CN107731010B - Intelligent front vehicle avoidance recommendation method and system in Internet of vehicles environment - Google Patents

Intelligent front vehicle avoidance recommendation method and system in Internet of vehicles environment Download PDF

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CN107731010B
CN107731010B CN201711244475.5A CN201711244475A CN107731010B CN 107731010 B CN107731010 B CN 107731010B CN 201711244475 A CN201711244475 A CN 201711244475A CN 107731010 B CN107731010 B CN 107731010B
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time
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lane
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CN107731010A (en
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余海燕
向娇
侯于涵
王文娟
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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    • G08—SIGNALLING
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    • G08G1/00—Traffic control systems for road vehicles
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    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
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Abstract

The invention relates to the technical field of automobile safety, in particular to a method and a system for intelligently avoiding and recommending front automobiles in an Internet of vehicles environment, wherein the method comprises the following steps: respectively acquiring position information of a first vehicle and a second vehicle to obtain a first distance between the first vehicle and the second vehicle and first road information; if the first distance is smaller than the first distance threshold value, the vehicle networking server sends preparation avoidance information to the first vehicle; the radar detector monitors a second distance between the first vehicle and the second vehicle, monitors the speeds of the first vehicle and the second vehicle respectively, and sends the second distance between the first vehicle and the second vehicle and the speeds of the first vehicle and the second vehicle to the internet-of-vehicles server; the Internet of vehicles server calculates avoidance time according to the distance and the speeds of the first vehicle and the second vehicle, generates an avoidance mode, and sends the avoidance mode to the first vehicle; the driver carries out avoidance according to the avoidance mode, and the invention ensures that the front vehicle obtains the precious avoidance time and can effectively give way.

Description

Intelligent front vehicle avoidance recommendation method and system in Internet of vehicles environment
Technical Field
The invention relates to the technical field of automobile safety, in particular to a method and a system for intelligently avoiding and recommending a front automobile in an Internet of vehicles environment.
Background
With the improvement of living standard of people and the increase of private vehicles, research reports predict that the automobile ownership in China will reach the global average level, namely 0.17 per person before 2020. Besides crowding buses and subways, the driving frequency of people is increased, road congestion is caused, and even early peaks and late peaks appear, so that great pressure is brought to road traffic. If an emergency vehicle (120 vehicles, 110 vehicles, 119 vehicles, etc.) encounters such a situation, a great deal of valuable time will be delayed, and the gold time for saving people and disaster relief will be delayed or missed.
In the face of increasingly serious urban traffic jam problems, although emergency vehicles have high priority given by law, the emergency vehicles are influenced by social vehicles in actual running, the emergency vehicles are difficult to pass preferentially, particularly in congested road sections, the emergency vehicles are difficult to overtake queuing vehicles, great delay is caused, and the efficiency of urban emergency rescue service is seriously influenced. Research shows that the news of the social vehicles and emergency vehicles for getting on the way is not rare in recent years. Although a plurality of relevant countermeasures exist for solving the problem that the emergency vehicle cannot run on the green channel in time, the difficulty of giving way to the emergency vehicle cannot be solved fundamentally.
Although automatic monitoring systems exist, the target vehicle is the rear vehicle, and radar detectors and related monitoring technologies are generally used for realizing the functions of the automatic monitoring systems. The system can monitor the condition of the road in front, avoid the road jam and effectively reduce the probability of traffic jam of the rear vehicle. However, in the case of only one road at the front and a traffic jam, the rear vehicle can only be passively jammed on the road. If the rear vehicle is an emergency vehicle, loss is brought to the masses and the society, so that the traditional automatic automobile monitoring system or the self-adaptive cruise control system has certain defects.
Disclosure of Invention
In view of the above, the invention provides a method for recommending an intelligent avoidance direction of a preceding vehicle in an internet of vehicles environment, which has the main function of acquiring the arrival time and distance data of an emergency vehicle through navigation, so that a driver of the preceding vehicle (hereinafter, including a first vehicle and a third vehicle) or a control platform of an unmanned vehicle can more quickly grasp the intelligent recommendation direction on the internet of vehicles platform, and the purpose of quickly and timely giving way is achieved.
In order to solve the problems, the invention adopts the processing idea of 'intelligent avoidance direction recommendation technology of the front vehicle', the internet networking sensor and the monitoring system are arranged on the front vehicle, when an emergency vehicle arrives at the rear part, the front vehicle can automatically monitor the direction and the distance of the emergency vehicle (the front vehicle is a forward vehicle), and a way-giving scheme is provided for a front vehicle owner or an unmanned vehicle control platform. The invention relates to a method and a system for intelligently avoiding and recommending a preceding vehicle in an Internet of vehicles environment, wherein the method comprises the following steps:
s1, respectively acquiring the position information of the first vehicle and the second vehicle to obtain a first distance between the first vehicle and the second vehicle and first road information;
s2, if the first distance is smaller than a first distance threshold value, the Internet of vehicles server sends preparation avoidance information to the first vehicle; first distance threshold
S3, after the first vehicle receives the prepared avoidance information, starting a radar detector, monitoring a second distance between the first vehicle and the second vehicle, respectively monitoring the speed of the first vehicle and the speed of the second vehicle, and sending the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the speed of the second vehicle to an internet-of-vehicles server;
s4, the Internet of vehicles server calculates the avoidance time according to the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the second vehicle, generates an avoidance mode according to the first road information and the avoidance time and sends the avoidance mode to the first vehicle.
Preferably, the generating an avoidance mode according to the first road information and the avoidance time and sending the avoidance mode to the first vehicle includes: the vehicle networking server judges lane information of the first vehicle and the second vehicle, and if the lane information is a combination of a common lane and an emergency lane, the vehicle networking server does not send a message to the first vehicle; if the lane information is only a common lane, the Internet of vehicles server calculates avoidance time according to the type of the common lane, generates an avoidance mode and sends the avoidance mode to the first vehicle; wherein, the type of ordinary lane includes single lane, double lane and multilane, dodge time and include: the first vehicle dodges the total time, and the second vehicle drives to the first vehicle, wherein the first road information is the lane information of the first vehicle and the second vehicle.
Optionally, when the common lane is a single lane, the avoidance mode generated during the single lane driving includes: if the first vehicle and the second vehicle are in single-lane driving, calculating avoidance time, and if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, avoiding the first vehicle to the left or to the right; wherein, the time that the second vehicle travels to the first vehicle and the total time that the first vehicle dodges are respectively:
Figure BDA0001490493340000031
wherein R represents the monitoring half of the radar detectorDiameter, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
Optionally, when the common lane is a dual lane, the avoidance mode generated during dual lane driving includes: if the first vehicle and the second vehicle run in double lanes, calculating avoidance time, and generating an avoidance mode according to the avoidance time; the method specifically comprises the following steps: when the first vehicle and the second vehicle are located in the same lane of the two lanes and the other lane of the two lanes has no vehicle, if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, the first vehicle selectively avoids the other lane; when a third vehicle exists in the other lane of the two lanes where the first vehicle and the second vehicle are located, if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle and the total avoidance time of the third vehicle, the first vehicle and the third vehicle both avoid to the outer sides of the two lanes, and the second vehicle passes through the middle of the first vehicle and the third vehicle; wherein, the time that the second vehicle travels to the first vehicle, the total time that the first vehicle dodges and the total time that the third vehicle dodges are respectively:
Figure BDA0001490493340000041
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upIndicating the speed, V, of the second vehicleVehicle 1Represents the thirdThe speed of the vehicle, t represents the total time for the first vehicle to avoid, t 'represents the total time for the third vehicle to avoid, t' represents the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
Optionally, when the common lane is a multi-lane, the avoidance mode generated during multi-lane driving includes: if the multilane cannot be divided equally left and right, calculating avoidance time, and if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle, the first vehicle travels rightwards, wherein the time for the second vehicle to travel to the first vehicle and the total avoidance time of the first vehicle are respectively as follows:
Figure BDA0001490493340000042
r represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
The invention discloses an intelligent front vehicle avoidance recommendation system in an Internet of vehicles environment, which comprises: the system comprises a vehicle networking server, a vehicle networking communication module, a GPS module, a radar detector and a voice module.
The vehicle networking server is respectively communicated with the GPS module and the radar detector through the vehicle networking communication module and is used for generating an avoidance mode and judging whether to send prepared avoidance information or not;
the GPS module is used for acquiring first distances and first road information of a first vehicle and a second vehicle;
the radar detector is used for monitoring a second distance between the first vehicle and the second vehicle and respectively monitoring the speed of the first vehicle and the speed of the second vehicle;
the voice module is used for broadcasting the prepared avoidance information and the avoidance mode.
Preferably, the step of generating the avoidance mode by the internet of vehicles server specifically includes that the internet of vehicles server judges lane information of the first vehicle and the second vehicle, and if the lane information is a combination of a common lane and an emergency lane, the internet of vehicles server does not send a message to the first vehicle; if the lane information is only a common lane, the Internet of vehicles server calculates corresponding avoidance time according to the type of the common lane, generates an avoidance mode, and sends the avoidance mode to the first vehicle through an Internet of vehicles communication module on the first vehicle; wherein, the type of ordinary lane includes single lane, double lane and multilane, dodge time and include: the total time for the first vehicle to avoid, and the time for the second vehicle to travel to the first vehicle.
Preferably, when the common lane is a single lane, the avoidance mode generated during the single lane driving includes: if the first vehicle and the second vehicle are in single lane driving, the vehicle networking server calculates avoidance time, and if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, the vehicle networking server sends a command for avoiding the first vehicle to the left or the right through a vehicle networking communication module on the first vehicle; wherein, the time that the second vehicle travels to the first vehicle and the total time that the first vehicle dodges are respectively:
Figure BDA0001490493340000061
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Denotes a road width, and α denotes an angle at which the first vehicle dodges, wherein the road width refers to a width of a lane over which the first vehicle is to cross.
Optionally, when the common lane is a dual lane, the avoidance mode generated during dual lane driving includes: if the first vehicle and the second vehicle run in double lanes, the internet of vehicles server calculates avoidance time and generates an avoidance mode according to the avoidance time; the method specifically comprises the following steps: when the first vehicle and the second vehicle are located in the same lane of the two lanes and the other lane of the two lanes has no vehicle, if the time for the second vehicle to travel to the first vehicle is less than the total avoidance time of the first vehicle, the internet of vehicles server sends a command for the first vehicle to select to avoid to the other lane through the internet of vehicles communication module on the first vehicle; when a third vehicle exists in the other lane of the two lanes where the first vehicle and the second vehicle are located, if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle and the total avoidance time of the third vehicle, the vehicle networking server sends a command for the first vehicle to avoid to the outer side of the two lanes through a vehicle networking communication module on the first vehicle, and simultaneously, the vehicle networking server sends a command for the third vehicle to avoid to the outer side of the two lanes through a vehicle networking communication module on the third vehicle; wherein, the time that the second vehicle travels to the first vehicle, the total time that the first vehicle dodges and the total time that the third vehicle dodges are respectively:
Figure BDA0001490493340000071
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upIndicating the speed, V, of the second vehicleVehicle 1Representing the speed of the third vehicle, t representing the total time for the first vehicle to avoid, t "representing the total time for the third vehicle to avoid, t' representing the time for the second vehicle to chase the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
Optionally, when the common lane is a multi-lane, the avoidance mode generated during multi-lane driving includes: if the multilane can not be divided equally left and right, the vehicle networking server calculates the avoidance time, and if the time of the second vehicle driving to the first vehicle is simultaneously less than the total avoidance time of the first vehicle, the vehicle networking server sends a command that the first vehicle drives to the right through a vehicle networking communication module on the first vehicle, wherein the time of the second vehicle driving to the first vehicle and the total avoidance time of the first vehicle are respectively as follows:
Figure BDA0001490493340000072
r represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating radar detectorMonitoring time, t3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
According to the method for recommending the intelligent avoidance direction of the front vehicle in the Internet of vehicles environment, avoidance schemes under various complex road conditions such as single-lane and double-lane roads are respectively provided according to different road situations, so that precious time can be won for avoidance of the front vehicle, and the front vehicle can be effectively given way.
Drawings
FIG. 1 is a flow chart of a method for recommending intelligent avoidance of a preceding vehicle in an Internet of vehicles environment according to the present invention;
FIG. 2 is a diagram of a road network model in a vehicle networking environment;
FIG. 3 is a one-way lane avoidance map in a one-way road;
FIG. 4 is a plot of a single lane avoidance instant in a one-way road;
FIG. 5 is a diagram of dual lane avoidance in a one-way road
FIG. 6 is a two lane avoidance timing diagram in a one-way road;
FIG. 7 is a diagram of three lane avoidance in a one-way road;
FIG. 8 is a three lane avoidance timing diagram in a one-way road;
FIG. 9 is a diagram of single lane avoidance in a two-way road;
FIG. 10 is a plot of one-lane avoidance timing in a two-way road;
FIG. 11 is a diagram of dual lane avoidance in a dual lane;
FIG. 12 is a two-lane avoidance timing diagram in a two-way road;
FIG. 13 is an avoidance graph in the case of a traffic light;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method and the system for recommending the intelligent avoidance of the front vehicle in the internet of vehicles environment, as shown in fig. 1, comprise the following steps:
s1, respectively acquiring the position information of the first vehicle and the second vehicle to obtain a first distance between the first vehicle and the second vehicle and first road information;
s2, if the first distance is smaller than a first distance threshold value, the Internet of vehicles server sends preparation avoidance information to the first vehicle; the first distance threshold is 10 m-200 m;
s3, after the first vehicle receives the prepared avoidance information, starting a radar detector, monitoring a second distance between the first vehicle and the second vehicle, respectively monitoring the speed of the first vehicle and the speed of the second vehicle, and sending the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the speed of the second vehicle to an internet-of-vehicles server;
s4, the Internet of vehicles server calculates the avoidance time according to the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the second vehicle, generates an avoidance mode according to the first road information and the avoidance time and sends the avoidance mode to the first vehicle.
Preferably, the generating an avoidance mode according to the first road information and the avoidance time and sending the avoidance mode to the first vehicle includes: the vehicle networking server judges lane information of the first vehicle and the second vehicle, and if the lane information is a combination of a common lane and an emergency lane, the vehicle networking server does not send a message to the first vehicle; if the lane information is only a common lane, the Internet of vehicles server calculates avoidance time according to the type of the common lane, generates an avoidance mode and sends the avoidance mode to the first vehicle; wherein, the type of ordinary lane includes single lane, double lane and multilane, dodge time and include: the total time for the first vehicle to avoid, and the time for the second vehicle to travel to the first vehicle.
Optionally, when the common lane is a single lane, the avoidance mode generated during the single lane driving includes: if the first vehicle and the second vehicle are in single-lane driving, calculating avoidance time, and if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, avoiding the first vehicle to the left or to the right; wherein, the time that the second vehicle travels to the first vehicle and the total time that the first vehicle dodges are respectively:
Figure BDA0001490493340000101
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
Optionally, when the common lane is a dual lane, the avoidance mode generated during dual lane driving includes: if the first vehicle and the second vehicle run in double lanes, calculating avoidance time, and generating an avoidance mode according to the avoidance time; the method specifically comprises the following steps: when the first vehicle and the second vehicle are located in the same lane of the two lanes and the other lane of the two lanes has no vehicle, if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, the first vehicle selectively avoids the other lane; when a third vehicle exists in the other lane of the two lanes where the first vehicle and the second vehicle are located, if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle and the total avoidance time of the third vehicle, the first vehicle and the third vehicle both avoid to the outer sides of the two lanes, and the second vehicle passes through the middle of the first vehicle and the third vehicle; wherein, the time that the second vehicle travels to the first vehicle, the total time that the first vehicle dodges and the total time that the third vehicle dodges are respectively:
Figure BDA0001490493340000111
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upIndicating the speed, V, of the second vehicleVehicle 1Representing the speed of the third vehicle, t representing the total time for the first vehicle to avoid, t "representing the total time for the third vehicle to avoid, t' representing the time for the second vehicle to chase the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
Optionally, when the common lane is a multi-lane, the avoidance mode generated during multi-lane driving includes: if the multilane cannot be divided equally left and right, calculating avoidance time, and if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle, the first vehicle travels rightwards, wherein the time for the second vehicle to travel to the first vehicle, the total avoidance time of the first vehicle and the total avoidance time of the third vehicle are respectively as follows:
Figure BDA0001490493340000112
r represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the avoidance of the first vehicleLet total time, t', denote the time at which the second vehicle overtakes the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating the road width, and alpha indicates the angle when the first vehicle dodges.
Herein, the second vehicle is an emergency vehicle which needs to be avoided; the first vehicle and the third vehicle are both front vehicles according to the invention.
The invention discloses a front vehicle intelligent avoidance recommendation system in a vehicle networking environment, which comprises: the invention discloses an intelligent front vehicle avoidance recommendation system in an Internet of vehicles environment, which comprises: the system comprises a vehicle networking server, a vehicle networking communication module, a GPS module, a radar detector and a voice module.
The vehicle networking server is respectively communicated with the GPS module and the radar detector through a vehicle networking communication module and is used for generating an avoidance mode and judging whether to send prepared avoidance information or not;
the GPS module is used for acquiring first distances and first road information of a first vehicle and a second vehicle;
the radar detector is used for monitoring a second distance between the first vehicle and the second vehicle and respectively monitoring the speed of the first vehicle and the speed of the second vehicle;
the voice module is used for broadcasting the prepared avoidance information and the avoidance mode.
Specifically, the internet of vehicles server judges whether the first distance is smaller than a first distance threshold value, if so, the internet of vehicles server sends prepared avoidance information; after the vehicle networking communication module on the first vehicle receives the prepared avoidance information, a radar detector on the first vehicle is started, the radar detector monitors a second distance between the first vehicle and the second vehicle and respectively monitors the speed of the first vehicle and the speed of the second vehicle, and the radar detector sends the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the speed of the second vehicle to a vehicle networking server through the vehicle networking communication module; the internet of vehicles server calculates avoidance time according to the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the second vehicle, generates an avoidance mode according to the first road information and the avoidance time and sends the avoidance mode to the first vehicle, the voice module broadcasts the avoidance mode, and the first distance threshold is 10 m-200 m.
Further, the automobile that traveles on the road all covers in the environment of car networking, both include traditional car, also include neotype unmanned car, realize position monitoring through radar detection instrument and GPS module etc. the GPS module acquires first vehicle, first distance and first road information between the second vehicle, the second distance of first vehicle and second vehicle is monitored to the radar detection instrument, and monitor the speed of first vehicle and second vehicle respectively, realize uploading and downloading in real time of data on the Internet, computer program analysis at the car networking server can provide corresponding intelligent recommendation algorithm according to the data of input, and then provide the strategy of dodging and obtain the mode of dodging, thereby realize that intelligence dodges the direction and recommends. These applications described above form a road network, as shown in fig. 2.
Further, the avoidance mode adopted by the single-lane driving comprises the following steps: when the first vehicle monitors a second vehicle behind, the first vehicle avoids leftwards or rightwards; when the avoidance is completed, as shown in fig. 3, as shown in fig. 4, there are position images of the first vehicle and the second vehicle before and after the avoidance, respectively.
Further, the avoidance mode adopted by the two-lane driving comprises the following steps: when the first vehicle monitors a second vehicle behind, the first vehicle and the second vehicle are simultaneously in one of the two lanes, and when the other lane of the two lanes in which the first vehicle and the second vehicle are located is not provided with a vehicle, as shown in fig. 5; the first vehicle selects to avoid to another lane, including the first vehicle avoiding to the left or the right, the first vehicle, the second vehicle and the third vehicle marked in the figure are respectively the positions of the first vehicle, the second vehicle and the third vehicle after avoiding, and the following figures are all the same and are not repeated.
When a third vehicle exists in the other lane of the two lanes where the first vehicle and the second vehicle are located, wherein the third vehicle refers to the other front vehicle; the first vehicle is avoided to the right, the third vehicle is avoided to the left, the second vehicle passes through the middle of the first vehicle and the third vehicle, and position images of the first vehicle, the second vehicle and the third vehicle before and after the avoidance are shown in fig. 6.
The multi-lane driving includes: if the left and right halves cannot be halved, the first vehicle chooses to lean to the right, as shown in fig. 7; position images of the first, second, and third vehicles before and after the avoidance, as shown in fig. 8.
Preferably, in the present invention, the first vehicle, the second vehicle and the third vehicle all advance at a constant speed, and the speed of the second vehicle is greater than the speeds of the first vehicle and the third vehicle; when the second vehicle reaches the monitoring radius of the radar detector, the first vehicle and the third vehicle just monitor the second vehicle; the intelligent front vehicle avoidance recommendation system in the Internet of vehicles environment ignores the time for providing a lane avoidance scheme for a vehicle owner.
Further, the avoidance time required for the single lane driving includes:
Figure BDA0001490493340000141
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Indicating road widthDegree, α, represents the first vehicle avoidance time angle.
The method specifically comprises the following steps: calculating the time required for the first vehicle to avoid according to the time when the radar detector just reaches the second vehicle and the time when the first vehicle receives the radar detector:
time at which the radar detection instrument just arrives at the second vehicle:
Figure BDA0001490493340000142
time when the first vehicle receives the radar detection instrument:
Figure BDA0001490493340000143
obtaining by solution:
Figure BDA0001490493340000144
time when the first vehicle dodges:
Figure BDA0001490493340000145
the whole avoidance process time of the first vehicle is as follows:
Figure BDA0001490493340000151
time when the second vehicle overtakes the first vehicle:
Figure BDA0001490493340000152
if t' is more than or equal to t, the scheme is feasible, otherwise, the avoidance scheme is not feasible.
Further, optionally, the avoidance mode adopted by the two-lane driving includes: a second vehicle forward travel and a second vehicle reverse travel, the second vehicle forward travel including: when the first vehicle monitors a second vehicle behind and a third vehicle is on the left side of the first vehicle, as shown in fig. 9, the first vehicle driver and the third vehicle driver both select to avoid to the right, the second vehicle runs forward to pass through the middle of the first vehicle and the third vehicle, and position images of the first vehicle, the second vehicle and the third vehicle before and after avoiding are shown in fig. 10; the second vehicle reverse travel includes: when the first vehicle detects a second vehicle behind and the left side of the first vehicle is not provided with a third vehicle, as shown in fig. 11, the second vehicle runs reversely, and the first vehicle runs normally or waits on site, and position images of the first vehicle, the second vehicle and the third vehicle before and after avoiding are avoided, as shown in fig. 12; the time of the two-lane driving includes:
Figure BDA0001490493340000153
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upIndicating the speed, V, of the second vehicleVehicle 1Representing the speed of the third vehicle, t representing the total time for the first vehicle to avoid, t "representing the total time for the third vehicle to avoid, t' representing the time for the second vehicle to chase the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; the method specifically comprises the following steps:
for a first vehicle:
time for the radar detector to just reach the monitoring radius:
Figure BDA0001490493340000161
time when the first vehicle receives the radar detection instrument:
Figure BDA0001490493340000162
time when the first vehicle dodges:
Figure BDA0001490493340000163
so the total avoidance time of the first vehicle is:
Figure BDA0001490493340000164
for the third vehicle:
time at which the radar detector just arrives at the third vehicle:
Figure BDA0001490493340000165
time when the third vehicle receives the radar detector:
Figure BDA0001490493340000166
obtaining by solution:
Figure BDA0001490493340000171
time when the third vehicle dodges:
Figure BDA0001490493340000172
the time of the whole avoidance process of the third vehicle is as follows:
Figure BDA0001490493340000173
time when the second vehicle overtakes the first vehicle:
Figure BDA0001490493340000174
if t' is more than or equal to t, the scheme is feasible, otherwise, the avoidance scheme is not feasible.
Further, as a supplementary manner, the avoidance manner adopted by the first vehicle when running under the condition of traffic lights includes: when the first vehicle waits for the traffic light, it is monitored that a second vehicle is arranged behind the first vehicle, as shown in fig. 13, the first vehicle selects to avoid leftwards or rightwards, so that the second vehicle passes through, and the running time under the traffic light is as follows:
Figure BDA0001490493340000175
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; the method specifically comprises the following steps:
time at which the radar detector just arrived at the second vehicle:
Figure BDA0001490493340000181
time when the radar detector returns to the first vehicle:
Figure BDA0001490493340000182
time when the first vehicle dodges:
Figure BDA0001490493340000183
therefore, the whole avoidance time of the first vehicle is as follows:
Figure BDA0001490493340000184
time when the second vehicle overtakes the first vehicle:
Figure BDA0001490493340000185
if t' is greater than or equal to t, the scheme is feasible, otherwise the scheme is not feasible.
Preferably, the intelligent front vehicle avoidance recommendation system in the internet of vehicles environment is supported by a radar detector monitoring system and a GPS positioning system, and a running vehicle actively starts the system and provides avoidance direction recommendation under the condition of meeting avoidance according to the monitored distance and position information; the starting condition is that when the first vehicle or/and the third vehicle appear behind the second vehicle which is executing the emergency task when the second distance threshold value (such as 100 meters) is not exceeded, the first vehicle and the third vehicle which run in front can automatically display the direction and the distance of the second vehicle behind and provide the best feasible avoidance scheme for the vehicle owner to effectively give way.
Optionally, the vehicle networking server judges whether an emergency lane exists around the position of the first vehicle according to the first road information, and if so, the second vehicle directly walks through the emergency lane; if the first vehicle is not in the lane, the Internet of vehicles server sends prepared avoidance information to the first vehicle through an Internet of vehicles communication module on the first vehicle, and broadcasts the prepared avoidance information through a voice module, the first vehicle drives at a reduced speed, and further, after the first vehicle drives at a reduced speed, the Internet of vehicles server carries out avoidance according to surrounding road conditions, wherein an avoidance mode is correspondingly provided by judging the conditions of a single lane, a double lane and the like; the Internet of vehicles server sends the avoidance mode to the first vehicle according to the calculated avoidance mode; the control platform of the driver or the unmanned vehicle carries out avoidance according to the avoidance mode command, which is not described herein.
Further, although the road scenario considered by the present invention is not complete, avoidance methods in other scenarios can be appropriately generalized on the basis of these embodiments of the present invention.
It should be understood that the method for recommending intelligent avoidance of a preceding vehicle in an internet of vehicles environment and the system for recommending intelligent avoidance of a preceding vehicle in an internet of vehicles environment are different implementations of the same concept, and parts of the system embodiment that are not described may refer to the description of corresponding parts of the method embodiment, and vice versa.
The above embodiments of the present invention have been described in further detail to illustrate the objects, technical solutions and advantages of the present invention, and it should be understood that the above embodiments or examples are only preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. The method for recommending the intelligent avoidance of the front vehicle in the Internet of vehicles environment is characterized by comprising the following steps of:
s1, respectively acquiring the position information of the first vehicle and the second vehicle to obtain a first distance between the first vehicle and the second vehicle and first road information;
s2, if the first distance is smaller than a first distance threshold value, the Internet of vehicles server sends preparation avoidance information to the first vehicle;
s3, after the first vehicle receives the prepared avoidance information, starting a radar detector, monitoring a second distance between the first vehicle and the second vehicle, respectively monitoring the speed of the first vehicle and the speed of the second vehicle, and sending the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the speed of the second vehicle to an internet-of-vehicles server;
s4, the internet of vehicles server calculates the avoidance time according to the second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the second vehicle, generates an avoidance mode according to the first road information and the avoidance time and sends the avoidance mode to the first vehicle;
the vehicle networking server judges lane information of the first vehicle and the second vehicle, and if the lane information is a combination of a common lane and an emergency lane, the vehicle networking server does not send a message to the first vehicle; if the lane information is only a common lane, the Internet of vehicles server calculates avoidance time according to the type of the common lane, generates an avoidance mode and sends the avoidance mode to the first vehicle; wherein, the type of ordinary lane includes single lane, double lane and multilane, dodge time and include: the total time for the first vehicle to avoid, and the time for the second vehicle to travel to the first vehicle.
2. The method for recommending intelligent avoidance of a preceding vehicle in an internet of vehicles environment according to claim 1, wherein when the common lane is a single lane, the avoidance mode generated during single lane driving comprises: if the first vehicle and the second vehicle are in single-lane driving, calculating avoidance time, and if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, avoiding the first vehicle to the left or to the right; wherein, the time that the second vehicle travels to the first vehicle and the total time that the first vehicle dodges are respectively:
Figure FDA0003065732220000021
wherein R represents the monitoring half of the radar detectorDiameter, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar detector3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; x represents a second distance between the first vehicle and the second vehicle.
3. The method for recommending intelligent avoidance of a preceding vehicle in an internet of vehicles environment according to claim 1, wherein when the common lane is a dual lane, the avoidance mode generated during dual lane driving comprises: if the first vehicle and the second vehicle run in double lanes, calculating avoidance time, and generating an avoidance mode according to the avoidance time; the method specifically comprises the following steps: when the first vehicle and the second vehicle are located in the same lane of the two lanes and the other lane of the two lanes has no vehicle, if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, the first vehicle selectively avoids the other lane; when a third vehicle exists in the other lane of the two lanes where the first vehicle and the second vehicle are located, if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle and the total avoidance time of the third vehicle, the first vehicle and the third vehicle both avoid to the outer sides of the two lanes, and the second vehicle passes through the middle of the first vehicle and the third vehicle; wherein, the time that the second vehicle travels to the first vehicle, the total time that the first vehicle dodges and the total time that the third vehicle dodges are respectively:
Figure FDA0003065732220000031
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upIndicating the speed, V, of the second vehicleVehicle 1Representing the speed of the third vehicle, t representing the total time for the first vehicle to avoid, t "representing the total time for the third vehicle to avoid, t' representing the time for the second vehicle to chase the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar detector3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; x represents a second distance between the first vehicle and the second vehicle.
4. The method for recommending intelligent avoidance of a preceding vehicle in an internet of vehicles environment according to claim 1, wherein when the common lane is a multi-lane, an avoidance mode generated during multi-lane driving comprises: if the multilane cannot be divided equally left and right, calculating avoidance time, and if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle, the first vehicle travels rightwards, wherein the time for the second vehicle to travel to the first vehicle and the total avoidance time of the first vehicle respectively comprise:
Figure FDA0003065732220000032
r represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating radar detectionTime, t, at which the meter sends back to the first vehicle4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; x represents a second distance between the first vehicle and the second vehicle.
5. The utility model provides a recommendation system is dodged to preceding car intelligence under internet of vehicles environment which characterized in that, the system includes: the system comprises a vehicle networking server, a vehicle networking communication module, a GPS module, a radar detector and a voice module;
the Internet of vehicles server is respectively communicated with the GPS module and the radar detector through the Internet of vehicles communication module;
the GPS module is used for acquiring position information of a first vehicle and a second vehicle and acquiring a first distance between the first vehicle and the second vehicle and first road information;
the radar detector is used for monitoring a second distance between the first vehicle and the second vehicle and respectively monitoring the speed of the first vehicle and the speed of the second vehicle;
the Internet of vehicles server calculates avoidance time according to a second distance between the first vehicle and the second vehicle and the speed of the first vehicle and the second vehicle, generates an avoidance mode according to the first road information and the avoidance time and sends the avoidance mode to the first vehicle;
the voice module is used for broadcasting the prepared avoidance information and the avoidance mode;
if the first distance is smaller than a first distance threshold value, the Internet of vehicles server sends prepared avoidance information to a first vehicle, the first vehicle controls to start a radar detector, and the second distance between the first vehicle and a second vehicle and the speed of the first vehicle and the speed of the second vehicle are sent to the Internet of vehicles server; the vehicle networking server judges lane information of the first vehicle and the second vehicle, and if the lane information is a combination of a common lane and an emergency lane, the vehicle networking server does not send a message to the first vehicle; if the lane information is only a common lane, the Internet of vehicles server calculates corresponding avoidance time according to the type of the common lane, generates an avoidance mode, and sends the avoidance mode to the first vehicle through an Internet of vehicles communication module on the first vehicle; wherein, the type of ordinary lane includes single lane, double lane and multilane, dodge time and include: the total time for the first vehicle to avoid, and the time for the second vehicle to travel to the first vehicle.
6. The system according to claim 5, wherein when the common lane is a single lane, the avoidance mode generated during single lane driving comprises: if the first vehicle and the second vehicle are in single lane driving, the vehicle networking server calculates avoidance time, and if the time from the second vehicle to the first vehicle is less than the total avoidance time of the first vehicle, the vehicle networking server sends a command for avoiding the first vehicle to the left or the right through a vehicle networking communication module on the first vehicle; wherein, the time that the second vehicle travels to the first vehicle and the total time that the first vehicle dodges are respectively:
Figure FDA0003065732220000051
r represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; x represents a second distance between the first vehicle and the second vehicle.
7. The system of claim 5, wherein when the common lane is a dual lane, the avoidance mode generated during dual lane driving comprises: if the first vehicle and the second vehicle run in double lanes, the internet of vehicles server calculates avoidance time and generates an avoidance mode according to the avoidance time; the method specifically comprises the following steps: when the first vehicle and the second vehicle are located in the same lane of the two lanes and the other lane of the two lanes has no vehicle, if the time for the second vehicle to travel to the first vehicle is less than the total avoidance time of the first vehicle, the internet of vehicles server sends a command for the first vehicle to select avoidance to the other lane through the internet of vehicles communication module on the first vehicle; when a third vehicle exists in the other lane of the two lanes where the first vehicle and the second vehicle are located, if the time for the second vehicle to travel to the first vehicle is simultaneously less than the total avoidance time of the first vehicle and the total avoidance time of the third vehicle, the vehicle networking server sends a command for the first vehicle to avoid to the outer side of the two lanes through a vehicle networking communication module on the first vehicle, and simultaneously, the vehicle networking server sends a command for the third vehicle to avoid to the outer side of the two lanes through a vehicle networking communication module on the third vehicle; wherein, the time that the second vehicle travels to the first vehicle, the total time that the first vehicle dodges and the total time that the third vehicle dodges are respectively:
Figure FDA0003065732220000061
wherein R represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upIndicating the speed, V, of the second vehicleVehicle 1Representing the speed of the third vehicle, t representing the total time for the first vehicle to avoid, t "representing the total time for the third vehicle to avoid, t' representing the time for the second vehicle to chase the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating that the radar detector sends back to the first vehicleTime of the vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; x represents a second distance between the first vehicle and the second vehicle.
8. The system according to claim 5, wherein when the common lane is a multi-lane, the avoidance mode generated during multi-lane driving comprises: if the multilane can not be divided equally left and right, the vehicle networking server calculates the avoidance time, and if the time of the second vehicle driving to the first vehicle is less than the total avoidance time of the first vehicle, the vehicle networking server sends a command that the first vehicle drives to the right through a vehicle networking communication module on the first vehicle, wherein the time of the second vehicle driving to the first vehicle and the total avoidance time of the first vehicle are respectively as follows:
Figure FDA0003065732220000062
r represents the monitoring radius of the radar detector, VThunderIndicating the speed, V, of the radar detectorVehicle with wheelsIndicating the speed, V, of the first vehicleTighten upRepresenting the speed of the second vehicle, t representing the total time for the first vehicle to avoid, t' representing the time for the second vehicle to catch up with the first vehicle, t1Indicating the time, t, at which the second vehicle just arrived at the monitoring radius of the radar probe2Indicating the monitoring time, t, of the radar probe3Indicating the time at which the radar probe transmits back to the first vehicle, t4Indicating a first vehicle driver reaction time, t5Indicating the time, x, traveled by the first vehicle driver in the avoidance1Representing the width of a road, and alpha representing the angle of the first vehicle when the first vehicle is avoided; x represents a second distance between the first vehicle and the second vehicle.
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