Reverse overtaking early warning method and device, electronic equipment and vehicle

Abstract

The invention is suitable for the technical field of vehicles, and provides a reverse overtaking early warning method and device, electronic equipment and a vehicle. The method comprises the following steps: acquiring first driving information of a first vehicle, second driving information of a second vehicle in a front current lane and third driving information of a third vehicle in a front reverse lane; according to the vehicle driving information, the driving distance of the first vehicle during reverse overtaking and the driving distance of the third vehicle during reverse overtaking of the first vehicle are determined, and the safety distance corresponding to the first vehicle is obtained based on the driving distance of the first vehicle during reverse overtaking and the driving distance of the third vehicle, the driving distance of the first vehicle during reverse overtaking comprises a lane changing distance, an overtaking distance and a doubling distance; judging whether the actual distance between the first vehicle and the third vehicle is smaller than the safe distance; if the actual distance is smaller than the safe distance, danger early warning is conducted. According to the invention, the early warning accuracy during reverse overtaking can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a reverse overtaking warning method, device, electronic equipment and vehicle. Background Art

[0002] Overtaking in the opposite direction is a common driving scenario. When overtaking in the opposite direction, traffic accidents are likely to occur because the driver cannot correctly judge the relative position of the vehicles and the road conditions ahead.

[0003] In the related technology, although there are methods for obtaining information around the vehicle to provide reverse overtaking warning, there is no accurate calculation model, so the judgment of the warning timing and warning distance is not accurate enough, which leads to false alarms and missed alarms when overtaking in the opposite direction. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a reverse overtaking warning method, device, electronic equipment and vehicle to provide a more accurate reverse overtaking warning calculation model to solve the problem that the existing reverse overtaking warning method is prone to false alarms and missed alarms.

[0005] A first aspect of an embodiment of the present invention provides a reverse overtaking warning method, comprising:

[0006] Acquire first driving information of a first vehicle, second driving information of a second vehicle in a current lane ahead, and third driving information of a third vehicle in a reverse lane ahead, wherein the current lane is the lane where the first vehicle is located;

[0007] Determine, according to the vehicle driving information, the driving distance of the first vehicle when overtaking in the reverse direction, and the driving distance of the third vehicle when the first vehicle overtakes in the reverse direction, and obtain the safety distance corresponding to the first vehicle based on the driving distance of the first vehicle when overtaking in the reverse direction and the driving distance of the third vehicle, wherein the driving distance of the first vehicle when overtaking in the reverse direction includes the lane changing distance, the overtaking distance and the merging distance, and the vehicle driving information includes the first driving information, the second driving information and the third driving information;

[0008] determining whether the actual distance between the first vehicle and the third vehicle is less than the safety distance;

[0009] If the actual distance is less than the safe distance, a danger warning will be issued.

[0010] In combination with the first aspect, in a possible implementation manner of the first aspect, the first driving information includes a width of a current lane;

[0011] Determining the driving distance of the first vehicle when overtaking in the reverse direction according to the vehicle driving information includes:

[0012] The lane changing distance is determined according to the width of the current lane and a preset steering angle of the first vehicle during the lane changing.

[0013] In combination with the first aspect, in a possible implementation manner of the first aspect, the first driving information further includes a length, a position, and a first speed of the first vehicle, and the second driving information includes a length, a position, and a speed of the second vehicle;

[0014] Determining the driving distance of the first vehicle when overtaking in the reverse direction according to the vehicle driving information includes:

[0015] Determining a lane changing time corresponding to the lane changing distance according to the lane changing distance, the first vehicle speed and a preset overtaking acceleration;

[0016] determining a first distance according to the lane change time and the speed of the second vehicle;

[0017] determining a second distance based on the position of the first vehicle and the position of the second vehicle;

[0018] The sum of the first distance, the second distance, the length of the first vehicle, and the length of the second vehicle is calculated to obtain the overtaking distance.

[0019] In combination with the first aspect, in a possible implementation of the first aspect, determining, according to vehicle driving information, a driving distance of the first vehicle when overtaking in the reverse direction includes:

[0020] determining a second vehicle speed of the first vehicle when the lane change is completed according to the first vehicle speed, the lane change time, and the overtaking acceleration;

[0021] Determine the overtaking time corresponding to the overtaking distance according to the overtaking distance, the second vehicle speed and the overtaking acceleration;

[0022] determining a third distance according to the overtaking time and the speed of the second vehicle;

[0023] The sum of the third distance, the preset safe collision avoidance distance between the first vehicle and the second vehicle, and the preset safe collision avoidance distance between the first vehicle and the third vehicle is calculated to obtain the merging distance.

[0024] In combination with the first aspect, in a possible implementation manner of the first aspect, the third driving information includes a speed of the third vehicle;

[0025] Determining, according to the vehicle driving information, a driving distance of a third vehicle when the first vehicle overtakes in the reverse direction, includes:

[0026] determining a third vehicle speed of the first vehicle when overtaking is completed according to the second vehicle speed, the overtaking time and the overtaking acceleration;

[0027] Determine the merging time corresponding to the merging distance according to the merging distance, the third vehicle speed and the overtaking acceleration;

[0028] Determine the driving time of the first vehicle when overtaking in the reverse direction according to the lane changing time, the overtaking time and the merging time;

[0029] The travel distance of the third vehicle when the first vehicle overtakes in the reverse direction is determined according to the speed and travel time of the third vehicle.

[0030] In combination with the first aspect, in a possible implementation manner of the first aspect, after obtaining the first driving information of the first vehicle, the method further includes:

[0031] According to the first driving information, it is predicted whether the current vehicle is going to overtake in the opposite direction.

[0032] In combination with the first aspect, in a possible implementation manner of the first aspect, the method further includes:

[0033] Obtain the acceleration of the vehicle during multiple reverse overtaking and calculate the average value;

[0034] Update the preset overtaking acceleration according to the average value;

[0035] wherein the preset overtaking acceleration is less than the maximum acceleration of the first vehicle;

[0036] After obtaining the first driving information of the first vehicle, the second driving information of the second vehicle in the front current lane, and the third driving information of the third vehicle in the front opposite lane, the method further includes:

[0037] Calculating a minimum safety distance corresponding to the first vehicle according to the maximum acceleration, the first driving information, the second driving information, and the third driving information;

[0038] Determine whether the actual distance is less than the minimum safety distance;

[0039] If it is less than, a danger alarm will be issued.

[0040] A second aspect of an embodiment of the present invention provides a reverse overtaking warning device, comprising:

[0041] A collection module, used to obtain first driving information of a first vehicle, second driving information of a second vehicle in a front current lane, and third driving information of a third vehicle in a front opposite lane, wherein the current lane is a lane where the first vehicle is located;

[0042] a processing module, for determining, according to the vehicle driving information, a driving distance of the first vehicle when overtaking in the reverse direction, and a driving distance of the third vehicle when the first vehicle overtakes in the reverse direction, and obtaining a safety distance corresponding to the first vehicle based on the driving distance of the first vehicle when overtaking in the reverse direction and the driving distance of the third vehicle, wherein the driving distance of the first vehicle when overtaking in the reverse direction includes a lane changing distance, an overtaking distance, and a merging distance, and the vehicle driving information includes first driving information, second driving information, and third driving information;

[0043] A judging module, used for judging whether the actual distance between the first vehicle and the third vehicle is less than the safety distance;

[0044] The early warning module is used to issue a danger warning if the actual distance is less than the safe distance.

[0045] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method in the first aspect or any one of the implementations of the first aspect are implemented.

[0046] A fourth aspect of an embodiment of the present invention provides a vehicle, comprising the electronic device of the third aspect.

[0047] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0048] The embodiment of the present invention calculates the lane change distance, overtaking distance and merging distance of the first vehicle in the reverse overtaking process according to the first driving information of the first vehicle, the second driving information of the second vehicle in the current lane ahead and the third driving information of the third vehicle in the reverse lane ahead, thereby obtaining the driving distance. That is, the driving distance of the first vehicle in the reverse overtaking process not only considers the distance during straight-line overtaking, but also considers the distance generated by the lane change process and the merging process, so that the calculation model can obtain a more accurate driving distance. Furthermore, in combination with the driving distance of the third vehicle in the reverse lane ahead during the overtaking process, a more accurate safety distance is obtained, and a danger warning is performed through the safety distance and the actual situation of the vehicle on the road, which can improve the accuracy and effectiveness of the warning and ensure driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0050] Figure 11 is a schematic diagram of the implementation process of the reverse overtaking warning method provided by an embodiment of the present invention;

[0051] Figure 2 Schematic diagram of an application scenario of the reverse overtaking warning method provided by an embodiment of the present invention;

[0052] Figure 3 is a schematic structural diagram of a reverse overtaking warning device provided by an embodiment of the present invention;

[0053] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0055] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below for illustration.

[0056] As the number of cars continues to increase, the problem of road traffic congestion is becoming increasingly serious. Especially on roads in urban central areas, traffic jams often occur due to excessive traffic. For drivers, driving in these situations becomes extremely difficult and can easily lead to accidents. Many drivers are unable to correctly judge the relative position of vehicles and the road conditions ahead, which can easily lead to traffic accidents when overtaking in the opposite direction.

[0057] Therefore, an embodiment of the present invention provides a reverse overtaking warning method, which collects data on the vehicle's driving status, analyzes the various collected data, and determines whether there is a reverse overtaking risk based on the analyzed data, and determines the warning triggering conditions. When the warning triggering conditions are met, corresponding warning information is generated. The reverse overtaking warning method can be directly integrated into the vehicle's onboard host as a program, or it can be integrated into a separate controller installed on the vehicle, and it can also be integrated into a controller or processor outside the vehicle, which is not limited in this application.

[0058] Figure 1 FIG. 1 is a schematic diagram of the implementation flow of the reverse overtaking warning method provided by an embodiment of the present invention, see Figure 1 As shown, the method includes:

[0059] Step S101, obtaining first driving information of a first vehicle, second driving information of a second vehicle in a current lane ahead, and third driving information of a third vehicle in a reverse lane ahead, wherein the current lane is the lane where the first vehicle is located.

[0060] In this embodiment, the current vehicle is equipped with data acquisition equipment, including cameras, GPS, V2X sensors, etc., which can collect data about the surrounding environment and its own driving status in real time. Here, the first driving information, the second driving information, and the third driving information can include but are not limited to the location, speed, surrounding vehicles, etc. of the vehicle.

[0061] Among them, V2X (Vehicle-to-everything) technology can realize information exchange and interconnection between vehicles and infrastructure, other vehicles and other objects, and provide more accurate, comprehensive and real-time traffic safety services.

[0062] Step S102, based on the vehicle driving information, determine the driving distance of the first vehicle when overtaking in the opposite direction, and the driving distance of the third vehicle when the first vehicle overtakes in the opposite direction, and obtain the corresponding safety distance of the first vehicle based on the driving distance of the first vehicle when overtaking in the opposite direction and the driving distance of the third vehicle, wherein the driving distance of the first vehicle when overtaking in the opposite direction includes the lane changing distance, the overtaking distance and the merging distance, and the vehicle driving information includes the first driving information, the second driving information and the third driving information.

[0063] In this embodiment, the first vehicle can detect the lane it is currently in. If the lane it is currently in is the leftmost lane, it can be considered that there is an intention to overtake in the opposite direction when it is detected that the vehicle turns on the left turn signal. Alternatively, it can be considered that there is an intention to overtake in the opposite direction when it is detected that the steering wheel of the vehicle turns left to a certain angle. The specific judgment method is not limited in this application.

[0064] When it is detected that the first vehicle has an intention to overtake in the opposite direction, it is determined whether there is a risk of overtaking in the opposite direction by further performing calculations based on the first driving information, the second driving information, and the third driving information.

[0065] In this embodiment, the second vehicle is the vehicle closest to the first vehicle among the vehicles without obstacles within a preset distance ahead; the third vehicle is the vehicle closest to the first vehicle in the opposite lane ahead.

[0066] Specifically, if there is only one vehicle ahead of the first vehicle in the same lane, then that vehicle is the second vehicle; if there are multiple vehicles ahead of the first vehicle in the same lane, then the second vehicle can be the vehicle closest to the first vehicle with a certain gap ahead to ensure that overtaking and merging can be performed. The third vehicle is the vehicle in the opposite lane ahead of the first vehicle and closest to the current vehicle.

[0067] For example, see Figure 2 As shown, this embodiment decomposes the reverse overtaking process into three parts: lane change phase, overtaking phase and merging phase. In the figure, hv represents the first vehicle, rv1 represents the second vehicle, and rv2 represents the third vehicle. The sum of the lane change distance S1, the overtaking distance S2, the merging distance S3 and the driving distance S4 of the third vehicle rv2 during reverse overtaking is calculated through the first driving information, the second driving information and the third driving information, so as to determine the driving distance required for reverse overtaking, that is, the safety distance.

[0068] Step S103, determining whether the actual distance between the first vehicle and the third vehicle is less than the safety distance.

[0069] Here, the actual distance refers to the distance between the first vehicle hv and the third vehicle rv2 in the road direction (i.e. Figure 2 The actual distance can be calculated based on the actual position of the first vehicle and the actual position of the third vehicle measured by the radar.

[0070] Step S104: If the actual distance is less than the safety distance, a danger warning is issued.

[0071] It is understandable that the actual distance must be greater than the safe distance so that the first vehicle can successfully overtake, otherwise, the first vehicle may collide with the third vehicle. Alternatively, the time for the first vehicle and the third vehicle to meet can be calculated based on the actual distance. If the time is less than the time required for the first vehicle to overtake in the opposite direction, an early warning is issued. The principles of the two methods are the same and will not be repeated here. Since this embodiment can accurately calculate the safe distance, it can achieve more accurate early warning. Here, the danger warning includes but is not limited to sound, text or visual prompts.

[0072] The embodiment of the present invention calculates the lane change distance, overtaking distance and merging distance of the first vehicle in the reverse overtaking process according to the first driving information of the first vehicle, the second driving information of the second vehicle in the current lane ahead and the third driving information of the third vehicle in the reverse lane ahead, thereby obtaining the driving distance. That is, the driving distance of the first vehicle in the reverse overtaking process not only considers the distance during straight-line overtaking, but also considers the distance generated by the lane change process and the merging process, so that the calculation model can obtain a more accurate driving distance. Furthermore, in combination with the driving distance of the third vehicle in the reverse lane ahead during the overtaking process, a more accurate safety distance is obtained, and a danger warning is performed through the safety distance and the actual situation of the vehicle on the road, which can improve the accuracy and effectiveness of the warning and ensure driving safety.

[0073] As a possible implementation, the first driving information includes the width of the current lane;

[0074] The lane change distance is determined as follows:

[0075] The lane changing distance is determined according to the width of the current lane and a preset steering angle of the first vehicle during the lane changing.

[0076] Exemplarily, assuming that the lane width is lane_wigth and the steering angle is 30°, the lane change distance S1 = lane_wigth / cos60° is calculated by trigonometric function based on the lane width and the steering angle.

[0077] As a possible implementation manner, the first driving information includes a length, a position, and a first speed of the first vehicle, and the second driving information includes a length, a position, and a speed of the second vehicle;

[0078] The overtaking distance is determined as follows:

[0079] Determining a lane changing time corresponding to the lane changing distance according to the lane changing distance, the first vehicle speed and a preset overtaking acceleration;

[0080] determining a first distance according to the lane change time and the speed of the second vehicle;

[0081] determining a second distance based on the position of the first vehicle and the position of the second vehicle;

[0082] The sum of the first distance, the second distance, the length of the first vehicle, and the length of the second vehicle is calculated to obtain the overtaking distance.

[0083] Here, according to the lane change distance, the first vehicle speed and the preset overtaking acceleration, the formula for determining the lane change time corresponding to the lane change distance is vt+at 2 -d=0, substitute the lane changing distance into d, substitute the first vehicle speed into v, substitute the preset overtaking acceleration into a, and the lane changing time can be calculated.

[0084] When the first vehicle changes lanes, the second vehicle is also moving, so the overtaking distance needs to be added with the distance traveled by the second vehicle within the lane changing time t, that is, the first distance = (lane changing time) * (speed of the second vehicle).

[0085] In addition, the overtaking distance also needs to add the distance between the first vehicle and the second vehicle, that is, the second distance, as well as the length of the first vehicle and the length of the second vehicle.

[0086] As a possible implementation, the merging distance is determined by:

[0087] determining a second vehicle speed of the first vehicle when the lane change is completed according to the first vehicle speed, the lane change time, and the overtaking acceleration;

[0088] Determine the overtaking time corresponding to the overtaking distance according to the overtaking distance, the second vehicle speed and the overtaking acceleration;

[0089] determining a third distance according to the overtaking time and the speed of the second vehicle;

[0090] The sum of the third distance, the preset safe collision avoidance distance between the first vehicle and the second vehicle, and the preset safe collision avoidance distance between the first vehicle and the third vehicle is calculated to obtain the merging distance.

[0091] Here, the second speed of the first vehicle when the lane change is completed is the initial speed when the lane is merged. According to the first speed, the lane change time and the overtaking acceleration, the formula for determining the second speed of the first vehicle when the lane change is completed is v = v 0 +at, substitute the first speed into v 0 , substitute the lane-changing time into t and the preset overtaking acceleration into a to find the second vehicle speed.

[0092] Similarly, according to the overtaking distance, the second vehicle speed and the overtaking acceleration, use vt+at 2 -d=0 determines the overtaking time corresponding to the overtaking distance, and the third distance=(overtaking time)*(vehicle speed of the second vehicle).

[0093] In addition, to ensure safety, when vehicles change lanes, the rear of the vehicle needs to maintain a certain safety anti-collision distance from the second vehicle, and the front of the vehicle needs to maintain a certain safety anti-collision distance from the third vehicle. The third distance, the safety anti-collision distance between the first vehicle and the second vehicle, and the safety anti-collision distance between the first vehicle and the third vehicle are added together to obtain the merging distance.

[0094] The safe anti-collision distance here can be a preset value, or it can be calculated in real time using a model based on the driving speeds of the two vehicles. The safe anti-collision distances are different at different speeds. It can be understood that the speed is proportional to the safe anti-collision distance, that is, the faster the speed, the greater the safe anti-collision distance.

[0095] As a possible implementation manner, the third driving information includes the speed of the third vehicle.

[0096] The distance traveled by the third vehicle when the first vehicle overtakes in the opposite direction is determined by:

[0097] determining a third vehicle speed of the first vehicle when overtaking is completed according to the second vehicle speed, the overtaking time and the overtaking acceleration;

[0098] Determine the merging time corresponding to the merging distance according to the merging distance, the third vehicle speed and the overtaking acceleration;

[0099] Determine the driving time of the first vehicle when overtaking in the reverse direction according to the lane changing time, the overtaking time and the merging time;

[0100] The travel distance of the third vehicle when the first vehicle overtakes in the reverse direction is determined according to the speed and travel time of the third vehicle.

[0101] When the first vehicle is overtaking in the opposite direction, the third vehicle is also traveling. Therefore, the sum of the driving distance of the first vehicle when overtaking in the opposite direction and the driving distance of the third vehicle when the first vehicle is overtaking in the opposite direction is the safety distance corresponding to the first vehicle. The safety distance is compared with the actual distance to determine whether to issue a warning.

[0102] As a possible implementation manner, the method further includes:

[0103] Get the actual acceleration during each overtaking and calculate the average value;

[0104] Based on the average value, the preset overtaking acceleration is updated.

[0105] In the above embodiment, the preset overtaking acceleration can be a relatively small fixed value. However, considering that different drivers have different driving habits, the warning system lacks flexible adjustment capabilities. Therefore, this embodiment dynamically adjusts the warning parameters by analyzing the driver's daily driving habits and traffic rules, and reduces the false alarm rate as much as possible while ensuring safety. That is, the actual acceleration during each overtaking is obtained, and the average value is calculated, and the preset overtaking acceleration is updated according to the average value.

[0106] In addition, the reverse overtaking warning system can also be trained through decision trees using machine learning algorithms based on the collected data. By using these algorithms, the system can automatically identify the driver's behavior patterns and flexibly adjust the warning timing and distance according to different driving habits.

[0107] As a possible implementation manner, the preset overtaking acceleration is less than the maximum acceleration of the first vehicle.

[0108] The method further includes:

[0109] Calculating a minimum safety distance corresponding to the first vehicle according to the maximum acceleration, the first driving information, the second driving information, and the third driving information;

[0110] Determine whether the actual distance is less than the minimum safety distance;

[0111] If it is less than, a danger alarm will be issued.

[0112] In this embodiment, the minimum safety distance can also be calculated according to the maximum acceleration of the first vehicle using the above steps of calculating the safety distance. It is understandable that, since the acceleration used in the calculation process becomes larger, the minimum safety distance is smaller than the above safety distance. If the actual distance is not only smaller than the safety distance but also smaller than the minimum safety distance, it indicates that even if the first vehicle accelerates at the maximum acceleration, it is difficult to overtake, so a danger alarm is issued to remind the driver that overtaking is very dangerous.

[0113] The embodiment of the present invention uses advanced data processing algorithms and models to accurately analyze road traffic conditions and calculate the best warning time and distance based on factors such as current speed and driving distance. By analyzing the driver's daily driving habits and traffic rules, the warning parameters are dynamically adjusted to minimize the false alarm rate while ensuring safety.

[0114] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0115] Figure 3 FIG. 1 is a schematic diagram of a reverse overtaking warning device provided by an embodiment of the present invention. Figure 3 As shown, the reverse overtaking warning device includes:

[0116] The acquisition module 31 is used to acquire first driving information of the first vehicle, second driving information of the second vehicle in the current lane ahead, and third driving information of the third vehicle in the opposite lane ahead, wherein the current lane is the lane where the first vehicle is located;

[0117] The processing module 32 is used to determine, according to the vehicle driving information, the driving distance of the first vehicle when overtaking in the reverse direction, and the driving distance of the third vehicle when the first vehicle overtakes in the reverse direction, and obtain the safety distance corresponding to the first vehicle based on the driving distance of the first vehicle when overtaking in the reverse direction and the driving distance of the third vehicle, wherein the driving distance of the first vehicle when overtaking in the reverse direction includes the lane changing distance, the overtaking distance and the merging distance, and the vehicle driving information includes the first driving information, the second driving information and the third driving information;

[0118] A judging module 33 is used to judge whether the actual distance between the first vehicle and the third vehicle is less than the safety distance;

[0119] The warning module 34 is used to issue a danger warning if the actual distance is smaller than the safety distance.

[0120] As a possible implementation, the first driving information includes the width of the current lane;

[0121] The processing module 32 is used for:

[0122] The lane changing distance is determined according to the width of the current lane and a preset steering angle of the first vehicle during the lane changing.

[0123] As a possible implementation manner, the first driving information further includes the length, position and first speed of the first vehicle, and the second driving information includes the length, position and speed of the second vehicle;

[0124] The processing module 32 is used for:

[0125] Determining a lane changing time corresponding to the lane changing distance according to the lane changing distance, the first vehicle speed and a preset overtaking acceleration;

[0126] determining a first distance according to the lane change time and the speed of the second vehicle;

[0127] determining a second distance based on the position of the first vehicle and the position of the second vehicle;

[0128] The sum of the first distance, the second distance, the length of the first vehicle, and the length of the second vehicle is calculated to obtain the overtaking distance.

[0129] As a possible implementation manner, the processing module 32 is used to:

[0130] determining a second vehicle speed of the first vehicle when the lane change is completed according to the first vehicle speed, the lane change time, and the overtaking acceleration;

[0131] Determine the overtaking time corresponding to the overtaking distance according to the overtaking distance, the second vehicle speed and the overtaking acceleration;

[0132] determining a third distance according to the overtaking time and the speed of the second vehicle;

[0133] The sum of the third distance, the preset safe collision avoidance distance between the first vehicle and the second vehicle, and the preset safe collision avoidance distance between the first vehicle and the third vehicle is calculated to obtain the merging distance.

[0134] As a possible implementation manner, the third driving information includes a speed of the third vehicle;

[0135] The processing module 32 is used for:

[0136] determining a third vehicle speed of the first vehicle when overtaking is completed according to the second vehicle speed, the overtaking time and the overtaking acceleration;

[0137] Determine the merging time corresponding to the merging distance according to the merging distance, the third vehicle speed and the overtaking acceleration;

[0138] Determine the driving time of the first vehicle when overtaking in the reverse direction according to the lane changing time, the overtaking time and the merging time;

[0139] The travel distance of the third vehicle when the first vehicle overtakes in the reverse direction is determined according to the speed and travel time of the third vehicle.

[0140] As a possible implementation manner, the processing module 32 is further configured to:

[0141] Get the actual acceleration during each overtaking and calculate the average value;

[0142] Based on the average value, the preset overtaking acceleration is updated.

[0143] As a possible implementation manner, the preset overtaking acceleration is less than the maximum acceleration of the first vehicle;

[0144] The processing module 32 is further used for:

[0145] Calculating a minimum safety distance corresponding to the first vehicle according to the maximum acceleration, the first driving information, the second driving information, and the third driving information;

[0146] Determine whether the actual distance is less than the minimum safety distance;

[0147] If it is less than, a danger alarm will be issued.

[0148] Figure 4 FIG. 4 is a schematic diagram of an electronic device 40 provided by an embodiment of the present invention. Figure 4 As shown, the electronic device 40 of this embodiment includes: a processor 41, a memory 42, and a computer program 43 stored in the memory 42 and executable on the processor 41, such as a reverse overtaking warning program. When the processor 41 executes the computer program 43, the steps in the above-mentioned reverse overtaking warning method embodiments are implemented, such as Figure 1 Alternatively, when the processor 41 executes the computer program 43, the functions of each module in the above-mentioned device embodiments are realized, for example Figure 3 The functions of the modules 31 to 34 are shown.

[0149] Exemplarily, the computer program 43 may be divided into one or more modules / units, one or more modules / units are stored in the memory 42, and executed by the processor 41 to implement the present invention. One or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 43 in the electronic device 40.

[0150] The electronic device 40 may include, but is not limited to, a processor 41 and a memory 42. Those skilled in the art will appreciate that Figure 4It is only an example of the electronic device 40 and does not constitute a limitation of the electronic device 40. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 40 may also include input and output devices, network access devices, buses, etc.

[0151] The processor 41 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0152] The memory 42 may be an internal storage unit of the electronic device 40, such as a hard disk or memory of the electronic device 40. The memory 42 may also be an external storage device of the electronic device 40, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 40. Further, the memory 42 may also include both an internal storage unit of the electronic device 40 and an external storage device. The memory 42 is used to store computer programs and other programs and data required by the electronic device 40. The memory 42 may also be used to temporarily store data that has been output or is to be output.

[0153] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0154] An embodiment of the present invention further provides a vehicle, comprising the electronic device as described above.

[0155] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0156] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0157] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0160] If the integrated module / unit 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 present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media can include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0161] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A reverse overtaking warning method, characterized in that: include: Acquire first driving information of a first vehicle, second driving information of a second vehicle in a front current lane, and third driving information of a third vehicle in a front opposite lane, wherein the current lane is a lane where the first vehicle is located; Determine, according to the vehicle driving information, the driving distance of the first vehicle when overtaking in the reverse direction, and the driving distance of the third vehicle when the first vehicle overtakes in the reverse direction, and obtain the safety distance corresponding to the first vehicle based on the driving distance of the first vehicle when overtaking in the reverse direction and the driving distance of the third vehicle, wherein the driving distance of the first vehicle when overtaking in the reverse direction includes a lane changing distance, an overtaking distance, and a merging distance, and the vehicle driving information includes the first driving information, the second driving information, and the third driving information; determining whether the actual distance between the first vehicle and the third vehicle is less than the safety distance; If the actual distance is smaller than the safety distance, a danger warning is issued.

2. The reverse overtaking warning method according to claim 1, characterized in that: The first driving information includes the width of the current lane; The determining, based on the vehicle driving information, a driving distance of the first vehicle when overtaking in the reverse direction comprises: The lane changing distance is determined according to the width of the current lane and a preset steering angle of the first vehicle during lane changing.

3. The reverse overtaking warning method according to claim 2, characterized in that: The first driving information further includes the length, position and first speed of the first vehicle, and the second driving information includes the length, position and speed of the second vehicle; The determining, based on the vehicle driving information, a driving distance of the first vehicle when overtaking in the reverse direction comprises: determining a lane changing time corresponding to the lane changing distance according to the lane changing distance, the first vehicle speed and a preset overtaking acceleration; determining a first distance according to the lane change time and the speed of the second vehicle; determining a second distance based on the position of the first vehicle and the position of the second vehicle; The overtaking distance is obtained by calculating the sum of the first distance, the second distance, the vehicle length of the first vehicle, and the vehicle length of the second vehicle.

4. The reverse overtaking warning method according to claim 3, characterized in that: The determining, based on the vehicle driving information, a driving distance of the first vehicle when overtaking in the reverse direction comprises: determining a second vehicle speed of the first vehicle when the lane change is completed according to the first vehicle speed, the lane change time, and the overtaking acceleration; determining an overtaking time corresponding to the overtaking distance according to the overtaking distance, the second vehicle speed and the overtaking acceleration; determining a third distance according to the overtaking time and the speed of the second vehicle; The merging distance is obtained by calculating the sum of the third distance, the preset safe collision avoidance distance between the first vehicle and the second vehicle, and the preset safe collision avoidance distance between the first vehicle and the third vehicle.

5. The reverse overtaking warning method according to claim 4, characterized in that: The third driving information includes the speed of the third vehicle; The determining, based on the vehicle driving information, the driving distance of the third vehicle when the first vehicle overtakes in the reverse direction comprises: determining a third vehicle speed of the first vehicle when overtaking is completed according to the second vehicle speed, the overtaking time and the overtaking acceleration; determining a merging time corresponding to the merging distance according to the merging distance, the third vehicle speed and the overtaking acceleration; Determine the driving time of the first vehicle when overtaking in reverse according to the lane changing time, the overtaking time and the lane merging time; The travel distance of the third vehicle when the first vehicle overtakes in the reverse direction is determined according to the speed of the third vehicle and the travel time.

6. The method for warning overtaking in reverse according to any one of claims 1 to 5, characterized in that: After obtaining the first driving information of the first vehicle, the method further includes: According to the first driving information, it is predicted whether the current vehicle is going to overtake in the opposite direction.

7. The reverse overtaking warning method according to any one of claims 3 to 5, characterized in that: The method further comprises: Obtain the acceleration of the vehicle during multiple reverse overtaking and calculate the average value; updating the preset overtaking acceleration according to the average value; Wherein, the preset overtaking acceleration is less than the maximum acceleration of the first vehicle; After acquiring the first driving information of the first vehicle, the second driving information of the second vehicle in the front current lane, and the third driving information of the third vehicle in the front opposite lane, the method further includes: Calculating a minimum safety distance corresponding to the first vehicle according to the maximum acceleration, the first driving information, the second driving information, and the third driving information; Determining whether the actual distance is less than the minimum safety distance; If it is less than, a danger alarm will be issued.

8. A reverse overtaking warning device, characterized in that: include: A collection module, used to obtain first driving information of a first vehicle, second driving information of a second vehicle in a front current lane, and third driving information of a third vehicle in a front opposite lane, wherein the current lane is a lane where the first vehicle is located; a processing module, configured to determine, according to vehicle driving information, a driving distance of the first vehicle when overtaking in reverse direction, and a driving distance of the third vehicle when the first vehicle overtakes in reverse direction, and obtain a safety distance corresponding to the first vehicle based on the driving distance of the first vehicle when overtaking in reverse direction and the driving distance of the third vehicle, wherein the driving distance of the first vehicle when overtaking in reverse direction includes a lane changing distance, an overtaking distance, and a merging distance, and the vehicle driving information includes the first driving information, the second driving information, and the third driving information; A judging module, configured to judge whether the actual distance between the first vehicle and the third vehicle is less than the safety distance; The early warning module is used to issue a danger warning if the actual distance is smaller than the safety distance.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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