CN113771841A - Driving assistance system, method, computer device and storage medium for a fleet of vehicles - Google Patents
Driving assistance system, method, computer device and storage medium for a fleet of vehicles Download PDFInfo
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- CN113771841A CN113771841A CN202010440842.4A CN202010440842A CN113771841A CN 113771841 A CN113771841 A CN 113771841A CN 202010440842 A CN202010440842 A CN 202010440842A CN 113771841 A CN113771841 A CN 113771841A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008859 change Effects 0.000 claims abstract description 66
- 238000004590 computer program Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
Abstract
A driving assistance system and method for a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance system comprises: an obstacle information acquisition unit configured to acquire position information of an obstacle in front of the head car, which is at risk of collision with the fleet of cars; the system comprises a lateral environment information acquisition unit, a lane change judging unit and a lane change judging unit, wherein the lateral environment information acquisition unit is configured for acquiring lateral environment information of a head vehicle and a following vehicle of a fleet so as to judge whether objects influencing lane change of the vehicles exist on one side or two sides of the head vehicle and/or the following vehicle; and the processor is configured for calculating the total number of head vehicles and sequentially adjacent following vehicles in the fleet which need to adopt lane change for avoiding according to the position information of the obstacle, the lateral environment information, the running speed of the fleet and the preset vehicle deceleration, sending a corresponding lane change command to the vehicles in the fleet which need to adopt lane change for avoiding, and sending a corresponding braking command to the rest other following vehicles.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to a driving assistance system, method, computer device, and computer-readable storage medium for a fleet of vehicles.
Background
Fleets of vehicles are typically composed of a plurality of vehicles, such as: a head car and a plurality of following vehicles located behind the head car. The air resistance can be reduced by running in the form of a motorcade, the possibility of traffic jam is reduced, and the fuel economy is improved.
However, the same problems are encountered when the vehicle is running in a fleet, which is generally long and requires timely braking or lane changing when an obstacle is in front of the vehicle. When an emergency situation occurs in front of a fleet of vehicles, such as crossing of pedestrians or sudden accident in front, the situation that the head vehicles of the fleet of vehicles cannot avoid collision even if maximum braking force is adopted can be caused, and further serious collision accidents occur in the whole fleet of vehicles.
Therefore, there is a need for a driving assistance system and method that can manage a fleet of vehicles in a timely manner to avoid collisions when an obstacle is encountered.
Disclosure of Invention
In order to solve the technical problems, the following scheme of the invention is provided.
In particular, according to a first aspect of the present invention, a driving assistance system for a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle is provided, wherein the driving assistance system comprises: the system comprises an obstacle information acquisition unit, a lateral environment information acquisition unit and a processor;
the obstacle information acquisition unit is configured to acquire position information of an obstacle in front of the head car, which is at risk of collision with the fleet of cars;
the lateral environment information acquisition unit is configured to acquire lateral environment information of a head vehicle and the at least one following vehicle of the fleet of vehicles so as to judge whether an object influencing vehicle lane change exists on one side or two sides of the head vehicle and/or the following vehicle in the fleet of vehicles;
the processor is configured to:
calculating the total number of head vehicles and following vehicles sequentially adjacent to the head vehicles needing lane changing for avoiding in the motorcade according to the position information of the obstacle, the lateral environment information, the driving speed of the motorcade and a preset vehicle deceleration; and sending a corresponding lane change command to the vehicles needing lane change for avoidance in the fleet and sending a corresponding braking command to the remaining other following vehicles according to the calculation result.
In one embodiment, the processor is further configured to calculate a minimum number X of vehicles in the fleet that need to take a lane change for avoidance, where X is a natural number, that satisfies the following two conditions:
(1) no object influencing lane changing exists from the head vehicle needing lane changing to the side, facing the expected lane changing direction, of the Xth vehicle in the fleet; and
(2) and the braking distance of an X +1 th vehicle behind the X-th vehicle needing lane changing for avoiding in the fleet is less than the current distance between the X +1 th vehicle and the obstacle according to the preset maximum deceleration.
In one embodiment, the processor is further configured to:
sending a command for changing lanes according to the predicted lane changing direction to the Xth vehicle from the head vehicle so as to control the X vehicle from the head vehicle to the Xth vehicle to change lanes simultaneously; and
and sending a braking command to the X +1 th vehicle and the following vehicles behind the X +1 th vehicle so as to control the X +1 th vehicle and the following vehicles behind the X +1 th vehicle to brake according to a preset maximum deceleration simultaneously.
In one embodiment, the obstacle information acquiring unit is further configured to:
acquiring, by a sensor mounted on the head car, position information of an obstacle having a Time To Collision (TTC) within a set threshold range; and/or
Position information of an obstacle having a Time To Collision (TTC) within a set threshold range, which is transmitted from a presence server, is received.
In one embodiment, the processor is further configured to:
after receiving information of finishing lane changing or braking commands sent by the head vehicle and following vehicles behind the head vehicle, planning a re-grouping position of a fleet; and
and sending the regrouping position to a following vehicle behind the head vehicle so that the following vehicle drives to the vicinity of the regrouping position to regroup the vehicle fleet.
According to another aspect of the present invention, there is provided a driving assistance method for a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance method comprises:
acquiring position information of an obstacle in front of the head car and at the risk of collision with the motorcade;
acquiring lateral environment information of a head vehicle and at least one following vehicle of the fleet to judge whether objects influencing vehicle lane changing exist on one side or two sides of the head vehicle and/or the following vehicle in the fleet;
calculating the total number of head vehicles and following vehicles sequentially adjacent to the head vehicles needing lane changing for avoiding in the motorcade according to the position information of the obstacle, the lateral environment information, the driving speed of the motorcade and a preset vehicle deceleration; and
and according to the calculation result, sending a corresponding lane change command to the vehicles needing lane change for avoiding in the fleet and sending a corresponding braking command to the remaining other following vehicles.
In one embodiment, the calculating further comprises calculating a minimum number X of vehicles required to avoid by lane change, wherein X is a natural number, that satisfies the following two conditions:
(1) no object influencing lane changing exists from the head vehicle needing lane changing to the side, facing the expected lane changing direction, of the Xth vehicle in the fleet; and
(2) and the braking distance of an X +1 th vehicle behind the X-th vehicle needing lane changing for avoiding in the fleet is less than the current distance between the X +1 th vehicle and the obstacle according to the preset maximum deceleration.
In one embodiment, said sending a corresponding lane change command to a vehicle in said fleet that needs to take a lane change for avoidance, and sending a corresponding braking command to the remaining other following vehicles further comprises:
sending a command for changing lanes according to the predicted lane changing direction to the Xth vehicle from the head vehicle so as to control the X vehicle from the head vehicle to the Xth vehicle to change lanes simultaneously; and
and sending a braking command to the X +1 th vehicle and the following vehicles behind the X +1 th vehicle so as to control the X +1 th vehicle and the following vehicles behind the X +1 th vehicle to brake according to a preset maximum deceleration simultaneously.
In one embodiment, said obtaining position information of an obstacle in front of said head car at risk of collision with said fleet of vehicles comprises:
acquiring, by a sensor mounted on the head car, position information of an obstacle having a Time To Collision (TTC) within a set threshold range; and/or
Position information of an obstacle having a Time To Collision (TTC) within a set threshold range, which is transmitted from a presence server, is received.
In one embodiment, the method further comprises:
after receiving information of finishing lane changing or braking commands sent by the head vehicle and following vehicles behind the head vehicle, planning a re-grouping position of a fleet; and
and sending the regrouping position to a following vehicle behind the head vehicle so that the following vehicle drives to the vicinity of the regrouping position to regroup the vehicle fleet.
According to a further aspect of the invention, there is provided a computer apparatus comprising a memory storing a computer program and a processor implementing any of the methods described above when the processor executes the computer program.
According to a further aspect of the invention, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the above.
By the scheme of the invention, whether objects influencing vehicle lane change exist on one side or two sides of the head vehicle and/or the following vehicle in the fleet is judged by acquiring the position information of the obstacle in front of the head vehicle and at the risk of collision with the fleet and the side environment information of the head vehicle and the following vehicle of the fleet, so that the total number of the head vehicle and the following vehicle which are adjacent in sequence and need to take lane change to avoid in the fleet can be calculated according to the position information of the obstacle, the side environment information of the fleet, the running speed of the fleet and the preset vehicle deceleration. And then, according to the calculation result, a corresponding lane change command can be sent to the vehicle needing lane change for avoiding in the fleet, and a corresponding braking command can be sent to the rest other following vehicles. The scheme of the invention enables the motorcade to timely control the head car and the following car to change lanes or brake when meeting the obstacle, so as to reduce the risk of car collision or rear-end collision.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described, by way of example, with reference to the following drawings, in which:
FIG. 1 shows a schematic diagram of a driving assistance system for a fleet of vehicles according to an embodiment of the invention;
FIG. 2 shows an architectural schematic of a driving assistance system for a fleet of vehicles according to an embodiment of the invention;
FIG. 3 illustrates a schematic diagram of determining a minimum number of vehicles required to take a lane change for avoidance in accordance with an embodiment of the present invention;
FIG. 4 shows a schematic diagram of a recomposed fleet of vehicles in accordance with an embodiment of the invention;
fig. 5 shows a flow diagram of a driving assistance method for a fleet of vehicles according to an embodiment of the invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting, for those of ordinary skill in the art.
Fig. 1 shows a schematic view of an application scenario of a driving assistance system 100 for a fleet of vehicles according to an embodiment of the present invention. The motorcade driving assistance system 100 provided by the invention can be applied to motorcades running on expressways, urban main roads, urban secondary roads and the like.
To better describe the fleet driving assistance system 100 provided by the present invention, the fleet is first described in detail with reference to fig. 1. As shown in fig. 1, the platoon comprises at least two vehicles driven in formation. Specifically, the fleet may include a head vehicle a01 and at least one following vehicle a02, a03, a04, a05, and a06 located behind the head vehicle. The head car a01 may be driven by the driver or may be autonomous. Preferably, the following vehicles a 02-a 06 may have an automatic driving function to drive based on the driving data or commands of the lead vehicle a01 to drive the entire fleet efficiently, safely, and consistently, as will be described in detail below. Of course, the following vehicles a02 to a06 may also have a function of being driven by the driver to intervene in driving by the driver when necessary.
Fig. 2 shows an architectural schematic of a driving assistance system 100 for a fleet of vehicles according to an embodiment of the invention.
Specifically, the driving assistance system 100 includes an obstacle information acquisition unit 110, a lateral environment information acquisition unit 120, and a processor 130. Some or all of the obstacle information acquiring unit 110, the lateral environment information acquiring unit 120, and the processor 130 may be provided on the lead vehicle and/or the remote server. Of course, other required devices, such as an alarm and the like, can also be installed.
The obstacle information obtaining unit 110 is configured to obtain position information of an obstacle in front of the head car, which is at risk of collision with the fleet of vehicles. Specifically, the obstacle information acquiring unit 110 herein may acquire position information of an obstacle in front of the head car, which is at risk of collision with the fleet of vehicles, by a camera, a millimeter wave radar, a laser radar, an ultrasonic sensor, or any other suitable sensor mounted on the head car; or obtaining the position information of the obstacle through an online server. Herein, when the platoon a encounters an obstacle in front, the obstacle information obtaining unit 110 obtains position information of an obstacle in front of the head vehicle a01, which is at risk of collision with the platoon a, such as: the pedestrian crossing happens suddenly 50 meters in front of the head car or the falling object happens suddenly 200 meters in front of the head car, etc.
The lateral environment information acquiring unit 120 is configured to acquire lateral environment information of a leading vehicle a01 and following vehicles a02 to a06 of a platoon to determine whether an object affecting lane change of the vehicles is present on one or both sides of the leading vehicle and/or the following vehicles in the platoon, such as: it is determined whether one or both sides of the lead vehicle and/or following vehicle are affecting other vehicles changing lanes of the vehicle, road boundaries (e.g., median), etc. The lateral environment information acquisition unit 120 may also send a command to all following vehicles a02 to a06 to "detect the lateral environment on the left and/or right side". After receiving the command, all the following vehicles a02 to a06 detect the environments of the left and/or right sides thereof, and then send the environment information of the left and/or right sides thereof to the lateral environment information acquiring unit 120 of the leading vehicle a01, and the lateral environment information acquiring unit 120 determines whether there is an object affecting the lane change of the vehicle on one or both sides of the leading vehicle and/or the following vehicles in the fleet. Alternatively, each of the following vehicles a02 to a06 may determine by itself whether it can change lanes to the left lane or the right lane according to the detected left and/or right environment, and then feed back the result of its determination to the lateral environment information acquisition unit 120 of the head vehicle.
The processor 130 is configured to calculate a total number of head vehicles and sequentially adjacent following vehicles in the fleet that need to take lane change for avoidance according to the position information of the obstacle, the lateral environment information of the fleet, the driving speed of the fleet, and a preset vehicle deceleration, such as: assuming that the number of all vehicles in the fleet is 6, it is determined that the first 3 vehicles (a 01-a 03) need lane change avoidance (as shown in fig. 3). The processor 130 may be further configured to send a corresponding lane change command to a vehicle in the fleet that needs to take a lane change for evasion, and send a corresponding braking command to the remaining following vehicles according to the calculation result. For example, in a case that it is determined that the previous 3 vehicles need to change lanes to avoid, the processor 130 may send a corresponding lane change command to the previous 3 vehicles, so that the previous 3 vehicles change lanes to avoid; corresponding braking commands are sent to the remaining 3 following vehicles (a 04-a 06) so that the remaining 3 following vehicles brake in time. Through such auxiliary system can in time detect out the positional information of barrier when meetting the barrier, according to the condition of following the vehicle, confirm the following vehicle that can alternate the lane simultaneously, in time change the way to avoid taking place the collision danger.
Fig. 3 shows a schematic diagram of determining the minimum number of vehicles required to take lane changes for avoidance in accordance with an embodiment of the invention.
As shown in fig. 3, processor 130 also calculates a minimum number X of vehicles in the fleet that need to take lane change for avoidance, where X is a natural number (e.g., 0, 1, 2, 3, 4.):
(1) no object influencing lane changing exists from the head vehicle needing lane changing to the side, facing the expected lane changing direction, of the Xth vehicle in the fleet;
(2) and the braking distance of an X +1 th vehicle behind the X-th vehicle needing lane changing for avoiding in the fleet is less than the current distance between the X +1 th vehicle and the obstacle according to the preset maximum deceleration.
Specifically, it is understood that, in the process of a specific calculation, X may be traversed one by one starting from 1 to determine whether it can satisfy the above two conditions at the same time. When an X value is obtained that satisfies both of the above two conditions, the calculation process may be ended and the calculated X value may be returned.
In connection with the embodiments of fig. 3 and 4, it is assumed that when X is 1 or 2, the requirement of item (2) on the braking distance cannot be satisfied because the vehicle speed is too fast, which indicates that there is a risk of collision of the following vehicle with an obstacle; when X is 3, it is detected that the above two conditions can be simultaneously satisfied, that is, (1) there is no object affecting the lane change of the vehicle on the left side of the front 3 vehicles (a01 to a 03); and (2) a braking distance at which the 4 th vehicle (a04) brakes at the preset maximum deceleration is smaller than a current distance between the 4 th vehicle and the obstacle. For example: suppose at this time that the speed of the fleet is 100km/h and the maximum deceleration of the vehicle is-8 m/s2It is determined that the braking distance D of the vehicle is about 50m, and then it is compared that the braking distance is less than the current distance 60m between the 4 th vehicle and the obstacle. In the above case, the minimum number X of vehicles in the fleet that need to take lane change for avoidance may be determined to be 3.
In one embodiment, the processor 130 may further send a command to the first to xth vehicles to change lanes according to a predicted lane change direction, so as to control the first to xth vehicles to change lanes simultaneously; and sending a braking command to the X +1 th vehicle and the following vehicles behind the X +1 th vehicle so as to control the X +1 th vehicle and the following vehicles behind the X +1 th vehicle to brake according to a preset maximum deceleration simultaneously.
For example, as can be seen from the above embodiments, in the case that the minimum number X of vehicles in the vehicle fleet, which need to take lane change for avoidance, is determined to be 3, the processor 130 may send a command to the head vehicle a01 to the 3 rd vehicle a03 to change lanes to the left side, and send a braking command to the 4 th vehicle a04 and all following vehicles a05 and a06 behind the 4 th vehicle a04 to control the 4 th vehicle a05 and a06 to be in accordance with a preset brake commandIs braked, i.e. the 4 th vehicle and all following vehicles behind it are controlled at-8 m/s2Deceleration of the brake. After receiving the lane change or braking command, the head vehicle A01 and the following vehicles A02 to A06 actively control the steering system, the power system and the braking system thereof according to the command to execute the corresponding lane change or braking command. Through the driving assistance system, the motorcade can be calculated to be split, namely, the calculation at least needs to make the front vehicles in the lane change the lane, and the following vehicles are controlled to be capable of completely performing safe braking, so that the collision danger is avoided in time.
According to another aspect of the present invention, the obstacle information acquiring unit 110 mentioned above may be configured to: acquiring position information of an obstacle having a Time To Collision (TTC) within a set threshold range by a sensor mounted on the head car a 01; and/or
Receiving position information of the obstacle having a Time To Collision (TTC) within a set threshold range, which is transmitted by an online server.
Fig. 4 shows a schematic diagram of a recomposed fleet of vehicles in accordance with an embodiment of the invention.
Preferably, the processor 130 may further plan a regrouping position of the fleet after receiving the information of completing lane change or braking command sent by the leading vehicle and the following vehicles behind the leading vehicle; and sending the regrouping position to all following vehicles behind the head vehicle, and sending a 'regrouping' command to all following vehicles, so that all following vehicles can be driven to be close to the regrouping position according to the 'regrouping' command to regroup the vehicle group.
It will be appreciated that, as shown in fig. 4, when the position of the vehicle making lane change and evasion is on the left with respect to the obstacle and the speeds of the following vehicles making braking are all zero, each of the following vehicles may feed back a completion signal to the head vehicle, which, upon receiving the feedback completion signal, may plan a re-formation position (as represented by the five-pointed star in fig. 4) of the platoon, and transmit the re-formation position to the following vehicles behind the head vehicle, so that all the vehicles may be driven to the re-formation position by the driver, or automatically follow the preceding vehicle to the vicinity of the re-formation position to re-form the platoon.
Fig. 5 shows a flow diagram of a driving assistance method for a fleet of vehicles according to an embodiment of the invention.
As shown in fig. 5, the platoon comprises a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance method S100 comprises:
s200: acquiring position information of an obstacle in front of the head car and at the risk of collision with the motorcade;
s300: acquiring lateral environment information of a head vehicle and at least one following vehicle of the fleet to judge whether objects influencing vehicle lane changing exist on one side or two sides of the head vehicle and/or the following vehicle in the fleet;
s400: calculating the total number of head vehicles and following vehicles sequentially adjacent to the head vehicles needing lane changing for avoiding in the motorcade according to the position information of the obstacle, the lateral environment information, the driving speed of the motorcade and a preset vehicle deceleration; and
s500: and sending a corresponding lane change command to the vehicle needing lane change for avoidance in the fleet and sending a corresponding braking command to the remaining other following vehicles according to the calculation result.
Preferably, the calculating further comprises calculating a minimum number X of vehicles in the fleet that need to take lane change for avoidance that can satisfy the following two conditions:
(1) no object influencing lane changing exists from the head vehicle needing lane changing to the side, facing the expected lane changing direction, of the Xth vehicle in the fleet; and
(2) and the braking distance of an X +1 th vehicle behind the X-th vehicle needing lane changing for avoiding in the fleet is less than the current distance between the X +1 th vehicle and the obstacle according to the preset maximum deceleration.
Preferably, the sending a corresponding lane change command to a vehicle in the fleet that needs to take a lane change for evasion, and sending a corresponding braking command to the remaining other following vehicles further includes:
sending a command for changing lanes according to the predicted lane changing direction to the Xth vehicle from the head vehicle so as to control the X vehicle from the head vehicle to the Xth vehicle to change lanes simultaneously; and
and sending a braking command to the X +1 th vehicle and the following vehicles behind the X +1 th vehicle so as to control the X +1 th vehicle and the following vehicles behind the X +1 th vehicle to brake according to a preset maximum deceleration simultaneously.
Preferably, the acquiring of the position information of the obstacle in front of the head car and at risk of collision with the fleet of cars comprises:
acquiring, by a sensor mounted on the head car, position information of an obstacle having a Time To Collision (TTC) within a set threshold range; and/or
Position information of an obstacle having a Time To Collision (TTC) within a set threshold range, which is transmitted from a presence server, is received.
Preferably, the method further comprises:
after receiving information of finishing lane changing or braking commands sent by the head vehicle and following vehicles behind the head vehicle, planning a re-grouping position of a fleet; and
and sending the regrouping position to a following vehicle behind the head vehicle so that the following vehicle drives to the vicinity of the regrouping position to regroup the vehicle fleet.
Another invention of the present invention also provides a computer-readable storage medium having stored thereon a computer program that, when being executed by a processor, realizes the steps of the driving assistance method in any one of the above-described embodiments. For example, the computer program, when executed by a processor, is capable of instructing the processor and/or the respective component to carry out the steps of: acquiring position information of an obstacle in front of a head car and at a collision risk with a motorcade; acquiring lateral environment information of a head vehicle and at least one following vehicle of a fleet to judge whether objects influencing vehicle lane changing exist on one side or two sides of the head vehicle and/or the following vehicle in the fleet; calculating the total number of head vehicles and following vehicles sequentially adjacent to the head vehicles needing lane changing for avoiding in the fleet according to the position information of the obstacle, the lateral environment information of the fleet, the running speed of the fleet and the preset vehicle deceleration; and according to the calculation result, sending a corresponding lane change command to the vehicle needing lane change for avoiding in the fleet and sending a corresponding brake command to the remaining other following vehicles.
In addition, it should be understood that the processor 130 in the driving assistance system 100 may be implemented in whole or in part by software, hardware, and a combination thereof, for example, the processor may be embedded in a hardware form in a native processor of a computer device, or may be stored in a memory of the computer device in a software form, so that the processor can call and execute the corresponding operations described above.
In one embodiment, there is provided a computer device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing the steps of the driving assistance method of any one of the above embodiments when executing the computer program. The computer device may be a server, an in-vehicle system device or a mobile terminal device of a vehicle user. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is capable of implementing the driving assistance method of any one of the above aspects of the present invention when executed by a processor.
Those skilled in the art will appreciate that the schematic diagram of the driving assistance system 100 shown in fig. 2 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation of the computer device to which the present application is applied, and a specific computer device may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
Another aspect of the present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the driving assistance method according to any one of the above embodiments.
It will be understood by those skilled in the art that all or part of the steps in the method according to the above embodiments of the present invention may be indicated by the relevant hardware to be completed by a computer program, which may be stored in a non-volatile computer-readable storage medium, and which, when executed, may implement the steps of the above embodiments of the method. Any reference to memory, storage, database, or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
While the invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (12)
1. A driving assistance system for a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance system comprises: barrier information acquisition unit, side direction environmental information acquisition unit and processor, wherein:
the obstacle information acquisition unit is configured to acquire position information of an obstacle in front of the head car, which is at risk of collision with the fleet of cars;
the lateral environment information acquisition unit is configured to acquire lateral environment information of a head vehicle and the at least one following vehicle of the fleet of vehicles so as to judge whether an object influencing vehicle lane change exists on one side or two sides of the head vehicle and/or the following vehicle in the fleet of vehicles;
the processor is configured to:
calculating the total number of head vehicles and following vehicles sequentially adjacent to the head vehicles needing lane changing for avoiding in the motorcade according to the position information of the obstacle, the lateral environment information, the driving speed of the motorcade and a preset vehicle deceleration; and sending a corresponding lane change command to the vehicles needing lane change for avoidance in the fleet and sending a corresponding braking command to the remaining other following vehicles according to the calculation result.
2. The driving assistance system of claim 1, wherein the processor is further configured to calculate a minimum number X of vehicles in the fleet that need to take a lane change for avoidance that can satisfy two conditions, wherein X is a natural number:
(1) no object influencing lane changing exists from the head vehicle needing lane changing to the side, facing the expected lane changing direction, of the Xth vehicle in the fleet; and
(2) and the braking distance of an X +1 th vehicle behind the X-th vehicle needing lane changing for avoiding in the fleet is less than the current distance between the X +1 th vehicle and the obstacle according to the preset maximum deceleration.
3. The driving assistance system according to claim 2, wherein the processor is further configured to:
sending a command for changing lanes according to the predicted lane changing direction to the Xth vehicle from the head vehicle so as to control the X vehicle from the head vehicle to the Xth vehicle to change lanes simultaneously; and
and sending a braking command to the X +1 th vehicle and the following vehicles behind the X +1 th vehicle so as to control the X +1 th vehicle and the following vehicles behind the X +1 th vehicle to brake according to a preset maximum deceleration simultaneously.
4. The driving assistance system according to any one of claims 1 to 3, wherein the obstacle information acquisition unit is further configured to:
acquiring, by a sensor mounted on the head car, position information of an obstacle having a Time To Collision (TTC) within a set threshold range; and/or
Position information of an obstacle having a Time To Collision (TTC) within a set threshold range, which is transmitted from a presence server, is received.
5. The driving assistance system according to any one of claims 1 to 3, wherein the processor is further configured to:
after receiving information of finishing lane changing or braking commands sent by the head vehicle and following vehicles behind the head vehicle, planning a re-grouping position of a fleet; and
and sending the regrouping position to a following vehicle behind the head vehicle so that the following vehicle drives to the vicinity of the regrouping position to regroup the vehicle fleet.
6. A driving assistance method for a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance method comprises:
acquiring position information of an obstacle in front of the head car and at the risk of collision with the motorcade;
acquiring lateral environment information of a head vehicle and at least one following vehicle of the fleet to judge whether objects influencing vehicle lane changing exist on one side or two sides of the head vehicle and/or the following vehicle in the fleet;
calculating the total number of head vehicles and following vehicles sequentially adjacent to the head vehicles needing lane changing for avoiding in the motorcade according to the position information of the obstacle, the lateral environment information, the driving speed of the motorcade and a preset vehicle deceleration; and
and according to the calculation result, sending a corresponding lane change command to the vehicles needing lane change for avoiding in the fleet and sending a corresponding braking command to the remaining other following vehicles.
7. The driving assistance method according to claim 6, wherein the calculating further includes calculating a minimum number X of vehicles that need to take a lane change for avoidance, which can satisfy two conditions:
(1) no object influencing lane changing exists from the head vehicle needing lane changing to the side, facing the expected lane changing direction, of the Xth vehicle in the fleet; and
(2) and the braking distance of an X +1 th vehicle behind the X-th vehicle needing lane changing for avoiding in the fleet is less than the current distance between the X +1 th vehicle and the obstacle according to the preset maximum deceleration.
8. The driving assistance method of claim 7, wherein the sending of the corresponding lane change command to the vehicle of the fleet that needs to take a lane change for avoidance, and the sending of the corresponding braking command to the remaining other following vehicles further comprises:
sending a command for changing lanes according to the predicted lane changing direction to the Xth vehicle from the head vehicle so as to control the X vehicle from the head vehicle to the Xth vehicle to change lanes simultaneously; and
and sending a braking command to the X +1 th vehicle and the following vehicles behind the X +1 th vehicle so as to control the X +1 th vehicle and the following vehicles behind the X +1 th vehicle to brake according to a preset maximum deceleration simultaneously.
9. The driving assistance method according to any one of claims 6 to 8, wherein the acquiring position information of an obstacle in front of the head car that is at risk of collision with the fleet of vehicles includes:
acquiring, by a sensor mounted on the head car, position information of an obstacle having a Time To Collision (TTC) within a set threshold range; and/or
Position information of an obstacle having a Time To Collision (TTC) within a set threshold range, which is transmitted from a presence server, is received.
10. The driving assistance method according to any one of claims 6 to 8, wherein the method further includes:
after receiving information of finishing lane changing or braking commands sent by the head vehicle and following vehicles behind the head vehicle, planning a re-grouping position of a fleet; and
and sending the regrouping position to a following vehicle behind the head vehicle so that the following vehicle drives to the vicinity of the regrouping position to regroup the vehicle fleet.
11. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 6 to 10 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 6 to 10.
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Application publication date: 20211210 |