Counterflow overtaking collision early warning method and apparatus, device, and storage medium

Abstract

Disclosed in embodiments of the present invention is a counterflow overtaking collision early warning method, comprising: when an original distance is greater than a safety distance, acquiring operation parameters of a current vehicle, a first target vehicle, and a second target vehicle to be overtaken on a current lane; on the basis of the operation parameters, acquiring a travelling time of the current vehicle overtaking the second target vehicle in each stage; and acquiring a total travelling distance of the current vehicle and the first target vehicle on the basis of the travelling time and the operation parameters, and performing counterflow overtaking collision early warning on the basis of the original distance and the total travelling distance. Overtaking analysis is performed by decomposing a counterflow overtaking process into three stages, i.e., a stage of changing to a counterflow lane from the current lane, a stage of travelling on the counterflow lane, and a stage of returning to the current lane from the counterflow lane, and actual conditions such as speeds and accelerations of vehicles are taken into account during overtaking, instead of considering by fault that each vehicle travels at a constant speed, so that collision early warning performed on the basis of actual travelling conditions in different stages is more accurate.

Description

A method, apparatus, device, and storage medium for collision warning when overtaking in reverse.

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410663309.2, filed on May 27, 2024, entitled "A Method, Device, Equipment and Storage Medium for Collision Warning of Reverse Overtaking". Technical Field

[0003] The present invention relates to the field of vehicle technology, and in particular to a method, device, equipment and storage medium for collision warning of reverse overtaking. Background Technology

[0004] Overtaking in the wrong direction is a common scenario in many vehicle-to-vehicle interactions on the road. Communicating through V2X (vehicle-to-everything) technology is a common method in vehicle interaction, thereby enabling early warning during overtaking in the wrong direction.

[0005] However, most vehicles currently only focus on the single stage of lane change when overtaking in the opposite lane, without providing hazard warnings for the overtaking process in the opposite lane; or although they do focus on each stage of lane change, when providing overtaking warnings via V2X vehicle-to-vehicle communication, they usually assume that the vehicle in front is traveling at a constant speed, which does not match the actual driving scenario and reduces the accuracy of collision warnings.

[0006] Summary of the Invention

[0007] This invention provides a method, apparatus, device, and storage medium for collision warning when overtaking in reverse, so as to achieve accurate collision warning when overtaking in reverse.

[0008] In a first aspect, embodiments of the present invention provide a method for warning of collisions when overtaking in the opposite direction, comprising: when receiving a trigger command for overtaking in the opposite direction, acquiring the original distance and safe distance to a first target vehicle in an adjacent opposite lane;

[0009] When the original distance is greater than the safe distance, the current vehicle and the first target vehicle are acquired.

[0010] And the operating parameters of the second target vehicle waiting to overtake in the current lane, wherein the operating parameters include speed and acceleration;

[0011] The travel time of the current vehicle overtaking the second target vehicle in each stage is obtained according to the operating parameters, wherein the stage includes the stage of changing lanes from the current lane to the opposite lane, the stage of traveling in the opposite lane, and the stage of returning from the opposite lane to the current lane;

[0012] The total distance traveled by the current vehicle and the first target vehicle is obtained based on the travel time and the operating parameters, and a reverse overtaking collision warning is issued based on the original distance and the total travel distance.

[0013] Secondly, embodiments of the present invention provide a reverse overtaking collision warning device, including: a reverse overtaking trigger module, used to obtain the original distance and safe distance to a first target vehicle in an adjacent reverse lane when a reverse overtaking trigger command is received;

[0014] The operation parameter acquisition module is used to acquire the current vehicle and the first target vehicle when the original distance is greater than the safe distance.

[0015] And the operating parameters of the second target vehicle waiting to overtake in the current lane, wherein the operating parameters include speed and acceleration;

[0016] The driving time acquisition module is used to acquire the driving time of the current vehicle overtaking the second target vehicle in each stage according to the operating parameters, wherein the stage includes the stage of changing lanes from the current lane to the opposite lane, the stage of driving in the opposite lane, and the stage of returning from the opposite lane to the current lane;

[0017] The overtaking collision warning module is used to obtain the total driving distance between the current vehicle and the first target vehicle based on the driving time and the operating parameters, and to issue a reverse overtaking collision warning based on the original distance and the total driving distance.

[0018] Thirdly, embodiments of the present invention provide a computer device, the computer device comprising:

[0019] One or more processors;

[0020] Storage device for storing one or more programs.

[0021] When the one or more programs are executed by the one or more processors, the one or more processors perform the method as described above.

[0022] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0023] The technical solution of this invention analyzes overtaking by breaking down the process into three stages: changing lanes from the current lane to the opposite lane, driving in the opposite lane, and returning from the opposite lane to the current lane. Furthermore, the overtaking process takes into account the actual conditions such as vehicle speed and acceleration, rather than assuming that all vehicles are traveling at a constant speed. This makes the collision warning based on the actual driving conditions at different stages more accurate. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 is a flowchart of a reverse overtaking collision warning method provided in Embodiment 1 of the present invention;

[0026] Figure 2 is a schematic diagram of a reverse overtaking method provided in Embodiment 1 of the present invention;

[0027] Figure 3 is a flowchart of a reverse overtaking collision warning method provided in Embodiment 2 of the present invention;

[0028] Figure 4 is a structural schematic diagram of a reverse overtaking collision warning device provided in Embodiment 3 of the present invention;

[0029] Figure 5 is a schematic diagram of the structure of the computer device provided in Embodiment 4 of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] Figure 1 is a flowchart of a method for collision warning of overtaking in reverse provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of collision warning for overtaking in reverse. The method can be executed by the collision warning device for overtaking in the embodiment of the present invention, which can be implemented in hardware and / or software. As shown in Figure 1, the method includes:

[0034] Step S101: When a reverse overtaking trigger command is received, the original distance and safe distance to the first target vehicle in the adjacent reverse lane are obtained.

[0035] Optionally, obtaining the original distance and safe distance to the first target vehicle in the adjacent reverse lane includes: obtaining the original distance between the current vehicle and the first target vehicle through lidar positioning; determining a preset safe speed, and determining the first distance traveled by the current vehicle to reach the safe speed and the second distance traveled by the first target vehicle to reach the safe speed; and adding the first distance and the second distance to obtain the safe distance.

[0036] Specifically, as shown in Figure 2, this embodiment provides a schematic diagram of a reverse overtaking maneuver. In this embodiment, HV is the current vehicle, RV1 is the first target vehicle in the adjacent reverse lane, and RV2 is the second target vehicle to be overtaken in the current lane. The application scenario of this embodiment is that there is only one RV2 with network connectivity between HV and RV1. Of course, this embodiment is only an example and does not limit the specific application scenario of reverse overtaking.

[0037] In this embodiment, the conditions for issuing a collision warning for overtaking in the wrong direction are receiving a reverse overtaking trigger command. Specifically, the reverse overtaking trigger command can be triggered when HV is about to turn on its left turn signal, HV's speed is greater than or equal to RV2's speed, HV is in the leftmost lane, HV is not about to enter the intersection area, and there is a vehicle RV2 in front of HV and RV1 that is relatively close to HV. When all the above conditions are met, it is determined that the reverse overtaking trigger command has been received. Of course, this embodiment is only an example and does not limit the specific generation method of the reverse overtaking trigger command.

[0038] It is worth mentioning that when a reverse overtaking trigger command is received, the initial distance and safe distance between the current vehicle and the first target vehicle are obtained. The initial distance refers to the distance between the current vehicle (HV) and the first target vehicle (RV1) in the adjacent reverse lane at the starting point of the overtaking maneuver. This distance can be calculated based on the latitude and longitude of the two vehicles. However, this embodiment is only an example and does not limit the specific method of obtaining the initial distance. In addition, this embodiment also pre-calculates the safe distance between HV and RV1. The safe distance calculation is based on a pre-set safe speed, specifically the sum of the distance the current vehicle travels to decelerate to this safe speed and the distance RV1 travels to decelerate to this safe speed. This safe speed can be set by the user according to the actual warning situation; this embodiment does not limit the specific value of the safe speed.

[0039] Step S102: When the original distance is greater than the safe distance, obtain the operating parameters of the current vehicle, the first target vehicle, and the second target vehicle waiting to be overtaken in the current lane.

[0040] Specifically, in this embodiment, when it is determined by comparison that the original distance between the current vehicle HV and the first target vehicle RV1 is greater than the safe distance, it is determined that the overtaking requirement is met at the beginning of the overtaking, so the overtaking can be performed. When performing the overtaking, the relevant operating parameters of HV, RV1 and RV2 are acquired. The relevant operating parameters include speed and acceleration. That is, this embodiment considers the actual operating conditions of each vehicle, rather than assuming that each vehicle is traveling at a constant speed throughout the overtaking process.

[0041] Step S103: Obtain the travel time of the current vehicle overtaking the second target vehicle at each stage based on the operating parameters.

[0042] Optionally, the travel time of the current vehicle overtaking the second target vehicle in each stage can be obtained based on the operating parameters, including: obtaining the angle between the current vehicle's travel direction and the lane direction in the stage of changing lanes from the current lane to the opposite lane and the stage of returning from the opposite lane to the current lane; obtaining the lane width, and obtaining the first travel time in the stage of changing lanes from the current lane to the opposite lane and the second travel time in the stage of returning from the opposite lane to the current lane based on the lane width, the angle and the operating parameters.

[0043] Optionally, the method further includes: determining a first longitudinal travel distance of the current vehicle during the phase of changing lanes from the current lane to the opposite lane based on a first travel time; and determining a second longitudinal travel distance of the current vehicle during the phase of returning from the opposite lane to the current lane based on a second travel time.

[0044] The implementation of this method includes three stages: the first stage, changing lanes from the current lane to the opposite lane; the third stage, traveling in the opposite lane; and the second stage, returning from the opposite lane to the current lane. This method calculates the travel time for each stage. For example, this implementation uses the calculation of the travel time for the first stage as an example. For instance, if the angle between the current vehicle's direction of travel and the lane direction is determined to be 30°, and the lane width is W... line Then, the distance traveled by the vehicle during the first stage of lane changing can be determined using the following formula (1): W line =sin30°*V HV *t LC1 +0.5*sin30°*a HV *t LC1 2 (1)

[0045] By solving the quadratic equation in formula (1) above, we can obtain the first travel time for lane changing in the first stage:

[0046] Among them, t LC1 For the first driving time, V HV Let a be the initial speed of the current vehicle HV in the first stage. HV This represents the vehicle's acceleration (HV) in the first stage. Additionally, after obtaining the first travel time in the first stage, the first longitudinal travel distance ΔS in the first stage will also be calculated. LC1 Since overtaking requires consideration of changes in relative position, the relative driving distance with RV2 should be taken into account. Therefore, the first longitudinal driving distance in the first stage can be calculated using the following formula (2): ΔS LC1 =t LC1 *V HV *cos30°+0.5*cos30°*a HV *t LC1 2 -t LC1 *V RV2 -0.5*a RV2 * t LC1 2 (2)

[0047] Where, ΔS LC The first longitudinal travel distance in the first stage, t LC This refers to the first travel time in the first stage. Of course, in this embodiment, we are only using the first travel time t in the first stage as an example. LC1 and the first longitudinal travel distance ΔS LC1Taking this as an example, let's examine how to obtain the second travel time t in the second travel phase of the second stage. LC2 And the second longitudinal driving distance ΔS LC2 The principle is roughly the same, and will not be elaborated further in this implementation.

[0048] Optionally, the travel time of the current vehicle overtaking the second target vehicle at each stage can be obtained based on the operating parameters, including: obtaining the longitudinal relative distance traveled by the current vehicle to complete the reverse overtaking and the target speed set during the reverse overtaking process; calculating the acceleration result of the current vehicle in the stage of changing lanes from the current lane to the reverse lane, and determining the driving state of the current vehicle in the reverse lane driving stage based on the acceleration result and the target speed, wherein the driving state includes the acceleration driving state and the non-acceleration driving state; and calculating the third travel time of the current vehicle in the reverse lane driving stage based on the driving state in the reverse lane driving stage according to the longitudinal relative distance, the first longitudinal travel distance, the second longitudinal travel distance and the operating parameters.

[0049] Specifically, this embodiment will also obtain the third driving time in the third stage. First, it will calculate the longitudinal relative distance ΔS traveled by HV to complete the reverse overtaking maneuver. H The following formula (3) is used to obtain ΔS H Specific methods:

[0050] in, This represents the initial distance between HV and the second target vehicle. To determine the safe distance between the HV and the second target vehicle RV2 after the HV overtakes, L HV L is the vehicle length of HV. RV2 The length of the second target vehicle RV2 is given. Since the above four parameters are all known quantities and can be obtained through measurement, the longitudinal relative distance ΔS can be obtained through formula (3). H The specific numerical value. Additionally, this embodiment can also obtain the target vehicle speed V set during the reverse overtaking process. RV2 +ΔV ot , where ΔV ot We can take 4 m / s, which means that the target speed of the current vehicle HV is required to be 4 greater than the speed of the second target vehicle. In this embodiment, the following formula (4) will be used to calculate the speed of the current vehicle HV after changing lanes in the first stage: V HV2 =t LC1 *a HV +V HV (4)

[0051] It should be noted that in this embodiment, after obtaining the vehicle speed after lane change in the first stage of HV through formula (4), the acceleration value a of the second target vehicle RV2 will be used. RV2 The third driving time in the third stage is calculated in two scenarios. The first scenario is if a RV2 >0, assuming Hv accelerates at a constant rate a throughout the overtaking process. ot Speed ​​up, a ot Take 2m / s 2 , t ot The time taken for the overtaking process can be obtained by using the following formula (5) to calculate the third longitudinal travel distance in the third stage.

[0052] The time taken to achieve the transcendental process can be further divided into two cases in the first scenario:

[0053] The first scenario is: a ot =a RV2 hour,

[0054] The second scenario is: a ot ! = a RV2 hour

[0055] If t ot No solution (t) ot_2 With t ot_3 If both values ​​are less than 0, overtaking is prohibited, and a warning for overtaking in the opposite direction will be issued; otherwise, t ot There is a solution, let t be an example. ot_2 With t ot_3 The value that is positive and small is taken as t ot The value of .

[0056] The second scenario is if a RV2 ≤0, in the second scenario there are two cases:

[0057] The first scenario is: if the vehicle speed has reached the target speed in the first stage, there is no need to continue accelerating in the second stage. In this case, the third longitudinal driving distance in the third stage can be obtained using the following formula (6):

[0058] The time taken for the transcendental process is obtained by solving for:

[0059] Among them, t ot This is the third driving time in the third phase. The relative velocity between HV and RV2 in the third stage. This represents the relative acceleration between HV and RV2 in the second stage.

[0060] The second scenario is: if the vehicle speed in the first stage does not reach the target vehicle speed (V) RV2 +ΔV ot If, after entering the third stage, HV is set to accelerate at a... ot Speed ​​up, a ot Take 2m / s 2 Of course, this embodiment is only an example and does not limit the specific value of acceleration. t can be calculated using the following formula (7). acc Acceleration time: t acc =(V RV2 +a RV2 *t acc +ΔV ot -V HV2 ) / a ot (7)

[0061] Conclusion:

[0062] The relative distance that HV needs to travel to complete the overtaking process is ΔS H Subtract the longitudinal distance ΔS during the lane change process LC1 and ΔS LC2 , t ot The time required for the overtaking process can be used to obtain the third longitudinal travel distance of the third stage using the following formula (8):

[0063] The solution yields the time taken for the transcendence process in the third stage:

[0064] Step S104: Obtain the total driving distance between the current vehicle and the first target vehicle based on the driving time and operating parameters, and issue a reverse overtaking collision warning based on the original distance and the total driving distance.

[0065] Optionally, the total travel distance between the current vehicle and the first target vehicle is obtained based on the travel time and operating parameters, and a reverse overtaking collision warning is issued based on the original distance and the total travel distance. This includes: determining the first total longitudinal travel distance traveled by the current vehicle to complete the overtaking based on the travel time and the operating parameters of the current vehicle; determining the second total longitudinal travel distance traveled by the first target vehicle when the current vehicle completes the overtaking based on the travel time and the operating parameters of the first target vehicle; adding the first total longitudinal travel distance and the second total longitudinal travel distance to obtain the total travel distance; obtaining the ratio of the original distance to the total travel distance, and triggering an overtaking collision warning when the ratio is less than a specified threshold.

[0066] Specifically, this implementation obtains the total distance traveled between the current vehicle (HV) and the first target vehicle during the entire lane change period. Furthermore, it calculates the total distance using different methods for the two different driving states in the third stage. For example, when calculating the sum of the distances traveled by the two vehicles (S), there are three cases:

[0067] First scenario: No acceleration during the overtaking process; use the overtaking time t calculated in the first scenario of the second scenario above. ot S is calculated using the following formula (9): S = W line *cot30°*2+V HV2 *t ot +V RV1 (t LC1 +t LC2 +t ot )+0.5*a RV1 *(t LC1 + t LC2 +t ot ) 2 (9)

[0068] The second scenario: During the overtaking process, the vehicle accelerates first and then maintains a constant speed. Based on the acceleration time t calculated for the second scenario above... acc and beyond time t ot S is calculated using the following formula (10): S = W line *cot30°*2+V HV2 *t acc +0.5*a ot *t acc 2 +(t ot -t acc )*(V HV2 +a ot * t acc )+V RV1 (t LC1 +t LC2 +t ot )+0.5*a RV1 *(t LC1 +t LC2 +t ot ) 2 (10)

[0069] The third scenario: Acceleration continues throughout the overtaking process, based on the overtaking time t calculated in the first scenario. ot S is calculated using the following formula (11): S = W line *cot30°*2+V HV2 *t ot+0.5*a ot *t ot 2 +V RV1 (t LC1 +t LC2 +t ot )+0.5*a RV1 * (t LC1 +t LC2 +t ot ) 2 (11)

[0070] Wherein, when the original distance between HV and RV1 is determined to be When the time is right, the ratio of the original distance to the total distance traveled will be calculated. When K > 1, it indicates that overtaking is possible; otherwise, an overtaking collision warning will be triggered. In this embodiment, different overtaking collision warning levels can be set based on a specified threshold of 0.9. When 0.9 < K < 1, it can be determined as a Level 1 overtaking collision warning; when K < 0.9, it can be determined as a Level 2 overtaking collision warning. Different alarm methods can be used for different warning levels. Since the danger of a Level 1 overtaking collision warning is lower than that of a Level 2 overtaking collision warning, this embodiment uses flashing lights to warn of a Level 1 overtaking collision warning, and a combination of lights and voice warnings to warn of a Level 2 overtaking collision warning. Of course, this embodiment is merely an example and does not limit the specific alarm methods used for different levels. Any method that serves as a warning to the user is within the scope of protection of this application.

[0071] In this embodiment, the overtaking process is analyzed by breaking it down into three stages: changing lanes from the current lane to the opposite lane, driving in the opposite lane, and returning from the opposite lane to the current lane. The analysis takes into account the actual conditions of the vehicles, such as speed and acceleration, rather than assuming that all vehicles are traveling at a constant speed. This makes the collision warnings based on the actual driving conditions at different stages more accurate.

[0072] Example 2

[0073] Figure 3 is a flowchart of a reverse overtaking collision warning method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment, after obtaining the original distance and safe distance to the first target vehicle in the adjacent reverse lane, further includes: directly triggering a reverse overtaking collision warning when the original distance is determined to be less than the safe distance. As shown in Figure 3, the method includes:

[0074] Step S201: When a reverse overtaking trigger command is received, the original distance and safe distance to the first target vehicle in the adjacent reverse lane are obtained.

[0075] Optionally, obtaining the original distance and safe distance to the first target vehicle in the adjacent reverse lane includes: obtaining the original distance between the current vehicle and the first target vehicle through lidar positioning; determining a preset safe speed, and determining the first distance traveled by the current vehicle to reach the safe speed and the second distance traveled by the first target vehicle to reach the safe speed; and adding the first distance and the second distance to obtain the safe distance.

[0076] Step S202: Determine whether the original distance is greater than the safe distance. If yes, proceed to step S203; otherwise, proceed to step S206.

[0077] Step S203: When the original distance is greater than the safe distance, obtain the operating parameters of the current vehicle, the first target vehicle, and the second target vehicle waiting to be overtaken in the current lane.

[0078] Step S204: Obtain the travel time of the current vehicle overtaking the second target vehicle at each stage based on the operating parameters.

[0079] Optionally, the travel time of the current vehicle overtaking the second target vehicle in each stage can be obtained based on the operating parameters, including: obtaining the angle between the current vehicle's travel direction and the lane direction in the stage of changing lanes from the current lane to the opposite lane and the stage of returning from the opposite lane to the current lane; obtaining the lane width, and obtaining the first travel time in the stage of changing lanes from the current lane to the opposite lane and the second travel time in the stage of returning from the opposite lane to the current lane based on the lane width, the angle and the operating parameters.

[0080] Optionally, the method further includes: determining a first longitudinal travel distance of the current vehicle during the phase of changing lanes from the current lane to the opposite lane based on a first travel time; and determining a second longitudinal travel distance of the current vehicle during the phase of returning from the opposite lane to the current lane based on a second travel time.

[0081] Optionally, the travel time of the current vehicle overtaking the second target vehicle at each stage can be obtained based on the operating parameters, including: obtaining the longitudinal relative distance traveled by the current vehicle to complete the reverse overtaking and the target speed set during the reverse overtaking process; calculating the acceleration result of the current vehicle in the stage of changing lanes from the current lane to the reverse lane, and determining the driving state of the current vehicle in the reverse lane driving stage based on the acceleration result and the target speed, wherein the driving state includes the acceleration driving state and the non-acceleration driving state; and calculating the third travel time of the current vehicle in the reverse lane driving stage based on the driving state in the reverse lane driving stage according to the longitudinal relative distance, the first longitudinal travel distance, the second longitudinal travel distance and the operating parameters.

[0082] Step S205: Obtain the total driving distance between the current vehicle and the first target vehicle based on the driving time and operating parameters, and issue a reverse overtaking collision warning based on the original distance and the total driving distance.

[0083] Optionally, the total travel distance between the current vehicle and the first target vehicle is obtained based on the travel time and operating parameters, and a reverse overtaking collision warning is issued based on the original distance and the total travel distance. This includes: determining the first total longitudinal travel distance traveled by the current vehicle to complete the overtaking based on the travel time and the operating parameters of the current vehicle; determining the second total longitudinal travel distance traveled by the first target vehicle when the current vehicle completes the overtaking based on the travel time and the operating parameters of the first target vehicle; adding the first total longitudinal travel distance and the second total longitudinal travel distance to obtain the total travel distance; obtaining the ratio of the original distance to the total travel distance, and triggering an overtaking collision warning when the ratio is less than a specified threshold.

[0084] Step S206: When it is determined that the original distance is less than the safe distance, the reverse overtaking collision warning is triggered directly.

[0085] Specifically, in this embodiment, after obtaining the original distance and safe distance between the current vehicle HV and the first target vehicle RV1 in the adjacent reverse lane, the original distance and the safe distance will be compared first. If it is determined that the original distance is less than the safe distance, it means that the distance between HV and RV1 is not enough to safely complete the overtaking. At this time, there is no need to analyze the subsequent overtaking process, and the reverse overtaking collision warning is directly triggered.

[0086] Specifically, by comparing the initial distance with the safe distance at the start of overtaking, a collision risk can be quickly identified when the two do not meet the requirements, thus directly triggering a reverse overtaking collision warning without having to perform subsequent analysis and calculation processes. This significantly saves computational load and resource consumption, and increases the safety of the reverse overtaking collision warning.

[0087] It should be noted that the vehicle in this embodiment mainly completes the reverse overtaking warning through the V2X communication system, and the V2X communication system mainly includes a positioning module, a V2X communication module, an audio-visual display module, a mobile communication module, a central processing unit, a storage module, and an Ethernet communication module. Of course, this embodiment is only an example and does not limit the specific types of modules included in the installed V2X communication system.

[0088] In this embodiment, the overtaking process is analyzed by breaking it down into three stages: changing lanes from the current lane to the opposite lane, driving in the opposite lane, and returning from the opposite lane to the current lane. The analysis takes into account the actual conditions of the vehicles, such as speed and acceleration, rather than assuming that all vehicles are traveling at a constant speed. This makes the collision warnings based on the actual driving conditions at different stages more accurate.

[0089] Example 3

[0090] Figure 4 is a schematic diagram of a reverse overtaking collision warning device provided in Embodiment 3 of the present invention. As shown in Figure 4, the device includes: a reverse overtaking trigger module 310, an operating parameter acquisition module 320, a driving time acquisition module 330, and an overtaking collision warning module 340.

[0091] Among them, the reverse overtaking trigger module 310 is used to obtain the original distance and safe distance to the first target vehicle in the adjacent reverse lane when a reverse overtaking trigger command is received;

[0092] The operating parameter acquisition module 320 is used to acquire the operating parameters of the current vehicle, the first target vehicle, and the second target vehicle waiting to be overtaken in the current lane when the original distance is greater than the safe distance. The operating parameters include speed and acceleration.

[0093] The driving time acquisition module 330 is used to acquire the driving time of the current vehicle overtaking the second target vehicle in each stage according to the operating parameters. The stages include the stage of changing lanes from the current lane to the opposite lane, the stage of driving in the opposite lane, and the stage of returning from the opposite lane to the current lane.

[0094] The overtaking collision warning module 340 is used to obtain the total driving distance between the current vehicle and the first target vehicle based on the driving time and operating parameters, and to issue a reverse overtaking collision warning based on the original distance and the total driving distance.

[0095] Optionally, a reverse overtaking trigger module is used to obtain the original distance between the current vehicle and the first target vehicle through lidar positioning;

[0096] Determine a preset safe speed, and determine the first distance the current vehicle travels to reach the safe speed and the second distance the first target vehicle travels to reach the safe speed;

[0097] The safe distance is obtained by adding the first distance and the second distance together.

[0098] Optionally, a driving time acquisition module is used to acquire the angle between the current vehicle's driving direction and the lane direction during the phases of changing lanes from the current lane to the opposite lane and returning from the opposite lane to the current lane.

[0099] The lane width is obtained, and the first travel time from the current lane to the opposite lane and the second travel time from the opposite lane back to the current lane are obtained based on the lane width, the included angle and the operating parameters.

[0100] Optionally, the device also includes a longitudinal travel distance determination module, used to determine the first longitudinal travel distance of the current vehicle during the phase of changing lanes from the current lane to the opposite lane based on the first travel time;

[0101] The second longitudinal distance traveled by the current vehicle during the phase of returning from the opposite lane to the current lane is determined based on the second travel time.

[0102] Optionally, a driving time acquisition module is used to acquire the longitudinal relative distance traveled by the current vehicle to complete the reverse overtaking and the target speed set during the reverse overtaking process;

[0103] Calculate the acceleration result of the current vehicle during the lane change from the current lane to the opposite lane, and determine the driving state of the current vehicle during the driving phase in the opposite lane based on the acceleration result and the target speed. The driving state includes the accelerating driving state and the non-accelerating driving state.

[0104] Based on the driving status during the reverse lane driving phase, the third driving time of the current vehicle during the reverse lane driving phase is calculated according to the longitudinal relative distance, the first longitudinal driving distance, the second longitudinal driving distance, and the operating parameters.

[0105] Optionally, an overtaking collision warning module is used to determine the first total longitudinal distance traveled by the current vehicle to complete the overtaking maneuver based on the travel time and the current vehicle's operating parameters;

[0106] The second total longitudinal distance traveled by the first target vehicle when the current vehicle completes the overtaking maneuver is determined based on the travel time and the operating parameters of the first target vehicle.

[0107] The total driving distance is obtained by adding the first total longitudinal driving distance and the second total longitudinal driving distance;

[0108] The ratio of the original distance to the total driving distance is obtained. When the ratio is less than a specified threshold, an overtaking collision warning is triggered.

[0109] Optionally, the overtaking collision warning module is also used to directly trigger a reverse overtaking collision warning when the original distance is determined to be less than the safe distance.

[0110] The reverse overtaking collision warning device provided in this embodiment of the invention can execute the reverse overtaking collision warning method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0111] Example 4

[0112] Figure 5 illustrates a schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0113] As shown in Figure 5, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0114] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0115] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the reverse overtaking collision warning method.

[0116] In some embodiments, the clutch pressure compensation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the reverse overtaking collision warning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the reverse overtaking collision warning method by any other suitable means (e.g., by means of firmware).

[0117] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0118] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0119] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0121] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0122] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

A reverse overtaking collision warning method is characterized by comprising: include: When a reverse overtaking trigger command is received, the original distance and safe distance to the first target vehicle in the adjacent reverse lane are obtained; When the original distance is greater than the safe distance, the operating parameters of the current vehicle, the first target vehicle, and the second target vehicle waiting to be overtaken in the current lane are obtained, wherein the operating parameters include speed and acceleration; The travel time of the current vehicle overtaking the second target vehicle in each stage is obtained according to the operating parameters, wherein the stage includes the stage of changing lanes from the current lane to the opposite lane, the stage of traveling in the opposite lane, and the stage of returning from the opposite lane to the current lane; The total distance traveled by the current vehicle and the first target vehicle is obtained based on the travel time and the operating parameters, and a reverse overtaking collision warning is issued based on the original distance and the total travel distance. The method of claim 1, wherein The acquisition of the original distance and safe distance to the first target vehicle in the adjacent opposite lane includes: The original distance between the current vehicle and the first target vehicle is obtained by positioning using lidar; A preset safe speed is determined, and a first distance traveled by the current vehicle to reach the safe speed and a second distance traveled by the first target vehicle to reach the safe speed are determined. The safe distance is obtained by adding the first distance and the second distance together. The method of claim 1, wherein The step of obtaining the travel time of the current vehicle overtaking the second target vehicle at each stage based on the operating parameters includes: Obtain the angle between the current vehicle's direction of travel and the lane direction during the phases of changing lanes from the current lane to the opposite lane and returning from the opposite lane to the current lane; The lane width is obtained, and the first travel time from the current lane to the opposite lane and the second travel time from the opposite lane back to the current lane are obtained based on the lane width, the included angle and the operating parameters. The method according to claim 3, characterized in that The method further includes: The first longitudinal travel distance of the current vehicle during the phase of changing lanes from the current lane to the opposite lane is determined based on the first travel time; The second longitudinal travel distance of the current vehicle during the phase of returning from the opposite lane to the current lane is determined based on the second travel time. The method according to claim 4, characterized in that The step of obtaining the travel time of the current vehicle overtaking the second target vehicle at each stage based on the operating parameters includes: The longitudinal relative distance traveled by the current vehicle to complete the reverse overtaking maneuver and the target speed set during the reverse overtaking process are obtained. Calculate the acceleration result of the current vehicle during the lane change from the current lane to the oncoming lane, and determine the driving state of the current vehicle during the oncoming lane driving phase based on the acceleration result and the target vehicle speed, wherein the driving state includes an accelerating driving state and a non-accelerating driving state. Based on the driving status during the reverse lane driving phase, the third driving time of the current vehicle during the reverse lane driving phase is calculated according to the longitudinal relative distance, the first longitudinal driving distance, the second longitudinal driving distance, and the operating parameters. The method of claim 1, wherein The step of obtaining the total distance between the current vehicle and the first target vehicle based on the travel time and the operating parameters, and issuing a reverse overtaking collision warning based on the original distance and the total travel distance, includes: The first total longitudinal distance traveled by the current vehicle to complete the overtaking maneuver is determined based on the travel time and the current vehicle's operating parameters. The second total longitudinal distance traveled by the first target vehicle when the current vehicle completes the overtaking maneuver is determined based on the travel time and the operating parameters of the first target vehicle. The total driving distance is obtained by adding the first total longitudinal driving distance and the second total longitudinal driving distance; The ratio of the original distance to the total driving distance is obtained, and an overtaking collision warning is triggered when the ratio is less than a specified threshold. The method of claim 1, wherein The method further includes: directly triggering a reverse overtaking collision warning when it is determined that the original distance is less than the safe distance. A reverse overtaking collision warning device is characterized by comprising: include: The reverse overtaking trigger module is used to obtain the original distance and safe distance to the first target vehicle in the adjacent reverse lane when a reverse overtaking trigger command is received; The operating parameter acquisition module is used to acquire the operating parameters of the current vehicle, the first target vehicle, and the second target vehicle waiting to be overtaken in the current lane when the original distance is greater than the safe distance. The operating parameters include speed and acceleration. The driving time acquisition module is used to acquire the driving time of the current vehicle overtaking the second target vehicle in each stage according to the operating parameters, wherein the stage includes the stage of changing lanes from the current lane to the opposite lane, the stage of driving in the opposite lane, and the stage of returning from the opposite lane to the current lane; The overtaking collision warning module is used to obtain the total driving distance between the current vehicle and the first target vehicle based on the driving time and the operating parameters, and to issue a reverse overtaking collision warning based on the original distance and the total driving distance. A computer device, characterized in that, The computer device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7. A computer-readable storage medium having stored thereon a computer program, characterized in that When the program is executed by the processor, it implements the method as described in any one of claims 1-7.

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