Overtaking early warning method, device, equipment, medium and product

Abstract

The invention discloses an overtaking early warning method, device and equipment, a medium and a product, and the method comprises the steps: responding to the turn-on of a left steering lamp, and determining a front target vehicle of the same lane and an opposite target vehicle of an opposite left adjacent lane; according to the vehicle position and the road network information of the own vehicle, determining the road speed limit of the current road, the speed of the front vehicle of the front target vehicle, the opposite speed of the opposite target vehicle and the actual distance with the front target vehicle; and according to the road speed limit, the front vehicle speed, the opposite vehicle speed and the actual distance, whether overtaking early warning is performed or not is determined. When a reverse overtaking intention exists, a front target vehicle and an opposite target vehicle are identified, and a result whether an early warning is given or not is obtained through comprehensive judgment of road speed limit, the speed of the front vehicle, the speed of the opposite vehicle and the actual distance. Recognition and early warning of reverse overtaking are realized in combination with consideration of speed limitation of a road.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an overtaking warning method, device, equipment, medium and product. Background Art

[0002] As the occupancy rate of vehicles equipped with vehicle to everything (V2X) technology continues to increase, using V2X technology to warn of possible dangers during vehicle driving is a meaningful auxiliary driving function. In the scenario where you want to use the opposite lane to overtake, oncoming vehicles may cause driving risks.

[0003] Overtaking vehicles can obtain driving information of other vehicles through V2X technology, but it is still unclear how to make early warning judgments for oncoming overtaking. Summary of the invention

[0004] The present invention provides an overtaking warning method, device, equipment, medium and product to realize the warning judgment of reverse overtaking.

[0005] According to a first aspect of the present invention, there is provided an overtaking warning method, comprising:

[0006] In response to the left turn signal being turned on, determining a front target vehicle in the same lane and an oncoming target vehicle in an adjacent lane to the left;

[0007] According to the vehicle position and road network information of the own vehicle, determine the road speed limit of the current road, the speed of the preceding vehicle of the preceding target vehicle, the oncoming speed of the oncoming target vehicle and the actual distance to the preceding target vehicle;

[0008] Whether to issue an overtaking warning is determined according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance.

[0009] According to a second aspect of the present invention, there is provided an overtaking warning device, comprising:

[0010] A vehicle determination module, for determining a front target vehicle in the same lane and an oncoming target vehicle in an adjacent lane to the left in response to the left turn signal being turned on;

[0011] The distance determination module is used to determine the road speed limit of the current road, the speed of the preceding vehicle of the preceding target vehicle, the oncoming speed of the oncoming target vehicle, and the actual distance to the preceding target vehicle according to the vehicle position and road network information of the own vehicle;

[0012] The warning determination module is used to determine whether to issue an overtaking warning based on the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance.

[0013] According to a third aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the overtaking warning method described in any embodiment of the present invention.

[0017] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the overtaking warning method described in any embodiment of the present invention when executed.

[0018] According to a fifth aspect of the present invention, an embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the overtaking warning method of any embodiment of the present invention is implemented.

[0019] The technical solution of the embodiment of the present invention determines the target vehicle ahead in the same lane and the oncoming target vehicle in the adjacent lane on the left side in response to the left turn signal being turned on; determines the road speed limit of the current road, the speed of the preceding vehicle of the target vehicle ahead, the oncoming speed of the oncoming target vehicle and the actual distance to the preceding target vehicle according to the vehicle position and road network information of the own vehicle; determines whether to issue an overtaking warning according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance. By identifying the target vehicle ahead and the oncoming target vehicle when there is an intention to overtake in the opposite direction, a comprehensive judgment is made through the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance to obtain the result of whether to issue a warning. Combined with the consideration of the speed limit of the road itself, the identification and warning of overtaking in the opposite direction are realized.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0022] Figure 1 is a flow chart of an overtaking warning method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a schematic diagram of overtaking in an overtaking warning method provided according to Embodiment 1 of the present invention;

[0024] Figure 3 This is a simplified schematic diagram of an overtaking warning method provided according to Embodiment 1 of the present invention;

[0025] Figure 4 is an example flow chart of an overtaking warning method provided according to Embodiment 1 of the present invention;

[0026] Figure 5 is a structural schematic diagram of an overtaking warning device provided according to Embodiment 2 of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of an electronic device implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] Figure 1A flowchart of an overtaking warning method is provided for the first embodiment of the present invention. This embodiment is applicable to the warning of oncoming overtaking. The method can be executed by an overtaking warning device. The overtaking warning device can be implemented in the form of hardware and / or software. The overtaking warning device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0032] S110 , in response to the left turn signal being turned on, determining a front target vehicle in the same lane and an opposite target vehicle in an opposite left adjacent lane.

[0033] In this embodiment, the left turn signal can be understood as a headlight indicating that the driver intends to overtake to the left. The front target vehicle in the same lane can be understood as an adjacent vehicle in the same lane as the own vehicle and in front of the own vehicle. The opposite left adjacent lane can be understood as the first lane adjacent to the left side of the lane where the own vehicle is located, and the driving direction of the vehicles in this lane is opposite to the direction of the lane where the own vehicle is located. The opposite target vehicle can be understood as the first vehicle traveling in the opposite left adjacent lane.

[0034] Specifically, when the left lane of the own vehicle is the opposite lane, in response to the left turn signal being turned on, the processor detects that the own vehicle has the intention to overtake in the opposite direction to the left, and the processor can receive the front V2X data of all the vehicles in the same lane and the opposite V2X data of the opposite vehicles in the adjacent lane on the left through V2X technology. The processor can perform target classification through the front V2X data to filter out the front target vehicles in the same lane and in front of the own vehicle, and the processor can perform target classification through the object V2X data to filter out the opposite target vehicles in the adjacent lane on the left side of the own vehicle.

[0035] S120, determining the road speed limit of the current road, the speed of the preceding vehicle of the preceding target vehicle, the oncoming speed of the oncoming target vehicle, and the actual distance to the preceding target vehicle based on the vehicle position and road network information of the own vehicle.

[0036] In this embodiment, the vehicle position can be understood as the regional position where the vehicle is traveling. The road network information can be understood as data such as the layout, attributes and relationships of the road grid. For example, the attributes may include the function, speed limit and type of road A. The current road can be understood as the road where the vehicle is traveling. The road speed limit can be understood as the maximum speed value of the vehicle traveling on the road. The speed of the front vehicle can be understood as the speed of the target vehicle in front. The speed of the oncoming vehicle can be understood as the speed of the oncoming target vehicle. The actual distance can be understood as the straight-line distance between the vehicle and the target vehicle in front.

[0037] Specifically, the processor can determine the vehicle position of its own vehicle through GPS and other means, determine the current road of its own vehicle through the vehicle position, find the road speed limit corresponding to the current road in the V2X road network information, determine the speed and position of the preceding vehicle by receiving V2X data of the preceding target vehicle, and determine the actual distance between its own vehicle and the preceding target vehicle through the vehicle position of its own vehicle and the preceding vehicle. The processor can determine the speed of the target vehicle by receiving V2X data of the opposing target vehicle.

[0038] S130: Determine whether to issue an overtaking warning based on the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle, and the actual distance.

[0039] Specifically, the processor can pre-set the speed difference when overtaking, and determine the theoretical overtaking speed of the own vehicle by adding the speed difference to the speed of the vehicle in front, and then compare the theoretical overtaking speed with the road speed limit. If the speed limit is exceeded, an overtaking warning is issued. Otherwise, the speed of the own vehicle is compared with the theoretical overtaking speed to determine whether it is necessary to accelerate to the theoretical overtaking speed, and then determine the theoretical distance required to complete the overtaking based on the comparison situation and the speed of the vehicle in front, the speed of the oncoming vehicle and the own speed. By comparing the theoretical distance with the actual distance, it is determined whether the actual distance is sufficient to complete the overtaking. When the actual distance is greater than the theoretical distance, the overtaking warning is not triggered, otherwise a reverse overtaking warning is triggered.

[0040] The technical solution of the embodiment of the present invention determines the target vehicle ahead in the same lane and the oncoming target vehicle in the adjacent lane on the left side in response to the left turn signal being turned on; determines the road speed limit of the current road, the speed of the preceding vehicle of the target vehicle ahead, the oncoming speed of the oncoming target vehicle and the actual distance to the preceding target vehicle according to the vehicle position and road network information of the own vehicle; determines whether to issue an overtaking warning according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance. By identifying the target vehicle ahead and the oncoming target vehicle when there is an intention to overtake in the opposite direction, a comprehensive judgment is made through the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance to obtain the result of whether to issue a warning. Combined with the consideration of the speed limit of the road itself, the identification and warning of overtaking in the opposite direction are realized.

[0041] Further, based on the above embodiment, the steps of determining whether to perform overtaking warning according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance can be refined as follows:

[0042] S1301. Determine the overtaking speed according to the speed of the preceding vehicle and a preset overtaking speed difference.

[0043] In this embodiment, the preset overtaking speed difference can be understood as the speed difference between the own vehicle and the vehicle in front when completing overtaking. The overtaking speed can be understood as the theoretical speed required for safely completing overtaking.

[0044] Specifically, the processor may add the speed of the vehicle ahead and a preset overtaking speed difference to obtain the overtaking speed required for the own vehicle to overtake.

[0045] S1302: If the speed of the overtaking vehicle is greater than the road speed limit, an overtaking warning is issued.

[0046] Specifically, when the overtaking vehicle speed is greater than the road speed limit, overtaking is not allowed, and the processor can generate a warning prompt, such as a voice prompt that overtaking is not allowed or overtaking is dangerous, etc., to issue an overtaking warning.

[0047] S1303: Otherwise, determine whether to issue an overtaking warning based on the speed of the preceding vehicle, the speed of the oncoming vehicle, the speed of the overtaking vehicle, and the actual distance.

[0048] Specifically, when the overtaking speed is less than or equal to the road speed limit, overtaking is allowed. The processor can determine whether the current own vehicle speed reaches the overtaking speed based on the own vehicle speed and the overtaking speed. If it does, there is no need for acceleration, and the distance required for overtaking is directly determined by the own vehicle speed and the oncoming vehicle speed. Otherwise, it is necessary to calculate the distance required for the acceleration process and combine it with the oncoming vehicle speed to determine the distance required for overtaking. By comparing the distance required for overtaking with the actual distance, it is determined whether the actual distance is sufficient for overtaking, and then determine whether to issue an overtaking warning.

[0049] Among them, on the basis of the above embodiment, the step of determining whether to perform overtaking warning according to the speed of the preceding vehicle, the speed of the oncoming vehicle, the speed of the overtaking vehicle and the actual distance can be concretized as follows:

[0050] a1. Correct the actual distance based on the lane width of the current road to obtain a corrected actual distance.

[0051] In this embodiment, the lane width value may be understood as the distance between two adjacent lane lines, that is, the road width of a lane, which may generally be 3.5 m, for example.

[0052] It is understandable that when overtaking, you need to merge to the left lane first, and when the overtaking is completed, you need to return to the original lane, so you need to merge again, that is, you need to merge twice during the overtaking process. However, the actual distance is only the distance between your own vehicle and the target vehicle in front, and the merging distance required for the two lane changes is not taken into account. It is inaccurate to use this as a judgment standard. Therefore, before making a judgment, you need to first correct the actual distance to obtain the corrected actual distance.

[0053] For example, a specific diagram is used to show the overtaking process. Figure 2 A schematic diagram of overtaking in an overtaking warning method provided in Embodiment 1 of the present invention is shown in FIG. Figure 2As shown in the figure, there is a vehicle in the same direction in front of the lane where the vehicle is located, and there is a vehicle in the opposite direction in the opposite lane. The calculated safe overtaking distance is s, and the theoretical safe distance is S safe , the mapping of the theoretical safety distance is S safe_long .

[0054] Among them, S safe With S safe_long The relationship is as follows:

[0055] S safe -S safe_long =2×(S 斜 -S 直 )

[0056] Furthermore, the local area can be simplified to a right triangle. Figure 3 This is a simplified schematic diagram of an overtaking warning method provided in Embodiment 1 of the present invention, such as Figure 3 , then:

[0057]

[0058] therefore:

[0059]

[0060] As point A moves left and right, S 斜 With S 直 Increase and decrease at the same time:

[0061]

[0062] therefore:

[0063]

[0064] Right now:

[0065]

[0066] Therefore, S safe -S safe_long The maximum error is 2w. In order to ensure safety, the actual distance can be corrected according to twice the lane width. According to the general road width of 3.5m, the maximum error is 7m.

[0067] Specifically, the processor can obtain the lane width value of the current road through the road network information, or can obtain it by presetting and storing it in the corresponding storage medium. The processor can multiply the lane width value by a certain multiple and add it to the actual distance, where the multiple can be set according to the situation of the vehicle itself, or take twice the lane width value and add it to the actual distance to obtain the corrected actual distance.

[0068] b1. If the speed of the own vehicle is greater than the speed of the overtaking vehicle, the safe overtaking distance is determined based on the corrected actual distance, the speed of the own vehicle, the speed of the oncoming vehicle and the speed of the vehicle in front.

[0069] In this embodiment, the safe overtaking distance may be understood as the maximum distance required to complete overtaking.

[0070] Specifically, if the own vehicle speed is greater than the overtaking speed and there is no need to accelerate, the processor can determine the time to overtake the vehicle in front based on the corrected actual distance, the own vehicle speed and the speed of the vehicle in front. Since the oncoming vehicle is still moving during overtaking, the safe overtaking distance is determined by combining the time to overtake the vehicle in front with the oncoming vehicle speed and the own vehicle speed.

[0071] Among them, the steps of determining the safe overtaking distance according to the corrected actual distance, the vehicle speed, the oncoming vehicle speed and the front vehicle speed can be further optimized as follows:

[0072] b11. Determine the overtaking time based on the corrected actual distance, the speed of your own vehicle and the speed of the vehicle ahead.

[0073] In this embodiment, the overtaking time may be understood as the time required to overtake the target vehicle ahead.

[0074] Specifically, the processor may obtain the overtaking time by correcting the actual distance and dividing it by the speed difference between the own vehicle speed and the front vehicle speed.

[0075] Exemplarily, it can be determined by the following formula:

[0076]

[0077] Among them, t is the overtaking time, d 1e To correct the actual distance, v0 is the speed of the vehicle, v1 is the speed of the front vehicle, and assuming that the correction is made by 2 times the lane width, the corrected actual distance is:

[0078] d 1e =d1+2w

[0079] Where d1 is the actual distance between the vehicle and the front vehicle, and w is the lane width.

[0080] b12. Determine the safe overtaking distance based on the overtaking time, the speed of your own vehicle and the speed of the vehicle ahead.

[0081] Specifically, the safe overtaking distance can be obtained by multiplying the sum of the speed of the own vehicle and the speed of the preceding vehicle by the overtaking time.

[0082] Exemplarily, the safe overtaking distance may be determined by the following formula:

[0083] s=v0t+v2t

[0084] c1. Otherwise, the safe overtaking distance is determined based on the preset overtaking speed difference, the preset acceleration, and the corrected actual distance.

[0085] In this embodiment, the preset acceleration may be understood as a preset acceleration for accelerating to the overtaking speed.

[0086] Specifically, when the vehicle speed is less than or equal to the overtaking speed, the processor can determine the distance required to accelerate to the overtaking speed according to the preset acceleration based on the preset overtaking speed difference, the preset acceleration, the vehicle speed and the speed of the vehicle in front, and determine the safe overtaking distance based on the corrected actual distance.

[0087] Among them, the step of determining the safe overtaking distance according to the preset overtaking speed difference, the preset acceleration, and the corrected actual distance can be further optimized as follows:

[0088] c11. Determine the acceleration distance to the overtaking speed based on the preset acceleration, the own vehicle speed, the front vehicle speed and the preset overtaking speed difference.

[0089] In this embodiment, the acceleration distance can be understood as the distance that the vehicle needs to travel to accelerate to the overtaking speed.

[0090] Specifically, the acceleration distance s can be determined by the following formula: a :

[0091]

[0092] Wherein, m is the preset overtaking speed difference, and a is the preset acceleration.

[0093] c12. If the acceleration distance is greater than the corrected actual distance, the overtaking acceleration time is determined based on the own vehicle speed, the corrected actual distance and the preset acceleration, and the overtaking uniform speed time is set to zero.

[0094] In this embodiment, the overtaking acceleration time can be understood as the time to accelerate to the overtaking speed when overtaking. The overtaking uniform speed time can be understood as the uniform speed time when the vehicle continues to travel after accelerating to the overtaking speed.

[0095] Specifically, if the acceleration distance is greater than the corrected actual distance and the overtaking process only includes the acceleration process, the processor can determine the overtaking acceleration time based on the vehicle speed, the corrected actual distance and the preset acceleration, so that the overtaking uniform speed time is zero.

[0096] Exemplarily, the overtaking acceleration time t1 may be determined by the following formula:

[0097]

[0098] c13. Otherwise, the overtaking uniform speed time is determined based on the corrected actual distance, the acceleration distance and the preset overtaking speed difference.

[0099] Specifically, if the acceleration distance is less than or equal to the corrected actual distance, and the overtaking process includes an acceleration process and a constant speed process, the processor can determine the overtaking constant speed time based on the corrected actual distance, the acceleration distance and the preset overtaking speed difference.

[0100] Exemplarily, the overtaking uniform speed time may be determined by the following formula:

[0101]

[0102] c14. Determine the overtaking acceleration time based on the preset overtaking speed difference and the preset acceleration.

[0103] Specifically, when the acceleration distance is less than or equal to the corrected actual distance, the processor may determine the overtaking acceleration time by dividing the preset overtaking speed difference by the preset acceleration.

[0104] Exemplarily, the overtaking acceleration time may be determined by the following formula:

[0105]

[0106] c15. Determine the safe overtaking distance based on the overtaking acceleration time and the overtaking constant speed time.

[0107] Specifically, the processor can determine the distance traveled by the oncoming vehicle based on the overtaking acceleration time and the overtaking uniform speed time combined with the oncoming vehicle speed, determine the acceleration overtaking distance by the overtaking acceleration time and the preset acceleration, determine the uniform speed distance by the overtaking uniform speed time and the overtaking speed, and then add up all the distances obtained to obtain the final safe overtaking distance.

[0108] Among them, based on the above embodiment, the steps of determining the safe overtaking distance according to the overtaking acceleration time and the overtaking uniform speed time can be refined as follows:

[0109] Determine the overtaking acceleration distance based on the vehicle speed, preset acceleration and overtaking acceleration time; determine the overtaking uniform speed distance based on the vehicle speed, preset overtaking speed difference and overtaking uniform speed time; determine the driving distance of the oncoming vehicle based on the oncoming vehicle speed, overtaking acceleration time and overtaking uniform speed time; determine the safe overtaking distance based on the overtaking acceleration distance, overtaking uniform speed distance and the driving distance of the oncoming vehicle.

[0110] In this embodiment, the overtaking acceleration distance can be understood as the distance required for the own vehicle to accelerate. The overtaking uniform speed distance can be understood as the distance that the own vehicle reaches the overtaking speed and travels at a uniform speed. The oncoming vehicle driving distance can be understood as the driving distance of the oncoming target vehicle during the overtaking process.

[0111] Specifically, the processor can determine the overtaking acceleration distance based on the vehicle speed, preset acceleration and overtaking acceleration time. The overtaking uniform speed distance is determined by multiplying the overtaking speed obtained by adding the vehicle speed to the preset overtaking speed difference by the overtaking uniform speed time. The distance traveled by the oncoming vehicle during the overtaking process is determined based on the oncoming vehicle speed, overtaking acceleration time and overtaking uniform speed time. The processor can add the overtaking acceleration distance, the overtaking uniform speed distance and the oncoming vehicle travel distance to determine the safe overtaking distance.

[0112] Exemplarily, the safe overtaking distance s may be determined by the following formula:

[0113]

[0114] d1. If the corrected actual distance is greater than the safe overtaking distance, no reverse overtaking warning will be issued.

[0115] Specifically, if the corrected actual distance is greater than the safe overtaking distance, overtaking can be carried out without a reverse overtaking warning.

[0116] e1. Otherwise, a reverse overtaking warning is issued.

[0117] Specifically, if the corrected actual distance is less than or equal to the safe overtaking distance, a reverse overtaking warning is issued.

[0118] The technical solution of the embodiment of the present invention, when there is an intention to overtake in the reverse direction, identifies the target vehicle in front and the target vehicle on the opposite side, and obtains the road speed limit of the current road, determines the overtaking speed by the speed of the front vehicle, the speed of the opposite vehicle and the actual distance, and determines whether overtaking is possible by the road speed limit, and combines the road conditions to make early warning judgments, so that the judgment results are more accurate. When it is not greater than the road speed limit, the overtaking speed is determined by the preset overtaking speed difference, and whether it is necessary to accelerate to the overtaking speed by the own vehicle speed, and the safe overtaking distance under different own vehicle speed conditions is determined by combining the speed of the front vehicle and the speed of the opposite vehicle, so that a clear estimate of the overtaking opportunity and the actual overtaking distance is achieved, and a safe overtaking distance suitable for safe overtaking at multiple overtaking opportunities is determined. By comparing the safe overtaking distance with the corrected actual distance, the result of whether an early warning is given is obtained, and the identification and early warning of reverse overtaking are achieved.

[0119] For the sake of illustrative purposes, a specific example is used to illustrate the present invention. Figure 4 This is an example flow chart of an overtaking warning method provided in Embodiment 1 of the present invention, such as Figure 4 As shown, the steps may be:

[0120] S401, determining a front target vehicle in the same lane and an oncoming target vehicle in an adjacent lane on the left;

[0121] S402, determine whether there is a target vehicle ahead or an oncoming target vehicle? If yes, jump to step S403; if no, jump to step S416;

[0122] S403, obtaining the left turn signal status;

[0123] S404: Determine whether the left turn signal lamp is on. If yes, jump to step S405; if no, jump to step S416;

[0124] S405, calculate the speed of the overtaking vehicle and determine whether it is greater than the road speed limit? If yes, jump to step S416; if not, jump to step S406;

[0125] S406, determining a safe overtaking distance and correcting the actual distance;

[0126] S407: Determine whether the vehicle speed is greater than the overtaking vehicle speed. If yes, jump to step S409; if no, jump to step S408;

[0127] S408, determining an acceleration distance for accelerating to an overtaking speed;

[0128] S409, determining the overtaking time, determining the driving distance between the own vehicle and the oncoming target vehicle, and obtaining a safe overtaking distance;

[0129] S410: Is the acceleration distance greater than the corrected actual distance? If yes, jump to step S412; if no, jump to step S411;

[0130] S411, determining the overtaking acceleration time and setting the overtaking uniform speed time to 0;

[0131] S412, determining the overtaking acceleration time and the overtaking uniform speed time;

[0132] S413, determining the travel distance between the own vehicle and the oncoming target vehicle through the overtaking acceleration time and the overtaking uniform speed time, and determining the safe overtaking distance;

[0133] S414: Determine whether the corrected actual distance is greater than the safe overtaking distance. If yes, jump to step S416; if no, jump to step S415;

[0134] S415, early warning;

[0135] S416, no warning.

[0136] Embodiment 2

[0137] Figure 5 This is a schematic diagram of the structure of an overtaking warning device provided by Embodiment 2 of the present invention. Figure 5As shown, the device includes: a vehicle determination module 51, a distance determination module 52 and a warning determination module 53. Among them,

[0138] The vehicle determination module 51 is used to determine the front target vehicle in the same lane and the oncoming target vehicle in the left adjacent lane in response to the left turn signal being turned on;

[0139] The distance determination module 52 is used to determine the road speed limit of the current road, the speed of the preceding vehicle of the preceding target vehicle, the oncoming speed of the oncoming target vehicle and the actual distance to the preceding target vehicle according to the vehicle position and road network information of the own vehicle;

[0140] The warning determination module 53 is used to determine whether to issue an overtaking warning according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance.

[0141] The technical solution of the embodiment of the present invention determines the target vehicle ahead in the same lane and the oncoming target vehicle in the adjacent lane on the left side in response to the left turn signal being turned on; determines the road speed limit of the current road, the speed of the preceding vehicle of the target vehicle ahead, the oncoming speed of the oncoming target vehicle and the actual distance to the preceding target vehicle according to the vehicle position and road network information of the own vehicle; determines whether to issue an overtaking warning according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance. By identifying the target vehicle ahead and the oncoming target vehicle when there is an intention to overtake in the opposite direction, a comprehensive judgment is made through the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance to obtain the result of whether to issue a warning. Combined with the consideration of the speed limit of the road itself, the identification and warning of overtaking in the opposite direction are realized.

[0142] Furthermore, the warning determination module 53 includes:

[0143] A vehicle speed determination submodule, used to determine the overtaking speed according to the front vehicle speed and a preset overtaking speed difference;

[0144] The warning submodule is used to issue an overtaking warning if the speed of the overtaking vehicle is greater than the road speed limit;

[0145] The judgment submodule is used to determine whether to issue an overtaking warning according to the speed of the preceding vehicle, the speed of the oncoming vehicle, the speed of the overtaking vehicle and the actual distance.

[0146] Furthermore, the vehicle speed determination submodule includes:

[0147] A first determining unit, configured to correct the actual distance based on the lane width value of the current road to obtain a corrected actual distance;

[0148] A second determining unit is used to determine a safe overtaking distance according to the corrected actual distance, the speed of the own vehicle, the speed of the oncoming vehicle and the speed of the preceding vehicle if the speed of the own vehicle is greater than the overtaking speed;

[0149] a third determining unit, configured to otherwise determine the safe overtaking distance according to the preset overtaking speed difference, the preset acceleration, and the corrected actual distance;

[0150] a fourth determination unit, configured to not perform a reverse overtaking warning if the corrected actual distance is greater than the safe overtaking distance;

[0151] The fifth determining unit is used to, otherwise, issue a reverse overtaking warning.

[0152] Wherein, the second determining unit is specifically used for:

[0153] Determining an overtaking time according to the corrected actual distance, the own vehicle speed and the front vehicle speed;

[0154] A safe overtaking distance is determined according to the overtaking time, the own vehicle speed and the front vehicle speed.

[0155] Wherein, the third determining unit includes:

[0156] A first determination subunit is used to determine an acceleration distance to the overtaking speed according to a preset acceleration, the own vehicle speed, the front vehicle speed and the preset overtaking speed difference;

[0157] A second determination subunit is used to determine the overtaking acceleration time and set the overtaking uniform speed time to zero according to the own vehicle speed, the corrected actual distance and the preset acceleration if the acceleration distance is greater than the corrected actual distance;

[0158] a third determining subunit, configured to otherwise determine the overtaking uniform speed time according to the corrected actual distance, the acceleration distance and the preset overtaking speed difference;

[0159] a fourth determining subunit, configured to determine the overtaking acceleration time according to the preset overtaking speed difference and the preset acceleration;

[0160] The fifth determining subunit is used to determine the safe overtaking distance according to the overtaking acceleration time and the overtaking uniform speed time.

[0161] Wherein, the fifth determining subunit is specifically used for:

[0162] Determining an overtaking acceleration distance according to the vehicle speed, the preset acceleration and the overtaking acceleration time;

[0163] Determining the overtaking uniform speed distance according to the own vehicle speed, the preset overtaking speed difference and the overtaking uniform speed time;

[0164] Determining a travel distance of the oncoming vehicle according to the oncoming vehicle speed, the overtaking acceleration time and the overtaking uniform speed time;

[0165] The safe overtaking distance is determined according to the overtaking acceleration distance, the overtaking uniform speed distance and the oncoming vehicle travel distance.

[0166] The overtaking warning device provided in the embodiment of the present invention can execute the overtaking warning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0167] Embodiment 3

[0168] Figure 6 A schematic diagram of the structure of an electronic device 60 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0169] like Figure 6 As shown, the electronic device 60 includes at least one processor 61, and a memory connected to the at least one processor 61, such as a read-only memory (ROM) 62, a random access memory (RAM) 63, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 61 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 62 or the computer program loaded from the storage unit 68 to the random access memory (RAM) 63. In the RAM 63, various programs and data required for the operation of the electronic device 60 can also be stored. The processor 61, the ROM 62, and the RAM 63 are connected to each other via a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0170] A number of components in the electronic device 60 are connected to the I / O interface 65, including: an input unit 66, such as a keyboard, a mouse, etc.; an output unit 67, such as various types of displays, speakers, etc.; a storage unit 68, such as a disk, an optical disk, etc.; and a communication unit 69, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 69 allows the electronic device 60 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0171] The processor 61 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 61 executes the various methods and processes described above, such as the overtaking warning method.

[0172] In some embodiments, the overtaking warning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 60 via the ROM 62 and / or the communication unit 69. When the computer program is loaded into the RAM 63 and executed by the processor 61, one or more steps of the overtaking warning method described above may be performed. Alternatively, in other embodiments, the processor 61 may be configured to perform the overtaking warning method in any other appropriate manner (e.g., by means of firmware).

[0173] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0174] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0175] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0176] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0177] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0178] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0179] In one embodiment, the embodiment of the present invention further includes a computer program product, the computer program product includes a computer program, and the computer program implements the overtaking warning method of any embodiment of the present invention when executed by a processor.

[0180] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0181] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0182] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for overtaking warning, It is characterized in that include: In response to the left turn signal being turned on, determining a front target vehicle in the same lane and an oncoming target vehicle in an adjacent lane to the left; According to the vehicle position and road network information of the own vehicle, determine the road speed limit of the current road, the speed of the preceding vehicle of the preceding target vehicle, the oncoming speed of the oncoming target vehicle and the actual distance to the preceding target vehicle; Whether to issue an overtaking warning is determined according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance.

2. The method according to claim 1, It is characterized in that The determining whether to issue an overtaking warning according to the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance includes: Determining the overtaking speed according to the front vehicle speed and the preset overtaking speed difference; If the speed of the overtaking vehicle is greater than the road speed limit, an overtaking warning is issued; Otherwise, it is determined whether to issue an overtaking warning based on the speed of the leading vehicle, the speed of the oncoming vehicle, the speed of the overtaking vehicle and the actual distance.

3. The method according to claim 2, It is characterized in that The determining whether to issue an overtaking warning according to the speed of the preceding vehicle, the speed of the oncoming vehicle, the speed of the overtaking vehicle and the actual distance includes: Correcting the actual distance based on the lane width value of the current road to obtain a corrected actual distance; If the speed of the own vehicle is greater than the overtaking speed, a safe overtaking distance is determined according to the corrected actual distance, the speed of the own vehicle, the speed of the oncoming vehicle and the speed of the preceding vehicle; otherwise, determining the safe overtaking distance according to the preset overtaking speed difference, the preset acceleration, and the corrected actual distance; If the corrected actual distance is greater than the safe overtaking distance, no reverse overtaking warning is performed; Otherwise, a reverse overtaking warning will be issued.

4. The method according to claim 3, It is characterized in that The determining of the safe overtaking distance according to the corrected actual distance, the own vehicle speed, the oncoming vehicle speed and the preceding vehicle speed includes: Determining an overtaking time according to the corrected actual distance, the own vehicle speed and the front vehicle speed; A safe overtaking distance is determined according to the overtaking time, the own vehicle speed and the front vehicle speed.

5. The method according to claim 3, It is characterized in that The step of determining the safe overtaking distance according to the preset overtaking speed difference, the preset acceleration, and the corrected actual distance includes: Determining an acceleration distance to accelerate to the overtaking speed according to a preset acceleration, the own vehicle speed, the front vehicle speed and the preset overtaking speed difference; If the acceleration distance is greater than the corrected actual distance, then the overtaking acceleration time is determined according to the own vehicle speed, the corrected actual distance and the preset acceleration, and the overtaking uniform speed time is set to zero; Otherwise, determining the overtaking uniform speed time according to the corrected actual distance, the acceleration distance and the preset overtaking speed difference; Determining the overtaking acceleration time according to the preset overtaking speed difference and the preset acceleration; The safe overtaking distance is determined according to the overtaking acceleration time and the overtaking uniform speed time.

6. The method according to claim 5, It is characterized in that The determining the safe overtaking distance according to the overtaking acceleration time and the overtaking uniform speed time includes: Determining an overtaking acceleration distance according to the vehicle speed, the preset acceleration and the overtaking acceleration time; Determining the overtaking uniform speed distance according to the own vehicle speed, the preset overtaking speed difference and the overtaking uniform speed time; Determining a travel distance of the oncoming vehicle according to the oncoming vehicle speed, the overtaking acceleration time and the overtaking uniform speed time; The safe overtaking distance is determined according to the overtaking acceleration distance, the overtaking uniform speed distance and the oncoming vehicle travel distance.

7. An overtaking warning device, It is characterized in that include: A vehicle determination module, for determining a front target vehicle in the same lane and an oncoming target vehicle in an adjacent lane to the left in response to the left turn signal being turned on; The distance determination module is used to determine the road speed limit of the current road, the speed of the preceding vehicle of the preceding target vehicle, the speed of the opposing target vehicle, and the actual distance to the preceding target vehicle according to the vehicle position and road network information of the own vehicle; The warning determination module is used to determine whether to issue an overtaking warning based on the road speed limit, the speed of the preceding vehicle, the speed of the oncoming vehicle and the actual distance.

8. An electronic device, It is characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the overtaking warning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the overtaking warning method according to any one of claims 1 to 6 when executed.

10. A computer program product, It is characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the overtaking warning method according to any one of claims 1 to 6.

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