Information processing method, vehicle and road side unit

Abstract

The invention relates to the technical field of vehicle control, in particular to an information processing method, a vehicle and a roadside unit, comprising: receiving a notification message sent by an Internet of Vehicles device, the notification message carrying at least one of an entrance identifier of a target vehicle driving into a roundabout and an exit identifier of the target vehicle driving out of the roundabout; therefore, the problems that the driving route of the vehicle in the roundabout range cannot be accurately predicted, the collision risk during roundabout driving is increased, and the safety and the driving experience of roundabout driving are reduced in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an information processing method, a vehicle, and a roadside unit. Background Art

[0002] A roundabout, also known as a traffic circle, is a special form of traffic node, usually consisting of a circular lane and a central island. This setting requires traffic coming from any direction to enter the roundabout and then rotate in a single direction around the center circle of the roundabout until it turns to the desired direction and leaves.

[0003] It is precisely because of the above-mentioned roundabout setting that vehicles about to enter the roundabout or driving within the roundabout may have multiple driving routes, making it impossible to accurately predict the driving trajectory of vehicles within the roundabout, increasing the risk of collision when driving around the roundabout, and reducing the safety and driving experience of driving around the roundabout. Summary of the Invention

[0004] The present application provides an information processing method, a vehicle, and a roadside unit to solve the problems in related technologies such as the inability to accurately predict the driving routes of vehicles within a roundabout, increasing the risk of collision when driving around the island, and reducing the safety and driving experience of driving around the island.

[0005] The first embodiment of the present application provides an information processing method, including: receiving a notification message sent by a vehicle networking device, the notification message carrying at least one of an entrance mark for a target vehicle to enter a roundabout and an exit mark for a target vehicle to exit a roundabout.

[0006] The second aspect of the present application provides an information processing method, including: sending a V2V message to a target Internet of Vehicles device, the V2V message carrying at least one of the entrance mark of the current vehicle entering the roundabout and / or the exit mark of the current vehicle exiting the roundabout.

[0007] The third aspect of the present application provides an information processing method, including: receiving the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the roundabout sent by the Internet of Vehicles cloud device, the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the target vehicle exiting the roundabout are sent to the Internet of Vehicles cloud device through a wireless communication network; and broadcasting the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the target vehicle exiting the roundabout to other vehicles within the roundabout range through a roadside unit.

[0008] The fourth aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the information processing method of the first aspect or the second aspect described above.

[0009] The fifth embodiment of the present application provides a roadside unit, including: a memory, a processor, and a computer program stored in the memory and runnable on the processor. The processor executes the program to implement the information processing method of the third embodiment described above.

[0010] Therefore, this application has at least the following beneficial effects:

[0011] The embodiment of the present application can obtain the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the roundabout through the Internet of Vehicles device. The entrance mark is used to identify the entrance of the target vehicle that is expected to enter the roundabout, and the exit mark is used to identify the exit of the target vehicle that is expected to exit the roundabout. The above-mentioned target vehicle can be a vehicle that is about to enter the roundabout or is driving in the roundabout, that is, the target vehicle can refer to any vehicle within the roundabout. Therefore, the embodiment of the present application can obtain the entrance and exit of any vehicle that is expected to enter the roundabout and exit the roundabout within the roundabout. At the same time, according to the roundabout driving rules, the driving lane of any vehicle after entering the roundabout can be determined, so that the driving trajectory of any vehicle can be accurately predicted based on the entrance and exit of the roundabout and the driving lane, and the collision risk between the current vehicle and any vehicle can be predicted based on the driving trajectory, so that the collision risk can be avoided in advance, the collision risk when driving around the island can be reduced, and the safety and driving experience of driving around the island can be improved. Therefore, the technical problems in the related art such as the inability to accurately predict the specific driving route of vehicles within the roundabout, the increase in the collision risk when driving around the island, and the reduction in the safety and driving experience of driving around the island are solved.

[0012] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0014] Figure 1 This is a flowchart of an information processing method provided according to the first embodiment of the present application;

[0015] Figure 2 This is a flowchart of an information processing method provided according to the second embodiment of the present application;

[0016] Figure 3 is a schematic diagram of a lane separation point according to an embodiment of the present application;

[0017] Figure 4 is a flowchart of an information processing method according to a specific embodiment of the present application;

[0018] Figure 5 is a flowchart of an information processing method according to another specific embodiment of the present application;

[0019] Figure 6 This is a flowchart of an information processing method provided according to the second embodiment of the present application;

[0020] Figure 7 This is a flowchart of an information processing method provided according to the third embodiment of the present application;

[0021] Figure 8 A block diagram of an information processing device according to a first embodiment of the present application;

[0022] Figure 9 A block diagram of an information processing device according to a second embodiment of the present application;

[0023] Figure 10 This is a block diagram of an information processing device provided according to the third embodiment of the present application. DETAILED DESCRIPTION

[0024] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0025] The technical solution of the embodiment of the present application can be implemented based on V2X (Vehicle to X, information exchange between vehicles and the outside world) vehicle networking technology. Specifically, V2X is a technology for exchanging information between vehicles and the outside world, which can realize wireless communication between vehicles and various devices in the vehicle networking technology. Specifically, the wireless communication between vehicles and the outside world includes V2V messages, that is, the current vehicle can directly communicate with other target vehicles in the outside world. V2V communication technology mainly relies on the interaction between OBUs (On Board Units) installed on the vehicles. In addition, the vehicle networking technology can also include RSUs (Road Side Units). The RSUs are fixedly installed on the roadside. The RSUs can also exchange information with vehicles. For example, the RSUs can provide vehicles with basic road information required for driving, such as traffic lights, speed limits, road parameters, etc. In the roundabout scenario of the embodiment of the present application, parameters such as the width of the driving lane at the roundabout entrance and the inner diameter length of the roundabout can be provided. The above parameters can be sent to the OBUs of each vehicle through roadside unit broadcast messages.

[0026] Specifically, the technical solution provided by the embodiment of the present application includes an information processing method, that is, V2X communication technology can be used to exchange the entrance identification of the roundabout and / or the exit identification of the roundabout between the OBUs of vehicles within the roundabout using V2V messages, or for some vehicles that do not support V2X communication technology, if they can transmit their entrance identification of the roundabout and / or the exit identification of the roundabout to the RSU through wireless communication technology, the RSU can send it to the current vehicle through a broadcast message.

[0027] Figure 1 This is a flow chart of the information processing method provided in the first embodiment of this application. Figure 1 As shown, the information processing method includes:

[0028] In step S101, a notification message sent by a vehicle networking device is received, where the notification message carries at least one of an entrance mark for a target vehicle to enter a roundabout and an exit mark for a target vehicle to exit a roundabout.

[0029] It can be understood that the entrance mark of the target vehicle entering the roundabout received by the current vehicle is used to identify the entrance of the target vehicle entering the roundabout, and the exit mark is used to identify the exit of the target vehicle exiting the roundabout. At the same time, when the entrance and exit are known, the roundabout after the target vehicle enters the roundabout can be determined according to the roundabout driving rules.

[0030] The target vehicle can include vehicles about to enter the roundabout or vehicles currently traveling within the roundabout. Therefore, the target vehicle can refer to any vehicle within the roundabout. If the target vehicle is about to enter the roundabout, the notification message carries the target vehicle's entrance sign and exit sign. If the target vehicle is currently traveling within the roundabout, the notification message carries the target vehicle's exit sign.

[0031] Thus, the embodiments of the present application can obtain the entrances, exits, and lanes for any vehicle entering the roundabout. Given the entrances, exits, and lanes of the roundabout, the driving trajectory of any vehicle can be accurately predicted, allowing for more rational driving trajectory planning and proactive collision avoidance. This can effectively reduce the risk of collision during roundabout driving, improving the safety and driving experience. The prediction of driving trajectories and collision risks will be described in the following embodiments; to avoid redundancy, this will not be elaborated upon here.

[0032] In an embodiment of the present application, the current vehicle is a vehicle that supports V2X communication technology, wherein the Internet of Vehicles device that sends a notification message to the current vehicle may include a target vehicle or a roadside unit.

[0033] Among them, the roadside unit is set on the side of the road, which can conduct two-way communication and exchange data with nearby passing vehicles, and can upload data to the Internet of Vehicles cloud device or broadcast data to nearby passing vehicles.

[0034] It can be understood that the executing entity of the embodiment of the present application is the current vehicle, and the current vehicle can be any vehicle with the function of communicating with the Internet of Vehicles device. In the embodiment of the present application, the target vehicle or the roadside unit can be used as the Internet of Vehicles device. Therefore, the current vehicle can communicate with the target vehicle or the roadside unit to obtain the entrance sign of the target vehicle entering the roundabout and / or the exit sign of the target vehicle exiting the roundabout.

[0035] Due to the different types of connected vehicle devices, the types of notification messages received by the current vehicle are also different. The following will explain them separately, as follows:

[0036] In an embodiment of the present application, if the Internet of Vehicles device is a target vehicle, the target vehicle and the current vehicle can communicate directly. The notification message is, for example, a V2X message. The V2X message will be described as a V2V message as an example in the following.

[0037] Since the relevant fields of the roundabout's entrance and exit signs are not defined in the V2V message in the related art, the relevant art cannot obtain the roundabout's entrance and exit signs through the V2V message, and thus cannot accurately obtain the target vehicle's entrance sign for entering the roundabout and / or the exit sign for exiting the roundabout.

[0038] To this end, the embodiment of the present application defines new fields for the roundabout's entrance and exit identifiers in the V2V message, so that vehicles about to enter the roundabout and vehicles within the roundabout can broadcast the expected roundabout entrance and exit identifiers for navigation through V2V messages, and can obtain the target vehicle's entrance identifier for entering the roundabout and the exit identifier for exiting the roundabout through V2V messages, so that the current vehicle can obtain the target vehicle's entrance identifier for entering the roundabout and the exit identifier for exiting the roundabout, making subsequent trajectory planning and risk prediction simpler and more reliable, and at the same time enabling V2X communication technology to be applied to roundabout driving scenarios, effectively broadening the application scope of V2X communication technology.

[0039] In an embodiment of the present application, if the target vehicle does not support V2X communication technology and cannot communicate with the current vehicle directly through V2V messages, the Internet of Vehicles device is a roadside unit and the notification message is a roadside unit broadcast message.

[0040] The roadside unit broadcast message may be a Basic Safety Message (RSM).

[0041] It is understood that the current vehicle in the embodiment of the present application supports V2X communication technology and can communicate with the roadside unit via V2X communication technology to obtain roadside unit broadcast messages broadcast by the roadside unit. Since direct communication between the current vehicle and the target vehicle is impossible when the target vehicle does not support V2X communication technology, indirect communication between the current vehicle and the target vehicle can be achieved using the roadside unit as a medium. That is, the current vehicle can obtain the target vehicle's entrance sign into the roundabout and / or exit sign of the roundabout through the roadside unit broadcast message, thereby allowing the current vehicle to obtain the entrance sign into the roundabout and / or exit sign of more vehicles within the roundabout.

[0042] In an embodiment of the present application, the target vehicle's entrance mark for entering the roundabout and / or the exit mark for exiting the roundabout are sent by the target vehicle to the Internet of Vehicles cloud device through a wireless communication network, so that the target vehicle's entrance mark for entering the roundabout and / or the exit mark for exiting the roundabout are sent to the roadside unit through the Internet of Vehicles cloud device.

[0043] It can be understood that the wireless communication network may include the network provided by the target vehicle's vehicle navigation and the network provided by the mobile terminal for the target vehicle, etc. Therefore, the target vehicle can upload the target vehicle's entrance sign into the roundabout and / or the exit sign out of the roundabout to the Internet of Vehicles cloud device through the vehicle navigation or the navigation of the mobile terminal, and then the Internet of Vehicles cloud device sends it to the roadside unit within the roundabout.

[0044] Since vehicles typically have wireless communication networks, the target vehicle can broadcast the desired roundabout entrance and exit locations through the wireless communication network. The target vehicle is any vehicle within the roundabout, so any vehicle with a wireless communication network can share its desired roundabout entrance and exit locations. This allows as many vehicles within the roundabout as possible to share their desired roundabout entrance and exit locations. This allows the current vehicle to obtain the desired roundabout entrance and exit locations of more vehicles within the roundabout, allowing the current vehicle to accurately predict the driving trajectories of more vehicles within the roundabout.

[0045] According to the information processing method proposed in the embodiment of the present application, the entrance and exit that any vehicle within the roundabout expects to enter can be obtained, so that the current vehicle can more intuitively determine the entrance and exit of the roundabout that the target vehicle expects to pass through, and can more reasonably plan the driving trajectory of the vehicle itself, avoid collision risks in advance, and improve the safety and driving experience of roundabout driving; new fields for the roundabout entrance and exit identification are defined in the V2V message, so that vehicles about to enter the roundabout and vehicles within the roundabout can broadcast the roundabout entrance and exit identification expected by the vehicle itself through V2V messages, and can obtain the entrance identification of the target vehicle entering the roundabout and the exit identification of the target vehicle exiting the roundabout through V2V messages; at the same time, when the target vehicle does not support V2X communication technology, indirect communication between the current vehicle and the target vehicle can be realized using the roadside unit as the medium, and the entrance identification of the target vehicle entering the roundabout and the exit identification of the target vehicle exiting the roundabout can be obtained through RSM messages, so that V2X communication technology can be applied to roundabout driving scenarios, making trajectory planning and risk prediction simpler and more reliable, and effectively broadening the application scope of V2X communication technology.

[0046] Secondly, Figure 2 This is a flow chart of the information processing method provided in the second embodiment of the present application. In this embodiment, the target vehicle's roundabout trajectory information and vehicle collision risk warning are obtained based on the notification message obtained in the above embodiment, such as Figure 2 As shown, the information processing method includes:

[0047] In step S201, a notification message sent by a vehicle networking device is received, where the notification message carries at least one of an entrance mark for a target vehicle to enter a roundabout and an exit mark for a target vehicle to exit a roundabout.

[0048] It should be noted that the explanation of step S201 refers to the explanation of step S101 in the above embodiment, and will not be repeated here to avoid redundancy.

[0049] In step S202, the current position of the target vehicle is obtained; and the roundabout driving trajectory information of the target vehicle is determined based on the current position of the target vehicle and at least one of the entrance mark for the target vehicle entering the roundabout and the exit mark for the target vehicle exiting the roundabout.

[0050] Among them, if the target vehicle is a vehicle about to enter the roundabout, the roundabout driving trajectory information includes the target vehicle's driving lane at the roundabout entrance, the target vehicle's driving lane inside the roundabout, the target vehicle's driving lane at the roundabout exit, the first lane separation point when the target vehicle enters the roundabout, and the second lane separation point when the target vehicle exits the roundabout; if the target vehicle is a vehicle currently driving inside the roundabout, the roundabout driving trajectory information includes the target vehicle's driving lane inside the roundabout, the target vehicle's driving lane at the roundabout exit, and the second lane separation point when the target vehicle exits the roundabout; the first lane separation point when the target vehicle enters the roundabout is: the intersection between the center line of the target vehicle's driving lane at the roundabout entrance and the lane line of the target vehicle's driving lane inside the roundabout, close to the roundabout entrance side, and the second lane separation point when the target vehicle enters the roundabout is: the intersection between the center line of the target vehicle's driving lane at the roundabout exit and the lane line of the target vehicle's driving lane inside the roundabout, close to the roundabout exit side.

[0051] It can be understood that the target vehicle's driving lane may include the target vehicle's driving lane within the roundabout and the target vehicle's driving lane at the roundabout's entrance and exit, wherein the target vehicle's driving lane within the roundabout refers to a specific roundabout on the roundabout, such as a roundabout including four roundabouts, which are the first to fourth roundabouts from the inside to the outside. If the target vehicle is driving on the third roundabout, the target vehicle's driving lane within the roundabout is the third roundabout; the target vehicle's driving lane at the roundabout's entrance and exit refers to a specific lane on the roundabout's entrance and exit road, such as the roundabout's entrance road including three lanes. If the target vehicle is in the first lane on the left, the target vehicle's driving lane at the roundabout's entrance is the first lane on the left. The lane separation point refers to the critical point at which the target vehicle changes lanes. For example, when the target vehicle enters the roundabout, it needs to change lanes to enter the roundabout. The target vehicle's lane-changing position is the lane separation point. In the embodiment of the present application, it refers to the intersection between the center line of the vehicle's driving lane at the roundabout's entrance and exit and the lane line of the vehicle's driving lane within the roundabout. Examples of lane separation points are Figure 2 The circle in the figure and the lane separation point are used to mark the lane-changing position of the target vehicle.

[0052] Specifically, if the target vehicle is about to enter a roundabout, the target vehicle's lane is determined based on the target vehicle's current position, the target vehicle's entrance sign, and the target vehicle's exit sign. If the target vehicle is already traveling within the roundabout, the target vehicle's lane is determined based on the target vehicle's current position and the target vehicle's exit sign. If the target vehicle is about to enter a roundabout, the first lane separation point for the target vehicle entering the roundabout and the second lane separation point for the target vehicle exiting the roundabout are determined based on the target vehicle's lane. If the target vehicle is already traveling within the roundabout, the second lane separation point for the target vehicle exiting the roundabout is determined based on the target vehicle's lane.

[0053] It should be noted that the target vehicle's roundabout trajectory information required for implementation of this application is different when the target vehicle is traveling within the roundabout and when it is about to enter the roundabout. The following will explain the two situations separately, as follows:

[0054] (1) If the target vehicle is about to enter a roundabout, the roundabout trajectory information of the target vehicle is obtained as follows:

[0055] like Figure 3 As shown, in the embodiment of the present application, when the target vehicle is about to enter the roundabout, the target vehicle can be detected based on the distance W between the target vehicle and the center line of the roundabout entrance. d , calculate the Nth driving lane at the entrance of the roundabout where the target vehicle is currently located. This N also represents the driving lane N that the target vehicle is about to enter the roundabout and the Nth driving lane at the corresponding roundabout exit. This can be used to calculate the radius R of the target vehicle traveling in the roundabout. r The calculation formula is as follows:

[0056]

[0057]

[0058] Among them, W d Indicates the distance between the target vehicle and the center line of the roundabout entrance, W l The width of the lane at the entrance of the roundabout is represented by the floor function, which is used to round down or round towards zero, that is, to take the largest integer not greater than x. Unlike rounding, flooring directly takes the value on the number axis that is closest to the required value, that is, the largest integer value not greater than the required value. r Indicates the radius of the target vehicle traveling on the roundabout, R c Indicates the radius of the innermost ring of the roundabout, W C Indicates the inner diameter of the roundabout.

[0059] In an embodiment of the present application, the lane centerline of the driving lane at the entrance of the roundabout can be extended, and the intersection of the extension line and the lane centerline of the driving lane of the target vehicle in the roundabout is the first lane separation point; in an embodiment of the present application, the lane centerline of the driving lane at the exit of the roundabout can be extended, and the intersection of the extension line and the lane centerline of the driving lane of the target vehicle in the roundabout is the second lane separation point.

[0060] Therefore, the embodiment of the present application can obtain the roundabout driving trajectory information when the target vehicle is about to enter the roundabout, and realize trajectory planning based on the roundabout driving trajectory information, specifically including: taking the current position of the target vehicle as the starting point, the line reaching the first lane separation point is the first segment of the trajectory, and then along the center line of the roundabout where the vehicle is expected to arrive to the second lane separation point where the current vehicle exits the roundabout is the second segment of the trajectory, and finally the line from the lane separation point to the corresponding roundabout exit is the third segment of the trajectory.

[0061] (2) If the target vehicle is traveling in a roundabout, the roundabout trajectory information of the target vehicle is obtained as follows:

[0062] Specifically, if Figure 3 As shown, in this embodiment of the present application, when the target vehicle is traveling inside a roundabout, based on the current distance Rr of the target vehicle from the center of the roundabout, it can be determined that the target vehicle is currently in the Nth driving lane of the roundabout and is about to enter the Nth driving lane corresponding to the roundabout exit mark. The calculation formula is as follows:

[0063]

[0064] Based on the target vehicle's driving lane within the roundabout and the target vehicle's driving lane at the roundabout exit, the second lane separation point where the target vehicle exits the roundabout is determined. In this embodiment of the application, the center line of the driving lane at the roundabout exit can be extended, and the intersection of the extension line and the center line of the lane of the target vehicle within the roundabout is the second lane separation point.

[0065] Therefore, the embodiment of the present application can obtain the roundabout driving trajectory information of the target vehicle when it is driving in the roundabout, and realize trajectory planning based on the roundabout driving trajectory information, specifically including: taking the current position of the target vehicle as the starting point, along the center line of the roundabout to the second lane separation point where the current vehicle exits the roundabout as the first section of the trajectory, and finally taking the line from the lane separation point to the corresponding roundabout exit as the second section of the trajectory.

[0066] In an embodiment of the present application, after determining the roundabout driving trajectory information of the target vehicle, it also includes: if it is detected that the target vehicle changes lanes in the roundabout, then the driving lane of the target vehicle in the roundabout after the lane change and the driving lane of the target vehicle at the roundabout exit after the lane change are obtained; based on the driving lane of the target vehicle in the roundabout after the lane change and the driving lane of the target vehicle at the roundabout exit after the lane change, the second lane separation point of the target vehicle exiting the roundabout is re-determined.

[0067] It can be understood that the originally predicted driving trajectory of the target vehicle changes due to the change of the corresponding lane separation point and the roundabout exit after the target vehicle changes lanes. Therefore, the embodiment of the present application re-determines the second lane separation point of the target vehicle exiting the roundabout after the target vehicle changes lanes, and uses this as a basis to re-acquire the roundabout driving trajectory information of the target vehicle and re-predict the driving trajectory of the target vehicle, so that the roundabout driving trajectory information of the target vehicle can be accurately obtained, thereby improving the accuracy of the target vehicle driving trajectory prediction.

[0068] For example, assuming that the roundabout includes four lanes, namely the first to fourth lanes from the inside to the outside, if the target vehicle is traveling on the second lane, and at this time the target vehicle changes lanes to the third lane, since the lane on which the target vehicle is traveling has changed, the originally predicted second lane separation point must have changed. Therefore, the embodiment of the present application can combine the third lane to determine the new exit sign for the target vehicle to exit the roundabout, and redetermine the second lane separation point based on the new exit sign and the third lane.

[0069] In an embodiment of the present application, detecting that a target vehicle has changed lanes in a driving lane within a roundabout includes: obtaining a heading angle of the target vehicle; if a deviation angle between the heading angle of the target vehicle and the tangent direction of the center line of the current driving lane is greater than a preset threshold, then confirming that the target vehicle has changed lanes in the driving lane within the roundabout.

[0070] Among them, the preset threshold can be specifically calibrated and is not specifically limited.

[0071] It can be understood that when the deviation angle between the target vehicle's heading angle and the tangent direction of the center line of the current driving lane is large, it means that the target vehicle has begun to deviate from the current driving lane. At this time, it can be determined that the target vehicle has changed lanes in the driving lane within the roundabout, and the target vehicle's heading angle can be used to accurately determine whether the target vehicle has changed lanes.

[0072] In step S203, the roundabout driving trajectory information of the current vehicle is obtained.

[0073] The embodiment of the present application can obtain the driving trajectory information of the current vehicle based on the above-mentioned method for obtaining the roundabout driving trajectory information of the target vehicle. For details, please refer to the above-mentioned method for obtaining the roundabout driving trajectory information of the target vehicle. To avoid redundancy, it will not be repeated.

[0074] Among them, if the current vehicle is a vehicle about to enter a roundabout, the roundabout driving trajectory information includes the current vehicle's driving lane at the roundabout entrance, the current vehicle's driving lane inside the roundabout, the current vehicle's driving lane at the roundabout exit, the first lane separation point of the current vehicle entering the roundabout, and the second lane separation point of the current vehicle exiting the roundabout; if the current vehicle is a vehicle traveling inside the roundabout, the roundabout driving trajectory information includes the current vehicle's driving lane inside the roundabout, the current vehicle's driving lane at the roundabout exit, and the second lane separation point of the current vehicle exiting the roundabout; the first lane separation point of the current vehicle entering the roundabout is: the intersection of the center line of the current vehicle's driving lane at the roundabout entrance and the lane line of the current vehicle's driving lane inside the roundabout, close to the roundabout entrance side, and the second lane separation point of the current vehicle entering the roundabout is: the intersection of the center line of the current vehicle's driving lane at the roundabout exit and the lane line of the current vehicle's driving lane inside the roundabout, close to the roundabout exit side.

[0075] In step S204, a vehicle collision risk value is determined based on the roundabout driving trajectory information of the target vehicle and the roundabout driving trajectory information of the current vehicle, and collision avoidance control is performed on the current vehicle according to the vehicle collision risk value.

[0076] Among them, the vehicle collision risk value is used to determine whether there is a collision risk between the current vehicle and the target vehicle. The vehicle collision risk value may include a first risk value indicating that there is a collision risk between the current vehicle and the target vehicle, and a second risk value indicating that there is no collision risk between the current vehicle and the target vehicle.

[0077] It can be understood that the embodiment of the present application can predict whether there is a collision risk between the current vehicle and the target vehicle based on the driving trajectory information of the target vehicle and the current vehicle, so as to avoid the collision risk in advance, reduce the collision risk when driving around the island, and improve the safety and driving experience of driving around the island.

[0078] In an embodiment of the present application, a vehicle collision risk value is determined based on the roundabout driving trajectory information of the target vehicle and the roundabout driving trajectory information of the current vehicle, including: if the current vehicle and the target vehicle are driving in the same lane within the roundabout at the current moment, a first relative distance between the current vehicle and the target vehicle is calculated based on the speed information of the target vehicle at the current moment, the speed information of the current vehicle, the braking parameter calibration value of the current vehicle, the driver's reaction time, and at least one of the preset safety distance; if the current vehicle and the target vehicle are driving in different lanes within the roundabout at the current moment, a second relative distance between the target vehicle and the current vehicle is obtained when the current vehicle reaches the first lane separation point or the second lane separation point; or a third relative distance between the current vehicle and the target vehicle is obtained when the target vehicle reaches the first lane separation point or the second lane separation point; if the first relative distance, the second relative distance, or the third relative distance is greater than the corresponding preset safety distance, the vehicle collision risk value is a first risk value indicating that there is a collision risk between the current vehicle and the target vehicle; otherwise, the vehicle collision risk value is a second risk value indicating that there is no collision risk between the current vehicle and the target vehicle.

[0079] The driver's reaction time, preset safety distance, and braking parameter calibration values ​​can all be specifically calibrated. The vehicle's current braking parameter calibration value includes at least one of the vehicle's braking coordination time calibration value, the vehicle's deceleration growth time calibration value, and the habitual braking deceleration. The habitual braking deceleration can be obtained by calculating the driver's habitual acceleration and can take different values ​​depending on different scenarios, such as high-speed, medium-speed, and low-speed. This is not specifically limited.

[0080] The first relative distance refers to the arc distance between the current vehicle and the target vehicle, and the second relative distance and the third relative distance refer to the straight-line distance between the current vehicle and the target vehicle.

[0081] It can be understood that when the current vehicle's driving lane in the roundabout is the same as the target vehicle's driving lane in the roundabout, the collision risk between the vehicle and the current vehicle mainly comes from the possible collision caused by the speed difference between the two vehicles. It is necessary to maintain a certain distance between the two vehicles, and determine whether there is a collision risk between the two vehicles by the relative distance between the two vehicles; when the current vehicle's driving lane in the roundabout is different from the target vehicle's driving lane in the roundabout, the collision wind direction between the current vehicle and the target vehicle mainly comes from the vehicle changing lanes, and the vehicle changing lanes includes the target vehicle changing lanes and the current vehicle changing lanes. Therefore, the embodiment of the present application can calculate the relative distance between the target vehicle and the current vehicle when the current vehicle or the target vehicle reaches the lane separation point, and determine whether there is a collision risk between the two vehicles based on the relative distance.

[0082] Specifically: (1) If the lane of the preceding vehicle and the lane of the target vehicle are the same, the collision risk is determined as follows:

[0083] Starting from the center of mass of the current vehicle, draw an arc line from the center line of the current vehicle's ring road to the center of mass of the target vehicle along the current vehicle's driving direction to obtain the first relative distance. The relative distance is the arc distance rather than the straight-line distance between the center of mass points. The current vehicle's driving direction is the clockwise or counterclockwise direction of the roundabout, which can be determined according to the driving rules of the roundabout. The first relative distance S rel The calculation formula is as follows:

[0084]

[0085] Among them, T is the driver's reaction time, t1 is the vehicle braking coordination time calibration value, t2 is the vehicle deceleration growth time calibration value, a s is the conventional braking deceleration, V H is the current vehicle speed information, V R It should be noted that the target deceleration of the vehicle can be determined based on the degree of brake pedal opening. It usually takes a certain amount of time for the vehicle's deceleration to increase from 0 to the target deceleration. This time can usually be calibrated, that is, the vehicle deceleration growth time calibration value.

[0086] If the first relative distance S rel ≥Δd, △d is the preset safety distance, then it is judged that the relative distance between the current vehicle and the target vehicle is large and there is no collision risk. At this time, the second risk value of the vehicle collision risk value is used; otherwise, the first risk value of the vehicle collision risk value is used.

[0087] (2) When the current vehicle and the target vehicle are traveling in different lanes within the roundabout, the collision risk is determined as follows:

[0088] According to the above embodiment, the embodiment of the present application can obtain when the current vehicle reaches the first lane separation point or the second lane separation point, or when the target vehicle reaches the first lane separation point or the second lane separation point, and calculate the collision risk with the current vehicle or the target vehicle reaching the target lane separation point as a reference. The target lane separation point is determined by the first lane separation point and the second lane separation point, specifically as follows:

[0089] If the current vehicle reaches the target lane separation point as a reference, the time to reach the target lane separation point is determined based on the current vehicle's position and speed, and the real-time position is calculated based on the speed and time of the target vehicle. Then, based on the real-time position of the target vehicle and the position of the target lane separation point, the second relative distance between the target vehicle and the current vehicle is calculated. The second relative distance is the distance between the centers of mass of the two vehicles.

[0090] If the target vehicle reaching the target lane separation point is used as a reference, the time to reach the target lane separation point is determined based on the position and speed of the target vehicle, the real-time position is calculated based on the speed and duration of the current vehicle, and then the third relative distance between the target vehicle and the current vehicle is calculated based on the real-time position of the current vehicle and the position of the target lane separation point. The third relative distance is the distance between the center of mass of the two vehicles.

[0091] If the second relative distance or the third relative distance is less than the preset safety distance, it is judged that the relative distance between the current vehicle and the target vehicle is small and there is a collision risk. At this time, the vehicle collision risk value is the first risk value; otherwise, the vehicle collision risk value is the second risk value.

[0092] In an embodiment of the present application, performing collision avoidance control on the current vehicle includes at least one of the following: controlling the speed of the current vehicle to avoid collision; sending a collision avoidance notification message to the target vehicle; and adjusting the driving trajectory information of the current vehicle.

[0093] It is understood that the embodiments of the present application can actively control the current vehicle to decelerate, and can send a collision avoidance notification message to the target vehicle to remind the target vehicle of the possible collision risk, and can adjust the current vehicle's driving trajectory to avoid the possible collision risk. Therefore, after predicting the possible collision risk between the current vehicle and the target vehicle, the embodiments of the present application can adopt one or more methods to avoid the collision risk, reduce the collision risk when driving around the island, and improve the safety and driving experience of driving around the island.

[0094] Specifically, controlling the speed of the current vehicle to avoid collision includes: increasing the speed of the current vehicle or decreasing the speed of the current vehicle. By controlling the current vehicle to speed up or slow down, the relative distance between the current vehicle and the target vehicle is increased, maintaining a safe driving distance, and reducing the risk of collision.

[0095] Sending a collision avoidance notification message to a target vehicle includes: directly communicating with the target vehicle through V2V communication technology or indirectly communicating with the target vehicle through a roadside unit to send a collision avoidance notification message, wherein the collision avoidance notification message may include a text prompt or voice prompt of the vehicle collision risk.

[0096] In an embodiment of the present application, adjusting the driving trajectory information of the current vehicle includes at least one of the following: adjusting the position of the first lane separation point or the second lane separation point in the driving trajectory information of the current vehicle; and feeding back a route replanning notification to the navigation module to re-determine at least one of the first lane separation point when the current vehicle enters the roundabout and the second lane separation point when the current vehicle exits the roundabout.

[0097] Among them, the route replanning notification may include adjusting the entrance sign for the current vehicle entering the roundabout or the exit sign for exiting the roundabout, that is, the current vehicle enters from other roundabout entrances and / or exits from other roundabout exits. The above-mentioned other roundabout entrances and other roundabout exits refer to entrances and exits that are different from the original driving trajectory planning.

[0098] It can be understood that when adjusting the driving trajectory information of the current vehicle, the embodiment of the present application can execute any one of the measures, or can execute the measures in sequence in a certain order. For example, if after the embodiment of the present application adjusts the position of the first lane separation point or the second lane separation point in the driving trajectory information of the current vehicle, there is still a risk of collision between the current vehicle and the target vehicle, then you can choose to feedback a route replanning notification to the navigation module to replan the route.

[0099] Specifically, adjusting the position of the first lane separation point or the second lane separation point in the current vehicle's driving trajectory information includes: advancing the position of the first lane separation point or the second lane separation point to the outer ring road, and the method of advancing the position of the first lane separation point or the second lane separation point is the same. Taking the position of advancing the first lane separation point as an example: assuming that the roundabout includes four ring roads, from the inside to the outside, they are the first to the fourth ring roads, then the intersections of the extension line of the lane centerline of the current vehicle at the roundabout entrance and the first to the fourth ring roads are the first to the fourth intersections, assuming that the second ring road is the lane in which the current vehicle is traveling in the roundabout, then the second intersection is the first lane separation point. If the first lane separation point is advanced, the first lane separation point can be the third intersection or the fourth intersection, and the current vehicle is adjusted to travel on the third ring road or the fourth ring road in the roundabout, and is usually adjusted to the adjacent outer ring road. Of course, it can also be adjusted to other outer ring roads, without specific limitation.

[0100] Feedback a route re-planning notification to the navigation module to redetermine at least one of the first lane separation point for the current vehicle to enter the roundabout and the second lane separation point for the current vehicle to exit the roundabout, including: if the current vehicle is traveling in the roundabout, feedback a route re-planning notification to the navigation module, that is, it is necessary to adjust the exit for the current vehicle to exit the roundabout. When the exit for the current vehicle to exit the roundabout is adjusted, the lane separation point changes, and therefore it is necessary to redetermine the second lane separation point for the current vehicle to exit the roundabout; if the current vehicle is about to enter the roundabout, the entrance for the current vehicle to enter the roundabout and / or the exit for exiting the roundabout may be adjusted. When the entrance for the current vehicle to enter the roundabout and / or the exit for exiting the roundabout are adjusted, the lane separation point changes, and therefore it is necessary to redetermine the first lane separation point for the current vehicle to enter the roundabout and / or the second lane separation point for the current vehicle to exit the roundabout.

[0101] It should be noted that if the current vehicle is about to enter a roundabout, the embodiment of the present application can adjust the entrance of the current vehicle into the roundabout and / or the exit of the roundabout according to the actual predicted collision risk situation, and when the current vehicle is already at the entrance of the roundabout, it is usually chosen to adjust the exit of the current vehicle out of the roundabout; if there are other selectable entrances to the roundabout, the embodiment of the present application can also adjust the entrance of the current vehicle into the roundabout, and the specific adjustment can be made according to the actual situation without specific limitation.

[0102] In an embodiment of the present application, adjusting the driving trajectory information of the current vehicle also includes: if the position of the first lane separation point or the second lane separation point in the roundabout driving trajectory information of the current vehicle is adjusted, and after the route replanning notification is fed back to the navigation module, based on the adjusted roundabout driving trajectory information of the current vehicle and the roundabout driving trajectory information of the target vehicle, when it is determined that there is still a risk of collision between the current vehicle and the target vehicle, the current vehicle is controlled to drive one more circle along the roundabout and then leave the roundabout.

[0103] It is understood that if the vehicle collision risk determined based on the adjusted roundabout trajectory information of the current vehicle and the target vehicle still exists, that is, if there are no other suitable exits from the roundabout, the current vehicle is controlled to travel an additional roundabout. During this additional round, collision risk avoidance can still be performed as described in the above embodiment.

[0104] In an embodiment of the present application, after adjusting the driving trajectory information of the current vehicle, the method further includes: re-determining the vehicle collision risk value based on the driving trajectory information of the target vehicle and the adjusted driving trajectory information of the current vehicle.

[0105] It should be noted that re-determining the vehicle collision risk value based on the adjusted driving trajectory information is the same as determining the vehicle collision risk value in the above embodiment. Please refer to the explanation of one or more of the above embodiments. To avoid redundancy, it will not be repeated.

[0106] According to the information processing method proposed in the embodiment of the present application, the target vehicle's driving lane and lane separation point in the roundabout can be calculated based on the current position of the target vehicle and the entrance and exit signs to obtain the target vehicle's driving trajectory information, and the roundabout driving trajectory information can be obtained based on whether the target vehicle enters the roundabout, which is more in line with the actual situation of the target vehicle and improves the accuracy of the target vehicle's driving trajectory prediction; at the same time, the target vehicle's driving trajectory is re-predicted when the target vehicle changes lanes, so that the target vehicle's roundabout driving trajectory information can be updated in time, and the real-time and accuracy of the roundabout driving trajectory information can be improved; based on the driving trajectory information of the target vehicle and the current vehicle, the collision risk value between the current vehicle and the target vehicle is predicted, so that the collision risk can be avoided in advance, the collision risk when driving around the island is reduced, and the safety and driving experience of driving around the island are improved; at the same time, when it is predicted that there is a collision risk between the current vehicle and the target vehicle, the current vehicle is timely subjected to collision avoidance control to further reduce the collision risk when driving around the island.

[0107] Based on one or more of the above embodiments, a method for handling vehicle collision risk will be described below through a specific embodiment. Figure 4 As shown, the details are as follows:

[0108] Step S301: Obtain the entrance mark for the target vehicle to enter the roundabout and the exit mark for the target vehicle to exit the roundabout;

[0109] Step S302: Determine whether the target vehicle is traveling in a roundabout. If the target vehicle is about to enter the roundabout, execute step S303; if the target vehicle is traveling in the roundabout, execute step S304;

[0110] Step S303: Determine the driving lane of the roundabout entrance where the target vehicle is located, calculate the first lane separation point when the target vehicle enters the roundabout and the second lane separation point when the target vehicle exits the roundabout, and then execute step S605;

[0111] Step S304: Determine the driving lane inside the roundabout where the target vehicle is located, calculate the second lane separation point where the target vehicle exits the roundabout, and then execute step S305;

[0112] Step S305: Determine whether there is a collision risk between the current vehicle and the target vehicle. If there is a collision risk, execute step S306; if there is no collision risk, execute step S309;

[0113] Step S306: Determine whether there are other roundabout exits. If there are other roundabout exits, execute step S307; if there are no other roundabout exits, execute step S308;

[0114] Step S307: replan the current vehicle's driving trajectory and execute step S301;

[0115] Step S308: Report the collision risk and suggest that the current vehicle continue driving for another week.

[0116] Step S309: No reminder is given, and the vehicle drives according to the planned driving trajectory.

[0117] In summary, the embodiments of the present application can enable the current vehicle to obtain the roundabout entrance and exit that the target vehicle is expected to travel, calculate the lane separation point, and thereby more accurately calculate the driving trajectory of the current vehicle and the target vehicle within the roundabout, thereby predicting their collision risk. Based on the collision risk, the current vehicle owner is advised to make recommendations and optimize the driving trajectory, such as leaving the current vehicle lane in advance, switching to the roundabout exit, or continuing to drive for a roundabout, thereby improving the safety of the vehicle's roundabout driving while enhancing the driving experience. As a result, the embodiments of the present application can obtain the roundabout entrance and exit that the vehicle is actually going to travel, making the calculation of trajectory planning and risk prediction simpler and more reliable.

[0118] Based on one or more of the above embodiments, a method for handling vehicle collision risk will be described below through another specific embodiment. Figure 5 The embodiments shown can further illustrate the above embodiments, as follows:

[0119] Step S501: The current vehicle monitors surrounding target vehicles and road conditions in real time.

[0120] If the current vehicle supports V2X technology, the current vehicle's OBU (On board Unit) will monitor the surrounding target vehicles and road conditions in real time based on the received V2V messages; if the current vehicle does not support V2X communication technology, it can monitor the surrounding target vehicles and road conditions in real time based on the RSM messages broadcast by the RSU (Road Side Unit).

[0121] It also calculates whether the vehicle is about to enter a roundabout or is already inside it. If so, it uses V2V, combined with navigation, to broadcast the vehicle's upcoming entrance and exit signs. It should be noted that if the vehicle does not support V2X communication technology but has navigation capabilities, including vehicle-to-everything (V2X) communication and mobile navigation, the vehicle's location, speed, heading angle, and the vehicle's upcoming entrance and exit signs are transmitted to the cloud via V2X or mobile navigation. The cloud then transmits these to the RSU in the area corresponding to the roundabout, which then broadcasts them.

[0122] Method for determining if a vehicle is about to enter a roundabout: If the vehicle's current lane is not a roundabout lane and is on the road leading to the roundabout, and the vehicle is not driving against traffic, calculate the time between the vehicle's arrival and the roundabout entrance, T0. If T0 is less than the threshold T, the vehicle is determined to be about to enter the roundabout.

[0123] Step S502: predict the driving trajectory information of the current vehicle and the target vehicle.

[0124] The current vehicle predicts its driving trajectory based on its own navigation, including the roundabout entrance and exit signs that the current vehicle is about to reach and the planned roundabout. If the current vehicle's OBU receives the roundabout entrance and exit information that the target vehicle is about to enter, the target vehicle's current position, heading angle and speed are combined to calculate the time when the target vehicle arrives at the roundabout entrance, exit and on each lane of the roundabout, and predict the target vehicle's driving trajectory information, where the driving trajectory information includes the driving lane and lane separation point.

[0125] It should be noted that the trajectory prediction methods for the current vehicle and the target vehicle are similar. To avoid redundancy, the trajectory prediction of the target vehicle is taken as an example. The details are as follows:

[0126] A. Calculate the target vehicle's trajectory based on the lane separation point in step S504 and the target's intended roundabout exit / entrance. If the target vehicle is already on the roundabout, the first segment of the trajectory is calculated, starting from the target vehicle's current position and extending along the centerline of the roundabout to the lane separation point. The second segment of the trajectory is the line connecting the lane separation point to the corresponding roundabout exit. The two segments can be connected using a transition arc.

[0127] B. If the target vehicle is not within the roundabout, the first segment of the trajectory is the line from the target vehicle's current position to the lane separation point. The second segment of the trajectory continues along the centerline of the roundabout to the lane separation point where the target vehicle exits the roundabout. The third segment of the trajectory is the line from the lane separation point to the corresponding roundabout exit.

[0128] Step S503: Determine whether there is a collision risk between the current vehicle and the target vehicle.

[0129] If the target vehicle is about to enter the roundabout, the distance W between the target vehicle and the center line of the roundabout entrance is d , calculate the Nth lane at the entrance of the roundabout where the target vehicle is currently located. This N also represents the Nth lane inside the roundabout that the target vehicle is about to enter and the Nth lane at the corresponding roundabout exit. This can be used to calculate the radius R of the target vehicle traveling around the roundabout. r , and thus the target vehicle's trajectory is obtained and the collision risk between the two vehicles is determined. The calculation formula is as follows:

[0130]

[0131]

[0132] Among them, W d Indicates the distance between the target vehicle and the center line of the roundabout entrance, W lThe width of the lane at the entrance of the roundabout is represented by the floor function, which is used to round down or round towards zero, that is, to take the largest integer not greater than x. Unlike rounding, flooring directly takes the value on the number axis that is closest to the required value, that is, the largest integer value not greater than the required value. r Indicates the radius of the target vehicle traveling on the roundabout, R c Indicates the radius of the innermost ring of the roundabout, W C Indicates the inner diameter of the roundabout.

[0133] If the target vehicle is traveling inside a roundabout, based on the target vehicle's current distance Rr from the center of the roundabout, it is determined that the target vehicle is currently in the Nth lane of the roundabout and is about to enter the Nth lane corresponding to the roundabout exit sign. The line connecting this lane and the roundabout lane where the target vehicle is located is the lane separation point. The radius Rr of the target vehicle traveling within the roundabout is then obtained, and the target vehicle's driving trajectory is thus determined to determine the collision risk between the two vehicles. The calculation formula is as follows:

[0134]

[0135] It should be noted that the method for determining the collision risk between two vehicles is as follows:

[0136] A. If the current vehicle and the target vehicle are currently in the same loop, the relative motion of the two vehicles is used to calculate the first relative distance. The first relative distance refers to the arc distance between the current vehicle and the target vehicle. The formula for calculating the first relative distance is as follows:

[0137]

[0138] Among them, T is the driver's reaction time, t1 is the vehicle braking coordination time calibration value, t2 is the vehicle deceleration growth time calibration value, a s is the conventional braking deceleration, V H is the current vehicle speed information, V R It should be noted that the target deceleration of the vehicle can be determined based on the degree of brake pedal opening. It usually takes a certain amount of time for the vehicle's deceleration to increase from 0 to the target deceleration. This time can usually be calibrated, that is, the vehicle deceleration growth time calibration value.

[0139] If the first relative distance S rel ≥Δd, △d is the preset safety distance, then it is judged that the relative distance between the current vehicle and the target vehicle is large and there is no collision risk. At this time, the second risk value of the vehicle collision risk value is used; otherwise, the first risk value of the vehicle collision risk value is used.

[0140] B. If the current vehicle and the target vehicle are not in the same lane, calculate the position of the target vehicle when the current vehicle reaches its lane separation point, and calculate the second relative distance S between the current vehicle and the target vehicle. rel (T n ), determine the collision risk; at the same time, calculate the position of the current vehicle when the target vehicle reaches the lane separation point, and calculate the third relative distance S between the current vehicle and the target vehicle rel (T n ), to determine the collision risk. The second relative distance and the third relative distance refer to the straight-line distance between the current vehicle and the target vehicle.

[0141] T n Indicates the moment when the two vehicles are at their respective lane separation points. If T n Indicates the moment when the current vehicle reaches the first lane separation point or the second lane separation point, then Srel(Tn) represents the second relative distance between the target vehicle and the current vehicle; if T n Indicates the moment when the target vehicle reaches the first lane separation point or the second lane separation point, then S rel (T n ) represents the third relative distance between the target vehicle and the current vehicle. If the second relative distance and the third relative distance are both greater than the preset safety distance, that is, S rel (T n )≥Δd, it is determined that there is no collision risk, otherwise it is determined that there is a collision risk, and △d is the preset safety distance.

[0142] Step S504: Calculate the lane separation point between the current vehicle and the target vehicle.

[0143] Considering that vehicles need to enter and exit the roundabout, it is necessary to calculate the lane separation point, that is, calculate the position where the vehicle leaves the current lane in the roundabout. The method is as follows:

[0144] A. The centerline of the lane at the entrance to the roundabout is extended, and the intersection of this extension line and the centerline of the lane in which the target vehicle is traveling within the roundabout is the first lane separation point. In this embodiment of the application, the centerline of the lane at the exit of the roundabout can be extended, and the intersection of this extension line and the centerline of the lane in which the target vehicle is traveling within the roundabout is the second lane separation point.

[0145] B. Advance the separation point of the first or second lane to the outer ring road. If this is not possible, continue to advance the separation point, with the earliest possible advance being to the current position of the current vehicle.

[0146] C. If the deviation angle between the heading angle of the target vehicle within the roundabout and the tangent direction of its current lane centerline is greater than or equal to a calibratable threshold Δθ, the target vehicle is determined to have begun to leave the current lane. The target vehicle's departure point is calculated based on its current position, and the target vehicle's trajectory is re-predicted.

[0147] Step S505: If a lane separation point without collision risk exists in step S504, the current vehicle is advised to drive along the trajectory of the lane separation point; if no lane separation point exists, a collision warning is reported and fed back to the navigation system of the current vehicle to determine whether other roundabout exits and road sections can be used; if no other suitable exits exist, the current vehicle is advised to continue driving along the current roundabout lane for one round before exiting again.

[0148] In summary, the embodiment of the present application adds roundabout entrance and exit signs as new fields of V2V messages, shares the driving trajectory and intention of vehicles in the roundabout through V2V messages, obtains the roundabout entrance and exit signs of the target vehicle with the help of V2V messages, predicts its driving trajectory in the roundabout and the separation point of the roundabout lanes, judges the collision risk, and optimizes the current vehicle driving route, so that the current vehicle can obtain the roundabout entrance and exit signs of the target vehicle, predict the driving trajectory of the target vehicle in the roundabout, effectively avoid the roundabout blind spot, and reduce the collision risk; it can judge the roundabout entrance and exit that is more congested or has a higher collision risk based on the above calculations, so as to optimize the current vehicle driving route.

[0149] Secondly, Figure 6 This is a flow chart of the information processing method provided in the second embodiment of the present application. In this embodiment, for the case where both the surrounding vehicles and the current vehicle support V2X communication technology, information can be directly transmitted between the surrounding vehicles and the current vehicle via V2V messages.

[0150] like Figure 6 As shown, the information processing method includes:

[0151] In step S601 , a V2V message is sent to surrounding vehicles. The V2V message includes an entrance mark for the current vehicle entering the roundabout and / or an exit mark for the current vehicle exiting the roundabout.

[0152] The surrounding vehicles include vehicles that are traveling in the roundabout or vehicles that are about to enter the roundabout.

[0153] It is understood that the execution subject of the present embodiment is the current vehicle. In this embodiment, the current vehicle and surrounding vehicles all support V2X communication technology. Because the relevant fields for roundabout entrance and exit identifiers are not defined in V2V messages in the related art, the current vehicle cannot broadcast the roundabout entrance and exit identifiers via V2V messages in the related art.

[0154] To this end, the embodiment of the present application defines new fields for the roundabout's entrance and exit identifiers in the V2V message, so that the current vehicle can broadcast the expected roundabout entrance and exit identifiers for navigation through the V2V message, so that vehicles currently traveling in the roundabout and vehicles about to enter the roundabout can obtain V2V messages, and other vehicles can also reasonably plan their driving trajectories according to the roundabout entrances and exits that the current vehicle expects to pass through, avoid collision risks in advance, reduce collision risks when driving around the roundabout, and improve the safety and driving experience of driving around the roundabout.

[0155] In an embodiment of the present application, before sending a vehicle exchange message to the target Internet of Vehicles device, it also includes: determining that the current vehicle position meets a preset position condition, or determining that the time from the current vehicle to entering the roundabout meets a preset time condition.

[0156] The preset position condition may include that the current vehicle position is in a driving lane within the roundabout. If the current vehicle position meets the preset position condition, it means that the current vehicle is driving within the roundabout.

[0157] Among them, the preset time condition may include that the time from the current vehicle to entering the roundabout is less than a time threshold. The time threshold can be specifically calibrated. If the time from the current vehicle to entering the roundabout meets the preset time condition, it means that the current vehicle is about to enter the roundabout.

[0158] It can be understood that in the roundabout driving scenario, that is, vehicles driving in the roundabout or about to enter the roundabout, it is easy to increase the risk of collision when driving in the roundabout, reducing the safety and driving experience of driving in the roundabout, because the specific driving trajectory of vehicles within the roundabout cannot be accurately predicted.

[0159] However, for vehicles other than those currently traveling within a roundabout or about to enter it, this will generally not affect vehicles in the roundabout driving scenario. Therefore, before sending a vehicle exchange message to the target connected vehicle device, the embodiment of the present application determines whether the current vehicle is currently traveling within a roundabout or about to enter it, and sends a vehicle exchange message to the target connected vehicle device when the current vehicle is currently traveling within a roundabout or about to enter it. This can effectively solve the problems existing in the above-mentioned roundabout scenario, while avoiding unnecessary message transmission and saving communication resources.

[0160] According to the information processing method proposed in the embodiment of the present application, new fields for the roundabout entrance and exit signs are defined in the V2V message, so that the current vehicle can broadcast the roundabout entrance and exit signs expected for navigation through the V2V message, so that surrounding vehicles within the roundabout can obtain the V2V message, so that surrounding vehicles can plan a reasonable driving trajectory in advance in the roundabout driving scenario, reduce the risk of collision when driving around the island, and effectively improve the safety and driving experience of driving around the island.

[0161] Secondly, Figure 3 This is a flowchart of the information processing method provided in the third embodiment of the present application. In this embodiment, for the case where the target vehicle does not support V2X communication technology, the target vehicle sends the entrance sign for entering the roundabout and / or the exit sign for exiting the roundabout to the vehicle network cloud device via the wireless communication network, which forwards it to the roadside unit, which then sends it down.

[0162] like Figure 7 As shown, the information processing method includes:

[0163] In step S701, the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the roundabout are received from the Internet of Vehicles cloud device. The entrance mark of the roundabout and / or the exit mark of the roundabout are sent by the target vehicle to the Internet of Vehicles cloud device via the wireless communication network.

[0164] It can be understood that the execution entity of the embodiment of the present application is the roadside unit, and the target vehicle can be any vehicle with the function of communicating with the Internet of Vehicles cloud device. In the embodiment of the present application, the target vehicle and the Internet of Vehicles cloud device communicate through a wireless communication network, that is, the target vehicle can communicate with the Internet of Vehicles cloud device through its own communication device, such as communicating with the Internet of Vehicles cloud device through the target vehicle's vehicle navigation; it can also communicate with the Internet of Vehicles cloud device through other devices in the target vehicle, such as the wireless communication network provided by the mobile terminal for the current vehicle, or communicating with the Internet of Vehicles cloud device through the navigation of the mobile terminal.

[0165] Therefore, the target vehicle can upload the entrance sign of the target vehicle entering the roundabout and / or the exit sign of the target vehicle exiting the roundabout to the Internet of Vehicles cloud device through the vehicle navigation or the navigation of the mobile terminal, and then the Internet of Vehicles cloud device sends it to the roadside unit of the roundabout that the current vehicle is about to enter or is currently in.

[0166] In step S702, the entrance sign for the target vehicle to enter the roundabout and / or the exit sign for the target vehicle to exit the roundabout are broadcasted to other vehicles within the roundabout via the roadside unit.

[0167] It can be understood that the information is sent to other vehicles through the roadside unit. Other vehicles refer to vehicles that support V2X communication technology. When the target vehicle does not support V2X communication technology, the entrance sign of the target vehicle entering the roundabout and the exit sign of the roundabout can be broadcast through the roadside unit, so that other vehicles can obtain the roundabout entrance and exit that the target vehicle that does not support V2X communication technology expects to pass.

[0168] According to the information processing method proposed in the embodiment of the present application, the entrance signs for entering the roundabout and the exit signs for exiting the roundabout for target vehicles that do not support V2X communication technology can be broadcasted through the roadside unit, so that vehicles that support V2X communication technology can obtain the entrance signs for entering the roundabout and the exit signs for exiting the roundabout of more vehicles within the roundabout range, which is convenient for other vehicles to reasonably plan their driving trajectories, avoid collision risks in advance, reduce collision risks when driving around the roundabout, and improve the safety and driving experience of driving around the roundabout.

[0169] Next, an information processing apparatus according to a first embodiment will be described with reference to the drawings.

[0170] Figure 8 It is a block diagram of an information processing device according to an embodiment of the present application.

[0171] like Figure 8 As shown, the information processing device 10 includes: a first receiving module 11.

[0172] The first receiving module 11 is configured to receive a notification message sent by an Internet of Vehicles device, where the notification message carries at least one of an entrance mark for the target vehicle to enter the roundabout and an exit mark for the target vehicle to exit the roundabout.

[0173] Optionally, the Internet of Vehicles device may include a target vehicle or a roadside unit.

[0174] Optionally, if the Internet of Vehicles device is a target vehicle, the notification message is a V2V message, and the target vehicle includes a vehicle about to enter the roundabout or a vehicle currently traveling in the roundabout.

[0175] Optionally, if the Internet of Vehicles device is a roadside unit, the notification message is a roadside unit broadcast message.

[0176] Optionally, the target vehicle's entrance mark for entering the roundabout and / or the exit mark for exiting the roundabout are sent by the target vehicle to the Internet of Vehicles cloud device via a wireless communication network, so that the target vehicle's entrance mark for entering the roundabout and / or the exit mark for exiting the roundabout are sent to the roadside unit via the Internet of Vehicles cloud device.

[0177] Optionally, the apparatus 10 of the embodiment of the present application further includes a fourth acquisition module, wherein the fourth acquisition module is configured to acquire the target vehicle's roundabout trajectory information and a collision risk value between the target vehicle and the current vehicle when traveling within the roundabout based on the target vehicle's entrance sign into the roundabout and / or exit sign out of the roundabout.

[0178] It should be noted that the above explanation of the information processing method embodiment is also applicable to the information processing device of this embodiment and will not be repeated here.

[0179] According to the information processing device proposed in the embodiment of the present application, the entrance and exit that any vehicle within the roundabout expects to enter can be obtained, so that the current vehicle can more intuitively determine the entrance and exit of the roundabout that the target vehicle expects to pass through, and can more reasonably plan the driving trajectory of the vehicle itself, avoid collision risks in advance, and improve the safety and driving experience of roundabout driving; new fields for the roundabout entrance and exit identification are defined in the V2V message, so that vehicles about to enter the roundabout and vehicles within the roundabout can broadcast the roundabout entrance and exit identification expected by the vehicle itself through V2V messages, and can obtain the entrance identification of the target vehicle entering the roundabout and the exit identification of the target vehicle exiting the roundabout through V2V messages; at the same time, when the target vehicle does not support V2X communication technology, indirect communication between the current vehicle and the target vehicle can be realized using the roadside unit as the medium, and the entrance identification of the target vehicle entering the roundabout and the exit identification of the target vehicle exiting the roundabout can be obtained through RSM messages, so that V2X communication technology can be applied to roundabout driving scenarios, making trajectory planning and risk prediction simpler and more reliable, and effectively broadening the application scope of V2X communication technology.

[0180] Next, an information processing apparatus according to a second embodiment will be described with reference to the drawings.

[0181] Figure 9 It is a block diagram of an information processing device according to an embodiment of the present application.

[0182] like Figure 9 As shown, the information processing device 20 includes: a first sending module 21.

[0183] The first sending module 21 is configured to send a V2V message to surrounding vehicles, where the V2V message carries at least one of an entrance mark for the current vehicle entering the roundabout and an exit mark for the current vehicle exiting the roundabout.

[0184] Optionally, the apparatus 20 of the embodiment of the present application further includes: a third determination module.

[0185] The third determination module is used to determine whether the current vehicle position meets a preset position condition, or whether the time from the current vehicle to entering the roundabout meets a preset time condition, before sending the vehicle exchange message to the target Internet of Vehicles device.

[0186] Optionally, the surrounding vehicles include vehicles traveling in the roundabout or vehicles about to enter the roundabout.

[0187] It should be noted that the above explanation of the information processing method embodiment is also applicable to the information processing device of this embodiment and will not be repeated here.

[0188] According to the information processing device proposed in the embodiment of the present application, new fields for the roundabout entrance and exit identification are defined in the V2V message, so that the current vehicle can broadcast the roundabout entrance and exit identification expected by navigation through the V2V message, so that surrounding vehicles within the roundabout can obtain the V2V message, so that surrounding vehicles can plan a reasonable driving trajectory in advance in the roundabout driving scenario, reduce the risk of collision when driving around the island, and effectively improve the safety and driving experience of driving around the island.

[0189] Next, an information processing apparatus according to a third embodiment will be described with reference to the drawings.

[0190] Figure 10 It is a block diagram of an information processing device according to an embodiment of the present application.

[0191] like Figure 10 As shown, the information processing device 30 includes: a second receiving module 31 and a second sending module 32.

[0192] Among them, the second receiving module 31 receives the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the roundabout sent by the Internet of Vehicles cloud device. The entrance mark of the roundabout and / or the exit mark of the roundabout are sent by the target vehicle to the Internet of Vehicles cloud device through the wireless communication network; the second sending module 32 broadcasts the entrance mark of the target vehicle entering the roundabout and / or the exit mark of the roundabout to other vehicles within the roundabout range through the roadside unit broadcast message.

[0193] It should be noted that the above explanation of the information processing method embodiment is also applicable to the information processing device of this embodiment and will not be repeated here.

[0194] According to the information processing device proposed in the embodiment of the present application, the entrance signs for entering the roundabout and the exit signs for exiting the roundabout for target vehicles that do not support V2X communication technology can be broadcasted through the roadside unit, so that vehicles that support V2X communication technology can obtain the entrance signs for entering the roundabout and the exit signs for exiting the roundabout of more vehicles within the roundabout range, which is convenient for other vehicles to reasonably plan their driving trajectories, avoid collision risks in advance, reduce collision risks when driving around the roundabout, and improve the safety and driving experience of driving around the roundabout.

[0195] An embodiment of the present application also provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the information processing method described above.

[0196] The first embodiment of the present application provides a roadside unit, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the above-mentioned information processing method.

[0197] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the above information processing method when executed by a processor.

[0198] An embodiment of the present application further provides a computer program product having a computer program stored thereon, which, when executed, implements the above-mentioned information processing method.

[0199] Those skilled in the art may combine and integrate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0200] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0201] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0202] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0203] Those skilled in the art will understand that all or part of the steps carried out in the method of the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the above-mentioned program can be stored in a computer-readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0204] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An information processing method, characterized in that: include: A notification message sent by a vehicle networking device is received, where the notification message carries at least one of an entrance mark for a target vehicle to enter a roundabout and an exit mark for a target vehicle to exit a roundabout.

2. The method according to claim 1, characterized in that The vehicle networking device includes a target vehicle or a roadside unit. If the vehicle networking device is the target vehicle, the notification message is a V2V message. If the vehicle networking device is the roadside unit, the notification message is a roadside unit broadcast message.

3. The method according to claim 1, characterized in that The target vehicle includes a vehicle about to enter the roundabout or a vehicle currently traveling in the roundabout. If the target vehicle is a vehicle about to enter the roundabout, the notification message carries an entrance mark for the target vehicle entering the roundabout and an exit mark for the target vehicle exiting the roundabout. If the target vehicle is a vehicle traveling in the roundabout, the notification message carries an exit mark for the target vehicle to exit the roundabout.

4. The method according to claim 1, wherein After receiving the notification message sent by the Internet of Vehicles device, it also includes: Obtaining the current position of the target vehicle; The roundabout driving trajectory information of the target vehicle is determined according to the current position of the target vehicle and at least one of an entrance mark for the target vehicle to enter the roundabout and an exit mark for the target vehicle to exit the roundabout.

5. The method according to claim 4, characterized in that If the target vehicle is about to enter the roundabout, the roundabout driving trajectory information includes the target vehicle's driving lane at the roundabout entrance, the target vehicle's driving lane within the roundabout, the target vehicle's driving lane at the roundabout exit, the target vehicle's first lane separation point when entering the roundabout, and the target vehicle's second lane separation point when exiting the roundabout; If the target vehicle is a vehicle traveling within the roundabout, the roundabout driving trajectory information includes the target vehicle's driving lane within the roundabout, the target vehicle's driving lane at the roundabout exit, and the second lane separation point when the target vehicle exits the roundabout; The first lane separation point when the target vehicle enters the roundabout is: the intersection between the center line of the target vehicle's driving lane at the roundabout entrance and the lane line of the target vehicle's driving lane inside the roundabout, close to the roundabout entrance side. The second lane separation point when the target vehicle enters the roundabout is: the intersection between the center line of the target vehicle's driving lane at the roundabout exit and the lane line of the target vehicle's driving lane inside the roundabout, close to the roundabout exit side.

6. The method according to claim 5, characterized in that After determining the roundabout driving trajectory information of the target vehicle, the following steps are also included: If it is detected that the target vehicle changes lanes in the roundabout, the lane in which the target vehicle changes lanes in the roundabout and the lane at the roundabout exit after the target vehicle changes lanes are obtained; Based on the lane in which the target vehicle travels after changing lanes within the roundabout and the lane at the roundabout exit after changing lanes, a second lane separation point at which the target vehicle exits the roundabout is re-determined.

7. The method according to claim 5, characterized in that After determining the roundabout driving trajectory information of the target vehicle, the following steps are also included: Get the current vehicle's roundabout driving trajectory information; Based on the roundabout driving trajectory information of the target vehicle and the roundabout driving trajectory information of the current vehicle, a vehicle collision risk value is determined, and collision avoidance control is performed on the current vehicle according to the vehicle collision risk value.

8. The method according to claim 7, characterized in that If the current vehicle is about to enter the roundabout, the roundabout driving trajectory information includes the current vehicle's driving lane at the roundabout entrance, the current vehicle's driving lane within the roundabout, the current vehicle's driving lane at the roundabout exit, the current vehicle's first lane separation point when entering the roundabout, and the current vehicle's second lane separation point when exiting the roundabout; If the current vehicle is traveling within the roundabout, the roundabout driving trajectory information includes the current vehicle's driving lane within the roundabout, the current vehicle's driving lane at the roundabout exit, and the second lane separation point when the current vehicle exits the roundabout; The first lane separation point when the current vehicle enters the roundabout is: the intersection between the center line of the lane where the current vehicle is traveling at the roundabout entrance and the lane line of the lane where the current vehicle is traveling inside the roundabout, close to the roundabout entrance side. The second lane separation point when the current vehicle enters the roundabout is: the intersection between the center line of the lane where the current vehicle is traveling at the roundabout exit and the lane line of the lane where the current vehicle is traveling inside the roundabout, close to the roundabout exit side.

9. The method according to claim 8, characterized in that The determining of the vehicle collision risk value based on the roundabout driving trajectory information of the target vehicle and the roundabout driving trajectory information of the current vehicle includes: If the current vehicle and the target vehicle are traveling in the same lane within the roundabout at the current moment, calculating a first relative distance between the current vehicle and the target vehicle based on at least one of the target vehicle's speed information, the current vehicle's speed information, a braking parameter calibration value of the current vehicle, a driver's reaction time, and a preset safety distance; If the current vehicle's lane within the roundabout is different from the target vehicle's lane within the roundabout at the current moment, obtaining a second relative distance between the target vehicle and the current vehicle when the current vehicle reaches the first lane separation point or the second lane separation point; or obtaining a third relative distance between the current vehicle and the target vehicle when the target vehicle reaches the first lane separation point or the second lane separation point; If the first relative distance, the second relative distance or the third relative distance is less than the corresponding preset safety distance, the vehicle collision risk value is a first risk value indicating that there is a collision risk between the current vehicle and the target vehicle; otherwise, the vehicle collision risk value is a second risk value indicating that there is no collision risk between the current vehicle and the target vehicle.

10. The method according to claim 7, characterized in that The performing collision avoidance control on the current vehicle includes at least one of the following: controlling the speed of the current vehicle to avoid collision; Sending a collision avoidance notification message to the target vehicle; Adjust the roundabout driving trajectory information of the current vehicle.

11. The method according to claim 10, characterized in that The adjusting of the current vehicle's driving trajectory information includes at least one of the following: Adjusting the position of the first lane separation point or the second lane separation point in the roundabout driving trajectory information of the current vehicle; Feedback of a route replanning notification to the navigation module is used to re-determine at least one of a first lane separation point at which the current vehicle enters the roundabout and a second lane separation point at which the current vehicle exits the roundabout.

12. The method according to claim 11, characterized in that The adjusting the driving trajectory information of the current vehicle also includes: If the position of the first lane separation point or the second lane separation point in the roundabout driving trajectory information of the current vehicle is adjusted, and after the route replanning notification is fed back to the navigation module, if it is determined that there is still a risk of collision between the current vehicle and the target vehicle based on the adjusted roundabout driving trajectory information of the current vehicle and the roundabout driving trajectory information of the target vehicle, the current vehicle is controlled to drive one more circle along the roundabout and then leave the roundabout.

13. An information processing method, characterized in that: include: A V2V message is sent to surrounding vehicles, where the V2V message carries at least one of an entrance mark for the current vehicle entering the roundabout and an exit mark for the current vehicle exiting the roundabout.

14. An information processing method, characterized in that: include: Receiving an entrance mark for a target vehicle entering a roundabout and / or an exit mark for a target vehicle exiting a roundabout sent by a vehicle networking cloud device, wherein the entrance mark for entering a roundabout and / or the exit mark for exiting a roundabout are sent by the target vehicle to the vehicle networking cloud device via a wireless communication network; The entrance mark for the target vehicle to enter the roundabout and / or the exit mark for the target vehicle to exit the roundabout are distributed to other vehicles within the range of the roundabout through the roadside unit broadcast message.

15. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the information processing method according to any one of claims 1 to 13.

16. A roadside unit, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the information processing method according to claim 14.

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