Lane-borrowing overtaking avoidance system and vehicle avoidance method

Abstract

The invention discloses a tailgating overtaking avoidance system and a vehicle avoidance method, and the tailgating overtaking avoidance system is characterized in that the tailgating overtaking avoidance system comprises a ramp plate assembly, the ramp plate assembly is suitable for being installed on a ramp road surface, an emergency avoidance bin is constructed below the ramp road surface, and the ramp plate assembly is suitable for opening and closing the emergency avoidance bin; the roadside detector monitors driving state information of vehicles driving in different directions on the ramp road surface in real time; the data processing unit is in communication connection with the road side detector so as to receive the driving state information of the road side detector, and the data processing unit is used for determining an overtaking time period according to the driving state information; and the cloud platform is in communication connection with the ramp plate assembly and the data processing unit, and the cloud platform opens and closes the emergency avoidance bin according to the overtaking time period ramp plate assembly. The tailgating overtaking avoidance system provided by the invention has the advantages of improving the safety of vehicle driving, reducing the occurrence of traffic accidents and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle avoidance system and a vehicle avoidance method. Background Art

[0002] Currently, many vehicles have the function of overtaking by using the opposite lane for automatic driving. Conventional overtaking functions rely on the camera in front of the vehicle to judge the movement information of the vehicle in the opposite lane to determine whether overtaking can be performed.

[0003] However, the overtaking and avoidance systems in related technologies are unable to detect oncoming vehicles at the top of the slope due to the relatively large uphill and downhill slopes of the road. The front camera of the autonomous driving vehicle cannot detect the speed of the oncoming vehicle and whether there is a risk of collision. Once there is a risk of collision, it cannot be avoided, resulting in a traffic accident. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a lane-overtaking avoidance system, which has the advantages of improving the safety of vehicle driving and reducing the occurrence of traffic accidents.

[0005] The invention also provides a vehicle avoidance method.

[0006] In order to achieve the above-mentioned purpose, the present invention proposes a system for overtaking and avoiding vehicles by using other lanes, comprising: a ramp plate assembly, wherein the ramp plate assembly is suitable for being installed on a slope road surface, an emergency avoidance chamber is constructed below the slope road surface, and the ramp plate assembly is suitable for opening and closing the emergency avoidance chamber; a roadside detector, wherein the roadside detector monitors the driving status information of vehicles traveling in different directions on the slope road surface in real time; a data processing unit, wherein the data processing unit is communicatively connected with the roadside detector to receive the driving status information of the roadside detector, and the data processing unit is used to determine an overtaking time period according to the driving status information; and a cloud platform, wherein the cloud platform is communicatively connected with the ramp plate assembly and the data processing unit, and the cloud platform opens and closes the emergency avoidance chamber according to the overtaking time period.

[0007] According to the overtaking and avoidance system of the embodiment of the present invention, the roadside detector can monitor the driving status information of vehicles traveling in different directions on the slope road surface in real time, so that the overtaking and avoidance system can timely understand the surrounding traffic conditions, especially the speed and distance of oncoming vehicles, which helps to determine when overtaking is necessary, thereby effectively avoiding possible collisions. The data processing unit is connected to the roadside detector for communication, and can determine the best time period for overtaking based on the driving status information collected in real time. This intelligent judgment significantly reduces the driver's misjudgment of the timing of overtaking in complex traffic environments, thereby reducing the risk of accidents.

[0008] The overtaking avoidance system is constructed with an emergency avoidance chamber. When overtaking is required, the ramp assembly can open the emergency avoidance chamber to allow the vehicle to enter safely, ensuring that the vehicle can quickly and safely avoid collisions with oncoming vehicles. The ramp assembly calculates the length of the ramp assembly that needs to be opened based on the vehicle speed and slope information, and can guide the vehicle into the emergency avoidance chamber to ensure that the vehicle is correctly parked in the emergency avoidance chamber during the avoidance process, effectively avoiding the risk of collisions with oncoming vehicles, improving the driving safety of the vehicle, and ensuring the orderliness of road traffic.

[0009] Therefore, the lane-changing overtaking avoidance system according to the embodiment of the present invention has the advantages of improving vehicle driving safety and reducing the occurrence of traffic accidents.

[0010] In some embodiments of the present invention, the ramp assembly includes: a road surface controller, which is communicatively connected to the cloud platform; and a ramp, which is mounted on the ramp and can be rotated to open and close the emergency avoidance chamber.

[0011] In some embodiments of the present invention, a plurality of ramp plate assemblies are arranged along the ramp, and the cloud platform communicates with the ramp plate assemblies to control the corresponding ramp plates to open and close the emergency avoidance compartment.

[0012] In some embodiments of the present invention, the roadside detector includes: a roadside camera, which is installed at the top of the roadside ramp and is used to collect vehicle speed and distance information; a roadside lidar, which is installed at the top of the roadside ramp and is used to collect vehicle speed information and speed information when the light is insufficient.

[0013] In some embodiments of the present invention, the overtaking and avoidance system is an overtaking and avoidance system for an autonomous driving vehicle, and the cloud platform of the overtaking and avoidance system is communicatively connected with the autonomous driving system to control the autonomous driving vehicle to enter and exit the emergency avoidance compartment.

[0014] According to an embodiment of the second aspect of the present invention, a vehicle avoidance method is proposed, which is used for an overtaking avoidance system using a different lane. The vehicle avoidance method includes: obtaining a first vehicle driving state, a second vehicle driving state, and an oncoming vehicle driving state; determining an overtaking time period according to the first vehicle driving state, the second vehicle driving state, and the oncoming vehicle driving state; and controlling the ramp assembly to open and close the emergency avoidance compartment according to the overtaking time period.

[0015] In some embodiments of the present invention, obtaining the driving state of the first vehicle, the driving state of the second vehicle and the driving state of the oncoming vehicle includes: obtaining the speed of the first vehicle, the speed of the second vehicle, and the distance between the first vehicle and the second vehicle; obtaining the speed of the first vehicle, the speed of the oncoming vehicle, and the distance between the first vehicle and the oncoming vehicle.

[0016] In some embodiments of the present invention, determining the overtaking time period according to the driving state of the first vehicle, the driving state of the second vehicle, and the driving state of the oncoming vehicle includes: determining the required overtaking time according to the speed of the first vehicle, the speed of the second vehicle, and the distance between the first vehicle and the second vehicle; determining the remaining collision time according to the speed of the first vehicle, the speed of the oncoming vehicle, and the distance between the first vehicle and the second vehicle. Determining the overtaking time period according to the required overtaking time and the remaining collision time.

[0017] In some embodiments of the present invention, controlling the ramp assembly to open and close the emergency avoidance compartment according to the overtaking time period includes: determining whether the overtaking time period is less than a preset avoidance time; if so, controlling the ramp assembly to open and close the emergency avoidance compartment.

[0018] In some embodiments of the present invention, the vehicle avoidance method further includes: controlling a road surface controller to detect a road surface slope; and calculating the number of ramp plates to be opened according to the road surface slope.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a block diagram of a lane-overtaking avoidance system according to an embodiment of the present invention; Figure 2 is a schematic diagram of a lane-overtaking avoidance system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of starting to overtake; Figure 4 This is a schematic diagram of the normal overtaking process; Figure 5 is a schematic diagram of a vehicle entering an emergency avoidance compartment according to a lane-overtaking avoidance system according to an embodiment of the present invention; Figure 6 is a side view of a vehicle entering an emergency avoidance compartment according to the lane-overtaking avoidance system of an embodiment of the present invention; Figure 7is a schematic diagram of a vehicle driving out of an emergency avoidance compartment of a lane-crossing avoidance system according to an embodiment of the present invention; Figure 8 is a schematic diagram of the movement of an oncoming vehicle according to the lane-overtaking avoidance system of an embodiment of the present invention; Fig. 9 is a flowchart of a vehicle avoidance method according to an embodiment of the present invention; Fig.10 It is a flowchart of determining the opening of an emergency avoidance compartment according to an embodiment of the present invention.

[0021] Reference numerals: Overtaking avoidance system 1, ramp assembly 100, roadside detector 200, Data processing unit 300, cloud platform 400, rotating motor 500, lifting and moving motor 600, Lifting support device 700, temporary parking platform 800, vehicle-mounted unit equipment 900, slope signal sensor 10, Vehicle controller 20, roadside communication device 30, emergency avoidance compartment 101, road surface controller 110, Ramp plate 120 , roadside camera 210 , roadside laser radar 220 . DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0025] In the description of the present invention, "plurality" means two or more than two, and "several" means one or more.

[0026] The following describes a system for avoiding overtaking in another lane 1 according to an embodiment of the present invention with reference to the accompanying drawings.

[0027] like Figure 1-Figure 10 As shown, the lane-crossing overtaking avoidance system 1 according to the embodiment of the present invention includes a ramp plate assembly 100 , a roadside detector 200 , a data processing unit 300 and a cloud platform 400 .

[0028] The ramp plate assembly 100 is suitable for installation on a ramp road surface, and an emergency avoidance chamber 101 is constructed below the ramp road surface. The ramp plate assembly 100 is suitable for opening and closing the emergency avoidance chamber 101. The roadside detector 200 monitors the driving status information of vehicles traveling in different directions on the ramp road surface in real time. The data processing unit 300 is connected in communication with the roadside detector 200 to receive the driving status information of the roadside detector 200, and the data processing unit 300 is used to determine the overtaking time period according to the driving status information. The cloud platform 400 is connected in communication with the ramp plate assembly 100 and the data processing unit 300, and the cloud platform 400 opens and closes the emergency avoidance chamber 101 of the ramp plate assembly 100 according to the overtaking time period.

[0029] For example, the data processing unit 300 receives information on the existence of the autonomous driving vehicle, the target vehicle ahead, and the vehicle in the opposite lane, as well as their movement information including speed, direction, relative distance, etc., transmitted by the roadside detector 200, calculates the relative collision time between the autonomous driving vehicle and the oncoming vehicle, and inputs it to the cloud platform 400, which is used by the cloud platform 400 to determine the feasibility and collision risk of the autonomous driving vehicle overtaking by using another lane at this time, and to perform command control.

[0030] The roadside communication device 30 is arranged above the road pole, receives the control instructions of the autonomous driving vehicle issued by the cloud platform 400, and transmits them to the on-board unit device 900 and the road surface controller 110. The on-board unit device 900 is arranged at the bottom of the autonomous driving vehicle, receives the control instructions of the cloud platform 400 transmitted by the roadside detector 200, and transmits them to the vehicle controller for lane change or avoidance operations.

[0031] The slope signal sensor 10 is arranged in the middle of the rear axle of the autonomous driving vehicle, collects information about the road slope, and transmits the slope signal to the cloud platform 400 together with the vehicle-mounted unit device 900, which is used to determine the length range of the ramp plate assembly 100 that needs to be opened based on the slope information and information such as the vehicle length and height when it is determined that the autonomous driving vehicle will collide with the oncoming vehicle, so as to ensure that the autonomous driving vehicle can drive into the emergency avoidance compartment 101. The vehicle controller 20 is arranged at the bottom of the autonomous driving vehicle, receives the control command of the cloud platform 400 transmitted by the vehicle-mounted unit device 900, and transmits it to the vehicle controller 20 for lane change or avoidance operation.

[0032] According to the overtaking and avoidance system 1 of the embodiment of the present invention, the roadside detector 200 can monitor the driving status information of vehicles traveling in different directions on the slope road surface in real time, so that the overtaking and avoidance system 1 can timely understand the surrounding traffic conditions, especially the speed and distance of oncoming vehicles, which helps to judge when it is necessary to overtake by using the lane, thereby effectively avoiding possible collisions. The data processing unit 300 is connected to the roadside detector 200 for communication, and can judge the best time period for overtaking based on the driving status information collected in real time. This intelligent judgment significantly reduces the driver's misjudgment of the timing of overtaking in complex traffic environments, thereby reducing the risk of accidents.

[0033] The overtaking avoidance system 1 is configured with an emergency avoidance chamber 101. When overtaking is required, the ramp plate assembly 100 can open the emergency avoidance chamber 101 to allow the vehicle to enter safely, ensuring that when there is an oncoming vehicle, the vehicle can quickly and safely avoid collision with the oncoming vehicle. The ramp plate assembly 100 calculates the length of the ramp plate assembly 100 that needs to be opened according to the vehicle speed and slope information, and can guide the vehicle into the emergency avoidance chamber 101, ensuring that the vehicle is correctly parked in the emergency avoidance chamber 101 during the avoidance process, effectively avoiding the risk of collision with the oncoming vehicle, improving the driving safety of the vehicle, and ensuring the orderliness of road traffic.

[0034] Therefore, the lane-changing overtaking avoidance system 1 according to the embodiment of the present invention has the advantages of improving vehicle driving safety and reducing the occurrence of traffic accidents.

[0035] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the ramp plate assembly 100 includes a road surface controller 110 and a ramp plate 120. The road surface controller 110 is in communication connection with the cloud platform 400. The ramp plate 120 is installed on the ramp and can be rotated to open and close the emergency avoidance chamber 101.

[0036] The rotating motor 500 is connected to the road surface controller 110, receives the command of the road surface controller 110, and can drive the ramp plate 120 to rotate to realize the opening and closing of the emergency avoidance compartment 101. The lifting and moving motor 600 is arranged at the bottom of the emergency avoidance compartment 101. Under the action of the roadside detector 200, it can drive the lifting support device 700 and the temporary parking platform 800 to lift and move horizontally to ensure that the automatic driving vehicle can be supported in the emergency avoidance compartment 101. The lifting support device 700 is connected to the lifting and moving motor 600 in an n-shaped structure, which can be lifted up and down and moved horizontally under the action of the lifting and moving motor 600, and is used to support the ramp plate 120 rotated to the emergency avoidance compartment 101 and support the automatic driving vehicle. The temporary parking platform 800 is connected to the lifting and moving motor 600 to form an N-shaped structure. It can be lifted up and down and moved laterally under the action of the lifting and moving motor 600. The autonomous driving vehicle enters the emergency avoidance compartment 101 and finally stops at the temporary parking platform 800, waiting for the oncoming vehicle to pass the ramp 120 above. The ramp 120 opens and the autonomous driving vehicle drives out of the emergency avoidance compartment 101 to avoid collision with the oncoming vehicle. The temporary parking platform 800 plays a role in supporting the temporary avoidance of the autonomous driving vehicle.

[0037] The road surface controller 110 is arranged in the middle position of the sloped road surface, receives the control instructions of the cloud platform 400 transmitted by the roadside detector 200, and controls the rotating motor 500 and the lifting and moving motor 600 according to the control instructions, thereby driving the opening and closing of the ramp plate 120 and the lifting and lowering and lateral movement of the lifting support device 700 and the temporary parking platform position 900 respectively.

[0038] The ramp plate 120 is at the slope road surface. The slope road is in a hollowed-out state. The ramp plate 120 is laid on it to support road vehicles to travel up and downhill. Below the ramp plate 120 is the emergency avoidance chamber 101.

[0039] In some embodiments of the present invention, Figure 3-Figure 7 As shown, a plurality of ramp plate assemblies 100 are arranged along the ramp, and the cloud platform 400 communicates with the ramp plate assembly 100 to control the corresponding ramp plate 120 to open and close the emergency avoidance compartment 101 .

[0040] Among them, the ramp plate 120 is divided into N long strips, and each baffle is 10 cm wide. The cloud platform 400 can calculate the number of ramp plates 120 that need to be opened for the autonomous driving vehicle to enter the emergency avoidance compartment 101 at this position according to the vehicle's position and slope signal, the length and width of the autonomous driving vehicle, to ensure that the autonomous driving vehicle can enter the emergency avoidance compartment 101. The ramp plate 120 is rotated to open and close under the action of the rotating motor.

[0041] In some embodiments of the present invention, Figure 1 and Figure 2As shown, the roadside detector 200 includes a roadside camera 210 and a roadside laser radar 220. The roadside camera 210 is installed on the top of the roadside ramp to collect vehicle speed and distance information. The roadside laser radar 220 is installed on the top of the roadside ramp to collect vehicle speed information and speed information when the light is insufficient.

[0042] The roadside camera 210 is arranged above the road pole at the top of the ramp on the side of the slope. It uses a high-definition pixel image sensor and can monitor the speed, angle, direction and relative distance of the road autonomous driving vehicle and the vehicles in front of it and the vehicles in the side lanes in real time. When the autonomous driving vehicle wants to overtake the vehicle in the opposite lane, the time used for overtaking can be calculated and input into the data processing unit 300 to determine whether there is a risk of collision with the oncoming vehicle when the autonomous driving vehicle overtakes at this time.

[0043] The roadside laser radar 220 is also arranged above the road pole at the top of the ramp on the side of the slope. It adopts solid-state laser scanning to scan and collect the motion information of the roadside autonomous driving vehicles, the target vehicles in front, and whether there are vehicles in the opposite lane, including speed, angle, direction, distance, etc. in real time. It builds a 3D stereo model and judges whether the autonomous driving vehicle can complete the overtaking normally and then return to the lane when overtaking, and whether there is a risk of collision with the oncoming vehicle at this time, etc., and inputs it to the data processing unit 300 for redundant judgment processing with the roadside camera 210.

[0044] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the overtaking avoidance system 1 is a system 1 for overtaking avoidance of an autonomous driving vehicle, and the cloud platform 400 of the overtaking avoidance system 1 is connected to the autonomous driving system for communication to control the autonomous driving vehicle to enter and exit the emergency avoidance compartment 101. In addition, the overtaking avoidance system 1 is also applicable to ordinary driving conditions.

[0045] Through the communication between the cloud platform 400 and the automatic driving system, the lane-passing overtaking avoidance system 1 can realize automatic control of the vehicle, including automatically entering and exiting the emergency avoidance compartment 101. This automated function reduces the complexity of manual operation, making the vehicle safer and more efficient during the lane-passing overtaking process.

[0046] The cloud platform 400 can acquire and process various data from the automatic driving system in real time, such as vehicle speed, location, surrounding environment information, etc. The sharing of this information can help the lane-crossing overtaking avoidance system 1 to more accurately determine when to open the emergency avoidance chamber 101, thereby improving the immediacy and accuracy of vehicle driving.

[0047] The following describes a vehicle avoidance method according to an embodiment of the present invention. Fig. 9As shown, it is used for overtaking avoidance system 1.

[0048] According to an embodiment of the present invention, the vehicle avoidance method includes obtaining a first vehicle driving state, a second vehicle driving state, and an oncoming vehicle driving state, determining an overtaking time period according to the first vehicle driving state, the second vehicle driving state, and the oncoming vehicle driving state, and controlling the ramp assembly to open and close the emergency avoidance compartment according to the overtaking time period.

[0049] By acquiring the driving status information of multiple vehicles and determining the overtaking time period based on the information, the lane-overtaking avoidance system 1 can help the driver better judge when it is appropriate to overtake by using the lane, thereby avoiding overtaking operations under unsafe conditions and reducing the occurrence of traffic accidents. At the same time, overtaking by using the lane in the appropriate time period can also improve the traffic efficiency of the road, reduce traffic congestion, and ease traffic pressure.

[0050] In some embodiments of the present invention, obtaining the driving state of the first vehicle, the driving state of the second vehicle, and the driving state of the oncoming vehicle includes obtaining the speed of the first vehicle, the speed of the second vehicle, and the distance between the first vehicle and the second vehicle. Obtaining the speed of the first vehicle, the speed of the oncoming vehicle, and the distance between the first vehicle and the oncoming vehicle.

[0051] The driving status of the first vehicle, the second vehicle and the oncoming vehicle can be obtained through the roadside camera and the roadside lidar. The data processing unit receives information from the roadside camera and the roadside lidar and transmits it to the cloud platform, which is used by the cloud platform to judge the feasibility and collision risk of the first vehicle, the second vehicle and the oncoming vehicle.

[0052] In some embodiments of the present invention, Figure 3-Figure 8 As shown, the overtaking time period is determined according to the driving state of the first vehicle, the driving state of the second vehicle and the driving state of the oncoming vehicle, including determining the required time for overtaking according to the speed of the first vehicle, the speed of the second vehicle and the distance between the first vehicle and the second vehicle. The remaining time for collision is determined according to the speed of the first vehicle, the speed of the oncoming vehicle and the distance between the first vehicle and the second vehicle. The overtaking time period is determined according to the required time for overtaking and the remaining time for collision.

[0053] Further, the ramp plate assembly is controlled to open and close the emergency avoidance compartment according to the overtaking time period, including determining whether the overtaking time period is less than a preset avoidance time. If so, the ramp plate assembly is controlled to open and close the emergency avoidance compartment.

[0054] The cloud platform receives information such as the movement direction, movement speed, and vehicle distance of the first vehicle, the second vehicle, and the oncoming vehicle transmitted by the data processing unit, and determines whether the first vehicle will have a risk of collision with the oncoming vehicle after overtaking in the opposite lane and before returning to its own lane.

[0055] When collecting vehicle motion information and there is an oncoming vehicle, calculate the time T relative to AC = distance D (distance between the front of the first vehicle and the front of the oncoming vehicle) / (speed V first vehicle + speed V oncoming vehicle). T overtaking BC = distance d (distance between the rear of the first vehicle and the front of the second vehicle) / (speed V first vehicle - speed V second vehicle). When T relative to AC - T overtaking BC ≥ 3 seconds, it is judged that the first vehicle can safely overtake by using the opposite lane. At this time, the cloud platform will send an overtaking lane change instruction to the first vehicle. After overtaking the second vehicle, the first vehicle will change back to the original lane to achieve the overtaking operation. When collecting vehicle motion information and there is no oncoming vehicle, it is judged that the first vehicle can safely overtake by using the opposite lane, and there is no risk of collision with the oncoming vehicle. At this time, the cloud platform will send an overtaking lane change instruction to the first vehicle. After overtaking the second vehicle, the first vehicle will change back to the original lane to achieve the overtaking operation. When collecting vehicle motion information and there is an oncoming vehicle, calculate the time. When T relative to AC-T overtaking BC is less than 3 seconds, it is judged that the first vehicle cannot safely overtake in the opposite lane. There is a risk of collision between the first vehicle and the oncoming vehicle when overtaking. At this time, the cloud platform will send a ramp opening command to the road controller. The ramp is opened and an emergency avoidance command is sent to the first vehicle. The ramp calculates the length of the ramp that needs to be opened according to the vehicle speed and slope information, rotates the corresponding ramp, and guides the first vehicle into the emergency avoidance compartment inside the ramp. At the same time, the lifting device rises quickly to support the ramp baffle and stops the first vehicle at the temporary parking platform. After the oncoming vehicle passes the corresponding lane baffle, the ramp is opened again, and the first vehicle backs out of the emergency avoidance compartment and continues to overtake in the opposite lane, thereby avoiding the risk of collision with the oncoming vehicle during the overtaking in the opposite lane. In some embodiments of the present invention, the vehicle avoidance method further comprises controlling a road surface controller to detect a road surface slope, and calculating the number of ramp plates to be opened according to the road surface slope.

[0056] The detected road slope information is transmitted to the cloud platform, and the length and speed of the first vehicle and the oncoming vehicle are determined to calculate the number of ramps required to ensure that the first vehicle can safely enter the emergency avoidance compartment.

[0057] For example, when the first vehicle is at risk of colliding with an oncoming vehicle when overtaking, the cloud platform will send a ramp opening command to the road controller. The ramp is opened and an emergency avoidance command is sent to the first vehicle. The ramp calculates the length of the ramp that needs to be opened according to the vehicle speed and slope information, rotates the corresponding ramp, and guides the first vehicle into the emergency avoidance compartment inside the slope. At the same time, the lifting device rises quickly to support the ramp baffle and stops the first vehicle at the temporary parking platform. After the oncoming vehicle passes the corresponding ramp, the ramp is opened again, and the first vehicle backs out of the emergency avoidance compartment and continues to overtake in the opposite lane, thereby avoiding the risk of collision with the oncoming vehicle during the overtaking process. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative 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.

[0058] 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.

Claims

1. A lane-overtaking avoidance system, characterized in that: include: A ramp plate assembly, the ramp plate assembly is suitable for being installed on a ramp road surface, an emergency escape chamber is configured below the ramp road surface, and the ramp plate assembly is suitable for opening and closing the emergency escape chamber; Roadside detectors, which monitor in real time the driving status information of vehicles traveling in different directions on the sloped road surface; a data processing unit, the data processing unit being communicatively connected to the roadside detector to receive driving status information of the roadside detector, the data processing unit being used to determine an overtaking time period according to the driving status information; A cloud platform is communicatively connected with the ramp assembly and the data processing unit, and the cloud platform opens and closes the emergency avoidance chamber according to the ramp assembly during the overtaking time period.

2. The overtaking avoidance system according to claim 1, characterized in that: The ramp assembly comprises: A road surface controller, the road surface controller is communicatively connected with the cloud platform; A ramp plate is installed on the ramp and can be rotated to open and close the emergency escape compartment.

3. The overtaking avoidance system according to claim 1, characterized in that: The ramp plate assemblies are arranged in plurality along the ramp, and the cloud platform communicates with the ramp plate assemblies to control the corresponding ramp plates to open and close the emergency avoidance compartment.

4. The overtaking avoidance system according to claim 1, characterized in that: The roadside detector comprises: A roadside camera is installed on the top of the roadside ramp to collect vehicle speed and distance information; A roadside laser radar is installed on the top of a roadside ramp and is used to collect vehicle speed information and velocity information when light is insufficient.

5. The lane-overtaking avoidance system according to claim 1, characterized in that: The overtaking and avoidance system is an overtaking and avoidance system for an autonomous driving vehicle. The cloud platform of the overtaking and avoidance system is communicatively connected with the autonomous driving system to control the autonomous driving vehicle to enter and exit the emergency avoidance compartment.

6. A vehicle avoidance method, characterized in that: For an overtaking avoidance system, the vehicle avoidance method includes: Acquire the driving state of the first vehicle, the driving state of the second vehicle, and the driving state of the reverse vehicle; Determine an overtaking time period according to the driving state of the first vehicle, the driving state of the second vehicle and the driving state of the oncoming vehicle; The ramp assembly is controlled to open and close the emergency avoidance chamber according to the overtaking time period.

7. The vehicle avoidance method according to claim 6, characterized in that: Acquiring the driving state of the first vehicle, the driving state of the second vehicle, and the driving state of the reverse vehicle, including: Acquire the speed of the first vehicle, the speed of the second vehicle, and the distance between the first vehicle and the second vehicle; The speed of the first vehicle, the speed of the oncoming vehicle, and the distance between the first vehicle and the oncoming vehicle are obtained.

8. The vehicle avoidance method according to claim 7, characterized in that: Determining the overtaking time period according to the driving state of the first vehicle, the driving state of the second vehicle, and the driving state of the oncoming vehicle includes: determining a time required for overtaking according to a speed of the first vehicle, a speed of the second vehicle, and a distance between the first vehicle and the second vehicle; determining a time remaining to collision based on a speed of the first vehicle, a speed of the oncoming vehicle, and a distance between the first vehicle and a second vehicle; An overtaking time period is determined according to the overtaking required time and the collision remaining time.

9. The vehicle avoidance method according to claim 8, characterized in that: Controlling the ramp assembly to open and close the emergency avoidance compartment according to the overtaking time period includes: Determine whether the overtaking time period is less than the preset avoidance time; If so, the ramp assembly is controlled to open and close the emergency avoidance compartment.

10. The vehicle avoidance method according to claim 6, characterized in that: Also includes: Control the road surface controller to detect the road surface slope; The number of ramps to be opened is calculated according to the road surface slope.

Images