Overtaking detection method, device and equipment of vehicle and medium

Abstract

The invention discloses a vehicle overtaking detection method, device and equipment and a medium. The method comprises the steps of detecting whether a driving user has an overtaking intention or not when a current vehicle runs on a two-way single lane; when the driving user has the overtaking intention, detecting whether the current vehicle has an opposite collision risk or not; when the current vehicle has the opposite collision risk, carrying out overtaking early warning on the current vehicle; and when the opposite vehicle does not have the opposite collision risk, whether overtaking early warning is carried out on the current vehicle or not is judged according to the front vehicle of the current vehicle. According to the embodiment of the invention, the collision risk during overtaking of the vehicle can be reduced, and the safe driving level is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle overtaking safety control, and in particular to a vehicle overtaking detection method, device, equipment and medium. Background Art

[0002] With the rapid development of vehicle technology, vehicle assisted driving technology has become more and more mature. When a vehicle needs to change lanes to overtake, it can detect whether there is a risk of overtaking. When there is a risk of overtaking, relevant prompts and instructions will be given to the driver and the vehicle.

[0003] Currently, the overtaking risk function warns whether there is a risk of collision between your vehicle and the vehicle behind you in the opposite lane.

[0004] However, the above scenarios cannot fully cover the collision risks caused by lane change and overtaking, and other collision scenarios still exist. Summary of the invention

[0005] The present invention provides a vehicle overtaking detection method, device, equipment and medium. The embodiments of the present invention can reduce the collision risk when the vehicle overtakes and improve the safety level of driving.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle overtaking detection method, the method comprising:

[0007] When the current vehicle is traveling on a two-way single lane, detecting whether the driver has an intention to overtake;

[0008] When the driver intends to overtake, detect whether the current vehicle has the risk of oncoming collision;

[0009] When the current vehicle is at risk of oncoming collision, an overtaking warning is issued to the current vehicle;

[0010] When there is no risk of oncoming collision with the oncoming vehicle, it is determined whether to issue an overtaking warning to the current vehicle based on the vehicle in front of the current vehicle.

[0011] In a second aspect, an embodiment of the present invention further provides a vehicle overtaking detection device, the device comprising:

[0012] An overtaking intention detection module is used to detect whether the driver has an overtaking intention when the current vehicle is traveling on a two-way single lane;

[0013] The oncoming collision risk detection module is used to detect whether the current vehicle has an oncoming collision risk when the driver intends to overtake;

[0014] Overtaking warning trigger module, used to issue overtaking warning to the current vehicle when there is a risk of oncoming collision;

[0015] The front vehicle overtaking warning module is used to determine whether to issue an overtaking warning to the current vehicle based on the vehicle in front of the current vehicle when there is no risk of oncoming collision with the oncoming vehicle.

[0016] In a third aspect, an embodiment of the present invention further provides a vehicle overtaking detection device, the vehicle overtaking detection device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the vehicle overtaking detection method according to any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle overtaking detection method of any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention can realize early identification of driving behavior tendencies by detecting whether the driving user has the intention to overtake, provide conditions for subsequent risk judgment and warning, and improve the responsiveness of driving behavior; by further detecting the risk of oncoming collision after detecting the intention to overtake, it can realize dynamic evaluation of potential risks, ensure that the situation of oncoming vehicles is considered in overtaking decisions, and improve driving safety; by issuing an overtaking warning when the risk of oncoming collision is detected, it can realize timely reminders to the driving user, thereby avoiding the occurrence of potential dangers and ensuring driving safety; by judging whether to issue an overtaking warning based on the situation of the vehicle ahead when there is no collision risk with the oncoming vehicle, it can realize more reasonable warning judgment, thereby reducing unnecessary warning interference and improving the intelligence level of driving experience.

[0022] 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

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a vehicle overtaking detection method provided according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of a vehicle overtaking detection method provided according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a scenario of a vehicle overtaking detection method provided according to an embodiment of the present invention;

[0027] Figure 4 is a structural diagram of a vehicle overtaking detection device provided according to an embodiment of the present invention;

[0028] Figure 5 It is a structural schematic diagram of a vehicle overtaking detection device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of vehicle data etc. are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0032] Figure 1The flowchart of a vehicle overtaking detection method provided according to an embodiment of the present invention is applicable to the case of vehicle overtaking detection. The method can be executed by a vehicle overtaking detection device, which can be implemented in the form of hardware and / or software.

[0033] See also Figure 1 The vehicle overtaking detection method shown includes:

[0034] S101. When the current vehicle is traveling on a two-way single lane, detect whether the driving user has an intention to overtake.

[0035] A two-way single lane refers to a road with only two lanes in different directions. There is no dividing fence in the middle of a two-way single lane, and only lane lines are used to distinguish between vehicles going in and out. A two-way single lane allows vehicles to overtake by using the lane.

[0036] The overtaking intention may refer to the intention of the driver to overtake the vehicle ahead during the current driving process. Whether the overtaking intention exists can be determined by the driver's operation behavior. For example, when the driver turns on the turn signal or quickly turns the steering wheel to leave the current lane, it is determined that the driver has the intention to overtake.

[0037] Specifically, when the vehicle is traveling on a two-way single lane, if the driver wants to overtake, the driver needs to control the lane on the other side of the current vehicle to achieve the overtaking behavior. Therefore, when the current vehicle is traveling on a two-way single lane, it is detected whether the driver has the intention to overtake.

[0038] S102: When the driver intends to overtake, detect whether the current vehicle has an oncoming collision risk.

[0039] Among them, the oncoming collision risk may refer to the potential collision risk between the current vehicle and the vehicle traveling in the opposite direction of the other lane. When the current vehicle attempts to overtake by using another lane, the current vehicle is at risk of oncoming collision. When the driver intends to overtake, detecting whether the current vehicle has an oncoming collision risk can help the driver to proactively issue an early warning when he is unaware of the approaching oncoming vehicle, thereby reducing frontal collision accidents caused by overtaking by using another lane. On curved roads or roads with limited vision, detecting whether the current vehicle has an oncoming collision risk can improve driving safety.

[0040] S103: When there is a risk of oncoming collision with the current vehicle, an overtaking warning is issued to the current vehicle.

[0041] Among them, overtaking warning can refer to a reminder or alarm issued for the current overtaking behavior. When the current vehicle is overtaking, it is detected that the current vehicle has an oncoming collision risk, and an overtaking warning is issued to the current vehicle, which can be used to issue an alarm for the current overtaking behavior. For example, the driver can be reminded of the safety risk of the current overtaking behavior through sound and light reminders, dashboard display information or other warning information. The overtaking warning provides timely feedback to the driver to ensure driving safety.

[0042] S104: When there is no risk of an oncoming collision with the oncoming vehicle, determine whether to issue an overtaking warning to the current vehicle based on the vehicle in front of the current vehicle.

[0043] The oncoming vehicle may refer to a vehicle traveling in the opposite direction to the current vehicle, and the vehicle is traveling on the other lane of the two-way single lane.

[0044] Specifically, when it is detected that there is no risk of head-on collision between the current vehicle and the oncoming vehicle, it is necessary to judge whether the current vehicle can overtake smoothly based on the speed, acceleration and distance of the vehicle in front of the current vehicle. If the current vehicle cannot return to the original lane, an overtaking warning will be issued to the current vehicle. If the current vehicle can return to the original lane, no overtaking warning will be issued to the current vehicle.

[0045] It can be seen that in the embodiment of the present invention, by detecting whether the driving user has the intention to overtake, the driving behavior tendency can be identified in advance, the conditions for the subsequent risk judgment and warning can be provided, and the responsiveness of the driving behavior can be improved; by further detecting the oncoming collision risk after detecting the intention to overtake, the dynamic assessment of potential risks can be realized, ensuring that the situation of the oncoming vehicle is considered in the overtaking decision, thereby improving driving safety; by issuing an overtaking warning when the risk of oncoming collision is detected, the driving user can be reminded in time, thereby avoiding the occurrence of potential dangers and ensuring driving safety; by judging whether to issue an overtaking warning based on the situation of the vehicle ahead when there is no collision risk with the oncoming vehicle, a more reasonable warning judgment can be achieved, thereby reducing unnecessary warning interference and improving the intelligence level of the driving experience.

[0046] Figure 2 The flowchart of a vehicle overtaking detection method provided according to an embodiment of the present invention is shown in FIG. Based on the above embodiment, the vehicle overtaking detection operation is optimized and improved in the embodiment of the present invention.

[0047] The operation of overtaking detection of the vehicle is improved by refining "determining whether to issue an overtaking warning to the current vehicle based on the vehicle in front of the current vehicle" to "when there is only one vehicle in front of the current vehicle, detecting whether to issue an overtaking warning to the current vehicle based on the acceleration segment of the vehicle in front; when there are multiple vehicles in front of the current vehicle, detecting whether to issue an overtaking warning to the current vehicle based on the distance between adjacent vehicles in front and the acceleration of each vehicle in front".

[0048] It should be noted that for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments.

[0049] See also Figure 2 The vehicle overtaking detection method shown includes:

[0050] S201. When the current vehicle is traveling on a two-way single lane, detect whether the driving user has an intention to overtake.

[0051] S202: When the driver intends to overtake, detect whether the current vehicle has an oncoming collision risk.

[0052] S203: When there is a risk of oncoming collision with the current vehicle, an overtaking warning is issued to the current vehicle.

[0053] S204: When there is no risk of an oncoming collision with the oncoming vehicle and the number of vehicles ahead of the current vehicle is one, detect whether to issue an overtaking warning to the current vehicle according to the acceleration of the vehicle ahead.

[0054] Specifically, when there is no risk of oncoming collision with the current vehicle, it is also necessary to determine whether there is a risk of collision between the current vehicle and the vehicle in front, that is, to determine whether there is room for the current vehicle to return to the original lane after overtaking.

[0055] When there is only one vehicle ahead, the system detects whether to issue an overtaking warning to the current vehicle based on the acceleration of the vehicle ahead. When the vehicle ahead is accelerating and the acceleration of the vehicle ahead is greater than a preset threshold, an overtaking warning is issued to the current vehicle when the current vehicle intends to overtake; when the acceleration of the vehicle ahead is less than a preset threshold, no overtaking warning is issued to the current vehicle when the current vehicle intends to overtake. The preset threshold is positively correlated with the acceleration performance of the current vehicle. The stronger the acceleration performance of the current vehicle, the higher the preset threshold, and the weaker the acceleration performance of the current vehicle, the lower the preset threshold.

[0056] In a specific example, the current vehicle may be a truck. When the truck is carrying cargo, due to its heavy weight and long length, its acceleration performance is limited. When there is no risk of an oncoming vehicle collision and the acceleration of the vehicle in front of the truck is greater than a preset threshold, when the truck tries to overtake by using another lane, there is no space for the truck to return to its original lane, and the truck is prone to collide with the vehicle in front, causing a safety accident.

[0057] S205. When there is no risk of oncoming collision with the oncoming vehicle and there are multiple vehicles ahead of the current vehicle, detect whether to issue an overtaking warning to the current vehicle based on the distance between adjacent vehicles ahead and the acceleration of each vehicle ahead.

[0058] Specifically, when there are multiple vehicles ahead, it is necessary to detect whether to issue an overtaking warning to the current vehicle based on the distance between the adjacent vehicles ahead and the acceleration of each vehicle ahead. When the distance between the adjacent vehicles ahead is decreasing, an overtaking warning is issued to the current vehicle. Since the distance between the adjacent vehicles ahead is decreasing, even if the current vehicle can overtake the vehicle ahead, it does not have enough safe distance to return to the original lane; when the acceleration of the vehicle ahead is less than a preset threshold, and the acceleration of the vehicle ahead of the vehicle ahead is less than the preset threshold, if the current vehicle has an overtaking intention, an overtaking warning is issued to the current vehicle; when the acceleration of the vehicle ahead is less than a preset threshold, and the acceleration of the vehicle ahead of the vehicle ahead is greater than the preset threshold, if the current vehicle has an overtaking intention, no overtaking warning is issued to the current vehicle.

[0059] It can be seen that in this embodiment, by monitoring the acceleration of the vehicle in front, it is possible to determine whether the vehicle is accelerating or decelerating, and the speed change of the vehicle in front can be identified, thereby determining whether there is a safety hazard when the current vehicle overtakes; by analyzing the distances between multiple vehicles in front, it is possible to determine whether the current vehicle has enough space to operate when overtaking via lane, which helps the current vehicle evaluate the feasibility of overtaking via lane; by obtaining the acceleration information of the adjacent vehicle in front, the speed changes of each vehicle in front can be monitored in real time, so as to respond quickly and issue warnings, thereby reducing the risk of collision caused by overtaking via lane.

[0060] In some embodiments, it also includes:

[0061] Detect whether there is a lane line on the road where the vehicle is currently traveling;

[0062] There is no lane line on the road where the current vehicle is traveling, and it is determined that the current vehicle is traveling on a two-way single lane;

[0063] When there are lane lines on the road on which the current vehicle is traveling, the number of lane lines is detected;

[0064] When the number of lane lines is one, it is determined that the current vehicle is traveling on a two-way single lane;

[0065] When there are three lane lines, the lane lines on both sides are solid lines, and the lane line in the middle is a dotted line, it is determined that the current vehicle is traveling in a two-way single lane.

[0066] Specifically, in the scenario of overtaking by using a lane, it is necessary to identify the two-way single lane. Only when the current vehicle is traveling on the two-way single lane, overtaking by using a lane is required. Whether the current lane is a two-way single lane can be determined by whether there is a lane line. The presence of a lane line on the road where the current vehicle is traveling can be detected by a camera or other detection equipment. When the lane line can be detected, the lane type can be identified according to the number and configuration type of the lane line. When there is no lane line on the road where the current vehicle is traveling, the road without lane lines is usually a relatively narrow section. In order to avoid the risk of collision between oncoming vehicles, the lane without lane lines is determined as a two-way single lane. When there is only one lane line, the lane line is usually located in the center of the lane to distinguish the two directions of traveling in opposite directions. It can be determined that the lane is a two-way single lane. When the number of lane lines is three, the two sides are solid lines and the middle is a dotted line. This identification is usually used for the variable lane of a two-way single lane. The middle dotted line usually allows temporary overtaking or lane change. The lane is a two-way single lane.

[0067] It can be seen that in this embodiment, by detecting the lane lines on the road, it can be accurately determined whether the current vehicle is traveling on a two-way single lane; by determining that there are no lane lines on the road, it can be determined that the current road is a two-way single lane; when there are lane lines on the road, by detecting the number of lane lines and the specific configuration of the lane lines, it can be determined whether the current vehicle is traveling on a two-way single lane.

[0068] In some embodiments, detecting whether the driving user has an intention to overtake includes:

[0069] When detecting that the driver has activated the turn indicator light, determining that the driver has an intention to overtake;

[0070] When it is detected that the driver turns the steering wheel to change direction and the turning speed satisfies a speed threshold, it is determined that the driver intends to overtake;

[0071] When there are three lane lines, the time from when the driver turns the steering wheel to when the vehicle covers the middle lane line is counted;

[0072] When the direction change duration is less than the threshold, it is determined that the driver has an intention to overtake.

[0073] The rotation speed may refer to the rotation angle of the steering wheel per unit time. The rotation speed reflects the driving force and frequency of the steering wheel control by the driver. The rotation speed can be obtained by the sensor by obtaining the steering wheel rotation angle and time, thereby calculating the rotation speed. A higher rotation speed indicates that the driver changes the driving direction quickly, while a lower rotation speed indicates that the driver makes a fine adjustment to the driving direction.

[0074] When there are three lane lines, and the lane lines on both sides are solid lines and the middle lane line is a dotted line, it may mean that the middle lane allows temporary overtaking. The time for overtaking or the time for borrowing the middle lane may need to be restricted to ensure the safety of two-way traffic. Therefore, by counting the time it takes for the driving user to change direction to cover the middle lane line, it can be judged whether it is a quick overtaking behavior rather than occupying the middle lane for a long time.

[0075] Specifically, it is possible to determine whether the driving user has the intention to overtake in the following three ways. When it is detected that the driving user has activated the turn signal lamp, it can be determined that the driving user has the intention to overtake. For example, when the driving user is driving on the right side of a two-way single lane, it is detected that the driving user has activated the left turn signal lamp, it can be determined that the driving user has the intention to overtake; when it is detected that the driving user changes direction and turns the steering wheel, and the turning speed meets or exceeds the speed threshold, it is determined that the driving user has the intention to overtake. For example, when the driving user is driving on the right side of a two-way single lane, it is detected that the driving user turns the steering wheel to the left, and the turning speed is greater than the speed threshold, it is determined that the driving user has the intention to overtake; when it is detected that the number of lane lines is three, the number of lane lines detected from the driving user changing direction and turning is counted. The time it takes to change direction from turning the steering wheel to the time when the current vehicle covers the middle lane line. When the direction change is less than the time threshold, it is determined that the driving user has the intention to overtake. Exemplarily, the length of the direction change time reflects the driving user's intention and urgency of changing lanes to overtake. If the direction change time is short, it means that the driving user quickly operates the steering wheel and accurately overtakes by using another lane. If the direction change time is long, it means that the driving user indicates to slightly adjust the vehicle position or is considering whether to overtake by using another lane. For example, assuming the time threshold is 1.5 seconds, when the driving user crosses the middle lane line within 1.2 seconds after turning the steering wheel to the left, the direction change time is less than 1.5 seconds, and it is determined that the driving user has the intention to overtake.

[0076] It can be seen that in this embodiment, by monitoring the activation of the turn indicator light, it is possible to quickly identify whether the driver has the intention to overtake, thereby providing basic information for subsequent safety judgments; by detecting the steering wheel rotation speed, it is possible to accurately analyze the driving user's control behavior, help determine whether the driving user has the intention to overtake, thereby improving the early warning capability of potential risks; by counting the change of direction time, when the change of direction is less than the time threshold, it is possible to determine the driver's quick operation, thereby identifying the intention to overtake in a short time, improving the monitoring accuracy of overtaking behavior, and reducing the risk of accidents.

[0077] In some embodiments, detecting whether the current vehicle has an oncoming collision risk includes:

[0078] Detect whether the current vehicle passes through a curve;

[0079] When the current vehicle passes through a curve, it is determined that the current vehicle has an oncoming collision risk;

[0080] When the current vehicle does not pass through a curve, obtain the oncoming vehicle of the current vehicle;

[0081] Based on the oncoming vehicle of the current vehicle, determine whether the current vehicle has an oncoming collision risk.

[0082] Specifically, when it is detected that the current vehicle passes through a curve, it is not recommended to overtake by using the other lane. When the current vehicle overtakes by using the other lane on a curve, there is a risk of oncoming collision. When the current vehicle does not pass through a curve, the oncoming vehicle of the current vehicle is obtained. Based on the oncoming vehicle of the current vehicle, it is determined whether the current vehicle has a risk of oncoming collision.

[0083] It can be seen that in this embodiment, by judging that the current vehicle is passing through a curve, it is determined that the current vehicle has an oncoming collision risk, thereby reducing the risk of oncoming collision accidents caused by limited vision. When the current vehicle is traveling in a straight line, by analyzing the position and speed of the oncoming vehicle, it is possible to accurately judge the potential collision risk, thereby providing the driver with timely safety warnings and reducing the probability of accidents.

[0084] In some embodiments, detecting whether the current vehicle passes through a curve includes:

[0085] When there is a lane line, when the curvature radius of the lane line is greater than a radius threshold, it is determined that the current vehicle passes through a curve;

[0086] When there is no lane line, when the yaw angle of the current vehicle is greater than a yaw angle threshold, it is determined that the current vehicle passes through a curve.

[0087] Specifically, when there are lane lines, the current vehicle can determine that the current vehicle is passing through the curve before entering the curve. The lane line image can be captured by a camera, and the curvature radius of the lane line in the line image can be calculated. When the curvature radius of the lane line is greater than the radius threshold, it is determined that the current vehicle is about to pass through the curve.

[0088] When there is no lane line, the current vehicle needs to enter a curve in order to determine that the current vehicle is passing through a curve. The yaw angle of the current vehicle can be obtained through the on-board yaw angle sensor. When the yaw angle is greater than the yaw angle threshold, it is determined that the current vehicle is passing through a curve. Only when the vehicle is passing through a curve will the yaw angle change of the vehicle be greater than the yaw angle threshold.

[0089] It can be seen that in this embodiment, by utilizing the curvature radius of the lane line, it is possible to accurately judge the curvature of the road, so that in the presence of lane lines, it is possible to effectively identify whether the vehicle is about to pass a curve, thereby improving the detection accuracy of curved road conditions, and more reliably evaluating the current driving environment of the vehicle; by detecting the yaw angle of the vehicle, it is possible to identify curved road conditions in the absence of lane lines, thereby ensuring the accuracy of curve recognition, and providing a method for detecting curves in the absence of lane lines.

[0090] In some embodiments, judging whether the current vehicle has an oncoming collision risk based on an oncoming vehicle of the current vehicle includes:

[0091] When there is an oncoming vehicle, obtaining the oncoming distance between the current vehicle and the oncoming vehicle, the motion data of the oncoming vehicle, the motion data of the current vehicle and the overtaking distance of the current vehicle, and calculating the collision prediction time between the current vehicle and the oncoming vehicle;

[0092] When the collision prediction time is less than the time threshold, it is determined that the current vehicle has an oncoming collision risk.

[0093] The oncoming distance may refer to the longitudinal distance between the current vehicle and the oncoming vehicle. The oncoming distance may provide basic data for calculating the collision prediction time.

[0094] The motion data may refer to the motion state information of the vehicle, including data such as speed, acceleration and driving direction. The motion data is used to analyze the dynamic behavior of the vehicle and can provide basic data for calculating the collision prediction time.

[0095] The overtaking distance may refer to the longitudinal distance that the current vehicle needs to travel when overtaking in the lane. The overtaking distance can be used to determine whether the current vehicle has enough time and space to complete a safe overtaking in the lane.

[0096] The collision prediction time may refer to the time when the current vehicle and the oncoming vehicle are traveling in the same lane and in opposite directions and the collision between the two vehicles is predicted. The collision prediction time can reflect whether the current vehicle has a risk of oncoming collision. The shorter the collision prediction time, the higher the collision risk. When the collision prediction time is less than the time threshold, it is determined that there is a risk of oncoming collision.

[0097] In a specific example, Figure 3 : is a scene schematic diagram of a vehicle overtaking detection method provided according to an embodiment of the present invention, wherein vehicle 0 may refer to the current vehicle, vehicle may refer to the front vehicle, vehicle 3 may refer to the oncoming vehicle, the position of vehicle 2 may refer to the position of the current vehicle returning to the original lane after overtaking, d3 may refer to the oncoming distance, d2 may refer to the overtaking distance, d0 may refer to the safety distance, and the collision prediction time may be calculated by the following formula:

[0098]

[0099] Where TTC represents the collision prediction time, a0 represents the acceleration of the current vehicle, a3 represents the acceleration of the oncoming vehicle, v0 represents the speed of the current vehicle, v3 represents the speed of the oncoming vehicle, and d2 represents the overtaking distance.

[0100] It can be seen that in this embodiment, the oncoming distance between the current vehicle and the oncoming vehicle, the motion data of the oncoming vehicle, the motion data of the current vehicle and the overtaking distance of the current vehicle are obtained, and the collision prediction time between the current vehicle and the oncoming vehicle is calculated, so that potential oncoming collisions can be identified in advance, and time guarantee can be provided for risk intervention; by comparing the collision prediction time with the time threshold, a quantitative assessment of the oncoming collision risk can be achieved, thereby accurately identifying high-risk collision situations.

[0101] In some embodiments, obtaining the oncoming distance between the current vehicle and the oncoming vehicle, the motion data of the oncoming vehicle, the motion data of the current vehicle, and the overtaking distance of the current vehicle includes:

[0102] Obtaining, through the Internet of Vehicles, motion data of at least one oncoming vehicle, positions of each oncoming vehicle, and position of at least one vehicle ahead;

[0103] Determine the oncoming distance based on the position of the nearest oncoming vehicle to the current vehicle and the position of the current vehicle;

[0104] The overtaking distance of the current vehicle is determined based on the position of the current vehicle and the positions of the vehicles ahead.

[0105] The motion data and location information of nearby vehicles can be obtained in real time through the Internet of Vehicles technology. Each vehicle can broadcast its own motion data through the Internet of Vehicles. The current vehicle can identify the situations of surrounding oncoming vehicles and vehicles in front by receiving the motion data of these vehicles.

[0106] In a specific example, the overtaking distance of the current vehicle is determined according to the number of each front vehicle and the motion data of each front vehicle. When there are multiple front vehicles, and the distance between the front vehicle and the front vehicle adjacent to the front vehicle is increasing, and the acceleration of the front vehicle is less than a preset threshold, when the current vehicle is overtaking by borrowing a lane, when the current vehicle returns to the original lane when overtaking by borrowing a lane, the current vehicle only needs to return to the position between the front vehicle and the front vehicle adjacent to the front vehicle, and the overtaking distance of the current vehicle is shorter; when the current vehicle needs to overtake by borrowing a lane, it needs to continuously overtake multiple front vehicles, and the overtaking distance of the current vehicle is longer. Among them, the calculation of the growth trend can determine the relative position of each front vehicle according to the position information of the front vehicle obtained by the Internet of Vehicles, calculate the distance between the front vehicle at the current moment and the front vehicle adjacent to the front vehicle, and judge whether the distance between the next moment and the current moment increases, so as to judge that the distance between the front vehicle and the front vehicle adjacent to the front vehicle is increasing.

[0107] It can be seen that in this embodiment, by determining the overtaking distance between the current vehicle and the vehicle in front, accurate data support can be provided for the overtaking operation, thereby realizing reasonable planning of the overtaking operation; when there are multiple vehicles in front, blind spots and potential dangers in the overtaking process can be effectively avoided, helping the driving user to make overtaking decisions at the right time, thereby improving the safety and smoothness of overtaking.

[0108] In some embodiments, after the overtaking warning is given to the current vehicle, the method further includes:

[0109] When the driver intends to overtake, the longitudinal movement distance of the current vehicle is accumulated in real time;

[0110] When there is a front vehicle, obtaining the front vehicle movement distance between the front vehicle closest to the current vehicle and the initial distance between the current vehicle and the closest front vehicle;

[0111] When the sum of the moving distance of the preceding vehicle and the initial distance is greater than the longitudinal moving distance of the current vehicle, a secondary warning is issued to the current vehicle.

[0112] The real-time accumulation of the longitudinal movement distance of the current vehicle may refer to the real-time accumulation of the distance traveled by the current vehicle along the longitudinal direction of the road. When the driver intends to overtake, the longitudinal movement distance of the current vehicle begins to be accumulated until the current vehicle completes the overtaking by using the lane, and then the accumulation ends and the longitudinal movement distance of the current vehicle is counted.

[0113] The initial distance may refer to the longitudinal distance between the current vehicle and the vehicle in front. The safety distance may refer to the distance between the current vehicle and the original vehicle in front after returning to the original lane after completing the overtaking.

[0114] Among them, the secondary warning can refer to the second alarm issued by the vehicle when the driver ignores the overtaking warning. After the overtaking warning lasts for a period of time, if the driver still overtakes, the reverse steering torque control can be activated, and the vehicle will forcibly take over the vehicle control to ensure driving safety and reduce the risk of accidents.

[0115] In a specific example, the longitudinal movement distance of the vehicle can be calculated by the following formula.

[0116]

[0117] Where S0 represents the longitudinal movement distance of the current vehicle.

[0118] When the current vehicle's moving distance is greater than the sum of the preceding vehicle's moving distance, the initial distance and the safety distance, and when the current vehicle is still about to change lanes and overtake, a secondary warning is issued to the current vehicle.

[0119] It can be seen that in this embodiment, by accumulating the longitudinal movement distance of the vehicle in real time after detecting the driving user's overtaking intention, the overtaking distance of the current vehicle can be evaluated more accurately; by obtaining the movement distance and initial distance of the vehicle in front, the real-time tracking of the distance change between the current vehicle and the vehicle in front can be achieved, providing a basis for the safety of the current vehicle overtaking by using the lane; by issuing a secondary warning to the current vehicle when specific distance conditions are met, it helps the driving user to perform overtaking operations more cautiously, thereby further improving driving safety.

[0120] Figure 4 1 is a structural diagram of a vehicle overtaking detection device provided according to an embodiment of the present invention. The embodiment of the present invention is applicable to the case of vehicle overtaking detection, the device can execute the vehicle overtaking detection method, and the device can be implemented in the form of hardware and / or software.

[0121] See also Figure 4 The vehicle overtaking detection device shown in the figure includes: an overtaking intention detection module 401, an oncoming collision risk detection module 402, an overtaking warning trigger module 403 and a preceding vehicle overtaking warning module 404, wherein:

[0122] The overtaking intention detection module 401 is used to detect whether the driver has the intention to overtake when the current vehicle is traveling on a two-way single lane;

[0123] The oncoming collision risk detection module 402 is used to detect whether the current vehicle has an oncoming collision risk when the driver intends to overtake;

[0124] The overtaking warning trigger module 403 is used to issue an overtaking warning to the current vehicle when there is a risk of oncoming collision with the current vehicle;

[0125] The front vehicle overtaking warning module 404 is used to determine whether to issue an overtaking warning to the current vehicle based on the vehicle in front of the current vehicle when there is no risk of oncoming collision with the oncoming vehicle.

[0126] It can be seen that in the embodiment of the present invention, by detecting whether the driving user has the intention to overtake, the driving behavior tendency can be identified in advance, the conditions for the subsequent risk judgment and warning can be provided, and the responsiveness of the driving behavior can be improved; by further detecting the oncoming collision risk after detecting the intention to overtake, the dynamic assessment of potential risks can be realized, ensuring that the situation of the oncoming vehicle is considered in the overtaking decision, thereby improving driving safety; by issuing an overtaking warning when the risk of oncoming collision is detected, the driving user can be reminded in time, thereby avoiding the occurrence of potential dangers and ensuring driving safety; by judging whether to issue an overtaking warning based on the situation of the vehicle ahead when there is no collision risk with the oncoming vehicle, a more reasonable warning judgment can be achieved, thereby reducing unnecessary warning interference and improving the intelligence level of the driving experience.

[0127] In some embodiments, in determining whether to issue an overtaking warning to the current vehicle based on the vehicle ahead of the current vehicle, the preceding vehicle overtaking warning module 404 is specifically configured to:

[0128] When the number of vehicles ahead of the current vehicle is one, detecting whether to issue an overtaking warning to the current vehicle according to the acceleration of the vehicle ahead;

[0129] When there are multiple vehicles ahead of the current vehicle, it is detected whether to issue an overtaking warning to the current vehicle based on the distance between adjacent vehicles ahead and the acceleration of each vehicle ahead.

[0130] In some embodiments, it also includes:

[0131] Detect whether there is a lane line on the road where the vehicle is currently traveling;

[0132] There is no lane line on the road where the current vehicle is traveling, and it is determined that the current vehicle is traveling on a two-way single lane;

[0133] When there are lane lines on the road on which the current vehicle is traveling, the number of lane lines is detected;

[0134] When the number of lane lines is one, it is determined that the current vehicle is traveling on a two-way single lane;

[0135] When there are three lane lines, the lane lines on both sides are solid lines, and the lane line in the middle is a dotted line, it is determined that the current vehicle is traveling in a two-way single lane.

[0136] In some embodiments, including:

[0137] When detecting that the driver has activated the turn indicator light, determining that the driver has an intention to overtake;

[0138] When it is detected that the driver turns the steering wheel to change direction and the turning speed satisfies a speed threshold, it is determined that the driver intends to overtake;

[0139] When there are three lane lines, the time from when the driver turns the steering wheel to when the vehicle covers the middle lane line is counted;

[0140] When the direction change duration is less than the threshold, it is determined that the driver has an intention to overtake.

[0141] In some embodiments, including:

[0142] Detect whether the current vehicle passes through a curve;

[0143] When the current vehicle passes through a curve, it is determined that the current vehicle has an oncoming collision risk;

[0144] When the current vehicle does not pass through a curve, obtain the oncoming vehicle of the current vehicle;

[0145] Based on the oncoming vehicle of the current vehicle, determine whether the current vehicle has an oncoming collision risk.

[0146] In some embodiments, including:

[0147] When there is a lane line, when the curvature radius of the lane line is greater than a radius threshold, it is determined that the current vehicle passes through a curve;

[0148] When there is no lane line, when the yaw angle of the current vehicle is greater than a yaw angle threshold, it is determined that the current vehicle passes through a curve.

[0149] In some embodiments, including:

[0150] When there is an oncoming vehicle, obtaining the oncoming distance between the current vehicle and the oncoming vehicle, the motion data of the oncoming vehicle, the motion data of the current vehicle and the overtaking distance of the current vehicle, and calculating the collision prediction time between the current vehicle and the oncoming vehicle;

[0151] When the collision prediction time is less than the time threshold, it is determined that the current vehicle has an oncoming collision risk.

[0152] In some embodiments, including:

[0153] Obtaining, through the Internet of Vehicles, motion data of at least one oncoming vehicle, positions of each oncoming vehicle, and position of at least one vehicle ahead;

[0154] Determine the oncoming distance based on the position of the nearest oncoming vehicle to the current vehicle and the position of the current vehicle;

[0155] The overtaking distance of the current vehicle is determined based on the position of the current vehicle and the positions of the vehicles ahead.

[0156] In some embodiments, it also includes:

[0157] When the driver intends to overtake, the longitudinal movement distance of the current vehicle is accumulated in real time;

[0158] When there is a front vehicle, obtaining the front vehicle movement distance of the front vehicle closest to the current vehicle and the initial distance between the current vehicle and the closest front vehicle;

[0159] When the sum of the moving distance of the preceding vehicle and the initial distance is greater than the longitudinal moving distance of the current vehicle, a secondary warning is issued to the current vehicle.

[0160] The vehicle overtaking detection device provided in the embodiment of the present invention can execute the vehicle overtaking detection method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the vehicle overtaking detection method.

[0161] Figure 5 It is a structural schematic diagram of a vehicle overtaking detection device provided according to an embodiment of the present invention.

[0162] like Figure 5 As shown, the vehicle overtaking detection device 500 includes at least one processor 501, and a memory connected to the at least one processor 501, such as a read-only memory (ROM) 502, a random access memory (RAM) 503, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 501 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 502 or the computer program loaded from the storage unit 508 to the random access memory (RAM) 503. In RAM503, various programs and data required for the operation of the vehicle overtaking detection device 500 can also be stored. The processor 501, ROM502 and RAM503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0163] Multiple components in the vehicle overtaking detection device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the vehicle overtaking detection device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0164] The processor 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 501 executes the various methods and processes described above, such as a vehicle overtaking detection method.

[0165] In some embodiments, the overtaking detection method for a vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the overtaking detection device 500 for a vehicle via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the processor 501, one or more steps of the overtaking detection method for a vehicle described above may be performed. Alternatively, in other embodiments, the processor 501 may be configured to perform the overtaking detection method for a vehicle in any other appropriate manner (e.g., by means of firmware).

[0166] 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), complex 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.

[0167] 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.

[0168] 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.

[0169] To provide interaction with a user, the systems and techniques described herein may be implemented on an operation detection device, the vehicle's overtaking detection device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball), through which a user can provide input to the vehicle's overtaking detection device. Other types of devices may also be used to provide interaction with a 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).

[0170] 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.

[0171] 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 relationship between the client and the server 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 a 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 (Virtual Private Server, simulated dedicated server) services.

[0172] 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.

[0173] 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 vehicle overtaking detection method, characterized in that: The method comprises: When the current vehicle is traveling on a two-way single lane, detecting whether the driver has an intention to overtake; When the driving user intends to overtake, detecting whether the current vehicle has an oncoming collision risk; When the current vehicle is at risk of oncoming collision, an overtaking warning is issued to the current vehicle; When there is no risk of oncoming collision with the oncoming vehicle, it is determined whether to issue an overtaking warning to the current vehicle according to the vehicle in front of the current vehicle.

2. The method according to claim 1, characterized in that The determining whether to issue an overtaking warning to the current vehicle according to the vehicle ahead of the current vehicle includes: When the number of vehicles ahead of the current vehicle is one, detecting whether to issue an overtaking warning to the current vehicle according to the acceleration of the ahead vehicle; When there are multiple vehicles ahead of the current vehicle, it is detected whether to issue an overtaking warning to the current vehicle based on the distance between adjacent vehicles ahead and the acceleration of each of the vehicles ahead.

3. The method according to claim 1, characterized in that Also includes: Detecting whether there is a lane line on the road where the current vehicle is traveling; There is no lane line on the road where the current vehicle is traveling, determining that the current vehicle is traveling on a two-way single lane; When there are lane lines on the road on which the current vehicle is traveling, detecting the number of lane lines; When the number of lane lines is one, determining that the current vehicle is traveling on a two-way single lane; When the number of lane lines is three, the lane lines on both sides are solid lines, and the middle lane line is a dotted line, it is determined that the current vehicle is traveling on a two-way single lane.

4. The method according to claim 3, characterized in that The detecting whether the driving user has an overtaking intention includes: When detecting that the driver user activates the turn indicator light, determining that the driver user has an intention to overtake; When it is detected that the driving user changes direction and turns the steering wheel, and the turning speed satisfies a speed threshold and is greater than the speed threshold, determining that the driving user has an intention to overtake; When the number of lane lines is three, the time duration of the direction change from when the driving user turns the steering wheel to when the current vehicle covers the middle lane line is counted; When the direction change is less than the duration threshold, it is determined that the driving user has an intention to overtake.

5. The method according to claim 3, characterized in that: The detecting whether the current vehicle has an oncoming collision risk includes: Detecting whether the current vehicle passes through a curve; When the current vehicle passes through a curve, determining that the current vehicle has an oncoming collision risk; When the current vehicle does not pass through a curve, obtaining an oncoming vehicle of the current vehicle; According to the oncoming vehicle of the current vehicle, it is determined whether the current vehicle has an oncoming collision risk.

6. The method according to claim 5, characterized in that The detecting whether the current vehicle passes through a curve includes: When there is a lane line, when the curvature radius of the lane line is greater than a radius threshold, determining that the current vehicle passes through a curve; When there is no lane line, when the yaw angle of the current vehicle is greater than a yaw angle threshold, it is determined that the current vehicle passes through a curve.

7. The method according to claim 5, characterized in that The determining, based on the oncoming vehicle of the current vehicle, whether the current vehicle has an oncoming collision risk includes: When there is an oncoming vehicle, obtaining the oncoming distance between the current vehicle and the oncoming vehicle, the motion data of the oncoming vehicle, the motion data of the current vehicle and the overtaking distance of the current vehicle, and calculating the collision prediction time between the current vehicle and the oncoming vehicle; When the collision prediction time is less than a time threshold, it is determined that the current vehicle has an oncoming collision risk.

8. The method according to claim 7, characterized in that The obtaining of the oncoming distance between the current vehicle and the oncoming vehicle, the motion data of the oncoming vehicle, the motion data of the current vehicle, and the overtaking distance of the current vehicle includes: Obtaining, through the Internet of Vehicles, motion data of at least one oncoming vehicle, positions of each of the oncoming vehicles, and position of at least one vehicle ahead; Determine the opposite distance according to the position of the nearest opposite vehicle to the current vehicle and the position of the current vehicle; The overtaking distance of the current vehicle is determined according to the position of the current vehicle and the positions of the vehicles ahead.

9. The method according to claim 1, characterized in that: After the overtaking warning is given to the current vehicle, the method further includes: When the driving user has an intention to overtake, accumulating the longitudinal movement distance of the current vehicle in real time; When there is a front vehicle, obtaining a front vehicle movement distance of the vehicle closest to the current vehicle and an initial distance between the current vehicle and the vehicle closest to the front vehicle; When the sum of the moving distance of the preceding vehicle and the initial distance is greater than the longitudinal moving distance of the current vehicle, a secondary warning is issued to the current vehicle.

10. A vehicle overtaking detection device, characterized in that: include: An overtaking intention detection module is used to detect whether the driver has an overtaking intention when the current vehicle is traveling on a two-way single lane; An oncoming collision risk detection module, used to detect whether the current vehicle has an oncoming collision risk when the driving user has an overtaking intention; An overtaking warning trigger module is used to issue an overtaking warning to the current vehicle when there is a risk of oncoming collision with the current vehicle; The front vehicle overtaking warning module is used to determine whether to issue an overtaking warning to the current vehicle according to the vehicle in front of the current vehicle when there is no risk of oncoming collision with the oncoming vehicle.

11. A vehicle overtaking detection device, characterized in that: The vehicle overtaking detection 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 vehicle overtaking detection method according to any one of claims 1 to 9.

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

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