Intelligent auxiliary method for safe overtaking in multiple scenarios based on two-way two-lane in a networked environment

Abstract

The intelligent auxiliary method for safe overtaking in a two-way two-lane multi-scene based on a networked environment belongs to the technical field of driving safety. Through communication between vehicles, the current road conditions, the positions of vehicles on the road, the overtaking vehicle, the overtaken vehicle and other vehicles that have an impact on the overtaking are obtained in real time, such as the positions, speeds and directions of the surrounding vehicles, so as to judge the overtaking scene of the current vehicle, select a suitable overtaking model, judge the overtaking conditions and the overtaking time, and give a warning to the driver. The method has the advantages that it can be used in various different scenes, different warning strategies can be given according to different scenes, more accurate and comprehensive driving environment perception is provided for the driver, and the driver is better assisted. The method not only helps the driver to judge whether it is suitable to overtake at present, but also provides real-time safety warnings and driving suggestions during overtaking, so that the risk of traffic accidents is greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of driving safety technology, and in particular relates to an intelligent assistance method for safe overtaking in multiple scenarios under a connected environment with two lanes in both directions. Background Technology

[0002] The rapid development of road traffic and the dramatic increase in the number of cars have led to a significant increase in the amount of information drivers need to process while driving, thus raising the requirements for driving skills and safety awareness. Especially on two-lane highways, overtaking behavior, due to its unique characteristics and complexity, has become a topic worthy of in-depth research.

[0003] On a two-lane, two-way highway, overtaking differs from a simple lane change on a multi-lane expressway. Due to road conditions, overtaking vehicles must use the oncoming lane to pass. During this process, the overtaking vehicle must not only pay attention to the vehicle being overtaken but also closely monitor oncoming traffic to prevent a head-on collision. Therefore, every overtaking maneuver is a severe test of the driver's reaction speed, judgment, and driving skills.

[0004] With the increasing number of vehicles and the growing complexity of road conditions, relying solely on the driver's individual skills is no longer sufficient to ensure the safety of overtaking maneuvers. Therefore, researching and developing an intelligent system that can assist drivers in safely overtaking in a connected environment is of paramount importance.

[0005] Existing technologies for assisted lane changing or overtaking are relatively simple and cannot be well applied to complex road conditions with two lanes in both directions. Therefore, there is an urgent need for a new technical solution to address this problem. Summary of the Invention

[0006] The technical problem to be solved by this invention is to provide an intelligent overtaking assistance method for safe overtaking in multiple scenarios under a connected environment, which solves the technical problem that the existing technologies for assisted lane changing or assisted overtaking are not applicable to complex road conditions with two lanes in both directions.

[0007] This method utilizes a vehicle-mounted intelligent overtaking system for safe overtaking in multiple scenarios across two lanes in a connected environment. The system includes an information input module, a data processing module, and an overtaking warning module. The information input module is equipped with an overtaking request module and employs V2X (Vehicle-to-Everything) technology. The information input module receives signals from various sensors on the vehicle and controllers of nearby vehicles and transmits them to the data processing module. The V2X technology includes V2V (Vehicle-to-Vehicle), V2I (Vehicle-to-Infrastructure), V2P (Vehicle-to-Person), and V2N (Vehicle-to-Network) communication technologies. The data processing module processes and analyzes the information, matches it with a stored overtaking model, and finally determines whether overtaking is safe or not. The method includes the following steps, performed sequentially:

[0008] Step 1: The overtaking request module is activated. After receiving the overtaking request from the driver, the information input module obtains the vehicle information of this vehicle, and the data processing module judges the road conditions ahead of this vehicle by receiving information on other vehicles within a specified distance.

[0009] Step 2: Extract information about the overtaken vehicle and other vehicles on the road that affect overtaking from the information obtained in Step 1;

[0010] Step 3: Establish multiple overtaking scenarios and limit the matching conditions for overtaking scenarios. Match one or more overtaking scenarios based on the currently obtained information, and obtain the corresponding parameters based on the different matched scenarios.

[0011] Step 4: Establish an overtaking model and match the corresponding overtaking model according to the current vehicle distribution on the road. Substitute the parameters obtained in Step 3 into the corresponding overtaking model for calculation, and determine whether the current overtaking meets the overtaking conditions based on the calculation results.

[0012] If it does not meet the requirements, return to step 1; if it does meet the requirements, proceed to step 5.

[0013] Step 5: Establish an overtaking accident model. Based on the obtained parameters and the parameters of the matching overtaking model, predict the overtaking time of the entire overtaking process, and determine whether the overtaking time exceeds the maximum permitted overtaking time. If it exceeds, the system will prompt the driver that overtaking is allowed; if it does not exceed, the system will prompt the driver that overtaking is not allowed.

[0014] The vehicle information in step 1 includes the vehicle speed and acceleration obtained through the vehicle speed sensor, as well as the vehicle acceleration capability obtained based on the vehicle model parameter information, namely the time taken to accelerate from a standstill to a specified speed and the vehicle length.

[0015] The road conditions ahead include the current road conditions obtained through V2V vehicle-to-vehicle and V2I vehicle-to-infrastructure technologies, the distribution of vehicles ahead within a specified distance, and vehicle information of vehicles traveling on the same side ahead of this vehicle and vehicles in the oncoming lane within a specified distance; the road conditions include slopes, roads in special weather conditions, and mixed traffic roads.

[0016] In step 2, the information of the overtaken vehicle is obtained through V2V vehicle-to-vehicle interconnection technology; the other vehicle information on the road that affects overtaking includes the speed and acceleration of oncoming vehicles in the opposite lane, as well as the speed and acceleration of the vehicle in front of the overtaken vehicle, obtained through V2V vehicle-to-vehicle interconnection technology.

[0017] The overtaking scenarios in step 3 include overtaking on slopes, overtaking behind large vehicles, overtaking in special weather conditions, and overtaking on mixed traffic roads.

[0018] The matching conditions for overtaking on a slope are as follows: based on the road information and slope obtained in real time by V2I vehicle-road cooperative technology and vehicle slope sensors, if the current road type is detected as a slope, then the current overtaking scenario is determined to be overtaking on a slope. The data processing module obtains the corresponding parameters by collecting the acceleration information generated by the vehicle's traction force and the vehicle model parameter information. Overtaking on a slope also includes two situations: overtaking on an uphill slope and overtaking on a downhill slope.

[0019] The parameters obtained for the overtaking scenario are:

[0020] 1) Overtaking on an uphill slope

[0021] The actual acceleration of the vehicle when going uphill is:

[0022] a up =a A -G sinθ;

[0023] Among them, a A G is the acceleration generated by the vehicle's traction force on the horizontal road surface; G is the vehicle's weight, G = mg; m is the vehicle's weight; g is the acceleration due to gravity; θ is the slope angle.

[0024] The formula for vehicle traction force is: F t =F f +ma up ;

[0025] Among them, F t For vehicle traction, F f The resistance to the vehicle's movement;

[0026] When going uphill, the vehicle's traction force must meet the requirements. Therefore, the formula for the maximum traction force of a vehicle is:

[0027]

[0028] Among them, F N1 For the ground to support the drive wheels, The road adhesion coefficient;

[0029] When a vehicle is going uphill, if its traction force is greater than its maximum traction force for uphill driving, then the vehicle's traction force is sufficient. In this case, the formula for the vehicle's maximum traction force also satisfies F... tmax =F f +ma upmax Therefore, the maximum acceleration a upmax for:

[0030]

[0031] In the formula, l is the vehicle length, a is the distance from the vehicle's center of gravity to the rear wheel, b is the distance from the vehicle's center of gravity to the front wheel, and f is the coefficient of friction of the road surface.

[0032] 2) Overtaking on a downhill slope

[0033] Vehicle acceleration a during downhill overtaking down for:

[0034] a down =a A +G sinθ;

[0035] 3) Overtaking behind large vehicles

[0036] Based on the information of all vehicles within a specified distance in the current lane, if the vehicle model parameter information in front of this vehicle shows that it is a large vehicle, then V2V vehicle interconnection technology is used to obtain whether there are vehicles in the oncoming lane and whether there are vehicles in front of the vehicle being overtaken, and the following parameters are obtained: the distance between the vehicle in the oncoming lane and the overtaking vehicle, the speed, acceleration and length of the vehicle in the oncoming lane, the distance between the vehicle in front of the overtaken and the vehicle being overtaken, the speed, acceleration and length of the vehicle in front of the overtaken, and then these parameters are substituted into the corresponding overtaking model.

[0037] For acceleration, when the vehicle is on an uphill slope, the vehicle acceleration is always represented by 'a'. up The calculation formula is obtained and replaced, and at the same time, it is calculated whether the vehicle's traction force exceeds the maximum traction force when going uphill. If it does, the maximum acceleration generated by the vehicle at this time is also calculated. The relationship between the current acceleration and the maximum acceleration is judged. If the current acceleration is less than the maximum acceleration, the current acceleration is used. If the current acceleration is not less than the maximum acceleration, the maximum acceleration is used and the driver is prompted to stop accelerating.

[0038] When a vehicle is going downhill, its acceleration is represented by a. down Obtain and replace the calculation formula;

[0039] 4) Overtaking in special weather conditions

[0040] By connecting vehicles to the internet through V2N (Vehicle-to-Network) technology and accessing real-time weather information from weather websites, if the weather is characterized by heavy fog, rain, or snow, then overtaking under special weather conditions is considered. Using V2I (Vehicle-to-Infrastructure) technology to obtain the real-time road adhesion coefficient, the critical condition for wheel lock-up is determined as follows:

[0041]

[0042] Among them, F Xmax This represents the maximum braking force of the vehicle.

[0043] That is, the braking force generated by the vehicle during overtaking should be less than F. Xmax ;

[0044] 5) Overtaking on mixed-traffic roads

[0045] Based on V2I (Vehicle-to-Infrastructure) technology, real-time information on the current road type is obtained. When a mixed-traffic road is detected, the overtaking scenario is determined to be overtaking on a mixed-traffic road. On mixed-traffic roads, motor vehicles, non-motor vehicles, and pedestrians travel together, and overtaking on such roads is uncertain. Based on V2P (Vehicle-to-Person) technology and the vehicle's visual sensors, information on pedestrians and non-motor vehicles around the vehicle is obtained. Based on the obtained vehicle information, pedestrian information, non-motor vehicle information, the distance between pedestrians and non-motor vehicles and the vehicle, as well as the speed and direction of pedestrians and non-motor vehicles, their trajectories are predicted, and a benefit matrix is ​​constructed. The pedestrian information includes the position of pedestrians around the vehicle and the direction of pedestrians walking. The non-motor vehicle information includes the position of non-motor vehicles around the vehicle and the direction of non-motor vehicles walking.

[0046] Establish the expected benefits of overtaking vehicles choosing to overtake:

[0047] E(A)=(z1+b1-cF)×p1+(z1+b1)×(1-p1);

[0048] Where z1 represents the time saved by overtaking; b1 represents the psychological benefit of overtaking to the driver; c represents the loss caused by an accident; F represents the influence coefficient of the driver's driving habits on the occurrence of an accident; and p1 represents the probability that the traveler's choice affects the overtaking process. y represents the loss suffered by the vehicle after it terminated its overtaking maneuver;

[0049] If the obtained E(A) is greater than the set estimated expected benefit value, then overtaking is selected and the corresponding overtaking model is selected to issue an overtaking warning; if the obtained E(A) is not greater than the set estimated expected benefit value, then the driver is prompted that overtaking is not allowed at this time.

[0050] The overtaking models include the following four types:

[0051] (1) The overtaking vehicle is vehicle A, there is only one vehicle ahead, vehicle B, which is being overtaken, and there are no vehicles in the oncoming lane.

[0052] For car A to successfully overtake another vehicle, the following conditions must be met:

[0053] S A >S B +d A +d B +L A +L B ;

[0054] in,

[0055]

[0056] In the formula, S A S represents the distance traveled by the overtaking vehicle. B d represents the distance traveled by the vehicle being overtaken. A The safe distance between vehicle A and vehicle B before overtaking; d B This refers to the safe distance between vehicle B and vehicle A after overtaking; v A The speed of the vehicle being overtaken; v B The speed at which the vehicle was overtaken; a A a is the acceleration of the overtaking vehicle. B Acceleration of the vehicle being overtaken; t is the road surface adhesion coefficient; f2 is the vehicle overtaking time; f3 is the vehicle performance impact coefficient, obtained from vehicle parameters; f4 is the driver coefficient, obtained by recording the driver's driving behavior through the vehicle's vision sensors and determining the driver's driving type based on the recorded data.

[0057] (2) The overtaking vehicle is vehicle A. There is only one vehicle ahead, vehicle B, which is being overtaken, but there is vehicle C traveling in the opposite direction.

[0058] For car A to successfully overtake, it needs to meet the following conditions simultaneously:

[0059] S AC >S A +S C +d C ;

[0060] S A >S B +d A +d B +L A +L B ;

[0061] in,

[0062]

[0063] d C S represents the safe distance between vehicle A and oncoming vehicle C after overtaking; AC Let v be the initial distance between car A and car C; C a is the speed of oncoming car C; C Let C be the acceleration of the oncoming vehicle.

[0064] (3) The overtaking vehicle is vehicle A. There are multiple vehicles ahead, but no vehicles in the oncoming lane.

[0065] For car A to successfully overtake, it needs to meet the following conditions simultaneously:

[0066] S A >S B +d A +d B +L A +L B ;

[0067] S BD >d B +S B +d D -S D ;

[0068] in,

[0069]

[0070] In the formula, S D v represents the distance traveled by the vehicle in front of the one being overtaken. D a is the speed of the vehicle in front that is being overtaken. D d represents the acceleration of the vehicle in front that is being overtaken. D The safe distance between workshops A and D; S BD The distance between vehicle B being overtaken and vehicle D in front of it. ；

[0071] (4) The overtaking vehicle is vehicle A. There are multiple vehicles B and D ahead of it. Among them, vehicle B is the vehicle being overtaken, vehicle D is the vehicle in front of vehicle B, and there is vehicle C in the oncoming lane.

[0072] For car A to successfully overtake, it needs to meet the following conditions simultaneously:

[0073] S A >S B +d A +d B +L A +L B ;

[0074] S BD >d B +SB +d D -S D ;

[0075] S AC >S A +S C +d C ;

[0076] in,

[0077]

[0078] In the formula, L A The length of the overtaking vehicle; L B The length of the vehicle being overtaken; v D a is the speed of the vehicle in front that is being overtaken. D The acceleration of the vehicle in front that is being overtaken;

[0079] Among them, the acceleration a of the overtaking vehicle A The acceleration a of the overtaken vehicle B The acceleration a of oncoming car C C And the acceleration a of the car in front that is being overtaken. D When the vehicle's traction force is applied to the horizontal surface on a flat road, and the vehicle is on an uphill slope, then the vehicle's acceleration is represented by 'a'. up The calculation formula is obtained and replaced, and at the same time, it is calculated whether the vehicle's traction force exceeds the maximum traction force when going uphill. If it does, the maximum acceleration generated by the vehicle at this time is also calculated. The relationship between the current acceleration and the maximum acceleration is judged. If the current acceleration is less than the maximum acceleration, the current acceleration is used. If the current acceleration is greater than the maximum acceleration, the maximum acceleration is used and the driver is prompted to stop accelerating. When the vehicle is going downhill, the vehicle acceleration is always 'a'. down The calculation formula is obtained and replaced.

[0080] The overtaking accident model is a diagonal collision model, which is further divided into two types: same-direction side collision and oncoming rear-end collision.

[0081] (1) Side collision in the same direction

[0082] When vehicle A is overtaking, it collides sideways with vehicle B, which is being overtaken, in the same direction. Taking the exact time of the overtaking maneuver as the critical condition, and the overtaking time t = t1, then:

[0083]

[0084] Among them, S min To minimize the safe overtaking distance, N A Let α be the width of the overtaking vehicle, and α be the angle between the vehicle and the road.

[0085] (2) Head-on rear-end collision

[0086] A rear-end collision occurs during lane changing or side collision. The critical condition is that the overtaking vehicle A merges into the lane just before colliding with the oncoming vehicle C, without colliding. The overtaking time is t = t2. Then:

[0087]

[0088] In step 2, the information about the overtaken vehicle and other vehicles on the road that affect overtaking includes whether there are vehicles in the oncoming lane and whether there are vehicles in front of the overtaken vehicle, the distance between the oncoming lane vehicle and the overtaking vehicle, the speed and acceleration of the oncoming lane vehicle, the distance between the overtaken vehicle and the vehicle in front of the overtaken vehicle, and the speed and acceleration of the vehicle in front of the overtaken vehicle. All of these are marked on the system map to provide prompts to the driver. The system map is displayed on a monitor connected to the data processing module, and the information about vehicles in the oncoming lane and the vehicle in front of the overtaken is incorporated into the system overtaking model during overtaking to provide warnings to the driver.

[0089] The maximum overtaking time is determined by the distance S traveled by the overtaking vehicle. A and the speed v of the overtaking vehicle A Find the distance S traveled by the overtaking vehicle. A and the speed v of the overtaking vehicle A The relationship is as follows:

[0090] S A =v A t max ;

[0091] Among them, t max Indicates the maximum overtaking time;

[0092] At the same time, the speed v of the overtaking vehicle A Also affected by the speed of the overtaken vehicle (v) B And the maximum speed difference between the two vehicles:

[0093] v A =v B +Z;

[0094] Where Z represents the maximum speed difference between the overtaking vehicle and the overtaken vehicle, which is taken as 12.5 after statistical analysis, in km / h.

[0095] Through the above design scheme, the present invention can bring the following beneficial effects:

[0096] This invention utilizes vehicle-to-vehicle communication to acquire real-time information on current road conditions, vehicle positions, overtaking vehicles, vehicles being overtaken, and other vehicles affecting the overtaking maneuver, such as the position, speed, and direction of surrounding vehicles. This allows for the assessment of the overtaking scenario, selection of an appropriate overtaking model, and evaluation of overtaking conditions and timing. Based on the assessment results, a warning is issued to the driver. The advantages of this invention lie in its applicability to various scenarios. It can provide different warning strategies for different scenarios, offering drivers a more accurate and comprehensive perception of the driving environment, thus better assisting them. The warning provides overtaking strategies, clearly indicating how to overtake, making overtaking safer. This method not only helps drivers determine whether overtaking is suitable but also provides real-time safety warnings and driving suggestions during the overtaking process, significantly reducing the risk of traffic accidents caused by misjudgment or negligence. Attached Figure Description

[0097] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0098] Figure 1 Force diagram of a vehicle overtaking on an uphill slope;

[0099] Figure 2 Force diagram of a vehicle overtaking on a downhill slope;

[0100] Figure 3 This is a schematic diagram of a vehicle side collision in the same direction.

[0101] Figure 4 This is a diagram illustrating a head-on rear-end collision.

[0102] Figure 5 This is a model for overtaking when there is only one car ahead and no cars in the oncoming lane.

[0103] Figure 6 This is a model for overtaking when there is only one car in front but a car coming from the opposite direction.

[0104] Figure 7 This is a model for overtaking when there are multiple vehicles ahead but no vehicles in the oncoming lane.

[0105] Figure 8 This is a model for overtaking when there are multiple vehicles ahead and a vehicle in the oncoming lane. Detailed Implementation

[0106] To further illustrate the intelligent overtaking assistance system for safe overtaking in a two-way, two-lane connected environment based on the present invention and to achieve the intended purpose, the following, in conjunction with the accompanying drawings and specific operating methods, provides a detailed description of the intelligent overtaking and avoidance method of the driving assistance system proposed in this invention, including its specific implementation method, features, and effects.

[0107] This invention is based on a two-way, two-lane intelligent overtaking assistance system in a connected environment, which includes the following steps:

[0108] Step 1: Obtain vehicle information and determine the road conditions ahead of the vehicle, such as vehicles traveling on the same side ahead of the vehicle and vehicles in the oncoming lane.

[0109] Step 2: Obtain information about the vehicle being overtaken, as well as other information on the road that may affect overtaking;

[0110] Step 3: Select a suitable overtaking scenario based on the current road conditions, and add special restrictions as appropriate for different scenarios;

[0111] Step 4: Select an appropriate overtaking model based on the current vehicle distribution on the road, input the obtained information into the model for calculation, and determine whether the current overtaking meets the overtaking conditions;

[0112] Step 5: Based on the information obtained, predict the overtaking time of the entire overtaking process and determine whether it exceeds the maximum permitted overtaking time;

[0113] Step 6: Based on the judgment results of Step 3 and Step 4, issue an overtaking warning. If the current vehicle situation meets the requirements of Step 3 and Step 4, the system will prompt the driver that overtaking is permitted; if the current vehicle situation does not meet the requirements of Step 3 and Step 4, the system will prompt the driver that overtaking is not permitted.

[0114] In specific implementation, step 1 includes vehicle information such as vehicle speed and acceleration obtained through vehicle speed sensors, vehicle acceleration capability (i.e., the time taken to accelerate from a standstill to a specified speed) and vehicle length obtained based on vehicle model parameters. The road conditions ahead include current road conditions and the distribution of vehicles ahead obtained through V2X vehicle-to-everything (V2X) technology. V2X technology includes V2V (vehicle-to-vehicle) connectivity, V2I (vehicle-to-infrastructure) connectivity, V2P (vehicle-to-human) connectivity, and V2N (vehicle-to-network) communication technology.

[0115] In specific implementation, in step 2, the overtake information includes the speed and acceleration of the overtaken vehicle obtained through V2V vehicle-to-vehicle interconnection technology, and other information affecting overtaking includes the speed and acceleration of the oncoming vehicle and the speed and acceleration of the vehicle in front of the overtaken vehicle obtained through V2V vehicle-to-vehicle interconnection technology.

[0116] In practice, the overtaking scenarios in step 3 include overtaking on a slope, overtaking behind a large vehicle, overtaking in special weather conditions, and overtaking on mixed traffic roads.

[0117] When overtaking on a slope, the system determines the overtaking scenario based on real-time road information and slope data obtained from V2I vehicle-to-infrastructure (V2I) technology and vehicle slope sensors. If a slope is detected, the system classifies the overtaking scenario as such and selects and calculates the acceleration information generated by the vehicle's traction force and vehicle model parameters. Overtaking on a slope is divided into two types: uphill overtaking and downhill overtaking.

[0118] 1) When overtaking uphill, if Figure 1 As shown, the vehicle's acceleration at this moment is:

[0119] a up =a A -G sinθ

[0120] Among them, a A a is the acceleration generated by the traction force of the overtaking vehicle. up Let G be the actual acceleration of the vehicle when going uphill, G be the vehicle's weight (G = mg), m be the vehicle's weight, g be the acceleration due to gravity, and θ be the slope angle.

[0121] At the same time, it is also necessary to consider the maximum acceleration that the vehicle can generate when driving on a slope when the vehicle has sufficient traction.

[0122] The formula for vehicle traction force is: F t =F f +ma up ;

[0123] Among them, F t For vehicle traction, F f This refers to the vehicle's resistance to movement.

[0124] Ground support force F on drive wheels N1 The vehicle's maximum traction force F tmax They are represented as follows:

[0125]

[0126] F tmax =F f +ma upmax ;

[0127] Combining the two equations above, we can obtain the vehicle's maximum acceleration.

[0128] When going uphill, the vehicle's traction force must meet the following requirements. Therefore, the formula for the maximum traction force of a vehicle is:

[0129]

[0130] In the formula, F N1 For the ground to support the drive wheels, The road adhesion coefficient;

[0131]

[0132] In the formula, f is the friction coefficient of the road surface.

[0133] When a vehicle is going uphill, if its traction force is greater than its maximum traction force for going uphill, it means that the vehicle's traction force is sufficient. In this case, the maximum acceleration 'a' is... upmax for:

[0134]

[0135] In the formula, a upmax Let be the vehicle's maximum acceleration, l be the vehicle length, a be the distance from the vehicle's center of gravity to the rear wheel, b be the distance from the vehicle's center of gravity to the front wheel, h be the height of the vehicle's center of gravity above the ground, and f be the coefficient of friction. This is the road surface adhesion coefficient.

[0136] 2) When overtaking on a downhill slope, the vehicle's situation is as follows: Figure 2 As shown. When a vehicle is going downhill, its deceleration capability should be fully considered, including the coefficient of friction of the road surface, and the braking distance should be minimized as much as possible. Simultaneously, the vehicle's acceleration becomes:

[0137] a down =a A +G sinθ;

[0138] Among them, a down This refers to the vehicle's acceleration when overtaking on a downhill slope.

[0139] 3) Overtaking scenario: When overtaking behind a large vehicle, the system uses V2V (vehicle-to-vehicle) technology to collect information on all vehicles within 200 meters of the current vehicle in the current lane. The system then assesses the location of these vehicles. If a large vehicle is in front of the overtaking vehicle, it may obstruct the driver's view and affect the overtaking driver's judgment. In this scenario, V2V technology is used to determine if there are vehicles in the oncoming lane and in front of the vehicle being overtaken. If there are vehicles, the system needs to obtain the distance between the oncoming vehicle and the overtaking vehicle, the oncoming vehicle's speed, acceleration, and length, as well as the distance between the overtaken vehicle and the vehicle in front of it, the vehicle's speed, acceleration, and length. If the vehicle is on an uphill slope, the acceleration needs to be processed to be an uphill acceleration 'a'. upSimultaneously, it is necessary to calculate whether the vehicle's traction force can exceed the maximum traction force when going uphill. If it can, it is also necessary to calculate the maximum acceleration that the vehicle can generate at this time, and determine the relationship between the vehicle's current acceleration and the maximum acceleration. If the current acceleration is less than the maximum acceleration, the current acceleration is used; if the current acceleration is not less than the maximum acceleration, the maximum acceleration is used and the driver is prompted to stop accelerating. The above information is marked on the system map to prompt the driver. When overtaking, the information of vehicles in the oncoming lane and the information of the vehicle being overtaken are substituted into the system's overtaking model for processing, and a warning is given to the driver.

[0140] 4) When overtaking in special weather conditions, the judgment is based on the system's connection of the vehicle to the Internet via V2N vehicle-to-everything (V2N) network interconnection, obtaining real-time weather information by accessing meteorological websites. When the weather is foggy, rainy, snowy, or other special weather conditions, the system determines that overtaking is under special weather conditions. When overtaking in rainy or snowy weather, the system obtains the real-time friction coefficient of the road through V2I vehicle-to-infrastructure (V2I) interconnection technology. Wheel lock-up should be taken into account when performing overtaking safety analysis. The critical condition for wheel lock-up is:

[0141]

[0142] Among them, F N1 For the ground to support the drive wheels, F is the road adhesion coefficient. Xmax This represents the maximum braking force of the vehicle.

[0143] Therefore, when overtaking in such weather, it is important to prevent excessive braking force that could cause wheel lock-up. In foggy weather, reduced visibility affects the driver's field of vision, thus impacting overtaking safety. Therefore, V2V (vehicle-to-vehicle) connectivity technology is needed to acquire information on all vehicles within a 200m radius of the current vehicle in the current lane. The system should then mark all detected vehicles on a map, along with their corresponding speed, acceleration, and distance from the current vehicle, providing the driver with information. If the vehicle is uphill, the acceleration should be processed to an uphill acceleration 'a'. up Simultaneously, it is necessary to calculate whether the vehicle's traction force at this moment can exceed the maximum traction force when going uphill. If it can, it is also necessary to calculate the maximum acceleration that the vehicle can generate at this moment. Determine the relationship between the vehicle's current acceleration and the maximum acceleration. If the current acceleration is less than the maximum acceleration, use the current acceleration; if the current acceleration is not less than the maximum acceleration, use the maximum acceleration and prompt the driver to stop accelerating.

[0144] 5) When overtaking on a mixed-traffic road, the judgment is based on real-time acquisition of current road type information using V2I (Vehicle-to-Infrastructure) technology. When the system detects that the current road is a mixed-traffic road, it determines that the overtaking scenario is indeed a mixed-traffic road overtaking scenario. On mixed-traffic roads, motor vehicles, non-motor vehicles, and pedestrians travel together, and overtaking on such roads is highly uncertain. Therefore, when overtaking on such roads, factors such as non-motor vehicles and pedestrians need to be taken into consideration. The system uses V2P (Vehicle-to-Pedestrian) technology and the vehicle's visual sensors to acquire information about pedestrians and non-motor vehicles around the vehicle. Based on the obtained vehicle information, the distance between the vehicle and pedestrians / non-motor vehicles, as well as their speed and direction of travel, the system predicts the vehicle's trajectory and constructs a benefit matrix.

[0145]

[0146] Where z1 is the time benefit saved by overtaking, b1 is the psychological benefit of overtaking to the driver, c is the loss caused by the accident, F is the influence coefficient of the driver's driving habits on the accident, z2 is the time benefit of the pedestrian's behavior, b2 is the psychological benefit of the pedestrian, e is the loss of the pedestrian when the accident occurs, f is the influence coefficient of the pedestrian's usual habits on the traffic accident, x is the loss caused by the pedestrian terminating the influencing behavior, and y is the loss suffered by the vehicle when terminating the overtaking behavior.

[0147] Let event A be the benefit of the pedestrian's choice affecting overtaking, event B be the benefit of the pedestrian's choice not affecting overtaking, and p1 be the probability that the pedestrian's choice affects overtaking. Then the pedestrian's expected benefit is...

[0148] E(A)=(z1+b1-cF)×p1+(z1+b1)×(1-p1);

[0149] E(B) = -y×p1 - y×(1-p1);

[0150] According to game theory, each participant's strategy must be the optimal response to the strategies of other participants. Therefore, in predicting pedestrian traffic, game theory can be used to calculate the expected benefit of overtaking vehicle A, allowing the expected benefit of overtaking vehicle A to balance between choosing to overtake and not overtaking.

[0151] E(A) = E(B);

[0152] Find the probability that a traveler's choice affects the overtaking maneuver.

[0153]

[0154] The system estimates a minimum acceptable expected benefit based on the driver's personality and habits for potential accident scenarios. Specifically, when the driver chooses to overtake and a pedestrian chooses to obstruct the overtaking, the expected benefit E(A) should be less than the estimated minimum expected benefit E(A). If E(A) is greater than the estimated expected benefit, overtaking is permitted, and the system issues an overtaking warning when the driver gives the overtaking instruction. If E(A) is less than the estimated expected benefit, the system warns the driver that overtaking is not allowed.

[0155] In specific implementation, step 4 involves establishing an overtaking model based on overtaking accident analysis. Overtaking accidents are categorized into three types: oblique collisions, frontal collisions, and oncoming collisions. Frontal and oncoming collisions are primarily caused by vehicle speed, acceleration, and driver factors, while oblique collisions are significantly related to overtaking safety distances. Therefore, this invention only studies oblique collisions. Oblique collisions are mainly divided into two types: same-direction side collisions and oncoming rear-end collisions. If the vehicle is on an uphill slope, the acceleration needs to be processed to be an uphill acceleration 'a'. up At the same time, it is also necessary to calculate whether the vehicle's traction force can exceed the maximum traction force when going uphill. If it can exceed the maximum traction force, it is also necessary to calculate the maximum acceleration that the vehicle can generate at this time.

[0156] (1) Side collision in the same direction

[0157] If the situation occurs when overtaking and the vehicle just happens to pass by, such as... Figure 3 When the overtaking time t = t1, the situation shown in the figure below occurs.

[0158] Depend on Figure 3 Analysis reveals the following relationship:

[0159] X AB1 =S A +N A ×sinα;

[0160] X AB1 =S B -L B +S min ;

[0161] Right now:

[0162] S min =S A -S B +N A ×sinα+L B ;

[0163]

[0164] Among them, S min To minimize the safe overtaking distance, S AX represents the distance traveled by the overtaking vehicle. AB1 N is the distance from the front of the overtaking vehicle to the rear of the overtaken vehicle. A For the width of overtaking vehicles, L B For the length of the overtaken vehicle, S B The distance traveled by the vehicle being overtaken. f1 is the road surface adhesion coefficient, f2 is the vehicle performance influence coefficient, f3 is the driver coefficient, and v A For the speed of the overtaking vehicle, v B a is the speed at which it is being overtaken. A a is the acceleration of the overtaking vehicle. B Let α be the acceleration of the vehicle being overtaken, and α be the angle between the vehicle and the road.

[0165] (2) Head-on rear-end collision

[0166] When changing lanes, a vehicle may collide with the vehicle in front, and the same applies when merging. Therefore, the safe distance between the overtaking vehicle and the vehicle being overtaken is also an important research factor.

[0167] Figure 4 This refers to the situation where, at the overtaking time t = t2, the overtaking vehicle merges into the lane without a collision. As shown in the diagram:

[0168] X CB =X CE +L A cosα;

[0169] X CB =S A -S;

[0170] X CE =S AC -SS C ;

[0171]

[0172] Among them, X CB X represents the distance traveled by a vehicle after it merges into another lane to overtake. CE S is the distance between the overtaking vehicle and the oncoming vehicle when the overtaking vehicle has just merged in. A S represents the distance traveled by overtaking vehicles. AC Let S be the initial distance between the overtaking vehicle and the oncoming vehicle, and let S be the distance the overtaking vehicle travels before merging into the lane. C v is the distance traveled by oncoming vehicles. C a is the speed of the oncoming vehicle. C L is the acceleration of the overtaking vehicle. A The length of the overtaking vehicle.

[0173] Therefore, when overtaking, it is necessary to use vehicle-to-vehicle communication to sense the movement of vehicles ahead, while also detecting information about pedestrians and non-motorized vehicles to determine whether they will affect the overtaking operation.

[0174] The overtaking models include the following four types:

[0175] (1) There is only one car in front and no cars in the opposite lane.

[0176] like Figure 5 As shown, when car A wants to overtake, the following conditions must be met:

[0177] There should be a sufficient safe distance between car A and car B;

[0178] After overtaking, vehicle A must maintain a sufficient safe distance from vehicle B.

[0179] The overtaking distance should be no less than the distance traveled by vehicle B, the safe distance between vehicle A and vehicle B, the safe distance between vehicle B and vehicle A, and the sum of the lengths of the two vehicles.

[0180] Therefore, the overtaking distance should meet the following requirements:

[0181] S A >S B +d A +d B +L A +L B ;

[0182] in,

[0183]

[0184] In the formula, d A d represents the safe distance between car A and car B before overtaking. B This refers to the safe distance between vehicle B and vehicle A after overtaking.

[0185] (2) There is only one car in front, but there is a car coming from the opposite direction.

[0186] like Figure 6 As shown, when car A wants to overtake, the following conditions must be met:

[0187] The overtaking distance should be no less than the distance traveled by vehicle B, the safe distance between vehicle A and vehicle B, the safe distance between vehicle B and vehicle A, and the sum of the lengths of the two vehicles.

[0188] There should be a sufficient safe distance between car A and car C;

[0189] The distance between car A and car C shall not be less than the sum of the overtaking distance, the driving distance of car C, and the safe distance between car A and car C.

[0190] Therefore, the overtaking distance and the distance between vehicles A and C should each satisfy the following:

[0191] S AC >S A +S C +d C ;

[0192] S A >S B +d A +d B +L A +L B ;

[0193] in,

[0194]

[0195] In the formula, d C The safe distance between the vehicle and oncoming traffic after overtaking;

[0196] (3) There are multiple vehicles ahead, but no vehicles in the oncoming lane.

[0197] like Figure 7 As shown, when car A wants to overtake, the following conditions must be met:

[0198] The overtaking distance should be no less than the distance traveled by vehicle B, the safe distance between vehicle A and vehicle B, the safe distance between vehicle B and vehicle A, and the sum of the lengths of the two vehicles.

[0199] After overtaking, vehicle A should maintain a sufficient safe distance from vehicle C.

[0200] After overtaking, the distance between car B and car D shall not be less than the sum of the safe distance between car B and workshop A and the safe distance between car A and workshop D.

[0201] Therefore, the overtaking distance and the distance between car B and vehicle D should each satisfy the following conditions:

[0202] S A >S B +d A +d B +L A +L B ;

[0203] S BD >d B +S B +d D -S D ;

[0204] in,

[0205]

[0206] In the formula, S D v represents the distance traveled by the vehicle in front of the one being overtaken. D a is the speed of the vehicle in front that is being overtaken. D d represents the acceleration of the vehicle in front that is being overtaken. D The safe distance between workshops A and D;

[0207] (4) There are multiple vehicles ahead and vehicles in the oncoming lane.

[0208] like Figure 8 As shown, when car A wants to overtake, the following conditions must be met:

[0209] The total overtaking distance should not be less than the distance traveled by vehicle B, the safe distance between vehicle A and vehicle B, the safe distance between vehicle B and vehicle A, and the sum of the lengths of the two vehicles.

[0210] After overtaking, vehicle A should maintain a sufficient safe distance from vehicle C.

[0211] After overtaking, the distance between vehicle B and vehicle C shall not be less than the sum of the safe distance between vehicle B and workshop A and the safe distance between vehicle A and workshop C;

[0212] There should be a sufficient safe distance between car A and car D;

[0213] The distance between car A and car C shall not be less than the sum of the total overtaking distance, the travel distance of car C, and the safe distance between car A and car C.

[0214] Therefore, the total overtaking distance, the distance between vehicles B and C, and the distance between vehicles A and D should respectively satisfy the following conditions:

[0215] S A >S B +d A +d B +L A +L B ;

[0216] S BC >d B +S B +d D -S D ;

[0217] S AC >S A +S C +d C ;

[0218] in,

[0219]

[0220] In specific implementation, in step 5, under normal circumstances, i.e., on urban roads, the maximum speed difference for overtaking is 12.5 km / h. During overtaking, the smaller the speed difference between the two vehicles, the longer the overtaking process takes. Therefore, this invention calculates the maximum overtaking time using an overtaking vehicle whose speed is exactly 12.5 km / h greater than the speed of the vehicle being overtaken, calculating its overtaking time at a constant speed.

[0221] v A =v B +12.5;

[0222] S A =v A t max ;

[0223] The t calculated at this time max This is the maximum overtaking time.

[0224] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0225] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A two-way two-lane multi-scene safe overtaking intelligent assistance method based on a networked environment, using a two-way two-lane multi-scene safe overtaking intelligent assistance system installed in a vehicle based on a networked environment, the system comprising an information input module, a data processing module, and an overtaking warning module, the information input module being provided with an overtaking request module, the information input module using V2X vehicle networking technology, the information input module receiving signals transmitted by each sensor of the vehicle and each vehicle controller in the vicinity, and transmitting the signals to the data processing module; the V2X vehicle networking technology comprising V2V vehicle-to-vehicle interconnection technology, V2I vehicle-to-road interconnection technology, V2P vehicle-to-pedestrian interconnection technology, and V2N vehicle-to-network communication technology; the data processing module being used for processing and analyzing each item of information, and matching and calculating with an overtaking model stored therein, and finally obtaining an early warning result that the vehicle can safely overtake or cannot overtake; characterized in that: Comprise the following steps, and the following steps are sequentially carried out, Step 1: The overtaking request module is started, and after obtaining the overtaking request issued by the driver, the information input module obtains the vehicle information of the vehicle, and the data processing module judges the road condition in front of the vehicle through the received other vehicle information within the specified distance; Step 2: Extract the overtaken vehicle information and other vehicle information affecting overtaking on the road from the information obtained in step 1; Step 3: Establish multiple overtaking scenarios and limit the overtaking scenario matching conditions, match more than one overtaking scenario according to the current obtained information, and obtain corresponding parameters according to the matched different scenarios; The overtaking scenario in step 3 includes hill overtaking, overtaking behind a large vehicle, overtaking in special weather, and overtaking on a mixed road; The matching condition of the hill overtaking is: according to the V2I vehicle-road cooperation technology and the real-time road information and slope obtained by the vehicle slope sensor, it is detected that the current road type is a slope, then it is determined that the current overtaking scenario is hill overtaking, and the data processing module obtains the corresponding parameters through the collected acceleration information and vehicle model parameter information generated by the vehicle traction; The hill overtaking also includes uphill overtaking and downhill overtaking; The parameters obtained corresponding to the overtaking scenario are: 1) Uphill overtaking The actual acceleration of the vehicle on the uphill is: ； wherein, is the acceleration of the vehicle due to tractive effort on a level surface; is the acceleration of the vehicle due to gravity, ; is the weight of the vehicle; is the acceleration due to gravity; is the angle of the incline; The vehicle traction force formula is: ; wherein is the tractive force of the vehicle, is the running resistance of the vehicle; When going uphill, the vehicle traction must satisfy Thus the maximum vehicle traction formula is: ； wherein, is the ground support force to the drive wheels, is the road adhesion coefficient; When the vehicle is on an uphill, if the vehicle tractive force is greater than the maximum tractive force of the vehicle on the uphill, it means that the vehicle tractive force is sufficient, in which case the maximum tractive force formula of the vehicle is also satisfied Therefore, the maximum acceleration is: ； wherein L is the vehicle length, L is the distance from the vehicle center of mass to the rear wheels, L is the distance from the vehicle center of mass to the front wheels, is the coefficient of friction of the road surface; 2) Downhill overtaking Vehicle acceleration in downhill overtake situations is: ； 3) Overtaking behind a large vehicle According to the information of all vehicles within a specified distance on the current lane, if the vehicle model parameter information in front of the vehicle appears large vehicle parameter information, then whether there is a vehicle on the opposite lane and whether there is a vehicle in front of the overtaken vehicle are obtained by using the V2V vehicle interconnection technology, and the following parameters are obtained: The distance between the vehicle on the opposite lane and the overtaking vehicle, the speed, acceleration and length of the vehicle on the opposite lane, the distance between the vehicle in front of the overtaken vehicle and the overtaken vehicle, the speed, acceleration and length of the vehicle in front of the overtaken vehicle, and then the corresponding overtaking model is substituted; Wherein, for acceleration, the vehicle is on an uphill, then the vehicle acceleration is obtained by the calculation formula of and is replaced, and at the same time, whether the vehicle traction exceeds the maximum traction on the uphill is calculated, if yes, the maximum acceleration generated by the vehicle at this time is also calculated, the size relationship between the current acceleration and the maximum acceleration is judged, if the current acceleration is less than the maximum acceleration, the current acceleration is used, if the current acceleration is not less than the maximum acceleration, the maximum acceleration is used and the driver is prompted to stop accelerating; If the vehicle is on a downhill, then the vehicle acceleration is obtained using the calculation formula and replacing 4) Overtaking in special weather Connect the vehicle with the Internet through the V2N vehicle network interconnection technology, obtain real-time weather information by accessing the weather website, and determine that it is overtaking in special weather when the weather is heavy fog, rain or snow, then obtain the real-time road adhesion coefficient through the V2I vehicle-road interconnection technology, and then the wheel lock critical condition is: ； wherein, is the maximum value of the vehicle braking force; That is, the braking force generated by the vehicle during overtaking should be less than ; 5) Overtaking on a mixed road According to the V2I vehicle-road interconnection technology, real-time road type information is obtained, and when it is detected that the current road is a mixed road, it is determined that the overtaking scenario is overtaking on a mixed road. Motor vehicles, non-motor vehicles and pedestrians are mixed on the mixed road, and there is uncertainty in overtaking on such a road. According to the V2P vehicle-person interconnection technology and the visual sensor in the vehicle, the pedestrian and non-motor vehicle information around the vehicle is obtained, the driving track of the pedestrian and non-motor vehicle is predicted according to the obtained vehicle information, pedestrian information, non-motor vehicle information, distance between the pedestrian and non-motor vehicle and the vehicle, and the driving speed and driving direction of the pedestrian and non-motor vehicle, and a benefit matrix is constructed simultaneously; The pedestrian information includes the position of the pedestrian around the vehicle and the walking direction of the pedestrian, and the non-motor vehicle information includes the position of the non-motor vehicle around the vehicle and the driving direction. Establishing the expected benefit of the overtaking vehicle selecting to overtake: ； wherein, a time saved for overtaking; a mental benefit to the driver for overtaking; a loss caused by an accident; a driver's driving habit impact factor on the accident; a probability of a trip person selecting to affect overtaking, ; a loss suffered by the vehicle for terminating the overtaking behavior; obtained greater than the set estimated expected benefit value, a vehicle overtaking is selected, a corresponding vehicle overtaking model is selected to perform vehicle overtaking warning; obtained not greater than the set estimated expected benefit value, the driver is prompted that vehicle overtaking is not possible at this time; Step 4: Establishing an overtaking model, and matching the corresponding overtaking model according to the distribution of vehicles on the current road, and substituting the parameters obtained in step 3 into the corresponding overtaking model for calculation, and judging whether the current overtaking meets the overtaking conditions according to the calculation results; If not, return to step 1; if yes, proceed to step 5; Step 5: Establishing an overtaking accident model, predicting the overtaking time of the entire overtaking process according to the obtained parameters and the parameters of the matched overtaking model, and judging whether the overtaking time exceeds the maximum permitted overtaking time, and if so, prompting the driver that overtaking is not allowed, and if not, prompting the driver that overtaking is allowed.

2. The two-way two-lane multi-scene safe overtaking intelligent assistance method based on a network environment according to claim 1, characterized in that: The vehicle information in step 1 includes vehicle speed obtained through a vehicle speed sensor, vehicle acceleration, and vehicle acceleration capability obtained according to vehicle model parameter information, i.e. the time taken to accelerate from a standstill to a specified speed, and vehicle length; The front road conditions include the current road conditions obtained through V2V vehicle-to-vehicle interconnection technology and V2I vehicle-to-infrastructure interconnection technology, the distribution of vehicles in front within a specified distance, the vehicle information of vehicles traveling in the same direction and vehicles in the opposite lane in front within a specified distance; the road conditions include slopes, special weather roads, and mixed traffic roads. 3.The intelligent assistant method for safe overtaking in a two-lane multi-scenario based on a networked environment according to claim 1, characterized in that: The overtaken vehicle information in step 2 is obtained through V2V vehicle-to-vehicle interconnection technology; the other vehicle information on the road that affects overtaking includes the speed and acceleration of vehicles in the opposite lane obtained through V2V vehicle-to-vehicle interconnection technology, and the speed and acceleration of vehicles in front of the overtaken vehicle.

4. The two-way two-lane multi-scene safe overtaking intelligent assistance method based on a network environment according to claim 1, characterized in that: The overtaking model includes the following four types: (1) The overtaking vehicle is A, there is only one overtaken vehicle B in front, and there is no vehicle in the opposite lane To complete overtaking, A needs to meet the following conditions: ； Wherein, ； ； wherein, is the distance travelled by the overtaking vehicle; is the distance travelled by the overtaken vehicle; is the safety distance between the A and B vehicles before overtaking; is the safety distance between the B and A vehicles after overtaking; is the speed of the overtaking vehicle; is the speed of the overtaken vehicle; is the acceleration of the overtaking vehicle, is the acceleration of the overtaken vehicle; is the road adhesion coefficient; is the time of overtaking of the vehicle; is the vehicle performance influence coefficient, obtained according to the vehicle parameters; is the driver coefficient, obtained according to the recording of the driving behavior of the driver by the vision sensor of the vehicle and the judgment of the driving type of the driver according to the recorded data. The overtaking vehicle is A, there is only one overtaken vehicle B in front, but there is a vehicle C in the opposite lane To complete overtaking, A needs to meet the following conditions: ； ； Wherein, ； ； ； the safety distance of the A vehicle and the oncoming vehicle C after overtaking; the distance between the A vehicle and the C vehicle at the initial moment; the speed at which the oncoming vehicle C vehicle travels; the acceleration at which the oncoming vehicle C vehicle travels; The overtaking vehicle is A, there are multiple vehicles in front but no vehicles in the opposite lane To complete overtaking, A needs to meet the following conditions: ； ； Wherein, ； ； ； In the formula, is the distance traveled by the overtaken vehicle before overtaking, is the speed of the overtaken vehicle before overtaking, is the acceleration of the overtaken vehicle before overtaking, is the safety distance between the two vehicles A and D; is the distance between the overtaken vehicle B and the overtaken vehicle D. The overtaking vehicle is A, there are multiple vehicles B and D in front, B is the overtaken vehicle, D is the front vehicle of B, and there is a vehicle C in the opposite lane To complete overtaking, A needs to meet the following conditions: ； ； ； Wherein, ； ； ； ； wherein is the length of the overtaking vehicle; is the length of the overtaken vehicle; is the speed of the overtaken vehicle, is the acceleration of the overtaken vehicle; Among them, the acceleration of the overtaking vehicle Acceleration of the vehicle being overtaken The acceleration of oncoming car C And the acceleration of the car in front that was overtaken. When the vehicle is on a flat road, the acceleration produced by the traction force of the vehicle on the horizontal surface is taken as the acceleration. When the vehicle is on an uphill slope, the vehicle acceleration is always taken as... The calculation formula is obtained and replaced, and at the same time, it is calculated whether the vehicle's traction force exceeds the maximum traction force when going uphill. If it does, the maximum acceleration generated by the vehicle at this time is also calculated. The relationship between the current acceleration and the maximum acceleration is judged. If the current acceleration is less than the maximum acceleration, the current acceleration is used; if the current acceleration is greater than the maximum acceleration, the maximum acceleration is used and the driver is prompted to stop accelerating. When the vehicle is going downhill, the vehicle acceleration is used. The calculation formula is obtained and replaced.

5. The two-way two-lane multi-scene safe overtaking intelligent assistance method based on a network environment according to claim 4, characterized in that: The overtaking accident model establishes a diagonal collision model, where diagonal collision is divided into two cases: same direction side collision and opposite direction rear-end collision; (1) Same direction side collision The vehicle A overtaking the vehicle B, and a side collision occurs between the vehicle A and the vehicle B. The time when the vehicle A just passes through is taken as a critical condition, and the overtaking time Then, there are: ； wherein, is the minimum safe passing distance, is the passing vehicle width, is the angle of the vehicle to the road; (2) Opposite direction rear-end collision The head-on rear-end occurs when the side collision occurs at the time of taking the road or at the time of merging, and the case where the overtaking vehicle A car just merges and the collision does not occur with the oncoming vehicle C car is taken as a critical condition, the overtaking time Then, there is: 。 6. The two-way two-lane multi-scene safe overtaking intelligent assistance method based on a network environment according to claim 4, characterized in that: The overtaken vehicle information and other vehicle information on the road that affects overtaking in step 2 include whether there are vehicles in the opposite lane and whether there are vehicles in front of the overtaken vehicle, the distance between the vehicles in the opposite lane and the overtaking vehicle, the speed and acceleration of the vehicles in the opposite lane, the distance between the vehicles in front of the overtaken vehicle and the overtaken vehicle, the speed and acceleration of the vehicles in front of the overtaken vehicle, and all are marked in the system map to prompt the driver, the system map is displayed on the display connected to the data processing module, and the information of the vehicles in the opposite lane and the front vehicles of the overtaken vehicle is substituted into the system overtaking model for warning the driver when overtaking.

7. The two-way two-lane multi-scene safe overtaking intelligent assistance method based on a network environment according to claim 4, characterized in that: The maximum overtake time is determined by the overtake vehicle distance and the speed of the overtake vehicle The relationship between the overtake vehicle distance and the speed of the overtake vehicle is given by: ； wherein represents the maximum overtake time; At the same time, the speed of the overtaking vehicle is also limited by the speed of the vehicle being overtaken and the maximum speed difference between the two vehicles: ； wherein, represents the maximum speed difference between the overtaking vehicle and the overtaken vehicle, which is 12.5 km / h after statistical analysis.

Images