CN116704774A

CN116704774A - Vehicle overtaking method and device based on unmanned aerial vehicle, vehicle and storage medium

Info

Publication number: CN116704774A
Application number: CN202310766112.7A
Authority: CN
Inventors: 杨贵永; 金绍兵
Original assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2023-06-26
Filing date: 2023-06-26
Publication date: 2023-09-05

Abstract

The invention discloses a vehicle overtaking method and device based on an unmanned aerial vehicle, a vehicle and a storage medium. The method comprises the following steps: receiving a height value of each detection point in a plurality of detection points sent by the unmanned aerial vehicle, wherein the height value is used for indicating the distance between the unmanned aerial vehicle and a ground object; determining front road information and first front vehicle information according to the height value of each detection point in the plurality of detection points; and generating overtaking information according to the front road information and the first front vehicle information. From this, generate preceding road information and first preceding car information and analyze based on unmanned aerial vehicle transmitted's altitude value to generate accurate overtaking information, thereby send overtaking information to the driver in time, regard as the reference when so that the driver overtakes, avoid leading to taking place the traffic accident easily because of the influence of factors such as driver's field of vision or driving experience, promoted driving safety.

Description

Vehicle overtaking method and device based on unmanned aerial vehicle, vehicle and storage medium

Technical Field

The invention relates to the technical field of vehicle safety, in particular to a vehicle overtaking method and device based on an unmanned aerial vehicle, a vehicle and a storage medium.

Background

Along with the improvement of the living standard of residents in China, the demands of people for more convenient and efficient traffic modes are gradually increased, in a current traffic system, overtaking behaviors of a vehicle in the running process are usually determined subjectively by a driver according to the environment outside the vehicle to judge whether overtaking is carried out or not, however, the method is often influenced by factors such as the visual field of the driver or driving experience, and the occurrence frequency of traffic accidents is high.

It should be noted that the information disclosed in this background section is only for understanding the background of the inventive concept and, therefore, it may contain information that does not form the prior art.

Disclosure of Invention

The present application aims to solve at least one of the technical problems in the related art to some extent. Therefore, the application aims to provide a vehicle overtaking method, a device, a vehicle and a storage medium based on an unmanned aerial vehicle, which are used for generating front road information and first front vehicle information according to a height value sent by the unmanned aerial vehicle and analyzing the front road information and the first front vehicle information to generate accurate overtaking information, so that overtaking information is timely sent to a driver, the overtaking information is used as a reference when the driver overtakes, traffic accidents are prevented from being easily caused due to the influence of factors such as visual field or driving experience of the driver, and driving safety is improved.

To achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle overtaking method based on an unmanned aerial vehicle, the method including: receiving a height value of each detection point in a plurality of detection points sent by the unmanned aerial vehicle, wherein the height value is used for indicating the distance between the unmanned aerial vehicle and a ground object; determining front road information and first front vehicle information according to the height value of each detection point in the plurality of detection points; and generating overtaking information according to the front road information and the first front vehicle information.

According to the vehicle overtaking method based on the unmanned aerial vehicle, the height value of each detection point in the detection points sent by the unmanned aerial vehicle is received, the front road information and the first front vehicle information are determined based on the obtained height values, and then the front road information and the first front vehicle information are analyzed to generate overtaking information, so that overtaking information is timely sent to a driver, the overtaking information is used as a reference when the driver overtakes, traffic accidents easily occur due to the influence of factors such as visual field or driving experience of the driver are avoided, and driving safety is improved.

In some embodiments of the present invention, determining the forward road information and the first lead vehicle information based on the altitude value of each of the plurality of detection points includes: acquiring detection points with the height value in a first height interval from a plurality of detection points, obtaining a first detection point set, and determining front road information based on the first detection point set; acquiring detection points with the height value in a second height interval from the plurality of detection points to obtain a second detection point set, and determining first front vehicle information based on the second detection point set; wherein the height value of the first height section is different from the height value of the second height section.

In some embodiments of the present invention, determining the forward road information and the first lead vehicle information based on the altitude value of each of the plurality of detection points includes: acquiring a height difference value between every two adjacent detection points in the plurality of detection points; based on the altitude difference, the forward road information and the first forward vehicle information are determined.

In some embodiments of the present invention, determining the forward road information and the first lead vehicle information based on the altitude difference comprises: acquiring detection points with smaller height values in two adjacent detection points of a first difference interval of the height difference value, obtaining a first detection point set, and determining front road information based on the first detection point set; acquiring detection points with smaller height values in two adjacent detection points of a second difference interval of the height difference value, obtaining a second detection point set, and determining first front vehicle information based on the second detection point set; wherein the difference between the first difference interval is smaller than the difference between the second difference interval.

In some embodiments of the present invention, the forward road information includes a forward road width, and determining the forward road information based on the first set of detection points includes: generating a first road boundary line and a second road boundary line based on the first set of detection points; and acquiring the width between the first road boundary line and the second road boundary line to obtain the width of the front road.

In some embodiments of the invention, the first lead vehicle information includes a first lead vehicle length and a first lead vehicle width, and determining the first lead vehicle information based on the second set of detection points includes: generating a contour of the first lead vehicle based on the second set of detection points; and acquiring the length and the width of the profile to obtain the first front vehicle length and the first front vehicle width.

In some embodiments of the invention, the forward road information includes a forward road width, the first forward vehicle information includes a first forward vehicle width, and generating the overtaking information based on the forward road information and the first forward vehicle information includes: generating an overtaking impossible signal when the width of the front road is smaller than or equal to a first width, wherein the first width is the sum of the width of the first front vehicle, the width of the host vehicle and a first width allowance; and generating an overtaking risk signal when the front road width is larger than the first width and smaller than or equal to the second width, wherein the second width is the sum of the first front vehicle width, the vehicle width and the second width margin, and the second width margin is larger than the first width margin.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: acquiring a first longitudinal distance between a first front vehicle and a second front vehicle, wherein the second front vehicle is positioned in front of the first front vehicle; the cut-in information is generated based on the first longitudinal distance, the forward road information, and the first forward vehicle information.

In some embodiments of the present invention, obtaining a first longitudinal distance between a first lead vehicle and a second lead vehicle comprises: receiving image information sent by an unmanned aerial vehicle; based on the image information, a first longitudinal distance between the first lead vehicle and the second lead vehicle is acquired.

In some embodiments of the invention, the forward road information includes a forward road width, the first forward vehicle information includes a first forward vehicle width, and generating the overtaking information based on the first longitudinal distance, the forward road information, and the first forward vehicle information includes: generating an overtaking impossible signal when the width of the front road is smaller than or equal to a first width, wherein the first width is the sum of the width of the first front vehicle, the width of the host vehicle and a first width allowance; and generating an overtaking risk signal when the front road width is greater than the first width and less than or equal to the second width and the first longitudinal distance is greater than the first preset longitudinal distance, or when the front road width is greater than the second width and less than the third width and the first longitudinal distance is less than or equal to the first preset longitudinal distance, wherein the second width is the sum of the first front vehicle width, the vehicle width and the second width margin, the third width is the sum of the first front vehicle width, the vehicle width and the third width margin, the second width margin is greater than the first width margin, and the third width margin is greater than the second width margin.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: acquiring the speed of the vehicle; and determining a first width margin, a second width margin, a third width margin and a first preset longitudinal distance based on the speed of the vehicle, wherein the first width margin, the second width margin, the third width margin and the first preset longitudinal distance are positively correlated with the speed of the vehicle.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: receiving unmanned aerial vehicle position information sent by an unmanned aerial vehicle; determining a second longitudinal distance between the vehicle and the first preceding vehicle based on the unmanned aerial vehicle position information and the vehicle position information; and generating overtaking information when the second longitudinal distance is smaller than or equal to a second preset longitudinal distance.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: and generating reminding information corresponding to the overtaking impossible signal and the overtaking risk signal.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: controlling the speed-limiting operation of the vehicle based on the overtaking signal; and controlling the vehicle speed difference between the vehicle speed of the vehicle and the vehicle speed of the first front vehicle to be larger than a preset vehicle speed difference value based on the overtaking risk signal, and acquiring the transverse distance and the third longitudinal distance between the vehicle and other vehicles in the overtaking process, and controlling the vehicle to carry out driving direction correction based on the transverse distance and the third longitudinal distance, wherein the other vehicles comprise the first front vehicle.

In some embodiments of the present invention, in controlling the vehicle to make a driving direction correction based on the lateral distance and the third longitudinal distance, the unmanned vehicle-based vehicle passing method further includes: when the transverse distance is smaller than the preset transverse distance, controlling the vehicle to slow down so as to stop overtaking; and when the third longitudinal distance is smaller than the third preset longitudinal distance, controlling the vehicle to stop overtaking.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: receiving unmanned aerial vehicle position information sent by an unmanned aerial vehicle, and acquiring the speed of the vehicle and the speed of a first front vehicle; determining a second longitudinal distance between the vehicle and the first preceding vehicle based on the unmanned aerial vehicle position information and the vehicle position information; and generating overtaking information based on the second longitudinal distance, the vehicle speed of the vehicle, the first front vehicle speed and the first front vehicle information.

In some embodiments of the invention, the first lead information includes a first lead length, and generating the overtaking information based on the second longitudinal distance, the host vehicle speed, the first lead vehicle speed, and the first lead vehicle information includes: acquiring a first time length for the host vehicle to reach a junction of the host vehicle and the first front vehicle based on the second longitudinal distance, the host vehicle speed and the first front vehicle speed; acquiring a second duration of intersection of the host vehicle and the first front vehicle based on the host vehicle speed, the first front vehicle length and the host vehicle length; and determining a third time length for the vehicle to finish intersection with the first front vehicle based on the first time length and the second time length.

In some embodiments of the invention, the unmanned aerial vehicle-based vehicle cut-in method further comprises: at least part of the first duration, the second duration, and the third duration are displayed.

To achieve the above object, an embodiment of a second aspect of the present invention provides a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the unmanned vehicle-based vehicle overtaking method of any of the above embodiments.

According to the computer readable storage medium, based on the vehicle overtaking method based on the unmanned aerial vehicle, the front road information and the first front vehicle information are generated according to the height value sent by the unmanned aerial vehicle and analyzed to generate accurate overtaking information, so that overtaking information is timely sent to a driver, the driver can take the overtaking information as a reference when overtaking, traffic accidents are prevented from being easily caused due to the influence of factors such as the visual field or driving experience of the driver, and driving safety is improved.

To achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle, comprising: the system comprises a memory, a processor and a program stored in the memory and capable of running on the processor, wherein the processor realizes the vehicle overtaking method based on the unmanned aerial vehicle in any embodiment when executing the program.

According to the vehicle disclosed by the embodiment of the invention, based on the vehicle overtaking method based on the unmanned aerial vehicle, the front road information and the first front vehicle information are generated according to the height value sent by the unmanned aerial vehicle and are analyzed to generate the accurate overtaking information, so that the overtaking information is timely sent to the driver, the overtaking information is used as a reference when the driver overtakes, traffic accidents easily caused by factors such as visual field or driving experience of the driver are avoided, and driving safety is improved.

To achieve the above object, according to a fourth aspect of the present invention, there is provided a vehicle overtaking device based on an unmanned aerial vehicle, the device including: the receiving module is used for receiving the height value of each detection point in the plurality of detection points sent by the unmanned aerial vehicle, wherein the height value is used for indicating the distance between the unmanned aerial vehicle and the ground object; the determining module is used for determining front road information and first front vehicle information according to the height value of each detection point in the plurality of detection points; and the generating module is used for generating overtaking information according to the front road information and the first front vehicle information.

According to the vehicle overtaking device based on the unmanned aerial vehicle, the front road information and the first front vehicle information are generated according to the height value sent by the unmanned aerial vehicle and analyzed to generate accurate overtaking information, so that overtaking information is timely sent to a driver, the overtaking information is used as a reference when the driver overtakes, traffic accidents are prevented from being easily caused due to the influence of factors such as the visual field or driving experience of the driver, and driving safety is improved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a block diagram of a vehicle overtaking device based on a unmanned aerial vehicle according to an embodiment of the present application.

Fig. 2 is a flow diagram of a drone-based vehicle cut-in method according to one embodiment of the application.

Figure 3 is a schematic diagram of a scenario in which a first set of probe points is detected, according to one embodiment of the present application.

Figure 4 is a schematic diagram of a scenario of a second set of probe points according to one embodiment of the present application.

Fig. 5 is a schematic view of a scenario of a first set of detection points according to another embodiment of the present application.

Fig. 6 is a schematic diagram of a scenario of a second set of detection points according to yet another embodiment of the present application.

Fig. 7 is a flow chart of a drone-based vehicle cut-in method according to another embodiment of the application.

Fig. 8 is a flow chart of a drone-based vehicle cut-in method according to yet another embodiment of the application.

Fig. 9 is a flow chart of a drone-based vehicle cut-in method according to yet another embodiment of the invention.

Fig. 10 is a schematic view of a scenario of a host vehicle and a first front vehicle according to an embodiment of the present invention.

Fig. 11 is a block diagram of a vehicle according to an embodiment of the invention.

Fig. 12 is a block diagram of a vehicle overtaking device based on a drone, according to another embodiment of the present invention.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

It should be noted that fig. 1 is a block diagram of a vehicle overtaking device based on an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in fig. 1, a controller, a GPS (Global Positioning System) navigation positioning module, a wireless interconnection module, a multimedia controller, a central control display screen and a sound are arranged in the vehicle end, and the controller is respectively connected with the GPS navigation positioning module, the wireless interconnection module and the multimedia controller. The GPS map navigation module is used for collecting vehicle position information and providing a navigation route for the vehicle, the wireless interconnection module is used for carrying out information interconnection with the unmanned aerial vehicle end, the multimedia controller is respectively connected with the central control display screen and the sound, and video prompt and voice prompt are respectively carried out through the central control display screen and the sound.

The unmanned aerial vehicle end is also provided with controller, GPS navigation positioning module, ultrasonic sensor and wireless interconnection module, and this controller is connected with GPS navigation positioning module and ultrasonic sensor respectively, and ultrasonic sensor of unmanned aerial vehicle end is connected with wireless interconnection module simultaneously. The GPS map navigation module is used for collecting position information of the unmanned aerial vehicle and providing a navigation route for the unmanned aerial vehicle, the ultrasonic sensor achieves the functions of ranging and detecting target objects by transmitting and receiving ultrasonic signals, and the wireless interconnection module is used for information interconnection with a vehicle end.

The following describes a vehicle overtaking method, device, vehicle and storage medium based on unmanned aerial vehicle in detail with reference to the accompanying drawings.

Fig. 2 is a flow diagram of a drone-based vehicle cut-in method according to one embodiment of the invention.

As shown in fig. 2, the unmanned vehicle-based vehicle overtaking method may include:

s11: and receiving a height value of each detection point in the plurality of detection points sent by the unmanned aerial vehicle, wherein the height value is used for indicating the distance between the unmanned aerial vehicle and the ground object.

Specifically, in order to ensure the safety of the vehicle overtaking process, the unmanned aerial vehicle is used for detecting other running vehicles, obstacles or running road sections outside the vehicle so as to evaluate the safety of the vehicle overtaking process according to the monitoring result, in the detection process, in order to accurately identify the object outside the vehicle, the object outside the vehicle is subdivided into a plurality of detection points by adopting a punctiform projection mode, the distance between the adjacent detection points is smaller, the same object comprises a plurality of detection points, and thus the identification detection of the whole object is thinned to the identification detection of each detection point. The distance between adjacent detection points can be 1cm or other smaller values, and the ground object includes, but is not limited to, a fence on the ground, a road edge, a vehicle, or the like.

S13: the forward road information and the first preceding vehicle information are determined according to the height value of each of the plurality of detection points.

The front road information generally refers to the width or road condition information of the front road, and the like, people traveling outside generally carry unmanned aerial vehicles, and when the people go beyond the road unfamiliar with the road, the unmanned aerial vehicles can be used for detecting the width or the road condition information of the front road in advance so as to go beyond the vehicle under the premise of ensuring safety. The first preceding vehicle information generally refers to information such as a distance between a preceding vehicle adjacent to the host vehicle and the host vehicle or a length and a width of the preceding vehicle.

For example, for the same ground object (such as a fence or a vehicle), the height of the road edge in the same road is the same in general, the unmanned aerial vehicle runs at a position 10m away from the ground, the height of the road edge is 0.1m, the distance between the unmanned aerial vehicle and the road edge is 9.9m, and if the height value of each detection point in the plurality of detection points is close to 9.9m, it can be determined that the road edge may exist in the road ahead; under the general condition, the outline of the vehicle in the same section road is rectangle, when the unmanned aerial vehicle is running at the position 10m away from the ground, when the unmanned aerial vehicle detects the vehicle through controlling the ultrasonic sensor, the height value measured by each detection point is usually the distance from the upper half part of the vehicle such as the engine cover, the front windshield, the rear windshield and the rear cover of the vehicle to the unmanned aerial vehicle and the distance from the vehicle bottom to the unmanned aerial vehicle, the height of the upper half part of the vehicle can be 0.8m, if the height value of each detection point in a plurality of detection points is close to 9.2m, the vehicle possibly exists in the front road can be determined, and then after the type of the ground object is determined, the information of each ground object is further acquired, so that the front road information and the first front vehicle information are obtained.

S15: and generating overtaking information according to the front road information and the first front vehicle information.

That is, after the front road information and the first front vehicle information of the host vehicle are acquired, the overtaking information is generated, and the overtaking information may include information such as whether the host vehicle can overtake, the distance between the host vehicle and the first front vehicle, whether the host vehicle overtake has a risk, etc., and the overtaking information is displayed in a video or text form through a central control display screen, or is played in a voice playing form through sound equipment, so that the driver can clearly know the overtaking situation.

When a driver of the vehicle presses a physical button located near an instrument panel or other driving position or clicks a touch button on a central control display screen of the multimedia controller to start a vehicle overtaking method based on the unmanned aerial vehicle, the unmanned aerial vehicle drives according to a navigation path provided by the GPS navigation module and transmits ultrasonic signals to the lower part of the unmanned aerial vehicle through the controller, after the ultrasonic sensor receives the ultrasonic signals reflected by the lower detection points, a time difference delta t between the transmitting time and the receiving time of the ultrasonic signals of each detection point is measured, and a product between each time difference delta t and the ultrasonic speed v is respectively determined, so that one half of the product is determined as a height value ((deltat v)/2) of each detection point, and each determined height value is the distance between a corresponding ground object and the unmanned aerial vehicle.

Further, after determining that the ground object existing on the front road is a road edge or a vehicle or other objects according to the height value of each detection point, further acquiring information of each ground object to obtain front road information and first front vehicle information, analyzing the overtaking situation according to the front road information and the first front vehicle information, and generating overtaking information to remind a driver.

In the above embodiment, the altitude value of each detection point in the plurality of detection points sent by the unmanned aerial vehicle is received, and the front road information and the first front vehicle information are determined based on the obtained altitude values, so that the front road information and the first front vehicle information are analyzed, and the overtaking information is generated, so that overtaking information is timely sent to the driver, the overtaking information is used as a reference when the driver overtakes, the influence of factors such as the field of view or the driving experience of the driver is avoided, traffic accidents are easy to occur, and the driving safety is improved.

In some embodiments, determining the forward road information and the first lead vehicle information from the altitude value of each of the plurality of detection points includes: acquiring detection points with the height value in a first height interval from a plurality of detection points, obtaining a first detection point set, and determining front road information based on the first detection point set; acquiring detection points with the height value in a second height interval from the plurality of detection points to obtain a second detection point set, and determining first front vehicle information based on the second detection point set; wherein the height value of the first height section is different from the height value of the second height section.

Specifically, the first height section is set according to a distance between an object such as a road edge, a fence or a pit, which is commonly found on the ground, and an unmanned aerial vehicle flying in the air, and the second height section is set according to a distance between a vehicle on the ground and the unmanned aerial vehicle flying in the air, and the setting basis of the first height section is different from the setting basis of the second height section, so that the height value of the first height section is different from the height value of the second height section.

In one example, the unmanned aerial vehicle flies 8m from the ground, the first altitude section is set to (7 m,9 m), the unmanned aerial vehicle travels according to the navigation path provided by the GPS navigation module, and the ultrasonic sensor is controlled by the controller to transmit the ultrasonic signal to the unmanned aerial vehicle downward, as shown in fig. 3, at this time, the ultrasonic sensor receives the ultrasonic signal reflected by the plurality of detection points, and calculates the altitude value of each detection point of the plurality of detection points, a range in which the calculated altitude value of each detection point is between (7.5 m,7.8 m) is obtained, the detection points in which the altitude value is (7.5 m,7.8 m) are determined to form a first detection point set, and the first detection point set forms a circle of the hatched portion in fig. 3, and the pit existing in the front road can be further inferred from the circle formed by the first detection point set and the altitude value of the first detection point set, and thus the road pit existing in front road pit is determined based on the first point set. However, other common road condition information may exist on the road ahead, such as concave pits or convex slopes, so that the setting of the first height section may be adjusted according to the actual situation, which is not limited herein.

In another example, the unmanned aerial vehicle flies at 8m from the ground, the second height interval is set to (6 m,7.5 m), the ultrasonic sensor is controlled by the unmanned aerial vehicle controller to emit ultrasonic signals to the lower side of the unmanned aerial vehicle, as shown in fig. 4, at this time, the ultrasonic sensor calculates the height value of each of a plurality of detection points receiving the reflected ultrasonic signals, the calculated height value of each detection point is in the range between (6.5 m,7.2 m), so that the detection points with the height value between (6.5 m,7.2 m) are determined to form a second detection point set, and the second detection point set forms a rectangle of the shadow part in fig. 4, further since the ultrasonic signals received by the ultrasonic sensor are typically emitted by the detection points of the hood, the bonnet, the back cover and the bottom of the vehicle, the height of the car is typically between 1.4m and 1.5m, and the distance from the hood to the roof is typically between 0.8m and 1m, so that the second detection point set can be determined based on the data of the second detection point set (5 m,7.2 m). That is, the existence of the vehicle in the front road can be deduced from the rectangle formed by the second detection point set and the height value of the second detection point set, and the front first front vehicle information is determined as the car. Since the vehicle traveling on the front road may be a large vehicle such as a car as a house or a truck, the setting of the second height section may be adjusted according to the actual situation, and is not limited thereto.

Therefore, the unmanned aerial vehicle detects the front road information and the first front vehicle information according to the height value of the detection point, the first height section and the second height section respectively, the overtaking road can be accurately detected, and the driving safety is improved.

The pit in the front road information and the vehicle in the first preceding vehicle information are formed based on the detection point in the first altitude section or the second altitude section among the plurality of detection points, and therefore the pit and the car are each presented in a planar pattern.

In some embodiments, determining the forward road information and the first lead vehicle information from the altitude value of each of the plurality of detection points includes: acquiring a height difference value between every two adjacent detection points in the plurality of detection points; based on the altitude difference, the forward road information and the first forward vehicle information are determined.

Specifically, since the distance between adjacent detection points is small as: the height value of the adjacent detection points is usually 1cm, and the height values of the adjacent positions of the ground object are usually the height values of the adjacent detection points, wherein the adjacent detection points can be on different horizontal planes or the same horizontal plane, and for the detection points near the boundary line, the adjacent detection points are usually on different horizontal planes, and the height difference exists between the adjacent detection points.

For a ground object with a small change of the height value, such as a road edge, the height values detected by a plurality of adjacent detection points are relatively close, and at the moment, the height difference between every two adjacent detection points is relatively small; for a ground object such as a vehicle whose height value varies greatly, the height value detected by most of the adjacent detection points also varies greatly, and at this time, the height difference between every two adjacent detection points is large. In this way, the ground object is detected based on the height difference between every two adjacent detection points to accurately determine the forward road information and the first preceding vehicle information.

Further, in some embodiments, determining the forward road information and the first lead vehicle information based on the altitude difference comprises: acquiring detection points with smaller height values in two adjacent detection points of a first difference interval of the height difference value, obtaining a first detection point set, and determining front road information based on the first detection point set; acquiring detection points with smaller height values in two adjacent detection points of a second difference interval of the height difference value, obtaining a second detection point set, and determining first front vehicle information based on the second detection point set; wherein the difference between the first difference interval is smaller than the difference between the second difference interval.

The first difference section is set according to the height value of the detection point near the boundary line of the object such as the road edge or the fence which is common on the ground, and the second difference section is set according to the height value of the detection point near the boundary line of the vehicle on the ground, and the setting basis of the first difference section is different from the setting basis of the second difference section, so that the difference between the first difference section and the second difference section is different, and in general, the difference between the first difference section is smaller than the difference between the second difference section.

In one example, the unmanned aerial vehicle flies at a position 10m away from the ground, a first difference interval is set to be (5 cm,20 m), the unmanned aerial vehicle runs according to a navigation path provided by the GPS navigation module, the ultrasonic sensor is controlled by the controller to transmit ultrasonic signals to the lower side of the unmanned aerial vehicle, at this time, the ultrasonic sensor receives the ultrasonic signals reflected by a plurality of detection points, height differences between every two adjacent detection points in the plurality of detection points are calculated, the calculated height differences between every two adjacent detection points are in a range between (6 cm,10 cm), the height differences are matched with the first difference interval, adjacent detection points with the height differences between (6 cm,10 cm) are determined to be adjacent detection points between the boundary of the road edge and the road surface, at this time, the detection points with smaller height values in the two adjacent detection points are acquired, a first detection point set is obtained, and as the height values represent the distance between the unmanned aerial vehicle and the ground object, therefore, the points in the first detection point set are distributed on the road edge, the first road edge is determined based on the first road edge profile, and the road edge is determined to be the road edge 1, and the road edge is the road edge 1.

In another example, the unmanned aerial vehicle flies at a position 10m away from the ground, the second difference interval is set to be (70 cm,150 cm), the ultrasonic sensor is controlled by the unmanned aerial vehicle controller to emit ultrasonic signals to the lower side of the unmanned aerial vehicle, the ultrasonic sensor calculates the height difference between every two adjacent detection points of the received reflected ultrasonic signals, the calculated height difference between every two adjacent detection points is in a range between (80 cm,120 cm), the adjacent detection points with the height difference between (80 cm,120 cm) are determined to be the adjacent detection points between the boundary of the parts of the engine cover, the roof cover, the rear cover, the roof and the like of the vehicle and the road surface, at this time, the detection points with smaller height values in the two adjacent detection points are acquired, and therefore, the detection points in the first detection point set are mostly points of boundary distribution of the engine cover, the roof cover, the rear cover, the like of the vehicle and the like of the vehicle, and therefore, the front profile of the vehicle in front of the vehicle is determined based on the second rectangular point set, as shown in the figure 6.

Therefore, the unmanned aerial vehicle detects the front road information and the first front vehicle information according to the height values of the two adjacent detection points, the first difference value interval and the second difference value interval, so that the detection of the overtaking road can be accurately carried out, and the driving safety is improved.

The road edge in the front road information and the vehicle in the first preceding vehicle information are formed based on each adjacent two detection points among the plurality of detection points, and thus the road edge and the vehicle are each presented in the form of an edge profile.

In some embodiments, the forward road information includes a forward road width, determining the forward road information based on the first set of probe points includes: generating a first road boundary line and a second road boundary line based on the first set of detection points; and acquiring the width between the first road boundary line and the second road boundary line to obtain the width of the front road.

In general, road edges are divided into road widths by setting a road edge or fence having a certain height, and a first road boundary line and a second road boundary line are generally marked by the road edge or fence. In the foregoing example, the first detection point set detected by the ultrasonic sensor is sent to the controller, and the controller connects the detection points in the first detection point set to form a first road boundary line and a second road boundary line in different directions, wherein the first road boundary line is shown as R1 in fig. 5, and the second road boundary line is shown as R2 in fig. 5, so that the width between R1 and R2 is calculated, and the calculation result is determined as the front road width, so that the front road width can be accurately calculated to determine whether the safety overtaking is possible.

In other embodiments, the first lead vehicle information includes a first lead vehicle length and a first lead vehicle width, and determining the first lead vehicle information based on the second set of detection points includes: generating a contour of the first lead vehicle based on the second set of detection points; and acquiring the length and the width of the profile to obtain the first front vehicle length and the first front vehicle width.

That is, in the foregoing example, the second set of detection points detected by the ultrasonic sensor is sent to the controller, and the controller connects the detection points in the second set of detection points to form a rectangular profile as shown in fig. 6, which may represent the profile of the first front vehicle, and the length and width of which may represent the first front vehicle length L1 and the first front vehicle width W1, so that the length and width of the first front vehicle can be accurately calculated to determine whether the safety overtaking is possible.

In some embodiments, the forward road information includes a forward road width, the first forward vehicle information includes a first forward vehicle width, and generating the overtaking information based on the forward road information and the first forward vehicle information includes: generating an overtaking impossible signal when the width of the front road is smaller than or equal to a first width, wherein the first width is the sum of the width of the first front vehicle, the width of the host vehicle and a first width allowance;

And generating an overtaking risk signal when the front road width is larger than the first width and smaller than or equal to the second width, wherein the second width is the sum of the first front vehicle width, the vehicle width and the second width margin, and the second width margin is larger than the first width margin.

Specifically, in order to ensure the safety of the vehicle and passengers during the overtaking process, the overtaking condition needs to be estimated according to the information such as the width of the front road, the width of the first front vehicle, the width of the host vehicle and the like, so as to ensure that overtaking is completed on the premise of safety as much as possible. The first width is the minimum road width when the vehicle overtakes, can understand when the place ahead road width is less than first width, is difficult to guarantee that the vehicle can safely accomplish the overtaking, considers the security problem this moment, will generate unable overtaking signal, sends to the well accuse display screen and the sound of car end, carries out video suggestion and voice prompt to driving personnel respectively through well accuse display screen and sound.

The first width margin and the second width margin are width values set in advance with a certain margin or space, and the second width margin is generally larger than the first width margin. The second width is the road width when the vehicle can accomplish the overtaking, but still has the overtaking risk under this second width, needs to carry out video suggestion and voice prompt to driving personnel respectively through well accuse display screen and sound.

For example, the width W0 of the vehicle, the first width margin 1m and the second width margin 2m may be set in advance in a controller of the vehicle end, and the first front vehicle width W1 and the front road width W2 are calculated by the controller of the unmanned aerial vehicle and transmitted to the controller of the vehicle end through the wireless interconnection module. Through detecting the environment in front of the automobile, when the controller at the automobile end determines that the width W2 of the road ahead is smaller than or equal to the first width (W1+W0+1m), an overtaking signal is generated, and reminding information corresponding to the overtaking signal is generated, so that the automobile driver can be respectively subjected to video prompt and voice prompt of overtaking through a central control display screen and a voice prompt, accidents such as scratch and the like are avoided, wherein the video prompt can play a text prompt or a graphic prompt of overtaking, and the voice prompt can directly play 'overtaking'.

When the controller at the vehicle end determines that the front road width W2 is larger than the first width (W1+W0+1m) and smaller than the second width (W1+W0+2m), an overtaking risk signal is generated, and reminding information corresponding to the overtaking risk signal is generated, so that video prompt and voice prompt of overtaking risks are respectively carried out on driving personnel through a central control display screen and sound, at the moment, double flashing lights of the vehicle can be turned on, and the surrounding vehicles can be prompted to carefully drive and avoid through a horn, wherein the video prompt can circularly play a text prompt or a graphic prompt of carefully overtaking, the voice prompt can directly play a 'overtaking width is insufficient, the overtaking is carefully carried out', and when the controller at the vehicle end determines that the front road width W2 is larger than the second width (W1+W0+2m), the video prompt and the voice prompt are not needed.

Therefore, the front road width and the first width are compared with the second width, so that corresponding signals are generated according to the comparison result, the overtaking risk is automatically predicted, and the danger easily caused by inaccurate artificial judgment is avoided.

In some embodiments, the unmanned aerial vehicle-based vehicle cut-in method further comprises: acquiring a first longitudinal distance between a first front vehicle and a second front vehicle, wherein the second front vehicle is positioned in front of the first front vehicle; the cut-in information is generated based on the first longitudinal distance, the forward road information, and the first forward vehicle information.

It can be understood that the first front vehicle is located in front of the host vehicle and is adjacent to the host vehicle, the second front vehicle is located in front of the first front vehicle and is adjacent to the first front vehicle, and because a driver of the host vehicle can observe the longitudinal distance between the first front vehicle and the host vehicle in the driving process, but the driver of the host vehicle is generally difficult to observe the longitudinal distance between the second front vehicle and the host vehicle, the driver of the host vehicle is prevented from carefully driving the host vehicle by acquiring the first longitudinal distance between the first front vehicle and the second front vehicle, and further based on the first longitudinal distance, the road condition, the vehicle type and the number in the front road information and the longitudinal distance between the contour of the first front vehicle and the first front vehicle in the first front vehicle information, the overtaking information such as overtaking and overtaking risk can be comprehensively judged, so that the driver of the host vehicle is timely reminded of the overtaking operation of the emergency lane of the second front vehicle is prevented, and the overtaking operation of the host vehicle is affected.

In some embodiments, obtaining a first longitudinal distance between a first lead vehicle and a second lead vehicle comprises: receiving image information sent by an unmanned aerial vehicle; based on the image information, a first longitudinal distance between the first lead vehicle and the second lead vehicle is acquired.

That is, in order to obtain the first longitudinal distance between the first front vehicle and the second front vehicle, the camera is arranged on the unmanned aerial vehicle to shoot the road where the vehicle is located so as to acquire the image information of the first front vehicle and the second front vehicle, and the acquired image information is sent to the controller at the vehicle end through the wireless interconnection module at the unmanned aerial vehicle end so as to determine the first longitudinal distance between the first front vehicle and the second front vehicle, so that overtaking information is further generated.

In some embodiments, the forward road information includes a forward road width, the first forward vehicle information includes a first forward vehicle width, generating the overtaking information based on the first longitudinal distance, the forward road information, and the first forward vehicle information includes: generating an overtaking impossible signal when the width of the front road is smaller than or equal to a first width, wherein the first width is the sum of the width of the first front vehicle, the width of the host vehicle and a first width allowance;

and generating an overtaking risk signal when the front road width is greater than the first width and less than or equal to the second width and the first longitudinal distance is greater than the first preset longitudinal distance, or when the front road width is greater than the second width and less than the third width and the first longitudinal distance is less than or equal to the first preset longitudinal distance, wherein the second width is the sum of the first front vehicle width, the vehicle width and the second width margin, the third width is the sum of the first front vehicle width, the vehicle width and the third width margin, the second width margin is greater than the first width margin, and the third width margin is greater than the second width margin.

The first width margin, the second width margin, the third width margin, and the first preset longitudinal distance are width values with a certain margin or space set for the host vehicle at different vehicle speeds, that is, by determining the first width margin, the second width margin, the third width margin, and the first preset longitudinal distance based on the obtained host vehicle speed.

The speed of the vehicle can be acquired based on a GPS navigation positioning module at the vehicle end, the speed of the unmanned aerial vehicle can be acquired through the GPS navigation positioning module at the unmanned aerial vehicle end, and the speed can be calculated according to the relative distance between the unmanned aerial vehicle and the vehicle, and the speed can be acquired through the identification of a wheel speed sensor in the vehicle. The first width margin, the second width margin, the third width margin and the first preset longitudinal distance are positively correlated with the vehicle speed of the vehicle, that is, as the vehicle speed increases, the first width margin, the second width margin, the third width margin and the first preset longitudinal distance correspondingly increase, so that the third width margin is greater than the second width margin and the second width margin is greater than the first width margin.

In the foregoing example, the vehicle width W0, the first width margin 1m, the second width margin 2m, and the first preset longitudinal distance 20m may be set in advance in the controller of the vehicle end, and the first front vehicle width W1 and the front road width W2 are calculated by the controller of the unmanned aerial vehicle and transmitted to the controller of the vehicle end through the wireless interconnection module.

Detecting the environment in front of the automobile with the speed of 60km/h, when a controller at the automobile end determines that the width W2 of a road in front is smaller than or equal to a first width (W1+W0+1m), generating a signal that the automobile cannot pass, and generating reminding information corresponding to the signal to remind the driver of the automobile; when the controller at the vehicle end determines that the front road width W2 is greater than the first width (W1+W0+1m) and smaller than the second width (W1+W0+2m), further judging whether the first longitudinal distance D1 is greater than the first preset longitudinal distance 20m, if so, determining that the distance between the second front vehicle and the vehicle is far, generating an overtaking risk signal, generating corresponding reminding information, and respectively carrying out video prompt and voice prompt on overtaking risks of driving personnel through a central control display screen and a voice prompt, wherein the video prompt and voice prompt modes can be the same as the rest overtaking risk prompting information.

Along with the increase of the speed of the automobile to 90km/h, the environment in front of the automobile is detected by setting a third width allowance of 3m, the width W2 of the road in front is larger than the second width (W1+W0+2m) and smaller than the third width (W1+W0+3m), and when the first longitudinal distance D1 is smaller than or equal to the first preset longitudinal distance of 20m, an overtaking risk signal is also generated, and reminding information corresponding to the overtaking risk signal is generated, so that the overtaking risk of driving personnel is respectively carried out through a central control display screen and sound, wherein the video reminding mode and the sound reminding mode can be the same as the rest overtaking risk reminding information. The first preset longitudinal distance may also be increased to 30m, 40m or other values, which are not limited herein, and when the controller at the vehicle end determines that the front road width W2 is greater than the third width (w1+w0+3m), the video prompt and the voice prompt may not be performed.

Therefore, the judgment basis for generating the overtaking signal can be adjusted according to the change condition of the vehicle, and overtaking safety under different conditions is ensured.

In some embodiments, referring to fig. 7, the unmanned aerial vehicle-based vehicle cut-in method further comprises:

s21: and receiving unmanned aerial vehicle position information sent by the unmanned aerial vehicle.

S23: based on the unmanned aerial vehicle position information and the vehicle position information, a second longitudinal distance between the vehicle and the first lead vehicle is determined.

S25: and generating overtaking information when the second longitudinal distance is smaller than or equal to a second preset longitudinal distance.

Specifically, the position information of the unmanned aerial vehicle can be acquired through a GPS navigation positioning module at the unmanned aerial vehicle end and is sent to a controller at the vehicle end through a wireless interconnection module at the unmanned aerial vehicle end, meanwhile, the GPS navigation positioning module at the vehicle end also acquires the position information of the vehicle and sends the acquired position information of the vehicle to the controller at the vehicle end, so that the controller determines the first front vehicle position information in front of the vehicle based on the position information of the unmanned aerial vehicle and the position information of the vehicle, and further determines the second longitudinal distance between the vehicle and the first front vehicle according to the determined position information of the vehicle and the first front vehicle position information.

When the second longitudinal distance is smaller than or equal to the second preset longitudinal distance, if the host vehicle needs to overtake in the second longitudinal distance, the host vehicle needs to overtake reminding the driver of the host vehicle, judging whether the host vehicle can overtake, how the overtaking risk is and the like at the moment, so as to generate overtaking information, and displaying the overtaking information in a video or text form through a central control display screen or playing the overtaking information in a voice playing form through sound equipment, so that the host vehicle can be convenient for the driver to clearly know the overtaking condition.

In some embodiments, the unmanned aerial vehicle-based vehicle cut-in method further comprises: controlling the speed-limiting operation of the vehicle based on the overtaking signal;

and controlling the vehicle speed difference between the vehicle speed of the vehicle and the vehicle speed of the first front vehicle to be larger than a preset vehicle speed difference value based on the overtaking risk signal, and acquiring the transverse distance and the third longitudinal distance between the vehicle and other vehicles in the overtaking process, and controlling the vehicle to carry out driving direction correction based on the transverse distance and the third longitudinal distance, wherein the other vehicles comprise the first front vehicle.

The automatic overtaking request may be generated based on a driver voice operation or pressing an automatic overtaking function key for activating an automatic overtaking function of the host vehicle. The third longitudinal distance is a front longitudinal distance or a rear longitudinal distance between the host vehicle and the other vehicle.

In the foregoing example, when the overtaking signal is generated, in order to secure the running safety during running of the vehicle, the speed-limiting operation of the vehicle may be controlled by a speed limiter, a cruise controller, or an electronic speed limiter, or the like. When the overtaking risk signal is generated, a driver of the vehicle can manually adjust devices such as a steering wheel or a gear to overtake, an automatic overtaking function can be started through voice or keys, after the automatic overtaking function is started, the vehicle speed difference between the vehicle speed of the vehicle and the vehicle speed of the first front vehicle is controlled to be larger than a preset vehicle speed difference to overtake, and the overtaking is performed, for example: the first front vehicle speed is 40km/h, the preset speed difference value is 20km/h, the vehicle should overtake at a speed greater than 60km/h at this moment, and the transverse distance and the third longitudinal distance between the vehicle and other vehicles are obtained in the overtaking process, the transverse distance and the third longitudinal distance are detected by detection radars arranged outside the vehicle body of the vehicle, and the detection radars comprise a plurality of detection radars which are respectively positioned at the front side, the rear side, the left side and the right side of the vehicle body.

The driving direction of the vehicle is further controlled to be corrected based on the transverse distance and the third longitudinal distance through an active control steering system of the vehicle, and in some embodiments, the vehicle is controlled to slow down to stop overtaking when the transverse distance is smaller than a preset transverse distance; and when the third longitudinal distance is smaller than the third preset longitudinal distance, controlling the vehicle to stop overtaking.

That is, when the left lateral distance or the right lateral distance is smaller than the preset lateral distance, to ensure the safety during the overtaking process, the host vehicle is controlled to avoid the other vehicles in a deceleration manner, and the overtaking operation is stopped, for example: the left lateral distance or the right lateral distance is 15cm, the preset lateral distance is 20cm, at the moment, the vehicle is controlled to avoid other vehicles in a deceleration way, and the overtaking operation is stopped; when the front longitudinal distance or the rear longitudinal distance is smaller than the third preset longitudinal distance, the vehicle is controlled to stop overtaking, and at the moment, the vehicle still runs at a certain speed, for example: the front longitudinal distance or the rear longitudinal distance is 40cm, the third preset longitudinal distance is 50cm, the vehicle is controlled to stop overtaking at the moment, and the vehicle is driven continuously at a certain speed to wait for the change of the front longitudinal distance or the rear longitudinal distance. The preset transverse distance may be other values, and is not limited again.

Thus, the running state of the vehicle is adjusted according to different overtaking signals, and the reliability and the safety of the automatic overtaking function are ensured.

In some embodiments, referring to fig. 8, the unmanned aerial vehicle-based vehicle cut-in method further comprises:

s31: and receiving the unmanned aerial vehicle position information sent by the unmanned aerial vehicle, and acquiring the speed of the vehicle and the speed of the first front vehicle.

The unmanned aerial vehicle position information is acquired through a GPS navigation positioning module at the unmanned aerial vehicle end and is sent to a controller at the vehicle end through a wireless interconnection module at the unmanned aerial vehicle end. The speed of the vehicle can be acquired through a GPS navigation positioning module at the vehicle end, the speed of the unmanned aerial vehicle can be acquired through a GPS navigation positioning module at the unmanned aerial vehicle end, the speed can be calculated according to the relative distance between the vehicle and the unmanned aerial vehicle, the speed can be obtained through the identification of a wheel speed sensor in the vehicle, and the relative distance between the vehicle and the unmanned aerial vehicle is calculated based on the position information of the unmanned aerial vehicle and the position information of the vehicle. The speed of the first front vehicle can be acquired through a GPS navigation positioning module at the unmanned aerial vehicle end and is sent to a controller at the vehicle end through a wireless interconnection module, and the speed of the unmanned aerial vehicle and the relative distance between the first front vehicle and the unmanned aerial vehicle can be calculated.

S33: based on the unmanned aerial vehicle position information and the vehicle position information, a second longitudinal distance between the vehicle and the first lead vehicle is determined.

The position information of the vehicle is acquired through a GPS navigation positioning module at the vehicle end and is sent to a controller at the vehicle end, and the controller is used for determining a second longitudinal distance between the vehicle and the first front vehicle based on a position coordinate difference value between the position information of the unmanned aerial vehicle and the position information of the vehicle.

S35: and generating overtaking information based on the second longitudinal distance, the vehicle speed, the front vehicle speed and the first front vehicle information.

That is, according to the second longitudinal distance between the host vehicle and the first front vehicle, the speed of the host vehicle and the first front vehicle information, the overtaking information is generated, and is displayed in the form of video or characters through a central control display screen or played in the form of voice playing through sound equipment, so that a driver can clearly know the overtaking situation.

In some embodiments, referring to fig. 9, the first lead information includes a first lead length, and generating the cut-in information based on the second longitudinal distance, the host vehicle speed, the lead vehicle speed, and the first lead information includes:

s351: based on the second longitudinal distance, the speed of the host vehicle and the speed of the first front vehicle, a first time length for the host vehicle to reach a junction of the host vehicle and the first front vehicle is obtained.

S353: based on the speed of the host vehicle, the speed of the first front vehicle, the length of the first front vehicle and the length of the host vehicle, a second duration for the host vehicle to intersect with the first front vehicle is obtained.

S355: and determining a third time length for the vehicle to finish intersection with the first front vehicle based on the first time length and the second time length.

As shown in fig. 10, the first front vehicle and the host vehicle travel on the R2 road with the first road boundary line being R1 and the second road boundary line being R2, the front road width being the degree W2, the first front vehicle length being L1, the host vehicle length being L0, the first front vehicle speed being V1, the host vehicle speed being V0, the second longitudinal distance between the host vehicle and the first front vehicle being L3, the first duration t1=l3/(V0-V1) of the host vehicle reaching the junction of the host vehicle and the first front vehicle being obtained based on the second longitudinal distance L3, the host vehicle speed V0 and the first front vehicle speed V1, and the second duration t2= (l0+l1)/(v0-V1) of the host vehicle being obtained based on the host vehicle speed V0, the second duration t2= (l0+l1)/(v0-V1) of the host vehicle being intersected with the first front vehicle being obtained based on the host vehicle speed V0, and the first duration T2 being further controlled by the first duration T1 and the second duration T2 being displayed in advance, and the second duration T2 being displayed at least being displayed in advance, so that the second duration T2 is displayed.

It should be noted that, as the speed of the host vehicle and the speed of the first preceding vehicle change, the predicted first duration and second duration may also change, so that the third duration is dynamically updated accordingly.

It is noted that the specific values mentioned above are only for the purpose of illustrating the implementation of the present invention in detail and are not to be construed as limiting the present invention. In other examples or embodiments or examples, other values may be selected according to the present invention, without specific limitation.

Corresponding to the above embodiments, the embodiments of the present invention further provide a computer readable storage medium having a program stored thereon, which when executed by a processor, implements the unmanned vehicle-based vehicle cut-in method of any of the above embodiments.

It should be noted that the above explanation of the embodiments and advantageous effects of the unmanned aerial vehicle-based vehicle cut-in method is also applicable to the computer-readable storage medium of the embodiments of the present invention, and is not developed in detail herein to avoid redundancy.

Corresponding to the above embodiment, the embodiment of the invention also provides a vehicle.

Fig. 11 is a block diagram of a vehicle according to an embodiment of the invention. As shown in fig. 11, the vehicle 100 includes: the method for vehicle passing based on the unmanned aerial vehicle of any of the embodiments described above is implemented by the memory 102, the processor 104, and the program 106 stored on the memory 102 and executable on the processor 104, when the processor 104 executes the program 106.

It should be noted that the above explanation of the embodiments and advantageous effects of the unmanned vehicle-based vehicle cut-in method is also applicable to the vehicle 100 of the embodiment of the present invention, and is not developed in detail herein to avoid redundancy.

Corresponding to the embodiment, the embodiment of the invention also provides a vehicle overtaking device based on the unmanned aerial vehicle.

Fig. 12 is a block diagram of a vehicle overtaking device based on a drone, according to one embodiment of the present invention. As shown in fig. 12, the unmanned vehicle-based vehicle overtaking device 300 includes: a receiving module 302, configured to receive a height value of each detection point of the plurality of detection points sent by the unmanned aerial vehicle, where the height value is used to indicate a distance between the unmanned aerial vehicle and a ground object; a determining module 304, configured to determine, according to a height value of each of the plurality of detection points, forward road information and first forward vehicle information; the generating module 306 is configured to generate overtaking information according to the front road information and the first front vehicle information.

In some embodiments of the present invention, the determining module 304 is specifically configured to: acquiring a height difference value between every two adjacent detection points in the plurality of detection points; based on the altitude difference, the forward road information and the first forward vehicle information are determined.

In some embodiments of the present invention, the determining module 304 is specifically configured to: acquiring detection points with smaller height values in two adjacent detection points of a first difference interval of the height difference value, obtaining a first detection point set, and determining front road information based on the first detection point set; acquiring detection points with smaller height values in two adjacent detection points of a second difference interval of the height difference value, obtaining a second detection point set, and determining first front vehicle information based on the second detection point set; wherein the difference between the first difference interval is smaller than the difference between the second difference interval.

In some embodiments of the present invention, the determining module 304 is specifically configured to: generating a first road boundary line and a second road boundary line based on the first set of detection points; and acquiring the width between the first road boundary line and the second road boundary line to obtain the width of the front road.

In some embodiments of the present invention, the first front vehicle information includes a first front vehicle length and a first front vehicle width determination module 304 specifically configured to: generating a contour of the first lead vehicle based on the second set of detection points; and acquiring the length and the width of the profile to obtain the first front vehicle length and the first front vehicle width.

In some embodiments of the present invention, the forward road information includes a forward road width, the first forward vehicle information includes a first forward vehicle width, and the generating module 306 is specifically configured to: generating an overtaking impossible signal when the width of the front road is smaller than or equal to a first width, wherein the first width is the sum of the width of the first front vehicle, the width of the host vehicle and a first width allowance; and generating an overtaking risk signal when the front road width is larger than the first width and smaller than or equal to the second width, wherein the second width is the sum of the first front vehicle width, the vehicle width and the second width margin, and the second width margin is larger than the first width margin.

In some embodiments of the present invention, an acquisition module (not shown) is used to: acquiring a first longitudinal distance between a first front vehicle and a second front vehicle, wherein the second front vehicle is positioned in front of the first front vehicle; the cut-in information is generated based on the first longitudinal distance, the forward road information, and the first forward vehicle information.

In some embodiments of the present invention, the acquisition module (not shown in the figures) is specifically configured to: receiving image information sent by an unmanned aerial vehicle; based on the image information, a first longitudinal distance between the first lead vehicle and the second lead vehicle is acquired.

In some embodiments of the present invention, the front road information includes a front road width, the first front vehicle information includes a first front vehicle width, and the acquiring module (not shown in the figure) is specifically configured to: generating an overtaking impossible signal when the width of the front road is smaller than or equal to a first width, wherein the first width is the sum of the width of the first front vehicle, the width of the host vehicle and a first width allowance; and generating an overtaking risk signal when the front road width is greater than the first width and less than or equal to the second width and the first longitudinal distance is greater than the first preset longitudinal distance, or when the front road width is greater than the second width and less than the third width and the first longitudinal distance is less than or equal to the first preset longitudinal distance, wherein the second width is the sum of the first front vehicle width, the vehicle width and the second width margin, the third width is the sum of the first front vehicle width, the vehicle width and the third width margin, the second width margin is greater than the first width margin, and the third width margin is greater than the second width margin.

In some embodiments of the present invention, the acquisition module (not shown in the figures) is further configured to: acquiring the speed of the vehicle; and determining a first width margin, a second width margin, a third width margin and a first preset longitudinal distance based on the speed of the vehicle, wherein the first width margin, the second width margin, the third width margin and the first preset longitudinal distance are positively correlated with the speed of the vehicle.

In some embodiments of the present invention, the receiving module 302 is specifically configured to: receiving unmanned aerial vehicle position information sent by an unmanned aerial vehicle; determining a second longitudinal distance between the vehicle and the first preceding vehicle based on the unmanned aerial vehicle position information and the vehicle position information; and generating overtaking information when the second longitudinal distance is smaller than or equal to a second preset longitudinal distance.

In some embodiments of the present invention, the generating module 306 is specifically configured to: and generating reminding information corresponding to the overtaking impossible signal and the overtaking risk signal.

In some embodiments of the invention, a control module (not shown) is used to: controlling the speed-limiting operation of the vehicle based on the overtaking signal; and controlling the vehicle speed difference between the vehicle speed of the vehicle and the vehicle speed of the first front vehicle to be larger than a preset vehicle speed difference value based on the overtaking risk signal, and acquiring the transverse distance and the third longitudinal distance between the vehicle and other vehicles in the overtaking process, and controlling the vehicle to carry out driving direction correction based on the transverse distance and the third longitudinal distance, wherein the other vehicles comprise the first front vehicle.

In some embodiments of the present invention, a control module (not shown) is specifically configured to: when the transverse distance is smaller than the preset transverse distance, controlling the vehicle to slow down so as to stop overtaking; and when the third longitudinal distance is smaller than the third preset longitudinal distance, controlling the vehicle to stop overtaking.

In some embodiments of the present invention, the receiving module 302 is specifically configured to: receiving unmanned aerial vehicle position information sent by an unmanned aerial vehicle, and acquiring the speed of the vehicle and the speed of a first front vehicle; determining a second longitudinal distance between the vehicle and the first preceding vehicle based on the unmanned aerial vehicle position information and the vehicle position information; and generating overtaking information based on the second longitudinal distance, the vehicle speed of the vehicle, the first front vehicle speed and the first front vehicle information.

In some embodiments of the present invention, the first preceding vehicle information includes a first preceding vehicle length, and the receiving module 302 is specifically configured to: acquiring a first time length for the host vehicle to reach a junction of the host vehicle and the first front vehicle based on the second longitudinal distance, the host vehicle speed and the first front vehicle speed; acquiring a second duration of intersection of the host vehicle and the first front vehicle based on the host vehicle speed, the first front vehicle length and the host vehicle length; and determining a third time length for the vehicle to finish intersection with the first front vehicle based on the first time length and the second time length.

It should be noted that the above explanation of the embodiments and advantageous effects of the unmanned aerial vehicle-based vehicle overtaking method is also applicable to the unmanned aerial vehicle-based vehicle overtaking device 300 according to the embodiment of the present invention, and is not developed in detail herein to avoid redundancy.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, electronic devices, and computer-readable storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to portions of the description of method embodiments being relevant.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A method for overtaking a vehicle based on an unmanned aerial vehicle, the method comprising:

receiving a height value of each detection point in a plurality of detection points sent by the unmanned aerial vehicle, wherein the height value is used for indicating the distance between the unmanned aerial vehicle and a ground object;

determining front road information and first front vehicle information according to the height value of each detection point in the plurality of detection points;

and generating overtaking information according to the front road information and the first front vehicle information.

2. The method of claim 1, wherein determining the forward road information and the first lead vehicle information based on the altitude value of each of the plurality of probe points comprises:

acquiring detection points with the height value in a first height interval from the plurality of detection points, obtaining a first detection point set, and determining the front road information based on the first detection point set;

Acquiring detection points with the height value in a second height interval from the plurality of detection points to obtain a second detection point set, and determining the first preceding vehicle information based on the second detection point set;

wherein the height value of the first height section is different from the height value of the second height section.

3. The method of claim 1, wherein determining the forward road information and the first lead vehicle information based on the altitude value of each of the plurality of probe points comprises:

acquiring a height difference value between every two adjacent detection points in the plurality of detection points;

acquiring detection points with smaller height values in two adjacent detection points of a first difference interval of a height difference value, obtaining a first detection point set, and determining the front road information based on the first detection point set;

acquiring detection points with smaller height values in two adjacent detection points of a second difference interval of the height difference value, obtaining a second detection point set, and determining the first preceding vehicle information based on the second detection point set;

wherein the difference value of the first difference value interval is smaller than the difference value of the second difference value interval.

4. The method of claim 1, wherein the forward road information comprises a forward road width, the first forward vehicle information comprises a first forward vehicle width, and generating overtaking information based on the forward road information and the first forward vehicle information comprises:

Generating an overtaking disabled signal when the front road width is smaller than or equal to a first width, wherein the first width is the sum of the first front vehicle width, the vehicle width and a first width allowance;

and generating an overtaking risk signal when the front road width is larger than the first width and smaller than or equal to a second width, wherein the second width is the sum of the first front vehicle width, the vehicle width and a second width allowance, and the second width allowance is larger than the first width allowance.

5. The method of claim 1, wherein the forward road information comprises a forward road width, the first forward vehicle information comprises a first forward vehicle width, the method further comprising:

acquiring a first longitudinal distance between a first front vehicle and a second front vehicle, wherein the second front vehicle is positioned in front of the first front vehicle;

and generating an overtaking risk signal when the front road width is greater than the first width and less than or equal to a second width and the first longitudinal distance is greater than a first preset longitudinal distance, or when the front road width is greater than the second width and less than a third width and the first longitudinal distance is less than or equal to the first preset longitudinal distance, wherein the second width is the sum of the first front vehicle width, the vehicle width and a second width margin, the third width is the sum of the first front vehicle width, the vehicle width and a third width margin, the second width margin is greater than the first width margin, and the third width margin is greater than the second width margin.

6. The method of claim 5, wherein the method further comprises:

acquiring the speed of the vehicle;

and determining the first width margin, the second width margin, the third width margin and the first preset longitudinal distance based on the speed of the vehicle, wherein the first width margin, the second width margin, the third width margin and the first preset longitudinal distance are positively correlated with the speed of the vehicle.

7. The method according to any one of claims 1-6, further comprising:

receiving unmanned aerial vehicle position information sent by the unmanned aerial vehicle;

determining a second longitudinal distance between the vehicle and the first preceding vehicle based on the unmanned aerial vehicle position information and the vehicle position information;

and generating overtaking information when the second longitudinal distance is smaller than or equal to a second preset longitudinal distance.

8. The method according to claim 4 or 5, characterized in that the method further comprises:

controlling the speed-limiting operation of the vehicle based on the non-overtaking signal;

and controlling a vehicle speed difference value between the vehicle speed of the vehicle and the vehicle speed of the first front vehicle to be larger than a preset vehicle speed difference value based on the overtaking risk signal, responding to an automatic overtaking request of a driver to overtake, acquiring a transverse distance and a third longitudinal distance between the vehicle and other vehicles in the overtaking process, and controlling the vehicle to carry out driving direction correction based on the transverse distance and the third longitudinal distance, wherein the other vehicles comprise the first front vehicle.

9. The method of claim 1, wherein the first lead information comprises a first lead length, the method further comprising:

receiving unmanned aerial vehicle position information sent by the unmanned aerial vehicle, and acquiring the speed of the vehicle and the speed of a first front vehicle;

acquiring a first time length for the host vehicle to reach a junction of the host vehicle and the first front vehicle based on the second longitudinal distance, the host vehicle speed and the first front vehicle speed;

acquiring a second duration of intersection of the host vehicle and the first front vehicle based on the host vehicle speed, the first front vehicle length and the host vehicle length;

determining a third time length for the host vehicle and the first front vehicle to finish intersection based on the first time length and the second time length;

and displaying at least part of the first time period, the second time period and the third time period.

10. A vehicle, characterized by comprising: memory, a processor and a program stored on the memory and executable on the processor, which processor, when executing the program, implements the unmanned vehicle-based vehicle cut-in method according to any one of claims 1-9.