Commercial vehicle overtaking decision-making methods, devices, equipment, and storage media on highways

Abstract

A method, apparatus, device, and storage medium for overtaking decisions on highways for commercial vehicles are disclosed. The method includes: acquiring the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle; calculating the lateral and longitudinal safety distances between the vehicle and the target vehicle; determining whether both the lateral and longitudinal distances are less than the lateral and longitudinal safety distances; and if both are less, determining that overtaking conditions exist in the current scenario. By combining the lateral and longitudinal speeds and distances of the vehicle and the target vehicle in the current scenario, and further considering the vehicle's acceleration and braking capabilities in each direction, the lateral and longitudinal safety distances that allow overtaking in the current scenario are calculated. This allows for the determination of whether overtaking conditions exist in the current scenario in both directions, ensuring better safety when the vehicle automatically overtakes.

Description

Technical Field

[0001] This application relates to the technical field of autonomous driving, specifically to a method, device, equipment, and storage medium for overtaking decisions on highways for commercial vehicles. Background Technology

[0002] As a core component of the autonomous driving system, the decision-making module directly affects the reliability of autonomous vehicles. An unsafe and inaccurate decision-making process will directly reduce vehicle safety and affect the comfort experience of drivers and passengers.

[0003] However, current intelligent decision-making and planning methods in the commercial vehicle sector remain relatively simplistic in their safety decision-making aspects, often relying on assessing the availability of overtaking space on the road ahead to determine whether overtaking is permissible. Given that commercial vehicles pose a greater safety concern compared to other vehicle types, it is necessary to provide a safer overtaking decision-making method to further ensure the safety of overtaking scenarios during autonomous driving in commercial vehicles. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for overtaking decisions on highways for commercial vehicles, which can solve the related problems existing in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for overtaking decisions of commercial vehicles on highways, employing the following technical solution:

[0006] A method for overtaking commercial vehicles on highways, the method comprising:

[0007] Obtain the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle;

[0008] The safe lateral distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations.

[0009] Based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking acceleration, the longitudinal safe distance between the vehicle and the target vehicle is obtained.

[0010] Determine whether both the lateral distance and the longitudinal distance are less than the lateral safety distance and the longitudinal safety distance;

[0011] If all values ​​are less than the given value, it is determined that overtaking is possible in the current scenario.

[0012] In conjunction with the first aspect, in one embodiment, before obtaining the lateral safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and pre-calibrated maximum and minimum lateral braking accelerations, and before obtaining the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and pre-calibrated maximum and minimum longitudinal braking accelerations, the following steps are included:

[0013] The vehicle speed and the target vehicle speed are obtained from the speed changes within the most recent set time period, as well as the distance changes of the lateral distance and the longitudinal distance within the most recent set time period.

[0014] Based on the speed changes of the vehicle and the target vehicle within the most recent set time, and the distance changes of the lateral and longitudinal distances within the most recent set time, the overtaking risk level in the current scenario is determined.

[0015] Based on the pre-calibrated correspondence between multiple maximum lateral braking accelerations, minimum lateral braking accelerations, maximum longitudinal braking accelerations, and minimum longitudinal braking accelerations and different overtaking risk levels, the maximum lateral braking acceleration, minimum lateral braking acceleration, maximum longitudinal braking acceleration, and minimum longitudinal braking acceleration used in the current scenario are determined.

[0016] In conjunction with the first aspect, in one implementation, determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recently set time period, and the distance changes of the lateral and longitudinal distances within a recently set time period, includes the following steps:

[0017] The initial overtaking risk level is determined based on the vehicle's speed;

[0018] Based on the speed changes of the self-vehicle and the target vehicle within the most recent set time period, the acceleration change frequency of the relative speed between the self-vehicle and the target vehicle is obtained.

[0019] Based on whether the frequency of the acceleration change of the relative vehicle speed is lower than a preset frequency threshold, it is determined whether to increase the overtaking risk level;

[0020] Based on whether the number of times the lateral distance and the longitudinal distance exceed the preset lateral distance threshold and the longitudinal distance threshold respectively in the distance change situation is lower than the preset number threshold, it is determined whether to increase the overtaking risk level.

[0021] In conjunction with the first aspect, in one implementation, determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recently set time period, and the distance changes of the lateral and longitudinal distances within a recently set time period, further includes the following steps:

[0022] Based on the number of other vehicles around the target vehicle, determine whether to increase the overtaking risk level.

[0023] In conjunction with the first aspect, in one implementation, the lateral safety distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations, using the following calculation formula:

[0024]

[0025] In the formula, M is the additional width added based on the size of the commercial vehicle's rearview mirror, ρ is the vehicle's reaction time, μ is a non-negative minimum lateral safety distance parameter, and v1 and v2 are the lateral velocities of the vehicle and the target vehicle, respectively. It is the minimum lateral braking acceleration. It is the maximum lateral braking acceleration.

[0026] In conjunction with the first aspect, in one implementation, the longitudinal safety distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations, using the following calculation formula:

[0027]

[0028] In the formula, v r It is the longitudinal speed of the vehicle, v f ρ is the longitudinal speed of the vehicle in front, ρ is the reaction time, and a is the longitudinal speed of the vehicle in front. min,brake It is the minimum longitudinal braking acceleration, a max,brake It is the maximum longitudinal braking acceleration, a max,accel It is the maximum longitudinal acceleration.

[0029] Secondly, embodiments of this application provide a commercial vehicle overtaking decision-making device for highways, employing the following technical solution:

[0030] A commercial vehicle highway overtaking decision-making device, the commercial vehicle highway overtaking decision-making device comprising:

[0031] The acquisition module is configured to acquire the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle.

[0032] The calculation module is configured to obtain the lateral safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations; and to obtain the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations.

[0033] The judgment module is configured to determine whether the lateral distance and the longitudinal distance are both less than the lateral safety distance and the longitudinal safety distance; if both are less, it is determined that there are overtaking conditions in the current scenario.

[0034] In conjunction with the second aspect, in one implementation, it further includes:

[0035] The risk level determination module is configured to, before obtaining the lateral safety distance between the vehicle and the target vehicle and the longitudinal safety distance between the vehicle and the target vehicle, acquire the speed changes of the vehicle and the target vehicle within a recently set time period, as well as the distance changes of the lateral and longitudinal distances within the recently set time period; determine the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within the recently set time period, as well as the distance changes of the lateral and longitudinal distances within the recently set time period; and determine the maximum lateral braking acceleration, minimum lateral braking acceleration, maximum longitudinal braking acceleration, and minimum longitudinal braking acceleration to be used in the current scenario based on the pre-calibrated correspondence between multiple maximum lateral braking accelerations, minimum lateral braking accelerations, maximum longitudinal braking accelerations, and minimum longitudinal braking accelerations and different overtaking risk levels.

[0036] Thirdly, embodiments of this application provide a commercial vehicle overtaking decision-making device for highways, employing the following technical solution:

[0037] A commercial vehicle highway overtaking decision-making device includes a processor, a memory, and a commercial vehicle highway overtaking decision-making program stored in the memory and executable by the processor. When the commercial vehicle highway overtaking decision-making program is executed by the processor, it implements the steps of the commercial vehicle highway overtaking decision-making method as described above.

[0038] Fourthly, embodiments of this application provide a storage medium, employing the following technical solution:

[0039] A storage medium storing a commercial vehicle highway overtaking decision program, wherein when the commercial vehicle highway overtaking decision program is executed by a processor, it implements the steps of the commercial vehicle highway overtaking decision method as described above.

[0040] The beneficial effects of the technical solutions provided in this application include:

[0041] By combining the speeds and distances of the vehicle and the target vehicle in the current scenario in both the lateral and longitudinal directions, and further combining the vehicle's acceleration and braking capabilities in each direction, the system can calculate in real time the lateral and longitudinal safe distances that allow overtaking in the current scenario. Finally, it can determine whether overtaking conditions exist in the current scenario in both directions, ensuring better safety when the vehicle automatically overtakes. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating an embodiment of the commercial vehicle overtaking decision-making method for highways according to this application;

[0043] Figure 2 This is a schematic diagram of the functional modules of an embodiment of the commercial vehicle highway overtaking decision device of this application;

[0044] Figure 3 This is a schematic diagram of the hardware structure of the commercial vehicle highway overtaking decision-making device involved in the embodiments of this application. Detailed Implementation

[0045] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0047] In a first aspect, embodiments of this application provide a method for overtaking decisions of commercial vehicles on highways.

[0048] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the commercial vehicle highway overtaking decision-making method of this application. Figure 1 As shown, the overtaking decision-making method for commercial vehicles on highways includes:

[0049] S100: Obtain the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle;

[0050] S200. Based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking acceleration, the lateral safe distance between the vehicle and the target vehicle is obtained.

[0051] S300. Based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking acceleration, the longitudinal safe distance between the vehicle and the target vehicle is obtained.

[0052] S400: Determine whether both the lateral distance and the longitudinal distance are less than the lateral safety distance and the longitudinal safety distance;

[0053] If S500 is less than all of them, it is determined that there are overtaking conditions in the current scenario.

[0054] In this embodiment, by combining the speed and distance of the vehicle and the target vehicle in the lateral and longitudinal directions in the current scenario, and further combining the vehicle's acceleration and braking capabilities in each direction, the lateral and longitudinal safe distances that allow overtaking in the current scenario are calculated in real time. Finally, the system determines whether overtaking conditions exist in the current scenario in both directions, ensuring better safety when the vehicle automatically overtakes.

[0055] Further, in one embodiment, before obtaining the lateral safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations, and before obtaining the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations, i.e. before steps S200 and S300, the following steps are included:

[0056] S110. Obtain the speed changes of the vehicle and the target vehicle within the most recent set time period, as well as the distance changes of the lateral distance and the longitudinal distance within the most recent set time period.

[0057] S120. Based on the speed changes of the self-vehicle speed and the target vehicle speed within the most recent set time, and the distance changes of the lateral distance and the longitudinal distance within the most recent set time, determine the overtaking risk level in the current scenario.

[0058] S130. Based on the pre-calibrated correspondence between multiple maximum lateral braking accelerations, minimum lateral braking accelerations, maximum longitudinal braking accelerations, and minimum longitudinal braking accelerations and different overtaking risk levels, determine the maximum lateral braking acceleration, minimum lateral braking acceleration, maximum longitudinal braking acceleration, and minimum longitudinal braking acceleration used in the current scenario.

[0059] Specifically, by analyzing changes in vehicle speed and distance over a recently defined time period, it is determined whether the current scenario presents a high risk of overtaking, such as peak traffic hours or congested areas, and further assigned an overtaking risk level to that scenario. The specific method for assigning each overtaking risk level may vary in different embodiments, as long as a one-to-one correspondence is established. After assigning a specific overtaking risk level, the pre-defined maximum lateral braking acceleration, minimum lateral braking acceleration, maximum longitudinal braking acceleration, and minimum longitudinal braking acceleration for that overtaking risk level can be obtained. These parameters can then be used in conjunction with the vehicle's current driving data to calculate lateral and longitudinal safe distances.

[0060] The calibration process for the maximum lateral braking acceleration, the minimum lateral braking acceleration, the maximum longitudinal braking acceleration, and the minimum longitudinal braking acceleration is a specific analysis process before the vehicle rolls off the production line. The inventor can calibrate these parameters according to the capabilities and requirements of different vehicle models.

[0061] Furthermore, in some embodiments, step S130, determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recent set time period, and the distance changes of the lateral and longitudinal distances within a recent set time period, includes the following steps:

[0062] S131. Determine the initial overtaking risk level based on the vehicle's speed;

[0063] S132. Based on the speed changes of the self-vehicle and the target vehicle within the most recent set time, obtain the acceleration change frequency of the relative speed between the self-vehicle and the target vehicle.

[0064] S133. Determine whether to increase the overtaking risk level based on whether the frequency of the relative vehicle speed acceleration change is lower than a preset frequency threshold.

[0065] S134. Based on whether the number of times the lateral distance and the longitudinal distance exceed the preset lateral distance threshold and the longitudinal distance threshold respectively in the distance change situation is lower than the preset number threshold, determine whether to increase the overtaking risk level.

[0066] This setup uses the speed changes over a set time period to obtain the frequency of acceleration changes between the driver and the target vehicle relative to each other. When the acceleration change frequency is found to be too fast, i.e., exceeding the preset frequency threshold, it indicates that the driver or the target vehicle is frequently accelerating and decelerating relative to each other. Overtaking in this scenario carries a high risk, so the initial overtaking risk level needs to be increased. Even if the relative speed changes between the two vehicles are relatively regular, if the distance between them is too close, causing the lateral or longitudinal distance to exceed the preset lateral and longitudinal distance thresholds too many times, it means that the two vehicles are very likely to come to a very close position. This situation also carries a high risk, and the overtaking risk level needs to be increased.

[0067] Furthermore, in some embodiments, determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recent set time period, and the distance changes of the lateral and longitudinal distances within a recent set time period, further includes the following steps:

[0068] S135. Determine whether to increase the overtaking risk level based on the number of other vehicles around the target vehicle.

[0069] This setting ensures that when there are many vehicles near the target vehicle, extra attention is paid to the overtaking risk. Therefore, in this embodiment, the overtaking risk level is increased based on the number of other vehicles besides the target vehicle. Specifically, the overtaking risk level is increased when the number exceeds a set threshold.

[0070] Furthermore, in some embodiments, in step S200, the safe lateral distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations, using the following calculation formula:

[0071]

[0072] In the formula, M is the additional width added based on the size of the commercial vehicle's rearview mirror, ρ is the vehicle's reaction time, μ is a non-negative minimum lateral safety distance parameter, and v1 and v2 are the lateral velocities of the vehicle and the target vehicle, respectively. It is the minimum lateral braking acceleration. It is the maximum lateral braking acceleration.

[0073] Specifically, in this embodiment, the vehicle speed is composed of the lateral and longitudinal speeds of the vehicle collected by relevant sensors, while the target vehicle speed is composed of the lateral and longitudinal speeds of the target vehicle. The specific data collection method is known in the art and will not be elaborated here. In addition to utilizing relevant vehicle speed and acceleration data, the above solution also incorporates the increased width of the commercial vehicle's rearview mirrors to ensure a more ample lateral safety distance when overtaking. It also incorporates a non-negative minimum lateral safety distance parameter set by technicians based on the vehicle model to further ensure a safe lateral distance. Finally, based on comprehensive consideration of multiple factors, the lateral safety distance in this scenario is calculated and used to determine whether overtaking is permissible.

[0074] Furthermore, in some embodiments, step S300, which calculates the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations, uses the following calculation formula:

[0075]

[0076] In the formula, v r It is the longitudinal speed of the vehicle, v f ρ is the longitudinal speed of the vehicle in front, ρ is the reaction time, and a is the longitudinal speed of the vehicle in front. min,brake It is the minimum longitudinal braking acceleration, a max,brake It is the maximum longitudinal braking acceleration, a max,accel It is the maximum longitudinal acceleration.

[0077] This setup allows for the calculation of the current permissible longitudinal safety distance for overtaking using calibrated parameters and real-time data collected from both the vehicle and the target vehicle, which then influences subsequent decisions on whether overtaking is permitted.

[0078] Ultimately, based on whether the lateral and longitudinal distances between the vehicle and the target vehicle in the current scenario are greater than the lateral and longitudinal safe distances respectively, the safety of overtaking can be judged in two directions, thus ensuring the safety of the overtaking decision.

[0079] Secondly, embodiments of this application also provide a commercial vehicle overtaking decision-making device for highways.

[0080] In one embodiment, reference is made to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the commercial vehicle highway overtaking decision-making device of this application. Figure 2 As shown, the commercial vehicle highway overtaking decision-making device includes:

[0081] The acquisition module is configured to acquire the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle.

[0082] The calculation module is configured to obtain the lateral safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations; and to obtain the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations.

[0083] The judgment module is configured to determine whether the lateral distance and the longitudinal distance are both less than the lateral safety distance and the longitudinal safety distance; if both are less, it is determined that there are overtaking conditions in the current scenario.

[0084] Furthermore, in one embodiment, the commercial vehicle highway overtaking decision-making device further includes a new module, a risk level determination module, which is used for:

[0085] Before obtaining the lateral and longitudinal safe distances between the vehicle and the target vehicle, the vehicle speed and the target vehicle speed changes over a recent set time period, as well as the lateral and longitudinal distance changes over the same period, are obtained. Based on these changes, the overtaking risk level for the current scenario is determined. Then, based on pre-defined correspondences between multiple maximum and minimum lateral braking accelerations, maximum and minimum longitudinal braking accelerations, and different overtaking risk levels, the maximum, minimum, maximum, and minimum longitudinal braking accelerations used in the current scenario are determined.

[0086] The functions of each module in the aforementioned commercial vehicle highway overtaking decision-making device correspond to the steps in the aforementioned commercial vehicle highway overtaking decision-making method embodiment, and their functions and implementation processes will not be described in detail here.

[0087] Thirdly, embodiments of this application provide a commercial vehicle highway overtaking decision-making device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0088] Reference Figure 3 , Figure 3This is a schematic diagram of the hardware structure of a commercial vehicle highway overtaking decision-making device involved in an embodiment of this application. In this embodiment, the commercial vehicle highway overtaking decision-making device may include a processor, a memory, a communication interface, and a communication bus.

[0089] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0090] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the commercial vehicle highway overtaking decision-making equipment, as well as interfaces used for interconnecting the commercial vehicle highway overtaking decision-making equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0091] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0092] The processor can be a general-purpose processor, which can call the commercial vehicle highway overtaking decision program stored in the memory and execute the commercial vehicle highway overtaking decision method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the commercial vehicle highway overtaking decision program is called can refer to the various embodiments of the commercial vehicle highway overtaking decision method of this application, which will not be repeated here.

[0093] Those skilled in the art will understand that Figure 3 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0094] Fourthly, embodiments of this application also provide a storage medium.

[0095] The present application stores a commercial vehicle highway overtaking decision program on the storage medium, wherein when the commercial vehicle highway overtaking decision program is executed by the processor, it implements the steps of the commercial vehicle highway overtaking decision method described above.

[0096] The method implemented when the commercial vehicle overtaking decision-making procedure on highways is executed can be referred to in the various embodiments of the commercial vehicle overtaking decision-making method of this application, and will not be repeated here.

[0097] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0098] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0099] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0100] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0101] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0103] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for overtaking decisions of commercial vehicles on highways, characterized in that, The commercial vehicle overtaking decision-making method on highways includes: Obtain the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle; The safe lateral distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations. Based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking acceleration, the longitudinal safe distance between the vehicle and the target vehicle is obtained. Determine whether both the lateral distance and the longitudinal distance are less than the lateral safety distance and the longitudinal safety distance; If all values ​​are less than the given value, it is determined that overtaking conditions exist in the current scenario. Before obtaining the lateral safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations, and before obtaining the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations, the following steps are included: The vehicle speed and the target vehicle speed are obtained from the speed changes within the most recent set time period, as well as the distance changes of the lateral distance and the longitudinal distance within the most recent set time period. Based on the speed changes of the vehicle and the target vehicle within the most recent set time, and the distance changes of the lateral and longitudinal distances within the most recent set time, the overtaking risk level in the current scenario is determined. Based on the pre-calibrated correspondence between multiple maximum lateral braking accelerations, minimum lateral braking accelerations, maximum longitudinal braking accelerations, and minimum longitudinal braking accelerations and different overtaking risk levels, determine the maximum lateral braking acceleration, minimum lateral braking acceleration, maximum longitudinal braking acceleration, and minimum longitudinal braking acceleration to be used in the current scenario. The longitudinal safe distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the longitudinal distance between the two vehicles, and the pre-calibrated maximum and minimum longitudinal braking accelerations, using the following calculation formula: In the formula, It is the longitudinal speed of the vehicle. It is the longitudinal speed of the vehicle in front. It is the reaction time. It is the minimum longitudinal braking acceleration. It is the maximum longitudinal braking acceleration. It is the maximum longitudinal acceleration; The process of determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recent set time period, as well as the distance changes of the lateral and longitudinal distances within the recent set time period, includes the following steps: The initial overtaking risk level is determined based on the vehicle's speed; Based on the speed changes of the self-vehicle and the target vehicle within the most recent set time period, the acceleration change frequency of the relative speed between the self-vehicle and the target vehicle is obtained. Based on whether the frequency of the acceleration change of the relative vehicle speed is lower than a preset frequency threshold, it is determined whether to increase the overtaking risk level; Based on whether the number of times the lateral distance and the longitudinal distance exceed the preset lateral distance threshold and the longitudinal distance threshold respectively in the distance change situation is lower than the preset number threshold, it is determined whether to increase the overtaking risk level.

2. The commercial vehicle highway overtaking decision-making method as described in claim 1, characterized in that, The step of determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recent set time period, and the distance changes of the lateral and longitudinal distances within the recent set time period, further includes the following steps: Based on the number of other vehicles around the target vehicle, determine whether to increase the overtaking risk level.

3. A commercial vehicle highway overtaking decision-making device, characterized in that, The commercial vehicle highway overtaking decision-making device includes: The acquisition module is configured to acquire the vehicle speed, the target vehicle speed, and the lateral and longitudinal distances between the vehicle and the target vehicle. The calculation module is configured to obtain the lateral safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the lateral distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum lateral braking accelerations; and to obtain the longitudinal safety distance between the vehicle and the target vehicle based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations. The judgment module is configured to determine whether both the lateral distance and the longitudinal distance are less than the lateral safety distance and the longitudinal safety distance; if both are less, it is determined that there are overtaking conditions in the current scenario. The risk level determination module is configured to, before obtaining the lateral safety distance between the vehicle and the target vehicle and the longitudinal safety distance between the vehicle and the target vehicle, acquire the speed changes of the vehicle and the target vehicle within a recently set time period, as well as the distance changes of the lateral and longitudinal distances within the recently set time period; determine the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within the recently set time period, and the distance changes of the lateral and longitudinal distances within the recently set time period; determine the maximum lateral braking acceleration, minimum lateral braking acceleration, maximum longitudinal braking acceleration, and minimum longitudinal braking acceleration to be used in the current scenario based on the pre-calibrated correspondence between multiple maximum lateral braking accelerations, minimum lateral braking accelerations, maximum longitudinal braking accelerations, and minimum longitudinal braking accelerations and different overtaking risk levels; the longitudinal safety distance between the vehicle and the target vehicle is obtained based on the vehicle speed, the target vehicle speed, the longitudinal distance between the vehicle and the target vehicle, and the pre-calibrated maximum and minimum longitudinal braking accelerations, using the following calculation formula: In the formula, It is the longitudinal speed of the vehicle. It is the longitudinal speed of the vehicle in front. It is the reaction time. It is the minimum longitudinal braking acceleration. It is the maximum longitudinal braking acceleration. It is the maximum longitudinal acceleration; The process of determining the overtaking risk level in the current scenario based on the speed changes of the vehicle and the target vehicle within a recent set time period, as well as the distance changes of the lateral and longitudinal distances within the recent set time period, includes the following steps: The initial overtaking risk level is determined based on the vehicle's speed; Based on the speed changes of the self-vehicle and the target vehicle within the most recent set time period, the acceleration change frequency of the relative speed between the self-vehicle and the target vehicle is obtained. Based on whether the frequency of the acceleration change of the relative vehicle speed is lower than a preset frequency threshold, it is determined whether to increase the overtaking risk level; Based on whether the number of times the lateral distance and the longitudinal distance exceed the preset lateral distance threshold and the longitudinal distance threshold respectively in the distance change situation is lower than the preset number threshold, it is determined whether to increase the overtaking risk level.

4. A commercial vehicle highway overtaking decision-making device, characterized in that, The commercial vehicle highway overtaking decision-making device includes a processor, a memory, and a commercial vehicle highway overtaking decision-making program stored in the memory and executable by the processor, wherein when the commercial vehicle highway overtaking decision-making program is executed by the processor, it implements the steps of the commercial vehicle highway overtaking decision-making method as described in any one of claims 1 to 2.

5. A storage medium, characterized in that, The storage medium stores a commercial vehicle highway overtaking decision program, wherein when the commercial vehicle highway overtaking decision program is executed by the processor, it implements the steps of the commercial vehicle highway overtaking decision method as described in any one of claims 1 to 2.

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