A V2X reverse overtaking real vehicle scenario testing method and device

Abstract

The present invention discloses a V2X reverse overtaking real vehicle scenario testing method and device, including: when the first vehicle turns on the lane change turn signal and prepares to enter the second lane, the reverse overtaking warning application issues a warning to remind the first vehicle that there is a collision risk with the third vehicle, and obtains the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle; and calculates the lane change overtaking time of the first vehicle and the second vehicle and the reverse collision time of the first vehicle and the third vehicle according to v1, a1, v2, a2, v3, a3, s1 and s2. Through the present invention, the technical problem that the current Prescan software simulation test cannot meet the reliability requirements of the lane change overtaking time and the reverse collision time can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of V2X reverse overtaking testing, and in particular to a testing method and device for a V2X reverse overtaking real vehicle scenario. Background Art

[0002] At present, the test method for reverse overtaking warning is generally to perform simulation test through Prescan software. All environmental configurations and parameters are simulated by the software. TTC1 (lane change overtaking time) and TTC2 (reverse collision time) are directly calculated from simulation data.

[0003] In the process of implementing the present invention, the inventors found that the prior art has at least the following technical problems:

[0004] All environmental configurations and parameters of the Prescan software are simulated by the software. The lane changing and overtaking time and the reverse collision time are calculated directly according to the formula. However, the actual data of the actual vehicle may be affected by factors such as communication distance, positioning accuracy, system delay, and environmental interference, which may lead to deviations in the calculation results of the lane changing and overtaking time and the reverse collision time. Therefore, the Prescan software simulation test cannot meet the reliability requirements of the lane changing and overtaking time and the reverse collision time. Summary of the invention

[0005] The purpose of the present invention is to propose a V2X reverse overtaking real vehicle scenario testing method and device to solve the technical problem that the current Prescan software simulation test cannot meet the reliability requirements of lane change overtaking time and reverse collision time.

[0006] To achieve the above-mentioned purpose, an embodiment of the present invention proposes a V2X reverse overtaking real vehicle scenario testing method, the method is implemented based on a first vehicle, a second vehicle and a third vehicle, the first vehicle is equipped with a reverse overtaking warning application implemented based on V2X communication technology; the first vehicle and the second vehicle are traveling in the first lane of a test section, and the second vehicle is located in front of the first vehicle; the third vehicle is traveling in the second lane of the test section; wherein the first lane and the second lane are adjacent lanes and travel in opposite directions;

[0007] The method comprises:

[0008] When the first vehicle turns on the lane change turn signal and prepares to enter the second lane, the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle, the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle are obtained;

[0009] The lane-changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle are calculated based on v1, a1, v2, a2, v3, a3, s1 and s2.

[0010] Preferably, the calculating of the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0011] When a1=0, the lane-changing overtaking time between the first vehicle and the second vehicle is calculated according to v1, v2, and s1; and the reverse collision time between the first vehicle and the third vehicle is calculated according to v1, v3, and s2.

[0012] Preferably, the lane changing and overtaking time of the first vehicle and the second vehicle is calculated according to the v1, v2, and s1 as follows:

[0013]

[0014] Wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k1 and k2 are preset constants;

[0015] The reverse collision time between the first vehicle and the third vehicle is calculated according to v1, v3, and s2 as follows:

[0016]

[0017] Wherein, TTC2 is the reverse collision time between the first vehicle and the third vehicle.

[0018] Preferably, the calculating of the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0019] When a1≠0, t1 and t2 are calculated based on the difference between v1 and v3, the difference between a1 and a3 a5, and s2;

[0020] According to the comparison result of t1 and t2, the reverse collision time of the first vehicle and the third vehicle is determined to be t1 or t2; wherein, TTC2 is the reverse collision time between the first vehicle and the third vehicle.

[0021] Preferably, t1 and t2 are calculated according to the difference between v1 and v3, the difference between a1 and a3, and s2, as shown below:

[0022]

[0023]

[0024] Among them, v5 is the difference between v1 and v3, and a5 is the difference between a1 and a3.

[0025] Preferably, the calculating of the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0026] When a4≠0, t3 and t4 are calculated based on the difference between v1 and v2, the difference between a1 and a2, and s2;

[0027] According to the comparison result of t3 and t4, the lane changing and overtaking time between the first vehicle and the second vehicle is determined to be t3 or t4; wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k2 is a preset constant.

[0028] Preferably, t3 and t4 are calculated according to the difference between v1 and v2, the difference between a1 and a2, and s2, as shown below:

[0029]

[0030]

[0031] Among them, v4 is the difference between v1 and v2, a4 is the difference between a1 and a2, and k1 and k2 are preset constants.

[0032] Preferably, the calculating of the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0033] When a4=0, the lane-changing and overtaking times of the first vehicle and the second vehicle are calculated according to v1, v2, and s2.

[0034] Preferably, the lane changing and overtaking time of the first vehicle and the second vehicle is calculated according to the v1, v2, and s2 as follows:

[0035]

[0036] Wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k1 and k2 are preset constants.

[0037] An embodiment of the present invention further provides a V2X reverse overtaking real vehicle scenario testing device, which is used to implement the above-mentioned V2X reverse overtaking real vehicle scenario testing method, and the device includes:

[0038] The real vehicle data acquisition module is used to acquire the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle when the first vehicle turns on the lane change turn signal and prepares to enter the second lane and the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle;

[0039] The real vehicle data calculation module is used to calculate the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2.

[0040] The embodiments of the present invention have the following beneficial effects:

[0041] All parameters of the V2X reverse overtaking real vehicle test in the embodiment of the present invention are from the real environment. The lane changing overtaking time and the reverse collision time are calculated based on the parameters, which can ensure the authenticity and reliability of the lane changing overtaking time and the reverse collision time, provide a sufficient basis for the vehicle warning function test, and can truly calculate the lane changing overtaking time and the reverse collision time, and then test multiple times whether they meet the consistency standard (for example, the deviation is less than 1.5 seconds), thereby ensuring the reliability of the OBU product, helping the OBU product to be implemented and applied on a large scale, thereby effectively solving the technical problem that the current V2X reverse overtaking simulation test using the Prescan software cannot meet the reliability requirements of the lane changing overtaking time and the reverse collision time.

[0042] Other features and advantages of the present invention will be set forth in the description which follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 The present invention is a flowchart of a method for testing a V2X reverse overtaking real vehicle scenario in one embodiment of the present invention.

[0045] Figure 2 This is a diagram of the actual vehicle test layout for a reverse overtaking warning scenario in one embodiment of the present invention.

[0046] Figure 3 The diagram is a schematic diagram of a scenario in which there are vehicles traveling in opposite directions on the reverse lane in one embodiment of the present invention.

[0047] Figure 4 Schematic diagram of a coordinate system in one embodiment of the present invention.

[0048] Figure 5 This is a framework diagram of a test device for a V2X reverse overtaking real vehicle scenario in one embodiment of the present invention. DETAILED DESCRIPTION

[0049] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In addition, in order to better illustrate the present invention, numerous specific details are given in the specific embodiments below. It should be understood by those skilled in the art that the present invention can also be implemented without certain specific details. In some examples, means well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present invention.

[0050] An embodiment of the present invention provides a test method for a V2X reverse overtaking real vehicle scenario, the method is implemented based on a first vehicle, a second vehicle and a third vehicle, the first vehicle is installed with a reverse overtaking warning application (DNPW: Do Not Pass Warning) implemented based on V2X communication technology, the first vehicle and the second vehicle are traveling in the first lane of a test section, and the second vehicle is located in front of the first vehicle; the third vehicle is traveling in the second lane of the test section; wherein the first lane and the second lane are adjacent lanes and travel in opposite directions;

[0051] Among them, reverse overtaking warning is an application scenario of V2X communication technology. The reverse overtaking warning application refers to the data exchange between vehicles through V2X communication technology in road traffic, and sending their own basic information, such as location information, longitude and latitude, speed information, and vehicle status information to other vehicles. At the same time, it will also receive the basic information of other vehicles and then perform algorithm processing operations to determine whether there is a risk of collision with oncoming vehicles during the process of overtaking.

[0052] See also Figure 1 , the method of this embodiment includes the following steps:

[0053] Step S1, when the first vehicle turns on the lane change turn signal and prepares to enter the second lane, the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle, and the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle are obtained at this time;

[0054] Step S2, calculating the lane changing and overtaking time between the first vehicle and the second vehicle, and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2.

[0055] Specifically, a real vehicle test scenario of the method of this embodiment is as follows Figure 2 As shown, Figure 2 The figure shows a vehicle HV, a vehicle RV1, a vehicle RV2, an RT-Range base station, and a roadside unit RSU, wherein the vehicle HV is the first vehicle, the vehicle RV1 is the second vehicle, and the vehicle RV2 is the third vehicle; Figure 2 In the scenario, the first vehicle, the second vehicle and the third vehicle are all equipped with an on-board unit OBU and a high-precision positioning device RT-Range. The on-board unit OBU is used for data transmission between the vehicle and the roadside unit RSU. The on-board unit OBU and the roadside unit RSU are the basic communication components of the V2X communication technology. The V2X communication technology is realized through the on-board unit OBU and the roadside unit RSU, that is, the reverse overtaking warning is realized; in this embodiment, the high-precision positioning device RT-Range is mainly used to determine the positioning information of each vehicle. Of course, other positioning devices can also be used to provide the positioning information of each vehicle. The positioning information of each vehicle is used to determine the distances s1 and s2 between the vehicles, and v1, a1, v2, a2, v3, and a3 are provided by some original devices of each vehicle; in this embodiment, it is mainly when the first vehicle turns on the lane change turn signal and prepares to enter the second lane, and the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle, the real data of the actual vehicle at this time, namely, the v1, a1, v2, a2, v3, a3, s1 and s2, is obtained; it should be noted that the above steps S2 and S3 can be implemented by a host computer PC to realize data reception and calculation processing.

[0056] More specifically, if Figure 3As shown, the HV follows RV1 and is about to overtake. RV2 is driving in the opposite direction from the adjacent opposite lane, and the HV's line of sight may be blocked by RV-1. The HV and RV1 and RV2 need to have short-range wireless communication capabilities. When the HV turns on the lane change signal and is about to enter the opposite lane, the DNPW application issues an early warning to the HV driver, reminding the driver that there is a risk of collision with the opposite vehicle RV2. The timing of the early warning needs to ensure that the HV driver has enough time to take measures after receiving the early warning to avoid a collision with RV2.

[0057] As an example of a test environment, the test conditions of this embodiment can be set as shown in the following Table 1:

[0058] Table 1 - Test conditions

[0059]

[0060]

[0061] To ensure the test effect, the following preparations (1) to (3) should be performed before the test:

[0062] (1) For HV, RV1, and RV2, ensure that the RT equipment on the test vehicle is in RTK high-precision positioning mode;

[0063] (2) Ensure that the OBUs on HV, RV1, and RV2 communicate normally, and that the RSU sends the MAP map of the test section and communicates normally with HV, RV1, and RV2;

[0064] (3) Conduct communication distance and communication delay tests on the OBU and roadside RSU on HV, RV1, and RV2 to ensure that they meet the requirements of scenario use case tests.

[0065] Preferably, the coordinate system of the test method of this embodiment is as follows: Figure 4 As shown, the center of the HV front is the origin of the coordinate system, the front of the HV front is the Y-axis (longitudinal), and the 90° direction to the right of the front of the HV front is the X-axis (horizontal). The parameter values ​​of v1, a1, v2, a2, v3, a3, s1 and s2 are all determined based on this coordinate system.

[0066] In some embodiments, the calculating the lane changing overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0067] When a1=0, the lane-changing overtaking time between the first vehicle and the second vehicle is calculated according to v1, v2, and s1; and the reverse collision time between the first vehicle and the third vehicle is calculated according to v1, v3, and s2.

[0068] In some embodiments, the lane changing and overtaking time of the first vehicle and the second vehicle is calculated according to the v1, v2, and s1 as follows:

[0069]

[0070] Wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k1 and k2 are preset constants;

[0071] Specifically, in this embodiment, k1 is calculated and determined by the following formula:

[0072] k1=L HV +L RV1 +s3

[0073] Among them, L HV is the vehicle length of the HV, L RV1 is the vehicle length of RV1, s3 is the collision safety distance between HV and RV1, which is generally set to 20 meters;

[0074] Specifically, in this embodiment, k2 is the sum of a preset driver reaction time and a preset lane change time. The driver reaction time is generally 2 seconds, and the lane change time is generally 3 seconds.

[0075] Furthermore, the reverse collision time between the first vehicle and the third vehicle is calculated according to the v1, v3, and s2 as follows:

[0076]

[0077] Wherein, TTC2 is the reverse collision time between the first vehicle and the third vehicle.

[0078] In some embodiments, the calculating the lane changing overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0079] When a1≠0, t1 and t2 are calculated based on the difference between v1 and v3, the difference between a1 and a3 a5, and s2;

[0080] According to the comparison result of t1 and t2, the reverse collision time of the first vehicle and the third vehicle is determined to be t1 or t2; wherein, TTC2 is the reverse collision time between the first vehicle and the third vehicle.

[0081] In some embodiments, t1 and t2 are calculated based on the difference between v1 and v3, the difference between a1 and a3, and s2 as follows:

[0082]

[0083]

[0084] Among them, v5 is the difference between v1 and v3, and a5 is the difference between a1 and a3.

[0085] In some embodiments, the calculating the lane changing overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0086] When a4≠0, t3 and t4 are calculated based on the difference between v1 and v2, the difference between a1 and a2, and s2;

[0087] According to the comparison result of t3 and t4, the lane changing and overtaking time between the first vehicle and the second vehicle is determined to be t3 or t4; wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k2 is a preset constant.

[0088] In some embodiments, t3 and t4 are calculated based on the difference between v1 and v2, the difference between a1 and a2, and s2 as follows:

[0089]

[0090]

[0091] Among them, v4 is the difference between v1 and v2, a4 is the difference between a1 and a2, and k1 and k2 are preset constants.

[0092] In some embodiments, the calculating the lane changing overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2 includes:

[0093] When a4=0, the lane-changing and overtaking times of the first vehicle and the second vehicle are calculated according to v1, v2, and s2.

[0094] In some embodiments, the lane changing and overtaking time of the first vehicle and the second vehicle is calculated according to the v1, v2, and s2 as follows:

[0095]

[0096] Wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k1 and k2 are preset constants.

[0097] Another embodiment of the present invention further provides a V2X reverse overtaking real vehicle scenario test device, which can be a part of the host computer and is used to implement the V2X reverse overtaking real vehicle scenario test method described in the above embodiment, see Figure 5 , the device of this embodiment includes:

[0098] The real vehicle data acquisition module 1 is used to acquire the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle when the first vehicle turns on the lane change turn signal and prepares to enter the second lane and the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle;

[0099] The real vehicle data calculation module 2 is used to calculate the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2.

[0100] Furthermore, if the testing method for the V2X reverse overtaking real vehicle scenario described in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, the software functional unit that implements the testing method for the V2X reverse overtaking real vehicle scenario can be stored in a computer-readable storage medium.

[0101] Exemplarily, the computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0102] Based on the description of the above embodiments, it can be seen that the present invention has the following advantages:

[0103] All parameters of the V2X reverse overtaking real vehicle test in the embodiment of the present invention are from the real environment. The lane changing overtaking time and the reverse collision time are calculated based on the parameters, which can ensure the authenticity and reliability of the lane changing overtaking time and the reverse collision time, provide a sufficient basis for the vehicle warning function test, and can truly calculate the lane changing overtaking time and the reverse collision time, and then test multiple times whether they meet the consistency standard (for example, the deviation is less than 1.5 seconds), thereby ensuring the reliability of the OBU product, helping the OBU product to be implemented and applied on a large scale, thereby effectively solving the technical problem that the current V2X reverse overtaking simulation test using the Prescan software cannot meet the reliability requirements of the lane changing overtaking time and the reverse collision time.

[0104] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A V2X reverse overtaking real vehicle scenario testing method, characterized in that: The method is implemented based on a first vehicle, a second vehicle and a third vehicle, wherein the first vehicle is equipped with a reverse overtaking warning application implemented based on V2X communication technology; the first vehicle and the second vehicle are traveling in a first lane of a test section, and the second vehicle is located in front of the first vehicle; the third vehicle is traveling in a second lane of the test section; wherein the first lane and the second lane are adjacent lanes and travel in opposite directions; The method comprises: When the first vehicle turns on the lane change turn signal and prepares to enter the second lane, the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle, the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle are obtained; Calculate the lane-changing overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2; The calculating, according to v1, a1, v2, a2, v3, a3, s1 and s2, the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle comprises: When a1≠0, t1 and t2 are calculated based on the difference between v1 and v3, the difference between a1 and a3 a5, and s2; According to the comparison result of t1 and t2, the reverse collision time of the first vehicle and the third vehicle is determined to be t1 or t2; wherein, TTC2 is the reverse collision time between the first vehicle and the third vehicle; The calculation of t1 and t2 is performed based on the difference between v1 and v3, the difference between a1 and a3, and s2, as shown below: Among them, v5 is the difference between v1 and v3, and a5 is the difference between a1 and a3.

2. The V2X reverse overtaking real vehicle scenario testing method as claimed in claim 1, characterized in that: The calculating, according to v1, a1, v2, a2, v3, a3, s1 and s2, the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle comprises: When a1=0, the lane-changing overtaking time between the first vehicle and the second vehicle is calculated according to v1, v2, and s1; and the reverse collision time between the first vehicle and the third vehicle is calculated according to v1, v3, and s2.

3. The V2X reverse overtaking real vehicle scenario testing method as claimed in claim 2, characterized in that: The lane changing and overtaking time of the first vehicle and the second vehicle is calculated according to v1, v2, and s1 as follows: Wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k1 and k2 are preset constants; The reverse collision time between the first vehicle and the third vehicle is calculated according to v1, v3, and s2 as follows: Wherein, TTC2 is the reverse collision time between the first vehicle and the third vehicle.

4. The V2X reverse overtaking real vehicle scenario testing method as claimed in claim 1, characterized in that: The calculating, according to v1, a1, v2, a2, v3, a3, s1 and s2, the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle comprises: When a4≠0, a4 is the difference between a1 and a2, and t3 and t4 are calculated based on the difference between v1 and v2, the difference between a1 and a2, and s2; According to the comparison result of t3 and t4, the lane changing and overtaking time between the first vehicle and the second vehicle is determined to be t3 or t4; wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k2 is a preset constant; The calculation of t3 and t4 is performed based on the difference between v1 and v2, the difference between a1 and a2, and s2, as shown below: Among them, v4 is the difference between v1 and v2, a4 is the difference between a1 and a2, and k1 and k2 are preset constants.

5. The V2X reverse overtaking real vehicle scenario testing method as claimed in claim 1, characterized in that: The calculating, according to v1, a1, v2, a2, v3, a3, s1 and s2, the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle comprises: When a4=0, a4 is the difference between a1 and a2, and the lane changing and overtaking time between the first vehicle and the second vehicle is calculated according to v1, v2, and s2.

6. The V2X reverse overtaking real vehicle scenario testing method as claimed in claim 5, characterized in that: The lane changing and overtaking time of the first vehicle and the second vehicle is calculated according to v1, v2, and s2 as follows: Wherein, TTC1 is the lane changing and overtaking time between the first vehicle and the second vehicle, and k1 and k2 are preset constants.

7. A V2X reverse overtaking real vehicle scenario test device, characterized in that: The device is used to implement the V2X reverse overtaking real vehicle scenario testing method described in any one of claims 1 to 6, and comprises: The real vehicle data acquisition module is used to acquire the longitudinal speed v1 and longitudinal acceleration a1 of the first vehicle, the longitudinal speed v2 and longitudinal acceleration a2 of the second vehicle, the longitudinal speed v3 and longitudinal acceleration a3 of the third vehicle, the relative longitudinal distance s1 between the first vehicle and the second vehicle, and the relative longitudinal distance s2 between the first vehicle and the third vehicle when the first vehicle turns on the lane change turn signal and prepares to enter the second lane and the reverse overtaking warning application issues a warning to remind the first vehicle that there is a risk of collision with the third vehicle; The real vehicle data calculation module is used to calculate the lane changing and overtaking time between the first vehicle and the second vehicle and the reverse collision time between the first vehicle and the third vehicle according to the v1, a1, v2, a2, v3, a3, s1 and s2.

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