CN116504100A - Reverse overtaking lane change collision algorithm and device based on common roads and highways in city and suburb - Google Patents
Reverse overtaking lane change collision algorithm and device based on common roads and highways in city and suburb Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Abstract
The application provides a vehicle lane-changing collision early warning method, a system and a readable medium, wherein the method comprises the steps of obtaining first vehicle running information and sending the first vehicle running information to a driving vehicle in a first range; acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information; acquiring the second vehicle running information and the third vehicle running information, and acquiring an overtaking risk result according to the first vehicle running information and the second vehicle running information; when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information; and when the lane change risk result is dangerous, sending a collision early warning to the first vehicle.
Description
Technical Field
The application relates to the technical field of intelligent transportation, in particular to a vehicle lane-changing collision early warning method, a system and a readable medium.
Background
With the increasing number of automobiles, road traffic safety problems have become one of the important problems facing countries around the world. Among them, the collision risk in road traffic accidents is one of the main factors causing traffic accidents, and in particular, overtaking lane behavior on common roads or highways in urban and suburban areas is liable to cause collision risk. Therefore, in order to improve the driving safety of the vehicle and reduce the occurrence rate of traffic accidents, a system and a method capable of accurately judging the risk of the overtaking lane change of the vehicle and giving out early warning when necessary are developed, and have very important significance.
Disclosure of Invention
The method is at least used for giving reasonable and effective early warning strategies under different scenes, and the driving safety of the vehicle is improved.
In order to achieve the above object, some embodiments of the present application provide a vehicle lane-changing collision early warning method, which includes acquiring first vehicle running information and transmitting the first vehicle running information to a driving vehicle in a first range; acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information; acquiring the second vehicle running information and the third vehicle running information, and acquiring an overtaking risk result according to the first vehicle running information and the second vehicle running information; when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information; and when the lane change risk result is dangerous, sending a collision early warning to the first vehicle.
Further, the first vehicle running information and the vehicle running information in the second range each include: position information, heading angle information, speed information and lane information.
Further, the determining, according to the vehicle running information and the first vehicle running information in the second range, a second vehicle located in the same lane and in the same direction and a third vehicle located in the lane to be changed and in a different direction includes:
the direction judgment is carried out according to the course angle information and the lane information of the first vehicle and the course angle information and the lane information of the second vehicle, and the second vehicle which is positioned on the same lane and in the same direction as the first vehicle is determined;
and carrying out direction judgment according to the course angle information and the lane information of the first vehicle and the course angle information and the lane information of the third vehicle, and determining the third vehicle which is positioned on the lane to be changed of the first vehicle and has different directions.
Further, the obtaining the overtaking risk result according to the first vehicle running information and the second vehicle running information includes:
acquiring lamplight information of the second vehicle;
and obtaining an overtaking risk result according to the lamplight information of the second vehicle and the speed information of the second vehicle.
Further, the obtaining the lane change risk result according to the first vehicle running information and the third vehicle running information includes:
obtaining an initial distance S according to the position information of the first vehicle and the third vehicle;
obtaining a displacement distance d1 of the first vehicle and a displacement distance d2 of the third vehicle in an overtaking time interval according to the speed information of the first vehicle and the third vehicle;
and when S > d1+d2+d3, sending a lane change reminder to the first vehicle, wherein d3 is a reserved safety distance.
Further, the obtaining the lane change risk result according to the first vehicle running information and the third vehicle running information further includes:
acquiring lane-changing safety distances in real time according to the running information of the first vehicle, the second vehicle and the third vehicle;
when the lane change safety distance is greater than or equal to a first threshold value, guiding information is sent to the first vehicle;
and when the lane change safety distance is smaller than a first threshold value, sending early warning information to the first vehicle.
Further, the method further comprises:
and when the lane change risk result is dangerous, sending prompt information to the driving vehicle in the first range.
Further, the method further comprises:
sending overtaking prompt information to the second vehicle;
and sending lane change prompt information to the third vehicle.
Some embodiments of the present application also provide a vehicle lane-changing collision early warning system, the system comprising: the first module is used for acquiring first vehicle running information and sending the first vehicle running information to a driving vehicle in a first range through broadcasting; the second module is used for acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information; the third module is used for acquiring the second vehicle running information and the third vehicle running information and obtaining a overtaking risk result according to the first vehicle running information and the second vehicle running information; when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information; and when the lane change risk result is dangerous, sending a collision early warning to the first vehicle.
Some embodiments of the present application also provide a computer readable medium having stored thereon computer program instructions executable by a processor to implement the vehicle lane change collision warning method.
Compared with the prior art, in the scheme provided by the embodiment of the application, the first vehicle running information is acquired and sent to the driving vehicle in the first range; acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information; acquiring the second vehicle running information and the third vehicle running information, and acquiring an overtaking risk result according to the first vehicle running information and the second vehicle running information; when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information; and when the lane change risk result is dangerous, sending a collision early warning to the first vehicle. The lane-changing collision early warning method for the vehicle can accurately identify and early warn complex reverse overtaking risks, improve driving safety, comprehensively consider various factors and give reasonable and effective early warning strategies in different scenes.
Drawings
Fig. 1 is a flowchart of a vehicle lane change collision early warning method provided in an embodiment of the present application;
fig. 2 is a lane change schematic diagram of a lane change collision early warning method for a vehicle according to an embodiment of the present application;
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The present specification provides method operational steps as an example or a flowchart, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by a system or server product in practice, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processing or multithreaded environment). As shown in fig. 1, the method may include:
s101, acquiring first vehicle running information and transmitting the first vehicle running information to a driving vehicle in a first range;
for example, the first vehicle may collect its own driving information such as position, speed, direction, acceleration, etc. through its mounted sensor, camera, radar, etc., and send the information to other surrounding vehicles through a wireless communication technology (e.g., V2V).
S102, acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information;
for example, the first range may be a circular area centered on the first vehicle with a radius of 50 meters; the second range may be a rectangular area with the direction of the lane to be changed as a center line, the width of the current road as a width, and the length of 100 meters. In the two areas, the information of the position, the speed, the direction and the like of other vehicles (including manual driving and automatic driving) can be obtained by receiving the driving information sent by the other vehicles or analyzing the surrounding environment images through an image recognition technology, and the vehicles which are the vehicles with the same direction as the vehicles or the vehicles with different directions to be changed are judged according to the information.
Whether the first vehicle has the intention of changing lanes or not can be judged according to the information of the steering lamp, the steering wheel angle, the lane lines and the like of the first vehicle. If yes, the first vehicle is considered as a lane change master; if not, the first vehicle is considered a lane-changing passive.
S103, acquiring the second vehicle running information and the third vehicle running information, and obtaining a overtaking risk result according to the first vehicle running information and the second vehicle running information;
for example, parameters such as relative distance, relative speed, relative acceleration and the like between the second vehicle and the first vehicle can be calculated according to information such as positions, speeds and directions of the second vehicle and the third vehicle, and whether the collision early-warning condition is met or not can be judged according to a preset collision early-warning model. If so, then a lane change collision is deemed to be a hazard. Different pre-warning thresholds or pre-warning strategies can be selected according to different types of collision pre-warning models.
S104, when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information;
for example, the first vehicle may make a lane change to complete a cut-in to the second vehicle when the cut-in risk results in safety. And collecting the driving information of the third vehicle in real time during overtaking of the second vehicle, and constructing a collision early warning model. If the collision early warning model is based on time, calculating the time interval between two targets according to the relative speed and the relative acceleration, and comparing the time interval with a preset safe time interval; if the collision pre-warning model is based on distance, the distance interval between two targets can be calculated according to the relative position and the relative speed, and compared with the preset safe distance interval.
And S105, when the lane change risk result is dangerous, sending collision early warning to the first vehicle.
For example, when it is determined that there is a risk of a lane-changing collision, an early warning signal may be transmitted to the first vehicle and the third vehicle through a wireless communication technology (e.g., V2V), and the driver or the passenger may be alerted to safety through voice, image, vibration, or the like. Meanwhile, the two targets can be enabled to perform corresponding avoiding actions such as deceleration, acceleration, steering and the like by controlling an automatic driving system or an intelligent braking system which are mounted on the first vehicle and the third vehicle.
Referring to fig. 2, a specific embodiment is a reverse overtaking warning method based on a C-V2X communication technology, which mainly includes the following steps:
acquiring various basic information of the own vehicle (HV) and other vehicles (RV 1, RV 2), such as position information, longitude and latitude, speed information, vehicle state information and the like, through a C-V2X communication module, and transmitting the own information to the other vehicles; and calculating the longitudinal minimum safety distance of the HV reverse overtaking according to the motion states among the HV, RV1 and RV2 through the reverse overtaking model, comparing the longitudinal minimum safety distance with the actual distance, judging whether the reverse overtaking safety risk exists currently, and carrying out early warning.
Let HV initial velocity be v 0 RV1 at a speed v RV1 The two vehicles travel forwards at a constant speed, and the longitudinal initial distance between the two vehicles is S H The method comprises the steps of carrying out a first treatment on the surface of the RV2 at a speed v RV2 And the vehicle runs at a constant speed, and the longitudinal initial distance between the vehicle and HV is S. The HV sends the overtaking intention to the TCU, and the TCU judges whether collision risks exist between the HV and RV1 and RV2, namely judges whether the HV can overtake.
Judging the condition of overtaking: s > d HV +d RV2 +d 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein s is the real-time distance between the front HV and RV2 of the scooter, and the HV driving distance is d in the time interval of HV overtaking HV RV2 distance of travel d RV2 The reserved safety distance is d 1 (value 15 m).
The above inequality is satisfied and the overtaking condition is satisfied.
If the overtaking condition is met, the TCU sends overtaking information of lane change' to the HMI, after HV enters overtaking preparation state (turning on a steering lamp), overtaking is started, and the acceleration at the moment is a HV . When HV exceeds RV1 by a certain safety distance, HV is no longer accelerating and preparation for doubling begins.
Wherein the safety distance d safe The definition is as follows:
t- - -driver reaction time s (1.2 s)
t 1 Braking coordination time, s (0.2 s)
t 2 Speed-reducing and increasing for a long time s (0.2 s)
a s Driver braking average deceleration, m/s 2 (taking 3.6 m/s) 2 )
d 0 -reserve safety distance, m (3 m)
Note that: the data refer to GB/T33577 to take value
When HV overtakes in the time interval, the HV driving distance is d HV RV1 distance is dRV, RV2 distance is dRV, and Dot is the minimum distance.
D ot ＝d HV +d RV2 …………(2.2)
d RV1 ＝v RV1 t ot …………(2.4)
d RV2 ＝v RV2 t ot …………(2.5)
As can be seen from fig. 2, the condition for HV to complete the overrun of RV1 is that HV not only exceeds RV1, but also needs to maintain a sufficient safety distance from RV1, so the threshold for HV to complete the overrun can be expressed as
d HV ＝W HV +d safe +d RV1 +W RV1 +S H …………(2.6)
Wherein W is HV Vehicle length, W, representing HV RV1 Is the vehicle length of RV 1.
Can calculate t ot Is the value of (1):
at this time HV speed is
v HV ＝v 0 +a HV t ot …………(2.8)
Parallel portion of reverse overtaking process:
if the new RV3 in front of RV1 is not considered, it can be determined whether the lane change was successful, and the new case will not be discussed here.
After reaching HV to d safe At this time, the TCU sends the guide information "please merge" to the HV.
If the overtaking condition is not met, the TCU sends early warning information 'notice oncoming traffic' to the HMI, and sends alarm information to RV1 and RV2 to remind the driver of noticing deceleration avoidance.
And analyzing the minimum longitudinal safety distance between the HV and the RV1 when the lane is changed for the first time and after the overtaking is completed through the lane-changing safety distance model and the accelerating overtaking model, and giving different early warning levels and prompt information according to different conditions. The C-V2X communication technology can be utilized to realize multi-source data fusion and sharing, and the data transmission efficiency and reliability are improved.
Firstly, the method and the device can accurately identify and early warn complex reverse overtaking risks, and improve driving safety. By establishing an integrated reverse overtaking model, the longitudinal minimum safety distance of the HV reverse overtaking can be calculated according to the motion states among the HV, RV1 and RV2, and compared with the actual distance, whether the safety risk of the reverse overtaking exists at present is judged, and early warning is carried out. Therefore, accidents such as rear-end collision, sideslip and collision caused by reverse overtaking can be effectively avoided.
Secondly, various factors such as the relative position, speed, course angle, lamplight state and the like among HV, RV1 and RV2, road width, curvature and the like can be comprehensively considered, and reasonable and effective early warning strategies can be given under different scenes. By establishing a lane change safety distance model and an acceleration overtaking model, the minimum longitudinal safety distance between HV and RV1 at the time of lane change for the first time and after overtaking is completed can be analyzed, and different early warning levels and prompt information can be given according to different conditions. For example, on a straight road, if the distance between HV and RV1 is large enough, a low level or no warning may be given; if the distance is smaller, a middle-level or high-level early warning can be given; if the distance is too small, an emergency warning can be given and HV deceleration or parking is recommended. On a curve, the influence of the curvature of the road on the field range and the judgment difficulty is considered, and the early warning strategy is correspondingly adjusted.
Finally, the V2X communication technology can be utilized to realize data interaction among vehicles, road side equipment, pedestrians and vehicle-mounted terminals, and the information transmission efficiency and reliability are improved. By using the V2X communication technology, it can acquire various basic information (such as position information, longitude and latitude, speed information, vehicle state information, etc.) transmitted by other participants (such as RV1, RV 2) and transmit own basic information to the other participants. Therefore, multi-source data fusion and sharing can be realized, and timeliness and accuracy of data transmission are improved. Meanwhile, the robustness and fault tolerance of the system can be enhanced, and the system can still work normally when some participants lose connection or fail.
The methods and/or embodiments of the present application may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. The above-described functions defined in the method of the present application are performed when the computer program is executed by a processing unit.
It should be noted that, the computer readable medium described in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowchart or block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more computer readable instructions executable by a processor to implement the steps of the methods and/or techniques of the various embodiments of the present application described above.
In a typical configuration of the present application, the terminals, the devices of the services network each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer-readable media include both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device.
In addition, the embodiment of the application also provides a computer program which is stored in the computer equipment, so that the computer equipment executes the method for executing the control code.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (10)
1. A vehicle lane-changing collision early warning method, the method comprising:
acquiring first vehicle running information and sending the first vehicle running information to a driving vehicle in a first range;
acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information;
acquiring the second vehicle running information and the third vehicle running information, and acquiring an overtaking risk result according to the first vehicle running information and the second vehicle running information;
when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information;
and when the lane change risk result is dangerous, sending a collision early warning to the first vehicle.
2. The vehicle lane-changing collision warning method according to claim 1, wherein the first vehicle running information and the second range of vehicle running information each include: position information, heading angle information, speed information and lane information.
3. The vehicle lane-changing collision warning method according to claim 2, wherein the determining, based on the vehicle running information and the first vehicle running information in the second range, a second vehicle located in the same lane and in the same direction and a third vehicle located in the lane to be changed and in a different direction includes:
the direction judgment is carried out according to the course angle information and the lane information of the first vehicle and the course angle information and the lane information of the second vehicle, and the second vehicle which is positioned on the same lane and in the same direction as the first vehicle is determined;
and carrying out direction judgment according to the course angle information and the lane information of the first vehicle and the course angle information and the lane information of the third vehicle, and determining the third vehicle which is positioned on the lane to be changed of the first vehicle and has different directions.
4. The vehicle lane-changing collision warning method according to claim 2, wherein the obtaining the overtaking risk result from the first vehicle running information and the second vehicle running information includes:
acquiring lamplight information of the second vehicle;
and obtaining an overtaking risk result according to the lamplight information of the second vehicle and the speed information of the second vehicle.
5. The vehicle lane-changing collision warning method according to claim 2, wherein the obtaining a lane-changing risk result from the first vehicle running information and the third vehicle running information includes:
obtaining an initial distance S according to the position information of the first vehicle and the third vehicle;
obtaining a displacement distance d1 of the first vehicle and a displacement distance d2 of the third vehicle in an overtaking time interval according to the speed information of the first vehicle and the third vehicle;
and when S > d1+d2+d3, sending a lane change reminder to the first vehicle, wherein d3 is a reserved safety distance.
6. The vehicle lane-changing collision warning method according to claim 1, wherein the obtaining a lane-changing risk result from the first vehicle running information and the third vehicle running information further includes:
acquiring lane-changing safety distances in real time according to the running information of the first vehicle, the second vehicle and the third vehicle;
when the lane change safety distance is greater than or equal to a first threshold value, guiding information is sent to the first vehicle;
and when the lane change safety distance is smaller than a first threshold value, sending early warning information to the first vehicle.
7. The vehicle lane-changing collision warning method according to claim 1, wherein the method further comprises:
and when the lane change risk result is dangerous, sending prompt information to the driving vehicle in the first range.
8. The vehicle lane-changing collision warning method according to claim 1, wherein the method further comprises:
sending overtaking prompt information to the second vehicle;
and sending lane change prompt information to the third vehicle.
9. A lane-changing collision warning system for a vehicle, the system comprising:
the first module is used for acquiring first vehicle running information and sending the first vehicle running information to a driving vehicle in a first range through broadcasting;
the second module is used for acquiring vehicle running information in a second range, and determining a second vehicle which is positioned in the same lane and in the same direction as the first vehicle and a third vehicle which is positioned in the lane to be changed of the first vehicle and in different directions according to the vehicle running information in the second range and the first vehicle running information;
the third module is used for acquiring the second vehicle running information and the third vehicle running information and obtaining a overtaking risk result according to the first vehicle running information and the second vehicle running information; when the overtaking risk result is safe, obtaining a lane changing risk result according to the first vehicle running information and the third vehicle running information; and when the lane change risk result is dangerous, sending a collision early warning to the first vehicle.
10. A computer readable medium having stored thereon computer program instructions executable by a processor to implement the method of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310469536.7A CN116504100A (en) | 2023-04-27 | 2023-04-27 | Reverse overtaking lane change collision algorithm and device based on common roads and highways in city and suburb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310469536.7A CN116504100A (en) | 2023-04-27 | 2023-04-27 | Reverse overtaking lane change collision algorithm and device based on common roads and highways in city and suburb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116504100A true CN116504100A (en) | 2023-07-28 |
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| CN202310469536.7A Pending CN116504100A (en) | 2023-04-27 | 2023-04-27 | Reverse overtaking lane change collision algorithm and device based on common roads and highways in city and suburb |
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