CN106971624B

CN106971624B - Overtaking early warning method and device

Info

Publication number: CN106971624B
Application number: CN201710279178.8A
Authority: CN
Inventors: 周欣如
Original assignee: Neusoft Corp
Current assignee: Neusoft Corp
Priority date: 2017-04-25
Filing date: 2017-04-25
Publication date: 2020-05-08
Anticipated expiration: 2037-04-25
Also published as: CN106971624A

Abstract

The disclosure relates to a method and a device for overtaking early warning, wherein the method comprises the following steps: acquiring state information of a current vehicle and vehicles around the current vehicle; determining the direction type of the surrounding vehicle according to the state information of the current vehicle and the surrounding vehicle; when a front reverse vehicle exists in surrounding vehicles, determining whether the current vehicle meets a reverse overtaking condition or not according to the current vehicle and the state information of the front vehicle and the front reverse vehicle; and outputting a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition. The problem of the lack of accuracy and the security that leads to is judged by the manual work when can solve reverse overtaking vehicle-hour.

Description

Overtaking early warning method and device

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a method and a device for overtaking early warning.

Background

With the development of economy, the quantity of automobiles kept continues to increase, urban vehicles become dense, traffic conditions become complicated, and traffic accidents caused by overtaking frequently occur. The safe and effective overtaking is always a hotspot of vehicle technical research, particularly in the reverse overtaking process, because comprehensive judgment of multi-lane information is needed, a driver needs to have good driving behavior and driving experience, and if the experience of the driver is insufficient or the judgment is wrong, a traffic accident is easily caused, so that the effective reverse overtaking early warning method assists the driver to safely overtake, which is a necessary method for reducing the traffic accident.

The overtaking mode in the prior art is based on the sight distance or the time distance, and the sight distance and the time distance are both subjective judgments from a driver during the running of a vehicle, so that serious errors and dangers exist.

Disclosure of Invention

The disclosure provides a method and a device for overtaking early warning, which are used for solving the problem that reverse overtaking lacks accuracy and safety.

According to a first aspect of the embodiments of the present disclosure, there is provided a method of overtaking warning, the method including:

acquiring state information of a current vehicle and vehicles around the current vehicle;

determining the direction types of the surrounding vehicles according to the state information pairs of the current vehicle and the surrounding vehicles, wherein the direction types comprise a vehicle in front of the current vehicle and a reverse vehicle in front of the current vehicle;

when the front reverse vehicle exists in the surrounding vehicles, determining whether the current vehicle meets a reverse overtaking condition or not according to the current vehicle and the state information of the front vehicle and the front reverse vehicle;

and outputting a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition.

Optionally, the state information of the current vehicle includes a vehicle speed, an acceleration, and a geographic coordinate of the current vehicle; the state information of the surrounding vehicle includes a vehicle speed, an acceleration, and geographical coordinates of the surrounding vehicle.

Optionally, when the preceding reverse vehicle exists in the surrounding vehicles, determining whether the current vehicle meets a condition of reverse overtaking according to the current vehicle and the state information of the preceding vehicle and the preceding reverse vehicle, including:

when the front reverse vehicle exists in the surrounding vehicles, determining a first minimum safe distance between the current vehicle and a first distance between the current vehicle and the first vehicle according to the state information of the current vehicle and the first vehicle which is closest to the current vehicle in the front vehicles;

when the first distance is smaller than the first minimum safe distance, determining that the current vehicle does not meet a reverse overtaking condition;

when the first distance is larger than the first minimum safety distance, determining a second minimum safety distance between the first vehicle and the current vehicle and a third minimum safety distance between the current vehicle and the second vehicle when the current vehicle finishes overtaking the first vehicle and returns to an original lane before overtaking according to the state information of the current vehicle and the first vehicle and the state information of a second vehicle which is closest to the first vehicle in the current vehicle and the front vehicle;

according to the state information of the current vehicle, the first vehicle and the second vehicle, the overtaking time required by the current vehicle to finish overtaking of the first vehicle and return to an original lane before overtaking is predicted;

predicting a safe returning distance according to the state information of the first vehicle and the second vehicle and the overtaking time, wherein the safe returning distance is the distance between the first vehicle and the second vehicle when the current vehicle finishes overtaking the first vehicle and returns to an original lane before overtaking;

when the sum of the second minimum safe distance and the third minimum safe distance is larger than the safe carriage return distance, determining that the current vehicle does not meet the condition of reverse overtaking;

when the sum of the second minimum safety distance and the third minimum safety distance is smaller than or equal to the safety vehicle-returning distance, determining the vehicle-passing distance required by the current vehicle to pass according to the state information of the current vehicle and the front reverse vehicle;

when the overtaking distance is larger than a second distance between the current vehicle and the front reverse vehicle, determining that the current vehicle does not meet a reverse overtaking condition;

and when the overtaking distance is smaller than a second distance between the current vehicle and the front reverse vehicle, determining that the current vehicle meets a reverse overtaking condition.

Optionally, the predicting a safe carriage return distance according to the state information of the first vehicle and the second vehicle and the overtaking time includes:

calculating the safe carriage return distance by using a safe carriage return distance formula according to the speed and the acceleration of the first vehicle, the speed and the acceleration of the second vehicle, the overtaking time and the carriage return distance;

the safe carriage return distance formula comprises:

wherein RD_NEWIndicating the safe distance of the carriage return,RD represents the enter distance, FFVS represents the vehicle speed of the second vehicle, t represents the cut-in time, FFVA represents the acceleration of the second vehicle, FVS represents the current vehicle speed of the first vehicle, and FVA represents the acceleration of the first vehicle.

Optionally, when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold, predicting the overtaking time required for the current vehicle to complete overtaking of the first vehicle and return to an original lane before overtaking according to the state information of the current vehicle, the first vehicle and the second vehicle, including:

calculating the overtaking time by utilizing a first calculation formula of the overtaking time according to the speed and the acceleration of the current vehicle, the speed and the acceleration of the first vehicle, the first distance and the second minimum safe distance;

the first formula for calculating the overtaking time comprises the following steps:

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

wherein LVS represents a vehicle speed of the current vehicle, FVS represents a vehicle speed of the first vehicle, FVA represents an acceleration of the first vehicle, FTLD represents the first distance, and MSD2 represents the second minimum safety distance.

Optionally, when the speed difference between the speed of the current vehicle and the speed of the first vehicle is smaller than a first difference threshold, predicting the overtaking time required for the current vehicle to complete overtaking of the first vehicle and return to the original lane before overtaking according to the state information of the current vehicle, the first vehicle and the second vehicle, including:

calculating the overtaking time by utilizing a second calculation formula of the overtaking time according to the speed and the acceleration of the current vehicle, the speed and the acceleration of the first vehicle, the first distance, the second minimum safety distance and the overtaking acceleration;

the second calculation formula of the overtaking time comprises the following steps:

t＝t1+t2；

when the FVA is >0, the polymer,

when FVA is less than or equal to 0

Wherein LVS represents a vehicle speed of the current vehicle, FVS represents a vehicle speed of the first vehicle, FVA represents an acceleration of the first vehicle, FTLD represents the first distance, MSD2 represents the second minimum safe distance, a represents the over-ride acceleration, and S3 represents a distance that the current vehicle needs to exceed the first vehicle before returning to an original lane.

Optionally, when the vehicle meets a reverse overtaking condition, determining an overtaking strategy and an overtaking early warning level of the current vehicle according to the current vehicle and the state information of the preceding reverse vehicle, including:

determining the overtaking distance required by overtaking of the current vehicle according to the state information of the current vehicle and the forward reverse vehicle;

and determining a overtaking strategy and an overtaking early warning level according to the overtaking distance and the second distance.

Optionally, when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold, determining the overtaking distance required by the current vehicle for overtaking according to the state information of the current vehicle and the preceding reverse vehicle, includes:

determining the overtaking distance by utilizing a first overtaking distance calculation formula according to the speed of the current vehicle and the speed and the acceleration of the front reverse vehicle;

the first formula for calculating the overtaking distance comprises the following steps:

wherein S represents the passing distance, LVS represents the vehicle speed of the current vehicle, OVS represents the vehicle speed of the preceding reverse vehicle, OVA represents the acceleration of the preceding reverse vehicle, and S2 represents a fourth minimum safe distance between the current vehicle and the preceding reverse vehicle;

optionally, when a speed difference between the speed of the current vehicle and the speed of the first vehicle is smaller than a first difference threshold, determining the overtaking distance required by the current vehicle for overtaking according to the state information of the current vehicle and the preceding reverse vehicle includes:

determining the overtaking distance by utilizing a second calculation formula of the overtaking distance according to the speed of the current vehicle, the speed and the acceleration of the front reverse vehicle and the overtaking acceleration;

wherein S denotes the passing distance, LVS denotes a vehicle speed of the current vehicle, OVS denotes a vehicle speed of the preceding reverse vehicle, OVA denotes an acceleration of the preceding reverse vehicle, S2 denotes a fourth minimum safe distance between the current vehicle and the preceding reverse vehicle, t denotes the passing time, t1+ t2 is t, and a denotes the passing acceleration.

Optionally, the outputting a passing early warning policy corresponding to the determination result according to the determination result of whether the current vehicle meets the condition of reverse passing includes:

when the vehicle does not meet the condition of reverse overtaking, outputting early warning information for forbidding overtaking;

when the vehicle meets the condition of reverse overtaking, calculating a reverse overtaking danger index according to the overtaking distance and the second distance;

determining the overtaking early warning level according to the overtaking danger index;

and outputting early warning information corresponding to the overtaking early warning level and an overtaking instruction.

According to a second aspect of the embodiments of the present disclosure, there is provided a method of overtaking warning, the method including:

when the condition of reverse overtaking is met, determining the longest driving time of the current vehicle in a reverse lane according to the state information of the current vehicle and the forward reverse vehicle;

determining the farthest vehicle which can be continuously exceeded by the current vehicle according to the longest driving time and the state information of all vehicles in front of the current vehicle;

and determining the overtaking early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle.

when the first distance is larger than the first minimum safe distance, determining that the current vehicle meets a reverse overtaking condition.

Optionally, the determining the longest driving time of the current vehicle in the reverse lane according to the state information of the current vehicle and the forward reverse vehicle includes:

determining the longest running time by using a longest running time calculation formula according to a second distance between the current vehicle and the front reverse vehicle, the speed of the current vehicle and the speed of the front reverse vehicle;

the maximum travel time calculation formula includes:

wherein t represents the longest driving time, OTLD represents the second distance, S3 represents the distance that the current vehicle needs to exceed the first vehicle before returning to the original lane, V_rIndicating the speed, V, of said preceding and reversing vehicle_lThe current vehicle speed.

Optionally, the determining, according to the longest travel time and the state information of all vehicles ahead of the current vehicle, a farthest vehicle that the current vehicle can continuously exceed includes:

a. selecting an nth vehicle in front of the current vehicle;

b. according to the state information of the current vehicle, the state information of the nth vehicle and the longest running time, determining the overtaking distance required by the current vehicle to exceed the nth vehicle and the maximum safe running distance of the current vehicle in a reverse lane;

c. judging whether the overtaking distance and the maximum safe driving distance meet a first preset condition or not;

when the first preset condition is not met, making n equal to n-1, and executing the steps a to c again;

when the first preset condition is met, performing step d;

d. determining a gap distance between the nth vehicle and the (n + 1) th vehicle when the current vehicle exceeds the nth vehicle and then returns to an original lane, a second minimum safety distance between the nth vehicle and the current vehicle after the current vehicle returns to the original lane, and a third minimum safety distance between the current vehicle and the (n + 1) th vehicle according to the state information of the nth vehicle and the state information of the (n + 1) th vehicle in front of the current vehicle;

e. according to whether the gap distance and the maximum safe driving distance meet a second preset condition or not;

determining the nth vehicle as the farthest vehicle when the second preset condition is met;

and when the second preset condition is not met, enabling n to be n-1, and executing the steps a to e again until the farthest vehicle is determined.

Optionally, the determining whether the overtaking distance and the maximum safe driving distance meet a first preset condition includes:

judging whether the overtaking distance meets the following conditions:

S_LA+V_A*t+MSD＜V_l*t

wherein S is_LA+V_AT + MSD represents the overtaking distance, V_lT represents the maximum safe driving distance, V_lRepresenting the current vehicle speed, S_LARepresents a distance, V, between the current vehicle and the nth vehicle_ARepresenting a speed of the nth vehicle, t representing the longest travel time, and MSD representing a third minimum safe distance between the current vehicle after passing the nth vehicle and returning to an original lane and the n +1 th vehicle before the nth vehicle;

the step of judging whether the gap distance and the maximum safe driving distance meet a second preset condition or not comprises the following steps:

judging whether the gap distance meets the following conditions:

S_AB+(V_B-V_A)*t′＞MSD_AL+MSD_LB

wherein S is_AB+(V_B-V_A) T' represents the gap distance, S_ABRepresents a third distance, V, between the nth vehicle and the (n + 1) th vehicle when the current vehicle intends to overtake_ARepresenting the speed, V, of the nth vehicle_BRepresenting the speed of the n +1 th vehicle, t' representing the actual time to overtake, MSD, required for the current vehicle to exceed the nth vehicle_ALRepresents the second minimum safety distance, MSD_LBRepresenting the third minimum safe distance;

wherein:

optionally, the determining the overtaking early warning policy of the current vehicle according to the state information of the farthest vehicle and the current vehicle includes:

calculating a reverse overtaking danger index according to an overtaking distance required by the current vehicle exceeding the farthest vehicle and a second distance between the current vehicle and the front reverse vehicle;

According to a third aspect of the embodiments of the present disclosure, there is provided an apparatus for providing a warning of overtaking, the apparatus including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the current vehicle and the state information of vehicles around the current vehicle;

the direction determining module is used for determining the direction types of the surrounding vehicles according to the state information pairs of the current vehicle and the surrounding vehicles, wherein the direction types comprise a vehicle in front of the current vehicle and a reverse vehicle in front of the current vehicle;

the overtaking condition determining module is used for determining whether the current vehicle meets the condition of reverse overtaking or not according to the current vehicle and the state information of the front vehicle and the front reverse vehicle when the front reverse vehicle exists in the surrounding vehicles;

and the early warning strategy determining module is used for outputting the overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition.

Optionally, the overtaking condition determining module includes:

a distance determination submodule configured to determine, when the preceding reverse vehicle exists in the surrounding vehicles, a first minimum safe distance between the current vehicle and a first vehicle closest to the current vehicle among the current vehicle and the preceding vehicles, and a first distance between the current vehicle and the first vehicle, according to state information of the current vehicle and the first vehicle closest to the current vehicle;

the overtaking condition determining submodule is used for determining that the current vehicle does not meet the condition of reverse overtaking when the first distance is smaller than the first minimum safety distance;

the overtaking condition determining submodule is further configured to determine, when the first distance is greater than the first minimum safe distance, a second minimum safe distance between the first vehicle and the current vehicle and a third minimum safe distance between the current vehicle and the second vehicle when the current vehicle completes overtaking of the first vehicle and returns to an original lane before overtaking according to state information of the current vehicle and the first vehicle and state information of a second vehicle, which is closest to the first vehicle, of the current vehicle and the preceding vehicle;

the overtaking time prediction sub-module is used for predicting overtaking time required by the current vehicle to finish overtaking the first vehicle and return to an original lane before overtaking according to the state information of the current vehicle, the first vehicle and the second vehicle;

the safe carriage return distance prediction sub-module is used for predicting a safe carriage return distance according to the state information of the first vehicle and the second vehicle and the overtaking time, wherein the safe carriage return distance is the distance between the first vehicle and the second vehicle when the current vehicle finishes overtaking the first vehicle and returns to an original lane before overtaking;

the first reverse overtaking determination submodule is used for determining that the current vehicle does not meet the condition of reverse overtaking when the sum of the second minimum safe distance and the third minimum safe distance is greater than the safe overtaking distance;

the overtaking distance determining submodule is used for determining the overtaking distance required by the current vehicle for overtaking according to the state information of the current vehicle and the front reverse vehicle when the sum of the second minimum safe distance and the third minimum safe distance is less than or equal to the safe overtaking distance;

the second reverse overtaking determination submodule is used for determining that the current vehicle does not meet the condition of reverse overtaking when the overtaking distance is larger than a second distance between the current vehicle and the front reverse vehicle;

the second reverse overtaking determination submodule is further configured to determine that the current vehicle meets a reverse overtaking condition when the overtaking distance is smaller than a second distance between the current vehicle and the front reverse vehicle.

Optionally, the safe carriage return distance prediction sub-module is configured to:

the safe carriage return distance formula comprises:

wherein RD_NEWRepresenting the safe carriage return distance, RD representing the carriage return distance, FFVS representing the speed of the second vehicle, t representing the overtaking time, FFVA representing the acceleration of the second vehicle, FVS representing the current speed of the first vehicle, FVA representing the acceleration of the first vehicle.

Optionally, when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold, the passing time prediction sub-module is configured to:

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

Optionally, when a speed difference between the current vehicle speed and the first vehicle speed is smaller than a first difference threshold, the overtaking time prediction module is further configured to:

t＝t1+t2；

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

Optionally, when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold, the passing distance determining submodule is configured to:

optionally, when the speed difference between the speed of the current vehicle and the speed of the first vehicle is smaller than a first difference threshold, the passing distance determining submodule is further configured to:

Optionally, the early warning policy determining module includes:

the forbidden information output submodule is used for outputting early warning information for forbidding overtaking when the vehicle does not meet the reverse overtaking condition;

the overtaking danger index determining submodule is used for calculating a reverse overtaking danger index according to the overtaking distance and the second distance when the vehicle meets a reverse overtaking condition;

the overtaking early warning level determining submodule is used for determining an overtaking early warning level according to the overtaking danger index;

and the overtaking indication output submodule is used for outputting the early warning information corresponding to the overtaking early warning level and overtaking indication.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an apparatus for early warning of overtaking, the apparatus including:

the reverse overtaking judgment module is used for determining whether the current vehicle meets a reverse overtaking condition or not according to the current vehicle and the state information of the front vehicle and the front reverse vehicle when the front reverse vehicle exists in the surrounding vehicles;

the longest driving time determining module is used for determining the longest driving time of the current vehicle in a reverse lane according to the state information of the current vehicle and the front reverse vehicle when the condition of reverse overtaking is met;

the farthest vehicle determining module is used for determining the farthest vehicle which can be continuously exceeded by the current vehicle according to the longest running time and the state information of all vehicles in front of the current vehicle;

and the overtaking strategy determining module is used for determining an overtaking early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle.

Optionally, the reverse overtaking judgment module includes:

the reverse overtaking judgment submodule is used for determining that the current vehicle does not meet the condition of reverse overtaking when the first distance is smaller than the first minimum safety distance;

the reverse overtaking judgment submodule is further used for determining that the current vehicle meets a reverse overtaking condition when the first distance is larger than the first minimum safe distance.

Optionally, the maximum driving time determining module is configured to:

the maximum travel time calculation formula includes:

Optionally, the farthest vehicle determining module includes:

a vehicle selection submodule for performing a. selecting an nth vehicle ahead of the current vehicle;

b, determining the overtaking distance required by the current vehicle to exceed the nth vehicle and the maximum safe driving distance of the current vehicle in a reverse lane according to the state information of the current vehicle, the state information of the nth vehicle and the longest driving time;

the first preset condition judgment submodule is used for executing c, judging whether the overtaking distance and the maximum safe driving distance meet a first preset condition or not;

when the first preset condition is met, performing step d;

a safe distance determination submodule for performing d, determining a clearance distance between the nth vehicle and the (n + 1) th vehicle when the current vehicle is in a return-to-original lane after exceeding the nth vehicle, a second minimum safe distance between the nth vehicle and the current vehicle after the current vehicle is in the return-to-original lane, and a third minimum safe distance between the current vehicle and the (n + 1) th vehicle according to the state information of the nth vehicle and the state information of the (n + 1) th vehicle in front of the current vehicle;

a second preset condition judgment submodule for executing e, according to whether the clearance distance and the maximum safe driving distance meet a second preset condition;

Optionally, the first preset condition determining submodule is configured to:

judging whether the overtaking distance meets the following conditions:

S_LA+V_A*t+MSD＜V_l*t

the second preset condition judgment submodule is used for:

judging whether the gap distance meets the following conditions:

S_AB+(V_B-V_A)*t′＞MSD_AL+MSD_LB

wherein S is_AB+(V_B-V_A) T' represents the gap distance, S_ABRepresents a third distance, V, between the nth vehicle and the (n + 1) th vehicle when the current vehicle intends to overtake_AIndicating the speed, V, of the nth vehicle_BRepresenting the speed of the n +1 th vehicle, t' representing the actual time to overtake, MSD, required for the current vehicle to exceed the nth vehicle_ALRepresents the second minimum safety distance, MSD_LBRepresenting the third minimum safe distance;

wherein:

optionally, the passing strategy determining module includes:

the overtaking danger index determining submodule is used for calculating a reverse overtaking danger index according to an overtaking distance required by the current vehicle exceeding the farthest vehicle and a second distance between the current vehicle and the front reverse vehicle;

and the overtaking instruction determining submodule is used for outputting the early warning information corresponding to the overtaking early warning level and an overtaking instruction.

In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of the first aspect.

In a sixth aspect, an electronic device is provided, comprising:

the computer-readable storage medium recited in the fifth aspect; and one or more processors to execute the computer program in the computer-readable storage medium.

In a seventh aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of the second aspect.

In an eighth aspect, an electronic device is provided, including:

the computer-readable storage medium recited in the seventh aspect; and one or more processors to execute the computer program in the computer-readable storage medium.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

obtaining state information of a current vehicle and vehicles around the current vehicle; determining the direction types of the surrounding vehicles according to the state information pairs of the current vehicle and the surrounding vehicles, wherein the direction types comprise a vehicle in front of the current vehicle and a reverse vehicle in front of the current vehicle; when the front reverse vehicle exists in the surrounding vehicles, determining whether the current vehicle meets a reverse overtaking condition or not according to the current vehicle and the state information of the front vehicle and the front reverse vehicle; and outputting a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition. Therefore, the overtaking early warning method and the overtaking early warning device can solve the problem of lack of accuracy and safety caused by manual judgment during reverse overtaking, and can realize one-time overtaking of multiple vehicles.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flow chart illustrating a method of overtaking warning in accordance with an exemplary embodiment;

FIG. 2 is a flow chart illustrating another method of overtaking warning in accordance with an exemplary embodiment;

FIG. 3 is a flow chart illustrating a method of overtaking warning in accordance with another exemplary embodiment;

FIG. 4 is a flow chart illustrating another method of overtaking warning in accordance with an exemplary embodiment;

FIG. 5 is a flow chart illustrating a method of overtaking warning in accordance with another exemplary embodiment;

FIG. 6 is a flow chart illustrating a method of overtaking warning in accordance with another exemplary embodiment;

FIG. 7 is a flow chart illustrating a method of overtaking warning in accordance with another exemplary embodiment;

FIG. 8 is a block diagram illustrating an arrangement for a passing warning in accordance with an exemplary embodiment;

FIG. 9 is a block diagram illustrating a cut-in condition determination module in accordance with an exemplary embodiment;

FIG. 10 is a block diagram illustrating an early warning policy determination module in accordance with an exemplary embodiment;

FIG. 11 is a block diagram illustrating another arrangement for a passing warning in accordance with an exemplary embodiment;

FIG. 12 is a block diagram illustrating a reverse cut-in determination module in accordance with an exemplary embodiment;

FIG. 13 is a block diagram illustrating a farthest vehicle determination module in accordance with an exemplary embodiment;

FIG. 14 is a block diagram illustrating a cut-in strategy determination module in accordance with an exemplary embodiment;

FIG. 15 is a block diagram illustrating an electronic device in accordance with an example embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Before describing the specific content of the embodiment of the present disclosure, first, a practical application related to the present disclosure is described, where the reverse overtaking Warning (abbreviated as DNPW) refers to a technology for Warning a driver of a vehicle when the vehicle travels on a road and there is a collision risk with a vehicle traveling in a reverse lane by overtaking in the reverse lane. The early warning is suitable for early warning of overtaking lane changing collision danger of common roads and roads in cities and suburbs. The reverse overtaking early warning method is based on vehicle-vehicle communication, can acquire relative position information between vehicles and state information (such as speed, acceleration and the like) of the vehicles in real time through communication between the vehicles, and determines whether overtaking is dangerous or not through a corresponding judgment method, so that collision early warning can be performed on a driver under the condition that collision is possible, an optimal overtaking scheme can be given under the condition that overtaking is allowed and a plurality of front vehicles exist, and one or more front vehicles can be overtaken at a time on the premise of ensuring safety.

And the reverse overtaking early warning system based on the vehicle-vehicle communication can comprise the following units: an information acquisition unit, for example, using a CAN (Control Area Network) bus, to acquire status information of the vehicle acquired by each sensor of the vehicle or a GPS; an information transmitting unit capable of transmitting state information of the vehicle to surrounding vehicles; the information receiving unit is used for receiving state information sent by surrounding vehicles; and the information processing and output unit is used for processing all the acquired state information, judging corresponding overtaking by combining the processed information and outputting early warning information for assisting the overtaking of the driver. Therefore, in a scene of vehicle-vehicle communication, each vehicle is required to be provided with the reverse overtaking early warning system, each vehicle receives state information of surrounding vehicles through the information receiving unit, the information sending unit of the vehicle is used for sending the collected state information of the vehicle to the surrounding vehicles, the received state information of the surrounding vehicles and the state information of the vehicle are sent to the information processing and outputting unit, and then the surrounding vehicles are subjected to direction classification, information such as relative positions and distances of the surrounding vehicles relative to the vehicle is distinguished, and then the overtaking strategy is judged.

In addition, in various embodiments of the present disclosure, each vehicle may establish and maintain a state table in real time, which is used to record the state information of the vehicle itself, the state information of the surrounding vehicles, and the relative position relationship between the vehicle and the surrounding vehicles, and the state table may be in the form shown in table 1:

TABLE 1

Table 1 includes all status information required for determining passing, and the current vehicle may acquire the speed and acceleration of the vehicle according to the vehicle-mounted sensor, and may acquire the location information of the vehicle according to the vehicle-mounted GPS, so that each piece of information required in table 1 may be acquired according to the received speed, acceleration, and location information of the surrounding vehicle, and these pieces of information are updated to the table. Thus, by maintaining the table, the updating and saving of the information are realized. Each of the values in table 1 is an initialization value, and as shown in table 1, the initial values thereof are set to 0 except that FTLD and RD take the maximum Range (Max Range). After the vehicle receives the new state information, the new state information is correspondingly updated to the table, then the information processing and output unit can maintain the table and call the stored state information, and then the judgment of the overtaking early warning can be carried out according to the real-time updated data information, so that the overtaking of the driver is better assisted.

Fig. 1 is a flow chart illustrating a method of a vehicle overtaking warning according to an exemplary embodiment, which may include the steps of, as shown in fig. 1:

step 101, obtaining the state information of the current vehicle and the vehicles around the current vehicle.

The vehicle around the current vehicle may be a vehicle in a farthest detection range in front of the current vehicle, where the farthest detection range may be, for example, a circular region within a preset distance (e.g., 2km) with the current vehicle as a center of a circle, or may also be a sector region extending to the front and the rear of the current vehicle with the current vehicle as a center of a circle and with a preset radius of a preset distance, and the vehicles that may be set in this range all belong to the surrounding vehicles acquired by the current vehicle. Further, a limit of a farthest overtaking distance may be set based on the safety consideration of overtaking, for example, to overtake within a range of 1km, so that the above-mentioned surrounding vehicle may be a vehicle within a range of 1km from the current vehicle.

The state information of the current vehicle comprises the speed, the acceleration and the geographic coordinates of the current vehicle; the state information of the surrounding vehicle also includes the speed, acceleration, geographical coordinates of the surrounding vehicle. The geographic coordinates may be longitude and latitude coordinates acquired by an onboard GPS.

And 102, determining the direction types of the surrounding vehicles according to the current vehicle and the state information of the surrounding vehicles, wherein the direction types comprise a vehicle in front of the current vehicle and a reverse vehicle in front of the current vehicle.

After the state information of the current vehicle and the surrounding vehicles is acquired in step 101, the surrounding vehicles are classified according to directions according to the state information of the surrounding vehicles, so as to distinguish the positions of the surrounding vehicles relative to the current vehicle. For example, it can be divided into: a vehicle ahead of the current vehicle traveling in the same direction, a vehicle ahead of the current vehicle in an opposite direction, a vehicle behind the current vehicle, and the like. After the surrounding vehicles are determined to be of the direction type, the table 1 is updated in real time according to the state information of the front vehicle and the front reverse vehicle of the current vehicle.

And 103, when the front reverse vehicle exists in the surrounding vehicles, determining whether the current vehicle meets the condition of reverse overtaking according to the current vehicle and the state information of the front vehicle and the front reverse vehicle.

For example, when the surrounding vehicles are classified and when it is determined that there is no preceding reverse vehicle, it means that no vehicle is running in the reverse lane, the reverse overtaking is safe, and the overtaking is possible. If there is a preceding reverse vehicle, the following determination of step 104 or step 105 is required. Whether a front reverse vehicle exists or not can be judged by calling the value of the state information in the table 1, and since the OTLD in the table is initially 0, when the OTLD value in the table is 0, the front reverse vehicle does not exist, so that the value is kept in an initialized state, otherwise, when the OTLD value is not 0, the vehicle is on a reverse lane, and the value of the OTLD is the distance between the current vehicle and the front reverse vehicle.

According to the state information of the current vehicle, the front vehicle and the front reverse vehicle, the condition that whether the current vehicle meets the reverse overtaking is determined mainly according to the distance between the current vehicle and the front vehicle and the distance between the current vehicle and the front reverse vehicle and the speed and the acceleration of the front vehicle and the front reverse vehicle, whether the current vehicle is in a safe distance with the front vehicle and the front reverse vehicle in the overtaking process and whether the current vehicle is in a safe distance with the front vehicle of the front vehicle after the current vehicle is in the overtaking process.

And 104, outputting a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition.

That is, according to the judgment result of whether the condition of reverse overtaking is satisfied, whether overtaking is successful or not and the overtaking early warning strategies corresponding to different danger degrees when overtaking is successful are determined, and the steps under the two judgment results will be described in the embodiment of fig. 3.

In conclusion, the early warning method for automatically identifying whether overtaking can be achieved or not according to the state relation of the current vehicle and the surrounding vehicles can solve the problem that accuracy and safety are poor due to manual judgment during reverse overtaking.

Illustratively, fig. 2 is a flowchart illustrating another method for providing an early warning of overtaking according to an exemplary embodiment, where as shown in fig. 2, when there is a preceding reverse vehicle in a surrounding vehicle, as described in step 103, determining whether a current vehicle meets a condition for reverse overtaking according to state information of the current vehicle and the preceding reverse vehicle includes the following steps:

and step 1031, when a front reverse vehicle exists in the surrounding vehicles, determining a first minimum safety distance between the current vehicle and the first vehicle and a first distance between the current vehicle and the first vehicle according to the current vehicle and the state information of the first vehicle which is closest to the current vehicle in the front vehicles.

When the first vehicle that the current vehicle is to overtake, i.e. the vehicle closest to the preceding vehicle, the first distance, i.e. the actual distance between the current vehicle and the first vehicle, may be obtained from the geographical coordinates obtained in step 101. And determining a first minimum safe distance between the current vehicle and the first vehicle according to the speed of the current vehicle, the acceleration of the current vehicle, and the speed and the acceleration of the first vehicle, wherein the first minimum safe distance is a judgment condition for determining whether the two vehicles collide in a possible braking range, comparing the first distance and the first minimum safe distance after determining the first distance, judging whether the two vehicles can overtake, and continuing to step 1032 or step 1033.

And 1032, when the first distance is smaller than the first minimum safe distance, determining that the current vehicle does not meet the reverse overtaking condition.

If the first distance is smaller than the first minimum safety distance, it indicates that the actual distance between the first vehicle and the current vehicle does not meet the safety condition required for overtaking, and therefore the overtaking cannot be performed, the step 104 is continued, and the early warning information for prohibiting the overtaking is output, otherwise, the step 1033 is continued.

And 1033, when the first distance is larger than the first minimum safety distance, determining a second minimum safety distance between the first vehicle and the current vehicle and a third minimum safety distance between the current vehicle and the second vehicle when the current vehicle finishes overtaking the first vehicle and returns to an original lane before overtaking according to the state information of the current vehicle and the first vehicle and the state information of a second vehicle which is closest to the first vehicle in the current vehicle and the front vehicle.

Wherein the second vehicle is a vehicle ahead of the first vehicle ahead of the current vehicle. The second minimum safety distance refers to that the current vehicle returns to the original lane after exceeding the first vehicle, the original first vehicle becomes a rear vehicle of the current vehicle, and at the moment, the minimum safety distance of the first vehicle when the current vehicle is followed is the second minimum safety distance; the third minimum safe distance means that after the current vehicle passes the first vehicle and returns to the own lane, the second vehicle, which is originally a vehicle ahead of the first vehicle, becomes a vehicle ahead of the current vehicle, and the minimum safe distance when the current vehicle follows the second vehicle is the third minimum safe distance. The second minimum safe distance and the third minimum safe distance can be combined with the speed and the acceleration of the two vehicles at the time to obtain an empirical value.

In addition, it is worth mentioning that the first minimum safe distance, the second minimum safe distance, and the third minimum safe distance in the present disclosure may be calculated based on the following principles:

for a complete braking process, 6 stages can be included, the first stage is a driver reaction stage, the typical driver reaction time is 0.8s-1.3s, and the influencing factors for the stage include: air density, air resistance coefficient, rolling resistance coefficient, current vehicle speed of the vehicle, acceleration of the vehicle. After detecting that the vehicle approaches the front, a driver of the current vehicle needs to receive and pre-judge the actual condition, and belongs to the reaction process of the driver; the second phase is called a brake coordination phase, the brake coordination time is generally 0.2s, after the first phase, the driver realizes that the collision risk with the front vehicle exists, and therefore presses the brake pedal to brake the vehicle, and the second phase is the phase of pressing the brake pedal, and the influence factors of the phase comprise: the current speed of the vehicle, the acceleration of the vehicle; the third phase is called deceleration motion phase, this phase is the negative acceleration increasing phase of the vehicle, the negative acceleration increasing time is generally 0.1s, the vehicle is driven from acceleration or uniform speed to deceleration, the negative acceleration needs an increasing process from 0 to the maximum (because of the negative acceleration, the increase here refers to the increase of the absolute value of the negative acceleration), and the influencing factors for this phase include: the current speed of the vehicle, the acceleration of the vehicle; the fourth phase is a continuous braking phase, and the influencing factors of the phase comprise: the current speed of the vehicle, the acceleration of the vehicle, the wheel base of the vehicle, the radius of a tire, the braking force of a rear wheel and the friction coefficient of a road surface; the fifth phase is a braking phase, which is a process from braking to reducing the speed of the vehicle to 0, so the influence factors of the phase are the same as the previous phase, and the phase also comprises the following steps: the current speed of the vehicle, the acceleration of the vehicle, the wheel base of the vehicle, the radius of a tire, the braking force of a rear wheel and the friction coefficient of a road surface; in the last stage, the safe distance between the current vehicle and the front vehicle when the current vehicle completely stops can be generally 3-5 meters (or can be set according to safety requirements), and the sum of the distances required in the 6 stages is the minimum safe distance required in the whole braking process, but because the front vehicle is in a driving state, the distance from the current vehicle when the current vehicle starts braking to the front vehicle when the current vehicle stops needs to be considered after the sum of the distances required in the 6 stages is obtained, the distance can be calculated according to the current speed and acceleration of the front vehicle, and the minimum safe distance between the current vehicle and the front vehicle can be calculated by combining the aspects.

And 1034, predicting the overtaking time required by the current vehicle to finish overtaking the first vehicle and return to the original lane before overtaking according to the state information of the current vehicle, the first vehicle and the second vehicle.

The overtaking time can be calculated in two situations, and when the speed difference between the current vehicle and the first vehicle is different, the uniform speed or acceleration overtaking strategies are adopted respectively, so that the step can be divided into the following two situations:

in a first case, when a speed difference between a current vehicle speed and a first vehicle speed is greater than a first difference threshold, the overtaking time may be calculated according to the speed and acceleration of the current vehicle, the speed and acceleration of the first vehicle, a first distance, and a second minimum safe distance by using a first formula for calculating the overtaking time, where the first formula for calculating the overtaking time includes:

when FVA >0, then

When FVA is less than or equal to 0, then

Where LVS denotes a vehicle speed of the current vehicle, FVS denotes a vehicle speed of the first vehicle, FVA denotes an acceleration of the first vehicle, FTLD denotes a first distance, and MSD2 denotes a second minimum safety distance.

For example, the first difference threshold may be selected as: and 20km/h, when the current vehicle is faster than the first vehicle by more than 20km/h, the overtaking time is sufficient, the overtaking can be carried out by adopting a constant speed strategy, and the overtaking time is calculated according to different acceleration conditions of the first vehicle by adopting the formula.

In the second case, when the speed difference between the current vehicle speed and the first vehicle speed is smaller than the first difference threshold, the passing time may be calculated according to the speed and acceleration of the current vehicle, the speed and acceleration of the first vehicle, the first distance, the second minimum safe distance, and the passing acceleration by using a second formula for calculating the passing time, where the second formula for calculating the passing time includes:

t＝t1+t2；

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

where LVS denotes a vehicle speed of the current vehicle, FVS denotes a vehicle speed of the first vehicle, FVA denotes an acceleration of the first vehicle, FTLD denotes a first distance, MSD2 denotes a second minimum safe distance, a denotes an overtaking acceleration, and S3 denotes a distance that the current vehicle needs to exceed the first vehicle before returning to the original lane, where S3 is a fixed value set in advance, and may be determined based on an empirical value.

The first difference threshold is selected to be 20km/h, when the current vehicle is faster than the first vehicle, but the difference does not exceed 20km/h, the overtaking time is not sufficient enough, and an acceleration strategy can be adopted for overtaking. The overtaking acceleration is the acceleration of the current vehicle during overtaking and is related to the performance of the vehicle. For example, the passing acceleration may be determined by the vehicle controller based on the current vehicle speed of the vehicle, the current acceleration, the vehicle speed and acceleration of the vehicle in front (i.e., the first vehicle), and analyzing the current vehicle and the vehicle in front performance to determine the current vehicle and the vehicle in front acceleration performance, wherein the acceleration performance includes but is not limited to: the engine power, horsepower, output maximum torque, etc. of the vehicle, and also considering the objective environmental factors of the vehicle, including the speed limit of the road, the actual road conditions (such as congestion, smoothness, etc.), etc., a reference acceleration is determined by comprehensive evaluation using a preset algorithm for accomplishing safe passing, as the passing acceleration a, and the passing time is calculated based on the passing acceleration, and the steps shown in steps 1035 to 1039 are performed based on the passing time to check the feasibility of the passing acceleration a. Optionally, when the subsequent step determines that the condition of reverse overtaking is satisfied, it is indicated that overtaking at the overtaking acceleration a is feasible, so that the overtaking acceleration a may be notified to the driver of the vehicle by an external device (e.g., an instrument) in a manner of text display, voice prompt, or a combination thereof when the overtaking warning policy is output in step 104.

Alternatively, the passing acceleration may be directly calculated as the passing time using the current acceleration of the current vehicle, and the passing time may be calculated based on the passing acceleration as well, and the steps shown in steps 1035 to 1039 may be performed based on the passing time to check the feasibility of the passing acceleration a. Optionally, when the subsequent step determines that the condition for reverse passing is satisfied, it is indicated that passing is feasible according to the current acceleration of the current vehicle, and the driver of the vehicle may be informed, through the above-mentioned additional device (e.g., an instrument), through text display, voice prompt or a combination thereof when the passing warning policy is output in step 104, that the acceleration of the current vehicle satisfies the condition for reverse passing, so as to assist passing.

After the calculation of the passing time is completed, the prediction of the safe passing distance by the following steps is performed.

And 1035, predicting a safe carriage return distance according to the state information of the first vehicle and the second vehicle and the overtaking time, wherein the safe carriage return distance is the distance between the first vehicle and the second vehicle when the current vehicle finishes overtaking the first vehicle and returns to the original lane before overtaking.

For example, the safe carriage return distance may be calculated from a speed, an acceleration, a passing time, and a carriage return distance of the first vehicle using a safe carriage return distance formula, the safe carriage return distance formula including:

wherein RD_NEWIndicating a safe vehicle-entering distance, RD indicating a vehicle-entering distance, FFVS indicating a vehicle speed of the second vehicle, t indicating a passing time, FFVA indicating an acceleration of the second vehicle, FVS indicating a current vehicle speed of the first vehicle, FVA indicating an acceleration of the first vehicle.

The carriage return distance may be obtained by updating the difference between the distances between the current vehicle and the first vehicle, and the manner of obtaining RD using table 1 may be as follows: after receiving the status information sent by one surrounding vehicle and classifying the vehicle as a vehicle ahead of the current vehicle in step 102, the distance between the vehicle and the current vehicle may be calculated, which is defined as distance, and if distance < FTLD, table 1 is updated, where RD is FTLD-distance, FTLD is distance, FFVS is FVS, FFVA is FVA, and FVS may be updated to the speed of the vehicle, and then the next preceding vehicle is processed; if distance > FTLD and distance-FTLD < RD, update Table 1 again, let RD equal distance-FTLD, update FFVS, FFVA to the speed and acceleration of the vehicle. After the safe carriage return distance is obtained, whether the vehicle meets the condition of reverse overtaking can be judged, and the magnitude relation between the sum of the second minimum safe distance and the third minimum safe distance and the safe carriage return distance is obtained.

And step 1036, when the sum of the second minimum safe distance and the third minimum safe distance is larger than the safe vehicle-entering distance, determining that the current vehicle does not meet the condition of reverse vehicle-passing.

And 1037, when the sum of the second minimum safety distance and the third minimum safety distance is smaller than or equal to the safety vehicle-entering distance, determining the vehicle-entering distance required by the current vehicle for vehicle-entering according to the state information of the current vehicle and the front reverse vehicle.

The determination of the passing distance corresponds to the different passing strategies employed in step 1034, that is:

when the speed difference value between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold value, determining the overtaking distance by using a first calculation formula of the overtaking distance according to the speed of the current vehicle and the speed and the acceleration of a front reverse vehicle;

at this time, the first calculation formula of the passing distance includes:

where S denotes a passing distance, LVS denotes a vehicle speed of the current vehicle, OVS denotes a vehicle speed of the preceding reverse vehicle, OVA denotes an acceleration of the preceding reverse vehicle, and S2 denotes a fourth minimum safe distance between the current vehicle and the preceding reverse vehicle.

This is a formula for calculating the passing distance when the passing strategy at the constant speed is adopted when it is determined in step 1034 that the speed difference between the current vehicle and the first vehicle is greater than the first difference threshold.

And when the speed difference value between the speed of the current vehicle and the speed of the first vehicle is smaller than the first difference threshold value and an accelerated overtaking strategy is adopted, the overtaking distance can be determined by utilizing a second calculation formula of the overtaking distance according to the speed of the current vehicle, the speed, the acceleration and the overtaking acceleration of the front reverse vehicle:

where S denotes a passing distance, LVS denotes a vehicle speed of the current vehicle, OVS denotes a vehicle speed of the preceding reverse vehicle, OVA denotes an acceleration of the preceding reverse vehicle, S2 denotes a fourth minimum safe distance between the current vehicle and the preceding reverse vehicle, t denotes a passing time, t1+ t2 is t, and a denotes a passing acceleration.

That is, after determining the overtaking distance required for overtaking by using the corresponding overtaking distance calculation formula according to different vehicle speed conditions, step 1038 or step 1039 may be performed to further determine whether the overtaking condition is completely satisfied.

And 1038, when the overtaking distance is larger than a second distance between the current vehicle and the front reverse vehicle, determining that the current vehicle does not meet the reverse overtaking condition.

And step 1039, when the overtaking distance is smaller than a second distance between the current vehicle and the front reverse vehicle, determining that the current vehicle meets the reverse overtaking condition.

Then, according to the judgment result of step 1038 or step 1039, the steps of the following embodiment are performed.

For example, fig. 3 is a flowchart illustrating a method for providing a warning about overtaking according to another exemplary embodiment, where as shown in fig. 3, the step 104 is to output a warning strategy for overtaking corresponding to the judgment result according to the judgment result of whether the current vehicle meets the condition of reverse overtaking, and the step includes:

and step 1041, outputting early warning information for prohibiting overtaking when the vehicle does not meet the reverse overtaking condition.

And 1042, when the vehicle meets the reverse overtaking condition, calculating a reverse overtaking danger index according to the overtaking distance and the second distance.

For example, the method for calculating the overtaking risk index may be: defining the overtaking danger index as V, the overtaking distance as S, determining the second distance through the geographic coordinates of the current vehicle and the front reverse vehicle, defining as OTLD, obtaining the overtaking danger index through V ═ OTLD-S/S, and correspondingly obtaining the overtaking early warning level according to the step 1052.

And 1043, determining the overtaking early warning level according to the overtaking danger index.

Exemplarily, when the overtaking danger index V is larger than or equal to 0, the overtaking early warning level can be determined as safe;

when the overtaking danger index 0 is more than or equal to-0.1, the overtaking early warning level can be determined to be slight danger;

when the overtaking danger index is-0.1 and V is more than or equal to-0.3, determining that the overtaking early warning level is dangerous;

when the overtaking danger index is-0.3 > V, the overtaking early warning level can be determined to be dangerous.

And judging the corresponding overtaking early warning level according to the judgment standard, and then outputting in the step 1044.

And step 1044 of outputting the early warning information corresponding to the overtaking early warning level and the overtaking indication.

Illustratively, when the overtaking early warning level is safe, the output corresponding overtaking indication is the overtaking permission, the early warning information is the overtaking safety, and the early warning information and the overtaking indication can be directly output at the moment. Or, further, the overtaking instruction may further include an overtaking speed suggestion when the vehicle overtakes at the constant speed or accelerates according to the condition that the current vehicle is overtaken at the constant speed or accelerates in step 1034. If the uniform overtaking is determined to be available, the overtaking speed suggestion is as follows: and carrying out overtaking by adopting the speed which is greater than or equal to the speed of the current vehicle, wherein if the overtaking acceleration is determined to be adopted, the overtaking speed suggestion is as follows: and carrying out overtaking by adopting the target overtaking speed calculated according to the overtaking acceleration.

When the overtaking early warning level is slight danger, the output overtaking indication can be that overtaking is allowed, and the early warning information indicates that overtaking has slight danger. Or, further, before outputting the warning information and the overtaking instruction, the first unit speed may be increased on the basis of the current speed of the vehicle, and the judgment on whether the reverse overtaking condition is satisfied may be performed again according to the above method. For example, the first unit speed may be 10km/h, that is, steps 103 to 1043 may be performed at a speed 10km/h faster than the speed of the current vehicle, so as to acquire the overtaking warning level of step 1043 again. If the overtaking early warning level determined according to the current vehicle speed after the current vehicle is accelerated by 10km/h is safe, the output overtaking indication can be changed into permission of overtaking, the early warning information is changed into overtaking safety, in addition, the overtaking indication can also comprise overtaking speed suggestions, the same as the above, the condition that the current vehicle is overtaking at a constant speed or accelerated overtaking is judged according to the step 1034, the overtaking speed suggestions at the constant speed or the overtaking speed suggestions at the accelerated overtaking are included, and the speed suggestions in the overtaking speed suggestions are based on the current vehicle speed after the current vehicle speed is accelerated by 10 km/h. However, if the overtaking early warning level determined according to the vehicle speed of the current vehicle after being accelerated by 10km/h is still unsafe, a second unit speed can be increased on the basis of the speed of the current vehicle, then the judgment of whether the reverse overtaking condition is met is performed again according to the method, the second unit speed is greater than the first unit speed, for example, the second unit speed can be 15km/h, so that steps 103 to 1043 are performed again after the vehicle speed of the current vehicle is increased by 15km/h, so that the overtaking early warning level in step 1043 is obtained again, if the overtaking early warning level determined this time is safe, the output overtaking indication can be changed into permission to overtake, the early warning information becomes overtaking safe, the same overtaking indication can still include overtaking speed suggestions and also can be classified as overtaking speed suggestions at constant speed, or the overtaking speed suggestion when overtaking is accelerated, wherein the speed suggestion in the overtaking speed suggestion is the speed after the current speed is accelerated by 15 km/h. However, if the determined overtaking warning level is still unsafe after increasing the speed of the current vehicle by a second unit speed, the output overtaking indication may become an advised overtaking, and the warning information becomes an overtaking with a slight danger.

For example, if the overtaking warning level determined by the above method is safe and uniform overtaking can be adopted when the current vehicle speed is 30km/h, the overtaking indication includes: allowing overtaking, and suggesting overtaking speed greater than or equal to 30km/h, wherein the early warning information is overtaking safety; if the determined overtaking warning level is slightly dangerous, adding 10km/h to 30km/h of the current vehicle to be equal to 40km/h, and performing steps 103 to 1043 again at the speed, if the determined overtaking warning level is safe and constant-speed overtaking can be adopted, the overtaking indication comprises: allowing overtaking, suggesting overtaking speed greater than or equal to 40km/h, wherein the early warning information is overtaking safety, if the overtaking early warning level determined based on 40km/h is still unsafe, adding 15km/h to equal to 45km/h on the basis of 30km/h of the current vehicle speed, and performing steps 103 to 1043 again at the speed, if the overtaking early warning level determined at the time is safe and constant-speed overtaking can be adopted, the overtaking indication comprises: and allowing overtaking, wherein the overtaking speed is recommended to be greater than or equal to 45km/h, the early warning information is overtaking safety, if the overtaking early warning level determined based on 45km/h is still unsafe, the output overtaking indication can be changed into non-overtaking, and the early warning information is slightly dangerous when overtaking is changed.

When the overtaking early warning level is dangerous or very dangerous, the output overtaking indication can be the overtaking prohibition, and the early warning information is dangerous for overtaking.

The overtaking indication and the early warning information can be output on an instrument or a central control display screen of the current vehicle in the form of characters and/or images.

FIG. 4 is a flow chart illustrating another method of overtaking warning that may be used in situations where there are more than one vehicle ahead, as shown in FIG. 4, comprising the steps of:

step 401, obtaining the state information of the current vehicle and the vehicles around the current vehicle.

And 402, determining the direction types of the surrounding vehicles according to the current vehicle and the state information of the surrounding vehicles, wherein the direction types comprise a vehicle in front of the current vehicle and a reverse vehicle in front of the current vehicle.

After the state information of the current vehicle and the surrounding vehicles is acquired in step 401, the surrounding vehicles are classified according to directions according to the state information of the surrounding vehicles, so as to distinguish the positions of the surrounding vehicles relative to the current vehicle. For example, it can be divided into: a vehicle ahead of the current vehicle traveling in the same direction, a vehicle ahead of the vehicle ahead (the vehicle ahead includes one or more vehicles traveling in the same direction ahead of the current vehicle), a vehicle ahead of the current vehicle, a vehicle behind, and so forth. After the surrounding vehicles are determined to be of the direction type, the table 1 is updated in real time according to the state information of the front vehicle and the front reverse vehicle of the current vehicle.

And step 403, when a front reverse vehicle exists in the surrounding vehicles, determining whether the current vehicle meets a reverse overtaking condition according to the current vehicle and the state information of the front vehicle and the front reverse vehicle.

As described above, the reverse overtaking is a process of performing a short reverse travel by using a reverse lane in the traveling direction of the vehicle, and therefore, the condition for the reverse overtaking should depend on the vehicle traveling on the reverse lane, and the distance between the preceding reverse vehicle and the current vehicle determines whether the vehicle has enough clearance to perform the reverse overtaking, and the detailed judgment mode will be described in detail in the embodiment of fig. 5 below. The determination method in table 1 is similar to the description of step 103, and is not repeated.

And step 404, when the condition of reverse overtaking is met, determining the longest driving time of the current vehicle in the reverse lane according to the state information of the current vehicle and the front reverse vehicle.

After it is determined in step 403 that the overtaking condition is satisfied, the maximum time that the current vehicle can occupy the reverse lane, that is, the maximum driving time, may be determined according to the distance between the preceding reverse vehicle and the current vehicle and the speed of the current vehicle, where the specific calculation manner is described in the following embodiments.

Step 405, determining the farthest vehicle that the current vehicle can continuously exceed according to the longest driving time and the state information of all the vehicles in front of the current vehicle.

If the longest travel time is determined in step 404, a vehicle farthest from the current vehicle that can meet the distance of safe passing, that is, the vehicle that can safely pass the current vehicle most is determined by performing condition judgment according to the time and the state information of the vehicle ahead of the current vehicle.

In step 406, an overtaking early warning strategy of the current vehicle is determined according to the state information of the farthest vehicle and the current vehicle.

According to the judgment result, the overtaking early warning strategy of the current vehicle can be determined, and the overtaking early warning strategy comprises the farthest vehicle which can be overtaken and early warning information for overtaking at the time.

Illustratively, fig. 5 is a flowchart illustrating a method of performing a vehicle overtaking warning according to another exemplary embodiment, where, as shown in fig. 5, when a preceding reverse vehicle exists in surrounding vehicles, determining whether a current vehicle meets a condition for reverse vehicle overtaking according to state information of the current vehicle and the preceding reverse vehicle in step 403 includes the following steps:

step 4031, when there is a preceding reverse vehicle in the surrounding vehicles, a first minimum safety distance between the current vehicle and the first vehicle and a first distance between the current vehicle and the first vehicle are determined according to the current vehicle and the state information of a first vehicle, which is closest to the current vehicle, in the preceding vehicles.

Step 4032, when the first distance is smaller than the first minimum safe distance, it is determined that the current vehicle does not satisfy the reverse overtaking condition.

Step 4033, when the first distance is greater than the first minimum safe distance, it is determined that the current vehicle meets the condition of reverse overtaking.

For example, the determining the longest driving time of the current vehicle in the reverse lane according to the state information of the current vehicle and the preceding reverse vehicle in step 404 in the embodiment of fig. 4 may include: determining the longest running time by using a longest running time calculation formula according to a second distance between the current vehicle and the preceding reverse vehicle, the vehicle speed of the current vehicle and the vehicle speed of the preceding reverse vehicle, wherein the longest running time calculation formula comprises:

wherein t represents the longest driving time, OTLD represents the second distance, S3 represents the distance that the current vehicle needs to exceed the first vehicle before returning to the original lane, V_rIndicating the speed, V, of a preceding and a following vehicle_lThe speed of the current vehicle.

Illustratively, fig. 6 is a flowchart illustrating a method of providing an early warning of overtaking according to another exemplary embodiment, and as shown in fig. 6, the step 405 of determining the farthest vehicle that the current vehicle can continuously exceed according to the longest driving time and the status information of all vehicles ahead of the current vehicle may include the following steps:

step 4051, the nth vehicle ahead of the current vehicle is selected.

For example, when step 4051 is executed for the first time, a first vehicle to start traversing needs to be selected, a farthest preceding vehicle that can be detected by the current vehicle may be determined according to data of state information of all preceding vehicles that can be detected by the current vehicle, and if the farthest preceding vehicle is an nth vehicle in front of the current vehicle, the nth vehicle may be started to traverse as the first vehicle to start traversing, where the traversing process includes: the determination of the first preset condition and the second preset condition described below is performed in order from the n vehicles to the vehicle closest to the front of the current vehicle, and the vehicle that can satisfy the first preset condition and the second preset condition is the farthest vehicle that the current vehicle can continuously exceed. In addition, even if continuous overtaking is possible, a large number of vehicles ahead cannot be exceeded without limit, which may cause a safety hazard, and therefore, one continuous overtaking upper limit value may be preset as the farthest vehicle for the overtaking determination, for example, the continuous overtaking upper limit value may be preset to 5, the 5 th vehicle ahead of the current vehicle may be selected as the nth vehicle in the step, and the determination in the subsequent step may be performed from the 5 th vehicle.

Step 4052, determining the overtaking distance required by the current vehicle exceeding the nth vehicle and the maximum safe driving distance of the current vehicle in the reverse lane according to the state information of the current vehicle, the state information of the nth vehicle and the maximum driving time.

Illustratively, V may be used_lT represents the maximum safe driving distance, i.e. the longest distance the vehicle can drive in the reverse lane, S_LA+V_AT + MSD represents the overtaking distance; wherein, V_lIs shown asSpeed of preceding vehicle, S_LAIndicates the distance, V, between the current vehicle and the nth vehicle_ARepresents the speed of the nth vehicle, t represents the longest travel time, and MSD represents the third minimum safe distance between the current vehicle and the (n + 1) th vehicle before the nth vehicle after passing the nth vehicle and returning to the original lane.

Step 4053, determine whether the overtaking distance and the maximum safe driving distance satisfy a first preset condition.

As an example, the first preset condition is determined, that is, whether the passing distance satisfies the following condition:

S_LA+V_A*t+MSD＜V_l*t

wherein both the overtaking distance and the maximum safe driving distance are determined by step 4052.

And when the first preset condition is not met, making n equal to n-1, and re-executing the steps 4051 to 4053 to re-acquire a vehicle to be overtaken. That is, since it is described that the passing of the nth vehicle is impossible when the first preset condition is not satisfied, n is reduced by 1, and a vehicle closer to the nth vehicle is selected as the vehicle to be passed, and it is determined whether or not the condition is satisfied again. Otherwise, when the first preset condition is satisfied, proceed to step 4054.

Step 4054, determining a clearance distance between the nth vehicle and the (n + 1) th vehicle when the current vehicle exceeds the nth vehicle and then returns to the original lane, a second minimum safety distance between the nth vehicle and the current vehicle after the current vehicle returns to the original lane, and a third minimum safety distance between the current vehicle and the (n + 1) th vehicle according to the status information of the nth vehicle and the status information of the (n + 1) th vehicle in front of the current vehicle.

Wherein S may be used_AB+(V_B-V_A) T' denotes the gap distance, S_ABIndicating a third distance, V, between the nth vehicle and the (n + 1) th vehicle when the current vehicle intends to overtake_AIndicating the speed, V, of the nth vehicle_BRepresenting the speed of the (n + 1) th vehicle, t' representing the actual time-to-clear, MSD, required for the current vehicle to exceed the furthest vehicle_ALIndicating a second minimum safety distance, MSD_LBRepresents the third bestA small safety distance.

And, wherein:

step 4055, determine whether the clearance distance and the maximum safe driving distance satisfy a second preset condition.

Wherein, the second preset condition is to judge whether the clearance distance satisfies the following condition:

S_AB+(V_B-V_A)*t′＞MSD_AL+MSD_LB

wherein the gap distance, the second minimum safe distance and the third minimum safe distance are also determined by the above step 4054.

When a second preset condition is met, determining the nth vehicle as the farthest vehicle; that is, after the above determination, it can be determined that the present vehicle can pass the vehicle to be passed determined in step 4051. Conversely, when the second preset condition is not satisfied, let n be n-1, and re-execute steps 4051 to 4055 until the farthest vehicle is determined. When the second preset condition is not met, it is indicated that the nth vehicle cannot be exceeded, a decreasing manner is used to perform distance decreasing traversal from the farthest nth vehicle, and the determination is performed again until a farthest vehicle meeting the first preset condition and the second preset condition can be selected, thereby ending the loop determination process, and then step 406 is performed again.

Illustratively, fig. 7 is a flowchart illustrating a method for providing a warning of overtaking according to another exemplary embodiment, where as shown in fig. 7, the determining of the warning strategy for overtaking of the current vehicle according to the state information of the farthest vehicle and the current vehicle in step 406 includes the following steps:

step 4061, a reverse overtaking hazard index is calculated based on the overtaking distance and a second distance between the current vehicle and a forward reverse vehicle.

The passing distance, that is, the passing distance required by the current vehicle to exceed the farthest vehicle, is determined in step 4052, and when the farthest vehicle is the nth vehicle, the passing distance is the passing distance required by the current vehicle to exceed the nth vehicle, which is defined as C, and the second distance may also be determined by the geographic coordinates of the current vehicle and the preceding reverse vehicle, which is defined as OTLD.

Similar to step 1042 in the embodiment of fig. 3, the difference is that the overtaking risk index V in this step 4061 can be determined by V ═ OTLD-C)/C. The

subsequent steps

4062 and 4063 are substantially the same as

steps

1043 and 1044 in the embodiment of fig. 3, and are not described here again.

Step 4062, determining an overtaking warning level according to the overtaking danger index.

Step 4063, outputting the warning information corresponding to the overtaking warning level and the overtaking indication.

Illustratively, when the overtaking early warning level is safe, the corresponding overtaking indication can be given in the step as n vehicles which are allowed to continuously exceed the front, the early warning information is overtaking safety, and the early warning information and the overtaking indication can be directly output at the moment. Or, further, the cut-in indication may also include a cut-in speed recommendation. The overtaking speed recommendation may include: and overtaking at the speed greater than or equal to the current vehicle speed.

When the overtaking early warning level is slight danger, the output overtaking indication can be that n vehicles ahead are allowed to be continuously exceeded, and the early warning information indicates that overtaking has slight danger. Or, further, before outputting the warning information and the overtaking instruction, the first unit speed may be increased based on the current speed of the vehicle, and the process of determining the level of the overtaking warning in steps 4052 to 4062 may be performed again according to the above method. For example, the first unit speed may be 10km/h, that is, steps 4052 to 4062 may be performed again at a speed 10km/h faster than the speed of the current vehicle, so as to acquire the overtaking warning level of the preceding n vehicles in succession again. If the overtaking early warning level determined according to the speed of the current vehicle after the speed is increased by 10km/h is safe, the output overtaking indication can be changed into n vehicles which are allowed to continuously exceed the front, the early warning information is changed into overtaking safety, in addition, the overtaking indication can also comprise overtaking speed suggestions, and the speed suggestions in the overtaking speed suggestions are based on the speed of the current vehicle after the speed is increased by 10 km/h. However, if the overtaking warning level determined according to the speed of the current vehicle after being accelerated by 10km/h is still unsafe, the speed of the current vehicle may be increased by a second unit speed, and then steps 4052 to 4062 are performed again, so as to obtain the overtaking warning level of n consecutive vehicles in excess of the previous vehicle again, the second unit speed is greater than the first unit speed, for example, the second unit speed may be 15km/h, if the overtaking warning level determined this time is safe, the output overtaking indication may become to allow n consecutive vehicles in excess of the previous vehicle, the warning information becomes overtaking safety, the same overtaking indication may still include an overtaking speed suggestion, and at this time, the speed suggestion in the overtaking speed suggestion is based on the speed after being accelerated by 15 km/h. However, if the determined overtaking warning level is still unsafe after increasing the speed of the current vehicle by a second unit speed, the output overtaking indication may become an advised overtaking, and the warning information becomes an overtaking with a slight danger.

For example, if the overtaking warning level determined by the speed of the current vehicle is safe when the speed of the current vehicle is 30km/h, the overtaking indication includes: allowing n vehicles continuously exceeding the front, suggesting the overtaking speed to be greater than or equal to 30km/h, and giving out early warning information about overtaking safety; if the determined overtaking warning level is a slight danger, the speed of the current vehicle is 30km/h plus 10km/h equals 40km/h, and steps 4052 to 4062 are performed again at this speed, and if the determined overtaking warning level is safe this time, the overtaking indication includes: allowing n vehicles in front to be continuously exceeded, suggesting a overtaking speed greater than or equal to 40km/h, the warning information being overtaking safe, if the overtaking warning level determined based on 40km/h is still not safe, adding 15km/h to the speed of 30km/h of the current vehicle equal to 45km/h, and executing steps 4052 to 4062 again at this speed, if the overtaking warning level determined this time is safe, the overtaking indication comprises: the method comprises the steps of allowing n vehicles continuously exceeding the front, recommending the overtaking speed to be greater than or equal to 45km/h, wherein the early warning information is overtaking safety, if the overtaking early warning level determined based on 45km/h is still unsafe, the output overtaking indication can be changed into non-overtaking, and the early warning information is changed into overtaking with slight danger.

In summary, according to the method for early warning of overtaking provided by the embodiment of the present disclosure, by obtaining the state information of the current vehicle and the vehicles around the current vehicle, and then determining the azimuth type of the surrounding vehicle according to the state information of the current vehicle and the vehicles around the current vehicle, when there is a preceding reverse vehicle in the surrounding vehicles, determining whether the current vehicle meets the condition of reverse overtaking according to the state information of the current vehicle, the front vehicle and the front reverse vehicle, when the condition of reverse overtaking is met, determining the longest driving time of the current vehicle in the reverse lane according to the state information of the current vehicle and the preceding reverse vehicle, then determining the farthest vehicle which can be continuously exceeded by the current vehicle according to the longest driving time and the state information of all the preceding vehicles of the current vehicle, and then determining the overtaking early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle. Therefore, the overtaking early warning method provided by the disclosure can solve the problem of lack of accuracy and safety caused by manual judgment during reverse overtaking, and realizes one-time overtaking of multiple vehicles.

Fig. 8 is a block diagram illustrating an apparatus for a passing warning according to an exemplary embodiment, and as shown in fig. 8, the apparatus 800 includes:

an obtaining module 801 is configured to obtain status information of a current vehicle and vehicles around the current vehicle.

And an orientation determining module 802, configured to determine an orientation type of the surrounding vehicle according to the current vehicle and the state information pair of the surrounding vehicle, where the orientation type includes a vehicle ahead of the current vehicle and a reverse vehicle ahead of the current vehicle.

And the overtaking condition determining module 803 is used for determining whether the current vehicle meets the condition of reverse overtaking according to the current vehicle and the state information of the front vehicle and the front reverse vehicle when the front reverse vehicle exists in the surrounding vehicles.

And the early warning strategy determining module 804 is configured to output a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition.

Optionally, the state information of the current vehicle includes a vehicle speed, an acceleration, and a geographic coordinate of the current vehicle; the state information of the surrounding vehicle includes the speed, acceleration, geographical coordinates of the surrounding vehicle.

Illustratively, FIG. 9 is a block diagram illustrating a cut-in condition determination module according to an exemplary embodiment, such as the cut-in condition determination module 803 shown in FIG. 9, comprising:

the distance determining submodule 8031 is configured to determine, when there is a preceding reverse vehicle in the surrounding vehicles, a first minimum safe distance between the current vehicle and the first vehicle and a first distance between the current vehicle and the first vehicle according to the current vehicle and state information of a first vehicle, which is closest to the current vehicle, of the preceding vehicles.

The passing condition determining submodule 8032 is configured to determine that the current vehicle does not satisfy the reverse passing condition when the first distance is smaller than the first minimum safe distance.

The passing condition determining submodule 8032 is further configured to determine, when the first distance is greater than the first minimum safe distance, a second minimum safe distance between the first vehicle and the current vehicle and a third minimum safe distance between the current vehicle and the second vehicle when the current vehicle completes passing the first vehicle and returns to an original lane before passing the first vehicle, according to the state information of the current vehicle and the first vehicle and the state information of a second vehicle, which is closest to the first vehicle, of the current vehicle and the preceding vehicle.

The overtaking time prediction submodule 8033 is configured to predict, according to the state information of the current vehicle, the first vehicle, and the second vehicle, an overtaking time required for the current vehicle to complete overtaking of the first vehicle and return to an original lane before overtaking.

The safe carriage return distance prediction sub-module 8034 is configured to predict a safe carriage return distance according to the state information of the first vehicle and the second vehicle and the overtaking time, where the safe carriage return distance is a distance between the first vehicle and the second vehicle when the current vehicle completes the overtaking of the first vehicle and returns to an original lane before the overtaking.

The first reverse overtaking determination submodule 8035 is configured to determine that the current vehicle does not satisfy a condition of reverse overtaking when a sum of the second minimum safe distance and the third minimum safe distance is greater than the safe carriage return distance.

The overtaking distance determining submodule 8036 is configured to determine, when the sum of the second minimum safe distance and the third minimum safe distance is smaller than or equal to the safe carriage return distance, an overtaking distance required for overtaking of the current vehicle according to the state information of the current vehicle and the preceding reverse vehicle.

The second reverse overtaking determination submodule 8037 is configured to determine that the current vehicle does not satisfy the condition of reverse overtaking when the overtaking distance is greater than a second distance between the current vehicle and the preceding reverse vehicle.

The second reverse overtaking determination submodule 8037 is further configured to determine that the current vehicle satisfies a reverse overtaking condition when the overtaking distance is smaller than a second distance between the current vehicle and a preceding reverse vehicle.

Illustratively, a safe carriage return distance prediction sub-module 8034 is configured to:

calculating a safe carriage return distance by using a safe carriage return distance formula according to the speed and the acceleration of the first vehicle, the speed and the acceleration of the second vehicle, the overtaking time and the carriage return distance;

a safe carriage return distance formula comprising:

wherein RD_NEWRepresenting a safe carriage return distance, RD representing a carriage return distance, FFVS representing a speed of the second vehicle, t representing a time of overtaking, FFVA representing an acceleration of the second vehicle, and an FVS tableThe current vehicle speed of the first vehicle is indicated and the FVA indicates the acceleration of the first vehicle.

Illustratively, the time-to-cut prediction submodule 8033, when a speed difference between a speed of the current vehicle and a speed of the first vehicle is greater than a first difference threshold, is configured to:

calculating overtaking time by utilizing a first overtaking time calculation formula according to the speed and the acceleration of the current vehicle, the speed and the acceleration of the first vehicle, the first distance and the second minimum safety distance;

the first formula for calculating the overtaking time comprises:

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

For example, the overtaking time prediction module 8033 is further configured to, when a speed difference between the vehicle speed of the current vehicle and the vehicle speed of the first vehicle is less than a first difference threshold:

calculating overtaking time by using a second calculation formula of the overtaking time according to the speed and the acceleration of the current vehicle, the speed and the acceleration of the first vehicle, the first distance, the second minimum safety distance and the overtaking acceleration; the second formula for calculating the overtaking time comprises the following steps:

t＝t1+t2；

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

where LVS denotes a vehicle speed of the current vehicle, FVS denotes a vehicle speed of the first vehicle, FVA denotes an acceleration of the first vehicle, FTLD denotes a first distance, MSD2 denotes a second minimum safe distance, a denotes an overtaking acceleration, and S3 denotes a distance that the current vehicle needs to exceed the first vehicle before returning to the original lane.

Illustratively, the passing distance determination submodule 8036 is configured to, when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold:

determining the overtaking distance by utilizing a first overtaking distance calculation formula according to the speed of the current vehicle and the speed and the acceleration of the front reverse vehicle; the first formula for calculating the overtaking distance comprises the following steps:

wherein S represents a passing distance, LVS represents a vehicle speed of the current vehicle, OVS represents a vehicle speed of the preceding reverse vehicle, OVA represents an acceleration of the preceding reverse vehicle, and S2 represents a fourth minimum safe distance between the current vehicle and the preceding reverse vehicle;

illustratively, the passing distance determination submodule 8036 is further configured to, when the speed difference between the speed of the current vehicle and the speed of the first vehicle is less than a first difference threshold:

For example, fig. 10 is a block diagram illustrating an early warning policy determination module according to an exemplary embodiment, as shown in fig. 10, the early warning policy determination module 804 includes:

and the prohibition information output submodule 8041 is used for outputting the warning information for prohibiting overtaking when the vehicle does not meet the reverse overtaking condition.

The overtaking danger index determining submodule 8042 is configured to calculate a reverse overtaking danger index according to the overtaking distance and the second distance when the vehicle meets a reverse overtaking condition.

And the overtaking early warning level determining submodule 8043 is used for determining the overtaking early warning level according to the overtaking danger index.

And the overtaking indication output submodule 8044 is used for outputting the early warning information corresponding to the overtaking early warning level and overtaking indication.

In summary, the overtaking early warning device provided by the embodiment of the present disclosure obtains the state information of the current vehicle and the vehicles around the current vehicle; determining the direction type of the surrounding vehicle according to the state information of the current vehicle and the surrounding vehicle; when a front reverse vehicle exists in surrounding vehicles, determining whether the current vehicle meets a reverse overtaking condition or not according to the current vehicle and the state information of the front vehicle and the front reverse vehicle; and outputting a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition. Consequently, the device of the early warning of overtaking that this disclosure provided can solve when reverse overtaking by the manual work judge the problem of the lack of accuracy and security that leads to.

Fig. 11 is a block diagram illustrating another overtaking warning apparatus according to an exemplary embodiment, and as shown in fig. 11, the apparatus 1100 includes:

the acquiring module 1101 is configured to acquire status information of a current vehicle and vehicles around the current vehicle.

And the direction determining module 1102 is configured to determine the direction types of the surrounding vehicles according to the current vehicle and the state information pairs of the surrounding vehicles, where the direction types include a vehicle ahead of the current vehicle and a vehicle ahead of the current vehicle.

The reverse overtaking judgment module 1103 is configured to, when a preceding reverse vehicle exists in the surrounding vehicles, determine whether the current vehicle meets a condition of reverse overtaking according to the current vehicle and the state information of the preceding vehicle and the preceding reverse vehicle.

And a maximum driving time determination module 1104, configured to determine the maximum driving time of the current vehicle in the reverse lane according to the state information of the current vehicle and the preceding reverse vehicle when a reverse overtaking condition is met.

A farthest vehicle determining module 1105, configured to determine, according to the longest driving time and status information of all vehicles in front of the current vehicle, a farthest vehicle that the current vehicle can continuously exceed.

And a passing strategy determining module 1106, configured to determine a passing early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle.

Illustratively, the state information of the current vehicle includes a vehicle speed, an acceleration, geographic coordinates of the current vehicle; the state information of the surrounding vehicle includes the speed, acceleration, geographical coordinates of the surrounding vehicle.

Illustratively, fig. 12 is a block diagram illustrating an inverse cut-in determination module according to an exemplary embodiment, and as shown in fig. 12, the inverse cut-in determination module 1103 includes:

the distance determining sub-module 11031 is configured to determine, when a preceding reverse vehicle exists in the surrounding vehicles, a first minimum safe distance between the current vehicle and the first vehicle and a first distance between the current vehicle and the first vehicle according to the current vehicle and state information of a first vehicle, which is closest to the current vehicle, of the preceding vehicles.

And the reverse overtaking judgment sub-module 11032 is used for determining that the current vehicle does not meet the condition of reverse overtaking when the first distance is smaller than the first minimum safety distance.

The reverse overtaking judgment sub-module 11032 is further configured to determine that the current vehicle meets the condition of reverse overtaking when the first distance is greater than the first minimum safe distance.

Illustratively, the maximum travel time determination module 1104 is configured to:

and determining the longest running time by using a longest running time calculation formula according to the second distance between the current vehicle and the front reverse vehicle, the vehicle speed of the current vehicle and the vehicle speed of the front reverse vehicle.

The maximum travel time calculation formula includes:

Illustratively, fig. 13 is a block diagram illustrating a farthest vehicle determination module, as shown in fig. 13, the farthest vehicle determination module 1105 including:

a vehicle selection submodule 11051 for performing a.

And the maximum safe driving distance sub-module 11052 is used for executing b, determining the overtaking distance required by the current vehicle exceeding the nth vehicle and the maximum safe driving distance of the current vehicle in a reverse lane according to the state information of the current vehicle, the state information of the nth vehicle and the maximum driving time.

And a first preset condition judgment sub-module 11053 for performing c-judgment of whether the passing distance and the maximum safe driving distance satisfy a first preset condition.

and d, when the first preset condition is met, performing step d.

A safe distance determining sub-module 11054 for performing d, determining a clearance distance between the nth vehicle and the (n + 1) th vehicle when the current vehicle is on a returning lane after exceeding the nth vehicle, a second minimum safe distance between the current vehicle and the nth vehicle after returning to the original lane, and a third minimum safe distance between the current vehicle and the (n + 1) th vehicle, according to the state information of the nth vehicle and the state information of the (n + 1) th vehicle in front of the current vehicle.

And a second preset condition judgment submodule 11055, configured to execute e, according to whether the clearance distance and the maximum safe driving distance satisfy a second preset condition.

When a second preset condition is met, determining the nth vehicle as the farthest vehicle;

Illustratively, the first preset condition determining sub-module 11053 is configured to:

judging whether the overtaking distance meets the following conditions:

S_LA+V_A*t+MSD＜V_l*t

wherein S is_LA+V_AT + MSD represents the overtaking distance, V_lT represents the maximum safe driving distance, V_lIndicating the current vehicle speed, S_LAIndicates the distance, V, between the current vehicle and the nth vehicle_ARepresents the speed of the nth vehicle, t represents the longest travel time, and MSD represents the third minimum safe distance between the nth +1 th vehicle and the nth +1 th vehicle after the vehicle passes the nth vehicle and returns to the original lane.

A second preset condition judgment submodule 11055, configured to:

judging whether the gap distance meets the following conditions:

S_AB+(V_B-V_A)*t′＞MSD_AL+MSD_LB

wherein S is_AB+(V_B-V_A) T' denotes the gap distance, S_ABIndicating a third distance, V, between the nth vehicle and the (n + 1) th vehicle when the current vehicle intends to overtake_AIndicating the speed, V, of the nth vehicle_BRepresenting the speed of the n +1 th vehicle, t' representing the actual time-to-overtake, MSD, required for the current vehicle to overtake the nth vehicle_ALIndicating a second minimum safety distance, MSD_LBRepresents a third minimum safe distance;

wherein:

illustratively, FIG. 14 is a block diagram illustrating a cut-in strategy determination module according to an exemplary embodiment, such as the cut-in strategy determination module 1106, shown in FIG. 14, comprising:

the passing risk index determination submodule 11061 is configured to calculate a reverse passing risk index according to a passing distance required by the current vehicle to exceed the farthest vehicle and a second distance between the current vehicle and a preceding reverse vehicle.

And the overtaking early warning level determining submodule 11062 is used for determining the overtaking early warning level according to the overtaking danger index.

And the overtaking instruction determining submodule 11063 is used for outputting the early warning information corresponding to the overtaking early warning level and an overtaking instruction.

In summary, the overtaking warning device provided by the embodiment of the present disclosure obtains the state information of the current vehicle and the vehicles around the current vehicle, and determines the direction types of the vehicles around according to the state information of the current vehicle and the vehicles around, when there is a preceding reverse vehicle in the vehicles around, determining whether the current vehicle meets the condition of reverse overtaking according to the state information of the current vehicle, the front vehicle and the front reverse vehicle, when the condition of reverse overtaking is met, determining the longest driving time of the current vehicle in the reverse lane according to the state information of the current vehicle and the preceding reverse vehicle, then determining the farthest vehicle which can be continuously exceeded by the current vehicle according to the longest driving time and the state information of all the preceding vehicles of the current vehicle, and then determining the overtaking early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle. Therefore, the overtaking early warning device provided by the disclosure can realize effective one-time overtaking of multiple vehicles.

FIG. 15 is a block diagram illustrating an electronic device 1500 in accordance with an example embodiment. As shown in fig. 15, the electronic device 1500 may include: a processor 1501, memory 1502, multimedia components 1503, input/output (I/O) interfaces 1504, and communication components 1505.

The processor 1501 is configured to control the overall operation of the electronic device 1500, so as to complete all or part of the steps in the index management method for log query. The memory 1502 is used to store various types of data to support operation at the electronic device 1500, such as instructions for any application or method operating on the electronic device 1500, as well as application-related data, such as contact data, messaging, pictures, audio, video, and the like. The Memory 1502 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 1503 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 1502 or transmitted via the communication component 1505. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 1504 provides an interface between the processor 1501 and other interface modules, such as a keyboard, mouse, buttons, and the like. These buttons may be virtual buttons or physical buttons. The communication component 1505 is used for wired or wireless communication between the electronic device 1500 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 1505 may include: Wi-Fi module, bluetooth module, NFC module.

In an exemplary embodiment, the electronic Device 1500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the index management method for log queries described above.

In another exemplary embodiment, a computer readable storage medium comprising program instructions, such as the memory 1502 comprising program instructions, executable by the processor 1501 of the electronic device 1500 to perform the index management method for log queries described above is also provided.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method of early warning of overtaking, the method comprising:

acquiring state information of a current vehicle and vehicles around the current vehicle, wherein the state information of the current vehicle comprises the speed, the acceleration and the geographic coordinates of the current vehicle; the state information of the surrounding vehicle comprises the speed, the acceleration and the geographic coordinates of the surrounding vehicle;

determining the direction types of the surrounding vehicles according to the state information of the current vehicle and the surrounding vehicles, wherein the direction types comprise a vehicle in front of the current vehicle and a reverse vehicle in front of the current vehicle;

outputting a overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition; wherein the content of the first and second substances,

when the preceding reverse vehicle exists in the surrounding vehicles, determining whether the current vehicle meets a condition of reverse overtaking according to the current vehicle and the state information of the preceding vehicle and the preceding reverse vehicle comprises the following steps:

2. The method of claim 1, wherein predicting a safe distance to enter based on the status information of the first and second vehicles and the time of cut-in comprises:

the safe carriage return distance formula comprises:

3. The method according to claim 1, wherein when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold, predicting the overtaking time required for the current vehicle to complete overtaking of the first vehicle and return to an original lane before overtaking according to the state information of the current vehicle, the first vehicle and the second vehicle comprises:

when the FVA is >0, the polymer,

when the FVA is less than or equal to 0,

4. The method according to claim 2, wherein when a speed difference between the speed of the current vehicle and the speed of the first vehicle is less than a first difference threshold, predicting the overtaking time required for the current vehicle to complete overtaking of the first vehicle and return to an original lane before overtaking according to the state information of the current vehicle, the first vehicle and the second vehicle comprises:

t＝t1+t2；

when the FVA is >0, the polymer,

when the FVA < ═ 0,

5. The method of claim 1, wherein when a speed difference between the speed of the current vehicle and the speed of the first vehicle is greater than a first difference threshold, the determining the required passing distance for the current vehicle to pass according to the state information of the current vehicle and the preceding reverse vehicle comprises:

wherein S represents the passing distance, LVS represents the vehicle speed of the current vehicle, OVS represents the vehicle speed of the preceding reverse vehicle, OVA represents the acceleration of the preceding reverse vehicle, and S2 represents a fourth minimum safety distance between the current vehicle and the preceding reverse vehicle.

6. The method of claim 4, wherein determining the required passing distance for the current vehicle to pass when the speed difference between the speed of the current vehicle and the speed of the first vehicle is less than a first difference threshold based on the status information of the current vehicle and the preceding reverse vehicle comprises:

7. The method according to claim 1, wherein the outputting of the overtaking early warning policy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition comprises:

8. A method of early warning of overtaking, the method comprising:

determining an overtaking early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle; wherein the content of the first and second substances,

the determining, according to the longest travel time and the state information of all preceding vehicles of the current vehicle, a farthest vehicle that the current vehicle can continuously exceed includes:

a. selecting an nth vehicle in front of the current vehicle;

when the first preset condition is met, performing step d;

9. The method according to claim 8, wherein the determining whether the current vehicle satisfies a condition for reverse overtaking according to the state information of the current vehicle and the preceding reverse vehicle when the preceding reverse vehicle is present in the surrounding vehicles includes:

10. The method of claim 8, wherein determining the longest travel time of the current vehicle in a reverse lane based on the status information of the current vehicle and the preceding reverse vehicle comprises:

the maximum travel time calculation formula includes:

wherein t represents the longest driving time, OTLD represents the second distance, S3 represents that the current vehicle needs to exceed the distance of the first vehicle closest to the current vehicle among the front vehicles before returning to the original lane, V_rIndicating the speed, V, of said preceding and reversing vehicle_lThe current vehicle speed.

11. The method of claim 8, wherein the determining whether the overtaking distance and the maximum safe driving distance satisfy a first preset condition comprises:

judging whether the overtaking distance meets the following conditions:

S_LA+V_A*t+MSD<V_l*t

judging whether the gap distance meets the following conditions:

S_AB+(V_B-V_A)*t＇>MSD_AL+MSD_LB

wherein:

12. the method of claim 8, wherein determining the overtaking warning policy for the current vehicle based on the status information of the farthest vehicle and the current vehicle comprises:

13. An overtaking warning device, comprising:

the early warning strategy determining module is used for outputting an overtaking early warning strategy corresponding to the judgment result according to the judgment result of whether the current vehicle meets the reverse overtaking condition; wherein the content of the first and second substances,

the overtaking condition determining module includes:

14. The apparatus of claim 13, wherein the early warning policy determination module comprises:

15. An overtaking warning device, comprising:

the overtaking strategy determining module is used for determining an overtaking early warning strategy of the current vehicle according to the state information of the farthest vehicle and the current vehicle; wherein the content of the first and second substances,

the farthest vehicle determination module includes:

when the first preset condition is met, performing step d;

16. The apparatus of claim 15, wherein the reverse cut-in determination module comprises:

17. The apparatus of claim 15, wherein the cut-in strategy determination module comprises: