CN105551282B - One kind is overtaken other vehicles reminding method and device - Google Patents
One kind is overtaken other vehicles reminding method and device Download PDFInfo
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- CN105551282B CN105551282B CN201410612928.5A CN201410612928A CN105551282B CN 105551282 B CN105551282 B CN 105551282B CN 201410612928 A CN201410612928 A CN 201410612928A CN 105551282 B CN105551282 B CN 105551282B
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Abstract
It overtakes other vehicles reminding method and device the invention discloses one kind, accuracy for improving judgement of overtaking other vehicles and safety when overtaking other vehicles.This method is applied in two-way single-lane road, including：Obtain the travelling data of each vehicle on the road；The travelling data includes the location information and movement state information of the vehicle；According to the travelling data of each vehicle, determine that target vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track；According to the front truck vehicle group and meeting vehicle determined, the position relationship between the target vehicle, the front truck vehicle group and the meeting vehicle is determined；According to the position relationship, judge whether the target vehicle can overtake other vehicles；When judging that the target vehicle can be overtaken other vehicles, output can overtake other vehicles prompt, and otherwise output can not overtake other vehicles prompt.
Description
Technical field
It overtakes other vehicles reminding method and device the present invention relates to technical field of intelligent traffic more particularly to one kind.
Background technology
With the continuous rising of car ownership, road traffic situation also becomes more complicated, and the thing followed is traffic
Accident is also more and more, and sizable percentage is accounted in all traffic accident total amounts by the traffic accident quantity for initiation of overtaking other vehicles.
Currently, although it has been specified that vehicle overtaking other vehicles on different grades of road and under different travel speed regards
Away from, but in practical overtaking process, especially during two-way traffic (i.e. two-way bicycle road) is inversely overtaken other vehicles, still
Driver is needed by subjective judgement to complete passing behavior.
This method of overtaking by subjective judgement, the case where being easy to slip up because of subjective observation, meeting is caused to collide.Especially
It is：
1, speed is higher, in the case of surmounting the continuous more vehicles in front, anticipation opposed vehicle apart from when, be easy to cause mistake
Feel, leads to tragedy.
2, vehicle is after implementing to overtake other vehicles, observation missing or error in judgement before just finding, the vehicle is in opposite direction at this time
Track has vehicle to sail to face and can not advance, while former track is led to again in the dilemma zone that vehicle/vehicle group position can not retract is exceeded
Tragedy.
Invention content
The embodiment of the present invention provides one kind and overtakes other vehicles reminding method and device, accuracy for improving judgement of overtaking other vehicles and overtakes other vehicles
When safety.
The embodiment of the present invention uses following technical scheme：
It overtakes other vehicles reminding method, is applied in two-way single-lane road, the method packet an embodiment of the present invention provides one kind
It includes：
Obtain the travelling data of each vehicle on the road；The travelling data includes the location information and fortune of the vehicle
Dynamic status information；
According to the travelling data of each vehicle, determine that target vehicle needs the meeting on the front truck vehicle group surmounted and opposite track
Vehicle vehicle；
According to the front truck vehicle group and meeting vehicle determined, the target vehicle, the front truck vehicle group and the meeting are determined
Position relationship between vehicle vehicle；
According to the position relationship, judge whether the target vehicle can overtake other vehicles；
When judging that the target vehicle can be overtaken other vehicles, output can overtake other vehicles prompt, and otherwise output, which can not overtake other vehicles, carries
Show.
Optionally, according to the travelling data of each vehicle, determine that target vehicle needs the front truck vehicle group surmounted and opposite vehicle
Meeting vehicle on road, specifically includes：
According to the travelling data of each vehicle, the position relationship between each vehicle and the road is determined；
According to the position relationship between each vehicle and the road, determine target vehicle need the front truck vehicle group surmounted and
Meeting vehicle on opposite track.
Optionally, according to the position relationship between each vehicle and the road, determine that target vehicle needs the front truck surmounted
Che Qun is specifically included：
According to the position relationship between each vehicle and the road, determine target vehicle need it is surmounting, meet default item
The front truck vehicle group of part；Wherein, the preset condition includes：Driving between arbitrary two Adjacent vehicles of the front truck Che Qunzhong
It is smaller than the corresponding front truck vehicle group's spacing threshold of the front truck vehicle group, and the corresponding front truck vehicle group spacing threshold of the front truck vehicle group
Speed when value is overtaken other vehicles according to the average speed and the target vehicle of the front truck vehicle group on the opposite track determines.
Optionally, the position relationship includes：
The vehicle group of link length and the front truck vehicle group before the target vehicle is overtaken other vehicles between the meeting vehicle
Length；Then
According to the position relationship, judge whether the target vehicle can overtake other vehicles, specifically includes：
Judging traveling total distance and the difference of the traveling total distance of the front truck vehicle group when target vehicle is overtaken other vehicles is
No vehicle group's length more than the front truck vehicle group, and judge operating range when the target vehicle is overtaken other vehicles in opposite track,
The target vehicle after the operating range of the meeting vehicle and the pre-set target vehicle are overtaken other vehicles when overtaking other vehicles with institute
State the safe distance between meeting vehicle summation whether overtake other vehicles less than the target vehicle before between the meeting vehicle
Link length；
When two judging results are to be, determine that the target vehicle can overtake other vehicles；Otherwise, it determines the target
Vehicle cannot overtake other vehicles.
Optionally, vehicle group's length of the front truck vehicle group determines as follows：
When the front truck Che Qunzhong only includes a vehicle, the vehicle group length is the safe driving spacing of the vehicle；
When the front truck Che Qunzhong includes at least two cars, the vehicle group length is the vehicle end to end of the front truck Che Qunzhong
The summation of link length and the safe driving spacing of the head vehicle of the front truck Che Qunzhong between.
Optionally, when judging that the target vehicle can be overtaken other vehicles, output can overtake other vehicles after prompt, and the method is also
Including：
Export velocity information and/or directional information that the target vehicle have when overtaking other vehicles.
It overtakes other vehicles suggestion device, applies in two-way single-lane road, described device packet an embodiment of the present invention provides one kind
It includes：
Travelling data acquiring unit, the travelling data for obtaining each vehicle on the road；The travelling data includes
The location information and movement state information of the vehicle；
Vehicle determination unit, the travelling data of each vehicle for being obtained according to the travelling data acquiring unit determine
Target vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track；
First position relation determination unit, the front truck vehicle group for being determined according to the vehicle determination unit and meeting vehicle
, determine the position relationship between the target vehicle, the front truck vehicle group and the meeting vehicle；
Judging unit, the position relationship for being determined according to the first position relation determination unit, judges the target
Whether vehicle can overtake other vehicles；
First prompt unit, for when the judging unit judges that the target vehicle can be overtaken other vehicles, exporting
Can overtake other vehicles prompt, otherwise export the prompt that can not overtake other vehicles.
Optionally, the vehicle determination unit, specifically includes：
Second position relationship determination module, for according to the travelling data of each vehicle, determine each vehicle and the road it
Between position relationship；
Vehicle determining module, each vehicle and the road for being determined according to the second position relationship determination module it
Between position relationship, determine that target vehicle needs the meeting vehicle on the front truck vehicle group that surmounts and opposite track.
Optionally, the vehicle determining module, is specifically used for：
According to the position relationship between each vehicle and the road, determine target vehicle need it is surmounting, meet default item
The front truck vehicle group of part；Wherein, the preset condition includes：Driving between arbitrary two Adjacent vehicles of the front truck Che Qunzhong
It is smaller than the corresponding front truck vehicle group's spacing threshold of the front truck vehicle group, and the corresponding front truck vehicle group spacing threshold of the front truck vehicle group
Speed when value is overtaken other vehicles according to the average speed and the target vehicle of the front truck vehicle group on the opposite track determines.
Optionally, the position relationship includes：
The vehicle group of link length and the front truck vehicle group before the target vehicle is overtaken other vehicles between the meeting vehicle
Length；Then
The judging unit, is specifically used for：
Judging traveling total distance and the difference of the traveling total distance of the front truck vehicle group when target vehicle is overtaken other vehicles is
No vehicle group's length more than the front truck vehicle group, and judge operating range when the target vehicle is overtaken other vehicles in opposite track,
The target vehicle after the operating range of the meeting vehicle and the pre-set target vehicle are overtaken other vehicles when overtaking other vehicles with institute
State the safe distance between meeting vehicle summation whether overtake other vehicles less than the target vehicle before between the meeting vehicle
Link length；When two judging results are to be, determine that the target vehicle can overtake other vehicles；Otherwise, it determines the mesh
Mark vehicle cannot overtake other vehicles.
Optionally, vehicle group's length of the front truck vehicle group determines as follows：
When the front truck Che Qunzhong only includes a vehicle, the vehicle group length is the safe driving spacing of the vehicle；
When the front truck Che Qunzhong includes at least two cars, the vehicle group length is the vehicle end to end of the front truck Che Qunzhong
The summation of link length and the safe driving spacing of the head vehicle of the front truck Che Qunzhong between.
Optionally, described device further includes：
Second prompt unit, after exporting the prompt that can overtake other vehicles, continuing to output the target vehicle should when overtaking other vehicles
The velocity information and/or directional information having.
The embodiment of the present invention has the beneficial effect that：
In the embodiment of the present invention, by the travelling data of each vehicle of acquisition, target vehicle, target vehicle needs are determined
The position relationship between meeting vehicle on the front truck vehicle group that surmounts and opposite track, and then judge that target vehicle whether can
It overtakes other vehicles, and will determine that result exports, compared with the scheme of artificial subjective judgement in the prior art, can not only improve and overtake other vehicles
The accuracy of judgement, moreover it is possible to improve safety when overtaking other vehicles, reduce the incidence for accident of overtaking other vehicles.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and constitutes the part of the present invention, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the implementation flow chart for reminding method of overtaking other vehicles in the embodiment of the present invention；
Fig. 2 is target vehicle overtaking process schematic diagram in the embodiment of the present invention；
Fig. 3 is the implementation flow chart for suggestion device of overtaking other vehicles in the embodiment of the present invention.
Specific implementation mode
In order to solve the problems in the existing technology, it overtakes other vehicles prompt scheme an embodiment of the present invention provides one kind.The skill
In art scheme, by the travelling data of each vehicle of acquisition, determine that target vehicle, target vehicle need the front truck vehicle group surmounted
And the position relationship between the meeting vehicle on opposite track, and then judge whether target vehicle can overtake other vehicles, and will
Judging result exports, and compared with the scheme of artificial subjective judgement in the prior art, can not only improve the accuracy for judgement of overtaking other vehicles,
Safety when overtaking other vehicles can also be improved, the incidence for accident of overtaking other vehicles is reduced.
The embodiment of the present invention is illustrated below in conjunction with Figure of description, it should be understood that implementation described herein
Example is merely to illustrate and explain the present invention, and is not intended to restrict the invention.And in the absence of conflict, the reality in the present invention
Applying the feature of example and embodiment can be combined with each other.
An embodiment of the present invention provides a kind of reminding methods of overtaking other vehicles applied in two-way single-lane road, as shown in Figure 1,
For the implementation flow chart of this method, following step is specifically included：
Step 11, the travelling data of each vehicle on road is obtained；Wherein, travelling data includes the location information and fortune of vehicle
Dynamic status information；
Wherein, movement state information may include：Travel speed, travel direction and the acceleration information of vehicle.
Step 12, according to the travelling data of each vehicle, determine that target vehicle needs the front truck vehicle group surmounted and opposite vehicle
Meeting vehicle on road.
Wherein, it may be one that target vehicle, which needs the front truck surmounted, it is also possible to and more, when the front truck two that needs surmount
Two it is adjacent closer when so that when target carriage group's lane change can not be normally driven into after overtaking other vehicles between two vehicles, then two vehicles are considered as front truck vehicle group.
So-called meeting vehicle refers to two vehicles Facing Movement on same track.After target carriage group's lane change, mesh
Vehicle group's reverse driving is marked, the opposed vehicle that its forward direction occurs at this time is the meeting vehicle on opposite track.
In step 12, it after the travelling data for getting each vehicle, can be determined first according to the travelling data respectively
Position relationship between vehicle and the road travelled.Specifically, by the location information of vehicle and the pre-set road
A series of longitude and latitude record points are matched, and traveling-position of the vehicle on road just can be obtained.Meanwhile by the traveling of vehicle
Direction is compared with trend of road (for example road is straight or bending, is east-west or south-north direction), just can
It accesses and is travelled on which track of vehicle in the road.It then just can be according to the position between each vehicle and the road travelled
Relationship is set, determines that target vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track.
Wherein, according to the position relationship between each vehicle and the road travelled, determine what target vehicle needs surmounted
Meeting vehicle on front truck vehicle group and opposite track, can be, but not limited to realize as follows：
According to the position relationship between each vehicle and institute's travel, determine target vehicle need it is surmounting, meet it is default
The front truck vehicle group of condition；Wherein, preset condition may include：Between driving between arbitrary two Adjacent vehicles of front truck Che Qunzhong
Away from front truck vehicle group's spacing threshold corresponding less than front truck vehicle group, and the corresponding front truck vehicle group spacing threshold of front truck vehicle group can basis
The speed when average speed and target vehicle of front truck vehicle group are overtaken other vehicles on opposite track determines.
Table 1：
Reference table 1, it is assumed that average speed V "=70km/h of front truck vehicle group, when target vehicle is overtaken other vehicles on opposite track
Vehicle velocity V=120km/h, then front truck vehicle group spacing threshold is (70km/h+120km/h) × 3.6s=190m.
Step 13, according to the front truck vehicle group and meeting vehicle determined, target vehicle, front truck vehicle group and meeting vehicle are determined
Position relationship between.
In the embodiment of the present invention, the position relationship between target vehicle, front truck vehicle group and the meeting vehicle determined can
To include：
Vehicle group's length of link length and front truck vehicle group before target vehicle is overtaken other vehicles between meeting vehicle；
Specifically, the vehicle group length of front truck vehicle group can determine as follows：
When the front truck Che Qunzhong determined only includes a vehicle, vehicle group's length is the safe driving spacing of the vehicle；
When the front truck Che Qunzhong determined include at least two cars when, vehicle group's length be front truck Che Qunzhong vehicle end to end it
Between link length and front truck Che Qunzhong head vehicle safe driving spacing summation.
Under normal conditions, when having multiple vehicles when driving on same track in road, the vehicular gap between two vehicles
Related with the speed of two vehicles, when the speed of two vehicles changes, the vehicular gap between two vehicles can also be sent out
Changing, therefore the safe driving spacing in the embodiment of the present invention can also be determined according to the running speed of vehicle, wherein vehicle
Safe driving spacing reference value referring to following table 2.
Table 2：
Step 14, according to above-mentioned position relationship, judge whether target vehicle can overtake other vehicles.
Specifically, according to above-mentioned position relationship, the row of the traveling total distance and front truck vehicle group when target vehicle is overtaken other vehicles is judged
Whether the difference for sailing total distance is more than vehicle group's length of front truck vehicle group, and judges when target vehicle is overtaken other vehicles in the row in opposite track
After sailing distance, target vehicle the operating range of meeting vehicle and pre-set target vehicle being overtaken other vehicles when overtaking other vehicles with meeting vehicle
Between the summation of safe distance whether be less than link length between meeting vehicle before target vehicle is overtaken other vehicles；
When two judging results are to be, determine that target vehicle can overtake other vehicles；Otherwise, it determines target vehicle cannot
It overtakes other vehicles.
Step 15, when judging that target vehicle can be overtaken other vehicles, output can overtake other vehicles prompt, and otherwise output can not overtake other vehicles
Prompt.
When driver on two-way single-lane road when driving, when being intended to carry out overtaking other vehicles motor-driven, can be carried with reference to above-mentioned overtake other vehicles
Show to decide whether passing behavior, safety when to improve the accuracy for judgement of overtaking other vehicles and overtake other vehicles.
In addition, when output can overtake other vehicles prompt, the embodiment of the present invention can further include：
By when vehicle cut-ins in the parameters such as speed, the direction that each moment point or each position should have one kind or
A variety of outputs further increase so that car owner can adjust travel speed or the direction of vehicle according to above-mentioned parameter when overtaking other vehicles
Safety.
In the embodiment of the present invention, by the travelling data of each vehicle of acquisition, target vehicle, target vehicle needs are determined
The position relationship between meeting vehicle on the front truck vehicle group that surmounts and opposite track, and then judge that target vehicle whether can
It overtakes other vehicles, and will determine that result exports, compared with the scheme of artificial subjective judgement in the prior art, can not only improve and overtake other vehicles
The accuracy of judgement, moreover it is possible to improve safety when overtaking other vehicles, reduce the incidence for accident of overtaking other vehicles.
Embodiment in order to better understand the present invention, below in conjunction with the specific tool implemented to step 14 in above-described embodiment
Body implementation process illustrates.
As shown in Fig. 2, being target vehicle overtaking process schematic diagram.
Wherein, V ' is the speed (Km/h) of meeting vehicle；
LIt is oppositeLink length before overtaking other vehicles for target vehicle between meeting vehicle；
V0Speed before overtaking other vehicles for target vehicle, that is, the initial velocity (Km/h) before overtaking other vehicles；
SBeforeFor the distance between target vehicle and its front truck；
LChe QunFor vehicle group's length of front truck vehicle group；
V " is the average speed (Km/h) of front truck vehicle group；
t1Acceleration time (s) when overtaking other vehicles for target vehicle, according to SBeforeAnd V0It can calculate
A is the pre-set average acceleration (m/s that overtakes other vehicles2), according to mobility ability, numerical value is generally in [2,6], tool
Body can refer to following Table 3.
Table 3：
It should be noted that the value can also carry out self-defined setting according to the concrete condition of target vehicle.
Travel speed (Km/h) when V overtakes other vehicles for target vehicle on opposite track, according to V0、t1V can be calculated with a
=V0+a*t1；
t2Running time (s) when overtaking other vehicles for target vehicle on opposite track, can be according to V and LChe QunIt calculates
S1It gives it the gun distance in current lane when overtaking other vehicles for target vehicle, i.e., the acceleration row before driving into opposite track
Sail distance, wherein
S2In the operating range in opposite track when overtaking other vehicles for target vehicle, wherein
S3When being completed to overtake other vehicles, the safe distance between target vehicle and meeting vehicle, this safe distance is according to V and V '
It determines, generally in [15,100] rice, specifically can refer to following table 4.
Table 4：
S4The operating range of meeting vehicle when overtaking other vehicles for target vehicle, wherein
Optionally, when landform is difficult or drive manner is radical, the operating range of meeting vehicle is when target vehicle is overtaken other vehicles
SIt is superTraveling total distance when overtaking other vehicles for target vehicle, wherein SIt is super=S1+S2；
SSurpassedFor the traveling total distance of front truck vehicle group, wherein SSurpassed=V " (t1+t2)。
When target vehicle drives on two-way single-lane road, according to a series of warps on travelling data and the road
Latitude records point, determines the value of above-mentioned parameters, then makes the following judgment in real time：
If it is motor-driven to implement to overtake other vehicles, this track (target vehicle is currently located track) is needed to surmount front vehicle group, therefore is needed
Meet (SIt is super-SSurpassed)>LChe Qun；Meanwhile when overtaking other vehicles, opposite track spatial relationship is also required to ensure energy safety, therefore needs full
Sufficient S2+S3+S4<LIt is oppositeIt (in the case where landform is difficult or drive manner is radical, needs to meet
When meeting above-mentioned determination requirement, it is feasible that display, which drives in the wrong direction and overtakes other vehicles, and otherwise, it is dangerous that display, which drives in the wrong direction and overtakes other vehicles,.
In this way, when driver on two-way single-lane road when driving, when being intended to carry out overtaking other vehicles motor-driven, alarm for overtaking can be referred to and being carried
Show to decide whether passing behavior, to improve the safety overtaken other vehicles.
It also each provides one kind based on same inventive concept, in the embodiment of the present invention to overtake other vehicles suggestion device, due to above-mentioned
The principle that device solves the problems, such as is similar to reminding method of overtaking other vehicles, therefore the implementation of above-mentioned apparatus may refer to the implementation of method, weight
Multiple place repeats no more.
As shown in figure 3, for the suggestion device of overtaking other vehicles provided in an embodiment of the present invention applied in two-way single-lane road
Structural schematic diagram, including：
Travelling data acquiring unit 31, the travelling data for obtaining each vehicle on the road；The travelling data packet
Include the location information and movement state information of the vehicle；
Vehicle determination unit 32, the travelling data of each vehicle for being obtained according to the travelling data acquiring unit 31,
Determine that target vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track；
First position relation determination unit 33, the front truck vehicle group for being determined according to the vehicle determination unit 32 and meeting
Vehicle vehicle determines the position relationship between the target vehicle, the front truck vehicle group and the meeting vehicle；
Judging unit 34, for the position relationship that is determined according to the first position relation determination unit 33, described in judgement
Whether target vehicle can overtake other vehicles；
First prompt unit 35, for when the judging unit 34 judges that the target vehicle can be overtaken other vehicles,
The prompt that can overtake other vehicles is exported, the prompt that can not overtake other vehicles otherwise is exported.
Optionally, the vehicle determination unit 32, specifically includes：
Second position relationship determination module 321 determines each vehicle and the road for the travelling data according to each vehicle
Between position relationship；
Vehicle determining module 322, each vehicle for being determined according to the second position relationship determination module 321 with it is described
Position relationship between road determines that target vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track.
Optionally, the vehicle determining module 322, is specifically used for：
According to the position relationship between each vehicle and the road, determine target vehicle need it is surmounting, meet default item
The front truck vehicle group of part；Wherein, the preset condition includes：Driving between arbitrary two Adjacent vehicles of the front truck Che Qunzhong
It is smaller than the corresponding front truck vehicle group's spacing threshold of the front truck vehicle group, and the corresponding front truck vehicle group spacing threshold of the front truck vehicle group
Speed when value is overtaken other vehicles according to the average speed and the target vehicle of the front truck vehicle group on the opposite track determines.
Optionally, the position relationship includes：
The vehicle group of link length and the front truck vehicle group before the target vehicle is overtaken other vehicles between the meeting vehicle
Length；Then
The judging unit 34, is specifically used for：
Judging traveling total distance and the difference of the traveling total distance of the front truck vehicle group when target vehicle is overtaken other vehicles is
No vehicle group's length more than the front truck vehicle group, and judge operating range when the target vehicle is overtaken other vehicles in opposite track,
The target vehicle after the operating range of the meeting vehicle and the pre-set target vehicle are overtaken other vehicles when overtaking other vehicles with institute
State the safe distance between meeting vehicle summation whether overtake other vehicles less than the target vehicle before between the meeting vehicle
Link length；When two judging results are to be, determine that the target vehicle can overtake other vehicles；Otherwise, it determines the mesh
Mark vehicle cannot overtake other vehicles.
Optionally, vehicle group's length of the front truck vehicle group determines as follows：
When the front truck Che Qunzhong only includes a vehicle, the vehicle group length is the safe driving spacing of the vehicle；
When the front truck Che Qunzhong includes at least two cars, the vehicle group length is the vehicle end to end of the front truck Che Qunzhong
The summation of link length and the safe driving spacing of the head vehicle of the front truck Che Qunzhong between.
Optionally, described device further includes：
Second prompt unit 36 continues to output the target vehicle and is answered when overtaking other vehicles after exporting the prompt that can overtake other vehicles
The velocity information having and/or directional information.
For convenience of description, above each section is divided by function describes respectively for each module (or unit).Certainly, exist
Implement the function of each module (or unit) can be realized in same or multiple softwares or hardware when the present invention.
When it is implemented, above-mentioned suggestion device of overtaking other vehicles can be arranged in vehicle termination.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
- The reminding method 1. one kind is overtaken other vehicles, which is characterized in that it is applied in two-way single-lane road, the method includes：Obtain the travelling data of each vehicle on the road；The travelling data includes the location information and movement shape of the vehicle State information, wherein the movement state information includes：Travel speed, travel direction and the acceleration information of vehicle；According to the travelling data of each vehicle, determine that target vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track ；According to the front truck vehicle group and meeting vehicle determined, the target vehicle, the front truck vehicle group and the meeting vehicle are determined Position relationship between；According to the position relationship, judge whether the target vehicle can overtake other vehicles；When judging that the target vehicle can be overtaken other vehicles, output can overtake other vehicles prompt, and otherwise output can not overtake other vehicles prompt；The travelling data according to each vehicle determines that target vehicle needs the meeting on the front truck vehicle group surmounted and opposite track Vehicle vehicle, specifically includes：According to the travelling data of each vehicle, the position relationship between each vehicle and the road is determined；According to Position relationship between each vehicle and the road determines that target vehicle needs on the front truck vehicle group surmounted and opposite track Meeting vehicle；The position relationship according between each vehicle and the road determines that target vehicle needs the front truck vehicle group surmounted, tool Body includes：According to the position relationship between each vehicle and the road, determine target vehicle need it is surmounting, meet preset condition Front truck vehicle group；Wherein, the preset condition includes：Between driving between arbitrary two Adjacent vehicles of the front truck Che Qunzhong Away from front truck vehicle group's spacing threshold corresponding less than the front truck vehicle group, and the corresponding front truck vehicle group's spacing threshold of the front truck vehicle group Speed when being overtaken other vehicles according to the average speed of the front truck vehicle group and the target vehicle on the opposite track determines.
- 2. the method as described in claim 1, which is characterized in that the position relationship includes：The Che Qunchang of link length and the front truck vehicle group before the target vehicle is overtaken other vehicles between the meeting vehicle Degree；ThenAccording to the position relationship, judge whether the target vehicle can overtake other vehicles, specifically includes：Judge whether traveling total distance when the target vehicle is overtaken other vehicles and the difference of the traveling total distance of the front truck vehicle group are big In vehicle group's length of the front truck vehicle group, and judge operating range when the target vehicle is overtaken other vehicles in opposite track, described After the operating range of the meeting vehicle and the pre-set target vehicle are overtaken other vehicles when target vehicle is overtaken other vehicles with the meeting Whether the summation of the safe distance between vehicle vehicle is less than the road between the meeting vehicle before the target vehicle is overtaken other vehicles Length；When two judging results are to be, determine that the target vehicle can overtake other vehicles；Otherwise, it determines the target vehicle It cannot overtake other vehicles.
- 3. method as claimed in claim 2, which is characterized in that vehicle group's length of the front truck vehicle group is true as follows It is fixed：When the front truck Che Qunzhong only includes a vehicle, the vehicle group length is the safe driving spacing of the vehicle；When the front truck Che Qunzhong include at least two cars when, the vehicle group length be the front truck Che Qunzhong vehicle end to end it Between link length and the front truck Che Qunzhong head vehicle safe driving spacing summation.
- 4. the method as described in claim 1, which is characterized in that when judging that the target vehicle can be overtaken other vehicles, output It can overtake other vehicles after prompt, the method further includes：Export velocity information and/or directional information that the target vehicle have when overtaking other vehicles.
- The suggestion device 5. one kind is overtaken other vehicles, which is characterized in that apply in two-way single-lane road, described device includes：Travelling data acquiring unit, the travelling data for obtaining each vehicle on the road；The travelling data includes described The location information and movement state information of vehicle, wherein the movement state information includes：The travel speed of vehicle, traveling side To and acceleration information；Vehicle determination unit, the travelling data of each vehicle for being obtained according to the travelling data acquiring unit, determines target Vehicle needs the meeting vehicle on the front truck vehicle group surmounted and opposite track；First position relation determination unit, the front truck vehicle group for being determined according to the vehicle determination unit and meeting vehicle, Determine the position relationship between the target vehicle, the front truck vehicle group and the meeting vehicle；Judging unit, the position relationship for being determined according to the first position relation determination unit, judges the target vehicle Whether can overtake other vehicles；First prompt unit, for when the judging unit judges that the target vehicle can be overtaken other vehicles, output can to surpass Vehicle prompts, and otherwise exports the prompt that can not overtake other vehicles；The vehicle determination unit, specifically includes：Second position relationship determination module is used for the travelling data according to each vehicle, Determine the position relationship between each vehicle and the road；Vehicle determining module, for being determined according to the second position relationship Position relationship between each vehicle and the road that module determines determines that target vehicle needs the front truck vehicle group that surmounts and right Meeting vehicle on track；The vehicle determining module, is specifically used for：According to the position relationship between each vehicle and the road, target vehicle is determined Need front truck vehicle group surmounting, meeting preset condition；Wherein, the preset condition includes：The front truck Che Qunzhong's is arbitrary Vehicular gap between two Adjacent vehicles is less than the corresponding front truck vehicle group's spacing threshold of the front truck vehicle group, and the front truck vehicle Described when the corresponding front truck vehicle group spacing threshold of group is overtaken other vehicles according to the average speed and the target vehicle of the front truck vehicle group Speed on opposite track determines.
- 6. device as claimed in claim 5, which is characterized in that the position relationship includes：The Che Qunchang of link length and the front truck vehicle group before the target vehicle is overtaken other vehicles between the meeting vehicle Degree；ThenThe judging unit, is specifically used for：Judge whether traveling total distance when the target vehicle is overtaken other vehicles and the difference of the traveling total distance of the front truck vehicle group are big In vehicle group's length of the front truck vehicle group, and judge operating range when the target vehicle is overtaken other vehicles in opposite track, described After the operating range of the meeting vehicle and the pre-set target vehicle are overtaken other vehicles when target vehicle is overtaken other vehicles with the meeting Whether the summation of the safe distance between vehicle vehicle is less than the road between the meeting vehicle before the target vehicle is overtaken other vehicles Length；When two judging results are to be, determine that the target vehicle can overtake other vehicles；Otherwise, it determines the target carriage It cannot overtake other vehicles.
- 7. device as claimed in claim 6, which is characterized in that vehicle group's length of the front truck vehicle group is true as follows It is fixed：When the front truck Che Qunzhong only includes a vehicle, the vehicle group length is the safe driving spacing of the vehicle；When the front truck Che Qunzhong include at least two cars when, the vehicle group length be the front truck Che Qunzhong vehicle end to end it Between link length and the front truck Che Qunzhong head vehicle safe driving spacing summation.
- 8. device as claimed in claim 5, which is characterized in that described device further includes：Second prompt unit, after exporting the prompt that can overtake other vehicles, continue to output the target vehicle have when overtaking other vehicles Velocity information and/or directional information.
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| CN106971624B (en) * | 2017-04-25 | 2020-05-08 | 东软集团股份有限公司 | Overtaking early warning method and device |
| CN108583426B (en) * | 2018-03-14 | 2022-05-03 | 斑马网络技术有限公司 | Overtaking indicating system and indicating method thereof |
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| CN109353338B (en) * | 2018-08-10 | 2022-02-15 | 重庆大数据研究院有限公司 | Intelligent vehicle overtaking lane collision probability safety prediction method |
| CN109606284B (en) * | 2018-11-27 | 2021-08-24 | 北京千方科技股份有限公司 | Method and device for detecting bad driving behaviors |
| CN117485342A (en) * | 2018-12-28 | 2024-02-02 | 康明斯有限公司 | System and method for controlling overtaking maneuver of vehicle |
| CN109828573B (en) * | 2019-02-20 | 2022-09-20 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle control method, device and storage medium |
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| CN111179636B (en) * | 2020-01-02 | 2021-06-25 | 北京汽车集团有限公司 | Overtaking early warning method and device |
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