A method and device for overtaking control by using a road, a storage medium and a vehicle-mounted unit

Abstract

The application discloses a kind of borrow lane overtaking control method, device, storage medium and vehicle-mounted unit, method includes: when obtaining borrow lane overtaking request, first BSM information is obtained in the vehicle sent in the preset range according to preset period, wherein the vehicle includes opposite vehicle, the vehicle of being overtaken, rear vehicle vehicle;According to current vehicle information and the first BSM information, it is judged whether current vehicle satisfies preset overtaking condition set;When continuously x periods satisfy preset overtaking condition set, create and broadcast VIR message to each vehicle in the preset range, and control current vehicle enters adjacent lane;When current vehicle enters the adjacent lane, continue to execute the step of obtaining the BSM information of vehicle sent in the preset range according to preset period, whether current vehicle satisfies preset overtaking condition set is judged in real time according to the preset period;When continuously n periods or cumulative m periods do not satisfy preset overtaking condition set, control current vehicle returns to original lane.The application can improve the safety factor of vehicle borrow lane overtaking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traffic safety, in particular to a method and device for passing on a lane, a storage medium and an on-board unit. BACKGROUND

[0002] In the current traffic conditions, there are two-way two-lane motor vehicle roads. On such a lane, overtaking must be assisted by the opposite lane, which increases the risk of traffic accidents. In addition to the reasons of visibility, weather, and large vehicles blocking the front, it is difficult to judge the situation of the opposite lane, which further increases the risk of overtaking. Due to economic and technical reasons, these roads often lack the assistance of roadside facilities and other infrastructure, making cooperation more difficult. Therefore, how to effectively control the passing on the lane through intelligent control technology has become the focus of experts in the field. SUMMARY

[0003] The present application provides a method and device for passing on a lane, a storage medium and an on-board unit. In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not a general review, nor does it determine the key / important elements or delineate the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0004] In a first aspect, the present application provides a method for controlling passing on a lane, the method comprising:

[0005] When a passing request is obtained, first BSM information sent by vehicles in a preset range is obtained according to a preset period, wherein the vehicles include opposite vehicles, overtaken vehicles, and rear vehicles;

[0006] According to the current vehicle information and the first BSM information, it is determined whether the current vehicle meets a preset set of overtaking conditions;

[0007] When the preset set of overtaking conditions is met for x consecutive periods, a VIR message is created and broadcast to each vehicle in the preset range, and the current vehicle is controlled to enter the adjacent lane;

[0008] When the current vehicle enters the adjacent lane, the step of obtaining the BSM information sent by the vehicles in the preset range according to the preset period is continued, and it is determined in real time whether the current vehicle meets the preset set of overtaking conditions according to the preset period;

[0009] When the preset set of overtaking conditions is not met for n consecutive periods or m cumulative periods, the current vehicle is controlled to return to the original lane.

[0010] Optionally, the first BSM information includes vehicle ID, driving data, and position data.

[0011] According to the current vehicle information and the first BSM information, it is determined whether a preset overtaking condition set is met, including:

[0012] The first speed of the opposite vehicle in the BSM message, the second speed and the acceleration of the current vehicle are obtained;

[0013] When the second speed is greater than the first speed and the acceleration is positive,

[0014] According to the first BSM message and the map information, a preset collision point is calculated, a vehicle position distribution map with the preset collision point as the origin is constructed, and the vehicle position distribution map is updated according to the preset period;

[0015] According to the position data and the driving data, a set of overtaking risk determination parameters is calculated, including the front vehicle safety distance, the rear vehicle safety distance, the overtaking distance, the overtaking end point, and the front vehicle following distance;

[0016] According to the set of overtaking risk determination parameters and the relative position of the collision point and the overtaking end point, it is determined whether the current vehicle meets the preset overtaking condition set.

[0017] Optionally, the collision point is calculated according to the first BSM message and the map information, including:

[0018] The current vehicle speed is determined according to the obtained current vehicle information, wherein the current vehicle information includes vehicle driving data and position data;

[0019] The speed of the opposite vehicle is determined according to the first BSM message;

[0020] The target distance between the current vehicle and the opposite vehicle is calculated;

[0021] The front vehicle collision distance is calculated according to the target distance, the current vehicle speed and the speed of the opposite vehicle;

[0022] The collision point is calculated according to the front vehicle collision distance, the coordinates of the current vehicle and the vehicle heading angle.

[0023] Optionally, when the preset overtaking condition set is not met for consecutive n periods or cumulative m periods, the current vehicle is controlled to return to the original lane, including:

[0024] According to the first BSM message and the vehicle information of the current vehicle, it is determined whether the preset overtaking condition set is met;

[0025] When the preset overtaking condition set is not met, counting is started;

[0026] When the preset overtaking conditions are not met for n consecutive periods or for m periods accumulated in a preset time window, the current vehicle is controlled to return to the original lane;

[0027] wherein m>n.

[0028] Optionally, when determining whether the current vehicle meets the preset overtaking conditions according to the overtaking risk determination parameter set and the relative position of the collision point and the overtaking end point, the method comprises:

[0029] determining whether the rear vehicle safety distance is greater than the sum of the length of the current vehicle and a preset rear vehicle safety margin;

[0030] If yes, determining whether the overtaking distance is less than the front vehicle safety distance;

[0031] If yes, determining whether the front vehicle following distance is greater than the sum of the length of the current vehicle and a preset front vehicle following safety margin;

[0032] If yes, determining whether the overtaking end point is not crossed or coincides with the collision point;

[0033] If no, determining that the current vehicle meets the preset overtaking conditions.

[0034] Optionally, the method further comprises:

[0035] drawing an overtaking route map according to the overtaking risk determination parameter set, the position data and the driving data of the overtaken vehicle and the oncoming vehicle corresponding to each other;

[0036] encapsulating the position data of the overtaken vehicle and the oncoming vehicle corresponding to each other and the overtaking route map into a VIR message;

[0037] broadcasting the VIR message to each vehicle in the preset range.

[0038] Optionally, the method further comprises:

[0039] When the current vehicle enters the adjacent lane, the step of acquiring the first BSM message sent by each vehicle in the preset range according to the preset period is continuously performed, and it is determined whether the current vehicle meets the preset overtaking conditions according to the current vehicle information and the first BSM information; when the current vehicle meets the preset overtaking conditions for y consecutive periods, the overtaking is continuously controlled;

[0040] wherein y≤x.

[0041] In a second aspect, the embodiments of the present application provide a lane-changing overtaking control device, which comprises:

[0042] The BSM message broadcasting module is configured to acquire first BSM information sent by vehicles in a preset range according to a preset period when a request for passing by borrowing a lane is acquired, wherein the vehicles include opposite vehicles, passed vehicles, and rear vehicles.

[0043] The first determination parameter determination module is configured to determine whether the current vehicle meets a preset passing condition set according to current vehicle information and the first BSM information.

[0044] The VIR message broadcasting module is configured to create and broadcast a VIR message to each vehicle in the preset range when the preset passing condition set is met for continuous x periods, and control the current vehicle to enter an adjacent lane.

[0045] The second determination parameter determination module is configured to continue to acquire BSM information sent by vehicles in a preset range according to a preset period when the current vehicle enters the adjacent lane, and determine whether the current vehicle meets a preset passing condition set in real time according to the preset period.

[0046] The control vehicle returning module is configured to control the current vehicle to return to the original lane when the preset passing condition set is not met for continuous n periods or cumulative m periods.

[0047] In a third aspect, an embodiment of the present application provides a computer storage medium, which stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and performing the method steps described above.

[0048] In a fourth aspect, an embodiment of the present application provides a vehicle-mounted unit, which can include a processor and a memory, wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and performing the method steps described above.

[0049] The technical scheme provided by the embodiment of the present application can have the following beneficial effects:

[0050] In the embodiment of the present application, the vehicle-mounted unit first acquires the first BSM information sent by vehicles in a preset range according to a preset period when the request for passing by overtaking is acquired, wherein the vehicles include opposite vehicles, overtaken vehicles and rear vehicles; then determines whether the current vehicle meets the preset overtaking condition set according to the current vehicle information and the first BSM information, secondly creates and broadcasts the VIR message to each vehicle in the preset range when the preset overtaking condition set is met for x continuous periods, controls the current vehicle to enter the adjacent lane, and continues to acquire the BSM information sent by the vehicles in the preset range according to the preset period when the current vehicle enters the adjacent lane, judges whether the current vehicle meets the preset overtaking condition set in real time according to the preset period, and finally controls the current vehicle to return to the original lane when the preset overtaking condition set is not met for n continuous periods or m cumulative periods. The safety factor of the vehicle passing by overtaking can be improved. Since the present application determines whether the current vehicle meets the overtaking condition through multiple traversal calculations of the determination parameters, the dynamically changing vehicle can obtain a dynamic determination result, and the vehicle is controlled to return when the overtaking condition is not met after the vehicle enters the adjacent lane, so that the safety factor of the vehicle passing by overtaking is improved.

[0051] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0053] Figure 1 is a flowchart of a passing-by overtaking control method provided by the embodiment of the present application;

[0054] Figure 2 is a successful overtaking scene diagram provided by the embodiment of the present application;

[0055] Figure 3 is a scene diagram of overtaking failure return provided by the embodiment of the present application;

[0056] Figure 4 is a structure diagram of a passing-by overtaking control device provided by the embodiment of the present application;

[0057] Figure 5 is a structure diagram of a vehicle-mounted unit provided by the embodiment of the present application. DETAILED DESCRIPTION

[0058] The following description and drawings sufficiently illustrate specific embodiments of the present application to enable one skilled in the art to practice them.

[0059] It should be noted that the described embodiments are merely some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0060] The following description refers to the accompanying drawings. In the following description, same numbers in different drawings represent the same or similar elements unless otherwise represented. The implementations described in the following exemplary embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0061] In the description of the present application, it should be understood that the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, "a plurality of" means two or more, unless otherwise specified. "And / or", which describes the relationship between the associated objects, means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0062] The present application provides a lane-changing overtaking control method, device, storage medium and vehicle-mounted unit to solve the problems in the above related technical problems. In the technical scheme provided by the present application, since the present application determines whether the current vehicle meets the overtaking condition by multiple traversal calculation of the determination parameter, the dynamically changing vehicle can obtain a dynamic determination result, and the vehicle is re-calculated whether it meets the overtaking condition after entering the adjacent lane, and the vehicle is controlled to return when it does not meet the overtaking condition, thereby improving the safety factor of the vehicle lane-changing overtaking. The following will be described in detail by exemplary embodiments.

[0063] The following will be described in detail by exemplary embodiments. Figure 1 -Appendix Figure 3 The lane-changing overtaking control method provided by the embodiment of the present application is described in detail. The method can be realized by relying on a computer program and can run on a lane-changing overtaking control device based on the von Neumann system. The computer program can be integrated in an application or run as an independent tool application.

[0064] Please refer to Figure 1 A flowchart of a lane-changing overtaking control method provided by the embodiment of the present application is provided, which is applied to a vehicle-mounted unit. As shown in Figure 1 The method of the embodiment of the present application can include the following steps:

[0065] S101, when the request for passing by the lane overtaking is acquired, the first BSM information sent by the vehicle in the preset range is acquired according to a preset period;

[0066] The vehicle includes a facing vehicle, an overtaken vehicle, a rear vehicle and a current vehicle, i.e., a vehicle needing to pass by the lane to overtake. The overtaken vehicle is the first vehicle in front of the current vehicle in the same lane, i.e., a vehicle needing to be overtaken. The rear vehicle is the first vehicle behind the current vehicle in the same lane. The facing vehicle is a normally driving vehicle on the road borrowed by the current vehicle.

[0067] For example, the acquired first BSM message is a message between the on-board unit (OBU) of the other vehicle in the preset range and the on-board unit (OBU) of the current vehicle, i.e., a vehicle-to-vehicle (V2V) message.

[0068] Generally, V2V means Vehicle To Vehicle. In the absence of RSU, the on-board units (OBUs) can also communicate with each other, share information and cooperate to complete driving actions according to the standard protocol. V2X means Vehicle To Everything, which means information exchange between the vehicle and the outside world. Based on the established protocol standard and communication means, the vehicle can achieve the perception of the surrounding things through information exchange with the outside world.

[0069] In a possible implementation, when the request for passing by the lane to overtake the current vehicle is received, the on-board unit (OBU) of the current vehicle acquires the first BSM message sent by each vehicle in the preset range according to a preset period.

[0070] S102, according to the current vehicle information and the first BSM information, it is determined whether the current vehicle meets a preset overtaking condition set;

[0071] The first BSM information includes vehicle ID, driving data and position data.

[0072] In the embodiments of the present application, when determining whether the preset overtaking conditions are met according to the current vehicle information and the first BSM information, first, the first speed of the oncoming vehicle, the second speed of the current vehicle and the acceleration in the BSM message of the oncoming vehicle are obtained, then when the second speed is greater than the first speed and the acceleration is positive, the preset collision point is calculated according to the first BSM message and the map information, and the vehicle position distribution map with the preset collision point as the origin is constructed and updated according to the preset period, secondly, the overtaking risk determination parameter set is calculated according to the position data and the driving data, the overtaking risk determination parameter set includes the front vehicle safety distance, the rear vehicle safety distance, the overtaking distance, the overtaking end point and the front vehicle following distance, and finally, whether the current vehicle meets the preset overtaking conditions is determined according to the overtaking risk determination parameter set and the relative position of the collision point and the overtaking end point.

[0073] For example,

[0074] Specifically, when calculating the collision point according to the first BSM message and the map information, first, the current vehicle speed is determined according to the obtained current vehicle information, wherein the current vehicle information includes vehicle driving data and position data, then the oncoming vehicle speed is determined according to the first BSM message, secondly, the target distance between the current vehicle and the oncoming vehicle is calculated, and the front vehicle collision distance is calculated according to the target distance, the current vehicle speed and the oncoming vehicle speed, and finally, the collision point is calculated according to the front vehicle collision distance, the coordinates of the current vehicle and the vehicle heading angle.

[0075] Specifically, when determining whether the current vehicle meets the preset overtaking conditions according to the overtaking risk determination parameter set and the relative position of the collision point and the overtaking end point, first, it is judged whether the rear vehicle safety distance is greater than the sum of the length of the current vehicle and the preset rear vehicle safety margin; if yes, it is judged whether the overtaking distance is less than the front vehicle safety distance; if yes, it is judged whether the front vehicle following distance is greater than the sum of the length of the current vehicle and the preset front vehicle following safety margin; if yes, it is judged whether the overtaking end point has not crossed or coincides with the collision point, and if not, it is determined that the current vehicle meets the preset overtaking conditions.

[0076] In a possible implementation, the OBU (on-board unit) of the current vehicle receives the BSM message sent by the OBU of the surrounding vehicle, and broadcasts the BSM message of the current vehicle. The BSM message contains vehicle ID, GPS information (vehicle speed, vehicle coordinates), vehicle length information, and other data, which are used for calculation of the overtaking risk judgment parameter. Based on the BSM message, it is determined whether the speed of the current vehicle is greater than the speed of the overtaken vehicle and the acceleration is positive. If not, the overtaking is stopped; if yes, the OBU of the current vehicle calculates the collision point according to the vehicle ID, coordinates in the received BSM message, and the map information of itself, and draws a vehicle position distribution map on the current driving road map with the collision point as the coordinate system origin. The drawn vehicle position distribution map can display the positions of the bypass vehicle, the oncoming vehicle, and the rear vehicle on the map, and the speed of the coordinate point.

[0077] After the distribution map is drawn, the OBU of the current vehicle can find the current vehicle, the overtaken vehicle, the oncoming vehicle, and the rear vehicle according to the coordinates on the distribution map and the GPS information of the coordinate point (i.e., the vehicle), and determine the position data and driving data of the current vehicle, the overtaken vehicle, the oncoming vehicle, and the rear vehicle in the BSM message. Finally, the front vehicle safety distance, the rear vehicle safety distance, the overtaking distance, the overtaking end point, and the front vehicle following distance can be calculated according to the position data and the driving data.

[0078] Specifically, when calculating the collision point, the speed V1 of the current vehicle and the speed V2 of the oncoming vehicle are first determined, and the distance between the two vehicles is S0, and the front vehicle collision distance is S. The calculation formula is S=(S0*V1) / (V1+V2). The distance is calculated every 10 ms. It is equivalent to that the variable-speed driving vehicle within the distance S is approximated to a uniform-speed driving vehicle. Within 10 ms, the vehicle can be considered to be driving at a uniform speed. Therefore, at each moment, the coordinates of the front vehicle collision point will change slightly. Finally, according to the front vehicle collision distance, the coordinates of the current vehicle, and the heading angle of the current vehicle, the coordinates of the collision point can be obtained.

[0079] Specifically, the front vehicle safety distance, the rear vehicle safety distance, the overtaking distance, the overtaking end point and the front vehicle following distance calculation process is: first, the braking distance of the current vehicle at the current time is calculated, then the braking distance of the oncoming vehicle is calculated according to the position data and the driving data of the oncoming vehicle, and then the front vehicle safety distance is calculated according to the front vehicle collision distance, the braking distance of the current vehicle and the braking distance of the oncoming vehicle, secondly, the preset rear vehicle safety distance is determined as the final rear vehicle safety distance, then the driving distance and the speed of the overtaken vehicle are determined according to the position data and the driving data of the overtaken vehicle, and the length and the speed of the current vehicle are determined, and the overtaking distance is calculated according to the driving distance and the speed of the overtaken vehicle and the length and the speed of the current vehicle, and the overtaking end point is calculated according to the front vehicle collision distance and the coordinates and the vehicle heading angle of the current vehicle, and finally the front vehicle following distance is determined according to the length of the current vehicle.

[0080] Specifically, in the calculation of the front vehicle safety distance, the rear vehicle safety distance, the overtaking distance, the overtaking end point and the front vehicle following distance, the following methods are included:

[0081] Front vehicle safety distance: front vehicle safety distance = braking distance of current vehicle at current speed + front vehicle collision distance + braking distance of oncoming vehicle at current speed.

[0082] Rear vehicle safety distance: when the current vehicle cannot complete overtaking and needs to return to the original lane, the distance between the overtaken vehicle and the vehicle behind the overtaken vehicle is called the rear vehicle safety distance. This distance is set according to experience: current vehicle length + 20 meters.

[0083] Overtaking distance: let the driving distance of the overtaken vehicle be S, the speed be V1, the length of the current vehicle be L, and the speed be V2, then the overtaking distance = S + L; the driving time of the current vehicle and the overtaken vehicle is the same, and the calculation frequency of 0.2 is the same, both are calculated once every 10ms, which can also be considered as uniform motion. Therefore, S / V1 = (S+L) / V2, then S = (V1*L) / (V2-v1).

[0084] Overtaking end point: according to the front vehicle collision distance, the coordinates of the current vehicle, and the heading angle of the current vehicle, the coordinates of the overtaking end point can be obtained.

[0085] Front vehicle following distance: the distance between the overtaken vehicle and the vehicle in front of it. According to experience, when this distance is greater than the length of the current vehicle + 20 meters, continue the overtaking process. Otherwise, stop overtaking and enter the safety retreat process.

[0086] It should be noted that according to experience, the initial speed of the car is as follows (unit: km / h): 20, 40, 60, 80, 100, and the actual measured braking distance (unit: meters) is: 1.9, 7.8, 17.8, 30.7, 48.2. When the speed of the car is (unit: km / h): 120, 150, 180, 200, 250, the braking distance becomes (unit: meters): 70.9, 110.7, 159.4, 196.8, 307.6.

[0087] When a period ends, the step of acquiring the BSM information sent by the vehicle in the preset range according to the preset period is continued, the positions of each vehicle in the latest period are calculated according to the BSM message of the latest period and the vehicle position distribution map, and the vehicle position distribution map is updated periodically according to the preset period.

[0088] S103, when the continuous x periods all satisfy the preset overtaking condition set, a VIR message is created and broadcast to each vehicle in the preset range, and the current vehicle is controlled to enter the adjacent lane.

[0089] Specifically, when the continuous x periods all satisfy the preset overtaking condition set, it is determined that the current vehicle can overtake, a VIR message is created and broadcast to each vehicle in the preset range, and the current vehicle is controlled to enter the adjacent lane, wherein x≥6, when the VIR message is created and broadcast to each vehicle in the preset range, first, an overtaking route map is drawn according to the overtaking risk judgment parameter set, the position data and driving data corresponding to the overtaken vehicle and the oncoming vehicle at the collision point, then the position data corresponding to the overtaken vehicle and the oncoming vehicle and the overtaking route map are packaged into a VIR message, and the VIR message is broadcast to each vehicle in the preset range.

[0090] In one possible implementation, it is judged whether the rear vehicle safety distance is greater than the length of the current vehicle + 20 meters, and if not, the overtaking is stopped (it is not safe to return after overtaking). It is judged whether the front vehicle following distance is greater than the length of the current vehicle + 20 meters, and if not, the overtaking is stopped (it is not safe to continuously overtake two vehicles). It is judged whether the overtaking distance is less than the front vehicle safety distance, and if not, the overtaking is stopped (collision may occur during overtaking, which is not safe). When it is determined that the above conditions are satisfied, the relative position of the coordinates of the overtaking end point and the collision point is determined,

[0091] When the overtaking end point does not cross or coincides with the collision point, it is determined that the current vehicle satisfies the preset overtaking condition set;

[0092] Wherein, a coordinate system is constructed with the collision point as the origin, and the overtaking end point is initialized on the left side of the collision point.

[0093] When the preset overtaking condition set is met for consecutive x periods, it is determined that overtaking is possible, information of the current vehicle, the oncoming vehicle, the rear vehicle, and an overtaking route map are encapsulated into a VIR message and broadcast to surrounding vehicle OBUs, and assistance is requested. The vehicle changes lanes and enters the overtaking process.

[0094] S104, when the current vehicle enters the adjacent lane, the step of acquiring the BSM information transmitted by the vehicles within the preset range according to the preset period is continuously performed, and whether the current vehicle meets the preset overtaking condition set is determined in real time according to the preset period;

[0095] In a possible implementation, when the current vehicle enters the adjacent lane, the step of acquiring the first BSM message transmitted by each vehicle within the preset range according to the preset period is continuously performed, and whether the current vehicle meets the preset overtaking condition set is determined according to the current vehicle information and the first BSM information.

[0096] When the current vehicle meets the preset overtaking condition set for consecutive y periods, where 3≤y≤x, the overtaking is continuously controlled until the overtaking is completed, and the borrowed vehicle normally completes the overtaking, for example Figure 2 as shown.

[0097] Specifically, in the relative position determination of the collision point and the overtaking end point, a coordinate system is constructed with the collision point as the origin, and the overtaking end point is initialized on the left side of the collision point. If the overtaking end point does not cross or coincides with the collision point, the overtaking action is continuously performed; otherwise, the overtaking is stopped, and the current vehicle is controlled to return to the original lane, for example Figure 3 as shown.

[0098] S105, when the preset overtaking condition set is not met for consecutive n periods or cumulative m periods, the current vehicle is controlled to return to the original lane.

[0099] In a possible implementation, when the current vehicle enters the adjacent lane, the current vehicle is controlled to return to the original lane when the preset overtaking condition set is not met for consecutive n periods or cumulative m periods, where m>n, n≥20, and m≥50.

[0100] In a possible implementation, when the current vehicle enters the adjacent lane, it is first determined whether the preset overtaking condition set is met according to the first BSM message and the vehicle information of the current vehicle. When the preset overtaking condition set is not met, counting is started. Then, when the preset overtaking condition set is not met for consecutive n periods or cumulative m periods within a preset time window, the current vehicle is finally controlled to return to the original lane, where m>n, n≥20, and m≥50.

[0101] Further, when controlling the current vehicle to retreat back to the original lane, for example, when the overtaking cannot be continued (such as the overtaken vehicle speeds up, the oncoming vehicle speeds up, the current vehicle slows down, etc.), it is required to retreat back to the lane before overtaking. At this time, it is judged whether the rear vehicle safety distance meets the requirement. If it meets the requirement, the VIR message is broadcasted to request merging. If the safety distance does not meet the requirement, the speed V0 of the rear vehicle is obtained, and the vehicle speed is reduced to be lower than V0. It is judged whether a collision with the oncoming vehicle occurs according to the steps of steps S101-S103. If a collision occurs, emergency braking is performed to rapidly reduce the vehicle speed. According to the front vehicle safety distance, the safety distance adds the emergency braking distance of the two vehicles. Therefore, when the safety distance warning is triggered, at this time, the emergency braking can reduce the probability of collision of the two vehicles. If the safety distance meets the requirement, the position information of the current vehicle and the rear vehicle is compared. If the rear vehicle is beyond the current vehicle, the rear vehicle is marked as the overtaken vehicle, and the first vehicle behind the rear vehicle in the same lane is marked as the new rear vehicle. It is judged whether the rear vehicle safety distance meets the merging. If it meets the merging, the merging is entered.

[0102] It should be noted that the vehicle speed is not higher than the road limit speed, and the vehicle speed is not lower than the road limit speed. The overtaking occurs in the road continuous merging area. That is, in the road section from the beginning of overtaking to the end of overtaking, the road is marked as the merging overtaking. The continuous overtaking of two vehicles is not allowed.

[0103] In the embodiment of the present application, the vehicle-mounted unit first acquires the first BSM information of the vehicle in the preset range according to a preset period when the merging overtaking request is acquired, wherein the vehicle includes the oncoming vehicle, the overtaken vehicle, and the rear vehicle. Then, according to the current vehicle information and the first BSM information, it is judged whether the current vehicle meets the preset overtaking condition set. Secondly, when the preset overtaking condition set is met for continuous x periods, the VIR message is created and broadcasted to each vehicle in the preset range, and the current vehicle is controlled to enter the adjacent lane. When the current vehicle enters the adjacent lane, the step of acquiring the BSM information of the vehicle in the preset range according to the preset period is continued to be executed. The preset overtaking condition set is judged in real time according to the preset period. Finally, when the preset overtaking condition set is not met for continuous n periods or cumulative m periods, the current vehicle is controlled to retreat back to the original lane. The safety factor of the vehicle merging overtaking can be improved. Since the present application determines whether the current vehicle meets the overtaking condition through multiple traversal calculations of the judgment parameters, the dynamically changing vehicle can obtain a dynamic judgment result. At the same time, after the vehicle enters the adjacent lane, it is re-calculated whether the overtaking condition is met. If it is not met, the vehicle is controlled to retreat back, so that the safety factor of the vehicle merging overtaking is improved.

[0104] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0105] Please refer to Figure 4 , which shows a structure diagram of a lane borrowing and overtaking control device provided by an exemplary embodiment of the present application. The lane borrowing and overtaking control device can be realized by software, hardware or a combination of both to become all or part of a vehicle-mounted unit. The device 1 includes a BSM message broadcasting module 10, a first determination parameter determining module 20, a VIR message broadcasting module 30, a second determination parameter determining module 40 and a control vehicle returning module 50.

[0106] The BSM message broadcasting module 10 is configured to acquire first BSM information sent by vehicles in a preset range according to a preset period when a lane borrowing and overtaking request is acquired, wherein the vehicles include opposite vehicles, overtaken vehicles and rear vehicles.

[0107] The first determination parameter determining module 20 is configured to determine whether the current vehicle meets a preset overtaking condition set according to current vehicle information and the first BSM information.

[0108] The VIR message broadcasting module 30 is configured to create and broadcast a VIR message to each vehicle in the preset range and control the current vehicle to enter an adjacent lane when the preset overtaking condition set is met for x consecutive periods.

[0109] The second determination parameter determining module 40 is configured to continue to acquire BSM information sent by vehicles in a preset range according to a preset period and determine whether the current vehicle meets a preset overtaking condition set in real time according to the preset period when the current vehicle enters the adjacent lane.

[0110] The control vehicle returning module 50 is configured to control the current vehicle to return to the original lane when the preset overtaking condition set is not met for n consecutive periods or m accumulated periods.

[0111] It should be noted that the lane borrowing and overtaking control device provided by the above embodiment is only used for example to divide the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the lane borrowing and overtaking control device and the lane borrowing and overtaking control method provided by the above embodiment belong to the same concept, and the implementation process is described in detail in the method embodiment, which will not be repeated here.

[0112] The above sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0113] In the embodiment of the present application, the vehicle-mounted unit first acquires the first BSM information sent by vehicles in a preset range according to a preset period when the request for overtaking by using the adjacent lane is acquired, wherein the vehicles include the oncoming vehicle, the overtaken vehicle and the rear vehicle; then, according to the current vehicle information and the first BSM information, it is determined whether the current vehicle meets the preset overtaking condition set; secondly, when the preset overtaking condition set is met for x continuous periods, the VIR message is created and broadcast to each vehicle in the preset range, and the current vehicle is controlled to enter the adjacent lane; when the current vehicle enters the adjacent lane, the step of acquiring the BSM information sent by the vehicles in the preset range according to the preset period is continued, and it is determined in real time whether the current vehicle meets the preset overtaking condition set according to the preset period; finally, when the preset overtaking condition set is not met for n continuous periods or m cumulative periods, the current vehicle is controlled to return to the original lane. The safety factor of the vehicle overtaking by using the adjacent lane can be improved. Since the parameter is determined by multiple traversal calculations to determine whether the current vehicle meets the overtaking condition, the dynamically changing vehicle can obtain a dynamic determination result, and after the vehicle enters the adjacent lane, it is recalculated whether the overtaking condition is met, and when the overtaking condition is not met, the vehicle is controlled to return, thereby improving the safety factor of the vehicle overtaking by using the adjacent lane.

[0114] The present application also provides a computer readable medium having program instructions stored thereon, which, when executed by a processor, implement the lane overtaking control method provided by each of the method embodiments.

[0115] The present application also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the lane overtaking control method of each of the method embodiments.

[0116] Please refer to Figure 5 , the present application provides a structure schematic diagram of a vehicle-mounted unit. As shown in the figure, Figure 5 The vehicle-mounted unit 1000 can include at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005 and at least one communication bus 1002.

[0117] The communication bus 1002 is used to realize the connection and communication between the components.

[0118] The user interface 1003 can include a display screen (Display), a camera (Camera), and optionally a standard wired interface and a wireless interface.

[0119] The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0120] The processor 1001 can include one or more processing cores. The processor 1001 connects various parts within the entire electronic device 1000 by various interfaces and lines, and performs various functions of the electronic device 1000 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Alternatively, the processor 1001 can be implemented in at least one of a hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 1001 can integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes an operating system, a user interface, and an application program; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 1001, but can be realized by a separate chip.

[0121] The memory 1005 can include a random access memory (RAM) and can also include a read-only memory (ROM). Alternatively, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1005 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 1005 can alternatively be at least one storage device located away from the aforementioned processor 1001. As shown, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a lane overtaking control application program. Figure 5

[0122] In Figure 5 ​The user interface 1003 in the vehicle-mounted unit 1000 shown is mainly used to provide an interface for the user to input, and obtain data input by the user; and the processor 1001 can be used to call a borrowed overtaking control application program stored in the memory 1005, and specifically perform the following operations:

[0123] When the borrowed overtaking request is obtained, first BSM information transmitted by vehicles in a preset range is obtained according to a preset period, wherein the vehicles include opposite vehicles, overtaken vehicles, and rear vehicles;

[0124] According to the current vehicle information and the first BSM information, it is determined whether the current vehicle satisfies a preset overtaking condition set;

[0125] When the preset overtaking condition set is satisfied for x consecutive periods, a VIR message is created and broadcast to each vehicle in the preset range, and the current vehicle is controlled to enter an adjacent lane;

[0126] When the current vehicle enters the adjacent lane, the step of obtaining BSM information transmitted by vehicles in the preset range according to a preset period is continuously performed, and it is determined in real time whether the current vehicle satisfies the preset overtaking condition set according to the preset period;

[0127] When the preset overtaking condition set is not satisfied for n consecutive periods or m accumulated periods, the current vehicle is controlled to return to the original lane.

[0128] In one embodiment, when the processor 1001 performs the operation of determining whether the preset overtaking condition set is satisfied according to the current vehicle information and the first BSM information, the following operations are specifically performed:

[0129] The first speed in the BSM message of the opposite vehicle, the second speed and the acceleration of the current vehicle are obtained;

[0130] When the second speed is greater than the first speed and the acceleration is positive,

[0131] A preset collision point is calculated according to the first BSM message and map information, a vehicle position distribution map with the preset collision point as the origin is constructed, and the vehicle position distribution map is updated according to the preset period;

[0132] A set of overtaking risk determination parameters is calculated according to the position data and the travel data, and the set of overtaking risk determination parameters includes a front vehicle safety distance, a rear vehicle safety distance, an overtaking distance, an overtaking end point, and a front vehicle following distance;

[0133] According to the relative positions of the collision point and the overtaking end point in the set of overtaking risk determination parameters, it is determined whether the current vehicle satisfies the preset overtaking condition set.

[0134] In one embodiment, the processor 1001, in a process of calculating the collision point according to the first BSM message and the map information, specifically performs the following operations:

[0135] determining the current vehicle speed according to the obtained current vehicle information, wherein the current vehicle information comprises vehicle driving data and position data;

[0136] determining the opposite vehicle speed according to the first BSM message;

[0137] calculating a target distance between the current vehicle and the opposite vehicle;

[0138] calculating the front vehicle collision distance according to the target distance, the current vehicle speed and the opposite vehicle speed;

[0139] calculating the collision point according to the front vehicle collision distance, the coordinate of the current vehicle and the vehicle heading angle.

[0140] In one embodiment, the processor 1001, in a process of controlling the current vehicle to return to the original lane when the preset overtaking condition set is not met for continuous n periods or cumulative m periods, specifically performs the following operations:

[0141] determining whether the preset overtaking condition set is met according to the first BSM message and the current vehicle information;

[0142] starting counting when the preset overtaking condition set is not met;

[0143] controlling the current vehicle to return to the original lane when the preset overtaking condition set is not met for continuous n periods or cumulative m periods within a preset time window;

[0144] wherein m>n.

[0145] In one embodiment, the processor 1001, in a process of determining whether the current vehicle meets the preset overtaking condition set according to the overtaking risk determination parameter set and the relative position between the collision point and the overtaking end point, specifically performs the following operations:

[0146] determining whether the rear vehicle safety distance is greater than the sum of the length of the current vehicle and a preset rear vehicle safety margin;

[0147] if yes, determining whether the overtaking distance is less than the front vehicle safety distance;

[0148] if yes, determining whether the front vehicle following distance is greater than the sum of the length of the current vehicle and a preset front vehicle following safety margin;

[0149] if yes, determining whether the overtaking end point does not cross or coincides with the collision point;

[0150] If not, it is determined that the current vehicle meets a preset overtaking condition set.

[0151] In one embodiment, the processor 1001, when creating and broadcasting the VIR message to each vehicle within the preset range, specifically performs the following operations:

[0152] According to the overtaking risk determination parameter set, the position data and the driving data corresponding to each of the overtaken vehicle and the oncoming vehicle at the collision point, an overtaking route map is drawn;

[0153] The position data corresponding to each of the overtaken vehicle and the oncoming vehicle and the overtaking route map are encapsulated into a VIR message;

[0154] The VIR message is broadcast to each vehicle within the preset range.

[0155] In one embodiment, the processor 1001 further performs the following operations:

[0156] When the current vehicle enters the adjacent lane, the step of acquiring the first BSM message sent by each vehicle within the preset range at a preset period is continuously performed, and it is determined whether the current vehicle meets the preset overtaking condition set according to the current vehicle information and the first BSM information;

[0157] When it is determined that the current vehicle meets the preset overtaking condition set for continuous y periods, the overtaking is continuously controlled.

[0158] Wherein, y≤x.

[0159] In the embodiments of the present application, the vehicle-mounted unit first acquires the first BSM information sent by the vehicles within the preset range when the lane borrowing overtaking request is acquired, wherein the vehicles include the oncoming vehicle, the overtaken vehicle and the rear vehicle; then it is determined whether the current vehicle meets the preset overtaking condition set according to the current vehicle information and the first BSM information, and when the preset overtaking condition set is met for continuous x periods, a VIR message is created and broadcast to each vehicle within the preset range, and the current vehicle is controlled to enter the adjacent lane, and when the current vehicle enters the adjacent lane, the step of acquiring the BSM information sent by the vehicles within the preset range at a preset period is continuously performed, and it is determined whether the current vehicle meets the preset overtaking condition set at the preset period. When the preset overtaking condition set is not met for continuous n periods or cumulative m periods, the current vehicle is controlled to return to the original lane. The present application can improve the safety factor of lane borrowing overtaking. Since the present application determines whether the current vehicle meets the overtaking condition through multiple traversal calculations of determination parameters, the dynamically changing vehicle can obtain a dynamic determination result, and after the vehicle enters the adjacent lane, it is re-calculated whether the overtaking condition is met, and when it is not met, the vehicle is controlled to return, thereby improving the safety factor of lane borrowing overtaking.

[0160] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The program for overtake control can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory, a random access memory, or the like.

[0161] The above only describes the preferred embodiments of the present application, and of course cannot limit the scope of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

1. A method for overtake control by means of a slipstream, characterized in that The method comprises: When the request for overtaking by using the lane is acquired, the first BSM information transmitted by the vehicles in the preset range is acquired according to a preset period, wherein the vehicles include the opposite vehicle, the overtaken vehicle and the rear vehicle; the first BSM information is the information between the vehicle-mounted unit of the other vehicle in the preset range and the vehicle-mounted unit of the current vehicle; According to the current vehicle information and the first BSM information, it is judged whether the current vehicle meets the preset overtaking condition set; According to the current vehicle information and the first BSM information, it is judged whether the current vehicle meets the preset overtaking condition set, whether the speed of the current vehicle is greater than the speed of the overtaken vehicle is judged based on the BSM information, and the acceleration is positive, if not, the overtaking is stopped; if yes, the OBU of the current vehicle calculates the collision point according to the vehicle ID, coordinates and map information of the current vehicle, and draws the vehicle position distribution map on the current driving road map with the collision point as the coordinate system origin and updates according to the preset period; According to the position data and the driving data, the overtaking risk judgment parameter set is calculated, the overtaking risk judgment parameter set includes the front vehicle safety distance, the rear vehicle safety distance, the overtaking end point and the front vehicle following distance; According to the overtaking risk judgment parameter set and the relative position of the collision point and the overtaking end point, it is judged whether the current vehicle meets the preset overtaking condition set; When the preset overtaking condition set is met for x consecutive periods, the VIR message is created and broadcast to each vehicle in the preset range, and the current vehicle is controlled to enter the adjacent lane; When the current vehicle enters the adjacent lane, the step of acquiring the BSM information transmitted by the vehicles in the preset range according to the preset period is continued, and it is judged in real time whether the current vehicle meets the preset overtaking condition set according to the preset period; When the preset overtaking condition set is not met for n consecutive periods or m cumulative periods, the current vehicle is controlled to return to the original lane.

2. The method of claim 1, wherein, The first BSM information includes vehicle ID, driving data and position data; According to the current vehicle information and the first BSM information, it is judged whether the preset overtaking condition set is met, which comprises: The first speed in the BSM information of the opposite vehicle, the second speed and the acceleration of the current vehicle are acquired; When the second speed is greater than the first speed and the acceleration is positive, According to the first BSM information and the map information, the preset collision point is calculated, the vehicle position distribution map with the preset collision point as the origin is constructed, and the preset period is updated; According to the position data and the driving data, the overtaking risk judgment parameter set is calculated, the overtaking risk judgment parameter set includes the front vehicle safety distance, the rear vehicle safety distance, the overtaking distance, the overtaking end point and the front vehicle following distance; According to the overtaking risk judgment parameter set and the relative position of the collision point and the overtaking end point, it is judged whether the current vehicle meets the preset overtaking condition set.

3. The method of claim 2, wherein, According to the first BSM information and the map information, the collision point is calculated, which comprises: The current vehicle speed is determined according to the acquired current vehicle information, wherein the current vehicle information includes vehicle driving data and position data; determining an opposite vehicle speed according to the first BSM information; calculating a target distance between the current vehicle and the opposite vehicle; calculating a front vehicle collision distance according to the target distance, the current vehicle speed and the opposite vehicle speed; calculating a collision point according to the front vehicle collision distance, coordinates of the current vehicle and a vehicle heading angle.

4. The method of claim 1, wherein, the control of the current vehicle to return to the original lane when the preset overtake conditions are not met for n continuous periods or m accumulated periods, comprising: determining whether the preset overtake conditions are met according to the first BSM information and the current vehicle information; starting counting when the preset overtake conditions are not met; controlling the current vehicle to return to the original lane when the preset overtake conditions are not met for n continuous periods or m accumulated periods within a preset time window; wherein m > n.

5. The method of claim 2, wherein, the determination of whether the current vehicle meets the preset overtake conditions according to the overtake risk determination parameter set and the relative position between the collision point and the overtake end point, comprising: determining whether the rear vehicle safety distance is greater than the sum of the vehicle length of the current vehicle and a preset rear vehicle safety margin; if yes, determining whether the overtake distance is less than the front vehicle safety distance; if yes, determining whether the front vehicle following distance is greater than the sum of the vehicle length of the current vehicle and a preset front vehicle following safety margin; if yes, determining whether the overtake end point does not cross the collision point or coincides with the collision point; if no, determining that the current vehicle meets the preset overtake conditions.

6. The method of claim 1, wherein, the creation and broadcasting of the VIR message to each vehicle within the preset range, comprising: drawing an overtake route map according to the overtake risk determination parameter set, the position data and the driving data of the collision point, the overtaken vehicle and the opposite vehicle; encapsulating the position data of the overtaken vehicle and the opposite vehicle and the overtake route map into the VIR message; broadcasting the VIR message to each vehicle within the preset range.

7. The method of claim 2, wherein, the method further comprising: when the current vehicle enters the adjacent lane, continuing to perform the step of acquiring the first BSM information sent by each vehicle within the preset range at a preset period, and determining whether the current vehicle meets the preset overtake conditions according to the current vehicle information and the first BSM information; when the current vehicle is determined to meet the preset overtake conditions for y continuous periods, continuing to control the overtaking; wherein y ≤ x.

8. A pass-by control device implemented using the method of any one of claims 1-7, characterized in that, the device comprising: a BSM information broadcasting module configured to acquire the first BSM information sent by each vehicle within a preset range at a preset period when a lane borrowing overtaking request is acquired, wherein the vehicles include an opposite vehicle, an overtaken vehicle and a rear vehicle; a first determination parameter determination module configured to determine whether the current vehicle meets the preset overtake conditions according to the current vehicle information and the first BSM information; a VIR message broadcasting module configured to create and broadcast a VIR message to each vehicle within the preset range when the preset overtake conditions are met for x continuous periods, and control the current vehicle to enter an adjacent lane. A second determination parameter determination module is configured to continue to perform the step of acquiring the BSM information sent by the vehicle within the preset range according to a preset period when the current vehicle enters the adjacent lane, and to determine whether the current vehicle satisfies the preset overtaking condition set in real time according to the preset period. A control vehicle retreat module is configured to control the current vehicle to retreat to the original lane when the preset overtaking condition set is not satisfied for n continuous periods or m accumulated periods.

9. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, which are suitable for being loaded and executed by the processor, and perform the method steps of any one of claims 1-7.

10. An in-vehicle unit, characterized by comprising: Comprise: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor, and performs the method steps of any one of claims 1-7.

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