A vehicle lane-taking and overtaking assistance system with weak vehicle-to-vehicle communication in mountainous environments

Abstract

The present invention discloses a vehicle lane-borrowing and overtaking assistance system with weak vehicle-to-vehicle communication in mountainous environments, the assistance system comprising: an information perception module for acquiring the status information of the vehicle and the information of the preceding vehicle and sending it to a vehicle-mounted computing module, and a vehicle-mounted navigation module for sharing the vehicle information of the vehicle with other vehicles using wireless communication. The present invention considers that the vehicle lane-borrowing and overtaking driving assistance system for mountainous roads with weak vehicle-to-vehicle communication in a mountainous two-lane highway environment can help drivers obtain the opportunity to borrow the lane or overtake in a timely and effective manner, avoid long-distance traffic jams caused by accident vehicles, construction, and low-speed vehicles (such as trucks and buses) occupying the road, and effectively avoid the danger of forced lane-borrowing or overtaking while improving the traffic efficiency of mountainous highways.

Description

Technical Field

[0001] The invention relates to the field of overtaking systems, and in particular to a vehicle lane-borrowing and overtaking assistance system with weak inter-vehicle communication in a mountainous environment. Background Art

[0002] In the process of driving on a two-way two-lane road, it is common to use the other lane due to congestion or construction in one lane, or the vehicle ahead is driving at a low speed or stopped, etc. However, mountain roads have many bends and poor visibility, so using the other lane becomes an inevitable and dangerous behavior. Due to terrain restrictions, the current 5G signal coverage rate on mountain roads is low, mainly 3G / 4G, and there are communication delays and interruptions in some areas. The patent for safe driving assistance for overtaking in a two-way two-lane lane based on vehicle-to-vehicle communication focuses on an overtaking environment with good communication. There is no driving assistance system that assists overtaking in weak communication environments such as mountainous areas. For example, the reverse lane warning method disclosed in patent document CN104269073A determines the time when the vehicle can overtake based on the real-time motion status information and position information of the vehicle and neighboring vehicles, and provides overtaking warnings to the driver to varying degrees. For example, patent document CN108909710A obtains the speed, acceleration and position of the vehicle and surrounding vehicles, as well as the road network and speed limit, determines the overtaking conditions and assists in controlling the vehicle to overtake safely, which can reduce the driver's tension and fatigue.

[0003] V2V (Vehicle-to-Vehicle) communication technology is a vehicle wireless communication technology based on cellular network communication technologies such as 3G / 4G / 5G. It is a communication technology that is not limited to fixed base stations and provides direct end-to-end wireless communication for moving vehicles. That is, through V2V communication technology, vehicle terminals directly exchange wireless information with each other without forwarding through base stations. During the V2V communication process, there may be situations where 3G / 4G / 5G communication vehicles exist at the same time. The different network communication delays of 3G / 4G / 5G will lead to asynchronous information acquisition between vehicles on the road, which in turn causes driving decision errors, greatly reducing the reliability and popularity of V2V communication technology.

[0004] Existing overtaking driving assistance technologies require accurate, real-time and more vehicle motion status information of surrounding vehicles and the vehicle itself. The larger amount of data increases the difficulty of information transmission in weak communication environments. The reliability and safety of existing technologies are difficult to meet the actual safety driving needs in mountainous areas with weak communication environments. At the same time, existing technologies only focus on the scenario of overtaking by using another lane, and rarely consider the conditions of driving by using another lane due to congestion or construction in a certain lane. Driving by using another lane in a mountainous area with weak communication environments and the vehicle-to-vehicle weak communication environment in mountainous areas refer to the situation where vehicle-to-vehicle communication data transmission is delayed or interrupted on some sections of mountainous roads. In a weak communication environment in mountainous areas, it is difficult to obtain accurate information on the speed, acceleration and position of remote vehicles and surrounding vehicles in a comprehensive and real-time manner. Summary of the invention

[0005] Mountain roads have many bends and continuous bends. Conservative drivers are prone to miss opportunities to overtake when faced with poor visibility and unclear oncoming vehicles in the opposite lane, while aggressive drivers are prone to serious traffic accidents when forcibly overtaking. At the same time, in mountainous environments, communication conditions are poor, and signal loss may occur in some sections of the road, and the collaborative communication capabilities of multiple vehicles are weak. The present invention takes into account the weak communication between vehicles in the mountainous two-lane highway environment. The vehicle borrowing and overtaking driving assistance system for mountainous roads can help drivers obtain opportunities for borrowing or overtaking in a timely and effective manner, avoid long-distance traffic jams caused by accident vehicles, construction, and low-speed vehicles (such as trucks and buses) occupying the road, and effectively avoid the dangers of forced borrowing or overtaking while improving the traffic efficiency of mountainous roads.

[0006] In order to solve the above technical problems, the technical solution of the present invention is as follows: a vehicle lane-traveling and overtaking assistance system with weak vehicle-to-vehicle communication in a mountainous environment, the assistance system comprising:

[0007] Information perception module: used to obtain the information of the vehicle and the preceding vehicle and send it to the vehicle-mounted computing module, and to share the information of the vehicle with the vehicle-mounted navigation module of other vehicles through wireless communication; the vehicle information includes the speed of the vehicle n on the right lane Y of the two-lane highway Location The time point for collecting speed and position information and the switch status of the turn signal. The preceding vehicle information refers to the vehicle information in front of the vehicle n, including the preceding vehicle speed The distance between the vehicle in front and the vehicle itself

[0008]

[0009] On-board navigation module: It can preload the driving map within 10km around the vehicle, match all vehicles within 5km around the vehicle on the map route according to the acquired vehicle information, and send the nearest vehicle information, lane information and road speed limit of the opposite lane to the on-board computing module;

[0010] On-board computing module: used to receive information sent by the information perception module and the on-board navigation module, and then determine whether it is feasible to drive in the lane and whether it is safe to overtake, and send the judgment result to the human-computer interaction module;

[0011] Human-computer interaction module: used to convert the judgment results of the on-board computing module into the form of sound and image to assist the driver in using other lanes or overtaking.

[0012] As a further description of the above scheme: the information perception module includes an information collection unit, an information sending unit I and a vehicle communication unit;

[0013] The information collection unit is used to collect information about the vehicle and the preceding vehicle;

[0014] The information sending unit 1 is used to send the vehicle information and the preceding vehicle information to the vehicle-mounted computing module, and to send the vehicle information to the vehicle-mounted communication unit and the vehicle navigation module;

[0015] The vehicle-mounted communication unit shares the vehicle information with the vehicle-mounted communication units of other vehicles, receives the vehicle information of other vehicles at the same time, and sends the vehicle information of other vehicles to the vehicle-mounted navigation module. Other vehicles are all vehicles traveling on a two-lane mountain road within 5km before and after the vehicle.

[0016] As a further description of the above solution: the vehicle navigation module includes an information receiving unit, a calculation matching unit and an information sending unit II;

[0017] The information receiving unit is used to receive vehicle information sent by the vehicle communication unit and the information sending unit 1;

[0018] The calculation and matching unit is used to match the vehicle information with the map;

[0019] The information sending unit II is used to respond to the request of the on-board computing module, and send the vehicle information of the nearest vehicle in the opposite lane related to the vehicle, the construction distance or congestion distance, and the matching result of the vehicle and the map to the human-computer interaction module in real time.

[0020] As a further description of the above solution: the calculation matching unit is used to match the vehicle information with the map, including the following steps:

[0021] Step 1: Compare the vehicle real-time time t with the most recently acquired vehicle information time t0. When |t-t0|<T delay , T delay =10ms, it is considered that there is no communication problem, and |t-t0|>10ms, it is considered that there is communication delay or interruption;

[0022] Step 2: When there is no communication problem, the information of each vehicle is updated on the map with the data sent in real time; when there is a delay or interruption in the communication of a certain vehicle information, the vehicle information caused by the delay or interruption is supplemented by the vehicle information cyclic prediction method that integrates road characteristics and time series data; compared with the traditional vehicle speed prediction method, this method performs segmented prediction of historical data based on the characteristics of mountain roads, which can improve the prediction accuracy of vehicle information.

[0023] Step 3: Calculate the distance between the vehicle n and the vehicle in the opposite lane at real time t. Stop the calculation when the distance between the vehicle n and the vehicle in the opposite lane is greater than 2 km. Determine the vehicle k' in the opposite lane that will meet the vehicle first after real time t by the shortest distance between the vehicle n and the vehicle in the opposite lane.

[0024] Step 4: Determine whether congestion has occurred based on vehicle speed. When the speeds of two adjacent vehicles on the same lane are close to 0 and the number of vehicles is not less than 3, the lane is considered to be congested. The calculation formula is: in Refers to the speed of vehicles n+1, n+2, and n+3 in front of vehicle n on the right lane Y at time t; calculates the length of the congestion zone in front of vehicle n The calculation formula is

[0025] As a further description of the above scheme: the vehicle information cyclic prediction method that integrates road characteristics and time series data is used to complete the vehicle information caused by delay or interruption, as follows:

[0026] a: Use the horizontal and vertical alignments of mountain roads to classify and process the time series data of vehicle information;

[0027] Based on fuzzy C-means clustering, the mountain highway section types are divided according to the horizontal and vertical alignment data of mountain highways. Based on the horizontal curve data of the road, the mountain highway is divided into four horizontal alignments: straight line, turn, continuous turn and sharp turn. Based on the longitudinal section data, the mountain highway is divided into three longitudinal alignments: uphill, flat and downhill. The vehicle information time series data is divided into 12 types of fragments to obtain the mountain highway section feature matrix. Among them, r ij It refers to the mountain road segment containing road line shape and slope information. The matching results are further calculated based on the on-board navigation module, and the vehicle information time series data is divided to obtain the vehicle speed and mileage time series data segment c containing road characteristics. ij , thus forming a time series data matrix Among them, c ij Refers to the vehicle speed and mileage time series data segments containing road segment characteristics;

[0028] b: Vehicle information cycle prediction based on time difference and road section characteristics;

[0029] Calculate the time difference Δt between the vehicle real-time time t and the most recently acquired vehicle information time t0, with a time scale of 10ms. If the road type to be passed within t0+10ms is r ij , then in r ij The corresponding c ij In the process, the vehicle speed at t0+m*10ms (m refers to the number of cycles, and the initial value is 0) is used as the starting point to select the vehicle speed and position time series data of 10ms in length as the vehicle speed and mileage generated within t0+10ms, and the cycle is continued until t0+m*10ms≥t, then the position and speed of the vehicle at time t caused by communication delay or interruption are obtained.

[0030] As a further description of the above scheme: the vehicle-mounted computing module is used to receive information sent by the information perception module and the vehicle-mounted navigation module, and then determine whether the lane-borrowing driving is feasible and whether overtaking is safe, and send the judgment result to the human-computer interaction module;

[0031] The vehicle-mounted computing module includes an information receiving unit, a lane borrowing and overtaking judgment unit and an information sending unit III;

[0032] The information receiving unit receives the vehicle information and the preceding vehicle information sent by the information sensing module, and the speed and position information and congestion information of the nearest vehicle k' in the opposite lane sent by the vehicle navigation module;

[0033] The lane-taking and overtaking judgment unit is used to judge whether the driver can drive in the lane taking and overtake.

[0034] As a further description of the above scheme: the lane-borrowing and overtaking judgment unit is used to judge whether the driver can borrow the lane and overtake, including the following steps:

[0035] Step 1: Is the left turn signal on? If yes, proceed to the next step, otherwise return to step 1;

[0036] Step 2: Determine whether the current road is a two-way two-lane road, if yes, proceed to the next step, otherwise return to step 1;

[0037] Step 3: Determine the speed of the vehicle ahead at the current time t Is it less than the current road speed limit V? max , if yes, go to the next step, otherwise return to step 1;

[0038] Step 4: Determine whether there is congestion ahead, if not, proceed to the next step, if yes, set the congestion distance Send to human-computer interaction module;

[0039] Step 5: Determine whether there is construction ahead, if yes, proceed to the next step, otherwise proceed to step 7;

[0040] Step 6: According to the road speed limit V max Calculate the shortest time T required for the vehicle to borrow the lane s , the calculation formula is: T s *V max =S Y , S Y is the lane construction distance, then go to step 8;

[0041] Step 7: Calculate the shortest time T required for the vehicle to overtake c , and its calculation formula is:

[0042] in, It refers to the speed and position of vehicle n and vehicle n+1 on the right line Y at time t. max The maximum acceleration that the vehicle can output, generally 5-6m / s 2 ;

[0043] Step 8: Calculate the meeting time T between vehicle n and the nearest oncoming vehicle k` h , and its calculation formula is: in, Refers to the speed of the nearest vehicle k' on the left lane Z at time t;

[0044] Step 9: Determine the overtaking time T of vehicle n c Or borrowing time T s Is it less than the time T between the vehicle and the nearest vehicle k' in the opposite lane? h , and send the judgment result to the human-computer interaction module.

[0045] As a further description of the above scheme: the human-computer interaction module assists the driver in driving in a lane or overtaking, including the following steps:

[0046] Step 1: If the judgment result of the vehicle computing module is yes, the vehicle horn is controlled, the high beam lights are turned on, and a "safe to overtake" prompt is sent to the driver through the instrument screen and the vehicle voice terminal;

[0047] Step 2: If the judgment result of the on-board computing module is no, a prompt of "Please wait", "Construction distance" or "Congestion distance" is sent to the driver through the instrument screen and the on-board voice terminal.

[0048] As a further description of the above solution: the communication technology used by the vehicle-mounted communication unit refers to V2V communication technology.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1. Safety: The vehicle lane-crossing and overtaking method proposed in the present invention considers the road section characteristics and reasonably estimates the vehicle information in the case of vehicle communication delay and interruption, thereby avoiding the situation where it is impossible to judge whether there is an oncoming vehicle and the speed and distance of the front vehicle during overtaking when the communication and visibility are poor, thereby improving the safety of overtaking in a weak communication environment in mountainous areas.

[0051] 2. Low cost: All devices in the present invention can utilize the existing vehicle-to-vehicle communication equipment, which is simple to calculate and easy to implement, and can achieve effective gains in vehicle borrowing and overtaking at a relatively low cost.

[0052] 3. Practicality: In the present invention, the amount of vehicle-shared information is small, the communication resources occupied are low, and it is easy to transmit in a weak communication environment in mountainous areas; the driver only needs to turn on the center left turn signal to trigger the vehicle's overtaking system, which is in line with the overtaking driving operating habits and is simple to operate, and has strong practicality.

[0053] 4. High efficiency: Based on the same basic equipment, the present invention fully considers the two situations of driving on the wrong lane and overtaking on the wrong lane, including all the conditions of driving on the wrong lane in both directions and two lanes. At the same time, the vehicle information cycle prediction method that integrates road characteristics and time series data effectively solves the problem of missing vehicle information caused by communication or delay.

[0054] 5. Reliability and penetration rate: The present invention can effectively address the problems of different 3G / 4G / 5G communication delays and poor signal on mountain roads, thereby improving the reliability and penetration rate of vehicle-to-vehicle communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of the vehicle borrowing lane and overtaking system of the present invention;

[0056] Figure 2 Schematic diagram of vehicle information matching of vehicle navigation module;

[0057] Figure 3 Schematic diagram of mountain highway communication situation;

[0058] Figure 4 Schematic diagram of mountain highway sections;

[0059] Figure 5 Vehicle information cycle prediction method integrating road characteristics and time series data. DETAILED DESCRIPTION

[0060] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to the following technical solution.

[0061] Example 1

[0062] The embodiment of the present invention provides a driving assistance system and method for lane-traveling and overtaking in a mountainous area with weak communication conditions. Figure 1 As shown, it includes an information perception module, an on-board computing module, an on-board navigation module and a human-computer interaction module.

[0063] The information sensing module is used to obtain the vehicle information and the preceding vehicle information and send it to the vehicle computing module, and wirelessly share the vehicle information with the vehicle navigation module of other vehicles, where the vehicle information includes the vehicle speed information. Vehicle location information The time point for collecting speed and position information and the switch status of the turn signal. The preceding vehicle information includes the preceding vehicle speed information V n+1 Distance information between the vehicle in front and the vehicle itself

[0064] The information perception module includes an information collection unit, an information sending unit I and a vehicle communication unit;

[0065] The information collection unit is used to collect the information of the vehicle and the preceding vehicle;

[0066] The information sending unit 1 is used to send the vehicle information and the preceding vehicle information to the vehicle-mounted computing module, and to send the vehicle information to the vehicle-mounted communication unit and the vehicle navigation module. The vehicle information refers to the vehicle's speed information, position information, and the time point of collecting the speed and position information;

[0067] The vehicle communication unit shares the vehicle information with the vehicle communication units of other vehicles, receives the vehicle information of other vehicles at the same time, and sends the vehicle information of other vehicles to the vehicle navigation module. Other vehicles are all vehicles traveling on a two-lane mountain road within 10km before and after the vehicle.

[0068] The vehicle navigation module can preload the driving map within 10km around the vehicle, that is, it can preload the basic road information of mountainous sections (basic road data, speed limit, accident and construction distance information), calculate and match according to the received vehicle speed and position information, and can receive, calculate and match, and publish the vehicle's position, speed information, accident location, construction distance information, and can send the nearest vehicle information, lane information and road speed limit to the vehicle calculation module;

[0069] The vehicle navigation module includes an information receiving unit, a calculation matching unit and an information sending unit II;

[0070] The information receiving unit is used to receive vehicle information sent by the vehicle communication unit and the information sending unit I;

[0071] The calculation matching unit is used to match the vehicle information with the map, including the following steps:

[0072] Step 1: Compare the vehicle real-time time t with the most recently acquired vehicle information time t0. When |t-t0|<T delay (The 4G network currently used has an ideal end-to-end latency of about 10 milliseconds (ms). For the convenience of description, T delay =10ms for example), it is considered that there is no communication problem, and |t-t0|>10ms, it is considered that there is communication delay or interruption;

[0073] Step 2: When there is no communication problem, update the information of each vehicle on the map with the data sent in real time; when there is a delay or interruption in the communication of a certain vehicle information, use the vehicle information cycle prediction method that integrates road characteristics and time series data to complete the vehicle information caused by the delay or interruption. The details are as follows:

[0074] a: Use the horizontal and vertical alignments of mountain roads to classify and process the time series data of vehicle information;

[0075] Based on fuzzy C-means clustering, the mountain highway section types are divided according to the horizontal and vertical alignment data of mountain highways. Based on the horizontal curve data of the road, the mountain highway is divided into four horizontal alignments: straight line, turn, continuous turn and sharp turn. Based on the longitudinal section data, the mountain highway is divided into three longitudinal alignments: uphill, flat and downhill. The vehicle information time series data is divided into 12 types of fragments to obtain the mountain highway section feature matrix. Among them, r ij It refers to the mountain road segment containing road line shape and slope information. The matching results are further calculated based on the on-board navigation module, and the vehicle information time series data is divided to obtain the vehicle speed and mileage time series data segment c containing road characteristics. ij , thus forming a time series data matrix

[0076] b: Vehicle information cycle prediction based on time difference and road section characteristics;

[0077] Calculate the time difference Δt between the vehicle real-time time t and the most recently acquired vehicle information time t0, with a time scale of 10ms. If the road type to be passed within t0+10ms is r ij , then in r ij The corresponding c ij In the process, the vehicle speed at t0+m*10ms (m refers to the number of cycles, and the initial value is 0) is used as the starting point to select the vehicle speed and position time series data of 10ms in length as the vehicle speed and mileage generated within t0+10ms, and the cycle is continued until t0+m*10ms≥t, then the position and speed of the vehicle at time t caused by communication delay or interruption are obtained.

[0078] Step 3: Calculate the distance between vehicle n and vehicle k in the opposite lane at real time t The calculation formula is when If it is greater than 2km, the calculation will be stopped. refers to the position of vehicle n on the right lane Y of a two-lane highway at real time t, Refers to the position of vehicle k on the left lane Z of a two-lane highway at real time t. The distance between the vehicle and the vehicle in the opposite lane Determine the vehicle k' in the opposite lane that will first meet the vehicle after the real-time time t;

[0079] Step 4: Determine whether congestion has occurred based on vehicle speed. When the speeds of two adjacent vehicles on the same lane are close to 0 and the number of vehicles is not less than 3, the lane is considered to be congested. The calculation formula is: in Refers to the speed of vehicles n+1, n+2, and n+3 in front of vehicle n on the right lane Y at time t; calculates the length of the congestion zone in front of vehicle n The calculation formula is

[0080] The information sending unit II is used to respond to the request of the vehicle-mounted computing module, send the vehicle information of the nearest vehicle in the opposite lane related to the vehicle, the construction distance or the congestion distance, and the matching result of the vehicle and the map to the human-computer interaction module in real time;

[0081] The vehicle-mounted computing module is used to receive information sent by the information perception module and the vehicle-mounted navigation module, and then determine whether the lane-taking is feasible and whether overtaking is safe, and send the judgment result to the human-computer interaction module;

[0082] The vehicle-mounted computing module includes an information receiving unit, a lane-borrowing driving and overtaking judgment unit, and an information sending unit III;

[0083] The information receiving unit receives the vehicle information and the preceding vehicle information sent by the information sensing module, and the vehicle information and congestion information of the nearest vehicle in the opposite lane sent by the vehicle navigation module;

[0084] The lane-borrowing and overtaking judgment unit is used to judge whether the driver can drive in the lane and overtake, and includes the following steps:

[0085] Step 1: Is the left turn signal on? If yes, proceed to the next step, otherwise return to step 1;

[0086] Step 2: Determine whether the current road is a two-way two-lane road, if yes, proceed to the next step, otherwise return to step 1;

[0087] Step 3: Determine the speed of the vehicle ahead at the current time Is it less than the current road speed limit V? max , if yes, go to the next step, otherwise return to step 1;

[0088] Step 4: Determine whether there is congestion ahead, if not, proceed to the next step, if yes, set the congestion distance Send to human-computer interaction module;

[0089] Step 5: Determine whether there is construction ahead, if yes, proceed to the next step, otherwise proceed to step 7;

[0090] Step 6: According to the road speed limit V max Calculate the shortest time T required for the vehicle to borrow the lane s , the calculation formula is: T s *V max =S Y , S Y is the lane construction distance, then go to step 8;

[0091] Step 7: Calculate the shortest time T required for the vehicle to overtake c , and its calculation formula is: in, It refers to the speed and position of vehicle n and vehicle n+1 on the right line Y at time t. max The maximum acceleration that the vehicle can output, generally 5-6m / s 2 ;

[0092] Step 8: Calculate the meeting time T between vehicle n and the nearest oncoming vehicle k` h , and its calculation formula is: in, Refers to the speed of the nearest vehicle k on the left lane Z at time t;

[0093] Step 9: Determine the overtaking time T of vehicle n c Or borrowing time T s Is it less than the time T between the vehicle and the nearest vehicle k' in the opposite lane? h , and send the judgment result to the human-computer interaction module;

[0094] The human-computer interaction module will be used to convert the judgment results of the vehicle-mounted computing module into the form of sound and image to assist the driver in driving or overtaking. It includes the following steps:

[0095] Step 1: If the judgment result of the vehicle computing module is yes, the vehicle horn is controlled, the high beam lights are turned on, and a "safe to overtake" prompt is sent to the driver through the instrument screen and the vehicle voice terminal;

[0096] Step 2: If the judgment result of the on-board computing module is no, a prompt of "Please wait", "Construction distance" or "Congestion distance" is sent to the driver through the instrument screen and the on-board voice terminal.

[0097] The present invention is not limited to the above-mentioned embodiments. If various changes and modifications of the present invention do not depart from the essence and scope of the present invention and still fall within the scope of the claims of the present invention and equivalent technologies, the present invention is intended to include these changes and modifications.

Claims

1. A vehicle lane-crossing and overtaking assistance system with weak vehicle communication in mountainous environments, characterized in that: The auxiliary system comprises: Information perception module: used to obtain the information of the vehicle and the preceding vehicle and send it to the vehicle-mounted computing module, and to share the information of the vehicle with the vehicle-mounted navigation module of other vehicles through wireless communication; the vehicle information includes the speed of the vehicle n on the right lane Y of the two-lane highway Location The time point for collecting speed and position information and the switch status of the turn signal. The preceding vehicle information refers to the vehicle information in front of the vehicle n, including the preceding vehicle speed The distance between the vehicle in front and the vehicle itself The information perception module includes an information collection unit, an information sending unit I and a vehicle communication unit; On-board navigation module: preloads the driving map within 10km around the vehicle, matches all vehicles within 5km around the vehicle on the map route based on the acquired vehicle information, and sends the nearest vehicle information, lane information and road speed limit of the opposite lane to the on-board computing module; On-board computing module: used to receive information sent by the information perception module and the on-board navigation module, and then determine whether it is feasible to drive in the lane and whether it is safe to overtake, and send the judgment result to the human-computer interaction module; Human-computer interaction module: used to convert the judgment results of the vehicle-mounted computing module into the form of sound and image to assist the driver in driving in the opposite lane or overtaking; The vehicle navigation module includes an information receiving unit, a calculation matching unit and an information sending unit II; The information receiving unit is used to receive vehicle information sent by the vehicle communication unit and the information sending unit 1; The calculation and matching unit is used to match the vehicle information with the map; The information sending unit II is used to respond to the request of the vehicle-mounted computing module, send the vehicle information of the nearest vehicle in the opposite lane related to the vehicle, the construction distance or the congestion distance, and the matching result of the vehicle and the map to the human-computer interaction module in real time; The calculation and matching unit is used to match the vehicle information with the map, and includes the following steps: Step 1: Compare the vehicle real-time time t with the most recently acquired vehicle information time t0. |t-t0|<T delay T delay =10ms, it is considered that there is no communication problem, and |t-t0|>10ms, it is considered that there is communication delay or interruption; Step 2: When there is no communication problem, the information of each vehicle is updated on the map with the data sent in real time; when there is a delay or interruption in the communication of a certain vehicle information, the vehicle information caused by the delay or interruption is supplemented by using the vehicle information cycle prediction method that integrates road characteristics and time series data; Step 3: Calculate the distance between the vehicle n and the vehicle in the opposite lane at real time t. Stop the calculation when the distance between the vehicle n and the vehicle in the opposite lane is greater than 2 km. Determine the vehicle k' in the opposite lane that will meet the vehicle first after real time t by the shortest distance between the vehicle n and the vehicle in the opposite lane. Step 4: Determine whether congestion has occurred based on vehicle speed. When the speeds of two adjacent vehicles on the same lane are close to 0 and the number of vehicles is not less than 3, the lane is considered to be congested. The calculation formula is: in Refers to the speed of vehicles n+1, n+2, and n+3 in front of vehicle n on the right lane Y at time t; calculates the length of the congestion zone in front of vehicle n The calculation formula is The vehicle information cyclic prediction method integrating road characteristics and time series data is used to complete the vehicle information caused by delay or interruption, as follows: a: Use the horizontal and vertical alignments of mountain roads to classify and process the time series data of vehicle information; Based on fuzzy C-means clustering, the mountain highway section types are divided according to the horizontal and vertical alignment data of mountain highways. Based on the horizontal curve data of the road, the mountain highway is divided into four horizontal alignments: straight line, turn, continuous turn and sharp turn. Based on the longitudinal section data, the mountain highway is divided into three longitudinal alignments: uphill, flat and downhill. The vehicle information time series data is divided into 12 types of fragments to obtain the mountain highway section feature matrix. Among them, r ij It refers to the mountain road segment containing road line shape and slope information. The matching results are further calculated based on the on-board navigation module, and the vehicle information time series data is divided to obtain the vehicle speed and mileage time series data segment c containing road characteristics. ij , thus forming a time series data matrix Among them, c ij Refers to the vehicle speed and mileage time series data segments containing road segment characteristics; b: Vehicle information cycle prediction based on time difference and road section characteristics; Calculate the time difference Δt between the vehicle real-time time t and the most recently acquired vehicle information time t0, with a time scale of 10ms. If the road type to be passed within t0+10ms is r ij , then in r ij The corresponding c ij In the process, the vehicle speed at t0+m*10ms is taken as the starting point, and the vehicle speed and position time series data with a time length of 10ms are selected as the speed and mileage generated by the vehicle within t0+10ms, and the cycle is repeated until t0+m*10ms≥t, then the position and speed of the vehicle at time t caused by communication delay or interruption are obtained; m refers to the number of cycles, and the initial value is 0.

2. The vehicle lane-crossing and overtaking assistance system with weak vehicle-to-vehicle communication in mountainous environments according to claim 1 is characterized in that: The information perception module includes an information collection unit, an information sending unit I and a vehicle communication unit; The information collection unit is used to collect information about the vehicle and the preceding vehicle; The information sending unit 1 is used to send the vehicle information and the preceding vehicle information to the vehicle-mounted computing module, and to send the vehicle information to the vehicle-mounted communication unit and the vehicle navigation module; The vehicle-mounted communication unit shares the vehicle information with the vehicle-mounted communication units of other vehicles, receives the vehicle information of other vehicles at the same time, and sends the vehicle information of other vehicles to the vehicle-mounted navigation module. Other vehicles are all vehicles traveling on a two-lane mountain road within 5km before and after the vehicle.

3. The vehicle lane-crossing and overtaking assistance system with weak vehicle-to-vehicle communication in mountainous environments according to claim 1 is characterized in that: The vehicle-mounted computing module is used to receive information sent by the information perception module and the vehicle-mounted navigation module, and then determine whether the lane-borrowing driving is feasible and whether overtaking is safe, and send the judgment result to the human-computer interaction module; The vehicle-mounted computing module includes an information receiving unit, a lane borrowing and overtaking judgment unit and an information sending unit III; The information receiving unit receives the vehicle information and the preceding vehicle information sent by the information sensing module, and the speed and position information and congestion information of the nearest vehicle k' in the opposite lane sent by the vehicle navigation module; The lane-taking and overtaking judgment unit is used to judge whether the driver can drive in the lane taking and overtake.

4. The vehicle lane-crossing and overtaking assistance system with weak vehicle communication in mountainous environment according to claim 3 is characterized in that: The lane-borrowing and overtaking judgment unit is used to judge whether the driver can drive in the lane and overtake, and includes the following steps: Step 1: Is the left turn signal on? If yes, proceed to the next step, otherwise return to step 1; Step 2: Determine whether the current road is a two-way two-lane road, if yes, proceed to the next step, otherwise return to step 1; Step 3: Determine the speed of the vehicle ahead at the current time t Is it less than the current road speed limit V? max , if yes, go to the next step, otherwise return to step 1; Step 4: Determine whether there is congestion ahead, if not, proceed to the next step, if yes, set the congestion distance Send to human-computer interaction module; Step 5: Determine whether there is construction ahead, if yes, proceed to the next step, otherwise proceed to step 7; Step 6: According to the road speed limit V max Calculate the shortest time T required for the vehicle to borrow the lane s , and its calculation formula is: T s *V max =S Y , S Y is the lane construction distance, then go to step 8; Step 7: Calculate the shortest time T required for the vehicle to overtake c , and its calculation formula is: in, It refers to the speed and position of vehicle n and vehicle n+1 on the right line Y at time t. max The maximum acceleration that the vehicle can output is 5-6m / s 2 ; Step 8: Calculate the meeting time T between vehicle n and the nearest oncoming vehicle k h , and its calculation formula is: in, Refers to the speed of the nearest vehicle k on the left lane Z at time t; Step 9: Determine the overtaking time T of vehicle n c Or borrowing time T s Is it less than the time T between the vehicle and the nearest vehicle k in the opposite lane? h , and send the judgment result to the human-computer interaction module.

5. The vehicle lane-crossing and overtaking assistance system with weak vehicle-to-vehicle communication in mountainous environments according to claim 1, characterized in that: The human-computer interaction module assists the driver in driving in a lane or overtaking, including the following steps: Step 1: If the judgment result of the vehicle computing module is yes, the vehicle horn is controlled, the high beam lights are turned on, and a "safe to overtake" prompt is sent to the driver through the instrument screen and the vehicle voice terminal; Step 2: If the judgment result of the on-board computing module is no, a prompt of "Please wait", "Construction distance" or "Congestion distance" is sent to the driver through the instrument screen and the on-board voice terminal.

6. The vehicle lane-crossing and overtaking assistance system with weak vehicle-to-vehicle communication in mountainous areas according to claim 2, characterized in that: The communication technology used by the vehicle-mounted communication unit refers to V2V communication technology.

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