Lane changing overtaking collision early warning control method and device, electronic equipment and vehicle

Abstract

The invention discloses a lane changing overtaking collision early warning control method and device, electronic equipment and a vehicle. The method comprises the steps that driving data of a first vehicle, a second vehicle and a third vehicle on a target road and road condition data of the target road are acquired; wherein the second vehicle represents vehicles in the same lane in front of the first vehicle, and the third vehicle represents vehicles in an opposite lane in front of the first vehicle; determining whether a preset condition of the first vehicle is limited based on the driving data and the road condition data; and when the preset condition is limited and the first vehicle has the overtaking tendency, early warning information is sent to the first vehicle. According to the invention, whether the driving environment of the first vehicle is safe can be accurately judged, especially in an overtaking scene. Once it is detected that the preset conditions are limited (for example, the safe distance is insufficient, and vehicles come from the opposite lane), early warning information is sent to the first vehicle in time, traffic accidents are effectively avoided, the overall safety of road driving is improved, and the method can be widely applied to the technical field of data processing.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a lane-changing overtaking collision warning control method, device, electronic equipment and vehicle. Background Art

[0002] With the continuous increase in the number of cars, road traffic congestion and frequent accidents have become urgent problems to be solved. Traditional driver assistance systems mainly rely on on-board sensors (such as radars and cameras) to monitor the surrounding environment, but their perception range is limited and it is difficult to fully consider changes in road conditions and the dynamic behavior of other vehicles, especially in complex and changeable overtaking scenarios. Summary of the invention

[0003] The present invention aims to solve the problem of related technical limitations at least to a certain extent. To this end, the present invention proposes a lane-changing overtaking collision warning control method, device, electronic equipment and vehicle, which can accurately realize lane-changing overtaking collision warning control.

[0004] On the one hand, an embodiment of the present invention provides a lane-changing overtaking collision warning control method, comprising:

[0005] Acquire driving data of the first vehicle, the second vehicle, and the third vehicle on the target road and road condition data of the target road;

[0006] The second vehicle represents a vehicle in the same lane ahead of the first vehicle, and the third vehicle represents a vehicle in the opposite lane ahead of the first vehicle;

[0007] determining whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data;

[0008] When the preset condition is limited and the first vehicle has a tendency to overtake, a warning message is sent to the first vehicle.

[0009] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; the method further includes the following steps:

[0010] Based on the vehicle position and driving direction of the first vehicle, determining a vehicle within a first range in front of the first vehicle as a second vehicle;

[0011] The first vehicle and the second vehicle travel in the same lane, and travel in the same direction as the second vehicle.

[0012] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; the method further includes the following steps:

[0013] Based on the vehicle position and driving direction of the first vehicle, a vehicle in a second range ahead of the first vehicle is regarded as a third vehicle;

[0014] The driving lanes of the first vehicle and the third vehicle are opposite to each other, and the driving directions of the first vehicle and the third vehicle are opposite to each other.

[0015] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; obtaining driving data of the first vehicle, the second vehicle, and the third vehicle on the target road and road condition data of the target road includes the following steps:

[0016] Acquiring driving data of a first vehicle;

[0017] Based on the vehicle position and driving direction of the first vehicle, reading the driving data of all vehicles in a third range in front of the first vehicle through the vehicle network;

[0018] Comparing the driving data of the first vehicle with the driving data of each vehicle within the third range in sequence to obtain the driving data of the second vehicle and the third vehicle;

[0019] The second vehicle is traveling in the same lane as the first vehicle, and has the same driving direction as the first vehicle; the third vehicle is traveling in an opposite lane to the first vehicle, and has a driving direction opposite to the first vehicle;

[0020] The target road is located based on the vehicle position of at least one of the first vehicle, the second vehicle and the third vehicle, and then the road condition data of the target road is obtained.

[0021] In some embodiments, the method further comprises the following steps:

[0022] Determine whether the target road is a two-way single lane based on the road condition data, and when the target road is not a two-way single lane, stop the lane changing overtaking collision warning control for the first vehicle.

[0023] In some embodiments, the driving data includes driving speed, and the road condition data includes lane speed limits of lanes where the first vehicle and the second vehicle are located; determining whether the preset condition of the first vehicle is restricted based on the driving data and the road condition data includes the following steps:

[0024] It is determined whether the first vehicle is subject to a speed limit based on the lane speed limit and the travel speeds of the first vehicle and the second vehicle.

[0025] In some embodiments, determining whether the first vehicle is subject to a speed limit based on the lane speed limit and the driving speeds of the first vehicle and the second vehicle includes the following steps:

[0026] Obtaining a first vehicle speed difference between a lane speed limit and a driving speed of a second vehicle;

[0027] When the first vehicle speed difference is greater than a first differential threshold, obtaining a second vehicle speed difference between a driving speed of the first vehicle and a driving speed of the second vehicle;

[0028] When the second vehicle speed difference is greater than a second differential threshold, it is determined that the first vehicle is subject to a speed limit.

[0029] In some embodiments, the driving data includes a vehicle position; and determining whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data comprises the following steps:

[0030] Based on the road condition data of the target road corresponding to the road section at the position of the first vehicle, it is determined whether the overtaking condition of the first vehicle is restricted in combination with the position of the second vehicle.

[0031] In some embodiments, the road condition data includes road condition information and its corresponding road condition parameters; when the road condition information represents a curve, the road condition parameters include the curvature corresponding to the curve; based on the road condition data of the target road corresponding to the road section at the position of the first vehicle, combined with the position of the second vehicle, determining whether the overtaking condition of the first vehicle is restricted includes the following steps:

[0032] It is determined whether the forward overtaking field of view of the first vehicle is limited based on the curvature and the position of the second vehicle.

[0033] In some embodiments, the road condition data includes road condition information and its corresponding road condition parameters; when the road condition information represents a ramp, the road condition parameters include the slope and the top position of the ramp corresponding to the ramp; based on the road condition data of the target road corresponding to the road section at the position of the first vehicle, combined with the position of the second vehicle, determining whether the overtaking condition of the first vehicle is restricted includes the following steps:

[0034] Obtaining a distance difference between the first vehicle and the top of the ramp based on the position of the first vehicle and the top position of the ramp;

[0035] Determine whether the first vehicle's forward overtaking vision is limited based on the slope, the second vehicle's position and the distance difference.

[0036] In some embodiments, the method further comprises the following steps:

[0037] A driving intention of the first vehicle is obtained, and based on the driving intention, it is determined whether the first vehicle has an overtaking tendency.

[0038] In some embodiments, the driving data includes a driving speed; the driving intention includes a turn signal or a steering wheel angle; and determining whether the first vehicle has an overtaking tendency based on the driving intention includes the following steps:

[0039] When the first vehicle turns on the turn signal to turn to the opposite lane where the third vehicle is located, it is determined that the first vehicle has an overtaking tendency;

[0040] Alternatively, when the first vehicle has a steering wheel angle that deviates toward the opposite lane where the third vehicle is located, the estimated time for the first vehicle to reach the opposite lane where the third vehicle is located is determined based on the steering wheel angle and the driving speed of the first vehicle; when the estimated time is less than a preset time threshold, it is determined that the first vehicle has a tendency to overtake.

[0041] In some embodiments, when the preset condition is limited and the first vehicle has a tendency to overtake, sending a warning message to the first vehicle includes the following steps:

[0042] When the preset conditions are limited and the first vehicle has a tendency to overtake, determining whether the first vehicle has redundant overtaking conditions based on the driving data of the first vehicle, the second vehicle and the third vehicle and the road condition data;

[0043] When the first vehicle has an overtaking condition, an overtaking warning message is sent to the first vehicle; otherwise, a collision warning message is sent to the first vehicle.

[0044] In some embodiments, the driving data includes vehicle position and driving speed, and the road condition data includes a road speed limit of a target road; based on the driving data of the first vehicle, the second vehicle, and the third vehicle, combined with the road condition data, determining whether the first vehicle has an overtaking redundant condition includes the following steps:

[0045] Determining a target speed based on the travel speed of the second vehicle combined with a preset increase percentage; the target speed is less than the road speed limit;

[0046] Based on the vehicle positions and driving speeds of the first vehicle, the second vehicle, and the third vehicle, the shortest time for the first vehicle to achieve collision-free overtaking relative to the second vehicle and the third vehicle is obtained in combination with the target speed processing; the shortest time represents the time for the speed of the first vehicle to accelerate from its corresponding driving speed to the target speed;

[0047] When the shortest time is greater than a preset time threshold, it is determined that the first vehicle has an overtaking redundant condition; otherwise, it is determined that the first vehicle does not have an overtaking redundant condition.

[0048] On the other hand, an embodiment of the present invention provides a lane-changing overtaking collision warning control device, comprising:

[0049] The first module is used to obtain driving data of the first vehicle, the second vehicle and the third vehicle on the target road and the road condition data of the target road;

[0050] The second vehicle represents a vehicle in the same lane ahead of the first vehicle, and the third vehicle represents a vehicle in the opposite lane ahead of the first vehicle;

[0051] A second module is used to determine whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data;

[0052] The third module is used to send a warning message to the first vehicle when the preset condition is limited and the first vehicle has a tendency to overtake.

[0053] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; and the device further includes:

[0054] A fourth module is used to determine a vehicle in a first range in front of the first vehicle as a second vehicle based on the vehicle position and driving direction of the first vehicle;

[0055] The first vehicle and the second vehicle travel in the same lane, and travel in the same direction as the second vehicle.

[0056] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; and the device further includes:

[0057] A fifth module, configured to, based on the vehicle position and driving direction of the first vehicle, identify a vehicle in a second range in front of the first vehicle as a third vehicle;

[0058] The driving lanes of the first vehicle and the third vehicle are opposite to each other, and the driving directions of the first vehicle and the third vehicle are opposite to each other.

[0059] In some embodiments, the apparatus further comprises:

[0060] The sixth module is used to determine whether the target road is a two-way single lane based on the road condition data, and when the target road is not a two-way single lane, stop the lane change overtaking collision warning control of the first vehicle.

[0061] In some embodiments, the apparatus further comprises:

[0062] The seventh module is used to obtain the driving intention of the first vehicle and determine whether the first vehicle has an overtaking tendency based on the driving intention.

[0063] On the other hand, an embodiment of the present invention provides an electronic device, including: a processor and a memory; the memory is used to store programs; the processor executes the program to implement the above-mentioned lane change overtaking collision warning control method.

[0064] On the other hand, an embodiment of the present invention provides a computer storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to implement the above-mentioned lane change overtaking collision warning control method.

[0065] On the other hand, an embodiment of the present invention provides a vehicle, which includes the above-mentioned lane-changing overtaking collision warning control device or the above-mentioned electronic device.

[0066] The embodiment of the present invention obtains the driving data of the first vehicle, the second vehicle and the third vehicle on the target road and the road condition data of the target road; wherein the second vehicle represents the vehicle in the same lane in front of the first vehicle, and the third vehicle represents the vehicle in the opposite lane in front of the first vehicle; based on the driving data and the road condition data, it is determined whether the preset condition of the first vehicle is restricted; when the preset condition is restricted and the first vehicle has a tendency to overtake, a warning message is sent to the first vehicle. The present invention can accurately determine whether the driving environment of the first vehicle is safe, especially in the overtaking scenario. Once it is detected that the preset condition is restricted (such as insufficient safety distance, oncoming vehicles in the opposite lane, etc.), a warning message is sent to the first vehicle in a timely manner to effectively avoid the occurrence of traffic accidents and improve the overall safety of road driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0068] Figure 1 This is a schematic diagram of an implementation environment for lane-changing overtaking collision warning control provided by an embodiment of the present invention;

[0069] Figure 2 It is a flow chart of a lane-changing overtaking collision warning control method provided by an embodiment of the present invention;

[0070] Figure 3 A schematic diagram of the expansion process of step S100 provided in an embodiment of the present invention;

[0071] Figure 4 A schematic diagram of a process flow for determining whether a first vehicle is subject to a speed limit provided by an embodiment of the present invention;

[0072] Figure 5 A schematic diagram of a flow chart for determining whether the overtaking condition of a first vehicle is restricted according to an embodiment of the present invention;

[0073] Figure 6 A schematic diagram of the expanded flow of step S300 provided in an embodiment of the present invention;

[0074] Figure 7 A schematic diagram of a control logic architecture of a lane-changing overtaking collision warning control provided by an embodiment of the present invention;

[0075] Figure 8 A schematic diagram of an example of the overall process principle of the lane-changing overtaking collision warning control method provided by an embodiment of the present invention;

[0076] Fig. 9 A schematic structural diagram of a lane-changing overtaking collision warning control device provided by an embodiment of the present invention;

[0077] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0078] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0079] It should be noted that, although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first / S100", "second / S200", etc. in the specification, claims and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0080] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0081] It is understandable that the lane-changing overtaking collision warning control method provided in the embodiment of the present invention can be applied to any computer device with data processing and computing capabilities, and this computer device can be various types of terminals or servers. When the computer device in the embodiment is a server, the server is an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. Server. In some embodiments, the terminal is a smart phone, a tablet computer, a laptop computer, and a desktop computer, but is not limited to this.

[0082] like Figure 1 FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the invention. Figure 1 The implementation environment includes at least one terminal 102 and a server 101. The terminal 102 and the server 101 can be connected to a network wirelessly or wired to complete data transmission and exchange.

[0083] Server 101 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), as well as big data and artificial intelligence platforms.

[0084] In addition, the server 101 can also be a node server in the blockchain network. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm.

[0085] The terminal 102 may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc. The terminal 102 may also be a vehicle-mounted terminal of various device types described above, but is not limited thereto. The terminal 102 and the server 101 may be directly or indirectly connected via wired or wireless communication, which is not limited in this embodiment of the present invention.

[0086] Based on the example Figure 1 In the implementation environment shown, an embodiment of the present invention provides a lane changing and overtaking collision warning control method. The following is explained using the lane changing and overtaking collision warning control method applied in the server 101 as an example. It can be understood that the lane changing and overtaking collision warning control method can also be applied in the terminal 102.

[0087] Reference Figure 2 , Figure 2 This is a flowchart of a lane-changing overtaking collision warning control method applied to a server provided in an embodiment of the present invention. The execution subject of the lane-changing overtaking collision warning control method can be any of the aforementioned computer devices (including a server or a terminal). Figure 2 , the method may include the following steps:

[0088] S100, obtaining driving data of a first vehicle, a second vehicle, and a third vehicle on a target road and road condition data of the target road;

[0089] The second vehicle represents a vehicle in the same lane ahead of the first vehicle, and the third vehicle represents a vehicle in the opposite lane ahead of the first vehicle;

[0090] Optionally, the driving data includes vehicle position, driving lane and driving direction; in some embodiments, the method may further include the following steps: based on the vehicle position and driving direction of the first vehicle, determining a vehicle within a first range in front of the first vehicle as a second vehicle; wherein the first vehicle and the second vehicle have the same driving lane, and the first vehicle and the second vehicle have the same driving direction.

[0091] Optionally, the driving data includes vehicle position, driving lane and driving direction; in some embodiments, the method may further include the following steps: based on the vehicle position and driving direction of the first vehicle, a vehicle within a second range in front of the first vehicle is regarded as a third vehicle; wherein the first vehicle and the third vehicle are in opposite driving lanes, and the first vehicle and the third vehicle have opposite driving directions.

[0092] It should be noted that the driving data includes the vehicle position, driving lane and driving direction; in some embodiments, such as Figure 3 As shown, step S100 may include the following steps: S101, obtaining the driving data of the first vehicle; S102, based on the vehicle position and driving direction of the first vehicle, reading the driving data of all vehicles in the third range in front of the first vehicle through the vehicle network; S103, comparing the driving data of the first vehicle with the driving data of each vehicle in the third range in turn, and obtaining the driving data of the second vehicle and the third vehicle; wherein the second vehicle and the first vehicle have the same driving lane, and the second vehicle and the first vehicle have the same driving direction; the third vehicle and the first vehicle have opposite driving lanes, and the third vehicle and the first vehicle have opposite driving directions; S104, locating the target road based on the vehicle position of at least one of the first vehicle, the second vehicle and the third vehicle, and then obtaining the road condition data of the target road. wherein the third range is greater than or equal to the first range and the second range.

[0093] For example, in some specific implementations, it is assumed that the first vehicle is traveling on a two-way single lane, and the lane is divided into two directions, with one lane in each direction. The first vehicle (i.e., the vehicle itself that is detected and controlled) is located in the lane from east to west and plans to overtake. The vehicle position of the first vehicle: through GPS positioning, the precise position coordinates (such as longitude and latitude) of the first vehicle are determined; driving lane: the first vehicle is currently located in the lane from east to west; driving direction: from east to west. Based on the vehicle position and driving direction of the first vehicle, the driving data of all vehicles in the third range ahead are read through the Internet of Vehicles: Third range setting: according to the driving speed and road conditions of the first vehicle, a reasonable front monitoring range is set, such as 500 meters. This range (third range) is greater than or equal to the direct front vehicle range (first range, such as within 100 meters) and the potential impact range of the opposite lane (second range, such as set according to the intersection distance or line of sight range) that the first vehicle needs to consider for overtaking. Read data: through the Internet of Vehicles technology, the driving data of all vehicles in this range are obtained, including vehicle position, driving lane and driving direction. The driving data of the first vehicle is compared with the driving data of each vehicle in the third range in turn to obtain the driving data of the second vehicle and the third vehicle: Comparison process: Traverse the driving data of all vehicles in the third range to find the second vehicle (i.e., the front vehicle) that is in the same lane and in the same direction as the first vehicle, and the third vehicle that is driving in the opposite lane and may pose a safety hazard to overtaking. Determine the second vehicle and the third vehicle: For example, identify the second vehicle as a car 50 meters ahead in the same lane, and the third vehicle as a truck on the opposite lane, about 20 meters laterally away from the first vehicle, and heading towards the intersection. Locate the target road based on the vehicle position of at least one of the first, second, and third vehicles, and then obtain the road condition data of the target road: Determine the target road: Through the location information of the first, second, and third vehicles, the system can accurately identify the road where they are located, i.e., the target road. Obtain road condition data: Further obtain the road condition data of the target road from the Internet of Vehicles platform or traffic management system, including but not limited to road / lane speed limit, curve or ramp and other road condition information and its corresponding road condition parameters.

[0094] Through the above steps, the driving data of the first vehicle, the second vehicle (the front vehicle) and the third vehicle (the oncoming vehicle), as well as the road condition data of the target road can be fully and accurately obtained. These data provide a solid foundation for the subsequent preset condition determination and early warning information transmission, and effectively ensure the safety of the first vehicle during the overtaking process.

[0095] Optionally, in some embodiments, the method may further include the following steps: determining whether the target road is a two-way single lane based on the road condition data, and when the target road is not a two-way single lane, stopping the lane change overtaking collision warning control of the first vehicle.

[0096] For example, in some specific implementations, in this step, special attention is paid to the information about the road structure in the road condition data. By analyzing these data, it is possible to determine whether the current section of the target road is a two-way single lane.

[0097] For example, if it is detected that the current road section is actually a two-way four-lane section, rather than a two-way single lane, a decision can be made whether to perform warning control: According to the preset logic, if the target road is a two-way single lane, the risk of lane change and overtaking will increase significantly because the avoidance space for oncoming vehicles is limited. In this case, the lane change and overtaking collision warning control will be activated to ensure the safety of the first vehicle. However, in some scenarios, since it is determined that the target road is currently a two-way multi-lane section, the risk of lane change and overtaking is relatively low. Therefore, it can be decided to stop the lane change and overtaking collision warning control for the first vehicle to avoid unnecessary interference and false alarms.

[0098] With this additional step, the warning strategy can be adjusted more intelligently according to the actual type of the target road. On two-way single-lane roads, warning control will be strengthened to ensure safety; on two-way multi-lane roads, unnecessary warnings will be reduced accordingly, thereby improving driving experience and efficiency. This flexible adjustment mechanism helps reduce false alarms and interference, while ensuring that warnings can be issued in a timely manner when the first vehicle faces real risks.

[0099] S200, determining whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data;

[0100] It should be noted that the driving data includes the driving speed, and the road condition data includes the lane speed limit of the lanes where the first vehicle and the second vehicle are located; in some embodiments, step S200 may include the following steps: determining whether the first vehicle is subject to a speed limit based on the lane speed limit and the driving speeds of the first vehicle and the second vehicle.

[0101] Further, in some embodiments, Figure 4 As shown, determining whether the first vehicle is subject to a speed limit based on the lane speed limit and the driving speeds of the first vehicle and the second vehicle may include the following steps: S211, obtaining a first speed difference between the lane speed limit and the driving speed of the second vehicle; S212, when the first speed difference is greater than a first differential threshold, obtaining a second speed difference between the driving speed of the first vehicle and the driving speed of the second vehicle; S213, when the second speed difference is greater than a second differential threshold, determining that the first vehicle is subject to a speed limit.

[0102] For example, in some specific implementations, assume that a first vehicle is traveling on a road with a lane speed limit of 120 km / h. The first vehicle is currently traveling at a speed of 110 km / h, while a second vehicle (the preceding vehicle) in the same lane ahead is traveling at a speed of 90 km / h.

[0103] Obtain a first speed difference between the lane speed limit and the second vehicle's travel speed: lane speed limit: 120km / h; second vehicle travel speed: 90km / h; first speed difference: 120km / h-90km / h=30km / h;

[0104] When the first vehicle speed difference is greater than the first differential threshold, obtain the second vehicle speed difference between the driving speed of the first vehicle and the driving speed of the second vehicle: Set the first differential threshold: Assume it is 20km / h (this value can be adjusted according to actual conditions and traffic regulations); because the first vehicle speed difference of 30km / h is greater than the first differential threshold of 20km / h, proceed to the next step. First vehicle driving speed: 110km / h; Second vehicle speed difference: 110km / h-90km / h=20km / h;

[0105] When the second vehicle speed difference is greater than the second differential threshold, it is determined that the first vehicle is subject to a speed limit: the second differential threshold is set: it is assumed to be 15km / h (similarly, this value can also be adjusted according to actual conditions); because the second vehicle speed difference 20km / h is greater than the second differential threshold 15km / h, it is determined that the first vehicle is subject to a speed limit.

[0106] In this example, although the driving speed of the first vehicle (110km / h) is lower than the lane speed limit (120km / h), because the driving speed difference with the second vehicle in front (20km / h) exceeds the set second differential threshold (15km / h), it is determined that the first vehicle is subject to a speed limit under the current circumstances.

[0107] From this example, we can see that determining whether the first vehicle is subject to a speed limit depends not only on whether its speed exceeds the lane speed limit, but also on whether the speed difference with the vehicle in front is safe. This comprehensive consideration helps improve the safety and efficiency of road driving.

[0108] It should be noted that the driving data includes the vehicle position; in some embodiments, step S200 may include the following steps: based on the road condition data of the target road in the road section corresponding to the first vehicle's position, combined with the second vehicle's position, determine whether the overtaking condition of the first vehicle is restricted.

[0109] Furthermore, the road condition data includes road condition information and its corresponding road condition parameters; in some embodiments, when the road condition information represents a curve, the road condition parameters include the curvature corresponding to the curve; based on the road condition data of the target road corresponding to the road section at the first vehicle's position, combined with the second vehicle's position, determining whether the overtaking condition of the first vehicle is restricted may include the following steps: determining whether the forward overtaking field of view of the first vehicle is restricted based on the curvature and the second vehicle's position.

[0110] For example, in some specific implementations, assume that a first vehicle is traveling on a mountain road, and the road has an obvious curve in a certain section. The first vehicle is currently located on a straight line before the curve, and is about to overtake a second vehicle in the same lane ahead. The road condition data shows that the curvature of the curve is large, which means that the curve is sharp.

[0111] Obtaining road condition data: Obtaining road condition data of the target road corresponding to the road section at the position of the first vehicle through the Internet of Vehicles or vehicle-mounted sensors, including curve information and its corresponding curvature parameters.

[0112] Analyze the curvature of the curve: Analyze the curve curvature data to determine the sharpness of the curve. In this example, the curve curvature is large (for example, greater than a set threshold), indicating that this is a relatively sharp curve.

[0113] Determine the position of the second vehicle: The precise position information of the second vehicle (the front vehicle) is obtained through the Internet of Vehicles technology, including its distance from the first vehicle and its relative position in the same lane.

[0114] Determine the forward overtaking field of view: Based on preset logic, combined with the curvature of the curve and the position information of the second vehicle, determine whether the forward overtaking field of view of the first vehicle will be blocked or restricted by the curve when attempting to overtake.

[0115] In this example, because the curve is sharp and the second vehicle is close to the curve, the system determines that the first vehicle's forward overtaking vision is limited. This means that during the overtaking process, the first vehicle may not be able to see the oncoming vehicle on the other side of the curve or the change in road conditions in time, thereby increasing the risk of collision.

[0116] From this example, we can see that in a curved section, the forward overtaking vision of the first vehicle may be blocked or restricted by the curve. Therefore, before attempting to overtake, it is necessary to comprehensively consider the road condition data (especially the curvature of the curve) and the position information of the second vehicle to accurately determine whether the overtaking conditions are restricted. This comprehensive consideration helps reduce the risk of traffic accidents caused by limited overtaking vision.

[0117] Further, the traffic data includes traffic information and its corresponding traffic parameters; in some embodiments, such as Figure 5 As shown, when the road condition information represents a ramp, the road condition parameters include the slope and the top position of the ramp corresponding to the ramp; based on the road condition data of the target road in the road section corresponding to the first vehicle's position, combined with the second vehicle's position, determining whether the overtaking condition of the first vehicle is restricted may include the following steps: S221, obtaining the distance difference between the first vehicle and the top of the ramp based on the first vehicle's position and the top position; S222, determining whether the forward overtaking field of view of the first vehicle is restricted based on the slope, the second vehicle's position and the distance difference.

[0118] For example, in some specific implementations, it is assumed that the first vehicle is traveling on a road with a ramp, the ramp has a certain slope, and the top position of the ramp is clear. The first vehicle plans to overtake the second vehicle in the same lane ahead. The road condition data has provided information such as the slope of the ramp and the top position of the ramp.

[0119] Obtaining road condition data and vehicle position: The road condition data of the target road is obtained through the Internet of Vehicles or vehicle-mounted sensors, including the slope of the ramp, the position of the top of the ramp, etc. At the same time, the precise position information of the first vehicle and the second vehicle in the current lane is also obtained.

[0120] Calculate the distance difference: Based on the position of the first vehicle and the top of the slope, calculate the distance difference between the first vehicle and the top of the slope. This distance difference is an important basis for judging whether the overtaking field of vision is limited.

[0121] Determine overtaking vision: Combine the slope, the second vehicle's position and the distance difference to determine whether the first vehicle's forward overtaking vision is restricted.

[0122] In this example, if the slope is large and the first vehicle is far from the top of the slope, it can be determined that during the overtaking process, the first vehicle's forward overtaking vision can only reach the top of the lane, and it cannot see whether there is an oncoming vehicle on the other side of the slope. At this time, if the distance between the first vehicle and the top of the slope is less than a set threshold (this threshold can be set according to the slope and safety considerations), it can be determined that the current overtaking vision of the first vehicle is limited.

[0123] However, when the first vehicle is close to the top of the slope, the driver can see the situation in the opposite lane without being blocked by the slope road surface because the driver is sitting in the car at a certain height above the road surface. Therefore, although the vehicle is very close to the top of the slope, by identifying the position of the vehicle on the slope and the corresponding slope, it is determined that the overtaking field of view is not restricted at this time.

[0124] From this example, we can see that in a ramp scenario, determining whether the first vehicle's overtaking field of view is limited requires comprehensive consideration of multiple factors, including the slope, the positions of the first and second vehicles, and the distance from the top of the slope. This comprehensive consideration helps ensure the safety of the first vehicle during overtaking and reduces the risk of traffic accidents caused by limited field of view. At the same time, it also reflects the flexibility and accuracy in different scenarios.

[0125] S300: When the preset condition is limited and the first vehicle has a tendency to overtake, send a warning message to the first vehicle.

[0126] In some preferred implementations, the method may further include the following steps: acquiring the driving intention of the first vehicle, and determining whether the first vehicle has an overtaking tendency based on the driving intention.

[0127] Furthermore, the driving data includes the driving speed; the driving intention includes the turn signal or the steering wheel angle; in some embodiments, determining whether the first vehicle has the tendency to overtake based on the driving intention includes the following steps: when the first vehicle has a turn signal to turn to the opposite lane where the third vehicle is located, determining that the first vehicle has the tendency to overtake; or, when the first vehicle has a steering wheel angle that deviates from the opposite lane where the third vehicle is located, determining the estimated time for the first vehicle to travel to the opposite lane where the third vehicle is located based on the steering wheel angle and the driving speed of the first vehicle; when the estimated time is less than a preset time threshold, determining that the first vehicle has the tendency to overtake.

[0128] For example, in some specific implementations, it is assumed that a first vehicle is traveling on a two-way two-lane road with a dividing line in the middle of the lanes. A second vehicle is traveling in the same direction in front of the first vehicle, and a third vehicle is coming in the opposite lane. At this time, the driver of the first vehicle intends to overtake.

[0129] Acquiring driving data and driving intention: The driving data of the first vehicle, including the driving speed, can be acquired through the vehicle-mounted sensors. The driving intention of the first vehicle, including the turn signal and the steering wheel angle, is also monitored.

[0130] Determine the turn signal: If the driver of the first vehicle turns on the turn signal, and the signal indicates that the first vehicle is about to turn to the opposite lane where the third vehicle is located, then it can be directly determined that the first vehicle has a tendency to overtake.

[0131] Analyze the steering wheel angle and driving speed: If the first vehicle does not turn on the turn signal, but the steering wheel turns toward the opposite lane where the third vehicle is located, further analysis is performed. Combined with the driving speed and steering wheel angle of the first vehicle, calculate the estimated time for the first vehicle to travel to the opposite lane where the third vehicle is located. This calculation takes into account the vehicle's current speed, acceleration, and the rate of change of the steering wheel angle. Compare the estimated time with the preset time threshold: Compare the calculated estimated time with the preset time threshold. This time threshold is set based on road conditions, traffic regulations, and safety considerations. If the estimated time is less than the preset time threshold, it means that the first vehicle is very likely to travel to the opposite lane to overtake in a short period of time, so it is determined that the first vehicle has a tendency to overtake.

[0132] Based on the above analysis, if the system determines that the first vehicle has a tendency to overtake and the current road conditions or traffic rules do not allow overtaking (such as oncoming vehicles, etc.), the system will send a warning message to the driver, prompting him to avoid overtaking.

[0133] Through this example, it can be seen that the embodiment of the present invention can comprehensively consider multiple factors such as the driving speed of the first vehicle, the turn signal of the turn signal and the steering wheel angle to accurately determine whether the first vehicle has a tendency to overtake. This comprehensive consideration helps to ensure the safety of road driving and reduce the risk of traffic accidents caused by overtaking. At the same time, it also reflects the flexibility and accuracy in different driving scenarios.

[0134] It should be noted that in some embodiments, Figure 6 As shown, step S300 may include the following steps: S301. When the preset conditions are limited and the first vehicle has a tendency to overtake, based on the driving data of the first vehicle, the second vehicle and the third vehicle, combined with the road condition data, determine whether the first vehicle has redundant conditions for overtaking; S302. When the first vehicle has overtaking conditions, send overtaking warning information to the first vehicle, otherwise, send collision warning information to the first vehicle.

[0135] Furthermore, the driving data includes vehicle position and driving speed, and the road condition data includes the road speed limit of the target road; in some embodiments, based on the driving data of the first vehicle, the second vehicle and the third vehicle, combined with the road condition data, determining whether the first vehicle has redundant overtaking conditions may include the following steps: determining the target speed based on the driving speed of the second vehicle combined with a preset increase percentage; the target speed is less than the road speed limit; based on the vehicle positions and driving speeds of the first vehicle, the second vehicle and the third vehicle, combined with the target speed processing, obtaining the shortest time for the first vehicle to achieve collision-free overtaking relative to the second vehicle and the third vehicle; the shortest time represents the time for the speed of the first vehicle to accelerate from its corresponding driving speed to the target speed.

[0136] For example, in some specific implementations, assume that a first vehicle is traveling on a two-way single lane road, with a second vehicle traveling in the same direction ahead and a third vehicle coming in the opposite lane. The road speed limit is 80 km / h. At this time, the driver of the first vehicle intends to overtake, but the preset conditions (such as an oncoming vehicle, etc.) are limited.

[0137] Acquiring driving data and road condition data: The driving data of the first vehicle, the second vehicle, and the third vehicle, including the vehicle positions and driving speeds, are acquired through the vehicle-mounted sensors. At the same time, the road condition data is also acquired, including the road speed limit (80 km / h) of the target road.

[0138] Determine the overtaking tendency: Determine whether the first vehicle has an overtaking tendency based on the driving intention of the first vehicle (such as a turn signal or a steering wheel angle) and the driving data. In this example, it is assumed that it has been determined that the first vehicle has an overtaking tendency.

[0139] Determine the target speed: Determine the target speed based on the speed of the second vehicle (assuming it is 60 km / h) combined with a preset increase percentage (such as 20%). Target speed = second vehicle speed * (1 + increase percentage) = 60 km / h * 1.2 = 72 km / h.

[0140] Check if the target speed is less than the road speed limit (80km / h). In this example, the target speed of 72km / h is less than the road speed limit of 80km / h, which satisfies the condition.

[0141] Calculate the shortest time: Based on the vehicle positions and speeds of the first, second, and third vehicles, combined with the target speed, the system processes the shortest time for the first vehicle to achieve collision-free overtaking relative to the second and third vehicles. This shortest time represents the time required for the first vehicle to accelerate from its current speed to the target speed. In the calculation process, factors such as the vehicle's acceleration performance, current speed difference, relative distance, and the possible driving trajectory of the third vehicle are taken into account.

[0142] Determine the overtaking redundant condition: Determine whether the first vehicle has the overtaking redundant condition based on the calculated shortest time and other relevant factors (such as the safety distance, the speed and position of the third vehicle, etc.).

[0143] If the shortest time is long enough and the first vehicle can maintain a safe distance from the second vehicle and the third vehicle during the process of accelerating to the target speed, it can be determined that the first vehicle has an overtaking redundancy condition.

[0144] If the system determines that the first vehicle has redundant conditions for overtaking, it will send an overtaking warning message to the first vehicle, prompting the driver to overtake under the premise of ensuring safety. The specific warning prompt message template can be: within the corresponding g seconds (which can be determined based on the shortest time), the vehicle speed reaches ekm / h (within the speed limit, exceeding the speed of the front vehicle by f%), where e is the speed within the speed limit. After overtaking the front vehicle, immediately return to the lane to complete the overtaking and avoid collision.

[0145] If the system determines that the first vehicle does not have redundant overtaking conditions, a collision warning message is sent to the first vehicle to prompt the driver to avoid overtaking operations to prevent a collision with the second vehicle or the third vehicle.

[0146] Through this example, it can be seen that when the preset conditions are limited and the first vehicle has a tendency to overtake, the embodiment of the present invention can comprehensively consider the driving data and the road condition data to determine whether the first vehicle has an overtaking redundant condition. This comprehensive consideration helps to ensure the safety of road driving and reduce the risk of traffic accidents caused by overtaking.

[0147] In order to explain the principle of the technical solution of the present invention in detail, the overall process of the present invention is described below in combination with some specific embodiments. It is easy to understand that the following is an explanation of the technical principle of the present invention and cannot be regarded as a limitation of the present invention.

[0148] First of all, it should be noted that many areas currently have two-way single-lane roads. When driving on these roads, you often encounter situations where you need to overtake slow-moving vehicles in front. However, when the road is a curve or the top of a slope, there is no way to see whether there are oncoming vehicles with your eyes, because the curve and the top of the slope block the driver's line of sight, resulting in a blind spot. At this time, if you overtake, it is very likely to cause a collision with the oncoming vehicle, causing serious traffic accidents. At present, a considerable number of serious traffic accidents are caused by inappropriate overtaking; however, most urban and rural roads are two-way single-lane roads, because the traffic load is very small, and it is enough to leave one lane for each driving direction; then how to solve the safety risks of overtaking on curves or slope tops is a problem that must be faced; there is currently no solution based on the vehicle's own perception system, because the vehicle's own perception system cannot perceive oncoming vehicles when turning or passing the top of the slope; based on vehicle networking, V2V and other communications, the vehicle information around the current vehicle can be understood in real time, but there is no method for avoiding collision when the vehicle overtakes the front vehicle when turning or passing the top of the slope.

[0149] In view of this, the present invention, without adding hardware equipment, is connected to the vehicle network, receives the position and speed of the vehicle in the opposite lane in front of the vehicle in real time, identifies whether the driver intends to change lanes and overtake according to the driver's operation of the steering wheel and turn signal, and calculates whether there is a risk of collision with the vehicle in formation in the process of changing lanes and accelerating to overtake the vehicle in front and returning to the lane in combination with the vehicle's speed. The driver is warned in time through the human-plus-interaction system, reducing the risk of collision accidents caused by the vehicle being unable to sense the oncoming vehicle when passing the top of a curve or a slope, thereby improving the driving safety of the vehicle. Figure 7 As shown, the specific control logic of the technical solution of the present invention can be implemented as follows:

[0150] The specific control logic is:

[0151] First, the system reads the lane, speed and direction of the vehicle in real time, and reads the position, lane, speed and distance of the vehicle in front within the range of am (m represents meters) through the Internet of Vehicles. There may be one or more vehicles in front, and the information of all vehicles within bm needs to be read.

[0152] At the same time, the vehicle position, lane, speed and driving direction of the opposite lane within cm need to be read through the Internet of Vehicles; a≥b, c;

[0153] It is necessary to read the curvature of the curve and the slope of the road on which the vehicle is currently traveling;

[0154] Further determine whether the current lane is a two-way single lane. If the vehicle is traveling on a two-way single lane, determine whether the current vehicle's speed is restricted based on the speed limit of the current lane and the speed of the vehicle in front. The speed restriction is determined based on the speed difference between the vehicle and the vehicle in front.

[0155] If it is determined that the vehicle's speed is restricted, then it is necessary to further judge the road condition of the current vehicle's driving road, combined with the overall road condition of the lane, that is, the specific curvature of the lane corresponding to the current curve or the specific slope of the slope on which the vehicle is driving; if it is a curve, then it is necessary to combine the current position of the curve where the vehicle is located and the position of the curve where the vehicle in front is located to judge whether the vehicle's forward overtaking field of vision is limited, that is, if the vehicle changes lanes to overtake, how much distance of the opposite lane can be seen in the field of vision; if the distance that can be seen in the field of vision is less than the set value, then it is judged that the current vehicle's field of vision for overtaking in lanes is limited; if it is a ramp, then it is necessary to make a judgment based on the specific position of the ramp on which the vehicle is currently traveling and the specific position of the ramp on which the vehicle in front is currently located, combined with the current The slope of the driving lane and the position from the top of the ramp can determine that the corresponding vehicle with different slopes can only see the top of the lane in the overtaking lane farther from the top of the slope, and cannot see whether there are oncoming vehicles on the other side of the slope. If the distance between the vehicle and the top of the slope is less than the set data, it is determined that the overtaking vision of the current vehicle is limited. It should be pointed out that when the vehicle is close to the top of the slope, the driver is sitting in the car at a certain height higher than the road surface. At this time, the driver can see the situation in the opposite lane without being blocked by the road surface of the ramp. At this time, the vehicle is close to the top of the ramp. Therefore, in this case, although the vehicle is very close to the top of the ramp, it is necessary to identify the position of the vehicle on the ramp corresponding to the specific slope to determine that it is not a case of limited overtaking vision.

[0156] When it is determined that the vehicle is in a situation where the vision is limited for lane change and overtaking, it is necessary to identify whether the driver has the intention to overtake. This is done by judging whether the driver has turned on the corresponding turn signal to the opposite lane, or if the driver has not turned on the turn signal but directly controls the steering wheel, and the steering wheel angle corresponds to the current vehicle speed, which will cause the vehicle to drive to the opposite lane within the corresponding time limit, then it is judged that the driver has the intention to actively overtake; however, at this time, the driver's vision is limited, and there may be a risk of collision if overtaking;

[0157] At this time, according to the information of the oncoming vehicle read by the Internet of Vehicles, as well as the positions and speeds of the vehicles in front of the lane where the vehicle is located, it is calculated whether the vehicle can avoid overtaking collision by increasing the throttle opening to a corresponding range and increasing the speed to ekm / h (exceeding the speed of the vehicle in front by f%). If it is calculated that if the vehicle changes lanes to overtake, it will cause a collision with the oncoming vehicle before the overtaking action is completed and the vehicle is changed back to the lane of the vehicle, then the driver is prompted by the human-computer interaction system of the vehicle to remind the driver that there is an oncoming vehicle in front, and if the lane is changed to overtake at this time, a collision accident will occur; if there is an oncoming vehicle in the opposite lane at this time, as long as the driver quickly steps on the accelerator and reaches a speed of ekm / h (within the speed limit, exceeding the speed of the vehicle in front by f%) within the corresponding g seconds, where e is the speed within the speed limit, and immediately returns to the lane after overtaking the vehicle in front, the overtaking can be completed to avoid collision. Then, the corresponding overtaking needs to quickly increase the speed to the corresponding speed, maintain it above the speed to complete the overtaking, and immediately return to the lane to complete the overtaking to avoid collision.

[0158] Reference Figure 8 , the process steps of the technical solution of the present invention can be implemented as follows:

[0159] The lane-changing and overtaking collision warning function involved in the technical solution of the present invention needs to receive the position of the opposite lane, the corresponding lane, the vehicle's driving speed, the driving direction, and the distance between the vehicle and the opposite vehicle through the Internet of Vehicles; at the same time, it needs to receive the position, lane, speed, and distance of the front vehicle perceived by the vehicle's perception system - camera and radar; it needs to receive the slope of the front vehicle and the curvature of the road surface, combined with the position of the vehicle, to determine whether the vehicle's position is in a road condition where the driver cannot observe the opposite lane - when changing lanes to overtake on a curve or when changing lanes to overtake on the top of a slope; the system also needs to receive relevant signals for identifying the driver's intention to change lanes and overtake: the vehicle's turn signal lever, the vehicle's steering wheel angle; receive the vehicle position of the vehicle, the lane the vehicle is in, the vehicle's speed, and the vehicle's driving direction; after receiving the above signals, through calculation and logical judgment, and then through the human-computer interaction system to interact and remind the driver.

[0160] First, the system reads the lane, speed and direction of the vehicle in real time, and reads the position, lane, speed and distance of the vehicle in front within the AM range through the Internet of Vehicles. There may be one or more vehicles in front, and the information of all vehicles within the BM range needs to be read.

[0161] At the same time, the vehicle position, lane, speed and driving direction of the opposite lane need to be read within cm through the Internet of Vehicles.

[0162] It is necessary to read the curvature of the curve and the slope of the road on which the vehicle is currently traveling;

[0163] Further determine whether the current lane is a two-way single lane. If the vehicle is traveling on a two-way single lane, determine whether the current vehicle's speed is restricted based on the speed limit of the current lane and the speed of the vehicle in front. The speed restriction is determined based on the speed difference between the vehicle and the vehicle in front.

[0164] If it is determined that the vehicle's speed is restricted, then it is necessary to further judge the road condition of the current vehicle's driving road, combined with the overall road condition of the lane, that is, the specific curvature of the lane corresponding to the current curve or the specific slope of the slope on which the vehicle is driving; if it is a curve, then it is necessary to combine the current position of the curve where the vehicle is located and the position of the curve where the vehicle in front is located to judge whether the vehicle's forward overtaking field of vision is limited, that is, if the vehicle changes lanes to overtake, how much distance of the object lane can be seen in the field of vision; if the distance that can be seen in the field of vision is less than the set value, then it is judged that the current vehicle's field of vision for overtaking in lanes is limited; if it is a ramp, then it is necessary to make a judgment based on the specific position of the ramp on which the vehicle is currently traveling and the specific position of the ramp on which the vehicle in front is currently located, combined with the current The slope of the driving lane and the position from the top of the ramp can determine that the corresponding vehicle with different slopes can only see the top of the lane in the overtaking lane farther from the top of the slope, and cannot see whether there are oncoming vehicles on the other side of the slope. If the distance between the vehicle and the top of the slope is less than the set data, it is determined that the overtaking vision of the current vehicle is limited. It should be pointed out that when the vehicle is close to the top of the slope, the driver is sitting in the car at a certain height higher than the road surface. At this time, the driver can see the situation in the opposite lane without being blocked by the road surface of the ramp. At this time, the vehicle is close to the top of the ramp. Therefore, in this case, although the vehicle is very close to the top of the ramp, it is necessary to identify the position of the vehicle on the ramp corresponding to the specific slope to determine that it is not a case of limited overtaking vision.

[0165] When it is determined that the vehicle is in a situation where the vision is limited for lane change and overtaking, it is necessary to identify whether the driver has the intention to overtake. This is done by judging whether the driver has turned on the corresponding turn signal to the opposite lane, or if the driver has not turned on the turn signal but directly controls the steering wheel, and the steering wheel angle corresponds to the current vehicle speed, which will cause the vehicle to drive to the opposite lane within the corresponding time limit, then it is judged that the driver has the intention to actively overtake; however, at this time, the driver's vision is limited, and there may be a risk of collision if overtaking;

[0166] At this time, according to the information of the oncoming vehicle read by the Internet of Vehicles, as well as the positions and speeds of the vehicles in front of the lane where the vehicle is located, it is calculated whether the vehicle can quickly overtake by increasing the throttle opening to a corresponding range and increasing the speed to ekm / h (exceeding the speed of the front vehicle by f%) to avoid overtaking collision. If it is calculated that if the vehicle changes lanes to overtake, it will cause a collision with the oncoming vehicle before the overtaking action is completed and the lane is changed back to the vehicle lane, then the driver is prompted through the human-computer interaction system of the vehicle to remind the driver that there is an oncoming vehicle in front, and if the lane is changed to overtake at this time, a collision accident will occur; if there is an oncoming vehicle in the opposite lane at this time, as long as the driver quickly steps on the accelerator and reaches a speed of ekm / h (within the speed limit, exceeding the speed of the front vehicle by f%) within the corresponding g seconds, the overtaking can be completed to avoid collision by returning to the lane immediately after overtaking the front vehicle, then the corresponding overtaking needs to quickly increase the speed to the corresponding speed, maintain it above the speed to complete the overtaking and immediately return to the lane to complete the overtaking to avoid collision.

[0167] In summary, the lane-changing and overtaking collision warning function involved in the present invention needs to receive the position of the opposite lane, the corresponding lane, the vehicle's driving speed, the driving direction, and the distance between the vehicle and the opposite vehicle through the Internet of Vehicles; at the same time, it needs to receive the position, lane, speed, and distance of the front vehicle perceived by the vehicle's perception system - camera and radar; it needs to receive the slope of the front vehicle and the curvature of the road surface, combined with the position of the vehicle, to determine whether the vehicle's position is in a situation where the driver cannot observe the road conditions in the opposite lane - when changing lanes to overtake on a curve or when changing lanes to overtake on the top of a slope; the system also needs to receive relevant signals for identifying the driver's intention to change lanes and overtake: the vehicle's turn signal lever, the vehicle's steering wheel angle; receive the vehicle's position, the vehicle's lane, the vehicle's speed, and the vehicle's driving direction; after receiving the above signals, through calculation and logical judgment, and then through the human-computer interaction system to interact and remind the driver.

[0168] It can be understood that the present invention is a control strategy. Through the Internet of Vehicles, when the driver needs to overtake by changing lanes but has limited vision and cannot observe oncoming vehicles, the control strategy calculates whether there is sufficient space for overtaking by changing lanes. If overtaking will cause a collision, then after identifying the driver's intention to overtake by changing lanes, the control strategy promptly reminds the driver that overtaking by changing lanes will cause a collision. If there is sufficient space for overtaking by changing lanes, the control strategy calculates the overtaking speed required for overtaking by changing lanes without a collision and informs the driver to avoid the risk of collision, thereby improving the safety of the vehicle's driving process.

[0169] The embodiments of the present invention have at least the following beneficial effects:

[0170] Improve road driving safety: By acquiring the driving data of the first vehicle, the second vehicle (i.e. the front vehicle) and the third vehicle (the oncoming vehicle) in real time and combining it with the road condition data of the target road, it is possible to accurately determine whether the driving environment of the first vehicle is safe, especially in overtaking scenarios. Once it is detected that the preset conditions are restricted (such as insufficient safety distance, vehicles coming from the oncoming lane, etc.), an early warning message is sent to the first vehicle in a timely manner to effectively avoid traffic accidents and improve the overall safety of road driving.

[0171] Optimized driving decision support: This technical solution provides drivers with intelligent decision-making assistance based on big data and real-time road conditions, helping them to more accurately assess the timing and safety of overtaking, reduce dangerous behaviors caused by misjudgment, and improve driving efficiency and comfort.

[0172] Promoting the development of intelligent transportation systems: This solution is an important part of the intelligent transportation system. Through data analysis and processing technology, it realizes real-time interaction of information between vehicles and dynamic perception of road conditions, laying the foundation for building a more intelligent and efficient transportation network, helping to alleviate traffic congestion and improve road capacity.

[0173] Enhanced driving experience and satisfaction: By providing accurate overtaking warnings and road condition prompts, the driver's confidence and sense of security are enhanced, making the driving process smoother and worry-free, and improving the driving experience and passenger satisfaction.

[0174] On the other hand, Fig. 9 As shown, an embodiment of the present invention provides a lane-changing overtaking collision warning control device 900, which may include:

[0175] The first module 901 is used to obtain driving data of the first vehicle, the second vehicle and the third vehicle on the target road and the road condition data of the target road;

[0176] The second vehicle represents a vehicle in the same lane ahead of the first vehicle, and the third vehicle represents a vehicle in the opposite lane ahead of the first vehicle;

[0177] The second module 902 is used to determine whether the preset condition of the first vehicle is restricted based on the driving data and the road condition data;

[0178] The third module 903 is used to send a warning message to the first vehicle when the preset condition is limited and the first vehicle has a tendency to overtake.

[0179] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; the device may also include:

[0180] A fourth module is used to determine a vehicle in a first range in front of the first vehicle as a second vehicle based on the vehicle position and driving direction of the first vehicle;

[0181] The first vehicle and the second vehicle travel in the same lane, and travel in the same direction as the second vehicle.

[0182] In some embodiments, the driving data includes vehicle position, driving lane, and driving direction; the device may also include:

[0183] A fifth module, configured to, based on the vehicle position and driving direction of the first vehicle, identify a vehicle in a second range in front of the first vehicle as a third vehicle;

[0184] The driving lanes of the first vehicle and the third vehicle are opposite to each other, and the driving directions of the first vehicle and the third vehicle are opposite to each other.

[0185] In some embodiments, the apparatus may further include:

[0186] The sixth module is used to determine whether the target road is a two-way single lane based on the road condition data, and when the target road is not a two-way single lane, stop the lane change overtaking collision warning control of the first vehicle.

[0187] In some embodiments, the apparatus may further include:

[0188] The seventh module is used to obtain the driving intention of the first vehicle and determine whether the first vehicle has an overtaking tendency based on the driving intention.

[0189] The contents of the method embodiments of the present invention are all applicable to the device embodiments. The functions specifically implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0190] On the other hand, an embodiment of the present invention further provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above engine drag torque control method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0191] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0192] like Fig.10 As shown, Fig.10 The hardware structure of an electronic device 1000 of another embodiment is illustrated. The electronic device 1000 may include:

[0193] The processor 1001 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention.

[0194] The memory 1002 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1002 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1002, and the processor 1001 calls and executes the network node population optimization method of the embodiment of the present invention;

[0195] Input / output interface 1003, used to implement information input and output;

[0196] The communication interface 1004 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0197] A bus 1005 , which transmits information between various components of the device (e.g., the processor 1001 , the memory 1002 , the input / output interface 1003 , and the communication interface 1004 );

[0198] The processor 1001 , the memory 1002 , the input / output interface 1003 and the communication interface 1004 are connected to each other in communication within the device via the bus 1005 .

[0199] The electronic device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0200] The contents of the method embodiments of the present invention are all applicable to the electronic device embodiments. The functions specifically implemented by the electronic device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0201] Another aspect of an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement the above method.

[0202] It should be noted that the computer-readable medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read to Only Memory, CD to ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0203] The contents of the method embodiments of the present invention are all applicable to the computer-readable storage medium embodiments. The functions specifically implemented by the computer-readable storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0204] The embodiment of the present invention also discloses a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the above method.

[0205] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0206] It should be noted that, although several modules of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0207] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD to ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation of the present invention.

[0208] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0209] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0210] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0211] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution device, apparatus or device (such as a computer-based device, a device including a processor, or other device that can fetch instructions from an instruction execution device, apparatus or device and execute the instructions), or in conjunction with such instruction execution device, apparatus or device. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution device, apparatus or device, or in conjunction with such instruction execution device, apparatus or device.

[0212] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0213] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0214] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0215] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0216] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A lane-changing overtaking collision warning control method, characterized in that: The following steps are involved: Acquire driving data of the first vehicle, the second vehicle, and the third vehicle on a target road and road condition data of the target road; The second vehicle represents a vehicle in the same lane ahead of the first vehicle, and the third vehicle represents a vehicle in the opposite lane ahead of the first vehicle; determining whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data; When the preset condition is limited and the first vehicle has a tendency to overtake, a warning message is sent to the first vehicle.

2. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The driving data includes vehicle position, driving lane and driving direction; the method further includes the following steps: Based on the vehicle position and the driving direction of the first vehicle, determining a vehicle within a first range in front of the first vehicle as the second vehicle; The driving lane of the first vehicle and the second vehicle are the same, and the driving direction of the first vehicle and the second vehicle are the same.

3. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The driving data includes vehicle position, driving lane and driving direction; the method further includes the following steps: Based on the vehicle position and the driving direction of the first vehicle, a vehicle within a second range in front of the first vehicle is regarded as the third vehicle; The driving lanes of the first vehicle and the third vehicle are opposite to each other, and the driving directions of the first vehicle and the third vehicle are opposite to each other.

4. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The driving data includes vehicle position, driving lane and driving direction; the acquisition of driving data of the first vehicle, the second vehicle and the third vehicle on the target road and the road condition data of the target road includes the following steps: acquiring the driving data of the first vehicle; Based on the vehicle position and the driving direction of the first vehicle, reading the driving data of all vehicles in a third range in front of the first vehicle through the Internet of Vehicles; Compare the driving data of the first vehicle with the driving data of each vehicle within the third range in sequence to obtain the driving data of the second vehicle and the third vehicle; The second vehicle and the first vehicle are in the same driving lane and the second vehicle and the first vehicle are in the same driving direction; the third vehicle and the first vehicle are in the opposite driving lane and the third vehicle and the first vehicle are in the opposite driving direction; The target road is located based on the vehicle position of at least one of the first vehicle, the second vehicle and the third vehicle, and then the road condition data of the target road is obtained.

5. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The method further comprises the following steps: Based on the road condition data, it is determined whether the target road is a two-way single lane, and when the target road is not the two-way single lane, the lane-changing overtaking collision warning control of the first vehicle is stopped.

6. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The driving data includes driving speed, and the road condition data includes lane speed limits of lanes where the first vehicle and the second vehicle are located; The determining whether the preset condition of the first vehicle is restricted based on the driving data and the road condition data comprises the following steps: It is determined whether the first vehicle is subject to a speed limit based on the lane speed limit and the travel speeds of the first vehicle and the second vehicle.

7. The lane-changing overtaking collision warning control method according to claim 6, characterized in that: The determining whether the first vehicle is subject to a speed limit based on the lane speed limit and the driving speeds of the first vehicle and the second vehicle comprises the following steps: Acquire a first vehicle speed difference between the lane speed limit and the driving speed of the second vehicle; When the first vehicle speed difference is greater than a first differential threshold, obtaining a second vehicle speed difference between the driving speed of the first vehicle and the driving speed of the second vehicle; When the second vehicle speed difference is greater than a second differential threshold, it is determined that the first vehicle is subject to the vehicle speed limit.

8. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The driving data includes a vehicle position; and determining whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data comprises the following steps: Based on the road condition data of the target road in the road section corresponding to the vehicle position of the first vehicle, combined with the vehicle position of the second vehicle, it is determined whether the overtaking condition of the first vehicle is restricted.

9. The lane-changing overtaking collision warning control method according to claim 8, characterized in that: The road condition data includes road condition information and its corresponding road condition parameters; when the road condition information represents a curve, the road condition parameters include the curvature corresponding to the curve; the road condition data of the target road in the road section corresponding to the vehicle position of the first vehicle and the vehicle position of the second vehicle are combined to determine whether the overtaking condition of the first vehicle is restricted, including the following steps: Whether the forward overtaking field of view of the first vehicle is limited is determined based on the curvature and the vehicle position of the second vehicle.

10. The lane-changing overtaking collision warning control method according to claim 8, characterized in that: The road condition data includes road condition information and its corresponding road condition parameters; when the road condition information represents a ramp, the road condition parameters include the slope and the top position of the ramp corresponding to the ramp; the road condition data of the target road in the road section corresponding to the vehicle position of the first vehicle, combined with the vehicle position of the second vehicle, determines whether the overtaking condition of the first vehicle is restricted, including the following steps: Obtaining a distance difference between the first vehicle and the top of the ramp based on the vehicle position of the first vehicle and the top position of the ramp; Whether the forward overtaking field of view of the first vehicle is limited is determined based on the slope, the vehicle position of the second vehicle and the distance difference.

11. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: The method further comprises the following steps: The driving intention of the first vehicle is obtained, and whether the first vehicle has the overtaking tendency is determined based on the driving intention.

12. The lane-changing overtaking collision warning control method according to claim 11, characterized in that: The driving data includes a driving speed; the driving intention includes a turn signal or a steering wheel angle; and determining whether the first vehicle has the overtaking tendency based on the driving intention includes the following steps: When the first vehicle turns on the turn signal lamp to turn to the opposite lane where the third vehicle is located, determining that the first vehicle has the overtaking tendency; Alternatively, when the steering wheel angle of the first vehicle deviates toward the opposite lane where the third vehicle is located, the estimated time for the first vehicle to travel to the opposite lane where the third vehicle is located is determined based on the steering wheel angle and the driving speed of the first vehicle; when the estimated time is less than a preset time threshold, it is determined that the first vehicle has the tendency to overtake.

13. The lane-changing overtaking collision warning control method according to claim 1, characterized in that: When the preset condition is limited and the first vehicle has a tendency to overtake, sending a warning message to the first vehicle comprises the following steps: When the preset condition is limited and the first vehicle has an overtaking tendency, determining whether the first vehicle has an overtaking redundant condition based on the driving data of the first vehicle, the second vehicle and the third vehicle and in combination with the road condition data; When the first vehicle meets the overtaking condition, overtaking warning information is sent to the first vehicle; otherwise, collision warning information is sent to the first vehicle.

14. The lane-changing overtaking collision warning control method according to claim 13, characterized in that: The driving data includes vehicle position and driving speed, and the road condition data includes the road speed limit of the target road; the determining whether the first vehicle has an overtaking redundant condition based on the driving data of the first vehicle, the second vehicle, and the third vehicle and the road condition data comprises the following steps: Determining a target speed based on the travel speed of the second vehicle combined with a preset increase percentage; the target speed is less than the road speed limit; Based on the vehicle positions and the driving speeds of the first vehicle, the second vehicle, and the third vehicle, the shortest time for the first vehicle to achieve collision-free overtaking relative to the second vehicle and the third vehicle is obtained in combination with the target speed; the shortest time represents the time for the speed of the first vehicle to accelerate from its corresponding driving speed to the target speed; When the shortest time is greater than a preset time threshold, it is determined that the first vehicle has the overtaking redundant condition; otherwise, it is determined that the first vehicle does not have the overtaking redundant condition.

15. A lane-changing overtaking collision warning control device, characterized in that: include: A first module is used to obtain driving data of the first vehicle, the second vehicle and the third vehicle on a target road and road condition data of the target road; The second vehicle represents a vehicle in the same lane ahead of the first vehicle, and the third vehicle represents a vehicle in the opposite lane ahead of the first vehicle; A second module, configured to determine whether a preset condition of the first vehicle is restricted based on the driving data and the road condition data; The third module is used to send a warning message to the first vehicle when the preset condition is limited and the first vehicle has a tendency to overtake.

16. An electronic device, characterized in that: including a processor and a memory; The memory is used to store programs; The processor executes the program to implement the method according to any one of claims 1 to 14.

17. A computer storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the method according to any one of claims 1 to 14 when executed by the processor.

18. A vehicle, characterized in that: The vehicle includes the lane-changing overtaking collision warning control device as claimed in claim 15 or the electronic device as claimed in claim 16.

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