Cooperative overtaking decision-making method and device, server and storage medium

Abstract

The invention discloses a collaborative overtaking decision method and device, a server and a storage medium. In the scheme, a first VIR message is firstly sent to a first vehicle; then receiving a second VIR message and a perception sharing message returned by the first vehicle, wherein the second VIR message carries the driving intention of the first vehicle; and if the driving intention indicates that the target vehicle is allowed to overtake from the rear, generating an overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the dynamic parameters of the current first vehicle and the dynamic parameters of the current target vehicle. And finally, generating overtaking decision suggestion information of the target vehicle according to an overtaking collision risk prediction result. According to the technical scheme, the perceptible information range of the target vehicle is expanded by receiving the perception sharing message returned by the first vehicle, so that the overtaking decision made by the target vehicle is safer and more reasonable, and safe and efficient operation of road traffic is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving technology, and in particular to a collaborative overtaking decision-making method, device, server and storage medium. Background Art

[0002] With the rapid development of science and technology, especially the continuous progress in the fields of autonomous driving and artificial intelligence, the road traffic environment is undergoing significant changes. In this change, although the trend of intelligence and automation is becoming increasingly obvious, in the actual road traffic environment, overtaking is still a complex and risky behavior.

[0003] Overtaking is a common operation in the driving process, and its success often depends on the driver's accurate judgment of the surrounding environment and the precise grasp of the driving intentions of other vehicles. However, due to the limited vehicle perception data, it is often difficult for drivers to fully and real-time obtain the driving intentions and environmental information of surrounding vehicles when overtaking, making it difficult for them to make the most reasonable overtaking decision.

[0004] The existence of such restrictions not only increases the uncertainty and risk of overtaking, but also easily leads to traffic jams and collisions. Once overtaking is improper, it may trigger a chain reaction, leading to traffic congestion and even serious traffic accidents, posing a serious threat to people's lives and property.

[0005] Therefore, how to break through the limitations of vehicle perception data, improve the rationality and safety of overtaking decisions, and provide strong guarantees for the safe and efficient operation of road traffic has become an important issue that needs to be urgently resolved in the current road traffic field. Summary of the invention

[0006] Based on the above problems, the present application provides a collaborative overtaking decision method, device, server and storage medium, with the purpose of improving the rationality and safety of overtaking decisions and ensuring the safe and efficient operation of road traffic.

[0007] The embodiments of the present application disclose the following technical solutions:

[0008] A first aspect of the present application provides a collaborative overtaking decision method, which is applied to a target vehicle that intends to overtake, and the method comprises:

[0009] Sending a first VIR message to a first vehicle; the first VIR message carries the overtaking intention of the target vehicle and a perception data sharing request; the first vehicle is located in front of the target vehicle, and the first vehicle and the target vehicle are in the same lane;

[0010] receiving a second VIR message and a perception sharing message returned by the first vehicle; the second VIR message carries the driving intention of the first vehicle, and the driving intention indicates whether the target vehicle is allowed or not allowed to overtake from behind; the perception sharing message carries the surrounding environment information perceived by the first vehicle through its own sensor;

[0011] If the driving intention indicates that the target vehicle is allowed to overtake from behind, generating an overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle;

[0012] The overtaking decision suggestion information of the target vehicle is generated according to the overtaking collision risk prediction result, and the overtaking decision suggestion information is used to indicate whether overtaking is recommended or not recommended.

[0013] In a possible implementation, generating the overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the current dynamic parameters of the first vehicle, and the current dynamic parameters of the target vehicle includes:

[0014] Predicting the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle based on the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle;

[0015] The overtaking collision risk prediction result of the target vehicle is generated according to the surrounding environment information, the current dynamic parameters of the target vehicle and the predicted shortest time.

[0016] In a possible implementation, the surrounding environment information includes: dynamic parameters of an interfering vehicle currently located in front of the target vehicle; the interfering vehicle is in the same lane or left lane of the first vehicle;

[0017] The generating, according to the surrounding environment information, the current dynamic parameters of the first vehicle and the predicted shortest time, a prediction result of the overtaking collision risk of the target vehicle comprises:

[0018] Predicting the travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time according to the dynamic parameters of the interfering vehicle, the current dynamic parameters of the first vehicle and the shortest time;

[0019] According to the relative distance between the target vehicle and the interfering vehicle before overtaking, the predicted travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time, the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time;

[0020] Predicting the collision time between the target vehicle and the interfering vehicle based on the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time, the dynamic parameters of the interfering vehicle, the current dynamic parameters of the target vehicle, and the shortest time;

[0021] The overtaking collision risk prediction result of the target vehicle is generated according to the relative size of the predicted collision time and the collision time threshold.

[0022] In a possible implementation, the surrounding environment information specifically includes dynamic parameters of a current second vehicle and dynamic parameters of a current third vehicle; the second vehicle is an interfering vehicle located in a left lane of the first vehicle and closest to the target vehicle, and the third vehicle is an interfering vehicle located in the same lane as the first vehicle and closest to the target vehicle except the first vehicle;

[0023] The method predicts the collision time between the target vehicle and the interfering vehicle according to the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time, the dynamic parameters of the interfering vehicle, the current dynamic parameters of the target vehicle, and the shortest time, including:

[0024] Predicting a collision time between the target vehicle and the second vehicle based on the predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and the similarities and differences between the driving directions of the target vehicle and the second vehicle; and predicting a collision time between the target vehicle and the third vehicle based on the predicted relative distance between the target vehicle and the third vehicle after the shortest time, the current speed and acceleration of the third vehicle, the current speed and acceleration of the target vehicle, and the shortest time;

[0025] The generating the overtaking collision risk prediction result of the target vehicle according to the relative size of the predicted collision time and the collision time threshold comprises:

[0026] Combined with the two predicted collision times, it is determined whether both safety conditions are met. If both safety conditions are met, a prediction result of the overtaking collision risk of the target vehicle is generated as no collision risk; if any of the safety conditions cannot be met, a prediction result of the overtaking collision risk of the target vehicle is generated as there is a collision risk;

[0027] The two safety conditions include:

[0028] The predicted collision time between the target vehicle and the second vehicle is greater than a first collision time threshold; the first collision time threshold is a collision time threshold set for the target vehicle and an interfering vehicle in a left lane;

[0029] The predicted collision time between the target vehicle and the third vehicle is greater than a second collision time threshold; the second collision time threshold is a collision time threshold set for the target vehicle and an interfering vehicle in the lane before overtaking.

[0030] In a possible implementation, predicting the collision time between the target vehicle and the second vehicle based on the predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and the similarities and differences between the driving directions of the target vehicle and the second vehicle includes:

[0031] Predicting the speed of the second vehicle after the shortest time based on the current speed and acceleration of the second vehicle, and predicting the speed of the target vehicle after the shortest time based on the current speed and acceleration of the target vehicle;

[0032] If the target vehicle and the second vehicle have the same driving direction, then the predicted speed difference between the target vehicle and the second vehicle after the shortest time is calculated, and the ratio of the predicted relative distance between the target vehicle and the second vehicle after the shortest time to the speed difference is used as the predicted collision time between the target vehicle and the second vehicle;

[0033] If the target vehicle and the second vehicle are traveling in opposite directions, the predicted sum of the speeds of the target vehicle and the second vehicle after the shortest time is calculated, and the ratio of the predicted relative distance between the target vehicle and the second vehicle after the shortest time to the sum of the speeds is used as the predicted collision time between the target vehicle and the second vehicle.

[0034] In a possible implementation, the collaborative overtaking decision method further includes:

[0035] If the overtaking collision risk prediction result of the target vehicle is generated as no collision risk, a prompt suggesting overtaking is displayed on the vehicle computer interface of the target vehicle, or a voice prompt suggesting overtaking is played in the target vehicle;

[0036] If the overtaking collision risk prediction result of the target vehicle is that there is a collision risk, a prompt is given on the vehicle computer interface of the target vehicle that overtaking is not recommended, or a voice prompt is played in the target vehicle that overtaking is not recommended.

[0037] In a possible implementation, predicting the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle according to the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle includes:

[0038] According to the current speed v1 and acceleration a1 of the target vehicle, the travel distance formula of the target vehicle is constructed as follows:

[0039] D1=v1*T+0.5*a1T 2

[0040] Where D1 represents the driving distance of the target vehicle, and T is the time parameter to be solved;

[0041] According to the penalty coefficient and the travel distance D1 of the target vehicle, the longitudinal travel distance D1(w) of the target vehicle is obtained; the penalty coefficient is negatively correlated with the lane change lateral distance of the target vehicle; the D1(w) is expressed by the formula:

[0042] D1(w)=α*D1

[0043] Wherein α represents the penalty coefficient;

[0044] Substituting D1(w) into the following formula, solve for T:

[0045] D1(w)-D2=D+D 12

[0046] Where D2 represents the driving distance of the first vehicle, D represents the fixed overtaking distance reached by the target vehicle over the first vehicle, and D 12 represents the relative distance between the current target vehicle and the first vehicle; the expression of D2 is:

[0047] D2=v2*T+0.5*a2T 2

[0048] Wherein, v2 represents the current speed of the first vehicle, and a2 represents the current acceleration of the first vehicle;

[0049] If two positive real roots are obtained by solving T, the smallest positive real root is taken as the predicted shortest time. If two real roots, one positive and one negative, are obtained, the positive real root is taken as the predicted shortest time.

[0050] A second aspect of the present application provides a collaborative overtaking decision-making device, the device comprising:

[0051] A sending module, configured to send a first VIR message to a first vehicle; the first VIR message carries the overtaking intention of the target vehicle and a perception data sharing request; the first vehicle is located in front of the target vehicle, and the first vehicle and the target vehicle are in the same lane;

[0052] A receiving module, configured to receive a second VIR message and a perception sharing message returned by the first vehicle; the second VIR message carries the driving intention of the first vehicle, and the driving intention indicates whether the target vehicle is allowed or not allowed to overtake from behind; the perception sharing message carries the surrounding environment information perceived by the first vehicle through its own sensor;

[0053] a risk prediction generation module, configured to generate an overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle if the driving intention indicates that the target vehicle is allowed to overtake from behind;

[0054] The overtaking decision suggestion module is used to generate overtaking decision suggestion information of the target vehicle according to the overtaking collision risk prediction result, and the overtaking decision suggestion information is used to indicate whether overtaking is recommended or not recommended.

[0055] A third aspect of the present application provides a collaborative overtaking decision server, the server comprising: a processor and a memory:

[0056] The memory is used to store program code and transmit the program code to the processor;

[0057] The processor is used to execute the steps of the collaborative overtaking decision-making method provided in any implementation of the first aspect according to the instructions in the program code.

[0058] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program code, and the program code is used to execute the steps of the collaborative overtaking decision-making method provided in any implementation of the first aspect.

[0059] Compared with the prior art, this application has the following beneficial effects:

[0060] In the technical solution of the present application, the target vehicle intending to overtake first sends a first VIR message to the first vehicle located in front of the vehicle and traveling in the same lane as the vehicle, so that the first vehicle can obtain the overtaking intention of the target vehicle and respond to the perception data sharing request of the target vehicle. Then, the target vehicle receives the second VIR message and the perception sharing message returned by the first vehicle, and the second VIR message carries the driving intention of the first vehicle. If the driving intention indicates that the first vehicle allows the target vehicle to overtake from behind, the target vehicle generates the overtaking collision risk prediction result of the target vehicle based on the surrounding environment information, the dynamic parameters of the current first vehicle and the dynamic parameters of the current target vehicle. Finally, the target vehicle generates the overtaking decision suggestion information of the target vehicle based on the overtaking collision risk prediction result to assist in realizing the overtaking decision of the target vehicle. It can be seen that in the technical solution of the present application, the perceptible information range of the target vehicle is expanded by receiving the perception sharing message returned by the first vehicle, so that the overtaking decision made by the target vehicle is safer and more reasonable, ensuring the safe and efficient operation of road traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0062] Figure 1 A flow chart of a collaborative overtaking decision-making method provided in an embodiment of the present application;

[0063] Figure 2 A schematic diagram of an overtaking process scenario provided in an embodiment of the present application;

[0064] Figure 3 A schematic diagram of an overtaking scenario provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of another overtaking scenario provided in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of the structure of a collaborative overtaking decision-making device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] As described above, vehicles currently have limited perception data when overtaking, making it difficult to make reasonable and safe overtaking decisions, which can easily lead to road congestion or collision accidents, making it impossible to ensure the safe and efficient operation of road traffic.

[0068] After research, the inventor proposed a collaborative overtaking decision-making method, device, server and storage medium.

[0069] Before executing the overtaking decision, the target vehicle intending to overtake first sends a first VIR message to the first vehicle closest to the front to convey the overtaking intention and perception data sharing request of the vehicle. The purpose of the perception data sharing request is to expect the first vehicle to share the surrounding environment information that is beyond the perception range of the target vehicle with the vehicle to achieve a safe overtaking decision. The target vehicle then receives the second VIR message and the perception sharing message returned by the first vehicle. If the driving intention indicates that the target vehicle is allowed to overtake from behind, the target vehicle generates the overtaking collision risk prediction result of the target vehicle based on the surrounding environment information carried in the perception sharing message, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle. Finally, the target vehicle generates the overtaking decision recommendation information of the target vehicle based on the overtaking collision risk prediction result.

[0070] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0071] The collaborative overtaking decision method proposed in the technical solution of this application relies on the vehicle to everything (V2X) technology and is applied to the target vehicle that intends to overtake. Any target vehicle with the intention of overtaking can refer to the collaborative overtaking decision method provided by this application to perform the corresponding steps if it needs to overtake.

[0072] In order to achieve the transmission of overtaking intentions between vehicles and the sharing of perception data, this application expands on the basis of the original communication standard and adds fields with meanings such as "start of overtaking", "agree to the other party's overtaking", and "rejection of the other party's overtaking". The drivebehavior field shown in Table 1 means the type of driving behavior. This field originally did not include fields such as takeover start, takeover agree, or takeover disagree, and the type expansion of the drivebehavior field was achieved through design.

[0073] Certain expansion designs have also been made in the human-computer interaction aspect. For example, buttons or modules with the meanings of "send overtaking intention", "allow overtaking", "do not allow overtaking", etc. can be designed. Table 1 shows the newly added requirements in the protocol and human-computer interaction aspects based on the implementation of the technical solution of this application, as well as detailed descriptions of the relevant requirements. The technical implementation and scenario implementation of the technical solution of this application can be understood in conjunction with Table 1.

[0074] Table 1

[0075]

[0076]

[0077] In the implementation scenario of the technical solution of this application, there are multiple vehicles. In order to facilitate the distinction and clarify the description of this solution, the vehicle currently intending to overtake among the multiple vehicles is called the target vehicle, and the closest vehicle in the same lane and located in front of the target vehicle is called the first vehicle. Figure 1 , which is a flow chart of a collaborative overtaking decision method provided by an embodiment of the present application. The following takes the target vehicle intending to overtake as the executor to illustrate the process of the method and the implementation details of the relevant steps. Figure 1 As shown, the method comprises the following steps:

[0078] S101. Send a first VIR message to a first vehicle.

[0079] VIR (Vehicle Intention and Request) messages refer to information about a vehicle's driving intention and request sent to other vehicles or roadside units through V2X communication technology. As shown in Table 1, before the implementation of the present application, the VIR message can be centrally customized in advance to add fields in the protocol with the meanings of starting overtaking, agreeing to the other party's overtaking, and rejecting the other party's overtaking. Thus, the VIR message has the ability to convey the vehicle's overtaking intention and driving intention.

[0080] The target vehicle is a vehicle that intends to overtake, the first vehicle is located in front of the target vehicle, and the first vehicle and the target vehicle are in the same lane, and the overtaking intention indicates that the target vehicle intends to overtake the first vehicle in front and in the same lane. In an embodiment of the present application, the VIR message sent by the target vehicle intending to overtake the first vehicle is called the first VIR message, thereby distinguishing it from the VIR message sent back to the target vehicle by the first vehicle. It should be noted that the use of words such as "first" and "second" does not serve as a limitation on the order attribute of the words. The first VIR message carries the target vehicle's overtaking intention and a request to share perception data.

[0081] The overtaking intention of the target vehicle can be generated by the triggering operation of the "Send Overtaking Intention" button by the driver in the target vehicle. In one possible implementation, a "Send Overtaking Intention" button is designed in the vehicle. When the driver of the target vehicle is ready to overtake, he clicks the "Send Overtaking Intention" button, and the on-board unit (OBU) device operates accordingly and writes takeover start in the drivebehavior field of the first VIR message. The writing of this field represents the overtaking intention of the target vehicle. In addition, in other possible designs, the driver can also express his intention to overtake by turning the turn signal or touching other modules in the car screen. There is no limitation on the method of triggering the sending of the overtaking intention.

[0082] Perception data refers to information about other surrounding traffic participants (including but not limited to vehicles, pedestrians, etc.) or abnormal road conditions detected by perception devices (such as cameras, radars and other sensors). In this embodiment of the application, surrounding vehicles are used as the main perception data for overtaking decisions.

[0083] The perception data sharing request indicates that the target vehicle requests to share the data information detected by its perception device with the first vehicle to expand its own perception data range and thereby achieve a reasonable and safe overtaking decision.

[0084] S102. Receive a second VIR message and a perception sharing message returned by the first vehicle, where the second VIR message carries the driving intention of the first vehicle.

[0085] After the first vehicle receives the first VIR message from the target vehicle, it can respond to the perceived data sharing request by transmitting the data it perceives to the target vehicle through the message or the target vehicle's overtaking intention, thereby cooperating with the target vehicle to make an overtaking decision. To this end, the first vehicle sends a second VIR message to the target vehicle.

[0086] In an embodiment of the present application, the second VIR message carries the driving intention of the first vehicle, and the driving intention of the first vehicle may specifically indicate whether the first vehicle allows or does not allow the target vehicle to overtake from behind.

[0087] The Sensor Sharing Message (SSM) carries the surrounding environment information perceived by the first vehicle through its own sensors.

[0088] In the embodiment of the present application, the surrounding environment information includes but is not limited to information such as vehicles, pedestrians, obstacles, lane lines, and zebra crossings.

[0089] In a possible implementation, a "allow overtaking" button and a "not allow overtaking" button are designed in the vehicle. When the OBU device of the first vehicle receives the first VIR message sent by the target vehicle, the vehicle interface of the first vehicle pops up the "allow overtaking" button and the "not allow overtaking" button. The driver of the first vehicle can decide to click the "allow overtaking" button or the "not allow overtaking" button according to the actual situation and his own wishes.

[0090] When the driver of the first vehicle clicks the "allow overtaking" button, the OBU device of the first vehicle sends a second VIR message with the driving intention of allowing overtaking to the target vehicle.

[0091] When the driver of the first vehicle clicks the "overtaking not allowed" button, the OBU device of the first vehicle sends a second VIR message with the driving intention of not allowing overtaking to the target vehicle.

[0092] In a possible implementation, when the target vehicle has sent an overtaking intention but has not received a second VIR message carrying the driving intention sent by the first vehicle, the vehicle computer interface of the target vehicle displays "waiting for the front vehicle to reply".

[0093] S103: If the driving intention indicates that the target vehicle is allowed to overtake from the rear, an overtaking collision risk prediction result of the target vehicle is generated according to the surrounding environment information, the current dynamic parameters of the first vehicle, and the current dynamic parameters of the target vehicle.

[0094] If in the previous step, the driving intention indication in the second VIR message returned by the first vehicle received by the target vehicle allows the target vehicle to overtake from behind, then the overtaking collision risk prediction result of the target vehicle is generated based on the surrounding environment information perceived by the first vehicle through its own sensors carried in the received perception sharing message, the current dynamic parameters of the first vehicle and the dynamic parameters of the current target vehicle.

[0095] The dynamic parameters of a vehicle may include, but are not limited to, parameters with dynamic properties such as the vehicle's real-time changing position, speed, and acceleration.

[0096] Based on the surrounding environment information, the dynamic parameters of the current first vehicle and the dynamic parameters of the current target vehicle, the target vehicle generates an overtaking collision risk prediction result through calculation. The prediction result indicates whether there is a risk of collision with other vehicles during the overtaking process. In one possible implementation, the prediction result is displayed with a "yes" or "no" conclusion. In another possible implementation, the prediction result displays a numerical expression of the collision risk, such as a risk probability, a risk coefficient and other numerical values. In other possible implementations, the prediction result can also display specific information such as the predicted collision time and the predicted location of the collision.

[0097] S104: Generate overtaking decision suggestion information of the target vehicle according to the overtaking collision risk prediction result.

[0098] In this step, overtaking decision suggestion information is generated according to the overtaking collision risk prediction result generated in the previous step, and the overtaking decision suggestion information is used to indicate whether overtaking is recommended or not.

[0099] In an embodiment of the present application, the overtaking decision suggestion information is used to provide instructions and suggestions to the driver of the target vehicle, and the driver can decide whether to perform an overtaking operation according to the actual situation based on the overtaking decision suggestion information.

[0100] In an embodiment of the present application, the target vehicle sends the overtaking intention and the perception data sharing request to the first vehicle in front. The first vehicle transmits its own driving intention and the surrounding environment information perceived by itself to the target vehicle, thereby expanding the perceptible information range of the target vehicle. The target vehicle makes an overtaking decision based on the perception information with the expanded range, making the overtaking decision safer and more reasonable, thereby improving the safety and efficient operation of road traffic.

[0101] In an optional implementation of the technical solution of the present application, if the driving intention indicates that the target vehicle is allowed to overtake from behind, the process of calculating and generating the overtaking collision risk prediction result of the target vehicle in step S103 can first predict the shortest time for the rear vehicle to overtake the front vehicle based on the dynamic parameters of the two vehicles (the target vehicle and the first vehicle). Thereafter, based on the predicted shortest time, the surrounding environment information and the dynamic parameters of the current target vehicle, the overtaking collision risk prediction result of the target vehicle is further generated.

[0102] In an embodiment of the present application, the dynamic parameters of the current first vehicle may include the current position, speed and acceleration of the first vehicle, and the dynamic parameters of the current target vehicle may include the current position, speed and acceleration of the target vehicle.

[0103] The shortest time for the target vehicle to overtake the first vehicle from the rear of the first vehicle refers to the shortest time required for the target vehicle to complete approaching from the rear, overtaking and stably driving to the front of the first vehicle under the premise of ensuring safety.

[0104] In an optional implementation, the specific steps of predicting the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle are as follows:

[0105] According to the current speed v1 and acceleration a1 of the target vehicle, the formula for constructing the driving distance of the target vehicle is as follows:

[0106] D1=v1*T+0.5*a1T 2

[0107] Wherein, D1 represents the driving distance of the target vehicle, that is, the distance the target vehicle needs to travel to overtake the first vehicle from the rear of the first vehicle; T is the time parameter to be solved, that is, the shortest time for the target vehicle to overtake the first vehicle from the rear of the first vehicle.

[0108] According to the penalty coefficient and the travel distance D1 of the target vehicle, the longitudinal travel distance D1 (w) of the target vehicle is obtained.

[0109] In the embodiment of the present application, the longitudinal driving distance refers to the driving distance that is consistent with the direction of the lane in which the target vehicle is currently located.

[0110] Since the target vehicle has to change lanes when overtaking, a penalty coefficient needs to be added to the target vehicle's driving distance. The penalty coefficient is negatively correlated with the target vehicle's lateral distance of lane change, that is, the larger the lateral distance of the target vehicle's lane change, the smaller the penalty coefficient. If the target vehicle's lateral distance of lane change is smaller, the penalty coefficient is larger.

[0111] In the embodiment of the present application, the lane change lateral distance of the target vehicle refers to the distance that the target vehicle moves in the lateral direction (i.e., perpendicular to the lane direction) relative to the center line of its original lane during the lane change process.

[0112] The longitudinal travel distance D1(w) of the target vehicle is expressed by the formula:

[0113] D1(w)=α*D1

[0114] Where α represents the penalty coefficient.

[0115] Substitute the longitudinal travel distance D1(w) of the target vehicle into the following formula and solve for T:

[0116] D1(w)-D2=D+D 12

[0117] Where D2 represents the driving distance of the first vehicle, D represents the fixed overtaking distance that the target vehicle exceeds the first vehicle, and D 12 Indicates the relative distance between the current target vehicle and the first vehicle; the specific meaning and corresponding relationship of each parameter in the formula can be found in Figure 2 The schematic diagram of the overtaking process scenario is shown in the figure, where the dotted line represents the vehicle's driving trajectory.

[0118] The expression of D2 is:

[0119] D2=v2*T+0.5*a2T 2

[0120] Wherein, v2 represents the current speed of the first vehicle, and a2 represents the current acceleration of the first vehicle.

[0121] Considering practical problems, the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle should be consistent with the actual situation and expectations, that is, the value cannot be negative and the value should be the smallest value in the obtained solution. Therefore, if two positive real roots are obtained by solving T, the smallest positive real root is taken as the predicted shortest time. If two real roots, one positive and one negative, are obtained, the positive real root is taken as the predicted shortest time.

[0122] In the embodiment of the present application, if the above equation has no solution, it means that overtaking cannot be completed under the current circumstances.

[0123] For example, the current target vehicle speed v1 = 15m / s, the target vehicle acceleration a1 = 1m / s 2 The speed of the first vehicle v2 = 12 m / s, the acceleration of the first vehicle a2 = 0.5 m / s 2 The target vehicle exceeds the first vehicle by a fixed overtaking distance D = 30m, and the current relative distance between the target vehicle and the first vehicle D 12 = 20m. Penalty coefficient α = 0.8 (assuming that the lateral distance of lane change is small, the penalty coefficient is small).

[0124] Then the driving distance of the target vehicle is:

[0125] D1=v1*T+0.5*a1T 2 =15T+0.5T 2 .

[0126] The longitudinal travel distance of the target vehicle is:

[0127] D1(w)=α*D1=0.8*(15T+0.5T 2 )=12T+0.4T 2

[0128] The distance traveled by the first vehicle is:

[0129] D2=v2*T+0.5*a2T 2 =12T+0.25T 2

[0130] Substituting the longitudinal travel distance D1(w) of the target vehicle and the travel distance D2 of the first vehicle into the formula

[0131] D1(w)-D2=D+D 12

[0132] 12T+0.4T 2 -(12T+0.25T 2 )=30+20

[0133] T 2=1000 / 3

[0134] Solved or Considering that in actual situations, the value of time will not be negative, That is, the target vehicle needs at least 18.26 seconds to overtake the first vehicle from behind the first vehicle.

[0135] After predicting the shortest time for the target vehicle to overtake the first vehicle from the rear of the first vehicle, an overtaking collision risk prediction result of the target vehicle is generated according to the surrounding environment information, the dynamic parameters of the current target vehicle and the predicted shortest time.

[0136] In an optional implementation, the surrounding environment information includes: dynamic parameters of an interfering vehicle currently located in front of the target vehicle; the interfering vehicle is in the same lane as the first vehicle or in a left lane.

[0137] In the embodiment of the present application, the interfering vehicle refers to a vehicle that may affect the overtaking behavior of the target vehicle.

[0138] In an optional implementation, the steps of generating the overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the dynamic parameters of the current target vehicle and the predicted shortest time are as follows:

[0139] Step 1: predict the travel distance of the target vehicle and the travel distance of the interfering vehicle in the shortest time according to the dynamic parameters of the interfering vehicle, the dynamic parameters of the current first vehicle and the shortest time.

[0140] The dynamic parameters of the interfering vehicle include the position, speed and acceleration of the interfering vehicle, and the dynamic parameters of the current first vehicle include the position, speed and acceleration of the current first vehicle.

[0141] Combined with the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle predicted in the previous step, the travel distance of the target vehicle and the travel distance of the interfering vehicle in the shortest time can be predicted.

[0142] Step 2: Based on the relative distance between the target vehicle and the interfering vehicle before overtaking, the predicted travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time, the relative distance between the target vehicle and the interfering vehicle after the shortest time is predicted.

[0143] Step 3: predict the collision time between the target vehicle and the interfering vehicle based on the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time, the dynamic parameters of the interfering vehicle, the dynamic parameters of the current target vehicle and the shortest time.

[0144] Step 4: Generate an overtaking collision risk prediction result of the target vehicle based on the relative size of the predicted collision time and the collision time threshold.

[0145] In an optional implementation, the surrounding environment information specifically includes the dynamic parameters of the current second vehicle and the dynamic parameters of the current third vehicle; the second vehicle is an interfering vehicle located in the left lane of the first vehicle and closest to the target vehicle, and the third vehicle is located in the same lane as the first vehicle and closest to the target vehicle except the first vehicle. For an example of the relative position of each vehicle, see Figure 3 or Figure 4 .

[0146] In an optional implementation, the above step three includes:

[0147] Predicting a collision time between the target vehicle and the second vehicle based on the predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and the similarities and differences between the driving directions of the target vehicle and the second vehicle;

[0148] In the embodiment of the present application, the speed of the second vehicle after the shortest time is predicted based on the current speed and acceleration of the second vehicle, and the speed of the target vehicle after the shortest time is predicted based on the current speed and acceleration of the target vehicle;

[0149] The current speed of the second vehicle is v3, and the acceleration is a3. Then after the shortest time T, the speed of the second vehicle is v3 T The calculation formula is:

[0150] v3 T =v3+a3*T

[0151] The current target vehicle's speed is v1, and its acceleration is a1. Then, after the shortest time T, the speed of the second vehicle is v1. T The calculation formula is:

[0152] v1 T =v1+a1*T

[0153] In the embodiment of the present application, due to different actual road conditions, there are two situations for the driving directions of the target vehicle and the second vehicle: when the left lane of the road for planned overtaking is an oncoming lane, the driving directions of the target vehicle and the second vehicle are the same; when the left lane of the road for planned overtaking is a reverse lane, the driving directions of the target vehicle and the second vehicle are opposite.

[0154] In the embodiment of the present application, the prediction method of the collision time is different according to different situations.

[0155] Specifically, if the target vehicle and the second vehicle are traveling in the same direction, the overtaking scenario diagram is as follows: Figure 3 As shown, the speed difference between the target vehicle and the second vehicle predicted to have passed the shortest time is calculated, and the ratio of the relative distance between the target vehicle and the second vehicle predicted to have passed the shortest time to the speed difference is used as the predicted collision time between the target vehicle and the second vehicle;

[0156] In the embodiment of the present application, the expression for calculating the difference between the speeds of the target vehicle and the second vehicle after the shortest time is:

[0157] v1 T -v3 T =v1+a1*T-(v3+a3*T)

[0158] The distance traveled by the target vehicle in the shortest time is D1, and the distance traveled by the second vehicle in the shortest time is D3. The expression of D3 is:

[0159] D3=v3*T+0.5*a3T 2

[0160] The relative distance between the current target vehicle and the second vehicle is D 13 , then calculate the relative distance d between the target vehicle and the second vehicle after the shortest predicted time 13 The formula is:

[0161] d 13 =D 13+ D3-D1

[0162] Predicted collision time between the target vehicle and the second vehicle t 13 The expression is:

[0163]

[0164] If the target vehicle and the second vehicle are traveling in opposite directions, the overtaking scenario diagram is as follows: Figure 4 As shown, the predicted sum of the speeds of the target vehicle and the second vehicle after the shortest time is calculated, and the ratio of the predicted relative distance between the target vehicle and the second vehicle after the shortest time to the sum of the speeds is used as the predicted collision time between the target vehicle and the second vehicle.

[0165] In the embodiment of the present application, the expression for calculating the sum of the speeds of the target vehicle and the second vehicle after the shortest time is:

[0166] v1 T +v3 T=v1+a1*T+(v3+a3*T)

[0167] The distance traveled by the target vehicle in the shortest time is D1, and the distance traveled by the second vehicle in the shortest time is D3. The expression of D3 is:

[0168] D3=v3*T+0.5*a3T 2

[0169] The relative distance between the current target vehicle and the second vehicle is D 13 , then calculate the relative distance d between the target vehicle and the second vehicle after the shortest predicted time 13 The formula is:

[0170] d 13 =D 13 -D3-D1

[0171] Predicted collision time between the target vehicle and the second vehicle t 13 The expression is:

[0172]

[0173] Furthermore, predicting a collision time between the target vehicle and the third vehicle based on the predicted relative distance between the target vehicle and the third vehicle after the shortest time, the current speed and acceleration of the third vehicle, the current speed and acceleration of the target vehicle, and the shortest time;

[0174] In the embodiment of the present application, the current speed of the third vehicle is v4, and the acceleration is a4. Then, after the shortest time T, the speed of the third vehicle is v4. T The calculation formula is:

[0175] v4 T =v4+a4*T

[0176] The expression for calculating the difference between the speeds of the target vehicle and the third vehicle in the predicted shortest elapsed time is:

[0177] v1 T -v4 T =v1+a1*T-(v4+a4*T)

[0178] After the shortest time, the third vehicle's travel distance is D4, and the expression of D4 is:

[0179] D4=v4*T+0.5*a4T 2

[0180] The relative distance between the current target vehicle and the third vehicle is D 14, then calculate the relative distance d between the target vehicle and the third vehicle after the shortest predicted time 14 The formula is:

[0181] d 14 =D 14 +D4-D1

[0182] Predicted collision time between the target vehicle and the third vehicle t 14 The expression is:

[0183]

[0184] In an optional implementation, the above step 4 includes:

[0185] Combined with the two predicted collision times, determine whether both safety conditions are met. If both safety conditions are met, the overtaking collision risk prediction result of the target vehicle is generated as no collision risk; if any of the safety conditions cannot be met, the overtaking collision risk prediction result of the target vehicle is generated as there is a collision risk;

[0186] In the embodiment of the present application, the two safety conditions include:

[0187] The predicted collision time between the target vehicle and the second vehicle is greater than a first collision time threshold;

[0188] The predicted collision time between the target vehicle and the third vehicle is greater than a second collision time threshold;

[0189] In the embodiment of the present application, the collision time threshold is the lower limit of the time for operable safe risk avoidance.

[0190] The first collision time threshold is a collision time threshold set for the target vehicle and the interfering vehicle in the left lane;

[0191] The second collision time threshold is a collision time threshold set for the target vehicle and an interfering vehicle in the lane before overtaking.

[0192] In the embodiment of the present application, the first collision time threshold and the second collision time threshold may be the same or different, and are not specifically limited here.

[0193] In an exemplary implementation, the first collision time threshold is set to 3 seconds, and the second collision time threshold is also set to 3 seconds.

[0194] When the predicted collision time between the target vehicle and the second vehicle is t 13 >3s, and the predicted collision time between the target vehicle and the third vehicle is t 14 When >3s, it means that both safety conditions are met, and the overtaking collision risk prediction result of the target vehicle is generated as no collision risk.

[0195] When the predicted collision time between the target vehicle and the second vehicle is t 13 >3s, but the predicted collision time between the target vehicle and the third vehicle is t 14 When ≤3s, it indicates that the target vehicle may collide with the third vehicle when overtaking, and the overtaking collision risk prediction result of the target vehicle is generated as there is a collision risk.

[0196] When the predicted collision time between the target vehicle and the second vehicle is t 13 ≤3s, but when the predicted collision time between the target vehicle and the third vehicle t1>3s, it means that the target vehicle may collide with the second vehicle after overtaking, and the overtaking collision risk prediction result of the target vehicle is generated as there is a collision risk.

[0197] In an optional implementation, if the overtaking collision risk prediction result of the target vehicle is generated as no collision risk, a prompt suggesting overtaking is displayed on the vehicle computer interface of the target vehicle, or a voice prompt suggesting overtaking is played in the target vehicle;

[0198] If the overtaking collision risk prediction result of the target vehicle is that there is a collision risk, a prompt is displayed on the vehicle computer interface of the target vehicle to indicate that overtaking is not recommended, or a voice prompt is played inside the target vehicle to indicate that overtaking is not recommended.

[0199] When the driver of the target vehicle receives a prompt displayed on the vehicle interface or a voice prompt in the target vehicle, this interactive process indicates that the target vehicle has comprehensively analyzed and generated an overtaking decision suggestion based on the collaborative overtaking decision method proposed in the technical solution of this application, combined with the received perception sharing information of the first vehicle and multi-dimensional information such as the dynamic parameters of each vehicle.

[0200] After receiving the overtaking decision suggestion, the driver can conduct a secondary analysis of the overtaking decision suggestion based on his or her own driving experience, familiarity with road conditions, and judgment of the surrounding environment to ensure that the overtaking decision suggestion is in line with the current actual driving situation.

[0201] Optionally, after the overtaking operation is completed, the target vehicle will collect and analyze various data of the overtaking operation, including the actual overtaking time, distance, speed change, etc., to evaluate the effectiveness of the overtaking decision suggestion.

[0202] At the same time, the collaborative overtaking decision-making method proposed in the technical solution of this application can be optimized based on these data, so that the collaborative overtaking decision-making method can more accurately understand the driver's driving habits and needs and provide more personalized overtaking decision suggestions.

[0203] In an embodiment of the present application, the perceptible information range of the target vehicle is expanded by receiving the perception sharing message returned by the first vehicle. Based on the perception information after the expansion of the range and the current dynamic parameters of each vehicle, the collision risk prediction results of the interfering vehicle in the current driving lane and the interfering lane of the lane change required for overtaking are obtained. Overtaking decisions are made based on the collision risk prediction results, making overtaking decisions safer and more reasonable, thereby improving the safety and efficient operation of road traffic.

[0204] Based on the collaborative overtaking decision method provided in the aforementioned embodiment, the present application also provides a collaborative overtaking decision device accordingly. Figure 5 This is a schematic diagram of the structure of a collaborative overtaking decision-making device provided in an embodiment of the present application. Figure 5 As shown, the cooperative overtaking decision-making device includes:

[0205] The sending module 501 is used to send a first VIR message to the first vehicle; the first VIR message carries the overtaking intention of the target vehicle and the perception data sharing request; the first vehicle is located in front of the target vehicle, and the first vehicle and the target vehicle are in the same lane;

[0206] The receiving module 502 is used to receive the second VIR message and the perception sharing message returned by the first vehicle; the second VIR message carries the driving intention of the first vehicle, and the driving intention indicates whether the target vehicle is allowed or not to overtake from the rear; the perception sharing message carries the surrounding environment information perceived by the first vehicle through its own sensor;

[0207] The risk prediction generation module 503 is used to generate an overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle if the driving intention indicates that the target vehicle is allowed to overtake from the rear;

[0208] The overtaking decision suggestion module 504 is used to generate overtaking decision suggestion information of the target vehicle according to the overtaking collision risk prediction result, and the overtaking decision suggestion information is used to indicate whether overtaking is recommended or not recommended.

[0209] In an optional implementation, the risk prediction generation module 503 is specifically used to: if the driving intention indicates that the target vehicle is allowed to overtake from behind, predict the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle based on the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle;

[0210] Based on the surrounding environment information, the dynamic parameters of the current target vehicle and the predicted shortest time, the overtaking collision risk prediction result of the target vehicle is generated.

[0211] Optionally, the surrounding environment information includes: dynamic parameters of an interfering vehicle currently located in front of the target vehicle; the interfering vehicle is in the same lane or left lane of the first vehicle;

[0212] Based on the surrounding environment information, the current dynamic parameters of the first vehicle and the predicted shortest time, the overtaking collision risk prediction result of the target vehicle is generated, including:

[0213] According to the dynamic parameters of the interfering vehicle, the dynamic parameters of the current first vehicle and the shortest time, predict the travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time;

[0214] According to the relative distance between the target vehicle and the interfering vehicle before overtaking, the predicted travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time, the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time;

[0215] Predicting the collision time between the target vehicle and the interfering vehicle based on the predicted relative distance between the target vehicle and the interfering vehicle after the shortest elapsed time, the dynamic parameters of the interfering vehicle, the dynamic parameters of the current target vehicle, and the shortest time;

[0216] The overtaking collision risk prediction result of the target vehicle is generated according to the relative size of the predicted collision time and the collision time threshold.

[0217] Optionally, the surrounding environment information specifically includes the dynamic parameters of the current second vehicle and the dynamic parameters of the current third vehicle; the second vehicle is an interfering vehicle that is located in the left lane of the first vehicle and is closest to the target vehicle, and the third vehicle is an interfering vehicle that is located in the same lane as the first vehicle and is closest to the target vehicle except the first vehicle;

[0218] According to the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time, the dynamic parameters of the interfering vehicle, the dynamic parameters of the current target vehicle, and the shortest time, the collision time between the target vehicle and the interfering vehicle is predicted, including:

[0219] Predicting a collision time between the target vehicle and the second vehicle based on a predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and similarities and differences between the driving directions of the target vehicle and the second vehicle; and predicting a collision time between the target vehicle and the third vehicle based on a predicted relative distance between the target vehicle and the third vehicle after the shortest time, the current speed and acceleration of the third vehicle, the current speed and acceleration of the target vehicle, and the shortest time;

[0220] The overtaking collision risk prediction result of the target vehicle is generated according to the relative size of the predicted collision time and the collision time threshold, including:

[0221] Combined with the two predicted collision times, determine whether both safety conditions are met. If both safety conditions are met, the overtaking collision risk prediction result of the target vehicle is generated as no collision risk; if any of the safety conditions cannot be met, the overtaking collision risk prediction result of the target vehicle is generated as there is a collision risk;

[0222] Among them, two safety conditions include:

[0223] The predicted collision time between the target vehicle and the second vehicle is greater than a first collision time threshold; the first collision time threshold is a collision time threshold set for the target vehicle and the interfering vehicle in the left lane;

[0224] The predicted collision time between the target vehicle and the third vehicle is greater than a second collision time threshold; the second collision time threshold is a collision time threshold set for the target vehicle and an interfering vehicle in the lane before overtaking.

[0225] Optionally, predicting the collision time between the target vehicle and the second vehicle based on the predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and the similarities and differences between the driving directions of the target vehicle and the second vehicle includes:

[0226] Predicting the speed of the second vehicle in the shortest time based on the current speed and acceleration of the second vehicle, and predicting the speed of the target vehicle in the shortest time based on the current speed and acceleration of the target vehicle;

[0227] If the target vehicle and the second vehicle are traveling in the same direction, the speed difference between the target vehicle and the second vehicle is calculated, and the ratio of the relative distance between the target vehicle and the second vehicle and the speed difference is used as the predicted collision time between the target vehicle and the second vehicle.

[0228] If the target vehicle and the second vehicle are traveling in opposite directions, the sum of the speeds of the target vehicle and the second vehicle in the shortest predicted time is calculated, and the ratio of the relative distance between the target vehicle and the second vehicle in the shortest predicted time to the sum of the speeds is used as the predicted collision time between the target vehicle and the second vehicle.

[0229] In an optional implementation, the cooperative overtaking decision-making device further includes:

[0230] A decision suggestion information output module is used to display a prompt suggesting overtaking on the vehicle interface of the target vehicle, or to play a voice prompt suggesting overtaking in the target vehicle if the overtaking collision risk prediction result of the target vehicle is no collision risk;

[0231] If the overtaking collision risk prediction result of the target vehicle is that there is a collision risk, a prompt is displayed on the vehicle computer interface of the target vehicle to indicate that overtaking is not recommended, or a voice prompt is played inside the target vehicle to indicate that overtaking is not recommended.

[0232] Optionally, predicting the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle according to the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle includes:

[0233] According to the current speed v1 and acceleration a1 of the target vehicle, the formula for constructing the driving distance of the target vehicle is as follows:

[0234] D1=v1*T+0.5*a1T 2

[0235] In the formula, D1 represents the driving distance of the target vehicle, and T is the time parameter to be solved;

[0236] According to the penalty coefficient and the target vehicle's travel distance D1, the longitudinal travel distance D1(w) of the target vehicle is obtained; the penalty coefficient is negatively correlated with the target vehicle's lane change lateral distance; D1(w) is expressed by the formula:

[0237] D1(w)=α*D1

[0238] Where α represents the penalty coefficient;

[0239] Substitute D1(w) into the following formula and solve for T:

[0240] D1(w)-D2=D+D 12

[0241] Where D2 represents the driving distance of the first vehicle, D represents the fixed overtaking distance that the target vehicle exceeds the first vehicle, and D 12 represents the relative distance between the current target vehicle and the first vehicle; the expression of D2 is:

[0242] D2=v2*T+0.5*a2T 2

[0243] Wherein, v2 represents the current speed of the first vehicle, and a2 represents the current acceleration of the first vehicle;

[0244] If two positive real roots are obtained by solving T, the smallest positive real root is taken as the predicted shortest time. If two real roots, one positive and one negative, are obtained, the positive real root is taken as the predicted shortest time.

[0245] In addition, an embodiment of the present application further provides a collaborative overtaking decision server, and the collaborative overtaking decision server includes a processor and a memory.

[0246] The memory is used to store the program code and transmit the program code to the processor;

[0247] The processor is used to execute the steps of the cooperative overtaking decision-making method introduced in any of the above method embodiments according to the instructions in the program code.

[0248] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the program is executed by a processor, the collaborative overtaking decision-making method described in any of the method embodiments is implemented.

[0249] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely schematic, in which the unit described as a separate component may or may not be physically separated, and the component prompted as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0250] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A collaborative overtaking decision method, characterized in that: Applied to a target vehicle intending to overtake, the method comprises: Sending a first VIR message to a first vehicle; the first VIR message carries the overtaking intention of the target vehicle and a perception data sharing request; the first vehicle is located in front of the target vehicle, and the first vehicle and the target vehicle are in the same lane; receiving a second VIR message and a perception sharing message returned by the first vehicle; the second VIR message carries the driving intention of the first vehicle, and the driving intention indicates whether the target vehicle is allowed or not allowed to overtake from behind; the perception sharing message carries the surrounding environment information perceived by the first vehicle through its own sensor; If the driving intention indicates that the target vehicle is allowed to overtake from behind, generating an overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle; The overtaking decision suggestion information of the target vehicle is generated according to the overtaking collision risk prediction result, and the overtaking decision suggestion information is used to indicate whether overtaking is recommended or not recommended.

2. The method according to claim 1, characterized in that The generating, according to the surrounding environment information, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle, a prediction result of the overtaking collision risk of the target vehicle comprises: Predicting the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle based on the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle; The overtaking collision risk prediction result of the target vehicle is generated according to the surrounding environment information, the current dynamic parameters of the target vehicle and the predicted shortest time.

3. The method according to claim 2, characterized in that The surrounding environment information includes: dynamic parameters of an interfering vehicle currently located in front of the target vehicle; the interfering vehicle is located in the same lane or left lane of the first vehicle; The generating, according to the surrounding environment information, the current dynamic parameters of the first vehicle and the predicted shortest time, a prediction result of the overtaking collision risk of the target vehicle comprises: Predicting the travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time according to the dynamic parameters of the interfering vehicle, the current dynamic parameters of the first vehicle and the shortest time; According to the relative distance between the target vehicle and the interfering vehicle before overtaking, the predicted travel distance of the target vehicle and the travel distance of the interfering vehicle after the shortest time, the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time; Predicting the collision time between the target vehicle and the interfering vehicle based on the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time, the dynamic parameters of the interfering vehicle, the current dynamic parameters of the target vehicle, and the shortest time; The overtaking collision risk prediction result of the target vehicle is generated according to the relative size of the predicted collision time and the collision time threshold.

4. The method according to claim 3, characterized in that The surrounding environment information specifically includes the dynamic parameters of the current second vehicle and the dynamic parameters of the current third vehicle; the second vehicle is an interfering vehicle located in the left lane of the first vehicle and closest to the target vehicle, and the third vehicle is located in the same lane as the first vehicle and closest to the target vehicle except the first vehicle; The method predicts the collision time between the target vehicle and the interfering vehicle according to the predicted relative distance between the target vehicle and the interfering vehicle after the shortest time, the dynamic parameters of the interfering vehicle, the current dynamic parameters of the target vehicle, and the shortest time, including: Predicting a collision time between the target vehicle and the second vehicle based on the predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and the similarities and differences between the driving directions of the target vehicle and the second vehicle; and predicting a collision time between the target vehicle and the third vehicle based on the predicted relative distance between the target vehicle and the third vehicle after the shortest time, the current speed and acceleration of the third vehicle, the current speed and acceleration of the target vehicle, and the shortest time; The generating the overtaking collision risk prediction result of the target vehicle according to the relative size of the predicted collision time and the collision time threshold comprises: Combined with the two predicted collision times, it is determined whether both safety conditions are met. If both safety conditions are met, a prediction result of the overtaking collision risk of the target vehicle is generated as no collision risk; if any of the safety conditions cannot be met, a prediction result of the overtaking collision risk of the target vehicle is generated as there is a collision risk; The two safety conditions include: The predicted collision time between the target vehicle and the second vehicle is greater than a first collision time threshold; the first collision time threshold is a collision time threshold set for the target vehicle and an interfering vehicle in a left lane; The predicted collision time between the target vehicle and the third vehicle is greater than a second collision time threshold; the second collision time threshold is a collision time threshold set for the target vehicle and an interfering vehicle in the lane before overtaking.

5. The method according to claim 4, characterized in that The method predicts the collision time between the target vehicle and the second vehicle based on the predicted relative distance between the target vehicle and the second vehicle after the shortest time, the current speed and acceleration of the second vehicle, the current speed and acceleration of the target vehicle, the shortest time, and the similarities and differences between the driving directions of the target vehicle and the second vehicle, including: Predicting the speed of the second vehicle after the shortest time based on the current speed and acceleration of the second vehicle, and predicting the speed of the target vehicle after the shortest time based on the current speed and acceleration of the target vehicle; If the target vehicle and the second vehicle have the same driving direction, then the predicted speed difference between the target vehicle and the second vehicle after the shortest time is calculated, and the ratio of the predicted relative distance between the target vehicle and the second vehicle after the shortest time to the speed difference is used as the predicted collision time between the target vehicle and the second vehicle; If the target vehicle and the second vehicle are traveling in opposite directions, the predicted sum of the speeds of the target vehicle and the second vehicle after the shortest time is calculated, and the ratio of the predicted relative distance between the target vehicle and the second vehicle after the shortest time to the sum of the speeds is used as the predicted collision time between the target vehicle and the second vehicle.

6. The method according to claim 4, characterized in that The method further comprises: If the overtaking collision risk prediction result of the target vehicle is generated as no collision risk, a prompt suggesting overtaking is displayed on the vehicle computer interface of the target vehicle, or a voice prompt suggesting overtaking is played in the target vehicle; If the overtaking collision risk prediction result of the target vehicle is that there is a collision risk, a prompt is given on the vehicle computer interface of the target vehicle that overtaking is not recommended, or a voice prompt is played in the target vehicle that overtaking is not recommended.

7. The method according to claim 2, characterized in that The predicting, based on the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle, the shortest time for the target vehicle to overtake the first vehicle from behind the first vehicle comprises: According to the current speed v1 and acceleration a1 of the target vehicle, the travel distance formula of the target vehicle is constructed as follows: D1=v1*T+0.5*a1T 2 Where D1 represents the driving distance of the target vehicle, and T is the time parameter to be solved; According to the penalty coefficient and the travel distance D1 of the target vehicle, the longitudinal travel distance D1(w) of the target vehicle is obtained; the penalty coefficient is negatively correlated with the lane change lateral distance of the target vehicle; the D1(w) is expressed by the formula: D1(w)=α*D1 Wherein α represents the penalty coefficient; Substituting D1(w) into the following formula, solve for T: D1(w)-D2=D+D 12 Where D2 represents the driving distance of the first vehicle, D represents the fixed overtaking distance reached by the target vehicle over the first vehicle, and D 12 represents the relative distance between the current target vehicle and the first vehicle; the expression of D2 is: <h2 style=";text-align:left;direction:ltr">D2 = v2 * T + 0.5 * a2 T<h2 style=";text-align:left;direction:ltr"> 2 Wherein, v2 represents the current speed of the first vehicle, and a2 represents the current acceleration of the first vehicle; If two positive real roots are obtained by solving T, the smallest positive real root is taken as the predicted shortest time. If two real roots, one positive and one negative, are obtained, the positive real root is taken as the predicted shortest time.

8. A collaborative overtaking decision-making device, characterized in that: The device comprises: A sending module, configured to send a first VIR message to a first vehicle; the first VIR message carries the overtaking intention of the target vehicle and a perception data sharing request; the first vehicle is located in front of the target vehicle, and the first vehicle and the target vehicle are in the same lane; A receiving module, configured to receive a second VIR message and a perception sharing message returned by the first vehicle; the second VIR message carries the driving intention of the first vehicle, and the driving intention indicates whether the target vehicle is allowed or not allowed to overtake from behind; the perception sharing message carries the surrounding environment information perceived by the first vehicle through its own sensor; a risk prediction generation module, configured to generate an overtaking collision risk prediction result of the target vehicle according to the surrounding environment information, the current dynamic parameters of the first vehicle and the current dynamic parameters of the target vehicle if the driving intention indicates that the target vehicle is allowed to overtake from behind; The overtaking decision suggestion module is used to generate overtaking decision suggestion information of the target vehicle according to the overtaking collision risk prediction result, and the overtaking decision suggestion information is used to indicate whether overtaking is recommended or not recommended.

9. A collaborative overtaking decision server, characterized in that: include: Processor and memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of the cooperative overtaking decision-making method according to any one of claims 1 to 7 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program codes, and the program codes are used to execute the steps of the cooperative overtaking decision-making method according to any one of claims 1 to 7.

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