A method and system for processing a vehicle jam, a vehicle and a storage medium

Abstract

The application relates to the technical field of intelligent vehicles, and provides a vehicle cutting-in processing method and system, a vehicle and a storage medium, wherein the method steps comprise the following steps: collecting the vehicle speed of the vehicle, the vehicle speed of a neighboring lane vehicle, the acceleration of the neighboring lane vehicle, the distance between the neighboring lane vehicle and the lane line of the vehicle, the heading angle of the neighboring lane vehicle and the longitudinal distance y3 between the vehicle and the neighboring lane vehicle; calculating the distance y2 between the neighboring lane vehicle and the lane line of the vehicle in a future time period t1, and if y2>y1, the neighboring lane vehicle will cut in; if the vehicle speed v of the vehicle is greater than the vehicle speed v1 of the neighboring lane vehicle, a reserved time margin t' is obtained, the shortened distance between the vehicle and the neighboring lane vehicle in the reserved time margin t' is calculated, if the shortened distance is less than y3, braking is not needed; and if the shortened distance is greater than or equal to y3, braking is needed. The application can predict whether the neighboring lane vehicle will cut in, and also make a decision on whether the vehicle needs to brake if the neighboring lane vehicle cuts in.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, specifically to a method, system, vehicle, and storage medium for handling vehicle lane-cutting. Background Technology

[0002] When driving in a lane, vehicles often encounter lane-cutting behavior from adjacent lanes, especially during periods of heavy traffic. Conversely, traffic conditions are largely affected by this lane-cutting behavior. Such behavior creates safety hazards, making it crucial to detect whether vehicles in adjacent lanes intend to change lanes or cut in while driving.

[0003] In the prior art, patent CN110588647A discloses a method, system, and vehicle for judging vehicle lane-cutting, used to detect whether a vehicle in an adjacent lane intends to change lanes and cut in. The method includes: while the vehicle is traveling in its own lane, if a target vehicle is detected within the target range of the adjacent lane, calculating the target collision time between the vehicle and the target vehicle, where the target collision time is the collision time assuming the target vehicle is directly in front of the vehicle; if the target collision time is within a target time range, determining that the target vehicle has the intention to cut in based on target judgment conditions, where the target judgment conditions are judgment conditions set corresponding to the target time range; wherein, the vehicle's own lane and the adjacent lane are adjacent lanes, and the target vehicle is a vehicle within the target range traveling in the same direction as the vehicle that meets at least one of the following conditions: its speed is less than the vehicle's speed, and the longitudinal distance between the target vehicle and the vehicle is less than a distance threshold. Similarly, patent CN115440086A discloses a method, device, equipment, medium, and vehicle for vehicle lane-cutting warning. The vehicle lane-cutting warning method includes: acquiring driving data of a second vehicle traveling around a first vehicle; determining, based on the driving data of the second vehicle, whether the second vehicle is a target vehicle, and if the target vehicle is a vehicle with the intention to cut in line; if the second vehicle is a target vehicle, determining the lane-cutting level of the second vehicle; and controlling the first vehicle to execute the warning operation corresponding to the lane-cutting level.

[0004] While the patented solutions of the aforementioned prior art can determine whether a vehicle in an adjacent lane intends to change lanes or cut in, they do not disclose how to control the vehicle after the cutting-in behavior is detected. This is relatively rare in the current prior art. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method, system, vehicle and storage medium for handling vehicle cutting in, which uses physical quantities such as the length, speed, acceleration and heading angle of the vehicle in the adjacent lane to predict whether the vehicle in the adjacent lane will cut in, and at the same time makes a decision on whether the vehicle needs to brake if the vehicle in the adjacent lane cuts in.

[0006] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0007] Firstly, this application provides a method for handling vehicles cutting in line, including the following steps:

[0008] Determining if a vehicle cuts in from the adjacent lane: Collect the vehicle speed v of this vehicle, the vehicle speed v1 of the adjacent vehicle, the acceleration a1 of the adjacent vehicle, the distance y1 of the adjacent vehicle from the lane line of this vehicle, the heading angle θ of the adjacent vehicle, and the longitudinal distance y3 of this vehicle from the adjacent vehicle; calculate the distance y2 between the adjacent vehicle and the lane line of this vehicle in the future time period t1. If y2 > y1, the adjacent vehicle will cut in.

[0009] Braking prediction for this vehicle: If the vehicle speed v of this vehicle is greater than the vehicle speed v1 of the adjacent lane vehicle, then a time margin t′ is retained. The shortening distance between this vehicle and the adjacent lane vehicle within the time margin t′ is calculated. If the shortening distance < y3, then braking is not required; if the shortening distance ≥ y3, then braking is required.

[0010] Furthermore, the calculation of the distance y2 between the adjacent lane vehicle and the current vehicle's lane line within a future time period t1 includes: decomposing the vehicle speed v1 of the adjacent lane vehicle into longitudinal speed v 11 =v1sinθ, decompose the acceleration a1 of the vehicle in the adjacent lane into longitudinal acceleration a 11 = a1sinθ; through the future time period t1, the longitudinal velocity v of the vehicle in the adjacent lane 11 and the longitudinal acceleration a of the vehicle in the adjacent lane 11 The distance y2 between the vehicle in the adjacent lane and the lane line of the vehicle is calculated.

[0011] Furthermore, the vehicle braking prediction also includes collecting the lateral distance y4 between the vehicle and the vehicle in the adjacent lane, the vehicle speed v2 and acceleration a2 of the adjacent vehicle during the cutting-in process, and calculating the longitudinal velocity v of the vehicle speed v during the cutting-in process. 21 and longitudinal acceleration a 21 And calculate the time t2 required for vehicles in the adjacent lane to cut in. Then braking is not required.

[0012] Furthermore, when braking is required, the following parameters are considered: the vehicle speed v, the time t2 required for the vehicle in the adjacent lane to cut in, the reserve time margin t′, and the longitudinal velocity v of the vehicle in the adjacent lane during the cutting-in process. 21 and longitudinal acceleration a 21 Calculate the braking amount a of this vehicle based on the longitudinal distance y3 between this vehicle and the vehicle in the adjacent lane.

[0013] Furthermore, the method also includes collecting the crossing distance u of the adjacent lane vehicle when it crosses the lane line of the current lane, setting a calibrated quantity u' to determine whether braking is required, and braking is performed when u ≥ u'.

[0014] Furthermore, the method also includes collecting the overlap amount c between the vehicle and the vehicle in the adjacent lane, then setting a calibration amount c', and when c≥c', the vehicle brakes.

[0015] Furthermore, the longitudinal distance y3 between this vehicle and the vehicle in the adjacent lane is the distance from the front of this vehicle to the rear of the vehicle in the adjacent lane, and the lateral distance y4 between this vehicle and the vehicle in the adjacent lane is the distance between the front wheels of this vehicle and the adjacent side of the front wheels of the vehicle in the adjacent lane.

[0016] Secondly, the present invention also discloses a vehicle lane-cutting processing system, including a calculation module, used to calculate whether the target vehicle has the intention to cut in when a target vehicle is detected within the target range of the adjacent lane while the vehicle is traveling in the current lane, and to calculate the braking conditions and braking behavior of the vehicle.

[0017] Thirdly, the present invention also discloses a vehicle that includes the aforementioned vehicle lane-cutting handling system.

[0018] Fourthly, the present invention also discloses a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the above-described method.

[0019] The invention employing the above technical solution has the following advantages:

[0020] 1. When processing vehicles cutting in from adjacent lanes, this invention first collects the vehicle speed v, the vehicle speed v1 of the adjacent lane vehicle, the acceleration a1 of the adjacent lane vehicle, the distance y1 of the adjacent lane vehicle from the vehicle's lane line, the heading angle θ of the adjacent lane vehicle, and the longitudinal distance y3 of the vehicle from the adjacent lane vehicle. When judging the intention to cut in, it is only necessary to judge the distances y1 and y2 of the current adjacent lane vehicle from the vehicle's lane line to predict whether the adjacent lane vehicle will cut in in the future. The entire judgment and calculation process is simple and highly reliable.

[0021] 2. While determining whether a vehicle in the adjacent lane is cutting in, this invention can also calculate whether braking is required and the amount of braking. It also considers braking actions in situations such as the vehicle's speed being greater than that of the vehicle in the adjacent lane, the vehicle in the adjacent lane crossing the lane line of this lane, and the vehicle overlapping with the vehicle in the adjacent lane. This makes the process of handling vehicles cutting in from adjacent lanes more intelligent. Attached Figure Description

[0022] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0023] Figure 1 This is a flowchart illustrating a method for handling vehicle lane-cutting according to the present invention.

[0024] Figure 2 This is a schematic diagram of the vehicle heading angle in this invention. Detailed Implementation

[0025] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Example 1

[0027] This embodiment describes a method for handling vehicles cutting in line. The method flow is as follows: Figure 1 As shown, the first step is to predict whether a vehicle in the adjacent lane will cut in. This embodiment uses the example of a vehicle on the right intending to cut in. When the vehicle is parallel to the vehicle in the adjacent lane, predicting whether it will cut in requires first collecting the current speed v1 of the adjacent vehicle, its acceleration a1, its distance y1 from the right lane line, and its heading angle θ. Figure 2 As shown.

[0028] Decompose the speed v1 of vehicles in adjacent lanes into mutually perpendicular v... 11 =v1sinθ and v 12 =v1cosθ, acceleration is decomposed into mutually perpendicular a 11 =a1sinθ and a 12 =a1cosθ, when considering whether to cut in line, only v needs to be considered.11 and a 12 Therefore, within the future time t1, the distance that vehicles in adjacent lanes will move closer to the lane line is... If y2 > y1, then vehicles in the adjacent lane will cut in. In this example, y2 is 0.5 meters and y1 is 0.4 meters, which means that the vehicle on the right has crossed the lane line of this lane, and it is determined that the vehicle on the right has the intention to cut in.

[0029] Then, a prediction is made as to whether braking is needed. This judgment is based on the assumption that a vehicle in the adjacent lane will cut in. At this point, the following data are collected: the longitudinal distance y3 between the vehicle and the vehicle in the adjacent lane (i.e., the distance from the front of the vehicle to the rear of the vehicle in the adjacent lane), the lateral distance y4 between the vehicle and the vehicle in the adjacent lane (i.e., the distance between the right front wheel of the vehicle and the left front wheel of the vehicle in the adjacent lane), the vehicle's speed v, the current speed v2 of the vehicle in the adjacent lane, the acceleration a2 of the vehicle in the adjacent lane, and the vehicle's width l1.

[0030] During the process of cutting in, the decision of whether to brake depends on whether the front of your vehicle will collide with the rear of the vehicle in the adjacent lane when it finishes cutting in. Similarly, the speed of the vehicle in the adjacent lane can be decomposed into v. 21 and v 22 The acceleration is decomposed into a 21 and a 22 The time t2 required for a vehicle to cut in line satisfies: As long as the conditions are met So, when a vehicle in the adjacent lane cuts in, there will be no rear-end collision. However, it is still necessary to consider that if the speed of the vehicle is greater than the speed of the vehicle in front (after the vehicle in the adjacent lane enters) after cutting in, a rear-end collision may still occur. Therefore, a time margin t′ needs to be left to ensure that there is enough time to adjust the speed when switching to the following target after cutting in. The speed adjustment is mainly to decelerate.

[0031] Because the condition that should be satisfied at this time is v(t2+t′)-v 21 (t2+t′)-1 / 2-a 21 *(t2+t′) 2 <y3 (Equation 1). If condition Equation 1 is not met, then braking is required, and the braking amount a needs to satisfy v(t2+t′)-1 / 2*a*(t2+t′). 2 -v 21 (t2+t′)-1 / 2*a 21 *(t2+t′) 2 <y3.

[0032] Solving the above equation yields: When braking is required, the braking amount 'a' satisfies... (Formula 2)

[0033] In scenarios where there is a possibility of collision but no cutting in, when the vehicle on the right has already crossed the line (assuming the distance across the line is u), a calibrated value u' can be added to determine whether braking is necessary. If u ≥ u', the vehicle brakes. Similarly, when the vehicle is traveling on the right, relying solely on the line crossing distance u to determine if a collision risk still exists, an overlap distance c between the vehicle and the vehicle in front can be added. Again, a calibrated value c' is added. If c ≥ c', the vehicle brakes. In both cases, whether u ≥ u' or c ≥ c', the vehicle can determine that the vehicle on the right intends to cut in, and braking is required.

[0034] Example 2

[0035] This embodiment is a vehicle lane-cutting processing system, including a calculation module, which, when the vehicle is traveling in its own lane and a target vehicle is detected within the target range of the adjacent lane, calculates whether the target vehicle has the intention to cut in, and calculates the vehicle's braking conditions and braking behavior using the method described above.

[0036] Example 3

[0037] This embodiment describes a vehicle that includes the vehicle lane-cutting handling system as described in claim 8. In this embodiment, the vehicle, while determining whether a vehicle in the adjacent lane is cutting in, can also calculate whether braking is necessary and the amount of braking, and consider braking actions under conditions such as the vehicle's speed being greater than the speed of the vehicle in the adjacent lane, the adjacent vehicle crossing the lane line of the vehicle, and overlap between the vehicle and the adjacent vehicle. This makes the process of handling vehicles cutting in from adjacent lanes more intelligent.

[0038] Example 4

[0039] This embodiment is a computer-readable storage medium storing a computer program. When the computer program is run on a computer, it causes the computer to perform the methods described above. Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented in hardware or with the aid of software and necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive), including several instructions to cause a computer device (such as a personal computer, braking device, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0040] In the embodiments provided in this application, it should be understood that the disclosed apparatus, systems, and methods can also be implemented in other ways. The apparatus, systems, and methods embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0041] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for handling vehicles cutting in line, characterized in that: Includes the following steps, Adjacent lane vehicle cutting in judgment: Collect the vehicle speed. The speed of vehicles in the adjacent lane The acceleration of the vehicles in the adjacent lane The distance between the vehicle in the adjacent lane and the lane line of this vehicle The heading angle θ of the vehicle in the adjacent lane, and the longitudinal distance between this vehicle and the vehicle in the adjacent lane. ; Calculate future time periods Within, the distance by which vehicles in the adjacent lane approach the lane line. ,like > If so, vehicles in the adjacent lane will cut in; Vehicle braking prediction: Collects the lateral distance between this vehicle and the vehicle in the adjacent lane. The vehicle speed during the process of the adjacent lane vehicle cutting in. The acceleration of vehicles in adjacent lanes during the cutting-in process Calculate the longitudinal velocity of the vehicle during the process of the adjacent lane vehicle cutting in. and longitudinal acceleration And calculate the time required for the vehicle in the adjacent lane to cut in. ,like If the vehicle speed is [not specified], then braking is not required; if the vehicle speed is [not specified], then braking is not required Vehicle speed greater than that of the vehicle in the adjacent lane Then retain time margin Calculate the retention time margin The shortening distance between the vehicle in the current lane and the vehicle in the adjacent lane, if the shortening distance is < If the shortened distance is ≥ Then braking is required.

2. The method for handling vehicle lane-cutting according to claim 1, characterized in that: The calculation is performed in the future time period. Within, the distance between the vehicle in the adjacent lane and the lane line of this vehicle. This includes: adjusting the vehicle speed of the vehicles in the adjacent lane. Decomposed into longitudinal velocity The acceleration of the vehicles in the adjacent lane Decomposed into longitudinal acceleration ; through the aforementioned future time period The longitudinal speed of the vehicles in the adjacent lane and the longitudinal acceleration of the vehicles in the adjacent lane The distance by which vehicles in the adjacent lane approach the lane line is calculated. .

3. The method for handling vehicle lane-cutting according to claim 2, characterized in that: When braking is required, it should be based on the vehicle's speed. The time required for vehicles in adjacent lanes to cut in. The retention time margin The longitudinal velocity of the vehicle during the process of a vehicle cutting in from the adjacent lane. and longitudinal acceleration The longitudinal distance between this vehicle and the vehicle in the adjacent lane. Calculate the braking amount of this vehicle. .

4. The method for handling vehicle lane-cutting according to claim 3, characterized in that: The method further includes, when the vehicle in the adjacent lane crosses the lane line of the current lane, collecting the distance the vehicle in the adjacent lane has crossed the line. Then set the standard quantity. Determine whether braking is needed, when ≥ When this happens, the vehicle will apply the brakes.

5. A method for handling vehicle lane-cutting according to claim 4, characterized in that: The method also includes collecting the overlap between the vehicle and the vehicle in the adjacent lane. Then set the standard quantity. ,when ≥ When this happens, the vehicle will apply the brakes.

6. The method for handling vehicle lane-cutting according to claim 5, characterized in that: Longitudinal distance between this vehicle and the vehicle in the adjacent lane The distance from the front of this vehicle to the rear of the vehicle in the adjacent lane is the lateral distance between this vehicle and the vehicle in the adjacent lane. This is the distance between the front wheels of this vehicle and the adjacent side of the front wheels of the vehicle in the adjacent lane.

7. A system for handling vehicle lane-cutting, characterized in that: The system includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processing system to perform the method as described in any one of claims 1-6.

8. A vehicle, characterized in that: The vehicle includes the vehicle cutting-in handling system as described in claim 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the vehicle cutting-in processing method of claim 1.

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