current vehicle in the adjacent lane, judging whether the vehicle in front of the adjacent lane and the current vehicle meet a second preset cooperative condition or not; and if so, determining that the front vehicle in the adjacent lane is the second target cooperative vehicle.
Further, the monitoring whether the current vehicle is in the current lane or not based on the real-time driving data comprises: judging whether a vehicle exists in a third preset distance in front of or behind the current vehicle; if yes, judging whether the vehicle in front of or behind the current vehicle meets preset safety conditions or not based on the real-time driving data; if not, judging that the current vehicle has a collision danger in the current lane.
Further, after sending a second cooperative control request to the second target cooperative vehicle, the method further includes: judging whether response information of the second cooperative control request is received within second preset time; and if so, controlling the current vehicle and the second target cooperative vehicle to cooperatively run.
Further, the method further comprises: and if the response information of the second cooperative control request is not received within second preset time, controlling the vehicle to independently run based on the real-time running data.
A second aspect of the invention provides a vehicle cooperative control apparatus, including: the real-time driving data acquisition module is used for acquiring real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, wherein the real-time driving data comprises position data and vehicle speed data; the collision danger monitoring module is used for monitoring whether the current vehicle has collision danger in the current lane or not based on the real-time driving data; the first target cooperative vehicle determining module is used for determining a first target cooperative vehicle of the current lane when the current vehicle has collision danger; the first cooperative control request sending module is used for sending a first cooperative control request to the first target cooperative vehicle; a first response information receiving module, configured to determine whether response information of the first cooperative control request is received within a first preset time; a second target cooperative vehicle determination module, configured to determine a second target cooperative vehicle in a lane adjacent to the current vehicle when the response information of the first cooperative control request is not received; and the second cooperative control request sending module is used for sending a second cooperative control request to a second target cooperative vehicle in an adjacent lane of the current vehicle so as to enable the current vehicle to drive into the adjacent lane.
A third aspect of the invention provides a vehicle cooperative control apparatus including: a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement any of the vehicle cooperative control methods.
Due to the technical scheme, the invention has the following beneficial effects:
the current vehicle automatically plans a driving path by acquiring real-time driving data of the current vehicle and other vehicles;
when the current vehicle encounters collision danger in the current lane, the current vehicle is in cooperative operation with other vehicles to avoid collision with other vehicles;
when the current lane meets collision danger, the current vehicle firstly requests cooperation from the vehicle in the current lane, and when the vehicle in the current lane does not respond, the current vehicle requests cooperation from the vehicle in the adjacent lane, so that the collision danger can be eliminated more effectively and more safely.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of a vehicle cooperative control system provided by an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a vehicle cooperative control method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of monitoring whether the current vehicle is in a collision risk in the current lane in the vehicle cooperative control method provided by the embodiment of the invention;
fig. 4 is a schematic flowchart of determining a second target cooperative vehicle in a lane adjacent to the current vehicle in a vehicle cooperative control method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of another method for determining a second target cooperative vehicle in a lane adjacent to the current vehicle in a cooperative vehicle control method according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of a vehicle cooperative control method according to an embodiment of the present invention after a second cooperative control request is sent to the second target cooperative vehicle;
fig. 7 is a schematic structural diagram of a vehicle cooperative control apparatus according to an embodiment of the present invention.
In the drawings:
1-vehicle terminal 2-background server
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Referring to fig. 1, fig. 1 is a schematic view of a vehicle cooperative control system according to an embodiment of the present invention, and as shown in fig. 1, the vehicle cooperative control system includes a plurality of vehicle-mounted terminals 1 and a background server 2.
Specifically, the vehicle-mounted terminal 1 may include a radar sensor, a camera, a positioning device, a vehicle speed sensor, and the like, the radar sensor and the camera may be used to monitor the surrounding environment of the vehicle-mounted terminal, the positioning device is used to monitor the position of the vehicle-mounted terminal, and the vehicle speed sensor is used to monitor the operating state of the vehicle-mounted terminal.
Specifically, the background server 2 may include an independently operating server, or a distributed server, or a server cluster composed of a plurality of servers. The background server may include a network communication unit, a processor, a memory, and the like.
The plurality of Vehicle-mounted terminals 1 can perform D2D (Device to Device) communication by means of V2X (Vehicle to X, a technology for exchanging information between an automobile and the outside), and can also perform LET-V/5G-V2X communication by means of the background server 2, so as to realize the transmission and reception of real-time driving data.
The downhill control method of the present invention is described below, and fig. 2 is a flow chart of a cooperative vehicle control method provided by an embodiment of the present invention, and the present specification provides the method operation steps as described in the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When the actual vehicle cooperative apparatus product is executed, the method according to the embodiment or the method shown in the drawings may be executed sequentially or in parallel (for example, in the environment of a parallel processor or a multi-thread processing). Specifically, as shown in fig. 2, the method may include:
step S201: the method comprises the steps of obtaining real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, wherein the real-time driving data comprises position data and vehicle speed data;
in the embodiment of the invention, the current vehicle can receive the real-time driving data of the vehicles within the preset range through the V2X technology.
In practical application, the real-time driving data can be directly acquired through a positioning device and a sensor of the vehicle-mounted terminal.
Step S203: monitoring whether the current vehicle has collision danger in the current lane or not based on the real-time driving data;
in the embodiment of the present invention, the collision risk may refer to a risk that the current vehicle collides with a vehicle in front of the current vehicle on the current lane, and may also refer to a risk that the current vehicle collides with a vehicle behind the current vehicle on the current lane.
In a specific embodiment, as shown in fig. 3, the monitoring whether the current vehicle is in the current lane at risk of collision based on the real-time driving data may include:
step S301: judging whether a vehicle exists in a second preset distance in front of or behind the current vehicle;
in practical application, the judgment can be carried out through a radar sensor and a camera of the vehicle-mounted terminal, and the judgment can also be carried out through the real-time driving data within a preset range.
Step S303: if yes, judging whether the vehicle in front of or behind the current vehicle meets preset safety conditions or not based on the real-time driving data;
the preset safety condition in the embodiment of the present invention is a condition for ensuring that the current vehicle does not collide with a vehicle ahead or behind the current vehicle, and includes:
when the speed of a vehicle in front of the current vehicle is less than or equal to the speed of the current vehicle, the relative distance between the current vehicle and the vehicle in front of the current vehicle is greater than or equal to a third preset distance, and the third preset distance is less than a second preset distance; the relative speed between the current vehicle and a vehicle in front of the current vehicle is less than or equal to a first preset speed, such as 5 m/s;
when the speed of a vehicle behind the current vehicle is greater than or equal to the speed of the current vehicle, the relative distance between the current vehicle and the vehicle behind the current vehicle is greater than or equal to a third preset distance; the relative speed between the current vehicle and a vehicle behind the current vehicle is less than or equal to a first preset speed, such as 5 m/s.
Step S305: if not, judging that the current vehicle has a collision danger in the current lane.
If the preset safety condition is not met, if the speed of the vehicle in front of the current vehicle is smaller than or equal to the speed of the current vehicle, the relative distance between the current vehicle and the vehicle in front of the current vehicle is smaller than the second preset distance, and it is judged that the current vehicle and the vehicle in front have a collision risk in the current lane.
Step S205: if so, determining a first target cooperative vehicle of the current lane;
in a specific embodiment, the determining the first target cooperative vehicle of the current lane may include:
determining that a vehicle behind the current vehicle on the current lane is a first target cooperative vehicle; and/or the presence of a gas in the gas,
determining that a vehicle in front of the current vehicle on the current lane is a first target cooperative vehicle.
Step S207: sending a first cooperative control request to the first target cooperative vehicle;
in a specific embodiment, the sending the first cooperative control request to the first target cooperative vehicle may include:
sending a first cooperative control request to a first target cooperative vehicle behind the current vehicle, wherein the first cooperative control request comprises a deceleration request; and/or the presence of a gas in the gas,
sending a first cooperative control request to a first target cooperative vehicle ahead of the current vehicle, the first cooperative control request including an acceleration request.
Step S209: judging whether response information of the first cooperative control request is received within first preset time;
in this embodiment of the present invention, the response information of the first cooperative control request is response information that the first target cooperative vehicle agrees to perform cooperative control with the current vehicle.
Step S211: if not, determining a second target cooperative vehicle in the adjacent lane of the current vehicle;
in a specific embodiment, as shown in fig. 4, the determining the second target cooperative vehicle in the adjacent lane of the current vehicle may include:
step S401: judging whether a vehicle exists in a first preset distance behind an adjacent lane of the current vehicle;
in practical application, the judgment can be carried out through a radar sensor and a camera of the vehicle-mounted terminal, and the judgment can also be carried out through the real-time driving data within a preset range.
Step S403: if yes, judging whether a vehicle behind the adjacent lane and the current vehicle meet a first preset cooperation condition or not;
in this embodiment of the present invention, the first preset coordination condition includes:
the longitudinal distance between a rear vehicle in the adjacent lane and the current vehicle is greater than or equal to a fifth preset distance and less than or equal to a fourth preset distance, for example, greater than or equal to 50m and less than or equal to 100m, the speed of the rear vehicle in the adjacent lane needs to be greater than or equal to the speed of the current vehicle, the speed of the rear vehicle in the adjacent lane is less than or equal to the speed of the rear vehicle in the current lane, and the speed of the current vehicle in the current lane is less than or equal to a second preset speed, for example, 100 km/h;
or the longitudinal distance between the vehicle behind the adjacent lane and the current vehicle is less than a fifth preset distance, such as less than 50m, the vehicle speed of the vehicle behind the adjacent lane needs to be less than or equal to the vehicle speed of the current vehicle, and the vehicle speed of the current vehicle in the current lane is less than or equal to a second preset speed, such as 100 km/h;
or the longitudinal distance between the rear vehicle in the adjacent lane and the current vehicle is greater than a fourth preset distance, the vehicle speed of the rear vehicle in the adjacent lane needs to be greater than or equal to the vehicle speed of the current vehicle, the vehicle speed of the rear vehicle in the adjacent lane is less than or equal to the vehicle speed of the rear vehicle in the current lane of the current vehicle, and the vehicle speed of the current vehicle in the current lane is greater than a second preset speed, such as 100 km/h;
the distance between the vehicle behind the adjacent lane and the vehicle in front of the same lane is greater than or equal to a fifth preset distance, such as 50m, and the vehicle speed of the vehicle behind the adjacent lane is less than or equal to a second preset speed, such as 100 km/h;
or the distance between the vehicle behind the adjacent lane and the vehicle ahead of the same lane is greater than or equal to a fourth preset distance, such as 100m, and the vehicle speed of the vehicle behind the adjacent lane is greater than a second preset speed, such as 100 km/h;
and the acceleration of the vehicle behind in the adjacent lane is less than or equal to a first preset acceleration, such as 1m/s2；
And the deceleration of the front vehicle of the vehicle behind the adjacent lane is less than or equal to a first preset deceleration, such as 1m/s2；
And if the current vehicle enters the adjacent lane, the collision remaining time of the vehicle behind the adjacent lane and the current vehicle is more than or equal to a third preset time, such as 3 s.
Step S405: and if so, determining that the vehicle behind the adjacent lane is the second target cooperative vehicle.
In a specific embodiment, as shown in fig. 5, the determining the second target cooperative vehicle in the adjacent lane of the current vehicle may include:
step S501: judging whether the collision risk of the current vehicle in the current lane is the risk of rear-end collision of the current vehicle by a vehicle behind the current vehicle;
step S503: if yes, judging whether a vehicle exists in a second preset distance in front of the adjacent lane of the current vehicle;
step S505: if a vehicle exists in a second preset distance in front of the current vehicle in the adjacent lane, judging whether the vehicle in front of the adjacent lane and the current vehicle meet a second preset cooperative condition or not;
in this embodiment of the present invention, the second preset coordination condition includes:
the speed of the current vehicle in the current lane is greater than or equal to a third preset speed, such as 100km/h, the longitudinal distance between the front vehicle in the adjacent lane and the current vehicle is less than or equal to a sixth preset distance, such as less than or equal to 20m, and the speed of the front vehicle in the adjacent lane is less than or equal to the speed of the current vehicle;
or the speed of the current vehicle in the current lane is less than a third preset speed, such as 100 km/; the longitudinal distance between the front vehicle in the adjacent lane and the current vehicle is less than or equal to a seventh preset distance, for example, less than or equal to 10m, and the speed of the front vehicle in the adjacent lane is less than or equal to the speed of the current vehicle;
the distance between the front vehicle in the adjacent lane and the front vehicle in the same lane is greater than or equal to a fifth preset distance, such as 50m, and the speed of the front vehicle in the adjacent lane is less than or equal to a second preset speed, such as 100 km/h;
or the distance between the vehicle in front of the adjacent lane and the vehicle in front of the same lane is greater than or equal to a fourth preset distance, such as 100m, and the vehicle speed of the vehicle in front of the adjacent lane is greater than a second preset speed, such as 100 km/h;
and the acceleration of the vehicle in front in the adjacent lane is less than or equal to a first preset acceleration, such as 1m/s2；
And the deceleration of the front vehicle in the adjacent lane is less than or equal to a first preset deceleration, such as 1m/s2；
And if the current vehicle enters the adjacent lane, the collision remaining time of the vehicle in front of the adjacent lane and the current vehicle is more than or equal to a third preset time, such as 3 s.
Step S507: and if so, determining that the front vehicle in the adjacent lane is the second target cooperative vehicle.
Step S213: and sending a second cooperative control request to the second target cooperative vehicle so that the current vehicle enters the adjacent lane.
The second cooperative control request in the embodiment of the present invention may include an acceleration request, and may also include a deceleration request.
In a specific embodiment, as shown in fig. 6, after sending the second cooperative control request to the second target cooperative vehicle, the method further includes:
step S601: judging whether response information of the second cooperative control request is received within second preset time;
in this embodiment of the present invention, the response information of the second cooperative control request is response information that the second target cooperative vehicle agrees to perform cooperative control with the current vehicle.
Step S603: and if so, controlling the current vehicle and the second target cooperative vehicle to cooperatively run.
In other embodiments, if no response message of the second cooperative control request is received within a second preset time, the vehicle is controlled to independently run based on the real-time running data.
An embodiment of the present invention further provides a vehicle cooperative control apparatus, as shown in fig. 7, the apparatus includes:
the real-time driving data acquisition module 710 is configured to acquire real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, where the real-time driving data includes position data and vehicle speed data;
a collision risk monitoring module 720, configured to monitor whether the current vehicle has a collision risk in the current lane based on the real-time driving data;
the first target cooperative vehicle determination module 730 is configured to determine a first target cooperative vehicle of the current lane when the current vehicle is in a collision risk;
a first cooperative control request sending module 740, configured to send a first cooperative control request to the first target cooperative vehicle;
a first response information receiving module 750, configured to determine whether response information of the first cooperative control request is received within a first preset time;
a second target cooperative vehicle determination module 760 configured to determine, when the response information of the first cooperative control request is not received, a second target cooperative vehicle in an adjacent lane of the current vehicle;
a second cooperative control request sending module 770, configured to send a second cooperative control request to a second target cooperative vehicle in an adjacent lane of the current vehicle, so that the current vehicle enters the adjacent lane.
In another embodiment, the second target cooperative vehicle determination module may include:
the first vehicle judgment submodule is used for judging whether a vehicle exists in a first preset distance behind the current vehicle in an adjacent lane;
the first cooperation judgment submodule is used for judging whether a vehicle behind the adjacent lane and the current vehicle meet a first preset cooperation condition or not when the vehicle is within a first preset distance behind the adjacent lane of the current vehicle;
and the second target cooperative vehicle determination submodule is used for determining a second target cooperative vehicle in the adjacent lane when the vehicle in the adjacent lane and the current vehicle meet a preset cooperative condition.
In another embodiment, the second target cooperative vehicle determination module may include:
the collision danger judgment submodule is used for judging whether the collision danger of the current vehicle in the current lane is the danger that the current vehicle is rear-end-knocked by a vehicle behind the current vehicle;
the second vehicle judgment submodule is used for judging whether a vehicle exists in a second preset distance in front in an adjacent lane of the current vehicle or not when the collision risk of the current vehicle is the risk that the current vehicle is rear-ended by a vehicle behind the current vehicle;
the second cooperation judgment submodule is used for judging whether the front vehicle in the adjacent lane and the current vehicle meet a second preset cooperation condition or not when the front vehicle in the adjacent lane of the current vehicle is within a second preset distance;
and the second target cooperative vehicle determination sub-module is further used for determining a second target cooperative vehicle in the adjacent lane when the vehicle in front in the adjacent lane and the current vehicle meet a second preset cooperative condition.
In another embodiment, the collision monitoring module may include:
the third vehicle judgment submodule is used for judging whether a vehicle exists in a third preset distance in front of or behind the current vehicle;
the safety judgment sub-module is used for judging whether the vehicle in front of or behind the current vehicle meets a preset safety condition when the vehicle is in a third preset distance in front of or behind the current vehicle;
and the collision judgment submodule is used for judging that the current vehicle has collision danger in the current lane when the current vehicle and the vehicle in front of or behind the current vehicle do not meet the preset safety condition.
The device and method embodiments in the device embodiment described are based on the same inventive concept.
An embodiment of the present invention further provides a vehicle cooperative control apparatus, including: a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the vehicle cooperative control method.
It can be seen from the above embodiments of the vehicle cooperative control system, method, apparatus, or device provided by the present invention that, in the present invention, by monitoring whether the current vehicle has a collision risk in the current lane, when the current vehicle has a collision risk, cooperative control is requested to the vehicle in the current lane first, and when the vehicle in the current lane does not respond, cooperative control is requested to the vehicle in the adjacent lane. By using the technical scheme provided by the embodiment of the specification, when the current lane encounters a collision danger, the current vehicle can be operated cooperatively with other vehicles to avoid collision with other vehicles, and when the current lane encounters the collision danger, the current vehicle firstly requests cooperation from the vehicle in the current lane, and when the vehicle in the current lane does not respond, the current vehicle requests cooperation from the vehicle in the adjacent lane, so that the collision danger can be eliminated more effectively and more safely.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device, terminal and system embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
Claims (8)
1. A vehicle cooperative control method characterized by comprising: the method comprises the steps of obtaining real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, wherein the real-time driving data comprises position data and vehicle speed data;
monitoring whether the current vehicle has collision danger in a current lane or not based on the real-time driving data; if so, determining a first target cooperative vehicle of the current lane;
sending a first cooperative control request to the first target cooperative vehicle;
judging whether response information of the first cooperative control request is received within first preset time;
if not, determining a second target cooperative vehicle in the adjacent lane of the current vehicle, including:
judging whether a vehicle exists within a first preset distance behind the current vehicle in an adjacent lane;
if yes, judging whether a vehicle behind the adjacent lane and the current vehicle meet a first preset cooperation condition or not;
if yes, determining that the rear vehicle in the adjacent lane is a second target cooperative vehicle; and/or the presence of a gas in the gas,
judging whether the collision risk of the current vehicle in the current lane is the risk of rear-end collision of the current vehicle by a vehicle behind the current vehicle;
if yes, judging whether a vehicle exists in a second preset distance in front of the adjacent lane of the current vehicle;
if a vehicle exists in a second preset distance in front of the current vehicle in the adjacent lane, judging whether the vehicle in front of the adjacent lane and the current vehicle meet a second preset cooperative condition or not;
if yes, determining that the front vehicle in the adjacent lane is a second target cooperative vehicle;
and sending a second cooperative control request to the second target cooperative vehicle so that the current vehicle enters the adjacent lane.
2. The vehicle cooperative control method according to claim 1, wherein the determining the first target cooperative vehicle of the current lane includes: determining that a vehicle behind the current vehicle on the current lane is a first target cooperative vehicle; and/or the presence of a gas in the gas,
determining that a vehicle in front of the current vehicle on the current lane is a first target cooperative vehicle.
3. The vehicle cooperative control method according to claim 2, wherein the sending of the first cooperative control request to the first target cooperative vehicle includes: sending a first cooperative control request to a first target cooperative vehicle behind the current vehicle, wherein the first cooperative control request comprises a deceleration request; and/or the presence of a gas in the gas,
sending a first cooperative control request to a first target cooperative vehicle ahead of the current vehicle, the first cooperative control request including an acceleration request.
4. The vehicle cooperative control method according to claim 1, wherein the monitoring whether the current vehicle is in the current lane at risk of collision based on the real-time driving data comprises: judging whether a vehicle exists in a third preset distance in front of or behind the current vehicle;
if yes, judging whether the vehicle in front of or behind the current vehicle meets preset safety conditions or not based on the real-time driving data;
if not, judging that the current vehicle has a collision danger in the current lane.
5. The vehicle cooperative control method according to claim 1, wherein after sending a second cooperative control request to the second target cooperative vehicle, the method further comprises: judging whether response information of the second cooperative control request is received within second preset time;
and if so, controlling the current vehicle and the second target cooperative vehicle to cooperatively run.
6. The vehicle cooperative control method according to claim 5, characterized by further comprising: and if the response information of the second cooperative control request is not received within second preset time, controlling the vehicle to independently run based on the real-time running data.
7. A vehicular cooperative control apparatus characterized by comprising: the real-time driving data acquisition module is used for acquiring real-time driving data of a current vehicle and vehicles within a preset range of the current vehicle, wherein the real-time driving data comprises position data and vehicle speed data;
the collision danger monitoring module is used for monitoring whether the current vehicle has collision danger in the current lane or not based on the real-time driving data;
the first target cooperative vehicle determining module is used for determining a first target cooperative vehicle of the current lane when the current vehicle has collision danger;
the first cooperative control request sending module is used for sending a first cooperative control request to the first target cooperative vehicle;
a first response information receiving module, configured to determine whether response information of the first cooperative control request is received within a first preset time;
a second target cooperative vehicle determination module configured to determine, when the response information of the first cooperative control request is not received, a second target cooperative vehicle in an adjacent lane of the current vehicle, including:
judging whether a vehicle exists within a first preset distance behind the current vehicle in an adjacent lane;
if yes, judging whether a vehicle behind the adjacent lane and the current vehicle meet a first preset cooperation condition or not;
if yes, determining that the rear vehicle in the adjacent lane is a second target cooperative vehicle; and/or the presence of a gas in the gas,
judging whether the collision risk of the current vehicle in the current lane is the risk of rear-end collision of the current vehicle by a vehicle behind the current vehicle;
if yes, judging whether a vehicle exists in a second preset distance in front of the adjacent lane of the current vehicle;
if a vehicle exists in a second preset distance in front of the current vehicle in the adjacent lane, judging whether the vehicle in front of the adjacent lane and the current vehicle meet a second preset cooperative condition or not;
if yes, determining that the front vehicle in the adjacent lane is a second target cooperative vehicle;
and the second cooperative control request sending module is used for sending a second cooperative control request to a second target cooperative vehicle in an adjacent lane of the current vehicle so as to enable the current vehicle to drive into the adjacent lane.
8. A vehicle cooperative control apparatus characterized by comprising: a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the vehicle cooperative control method according to any one of claims 1 to 6.
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