CN112509314B - Intersection vehicle speed guiding method and device - Google Patents
Intersection vehicle speed guiding method and device Download PDFInfo
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Abstract
The invention discloses a method and a device for guiding vehicle speed at an intersection, which are applied to the field of vehicle operation control, and the method comprises the following steps: acquiring basic safety information of the main vehicle and the target remote vehicle; judging whether a first vehicle speed recommendation condition is met or not according to basic safety messages of the main vehicle and the target remote vehicle; if so, determining a first time when the master vehicle reaches the driving intersection and a second time when the target remote vehicle reaches the driving intersection according to the basic safety messages of the master vehicle and the target remote vehicle; and determining a single recommended speed for the host vehicle according to the first time and the second time. The invention can realize more accurate and reliable vehicle speed guidance at the intersection without traffic lights.
Description
Technical Field
The invention belongs to the field of vehicle operation control, and particularly relates to a method and a device for guiding vehicle speed at an intersection.
Background
The V2X technology mainly relates to the V2I and V2V technologies. V2I indicates that the OBU communicates with road-side infrastructure (such as traffic lights, traffic cameras, road-side units, etc.), and the road-side infrastructure can also acquire information of vehicles in the vicinity and distribute various real-time information. V2V means that the vehicle-mounted terminals are used for communication among vehicles, the vehicle-mounted terminals can real-timely communicate information such as speed, position and driving condition of surrounding vehicles, and the vehicles can form an interactive platform for real-timely exchanging information such as characters, pictures and videos. In the prior art, when approaching a traffic light intersection, a vehicle receives light phase and time information transmitted by a traffic light RSU, and a reasonable driving speed interval is calculated according to the phase and the time, so that the vehicle can pass through the traffic light intersection without stopping. However, the vehicle speed guidance cannot be performed without a traffic light.
Disclosure of Invention
In view of the above technical problems in the prior art, embodiments of the present invention provide a method and an apparatus for guiding a vehicle speed at an intersection.
In a first aspect, an embodiment of the present invention provides a method for guiding vehicle speed at an intersection, including:
acquiring basic safety information of the main vehicle and the target remote vehicle;
judging whether a first vehicle speed recommendation condition is met or not according to the basic safety messages of the main vehicle and the target remote vehicle;
if so, determining a first time when the host vehicle reaches a driving intersection and a second time when the target remote vehicle reaches the driving intersection according to basic safety messages of the host vehicle and the target remote vehicle;
and determining a single recommended speed for the host vehicle according to the first time and the second time.
Optionally, the determining, according to the basic safety messages of the primary vehicle and the target remote vehicle, whether a first vehicle speed recommendation condition is met includes:
determining more than one type of discrimination information according to the basic safety messages of the main vehicle and the target remote vehicle;
judging whether the more than one type of judgment information meets corresponding sub-recommendation conditions;
and if the more than one type of judgment information meets the corresponding sub-recommendation condition, representing that the first vehicle speed recommendation condition is met.
Optionally, the basic safety messages in the main vehicle and the target remote vehicle each include position information and direction angle information, and the determining more than one type of discrimination information according to the basic safety messages of the main vehicle and the target remote vehicle includes:
determining a driving direction included angle between the main vehicle and the target remote vehicle according to the direction angle information of the main vehicle and the target remote vehicle;
determining the current vehicle distance between the main vehicle and the target remote vehicle according to the current position information of the main vehicle and the target remote vehicle;
and determining the vehicle distance variation trend between the main vehicle and the target remote vehicle according to the position variation information of the main vehicle and the target remote vehicle.
Optionally, the basic safety messages of the host vehicle and the target remote vehicle further include vehicle speed information, and the determining a first time when the host vehicle reaches the driving intersection and a second time when the target remote vehicle reaches the driving intersection according to the basic safety messages of the host vehicle and the target remote vehicle includes:
determining a first linear distance between the host vehicle and the target remote vehicle based on the position information of the host vehicle and the position information of the target remote vehicle;
predicting a second linear distance between the host vehicle and the travel intersection using the first linear distance and the directional angle information of the host vehicle, and predicting the first time based on the second linear distance and the vehicle speed information of the host vehicle;
and predicting a third linear distance between the target distant vehicle and the driving intersection by using the first linear distance and the direction angle information of the target distant vehicle, and predicting the second time based on the third linear distance and the vehicle speed information of the target distant vehicle.
Optionally, the determining a single recommended speed for the host vehicle according to the first time and the second time includes:
s1: determining the time difference between the first time and the second time, and if the time difference is smaller than a preset time difference threshold value, comparing the speed information of the main vehicle with the speed information of the target remote vehicle;
s2: determining the current recommended speed of the main vehicle according to the speed information comparison result, and prompting the main vehicle to change the speed according to the current recommended speed;
s3: recalculating the first time when the host vehicle reaches the driving intersection according to the actual new vehicle speed after the vehicle speed of the host vehicle is changed, recalculating the second time when the target remote vehicle reaches the driving intersection according to the actual new vehicle speed after the vehicle speed of the target remote vehicle is changed, returning to execute the steps S1-S3 by using the recalculated first time and/or second time, and circulating the steps S1-S3 until the time difference is larger than the preset time difference threshold value, so as to obtain the single recommended vehicle speed of the host vehicle.
Optionally, after the determining the single recommended vehicle speed for the host vehicle, further comprising:
if the host vehicle is in a multi-vehicle interaction scene in which a plurality of target distant vehicles exist relative to the host vehicle, after determining a single recommended vehicle speed for the host vehicle according to the first time and the second time, further comprising:
determining a target recommended speed for the main vehicle according to a plurality of single recommended speeds obtained corresponding to the target remote vehicles, and prompting the main vehicle to run according to the target recommended speed;
and if the host vehicle is in a single-vehicle interaction scene, a single target distant vehicle relative to the host vehicle exists in the single-vehicle interaction scene, and after the single recommended vehicle speed for the host vehicle is determined according to the first time and the second time, the host vehicle is prompted to run according to the single recommended vehicle speed.
Optionally, the determining a target recommended speed for the host vehicle according to a plurality of single recommended speeds obtained corresponding to the plurality of target remote vehicles includes:
if the plurality of single recommended vehicle speeds are the same, taking any one single recommended vehicle speed as the target recommended vehicle speed;
if the plurality of single recommended vehicle speeds are different, judging whether the main vehicle passes through a corresponding driving intersection point of each target remote vehicle before each target remote vehicle, and if so, determining the highest vehicle speed in the plurality of single recommended vehicle speeds as the target recommended vehicle speed;
determining the lowest vehicle speed in the plurality of single recommended vehicle speeds as the target recommended vehicle speed if the main vehicle does not pass through the corresponding driving intersection point of each target remote vehicle before the target remote vehicle;
and if the main vehicle does not pass through the corresponding driving intersection point of the target remote vehicle before one of the target remote vehicles, determining a single recommended vehicle speed obtained based on the target remote vehicle from the plurality of single recommended vehicle speeds as the target recommended vehicle speed.
Optionally, after the acquiring the basic safety messages of the host vehicle and the target remote vehicle, the method further comprises:
judging whether a second vehicle speed recommendation condition is met or not according to the basic safety messages of the main vehicle and the target remote vehicle;
acquiring a driving intersection point of the main vehicle and other far vehicles if the second vehicle speed recommendation condition is met;
and judging whether the main vehicle catches up with the target remote vehicle before reaching the driving intersection of the main vehicle and other remote vehicles according to the basic safety messages of the main vehicle and the target remote vehicle, if so, prompting the main vehicle to drive along with the speed information of the target remote vehicle, and otherwise, not recommending the speed of the main vehicle.
Optionally, the determining whether a second vehicle speed recommendation condition is met according to the basic safety messages of the main vehicle and the target remote vehicle includes:
judging whether the target remote vehicle is a vehicle in front of the same lane with the main vehicle or not, judging whether the target remote vehicle runs in the same direction with the main vehicle or not and judging whether the vehicle speed information of the main vehicle is greater than that of the target remote vehicle or not according to the basic safety messages of the main vehicle and the target remote vehicle;
and if the judgment results are yes, representing that the main vehicle meets the second vehicle speed recommendation condition.
In a second aspect, an embodiment of the present invention provides an intersection vehicle speed guidance device, which is applied to a mobile terminal or a vehicle-mounted terminal, and includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method according to any one of the implementation manners of the first aspect.
One or more technical solutions provided by the embodiments of the present invention at least achieve the following technical effects or advantages:
acquiring basic safety information of the main vehicle and the target remote vehicle; judging whether a first vehicle speed recommendation condition is met or not according to basic safety messages of the main vehicle and the target remote vehicle; if so, determining a first time when the master vehicle reaches the driving intersection and a second time when the target remote vehicle reaches the driving intersection according to basic safety messages of the master vehicle and the target remote vehicle; a single recommended speed for the host vehicle is determined from the first time and the second time. Therefore, accurate recommended vehicle speed is given by using the basic safety message, and more accurate and reliable vehicle speed guidance is realized at the intersection without the traffic light. And driving safety can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for vehicle speed guidance at an intersection in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a single-vehicle interaction scenario in an embodiment of the invention;
FIG. 3 is a schematic diagram of a multi-vehicle interaction scenario in an embodiment of the invention;
FIG. 4 is a schematic illustration of a target remote vehicle in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle speed guidance device at an intersection according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.
In a first aspect, the intersection vehicle speed guidance method provided by the embodiment of the invention can be applied to various intersections without traffic lights. Because of the intersection without traffic lights (such as intersections, T-shaped intersections, Y-shaped intersections and the like), vehicles running on different lanes can collide at the intersection without the guidance of the traffic lights. Therefore, in the embodiment of the invention, the intersection vehicle speed guiding method in the embodiment of the invention is realized based on the V2V inter-vehicle communication mode between the main vehicle and the distant vehicle, so as to give the recommended vehicle speed of the intersection, and accurately and reliably guide the vehicles to pass through the intersection, so as to avoid inter-vehicle collision at the intersection.
Depending on the traffic flow of the intersection without traffic lights, a single-vehicle interactive scene as shown in fig. 2 or a multi-vehicle interactive scene as shown in fig. 3 may appear at the intersection without traffic lights (including non-vertical intersections). Only one target is far away in a single-vehicle interaction scene, and a plurality of target is far away in a multi-vehicle interaction scene. For each target distant vehicle and the host vehicle, the following steps S101 to S104 may be performed:
referring to fig. 1, in the intersection speed guidance method provided by the embodiment of the invention, a process of recommending the speed of the host vehicle between each target distant vehicle and the host vehicle includes the following steps:
s101, basic safety messages of the main vehicle and the target remote vehicle are obtained.
Specifically, in step S101, a Basic Safety Message (BSM) of the HV (Host Vehicle) is collected, and a Basic Safety Message of the target Remote Vehicle (RV) is received by means of V2V, where the BSM Message is a standard format Message sent by the V2X terminal device.
In addition, with the intersection as a reference, one or more distant vehicles exist with respect to the host vehicle, and the distant vehicle closest to the intersection is the target distant vehicle. Referring to fig. 4, remote vehicles RV01, RV02, RV03, RV04, RV05, RV06, RV07, and RV08 all belong to target remote vehicles, while RV09, RV010, RV011, RV012, RV013, RV014, and RV015 do not belong to target remote vehicles, and basic safety messages of these non-target remote vehicles, such as RV09 to RV15, are not considered when the host vehicle is guided.
S102, judging whether a first vehicle speed recommendation condition is met according to basic safety messages of the main vehicle and the target remote vehicle.
Specifically, more than one type of discrimination information is determined according to basic safety messages of the main vehicle and the target remote vehicle; judging whether more than one type of judgment information meets the corresponding sub-recommendation condition; if more than one type of judgment information meets the corresponding sub-recommendation condition, representing that the first vehicle speed recommendation condition is met, and recommending the vehicle speed of the main vehicle; otherwise, the first vehicle speed recommendation condition is not met, and the vehicle speed recommendation of the main vehicle is not needed.
Specifically, the basic safety message of the host vehicle includes: the information such as position information, vehicle speed information and direction angle information, and the basic safety information of the target remote vehicle comprises the following information: position information, vehicle speed information, and direction angle information. Based on the above, the step of determining more than one type of discrimination information according to the basic safety messages of the main vehicle and the target remote vehicle comprises the following steps:
firstly, the driving direction included angle between the main vehicle and the target distant vehicle is determined according to the direction angle information of the main vehicle and the direction angle information of the target distant vehicle, and the included angle phi shown in fig. 2 and 3 can be referred to2。
Specifically, the sub-recommended condition corresponding to the driving direction included angle is specifically a preset first included angle threshold, for example, the first included angle threshold may be preset to 10 degrees, and whether the driving direction included angle between the main vehicle and the target distant vehicle is greater than the first included angle threshold (for example, 10 degrees) is determined; if the angle is smaller than the first included angle threshold value, the target distant vehicle and the main vehicle are in the same direction or opposite directions, the main vehicle does not collide with the target distant vehicle, and the vehicle speed related to the target distant vehicle does not need to be recommended to the main vehicle.
Secondly, determining the current vehicle distance between the main vehicle and the target remote vehicle according to the current position information of the main vehicle and the current position information of the target remote vehicle.
The sub-recommendation condition corresponding to the current vehicle distance is specifically a vehicle distance threshold value, and whether the current vehicle distance is larger than the vehicle distance threshold value is judged; if the distance is larger than the vehicle distance threshold value, the distance between the main vehicle and the target far vehicle is far, the main vehicle does not collide with the target far vehicle, and the vehicle speed related to the target far vehicle does not need to be recommended to the main vehicle.
Specifically, referring to fig. 2 and 3, the threshold value of the distance between the vehicles is related to two factors, i.e. the included angle Φ between the roads and the actual speed V of the vehicle, such as: when the intersection angle is set to 90 degrees and the actual vehicle speed V is 50km/h, the preset distance threshold value Ld is 200 m. The specific value of the inter-vehicle distance threshold LM can be obtained by the following equation,
when 0 degree<When phi is less than or equal to 90 degrees,
when the angle is less than or equal to 90 degrees<When the temperature is higher than 180 degrees,
and thirdly, determining the vehicle distance variation trend between the main vehicle and the target remote vehicle according to the position variation information of the main vehicle and the position variation information of the target remote vehicle.
The position change information of the vehicle can be determined according to the current position information and the historical position information of the vehicle. The corresponding sub-recommendation condition is a vehicle distance reduction tendency. If the vehicle distance variation trend is not the vehicle distance reduction trend but the vehicle distance increase trend, the situation that the target distant vehicle drives through the intersection is indicated, the host vehicle does not collide with the target distant vehicle, and the vehicle speed related to the target distant vehicle does not need to be recommended to the host vehicle. If the vehicle distance variation trend is a vehicle distance reduction trend, the target distant vehicle belongs to the condition that the vehicles meet the main vehicle at the intersection, and the possibility of collision is generated.
In one embodiment, if the included angle of the driving direction, the current vehicle distance and the variation trend of the vehicle distance meet corresponding sub-recommendation conditions, the first vehicle speed recommendation condition is satisfied, and otherwise, the first vehicle speed recommendation condition is not satisfied. Of course, in the specific implementation process, whether the driving direction included angle and the vehicle distance change trend meet the corresponding sub-recommendation condition can be only judged, and the current vehicle distance is not concerned; if the included angle of the driving direction and the variation trend of the vehicle distance meet the corresponding sub-recommendation conditions, the first vehicle speed recommendation condition is met through representation, and otherwise, the first vehicle speed recommendation condition is not met.
Next, if the first vehicle speed recommendation condition is not satisfied, the subsequent steps are not performed, and if the first vehicle speed recommendation condition is satisfied, a step S103 of determining a first time when the host vehicle reaches the driving intersection and a second time when the target distant vehicle reaches the driving intersection based on the basic safety messages of the host vehicle and the target distant vehicle is performed.
The travel intersection is a point at which the traveling direction of the host vehicle intersects the traveling direction of the target distant vehicle, and point O1 shown in fig. 2 and 3 is a travel intersection of the target distant vehicle RV1 and the host vehicle HV, and point O2 shown in fig. 3 is a travel intersection of the target distant vehicle RV2 and the host vehicle HV.
In a particular embodiment, a first linear distance between the host vehicle and the target remote vehicle is determined based on the position information of the host vehicle and the position information of the target remote vehicle; predicting a second linear distance between the host vehicle and the driving intersection by using the first linear distance and the direction angle information of the host vehicle, and predicting a first time based on the second linear distance and the vehicle speed information of the host vehicle; and predicting a third linear distance between the target distant vehicle and the driving intersection by using the first linear distance and the direction angle information of the target distant vehicle, and predicting a second time based on the third linear distance and the vehicle speed information of the target distant vehicle.
Specifically, the first time from the host vehicle to the travel intersection O1 is denoted as T1, and the second time from the target distant vehicle to the travel intersection is denoted as T2, and the calculation process is specifically performed as follows in conjunction with fig. 2 and 3:
calculating a first straight-line distance D1 between the host vehicle and the target distant vehicle according to the current position information of the Host Vehicle (HV) and the current position information of the target distant vehicle (RV1), determining a first included angle theta 1 according to the direction angle information of the host vehicle and the direction of the first straight-line distance D1, determining a second included angle theta 2 according to the direction angle information of the target distant vehicle and the direction of the first straight-line distance D1, determining a second straight-line distance D2 from the host vehicle to the driving intersection O1 and determining a third straight-line distance D3 from the target distant vehicle to the driving intersection O1 according to the triangle sine theorem:
specifically, the vehicle speed information of the host vehicle includes an actual vehicle speed and an acceleration, and the time T1 when the host vehicle reaches the driving intersection O1 is determined according to the actual vehicle speed V and the acceleration a of the host vehicle; the speed information of the target remote vehicle comprises the actual speed and the acceleration, and the time T2 when the target remote vehicle reaches the driving intersection O1 is determined according to the actual speed V and the acceleration a of the target remote vehicle.
S104: and determining a single recommended speed for the host vehicle according to the first time and the second time.
Specifically, the step S104 of determining the single recommended vehicle speed specifically includes the following steps S1 to S3:
and S1, determining the time difference between the first time and the second time, and comparing the speed information of the main vehicle with the speed information of the target far vehicle if the time difference is smaller than a preset time difference threshold value.
And S2, determining the current recommended speed of the host vehicle according to the speed information comparison result, and prompting the host vehicle to change the speed according to the current recommended speed.
S3, recalculating the first time when the host vehicle reaches the driving intersection according to the actual new vehicle speed after the vehicle speed of the host vehicle is changed, and/or recalculating the second time when the target remote vehicle reaches the driving intersection according to the actual new vehicle speed after the vehicle speed of the target remote vehicle is changed, and returning to execute the steps S1-S3 by using the recalculated first time and/or second time; and circulating the steps S1-S3 until the time difference is larger than the preset time difference threshold value, and obtaining the single recommended speed of the host vehicle.
After the single recommended speed for the host vehicle is obtained, the implementation of obtaining the target recommended speed for the host vehicle according to the single recommended speed may be different according to different interaction scenarios.
Firstly, if the host vehicle is in a single-vehicle interaction scene, only one target far vehicle relative to the host vehicle exists, and after the single recommended vehicle speed for the host vehicle is determined according to the first time and the second time, the single recommended vehicle speed is used as the target recommended vehicle speed, and the host vehicle is prompted to run according to the single recommended vehicle speed.
For the single-vehicle interaction scenario, the following describes the vehicle speed guidance process in the single-vehicle interaction scenario (main vehicle HV, target far vehicle RV1) with reference to fig. 2:
step a1 is executed: the method comprises the steps of collecting BSM information (including position information, vehicle speed information, direction angle information and the like) of the HV, and receiving BSM information (including position information, vehicle speed information, direction angle information and the like) of the far vehicle RV 1.
After step A1, step A2 is then performed: judging whether the current vehicle distance between the HV and the RV1 is larger than a vehicle distance threshold (such as 200m) or not according to the position information of the HV and the position information of the RV 1; if the distance is larger than the vehicle distance threshold value, the HV is far away from the RV1, and the vehicle speed does not need to be recommended; otherwise, the following step a3 is performed.
Step A3: determining a driving direction included angle between the HV and the RV1 according to the direction angle information of the HV and the direction angle information of the RV1, judging whether the driving direction included angle is smaller than a first included angle threshold value (such as 10 degrees), if so, indicating that the RV1 is a same-direction or opposite-direction incoming vehicle of the HV, not belonging to an intersection scene, and not needing to recommend the vehicle speed; otherwise, the following step a4 is performed.
Step A4: determining the variation trend of the vehicle distance between the HV and the RV1 according to the position variation information of the HV and the position variation information of the RV1, and if the vehicle distance is reduced, indicating that two vehicles belong to the situation of meeting at the intersection, sequentially executing the steps A5-A6; if the vehicle distance is in the increasing trend, the RV1 is indicated to drive through the intersection, and the vehicle speed recommendation is not needed.
Step A5: calculating a first time T1 when the HV reaches the travel intersection, and calculating a second time T2 when the RV1 reaches the travel intersection; calculating a time difference between the first time T1 and the second time T2: i T1-T2I.
Step A6: judging whether the time difference | T1-T2| is smaller than a preset time difference threshold (for example, judging | T1-T2| <5 s); if yes, go to step A7; otherwise, step A8 is performed.
Step A7: the original vehicle speed of the host vehicle serves as a single recommended vehicle speed for the host vehicle.
Step A8: if the speed of the main vehicle relative to the target distant vehicle is high, the speed reduction with preset reduction is recommended for the current time of the main vehicle (for example, the reduction is 5 km/h); if the speed of the main vehicle relative to the target remote vehicle is low, the speed is accelerated by a preset expansion amplitude (for example, the expansion amplitude is 5km/h) aiming at the current recommended vehicle speed.
And circularly executing the steps A5-A8 to continuously adjust the speed of the main vehicle until the time difference meets | T1-T2| <5s, and obtaining the single recommended speed.
Secondly, if the host vehicle is in a multi-vehicle interaction scene, a plurality of target distant vehicles relative to the host vehicle exist, and based on this, after the step S104, the method further comprises the step S105: and obtaining a plurality of single recommended speeds for the main vehicle according to the corresponding target remote vehicles, determining the target recommended speed for the main vehicle, and prompting the main vehicle to run according to the target recommended speed.
It should be noted that, in the multi-vehicle interaction scenario, the implementation manner of obtaining each single recommended vehicle speed for the host vehicle is the same as or similar to the implementation manner of obtaining a single recommended vehicle speed in the single-vehicle interaction scenario, and for the sake of brevity of the description, no further description is given here. The following only focuses on the implementation after obtaining a plurality of single recommended vehicle speeds:
specifically, if the plurality of obtained single recommended vehicle speeds are the same, any one of the single recommended vehicle speeds is taken as the target recommended vehicle speed. If the obtained single recommended speeds are different, judging whether the main vehicle passes through a corresponding driving intersection point of each target remote vehicle before each target remote vehicle, and if so, determining the highest speed in the single recommended speeds as the target recommended speed; determining the lowest vehicle speed in the plurality of single recommended vehicle speeds as the target recommended vehicle speed if the host vehicle does not pass through the corresponding driving intersection point of each target remote vehicle before the target remote vehicle; and if the main vehicle does not pass through the corresponding driving intersection point of the target remote vehicle before one of the target remote vehicles, determining a single recommended vehicle speed obtained based on the target remote vehicle from a plurality of single recommended vehicle speeds as the target recommended vehicle speed.
In the multi-vehicle interaction scenario of fig. 3, by implementing steps S102 to S104, two single recommended vehicle speeds can be obtained for the host vehicle HV: one is relative to the single recommended vehicle speed V1 associated with the remote vehicle RV1 and the other is the single recommended vehicle speed V2 associated with the remote vehicle RV 2. Next, a method for guiding the vehicle speed of the host vehicle in the multi-vehicle interaction scenario is described by way of example with reference to fig. 3, so as to understand how to guide the vehicle speed of the host vehicle in the multi-vehicle interaction scenario:
step a9 is executed: comparing whether V1 and V2 are equal; if yes, go to step A10: the target recommended vehicle speed for the host vehicle HV is V1 or V2. If not, executing the step A11, and judging whether HV passes through a driving intersection O1 before RV 1; and step A12 is performed to determine if HV was past travel intersection O2 prior to RV 2. According to different results of executing the steps A11 and A12, the vehicle speed recommending steps are executed in 4 cases of a-d as follows:
step a, if the HV is judged to pass through a driving intersection O1 before RV1 and is judged to pass through a driving intersection O2 before RV2, step A13 is executed, wherein the target recommended vehicle speed of the HV is the larger value of V1 and V2 finally;
step b, if the HV is judged to be the vehicle passing through the driving intersection O1 after the RV1 and the HV is the vehicle passing through the driving intersection O2 after the RV2, executing a step A14, wherein the target recommended vehicle speed of the HV is the smaller value of V1 and V2 finally;
step c, if the HV is judged to pass through the driving intersection O1 after the RV1, but the HV passes through the driving intersection O2 before the RV2, continuing to execute step A15, namely judging the sizes of V1 and V2; if V1 is greater than V2, the target recommended vehicle speed is V1; if V1 is smaller than V2, the target recommended vehicle speed is V1 (the smaller value is taken when collision exists, safety is guaranteed), and the target recommended vehicle speed V1 of the HV is sent to the RV 2; the RV2 recalculates the target recommended vehicle speed of RV2 based on the time difference to reach the travel intersection O2 being equal to or greater than 5 s.
Step d, if judging that HV passes through a driving intersection O1 before RV1 but passes through a driving intersection O2 after RV2, continuing to step A16, namely judging the sizes of V1 and V2; if V1 is less than V2, the target recommended vehicle speed is V2; if V1 is larger than V2, the target recommended vehicle speed is V2 (the smaller value is taken when collision exists, safety is guaranteed), and the target recommended vehicle speed V2 of the HV is sent to the RV 1; the RV1 recalculates the target recommended vehicle speed of RV1 based on the time difference to reach the travel intersection O1 being equal to or greater than 5 s.
In the embodiment, in order to guide the vehicle speed of the host vehicle more efficiently, the following steps S106 to S108 are further included before step S102 is executed:
s106, judging whether a second vehicle speed recommendation condition is met or not according to the basic safety messages of the main vehicle and the target remote vehicle; s107, if a second vehicle speed recommendation condition is met, acquiring a running intersection point of the main vehicle and other far vehicles; s108, judging whether the main vehicle catches up with the target distant vehicle before reaching the driving intersection or not according to the basic safety information of the main vehicle and the target distant vehicle, and prompting the main vehicle to drive along with the speed information of the target distant vehicle if the main vehicle catches up with the target distant vehicle; otherwise, the vehicle speed recommendation is not made for the host vehicle.
Specifically, step S106 includes the following three discrimination steps:
1. judging whether the target remote vehicle is the target remote vehicle or not according to the position information of the target remote vehicle and the position information of the main vehicle
A vehicle ahead of the host vehicle on the same lane;
2. judging whether the target remote vehicle and the main vehicle run in the same direction or not according to the direction angle information of the target remote vehicle and the direction angle information of the main vehicle;
3. judging whether the speed information of the main vehicle is greater than that of the target remote vehicle or not according to the speed information of the target remote vehicle and the speed information of the main vehicle;
if the judgment results of the three types of judgment information 1, 2 and 3 are yes, the fact that the main vehicle meets the second vehicle speed recommendation condition is represented, and if not, the second vehicle speed recommendation condition is not met. The order of the above three discrimination steps is not limited in specific implementation.
Specifically, if the host vehicle does not satisfy the second vehicle speed recommendation condition, the steps S102 to S104 are executed. Therefore, the host vehicle can preferentially recommend the vehicle speed to follow the vehicle speed of the front vehicle, and the vehicle speed is guided based on S102-S104 when no far vehicle capable of being referred to is available in front of the host vehicle, so that the complexity of the speed change operation of the driver can be reduced.
With reference now to the remote RV3 and the master HV shown in fig. 3, after acquiring the respective basic safety messages, step a17 is performed: judging whether a driving direction included angle between the HV and the RV3 is smaller than a second included angle threshold (such as 5 degrees) according to the direction angle information of the RV3 and the direction angle information of the HV, so as to judge whether the HV and the RV3 are driving in the same direction, and if the driving direction included angle is smaller than the second included angle threshold, indicating that the HV and the RV3 are driving in the same direction; if the vehicle is traveling in the same direction, the following step A18 is continuously executed.
Step A18: judging whether RV3 and HV are on the same lane and RV3 is in front of HV according to the position information of the target remote vehicle and the position information of the host vehicle; if yes, continuing to the judgment step of the step A19;
step A19: judging whether the vehicle speed of the HV is greater than that of the RV3 or not according to the vehicle speed information of the RV3 and the HV, and if so, continuing the step A20;
in step a20, the HV acquires the travel intersection O1 of the HV and RV1, and acquires the travel intersection O2 of the HV and RV 2. Step a21 is next performed:
step a21 is executed: determining whether the HV catches up with the RV3 before the target intersection, based on the vehicle speed information of the HV and the distance of the HV from the target intersection (the travel intersection O1 or the travel intersection O2), and the vehicle speed information of the RV3 and the distance of the HV from the target intersection (the travel intersection O1 or the travel intersection O2); if the user can not catch up, the operation is finished directly; if yes, go to step A22: indicating that the HV is following RV 3.
Through the technical scheme provided by the embodiment of the invention, the speed guidance of the main vehicle is realized based on a plurality of remote vehicles (such as RV1, RV2 and RV3) in a multi-vehicle interaction scene. Thus, the reliability of vehicle speed guidance at the intersection is improved.
In a second aspect, based on the same inventive concept, an embodiment of the present invention provides an intersection vehicle speed guidance device, which is applied to a mobile terminal or a vehicle-mounted terminal. Referring to fig. 5, the apparatus includes a memory 504, a processor 502 and a computer program stored in the memory 504 and capable of running on the processor 502, and when the processor 502 executes the program, the method described in the foregoing method embodiment is implemented, and for brevity of description, no further description is given here.
Where in fig. 5 a bus architecture (represented by bus 500) is shown, bus 500 may include any number of interconnected buses and bridges, and bus 500 links together various circuits including one or more processors, represented by processor 502, and memory, represented by memory 304. The bus 500 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 505 provides an interface between the bus 500 and the receiver 501 and transmitter 503. The receiver 501 and the transmitter 503 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, and the memory 504 may be used for storing data used by the processor 502 in performing operations.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. An intersection vehicle speed guidance method, characterized by comprising:
acquiring basic safety information of a main vehicle and a target remote vehicle, and applying the basic safety information to a traffic-light-free intersection; the target distant vehicle is a distant vehicle closest to the intersection; judging whether a second vehicle speed recommendation condition is met or not according to the basic safety messages of the main vehicle and the target remote vehicle; acquiring a driving intersection point of the main vehicle and other far vehicles if the second vehicle speed recommendation condition is met; judging whether the master car catches up with the target remote car before reaching the driving intersection of the master car and other remote cars according to the basic safety information of the master car and the target remote car, if so, prompting the master car to drive along with the speed information of the target remote car, otherwise, not recommending the speed of the master car; the judging whether a second vehicle speed recommendation condition is met or not according to the basic safety messages of the main vehicle and the target remote vehicle comprises the following steps: judging whether the target remote vehicle is a vehicle in front of the same lane with the main vehicle or not, judging whether the target remote vehicle runs in the same direction with the main vehicle or not and judging whether the vehicle speed information of the main vehicle is greater than that of the target remote vehicle or not according to the basic safety messages of the main vehicle and the target remote vehicle; if the judgment results are yes, representing that the main vehicle meets the second vehicle speed recommendation condition;
judging whether a first vehicle speed recommendation condition is met or not according to the basic safety messages of the main vehicle and the target remote vehicle; the judging whether a first vehicle speed recommendation condition is met according to the basic safety messages of the main vehicle and the target remote vehicle comprises the following steps:
determining more than one type of discrimination information according to the basic safety messages of the main vehicle and the target remote vehicle;
judging whether the more than one type of judgment information meets corresponding sub-recommendation conditions;
if the more than one type of judgment information meets the corresponding sub-recommendation condition, representing that the first vehicle speed recommendation condition is met; the basic safety messages in the main vehicle and the target remote vehicle comprise position information and direction angle information, and more than one type of judgment information is determined according to the basic safety messages of the main vehicle and the target remote vehicle, and the judgment information comprises the following steps:
determining a driving direction included angle between the main vehicle and the target remote vehicle according to the direction angle information of the main vehicle and the target remote vehicle;
determining the current vehicle distance between the main vehicle and the target remote vehicle according to the current position information of the main vehicle and the target remote vehicle;
determining the vehicle distance variation trend between the main vehicle and the target remote vehicle according to the position variation information of the main vehicle and the target remote vehicle; if so, determining a first time when the host vehicle reaches a driving intersection and a second time when the target remote vehicle reaches the driving intersection according to basic safety messages of the host vehicle and the target remote vehicle; the basic safety messages of the main vehicle and the target remote vehicle also comprise vehicle speed information, and the determination of the first time when the main vehicle reaches the driving intersection and the second time when the target remote vehicle reaches the driving intersection according to the basic safety messages of the main vehicle and the target remote vehicle comprises the following steps:
determining a first linear distance between the host vehicle and the target remote vehicle based on the position information of the host vehicle and the position information of the target remote vehicle;
predicting a second linear distance between the host vehicle and the travel intersection using the first linear distance and the directional angle information of the host vehicle, and predicting the first time based on the second linear distance and the vehicle speed information of the host vehicle;
predicting a third linear distance between the target distant vehicle and the driving intersection by using the first linear distance and the direction angle information of the target distant vehicle, and predicting the second time based on the third linear distance and the vehicle speed information of the target distant vehicle; the determining a single recommended speed for the host vehicle according to the first time and the second time includes:
s1: determining the time difference between the first time and the second time, and if the time difference is smaller than a preset time difference threshold value, comparing the speed information of the main vehicle with the speed information of the target remote vehicle;
s2: determining the current recommended speed of the main vehicle according to the speed information comparison result, and prompting the main vehicle to change the speed according to the current recommended speed;
s3: recalculating the first time when the host vehicle reaches the driving intersection according to the actual new vehicle speed after the vehicle speed of the host vehicle is changed, recalculating the second time when the target remote vehicle reaches the driving intersection according to the actual new vehicle speed after the vehicle speed of the target remote vehicle is changed, returning to execute the steps S1-S3 by using the recalculated first time and/or second time, and circulating the steps S1-S3 until the time difference is larger than the preset time difference threshold value, so as to obtain the single recommended vehicle speed of the host vehicle;
and determining a single recommended speed for the host vehicle according to the first time and the second time.
2. The method of claim 1, further comprising, after said determining the single recommended vehicle speed for the host vehicle:
if the host vehicle is in a multi-vehicle interaction scene in which a plurality of target distant vehicles exist relative to the host vehicle, after determining a single recommended vehicle speed for the host vehicle according to the first time and the second time, further comprising:
determining a target recommended speed for the main vehicle according to a plurality of single recommended speeds obtained corresponding to the target remote vehicles, and prompting the main vehicle to run according to the target recommended speed;
and if the host vehicle is in a single-vehicle interaction scene, a single target distant vehicle relative to the host vehicle exists in the single-vehicle interaction scene, and after the single recommended vehicle speed for the host vehicle is determined according to the first time and the second time, the host vehicle is prompted to run according to the single recommended vehicle speed.
3. The method of claim 2, wherein determining the target recommended vehicle speed for the primary vehicle based on a plurality of single recommended vehicle speeds obtained for the plurality of target remote vehicles comprises:
if the plurality of single recommended vehicle speeds are the same, taking any one single recommended vehicle speed as the target recommended vehicle speed;
if the plurality of single recommended vehicle speeds are different, judging whether the main vehicle passes through a corresponding driving intersection point of each target remote vehicle before each target remote vehicle, and if so, determining the highest vehicle speed in the plurality of single recommended vehicle speeds as the target recommended vehicle speed;
determining the lowest vehicle speed in the plurality of single recommended vehicle speeds as the target recommended vehicle speed if the main vehicle does not pass through the corresponding driving intersection point of each target remote vehicle before the target remote vehicle;
and if the main vehicle does not pass through the corresponding driving intersection point of the target remote vehicle before one of the target remote vehicles, determining a single recommended vehicle speed obtained based on the target remote vehicle from the plurality of single recommended vehicle speeds as the target recommended vehicle speed.
4. An intersection vehicle speed guiding device applied to a mobile terminal or a vehicle-mounted terminal, characterized by comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the method of any one of claims 1-3.
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