Road-occupying overtaking opposite vehicle emergency control method and equipment based on state reachable set

Abstract

The invention provides a road-occupying overtaking opposite vehicle emergency control method and equipment based on a state reachable set, and the method comprises the steps: detecting a collision event through employing a safe advancing control set model, and constructing a traffic participation vehicle model; enabling each traffic participating vehicle to correspond to a Markov chain; obtaining a time-varying control input transfer matrix in each Markov chain, and obtaining a vehicle state transfer conditional probability according to the normalized time-varying control input transfer matrix and the vehicle initial input conditional probability; according to the vehicle state transition condition probability and the vehicle state total probability, obtaining a vehicle state and control input joint probability; according to the vehicle state and control input joint probability and the normalized time-varying control input transfer matrix, obtaining vehicle position probability distribution of a predetermined section at a predetermined moment; and performing avoidance control on the driving vehicle according to the vehicle position probability distribution of the predetermined section at the predetermined time. According to the invention, the safety in the driving process is ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of vehicle control, and in particular, to an emergency control method and device for oncoming vehicles during lane-occupying overtaking based on a state reachable set. Background Art

[0002] Currently, about 60% of traffic accidents are caused by driver distraction and vision blind spots. In the two-lane roads in mountainous areas, the existence of vision blind spots is particularly obvious, especially in the scenario of borrowing a lane to overtake. When the driver of the own vehicle is dissatisfied with the driving speed of the slow vehicle ahead and the line of sight is blocked by the vehicle in front, the need to overtake is likely to arise. At this time, the driver may choose to borrow the oncoming lane to overtake. At present, the domestic and foreign research in the field of two-lane traffic safety mainly focuses on aspects such as overtaking behavior. For the two-lane situation, relatively few studies have been conducted on the emergency control of oncoming vehicles. Considering factors such as driver behavior habits and traffic efficiency, traditional conservative safety strategies (such as directly braking and stopping when encountering a lane-occupying vehicle) are no longer sufficient to handle all traffic scenarios. Therefore, developing an emergency control method and device for oncoming vehicles during lane-occupying overtaking based on a state reachable set, which can effectively overcome the defects in the above-mentioned related technologies, has become a technical problem urgently to be solved in the industry. Summary of the Invention

[0003] In view of the above problems existing in the prior art, the embodiments of the present invention provide an emergency control method and device for oncoming vehicles during lane-occupying overtaking based on a state reachable set.

[0004] In a first aspect, an embodiment of the present invention provides an emergency control method for oncoming vehicles during lane-occupying overtaking based on a state reachable set, including: constructing a safe driving control set model, using the safe driving control set model to detect collision events, and constructing a traffic participating vehicle model; discretizing the state space and the control input space, and corresponding each traffic participating vehicle to a Markov chain; obtaining a time-varying control input transition matrix in each Markov chain, and obtaining a vehicle state transition conditional probability according to the normalized time-varying control input transition matrix and the vehicle initial input conditional probability; obtaining a joint probability of vehicle state and control input according to the vehicle state transition conditional probability and the total vehicle state probability; obtaining a vehicle position probability distribution in a predetermined section at a predetermined time according to the joint probability of vehicle state and control input and the normalized time-varying control input transition matrix; obtaining a curve driving constraint and an oncoming vehicle constraint, and performing avoidance control on the driving vehicle according to the vehicle position probability distribution in the predetermined section at the predetermined time.

[0005] Based on the above content of the method embodiment, in the emergency control method for oncoming vehicles during lane-occupying overtaking based on a state reachable set provided by the embodiments of the present invention, the constructing of the safe driving control set model includes: detecting a two-vehicle collision event, including: Among them, check1 is the first detection mode, S1 is the total length of the road section, is the position of the oncoming vehicle, is the position of the vehicle occupying the lane to overtake; detecting the two-vehicle parking event includes: Among them, check2 is the second detection mode, is the speed of the vehicle occupying the lane to overtake, is the speed of the oncoming vehicle.

[0006] Based on the content of the above method embodiments, in the emergency control method for oncoming vehicles occupying the lane to overtake based on the state reachable set provided in the embodiments of the present invention, the use of the safe driving control set model to detect collision events includes: first detecting the two-vehicle collision event and the two-vehicle parking event, detecting the final state of the two vehicles, if no two-vehicle collision is detected, detecting the two-vehicle collision event and the two-vehicle parking event again to ensure that the vehicle can perform an emergency brake under a predetermined condition.

[0007] Based on the content of the above method embodiments, in the emergency control method for oncoming vehicles occupying the lane to overtake based on the state reachable set provided in the embodiments of the present invention, the construction of the traffic participating vehicle model includes:

[0008]

[0009] |a|≤a max ,

[0010] a N =v 2 / ρ(s),

[0011] Among them, v is the tangential velocity, a is the absolute acceleration, u is the normalized acceleration input control parameter, a max is the maximum acceleration under tire friction constraint, a max and the velocity constant v sw are determined by the properties of different traffic participating vehicles, a N is the normal acceleration, a T is the tangential acceleration, ρ(s) is the path curvature radius, · is the derivative with respect to time, and || is the absolute value symbol.

[0012] Based on the content of the above method embodiments, in the emergency control method for oncoming vehicles occupying the lane to overtake based on the state reachable set provided in the embodiments of the present invention, corresponding each traffic participating vehicle to a Markov chain; obtaining the time-varying control input transition matrix in each Markov chain includes:

[0013]

[0014]

[0015] t k = kτ

[0016]

[0017] where p is the probability distribution of the positions of traffic participating vehicles; Γ(t k ) is the time-varying control input transition matrix; is the state transition probability matrix; t k is the k-th moment; τ is the time step; ψ is the first part of the time-varying control input transition matrix and is the normalization matrix of; α is the final value of the time-varying control input transition; β is the initial value of the time-varying control input transition; is the inherent transition matrix, that is, the law of change of the control input in the vehicle's inherent behavior, which is manifested as the random jump of the vehicle's control input between discrete sections. The greater the difference between the jump control inputs (or the difference in the numerical values of the control input section sequences), the smaller the probability of its jump; γ is a fixed parameter less than 1, and the greater the value, the more frequently the vehicle's control input is adjusted; λ is the state transition priority between different events; i is the interval section where the vehicle position state is located; j is the interval section where the vehicle speed state is located; η is the probability upper limit for the vehicle to select a certain discrete control input section under the current conditions; P(D|z = (i,j), y = α) is the probability distribution for the vehicle to select the control input section α under the current condition Z state of the vehicle; D is the safety event flag; z is the random state of the vehicle's position and speed; y is the vehicle's control input state; := is the definition symbol.

[0018] Based on the content of the above method embodiment, in the embodiment of the present invention, the emergency control method for oncoming vehicles overtaking on the occupied lane based on the state reachable set, obtaining the vehicle state transition conditional probability according to the normalized time-varying control input transition matrix and the vehicle initial input condition probability; obtaining the joint probability of the vehicle state and the control input according to the vehicle state transition conditional probability and the total probability of the vehicle state; obtaining the probability distribution of the vehicle position in a predetermined section at a predetermined moment according to the joint probability of the vehicle state and the control input and the normalized time-varying control input transition matrix, including:

[0019]

[0020]

[0021] where is the vehicle control input transition matrix; is the normalized vehicle control input transition matrix; is the symbol for taking any value; norm is the normalization symbol; is the vehicle at t kControl the probability of input α at a moment; For the vehicle at time t k Control the probability of the initial input β at a moment; For the joint probability of vehicle state and control input; For the total probability of vehicle state; For t k The vehicle position probability distribution of the final value α of the time-varying control input transfer at time t + 1; For t k The vehicle position probability distribution of the initial value β of the time-varying control input transfer at a moment.

[0022] Based on the content of the above method embodiments, in the embodiments of the present invention, the emergency control method for oncoming vehicles during lane-changing and overtaking based on the state reachable set, the obtaining of the curve driving constraint and the oncoming vehicle constraint includes:

[0023]

[0024]

[0025] Among them, For the conditional probability of the safety of the curve driving state space, the probability of meeting the acceleration constraint condition is 1, otherwise it is 0; For the curve driving constraint; For the probability that the vehicle acceleration falls within the curve conditional acceleration limit interval; For the upper limit of the curve conditional acceleration; For the oncoming vehicle constraint; For the interaction matrix generated after collision detection; For the probability that the initial state of the target lane-changing vehicle is j and the control input is β.

[0026] Second aspect, an embodiment of the present invention provides an emergency control device for oncoming vehicles occupying the lane and overtaking based on the state reachable set, including: a first main module, configured to construct a safe driving control set model, detect collision events using the safe driving control set model, and construct a traffic participating vehicle model; a second main module, configured to discretize the state space and the control input space, and correspond each traffic participating vehicle to a Markov chain; a third main module, configured to obtain the time-varying control input transition matrix in each Markov chain, and obtain the vehicle state transition conditional probability according to the normalized time-varying control input transition matrix and the vehicle initial input conditional probability; a fourth main module, configured to obtain the joint probability of the vehicle state and the control input according to the vehicle state transition conditional probability and the total vehicle state probability; a fifth main module, configured to obtain the vehicle position probability distribution in a predetermined section at a predetermined time according to the joint probability of the vehicle state and the control input and the normalized time-varying control input transition matrix; a sixth main module, configured to obtain the driving constraints for curved roads and the constraints for oncoming vehicles, and perform avoidance control on the driving vehicle according to the vehicle position probability distribution in a predetermined section at a predetermined time.

[0027] Third aspect, an embodiment of the present invention provides an electronic device, including:

[0028] at least one processor, at least one memory, and a communication interface; wherein,

[0029] the processor, the memory, and the communication interface communicate with each other;

[0030] the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the emergency control method for oncoming vehicles occupying the lane and overtaking based on the state reachable set provided by any one of the various implementation manners of the first aspect.

[0031] Fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, and the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the emergency control method for oncoming vehicles occupying the lane and overtaking based on the state reachable set provided by any one of the various implementation manners of the first aspect.

[0032] The emergency control method and device for oncoming vehicles occupying the lane and overtaking based on the state reachable set provided by the embodiments of the present invention apply the modeling method based on the state reachable set to the safe driving control strategy for oncoming vehicles in two lanes, and while improving the traffic efficiency and maintaining the continuity of driving habits, ensure the safety during the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0034] Figure 1 Schematic flow chart of the emergency control method for oncoming vehicles in passing on the oncoming lane based on the state reachable set provided by the embodiment of the present invention;

[0035] Figure 2 Schematic structural diagram of the emergency control device for oncoming vehicles in passing on the oncoming lane based on the state reachable set provided by the embodiment of the present invention;

[0036] Figure 3 Schematic physical structure diagram of the electronic device provided by the embodiment of the present invention;

[0037] Figure 4 Histogram of the input and speed of oncoming vehicles during safe driving provided by the embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the expected effect of input and speed provided by the embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the distance difference effect provided by the embodiment of the present invention;

[0040] Figure 7 Schematic diagram of the following vehicle collision probability effect provided by the embodiment of the present invention;

[0041] Figure 8 Schematic diagram of the safe driving collision probability effect provided by the embodiment of the present invention. Detailed implementation manners

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. In addition, the technical features in each embodiment or a single embodiment provided by the present invention can be combined with each other arbitrarily to form a feasible technical solution. Such combination is not restricted by the order of steps and / or the pattern of structural composition, but must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope required by the present invention. If there are step numbers in the following embodiments, they are only set for the convenience of explanation and illustration, and no limitation is imposed on the order between steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0043] An embodiment of the present invention provides an emergency control method for oncoming vehicles during illegal overtaking based on the state reachable set. Refer to Figure 1 , the method includes: constructing a safe travel control set model, using the safe travel control set model to detect collision events, and constructing a traffic participating vehicle model; discretizing the state space and the control input space, and corresponding each traffic participating vehicle to a Markov chain; obtaining the time-varying control input transition matrix in each Markov chain, and obtaining the vehicle state transition conditional probability according to the normalized time-varying control input transition matrix and the vehicle initial input conditional probability; obtaining the joint probability of the vehicle state and the control input according to the vehicle state transition conditional probability and the total probability of the vehicle state; obtaining the vehicle position probability distribution in a predetermined section at a predetermined moment according to the joint probability of the vehicle state and the control input and the normalized time-varying control input transition matrix; obtaining the driving constraints for curves and the constraints for oncoming vehicles, and performing avoidance control on the driving vehicle according to the vehicle position probability distribution in a predetermined section at a predetermined moment.

[0044] Based on the content of the above method embodiment, as an optional embodiment, in the emergency control method for oncoming vehicles during illegal overtaking based on the state reachable set provided in the embodiments of the present invention, the construction of the safe travel control set model includes: detecting two-vehicle collision events, including: where check1 is the first detection mode, S1 is the total length of the road section, is the position of the oncoming vehicle, is the position of the illegal overtaking vehicle; detecting two-vehicle parking events, including: where check2 is the second detection mode, is the speed of the vehicle occupying the lane for overtaking, is the speed of the oncoming vehicle.

[0045] Specifically, in the offline calculation process, all possible state combinations of oncoming vehicles and lane-occupying vehicles are traversed to obtain a feasible acceleration control strategy. In the offline calculation, the vehicle state variables are discretized. Among them, the state includes position, speed, and input (acceleration). The position (m) ranges from [0, 160], the speed (m / s) ranges from [0, 20], and the input ranges from [-1, 1], where -1 represents full braking and 1 represents full acceleration.

[0046] Solve event E: The simulation time step is 0.2T

[0047] Check 1: Detection of the two-vehicle collision event. Check 1 focuses on whether a collision occurs between the oncoming vehicle and the lane-occupying overtaking vehicle within the detection time. If a collision occurs, the event is triggered and the operation is terminated, and the collision indication variable P is set to 1 (1 represents dangerous control); the detection condition is as shown in check1. Through this conversion, this modeling can be regarded as a special vehicle following scenario and ensure that the event trigger condition is a head-on collision between the two vehicles.

[0048] Check 2: Detection of the two-vehicle stop event. Check 2 is used to judge whether the speeds of the oncoming vehicle and the lane-occupying overtaking vehicle are zero within the detection time. If both vehicles are in a stopped state at time t, the event is triggered and the operation is terminated, and the collision indication variable P is set to 0 (0 represents feasible control).

[0049] To ensure the effectiveness of this condition in the modeling, a function form as shown in check2 is introduced to ensure that the event can be triggered when the speeds of both vehicles are 0. This function has exactly one zero within the modeling value range. Any function that satisfies this property can be used as the check condition for Check 2.

[0050] Collision event Crash: The simulation time step is T

[0051] Solve event E. The check for solving event E is performed within each time step of 0.2T.

[0052] Final state check. If P = 0 within the time period T, record the last state within this time period and perform a position check. If the condition is satisfied: where tend represents the last state within T, the collision event is triggered and the operation is terminated, and the collision indication variable P is converted to check1.

[0053] Solve event E again. If no collision is detected by check2, obtain the last state X tend . Take X tendAs the new initial state, with 100T as the simulation time, a control input of u = -1 is applied to both the oncoming vehicle and the vehicle occupying the lane, and the solution event E is executed again. This solution ensures that the vehicle can effectively brake suddenly in an emergency, thus ensuring safety.

[0054] By repeatedly checking through the inspection 2 of the collision event Crash, the original calculation accuracy is retained, and the calculation efficiency is significantly improved. For the offline modeling of this study, the calculation time without adding inspection 2 is 42976 seconds, while after adding inspection 2, the calculation time is shortened to 17169 seconds, achieving a 60% efficiency improvement.

[0055] Based on the content of the above method embodiments, as an alternative embodiment, for the oncoming vehicle emergency control method for lane - occupying overtaking based on the state reachable set provided in the embodiments of the present invention, the use of the safe driving control set model to detect collision events includes: first detecting the two - vehicle collision event and the two - vehicle parking event, detecting the final states of the two vehicles. If no two - vehicle collision is detected, the two - vehicle collision event and the two - vehicle parking event are detected again to ensure that the vehicle can brake suddenly under predetermined conditions.

[0056] Based on the content of the above method embodiments, as an alternative embodiment, for the oncoming vehicle emergency control method for lane - occupying overtaking based on the state reachable set provided in the embodiments of the present invention, the construction of the traffic - participating vehicle model includes:

[0057]

[0058]

[0059] where v is the tangential velocity, a is the absolute acceleration, u is the normalized acceleration input control parameter, a max is the maximum acceleration under tire friction constraint, a max and the velocity constant v sw are determined by the properties of different traffic - participating vehicles, a N is the normal acceleration, a T is the tangential acceleration, ρ(s) is the path curvature radius, · represents the derivative with respect to time, and || represents the absolute value symbol.

[0060] Specifically, the deviation of a traffic participating vehicle along a path is modeled as a piecewise constant probability distribution f(δ), where δ is the lateral deviation along the path. This deviation probability can be adjusted according to different categories of traffic participating vehicles: bicycle riders usually stay closer to the roadside, while cars tend to travel in the center of the lane. Since vehicle speed and lateral offset are largely independent of each other when traveling along the path, two assumptions can be made: the lateral deviation distribution remains unchanged over time; the longitudinal deviation along the path is independent of the lateral deviation. Therefore, the lateral deviation probability and the longitudinal deviation along the path can be calculated separately. Given the lateral probability distribution f(δ) and the longitudinal probability distribution f(s), the overall probability distribution is calculated as f(s,δ) = f(s)f(δ). The longitudinal dynamics are shown in equation (1), and the constraint conditions are shown in equations (2) and (3).

[0061] Based on the content of the above method embodiments, as an alternative embodiment, in the emergency control method for oncoming vehicles occupying the lane and overtaking based on the state reachable set provided in the embodiments of the present invention, each traffic participating vehicle corresponds to a Markov chain; obtaining the time-varying control input transition matrix in each Markov chain, including:

[0062]

[0063] t k = kτ(6)

[0064]

[0065] where p is the traffic participating vehicle position probability distribution; Γ(t k ) is the time-varying control input transition matrix; is the state transition probability matrix; t k is the k-th moment; τ is the time step; ψ is the first part of the time-varying control input transition matrix and is the normalization matrix of; α is the final value of the time-varying control input transition; β is the initial value of the time-varying control input transition; is the inherent transition matrix, that is, the control input change law in the vehicle's inherent behavior, which is manifested as the random jump of the vehicle control input between discrete sections. The greater the difference between the jumping control inputs (or the difference in the numerical values of the control input section sequence), the smaller the probability of its jump; γ is a fixed parameter less than 1, and the value is larger when the vehicle control input is adjusted more frequently; λ is the state transition priority between different events; i is the interval section where the vehicle position state is located; j is the interval section where the vehicle speed state is located; η is the upper limit of the probability of selecting a certain discrete control input section under the current vehicle conditions; P(D|z=(i,j),y = α) is the probability distribution of selecting the control input section α under the current condition Z state of the vehicle; D is the safety event flag; z is the random state of the vehicle position and speed; y is the vehicle control input state; := is the definition symbol.

[0066] Specifically, the state space and the control input space are discretized into hypercubes of equal size. That is, the discrete state space X i,j =[S i ,V j , where i = 1, 2, …, n; j = 1, 2, …, m; and the discrete control input space U a , where a = 1, 2, …, q. Each traffic participating vehicle corresponds to an instantiated Markov chain, and its state transition probability matrix is loaded from the database of system modeling, where t is the time increment of the Markov chain. Through equations (4) and (5), the Markov chain of the vehicle at the next moment and within a time period can be estimated.

[0067] Based on the content of the above method embodiments, as an optional embodiment, in the emergency control method for oncoming vehicles during lane-changing and overtaking based on the state reachable set provided in the embodiments of the present invention, the conditional probability of vehicle state transition is obtained according to the normalized time-varying control input transition matrix and the initial input condition probability of the vehicle; the joint probability of vehicle state and control input is obtained according to the conditional probability of vehicle state transition and the total probability of vehicle state; according to the joint probability of vehicle state and control input and the normalized time-varying control input transition matrix, the vehicle position probability distribution in a predetermined section at a predetermined moment is obtained, including:

[0068]

[0069]

[0070] Among them, is the vehicle control input transition matrix; is the normalized vehicle control input transition matrix; is the symbol for taking any value; norm is the normalization symbol; is the probability that the vehicle control input is α at time t k ; The probability that the initial control input of the vehicle at time t k is β; is the joint probability of the vehicle state and the control input; is the total probability of the vehicle state; At time t k +1, the vehicle position probability distribution of the final value α of the time-varying control input transfer; At time t k the vehicle position probability distribution of the initial value β of the time-varying control input transfer.

[0071] Specifically, in order to satisfy the constraint condition (9), the probability value is regarded as the upper bound of the motivation value . In other words, is truncated at , and the truncated part will be added to the next lower acceleration interval, which is expressed as: This reallocation to the lower acceleration interval means that the constraint condition is satisfied by reducing the acceleration.

[0072] Based on the content of the above method embodiment, as an alternative embodiment, in the emergency control method for oncoming vehicles during lane-changing overtaking based on the state reachable set provided in the embodiment of the present invention, the obtaining of the curve driving constraint and the oncoming vehicle constraint includes:

[0073]

[0074] Among them, is the safety condition probability of the curve driving state space, the probability of satisfying the acceleration constraint condition is 1, otherwise it is 0; is the curve driving constraint; is the probability that the vehicle acceleration falls within the curve condition acceleration limit interval; is the upper limit of the curve condition acceleration; is the oncoming vehicle constraint; is the interaction matrix generated after the collision test; is the probability that the initial state of the object lane-changing vehicle is j and the control input is β.

[0075] The emergency control method for oncoming vehicles during lane-changing overtaking based on the state reachable set provided in the embodiment of the present invention applies the modeling method based on the state reachable set to the safety driving control strategy of oncoming vehicles in a two-lane situation, ensuring the safety during driving while improving the traffic efficiency and maintaining the continuity of driving habits.

[0076] Figure 4 is the distribution effect of the input and speed of oncoming vehicles during safe driving. Figure 5 and Figure 6 are the comparative analysis of the vehicle in different modes.Figure 5 The expected changes in the input and speed of Vehicle C under four scenarios. Figure 6 The distances between Vehicle C and Vehicle D under two scenarios of Vehicle C and the longitudinal distance difference in the safe driving mode. Figure 7 and Figure 8 The assessment of the collision risk level. Figure 7 In the case of safe driving, the collision probabilities between oncoming Vehicle C and occupying Vehicle O, and between occupying Vehicle O and bicycle B. Figure 8 Compare and analyze the impacts on following Vehicle D in two cases of emergency braking and safe driving of Vehicle C.

[0077] From Figure 4 and Figure 5 's safe driving curve, it can be seen that in the safe driving mode, oncoming Vehicle C can select various feasible safety controls according to the driver's driving habits. Comparing the histograms of various safety control inputs and driving speeds at four time points t = [3.5578] s in the figure, it can be seen that the vehicle is restricted by the curve and the occupying vehicle. At t = 3.5 s, mainly restricted by the curve, the vehicle decelerates. At t = 5 s, since the distance from the oncoming vehicle is still far, it is still mainly restricted by the curve, and at this time the vehicle starts to drive out of the curve. At t = 7 s, the distance between the two vehicles is relatively close, and braking and speed reduction are adopted according to the speed and position of the other vehicle to ensure safety. At t = 8 s, the occupying vehicle has completed overtaking and returned to the original lane, and the oncoming vehicle starts to accelerate as it returns to the normal driving habit.

[0078] In Figure 5 , the dynamic process of the changes in input and speed expectations over time is explored, and the behaviors of oncoming Vehicle C under different control strategies are considered. These control strategies include safe driving, emergency braking, and free driving. After t = 3.5 s, that is, after encountering occupying Vehicle O, the difference between safe driving and emergency braking is reflected in the impacts of their behavioral strategies on input and speed expectations, manifested as the difference between the two modes and free driving. In the area between safe driving and emergency braking, a safe range of input and speed expectations is marked, where the safe driving strategy serves as the lower limit of the area size, while the emergency braking strategy serves as the upper limit. In this way, the safe driving strategy minimizes the intervention in driving habits and speed control. When the time progresses to after t = 7 s, as occupying Vehicle O completes overtaking, oncoming Vehicle C can return to the normal driving state whether it adopts the safe driving or emergency braking control strategy. If occupying Vehicle O has an abnormality (does not return to the original lane according to the pre-planned path), at this time oncoming Vehicle C will take emergency braking measures. This analysis shows that on the premise of ensuring safety, the safe driving control strategy can effectively maintain the coherence of driving habits and speed control.

[0079] Figure 6It represents the distance difference between vehicle C and vehicle D under two driving modes, as well as the safe longitudinal distance difference between vehicle C and vehicle O. Here, the distance differences all refer to the distance differences between the centers of gravity of the two vehicles, and the safe longitudinal distance difference represents the effective line of sight of vehicle O in the longitudinal coordinate system. In the safe driving mode, at t = 3.5 s, since vehicle C enters the curve, the longitudinal distance begins to decrease. At this time, due to the line of sight limitation, the occupied vehicle O has not been detected yet, resulting in a jump in the safe longitudinal distance difference when vehicle O is discovered. After t = 5 s, vehicle D takes emergency measures to avoid danger in the emergency braking mode, while in the safe driving mode, it realizes stable following of vehicle C by reducing speed. After t = 7 s, all vehicles resume normal driving. Combining Figure 5 with the speed expectation analysis, in the safe driving mode, due to the relatively high speed of vehicle C, the distance difference with vehicle D is correspondingly larger, indicating that the vehicle can return to the stable following state faster, thus improving the traffic efficiency. In contrast, the vehicle speed in the emergency braking mode is generally lower, affecting the traffic efficiency.

[0080] From Figure 7 the analysis, it can be seen that the safe driving control strategy ensures the driving safety between the occupied vehicle O and the oncoming vehicle C. In addition, by analyzing the collision probability between the occupied vehicle O and the overtaken vehicle B, the effectiveness of the overtaking path of the occupied vehicle O can be illustrated. Through comparative analysis Figure 8 , the collision probabilities of the oncoming vehicle C and the following vehicle D under different control modes can be observed. The results show that when implementing the safe driving control strategy, the collision probability with the following vehicle D is significantly reduced, reducing the impact on the following vehicle. After t = 7 s, the vehicles begin to resume normal driving and the collision probability decreases.

[0081] The implementation basis of each embodiment of the present invention is achieved through programmed processing by a device with processor functions. Therefore, in engineering practice, the technical solutions and their functions of each embodiment of the present invention can be encapsulated into various modules. Based on this actual situation, on the basis of the above embodiments, the embodiments of the present invention provide an emergency control device for oncoming vehicles in an occupied lane overtaking based on the state reachable set, and this device is used to execute the method for emergency control of oncoming vehicles in an occupied lane overtaking based on the state reachable set in the above method embodiments. See Figure 2, the device includes: a first main module for constructing a safe driving control set model, detecting collision events using the safe driving control set model, and constructing a traffic participating vehicle model; a second main module for discretizing the state space and the control input space, and corresponding each traffic participating vehicle to a Markov chain; a third main module for obtaining the time-varying control input transition matrix in each Markov chain, and obtaining the vehicle state transition conditional probability according to the normalized time-varying control input transition matrix and the vehicle initial input condition probability; a fourth main module for obtaining the joint probability of the vehicle state and the control input according to the vehicle state transition conditional probability and the total vehicle state probability; a fifth main module for obtaining the vehicle position probability distribution in a predetermined section at a predetermined time according to the joint probability of the vehicle state and the control input and the normalized time-varying control input transition matrix; a sixth main module for obtaining the curve driving constraint and the oncoming vehicle constraint, and performing avoidance control on the driving vehicle according to the vehicle position probability distribution in a predetermined section at a predetermined time.

[0082] The emergency control device for oncoming vehicles during lane-occupying overtaking based on the state reachable set provided by the embodiment of the present invention adopts Figure 2 several modules among them. By applying the modeling method based on the state reachable set to the safe driving control strategy for oncoming vehicles in a two-lane road, while improving the traffic efficiency and maintaining the continuity of driving habits, the safety during the driving process is ensured.

[0083] It should be noted that the device in the device embodiment provided by the present invention can be used not only to implement the method in the above method embodiment, but also to implement the methods in other method embodiments provided by the present invention. The difference lies only in setting corresponding functional modules. The principle is basically the same as that of the above device embodiment provided by the present invention. As long as those skilled in the art, based on the above device embodiment, refer to the specific technical solutions in other method embodiments, obtain corresponding technical means by combining technical features, and the technical solutions composed of these technical means, on the premise of ensuring the practicability of the technical solutions, the device in the above device embodiment can be improved, so as to obtain corresponding device type embodiments for implementing the methods in other method type embodiments. For example:

[0084] Based on the content of the above device embodiment, as an optional embodiment, the emergency control device for oncoming vehicles during lane-occupying overtaking based on the state reachable set provided by the embodiment of the present invention further includes: a first sub-module for implementing the construction of the safe driving control set model, including: detecting the collision event between two vehicles, including: wherein, check1 is the first detection mode, S1 is the total length of the road section, is the position of the oncoming vehicle, is the position of the vehicle overtaking on the occupied road; detect the two-vehicle parking event, including: Among them, check2 is the second detection mode, is the speed of the vehicle overtaking on the occupied road, is the speed of the oncoming vehicle.

[0085] Based on the content of the above device embodiment, as an alternative embodiment, the oncoming vehicle emergency control device for overtaking on the occupied road based on the state reachable set provided in the embodiment of the present invention further includes: a second sub-module for implementing the detection of collision events using the safe driving control set model, including: first detecting the two-vehicle collision event and the two-vehicle parking event, detecting the final state of the two vehicles, and if no two-vehicle collision is detected, detecting the two-vehicle collision event and the two-vehicle parking event again to ensure that the vehicle can perform an emergency brake under a predetermined condition.

[0086] Based on the content of the above device embodiment, as an alternative embodiment, the oncoming vehicle emergency control device for overtaking on the occupied road based on the state reachable set provided in the embodiment of the present invention further includes: a third sub-module for implementing the construction of the traffic participant vehicle model, including:

[0087]

[0088] |a| ≤ a max ,

[0089] a N = v 2 / ρ(s),

[0090] where v is the tangential velocity, a is the absolute acceleration, u is the normalized acceleration input control parameter, a max is the maximum acceleration under tire friction constraint, a max and the velocity constant v sw are determined by the properties of different traffic participant vehicles, a N is the normal acceleration, a T is the tangential acceleration, ρ(s) is the path curvature radius, · is the derivative with respect to time, and || is the absolute value symbol.

[0091] Based on the content of the above device embodiment, as an alternative embodiment, the oncoming vehicle emergency control device for overtaking on the occupied road based on the state reachable set provided in the embodiment of the present invention further includes: a fourth sub-module for implementing corresponding each traffic participant vehicle to a Markov chain; obtaining the time-varying control input transition matrix in each Markov chain, including:

[0092]

[0093] t k = kτ

[0094]

[0095] where p is the probability distribution of the positions of traffic participating vehicles; Γ(t k ) is the time-varying control input transition matrix; is the state transition probability matrix; t k is the k-th moment; τ is the time step; ψ is the first part of the time-varying control input transition matrix and is the normalization matrix of; α is the final value of the time-varying control input transition; β is the initial value of the time-varying control input transition; is the inherent transition matrix, that is, the law of change of the control input in the inherent behavior of the vehicle, which is manifested as a random jump of the vehicle control input between discrete sections. The greater the difference between the jump control inputs (or the difference in the numerical values of the control input section sequence), the smaller the probability of its jump; γ is a fixed parameter less than 1, and the greater the value, the more frequently the vehicle control input is adjusted; λ is the state transition priority between different events; i is the interval section where the vehicle position state is located; j is the interval section where the vehicle speed state is located; η is the probability upper limit for the vehicle to select a certain discrete control input section under the current conditions; P(D|z = (i,j), y = α) is the probability distribution for the vehicle to select the control input section α under the current condition Z state of the vehicle; D is the safety event flag; z is the random state of the vehicle position and speed; y is the vehicle control input state; := is the definition symbol.

[0096] Based on the content of the above device embodiment, as an optional embodiment, the oncoming vehicle emergency control device for occupying the lane and overtaking based on the state reachable set provided in the embodiment of the present invention further includes: a fifth sub-module, configured to implement obtaining the vehicle state transition conditional probability according to the normalized time-varying control input transition matrix and the vehicle initial input condition probability; obtaining the joint probability of the vehicle state and the control input according to the vehicle state transition conditional probability and the total vehicle state probability; obtaining the vehicle position probability distribution in a predetermined section at a predetermined moment according to the joint probability of the vehicle state and the control input and the normalized time-varying control input transition matrix, including:

[0097]

[0098]

[0099] where is the vehicle control input transition matrix; is the normalized vehicle control input transition matrix; is the symbol for taking any value; norm is the normalization symbol; is the vehicle at t kControl the probability of the input being α at a moment; For the vehicle at time t k Control the probability that the initial input is β at a moment; Is the joint probability of the vehicle state and the control input; Is the total probability of the vehicle state; For t k The probability distribution of the vehicle position at the final value α of the time-varying control input transfer at time t + 1; For t k The probability distribution of the vehicle position at the initial value β of the time-varying control input transfer at a moment.

[0100] Based on the content of the above device embodiment, as an alternative embodiment, the emergency control device for oncoming vehicles during lane-changing overtaking based on the state reachable set provided in the embodiments of the present invention further includes: a sixth sub-module for implementing the acquisition of the curve driving constraint and the oncoming vehicle constraint, including:

[0101]

[0102]

[0103] Among them, Is the safety conditional probability of the curve driving state space, the probability of satisfying the acceleration constraint condition is 1, otherwise it is 0; Is the curve driving constraint; Is the probability that the vehicle acceleration falls within the curve conditional acceleration limit interval; Is the upper limit of the curve conditional acceleration; Is the oncoming vehicle constraint; Is the interaction matrix generated after the collision test; Is the probability that the initial state of the object occupying the lane vehicle is j and the control input is β.

[0104] The method of the embodiments of the present invention is implemented relying on an electronic device. Therefore, it is necessary to introduce the relevant electronic device. For this purpose, the embodiments of the present invention provide an electronic device, as Figure 3 shown, the electronic device includes: at least one processor, a communication interface, at least one memory, and a communication bus. Among them, at least one processor, the communication interface, and at least one memory complete mutual communication through the communication bus. At least one processor can call the logic instructions in at least one memory to execute all or part of the steps of the methods provided in the foregoing method embodiments.

[0105] In addition, when the logic instructions in at least one of the above-mentioned memories can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various method embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0106] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0107] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. With this understanding, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or sometimes in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0109] It should be noted that the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device that comprises a series of elements includes not only those elements but also other elements that are not explicitly listed, or elements that are inherent to such process, method, article, or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the process, method, article, or device that comprises the said elements. For any "predetermined threshold", "preset threshold" or similar expressions, if no specific value is marked, those of ordinary skill in the art can determine their specific values through simple experiments or corresponding debugging.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for emergency control of oncoming vehicles in lane overtaking based on state reachable sets, characterized in that: include: Construct a safe travel control set model, use the safe travel control set model to detect collision events, and construct a traffic participant vehicle model; Discretize the state space and control input space, and correspond each traffic participating vehicle to a Markov chain; obtain the time-varying control input transfer matrix in each Markov chain, and obtain the vehicle state transfer conditional probability based on the normalized time-varying control input transfer matrix and the vehicle initial input conditional probability; According to the conditional probability of vehicle state transfer and the total probability of vehicle state, the joint probability of vehicle state and control input is obtained; according to the joint probability of vehicle state and control input and the normalized time-varying control input transfer matrix, the vehicle position probability distribution in a predetermined section at a predetermined time is obtained; the curve driving constraints and oncoming vehicle constraints are obtained, and the driving vehicle is avoided according to the vehicle position probability distribution in the predetermined section at a predetermined time.

2. The method for emergency control of oncoming vehicles in lane-occupying overtaking mode based on state reachable sets according to claim 1, characterized in that: The construction of the safe travel control set model includes: detecting a collision event between two vehicles, including: Among them, check1 is the first detection mode, S1 is the total length of the road section, is the position of the oncoming vehicle, The position of the vehicle that is overtaking on the road; the detection of the two-vehicle parking event, including: Among them, check2 is the second detection mode, is the speed of the overtaking vehicle. is the speed of the oncoming vehicle.

3. The method for emergency control of oncoming vehicles in lane-occupying overtaking mode based on state reachable sets according to claim 2, characterized in that: The detection of collision events using the safe travel control set model includes: performing a first detection on a collision event between two vehicles and an event where two vehicles stop, and detecting the final states of the two vehicles. If no collision between the two vehicles is detected, the collision event between the two vehicles and the event where two vehicles stop are detected again to ensure that the vehicles can perform emergency braking under predetermined circumstances.

4. The method for emergency control of oncoming vehicles in lane-occupying overtaking mode based on state reachable sets according to claim 3 is characterized in that: The constructing of the traffic participating vehicle model comprises: Among them, v is the tangential velocity, a is the absolute acceleration, u is the normalized acceleration input control parameter, a max is the maximum acceleration under tire friction constraint, a max With the velocity constant v sw Determined by the nature of different traffic participating vehicles, a N is the normal acceleration, a T is the tangential acceleration, ρ(s) is the radius of curvature of the path, · is the derivative with respect to time, and || is the sign of the absolute value.

5. The method for emergency control of oncoming vehicles in lane-occupying overtaking mode based on state reachable sets according to claim 4 is characterized in that: The step of corresponding each traffic participating vehicle to a Markov chain and obtaining a time-varying control input transfer matrix in each Markov chain includes: t k =kτ Where p is the probability distribution of the position of the vehicles participating in the traffic; Γ(t k ) is the time-varying control input transfer matrix; is the state transition probability matrix; t k is the kth moment; τ is the time step; ψ is the first part of the time-varying control input transfer matrix, which is The normalized matrix of ; α is the final value of the time-varying control input transfer; β is the initial value of the time-varying control input transfer; is the inherent transition matrix, that is, the control input change law in the inherent behavior of the vehicle, which is manifested as the random jump of the vehicle control input between discrete segments. The larger the difference between the jump control inputs (or the difference in the numerical value of the control input segment sequence), the smaller the jump may be; γ is a fixed parameter less than 1, and the more frequently the vehicle control input is adjusted, the larger the value; λ is the state transition priority between different events; i is the interval where the vehicle position state is located; j is the interval where the vehicle speed state is located; η is the upper limit of the probability of selecting a discrete control input segment under the current condition of the vehicle; P(D|z=(i,j), y=α) is the probability distribution of selecting the control input segment α under the current condition Z of the vehicle; D is the safety event flag; z is the random state of the vehicle position and speed; y is the vehicle control input state; := is a definition symbol.

6. The method for emergency control of oncoming vehicles in lane-occupying overtaking mode based on state reachable sets according to claim 5, characterized in that: The conditional probability of vehicle state transfer is obtained according to the normalized time-varying control input transfer matrix and the vehicle initial input conditional probability; the joint probability of vehicle state and control input is obtained according to the conditional probability of vehicle state transfer and the total probability of vehicle state; According to the joint probability of the vehicle state and the control input and the normalized time-varying control input transfer matrix, a vehicle position probability distribution in a predetermined section at a predetermined time is obtained, including: in, Input transfer matrix for vehicle control; is the normalized vehicle control input transfer matrix; is the symbol for taking any value; norm is the symbol for normalization; For vehicles at t k Control the probability of input being α at all times; For vehicles at t k The probability that the initial control input at time t is β; Joint probability for vehicle state and control input; is the total probability of the vehicle state; t k The probability distribution of the vehicle position at the final value α of the time-varying control input transfer at time +1; t k Probability distribution of vehicle position at the initial value β of the time-varying control input transition.

7. The method for emergency control of oncoming vehicles in lane-occupying overtaking mode based on state reachable sets according to claim 6, characterized in that: The obtaining of the curve driving constraint and the oncoming vehicle constraint includes: in, is the probability of safety condition in the state space of curve driving, the probability of satisfying the acceleration constraint condition is 1, otherwise it is 0; To constrain driving on curves; is the probability that the vehicle acceleration falls within the acceleration limit range of the curve condition; is the upper limit of acceleration under curve conditions; To constrain oncoming vehicles; The interaction matrix generated after collision detection; is the probability that the initial state of the vehicle occupying the lane is j and the control input is β.

8. An emergency control device for overtaking oncoming vehicles in lane based on a state reachable set, characterized in that: include: The first main module is used to realize the construction of a safe travel control set model, use the safe travel control set model to detect collision events, and build a traffic participant vehicle model; The second main module is used to discretize the state space and the control input space, and correspond each traffic participating vehicle to a Markov chain; the third main module is used to obtain the time-varying control input transfer matrix in each Markov chain, and obtain the vehicle state transfer conditional probability according to the normalized time-varying control input transfer matrix and the vehicle initial input conditional probability; the fourth main module is used to obtain the joint probability of the vehicle state and the control input according to the vehicle state transfer conditional probability and the vehicle state total probability; The fifth main module is used to obtain the vehicle position probability distribution in a predetermined section at a predetermined time based on the joint probability of the vehicle state and control input and the normalized time-varying control input transfer matrix; the sixth main module is used to obtain the curve driving constraints and oncoming vehicle constraints, and perform avoidance control on the driving vehicle based on the vehicle position probability distribution in the predetermined section at a predetermined time.

9. An electronic device, characterized in that: include: At least one processor, at least one memory and a communication interface; wherein, The processor, memory and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which cause a computer to execute the method of any one of claims 1 to 7.

Images