Vehicle cooperative tailgating method and system in network-connected mixed traffic environment

Abstract

The invention discloses a vehicle cooperative tailgating method and system in a network-connected mixed traffic environment, and the method comprises the steps: firstly, obtaining a target vehicle with a tailgating overtaking intention, and the driving information of an interactive vehicle strongly related to the target vehicle; then, according to the driving information of the target vehicle and the driving information of the interactive vehicles, the types of conflicts possibly encountered by the target vehicle in each stage of the lane-borrowing overtaking process are evaluated; and selecting a cooperation strategy matched with the conflict type. When an opposite conflict occurs, searching a cooperative vehicle matched with the target vehicle according to the position information of the target vehicle and the interactive vehicle, and judging the safety of cooperative lane-borrowing overtaking of the target vehicle according to the driving information of the target vehicle, the cooperative vehicle and the to-be-overtaken vehicle; and if yes, controlling the cooperative vehicle to cooperate with the target vehicle for lane-borrowing overtaking. Therefore, safe and efficient tailgating overtaking control is realized in a network connection mixed traffic environment, the traffic efficiency is improved, and the risk of traffic accidents is reduced.

Description

Technical Field

[0001] This invention relates to the field of two-dimensional positioning or waterway control technology, specifically to a vehicle cooperative lane-sharing method and system for a networked hybrid traffic environment. Background Technology

[0002] In recent years, vehicle-to-everything (V2X) and autonomous driving technologies have developed rapidly, and connected autonomous vehicles (ICVs) have broad application prospects in transportation systems. In two-way single-lane overtaking scenarios, vehicles must overtake safely, which is crucial for both traffic efficiency and safety. However, traditional traffic management methods rely heavily on driver judgment and experience, making them ill-suited for complex traffic conditions, especially when dealing with mixed traffic flows, where their flexibility and real-time adjustment capabilities are insufficient. Existing methods fail to fully utilize the communication advantages of ICVs, resulting in low efficiency in vehicle coordination and right-of-way allocation in dynamic traffic environments, making it difficult to meet rapidly changing traffic demands. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a vehicle cooperative lane-changing method and system for connected and hybrid traffic environments, providing an efficient and safe lane-changing and overtaking control solution. The specific technical solution is as follows: In a first aspect, a vehicle cooperative lane-sharing method for a connected hybrid traffic environment is provided. In a first implementable mode of the first aspect, it includes: Acquire the driving information of target vehicles that intend to overtake, as well as the driving information of interacting vehicles that are strongly related to the target vehicles at each stage of overtaking. Based on the driving information of the target vehicle and all interacting vehicles, the type of conflict the target vehicle will encounter during overtaking is estimated, and corresponding cooperation strategies are adopted according to the type of conflict. When the conflict type is a reciprocating conflict, search for cooperative vehicles that cooperate with the target vehicle to overtake. Based on the driving information of the target vehicle and the cooperating vehicle, determine whether overtaking can be carried out in a cooperative manner. If so, overtaking can be carried out in a cooperative manner.

[0004] In conjunction with the first implementable method of the first aspect, in the second implementable method of the first aspect, acquiring the target vehicle with the intention to overtake by using the other vehicle's lane includes: Acquire the driving information of vehicles in the monitored road section, and quantify the cumulative degree of vehicle speed non-compliance based on the speed data in the driving information to obtain the speed non-compliance value; The unsatisfactory speed value is compared with an overtaking threshold. If the unsatisfactory speed value exceeds the overtaking threshold, the vehicle is the target vehicle.

[0005] In conjunction with the first implementable method of the first aspect, in the third implementable method of the first aspect, the driving information of interactive vehicles strongly related to the target vehicle is obtained, including: Based on the target vehicle's body length, communication distance, and the position of the vehicle to be overtaken, identify the interactive vehicles that are strongly correlated with the target vehicle at each stage of the overtaking maneuver.

[0006] In conjunction with the first possible implementation of the first aspect, in the fourth possible implementation of the first aspect, the type of conflict encountered by the target vehicle during overtaking is evaluated, including: Based on the driving information of the target vehicle and the corresponding interactive vehicle, the distance judgment thresholds corresponding to different conflict types and the positional distance between the target vehicle and the corresponding interactive vehicle are determined respectively. The location distance is compared with the distance judgment threshold corresponding to different conflict types to determine the conflict type encountered by the target vehicle during overtaking.

[0007] In conjunction with the fourth feasible approach of the first aspect, the fifth feasible approach of the first aspect determines the distance judgment thresholds corresponding to different conflict types, including: The minimum safe distance corresponding to a rear-end collision is calculated based on the target vehicle's speed, braking reaction time, minimum acceleration, and current acceleration, as well as the vehicle to be overtaken's speed, maximum acceleration, and minimum acceleration. And / or, determine the longitudinal limiting distance corresponding to the lateral conflict based on the body length of the target vehicle; And / or, calculate the overtaking time required for each stage of overtaking based on the overtaking speed of the target vehicle and the speed of the vehicle to be overtaken, as well as the distance traveled by the target vehicle at each stage of overtaking. By combining the overtaking speed of the target vehicle, the speeds of the vehicle to be overtaken and the vehicles interacting, and the overtaking time corresponding to each stage, the minimum safe clearance corresponding to the oncoming conflict is calculated.

[0008] In conjunction with the first implementable method of the first aspect, in the sixth implementable method of the first aspect, searching for cooperative vehicles that cooperate with the target vehicle to overtake includes: The position of the target vehicle is compared with the relative positions of the vehicles in front and behind it. If the corresponding location conditions are met, the interactive vehicles that meet the location conditions will not participate in cooperative overtaking, while the interactive vehicles that do not meet the location conditions will act as cooperative vehicles.

[0009] In conjunction with the first feasible method of the first aspect, in the seventh feasible method of the first aspect, determining whether a cooperative approach can be used for overtaking includes: Search for the expected locations of the target vehicle and collaborating vehicles after they have completed overtaking; Based on the expected positions of the target vehicle and the following cooperating vehicle, as well as the cooperating speed of the following cooperating vehicle, the adjustment time required for the preceding cooperating vehicle to reach the position conditions is calculated. Based on the adjustment time and the coordination speed of the front and rear cooperating vehicles, calculate the maximum gap between the front and rear cooperating vehicles when the cooperation is completed. The maximum clearance is compared with the minimum safe clearance, and overtaking can be carried out in a cooperative manner in response to the maximum clearance exceeding the minimum safe clearance.

[0010] In conjunction with the seventh feasible method of the first aspect, the eighth feasible method of the first aspect includes searching for the expected positions of the target vehicle and the cooperating vehicle after overtaking, including: The overtaking time required for the target vehicle at each stage is calculated based on the overtaking speed of the target vehicle, the speed of the vehicle to be overtaken, and the distance the target vehicle needs to travel at each stage of the overtaking process. By combining the target vehicle's current position and overtaking speed, as well as the speed of the vehicle to be overtaken and the overtaking time required at each stage, the expected position of the target vehicle after overtaking is calculated. By combining the current position and speed of the following cooperative vehicle with the total overtaking time required by the target vehicle, the expected position of the following cooperative vehicle is calculated.

[0011] Secondly, a vehicle cooperative lane-sharing system for a connected hybrid traffic environment is provided, including: The acquisition module is configured to acquire the driving information of the target vehicle that intends to overtake, as well as the driving information of the interactive vehicles that are strongly related to the target vehicle in each stage of overtaking. The collaboration module is configured to estimate the type of conflict the target vehicle will encounter during overtaking based on the driving information of the target vehicle and all interacting vehicles, and to adopt corresponding collaboration strategies based on the type of conflict. When the conflict type is a reciprocating conflict, search for cooperative vehicles that cooperate with the target vehicle to overtake. Based on the driving information of the target vehicle and the cooperating vehicle, determine whether overtaking can be carried out in a cooperative manner. If so, overtaking can be carried out in a cooperative manner.

[0012] Beneficial Effects: The vehicle cooperative lane-changing method and system for connected mixed traffic environments of this invention can acquire the driving information of target vehicles intending to overtake, as well as interacting vehicles strongly related to the target vehicle, laying the foundation for subsequent cooperative control. Based on the driving information of the target vehicle and interacting vehicles, the types of conflicts that the target vehicle may encounter during overtaking can be predicted, thereby executing corresponding cooperative strategies. When the conflict type is a head-on conflict, cooperative vehicles that cooperate with the target vehicle can be automatically searched, and based on the driving information of the cooperative vehicles, the target vehicle, and the vehicle to be overtaken, it can intelligently determine whether it is possible to guide the cooperative vehicles to accelerate or decelerate to cooperate with the target vehicle to complete the overtaking, thereby achieving safe and efficient lane-changing overtaking control in connected mixed traffic environments, improving traffic efficiency and reducing the risk of traffic accidents. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0014] Figure 1 A flowchart of a vehicle cooperative lane-sharing method in a connected hybrid traffic environment provided in an embodiment of the present invention; Figure 2 A diagram illustrating the various stages of a vehicle using another lane to overtake another vehicle; Figure 3 A diagram illustrating a lateral lane change by the target vehicle; Figure 4 A schematic diagram of the target vehicle's lane-changing phase; Figure 5 A diagram illustrating how to redirect the target vehicle back to its original lane; Figure 6 This is a schematic diagram of the minimum safety clearance. Figure 7 This is a schematic diagram showing the distribution of the target vehicle and the vehicles cooperating in front and behind it. Detailed Implementation

[0015] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0016] like Figure 1 The flowchart shown illustrates a vehicle cooperative lane-sharing method in a connected hybrid traffic environment, which includes: Step 1: Obtain the driving information of the target vehicle that intends to overtake, as well as the driving information of the interactive vehicles that are strongly related to the target vehicle in each stage of overtaking. Step 2: Based on the driving information of the target vehicle and all interacting vehicles, predict the type of conflict the target vehicle will encounter during overtaking, and adopt corresponding cooperation strategies according to the type of conflict. When the conflict type is a reciprocating conflict, search for cooperative vehicles that cooperate with the target vehicle to overtake. Step 3: Determine whether overtaking can be carried out using a cooperative method based on the driving information of the target vehicle and the cooperating vehicle. If so, overtaking can be carried out using a cooperative method.

[0017] Specifically, firstly, the roadside cooperative control unit can acquire driving information of all vehicles on the monitored road segment, including vehicle position and speed. Based on the vehicle driving information, the roadside cooperative control unit can identify target vehicles with the intention to overtake by using the roadside lane, as well as interacting vehicles strongly related to the target vehicles, and extract the driving information of the target vehicles and each interacting vehicle.

[0018] Then, the roadside cooperative control unit can assess the types of conflicts the target vehicle might encounter at each stage of the overtaking process based on the driving information of the target vehicle and other interacting vehicles. These include potential rear-end collisions during the initial following phase, lateral collisions during the lane-changing phase, and oncoming collisions during the lane-changing phase. Different cooperative strategies can be selected for different conflict types. For example, in the case of a rear-end collision, the target vehicle can slow down to maintain a minimum safe distance from the vehicle being overtaken. In the case of a lateral collision, the target vehicle can be controlled to follow the vehicle being overtaken while maintaining a minimum safe distance until the oncoming vehicle passes the target vehicle.

[0019] When encountering oncoming conflicts, the system can search for cooperative vehicles that can work with the target vehicle based on the location information of both the target vehicle and the interacting vehicle. It then assesses the safety of the target vehicle's cooperative lane-changing overtaking based on the driving information of the target vehicle, cooperative vehicles, and the vehicle to be overtaken. If safe, it generates corresponding acceleration or deceleration commands to control the cooperative vehicle to cooperate with the target vehicle in overtaking. If unsafe, it controls the target vehicle to continue following the vehicle to be overtaken, and reassesses the potential conflict types at each stage of the lane-changing overtaking process. This cycle repeats until the target vehicle successfully overtakes. This achieves safe and efficient lane-changing overtaking control in a connected and mixed traffic environment, improving traffic efficiency and reducing the risk of traffic accidents.

[0020] In this embodiment, optionally, acquiring a target vehicle with the intention to overtake by using the other vehicle's lane includes: Acquire the driving information of vehicles in the monitored road section, and quantify the cumulative degree of vehicle speed non-compliance based on the speed data in the driving information to obtain the speed non-compliance value; The unsatisfactory speed value is compared with an overtaking threshold. If the unsatisfactory speed value exceeds the overtaking threshold, the vehicle is the target vehicle.

[0021] Specifically, the intention to overtake is generally caused by the low speed of the vehicle in front. Therefore, the degree of speed deficiencies can be quantified by calculating the cumulative speed of the vehicle. The specific calculation formula is as follows: ; in, Current sampling time interval The speed inside is not up to standard. For the set desired speed, The real-time speed within the sampling time interval. , These are the initial cumulative time and the final cumulative time, respectively.

[0022] The calculated cumulative speed deficit is compared with a pre-set overtaking threshold. If the cumulative speed deficit exceeds the overtaking threshold, it indicates that the vehicle intends to overtake by using the other vehicle's lane, i.e., it is the target vehicle.

[0023] In this embodiment, optionally, obtaining driving information of interactive vehicles strongly correlated with the target vehicle includes: Based on the target vehicle's body length, communication distance, and the position of the vehicle to be overtaken, identify the interactive vehicles that are strongly correlated with the target vehicle at each stage of the overtaking maneuver.

[0024] Specifically, after identifying the target vehicle on the road segment, the roadside cooperative control unit can determine the interacting vehicles strongly related to the target vehicle at each stage of overtaking, based on the target vehicle's body length, communication distance, and the position of the vehicle to be overtaken ahead of the target vehicle. Specifically, vehicles whose longitudinal position falls within the following range are considered strongly related interacting vehicles to the target vehicle: ; ; in, The longitudinal position of the vehicles interacting in the opposite lane. The longitudinal position of the target vehicle. The length of the target vehicle. The communication range of the target vehicle. For vehicle assembly.

[0025] In this embodiment, optionally, assessing the type of conflict encountered by the target vehicle during overtaking includes: Based on the driving information of the target vehicle and the corresponding interactive vehicle, the distance judgment thresholds corresponding to different conflict types and the positional distance between the target vehicle and the corresponding interactive vehicle are determined respectively. The location distance is compared with the distance judgment threshold corresponding to different conflict types to determine the conflict type encountered by the target vehicle during overtaking.

[0026] Specifically, as shown in the diagram, the yellow car represents the target vehicle, and the green car represents the vehicle to be overtaken. The overtaking process can be divided into three stages using a grid method. The first stage is the following stage, which requires the longitudinal speeds of the target vehicle and the vehicle to be overtaken to remain synchronized, so that their relative longitudinal positions remain unchanged. After this, the target vehicle can change lanes laterally to the oncoming lane.

[0027] At this stage, a rear-end collision may occur between the target vehicle and the vehicle to be overtaken. To avoid a rear-end collision, it is necessary to maintain a minimum safe distance between the target vehicle and the vehicle to be overtaken. If the distance between the two vehicles is less than the minimum safe distance, a rear-end collision is very likely to occur between the target vehicle and the vehicle to be overtaken.

[0028] In this embodiment, the minimum safe distance for a rear-end collision can be calculated based on the target vehicle's speed, braking reaction time, minimum acceleration, and current acceleration, as well as the vehicle to be overtaken's speed, maximum acceleration, and minimum acceleration. The specific calculation formula is as follows: ; in, The reaction time for braking the target vehicle. The speed of the target vehicle, The speed of the vehicle to be overtaken. , , These are the target vehicle's maximum acceleration, maximum comfort automatic speed, and the vehicle's maximum emergency braking speed, respectively.

[0029] During the lateral movement of the target vehicle into the oncoming lane, there is a possibility of a lateral collision with the oncoming lane. To avoid such a collision, the target vehicle should wait until the oncoming vehicle has completely passed before it can overtake. In other words, the longitudinal position of the oncoming vehicle must meet the following restrictions before the target vehicle can change lanes laterally: ; in, This represents the longitudinal position of the oncoming vehicle.

[0030] After the target vehicle changes lanes laterally into the oncoming lane, a head-on collision may occur between it and an oncoming vehicle. Therefore, oncoming vehicles can only approach after the target vehicle has completed its overtaking maneuver, and the distance between two adjacent vehicles in the oncoming lane must meet the minimum safe clearance to allow the target vehicle sufficient distance to overtake. Otherwise, a head-on collision will occur between the target vehicle and the oncoming vehicle.

[0031] When calculating the minimum safe clearance, firstly, the overtaking time required for each stage of overtaking can be calculated based on the overtaking speed of the target vehicle, the speed of the vehicle to be overtaken, and the distance traveled by the target vehicle at each stage of overtaking. The specific calculation formula is as follows: During the following phase, the lane-changing time required for the target vehicle to change lanes to the oncoming lane is: ; in, Let be the lateral velocity of the target vehicle. This refers to the lane width.

[0032] After the target vehicle changes lanes to the oncoming lane, the required lane-sharing time is: ; in, The overtaking speed of the target vehicle. The speed of the vehicle to be overtaken.

[0033] Finally, the target vehicle needs to change lanes back to its original lane. The time required for the vehicle to return to its original lane after changing lanes is: ; in, Let be the lateral speed of the target vehicle.

[0034] Then, by combining the overtaking speed of the target vehicle, the speeds of the vehicle to be overtaken and the vehicles interacting, and the overtaking time corresponding to each stage, the minimum safe clearance corresponding to the oncoming conflict is calculated. The specific calculation formula is as follows: in, The total time for the target vehicle to overtake. The longitudinal speed of the following vehicles in the opposite lane.

[0035] In this embodiment, optionally, searching for cooperative vehicles that cooperate with the target vehicle to overtake includes: The position of the target vehicle is compared with the relative positions of the vehicles in front and behind it. If the corresponding location conditions are met, the interactive vehicles that meet the location conditions will not participate in cooperative overtaking, while the interactive vehicles that do not meet the location conditions will act as cooperative vehicles.

[0036] Specifically, if the relative distance between the target vehicle and the vehicle to be overtaken during the overtaking phase is less than the minimum safe distance, the target vehicle can reduce its speed to increase the distance. If the target vehicle encounters a lateral conflict with an oncoming vehicle during the lane-changing phase, it can wait for the oncoming vehicle to pass before changing lanes. If the gap between the two oncoming vehicles encountered during the lane-changing phase is less than the minimum safe gap, cooperative lane-changing can be achieved through right-of-way negotiation and behavioral decision-making algorithms. By controlling the acceleration and deceleration of the oncoming vehicles in front and behind to increase the safe gap and reach the minimum safe gap, the yellow vehicle can meet the conditions for overtaking.

[0037] Specifically, firstly, the current position of the target vehicle can be compared with the longitudinal position of the oncoming vehicle in the opposite lane. Compare them.

[0038] If satisfied If the conditions are met, the preceding interactive vehicle does not need to participate in the cooperative overtaking; otherwise, if the conditions are not met, the preceding interactive vehicle will act as a preceding cooperative vehicle and participate in the cooperative overtaking. The preceding cooperative vehicle will be controlled to accelerate uniformly to increase the distance between itself and the target vehicle until it reaches the set maximum speed of the preceding cooperative vehicle, or if the conditions are met... .

[0039] At the same time, the position of the target vehicle can be compared with the relative position of the following vehicles in the oncoming lane. If the conditions are met... If the conditions are met, the following vehicles will not participate in the cooperative overtaking. Conversely, if the conditions are not met, the following vehicles will participate in the cooperative overtaking as following vehicles. The following vehicles will be controlled to decelerate uniformly to increase the distance between themselves and the preceding vehicles until the set minimum speed of the following vehicles is reached, or the minimum safe clearance is met.

[0040] In this embodiment, optionally, determining whether a cooperative overtaking method can be used includes: Search for the expected locations of the target vehicle and collaborating vehicles after they have completed overtaking; Based on the expected positions of the target vehicle and the following cooperating vehicle, as well as the cooperating speed of the following cooperating vehicle, the adjustment time required for the preceding cooperating vehicle to reach the position conditions is calculated. Based on the adjustment time and the coordination speed of the front and rear cooperating vehicles, calculate the maximum gap between the front and rear cooperating vehicles when the cooperation is completed. The maximum clearance is compared with the minimum safe clearance, and overtaking can be carried out in a cooperative manner in response to the maximum clearance exceeding the minimum safe clearance.

[0041] Specifically, after identifying the vehicles preceding and following the target vehicle to complete its overtaking maneuver, the adjustment time required for the preceding vehicle to reach its position can be calculated. The specific calculation formula is as follows: ; in, The speed of the preceding cooperating vehicle, , These represent the longitudinal positions of the preceding cooperating vehicle and the target vehicle, respectively.

[0042] The clearance between the front and rear cooperating vehicles after adjustment can be calculated based on the adjustment time. The specific calculation formula is as follows: ; in, This refers to the vehicle clearance between the front and rear cooperating vehicles.

[0043] If the calculated gap If the minimum safe clearance is exceeded, the cooperating vehicle can assist the target vehicle in overtaking by using the other vehicle's lane; otherwise, the cooperating vehicle cannot assist the target vehicle in overtaking by using the other vehicle's lane.

[0044] In this embodiment, optionally, searching for the expected location of the target vehicle and the cooperating vehicle after overtaking includes: The overtaking time required for the target vehicle at each stage is calculated based on the overtaking speed of the target vehicle, the speed of the vehicle to be overtaken, and the distance the target vehicle needs to travel at each stage of the overtaking process. By combining the target vehicle's current position and overtaking speed, as well as the speed of the vehicle to be overtaken and the overtaking time required at each stage, the expected position of the target vehicle after overtaking is calculated. By combining the current position and speed of the following cooperating vehicle with the total overtaking time required by the target vehicle, the expected position of the following cooperating vehicle is calculated. This expected position is then compared with the expected position of the target vehicle after it completes the overtaking maneuver. If the relative distance between the expected positions of the two vehicles is less than the minimum safe clearance, the cooperation plan is cancelled to ensure that the target vehicle does not collide with oncoming vehicles during the lane-changing process. Otherwise, the cooperative overtaking plan is executed.

[0045] Specifically, when calculating the expected positions of the target vehicle and the assisting vehicle after overtaking, firstly, the overtaking time required by the target vehicle during the following phase and the lane-changing phase can be estimated in advance using the method described above. Then, by combining the current position of the target vehicle and the overtaking speed corresponding to different phases, the expected longitudinal position of the target vehicle after overtaking can be calculated. The specific calculation formula is as follows: ; Simultaneously, by combining the current position and speed of the following cooperating vehicle, the expected position of the following cooperating vehicle after assisting the target vehicle in overtaking can be calculated. The specific calculation formula is as follows: .

[0046] A vehicle cooperative lane-sharing system for a connected hybrid transportation environment includes: The acquisition module is configured to acquire the driving information of the target vehicle that intends to overtake, as well as the driving information of the interactive vehicles that are strongly related to the target vehicle in each stage of overtaking. The collaboration module is configured to estimate the type of conflict the target vehicle will encounter during overtaking based on the driving information of the target vehicle and all interacting vehicles, and to adopt corresponding collaboration strategies based on the type of conflict. When the conflict type is a reciprocating conflict, search for cooperative vehicles that cooperate with the target vehicle to overtake. Based on the driving information of the target vehicle and the cooperating vehicle, determine whether overtaking can be carried out in a cooperative manner. If so, overtaking can be carried out in a cooperative manner.

[0047] Specifically, the lane-borrowing system includes an acquisition module and a cooperation module. The acquisition module can acquire the driving information of all vehicles on the monitored road segment, including vehicle position and speed. The roadside cooperative control unit can identify target vehicles with the intention to overtake using the lane, as well as interacting vehicles strongly related to the target vehicle, based on the vehicle driving information, and extract the driving information of the target vehicle and each interacting vehicle.

[0048] The collaboration module can assess the types of conflicts the target vehicle might encounter at each stage of the overtaking process based on the driving information of the target vehicle and other interacting vehicles. These include potential rear-end collisions during the initial following phase, lateral collisions during the lane-changing phase, and oncoming collisions during the lane-borrowing phase. Different collaboration strategies can be selected for different conflict types. For example, in the case of a rear-end collision, the target vehicle can slow down to maintain a minimum safe distance from the vehicle being overtaken. In the case of a lateral collision, the module can control the target vehicle to follow the vehicle being overtaken while maintaining a minimum safe distance until the oncoming vehicle has passed the target vehicle.

[0049] When encountering oncoming conflicts, the system can search for cooperative vehicles that can work with the target vehicle based on the location information of both the target vehicle and the interacting vehicle. It then assesses the safety of the target vehicle's cooperative lane-changing overtaking based on the driving information of the target vehicle, cooperative vehicles, and the vehicle to be overtaken. If safe, it generates corresponding acceleration or deceleration commands to control the cooperative vehicle to cooperate with the target vehicle in overtaking. If unsafe, it controls the target vehicle to continue following the vehicle to be overtaken, and reassesses the potential conflict types at each stage of the lane-changing overtaking process. This cycle repeats until the target vehicle successfully overtakes. This achieves safe and efficient lane-changing overtaking control in a connected and mixed traffic environment, improving traffic efficiency and reducing the risk of traffic accidents.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A vehicle cooperative lane-sharing method in a connected hybrid traffic environment, characterized in that, include: Acquire the driving information of target vehicles that intend to overtake, as well as the driving information of interacting vehicles that are strongly related to the target vehicles at each stage of overtaking. Based on the driving information of the target vehicle and all interacting vehicles, the type of conflict the target vehicle will encounter during overtaking is estimated, and corresponding cooperation strategies are adopted according to the type of conflict. When the conflict type is a reciprocating conflict, search for cooperative vehicles that cooperate with the target vehicle to overtake. Based on the driving information of the target vehicle and the cooperating vehicle, determine whether overtaking can be carried out in a cooperative manner. If so, overtaking can be carried out in a cooperative manner.

2. The vehicle cooperative lane-changing method according to claim 1, characterized in that, Identify target vehicles that intend to overtake by using the other vehicle's lane, including: Acquire the driving information of vehicles in the monitored road section, and quantify the cumulative degree of vehicle speed non-compliance based on the speed data in the driving information to obtain the speed non-compliance value; The unsatisfactory speed value is compared with an overtaking threshold. If the unsatisfactory speed value exceeds the overtaking threshold, the vehicle is the target vehicle.

3. The vehicle cooperative lane-changing method according to claim 1, characterized in that, Obtain driving information of interactive vehicles strongly correlated with the target vehicle, including: Based on the target vehicle's body length, communication distance, and the position of the vehicle to be overtaken, identify the interactive vehicles that are strongly correlated with the target vehicle at each stage of the overtaking maneuver.

4. The vehicle cooperative lane-changing method according to claim 1, characterized in that, Assess the types of conflicts encountered by the target vehicle during overtaking, including: Based on the driving information of the target vehicle and the corresponding interactive vehicle, the distance judgment thresholds corresponding to different conflict types and the positional distance between the target vehicle and the corresponding interactive vehicle are determined respectively. The location distance is compared with the distance judgment threshold corresponding to different conflict types to determine the conflict type encountered by the target vehicle during overtaking.

5. The vehicle cooperative lane-changing method according to claim 4, characterized in that, Determine the distance judgment thresholds corresponding to different conflict types, including: The minimum safe distance corresponding to a rear-end collision is calculated based on the target vehicle's speed, braking reaction time, minimum acceleration, and current acceleration, as well as the vehicle to be overtaken's speed, maximum acceleration, and minimum acceleration. And / or, determine the longitudinal limiting distance corresponding to the lateral conflict based on the body length of the target vehicle; And / or, calculate the overtaking time required for each stage of overtaking based on the overtaking speed of the target vehicle and the speed of the vehicle to be overtaken, as well as the distance traveled by the target vehicle at each stage of overtaking. By combining the overtaking speed of the target vehicle, the speeds of the vehicle to be overtaken and the vehicles interacting, and the overtaking time corresponding to each stage, the minimum safe clearance corresponding to the oncoming conflict is calculated.

6. The vehicle cooperative lane-changing method according to claim 1, characterized in that, Search for vehicles that cooperate with the target vehicle to overtake, including: The position of the target vehicle is compared with the relative positions of the vehicles in front and behind it. If the corresponding location conditions are met, the interactive vehicles that meet the location conditions will not participate in cooperative overtaking, while the interactive vehicles that do not meet the location conditions will act as cooperative vehicles.

7. The vehicle cooperative lane-changing method according to claim 1, characterized in that, Determining whether a cooperative overtaking method can be used includes: Search for the expected locations of the target vehicle and collaborating vehicles after they have completed overtaking; Based on the expected positions of the target vehicle and the following cooperating vehicle, as well as the cooperating speed of the following cooperating vehicle, the adjustment time required for the preceding cooperating vehicle to reach the position conditions is calculated. Based on the adjustment time and the coordination speed of the front and rear cooperating vehicles, calculate the maximum gap between the front and rear cooperating vehicles when the cooperation is completed. The maximum clearance is compared with the minimum safe clearance, and overtaking can be carried out in a cooperative manner in response to the maximum clearance exceeding the minimum safe clearance.

8. The vehicle cooperative lane-changing method according to claim 7, characterized in that, Search for the expected locations of the target vehicle and collaborating vehicles after they have completed overtaking, including: The overtaking time required for the target vehicle at each stage is calculated based on the overtaking speed of the target vehicle, the speed of the vehicle to be overtaken, and the distance the target vehicle needs to travel at each stage of the overtaking process. By combining the target vehicle's current position and overtaking speed, as well as the speed of the vehicle to be overtaken and the overtaking time required at each stage, the expected position of the target vehicle after overtaking is calculated. By combining the current position and speed of the following cooperative vehicle with the total overtaking time required by the target vehicle, the expected position of the following cooperative vehicle is calculated.

9. A vehicle cooperative lane-sharing system for a connected hybrid traffic environment, characterized in that, include: The acquisition module is configured to acquire the driving information of the target vehicle that intends to overtake, as well as the driving information of the interactive vehicles that are strongly related to the target vehicle in each stage of overtaking. The collaboration module is configured to estimate the type of conflict the target vehicle will encounter during overtaking based on the driving information of the target vehicle and all interacting vehicles, and to adopt corresponding collaboration strategies based on the type of conflict. When the conflict type is a reciprocating conflict, search for cooperative vehicles that cooperate with the target vehicle to overtake. Based on the driving information of the target vehicle and the cooperating vehicle, determine whether overtaking can be carried out in a cooperative manner. If so, overtaking can be carried out in a cooperative manner.

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