CN115880945A - Double-lane overtaking early warning system and method - Google Patents
Double-lane overtaking early warning system and method Download PDFInfo
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Abstract
The invention belongs to the technical field of vehicle driving, and particularly provides a double-lane overtaking early warning system and a method, wherein the system comprises a V2X communication framework; the V2X communication architecture comprises intelligent vehicle-mounted equipment and intelligent road-side equipment; the intelligent vehicle-mounted equipment is used for acquiring the running parameter information and the positioning information of the vehicle, the running parameter information and the positioning information of surrounding vehicles and surrounding road condition information; calculating parameters of the overtaking early warning model according to the acquired information, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result, giving an early warning suggestion and outputting the early warning suggestion to intelligent roadside equipment; and the intelligent road side equipment is used for acquiring running parameter information, road condition information and traffic state information of surrounding vehicles, broadcasting surrounding road conditions and other vehicle information, and broadcasting early warning suggestions output by the intelligent vehicle-mounted equipment to guide the vehicles to run safely. The V2X networking technology is utilized to obtain the running parameters of the vehicle and the surrounding vehicles in real time, and the early warning of dangerous overtaking has good accuracy.
Description
Technical Field
The invention belongs to the technical field of vehicle driving, and particularly provides a double-lane overtaking early warning system and method.
Background
Along with the continuous increase of the automobile usage amount, the automobile traffic safety problem is more and more emphasized, and at present, traffic accidents caused by overtaking are more and more increased, overtaking is the most common vehicle control means of a driver in the driving process, when the driving speed of the driver to the vehicle in front of the driver is not enough, the idea of overtaking is generated, however, some potential safety hazards are brought to overtaking in a mining area under the condition that only two lanes are available and the road condition is complex, and the traffic accidents are caused by collision between vehicles on opposite lanes more easily when the vehicle is overtaken by means of roads under the conditions that the dead zone of the mining area is large and the visual field is limited. Most of the existing vehicle driving auxiliary systems are based on sensors such as cameras and radars, the acquired information quantity is small, and a good detection early warning is difficult to achieve under the conditions of low light, low visibility (rain, snow and fog weather) or invisibility (shielding or blind areas). And the sensors, the radar, the camera and the like can not realize information sharing, and the overall safety level can not be improved on the aspect of traffic control.
The V2X networking technology can realize real-time dynamic information interaction on vehicle-vehicle (V2V) information, vehicle-road (V2I) information and the like by using technologies such as wireless communication, information acquisition, internet and the like, and realize vehicle active safety control and road cooperative management on the basis of data acquisition and processing, which also brings a new direction for the research of the overtaking early warning system. The transmission distance of the vehicle-road cooperation technology can reach more than 300m, and the transmission rate is 10-50Hz; the real-time performance is strong, the message processing capacity and the message processing efficiency are improved, and the defects that sensors such as a camera and a radar are easily influenced by the environment and are greatly limited in use are overcome.
Aiming at the problems, the invention designs an intelligent mine card double-lane overtaking early warning system and method based on internet, which can acquire the motion states of the vehicle and the target vehicle in real time and early warn potential dangerous overtaking.
Disclosure of Invention
The potential safety hazards are brought to overtaking under the conditions that only two lanes are available and road conditions are complex in a mining area, and traffic accidents are caused by collision between vehicles in opposite lanes more easily when the vehicles overtake under the conditions that blind areas of the mining area are large and visual fields are limited. Most of the existing vehicle driving auxiliary systems are based on sensors such as cameras and radars, the acquired information quantity is small, and a good detection early warning is difficult to achieve under the conditions of low light, low visibility (rain, snow and fog weather) or invisibility (shielding or blind areas). And the sensors, the radar, the camera and the like can not realize information sharing, and the overall safety level can not be improved on the aspect of traffic control. In order to solve the problems, the invention provides a double-lane overtaking early warning system and a double-lane overtaking early warning method, which utilize a V2X networking technology to acquire the motion states of a vehicle and a target vehicle in real time and carry out early warning on potential dangers.
In a first aspect, the technical scheme of the invention provides a two-lane overtaking early warning system, which comprises a V2X communication framework;
the V2X communication architecture comprises intelligent vehicle-mounted equipment and intelligent road-side equipment;
the intelligent vehicle-mounted equipment is used for acquiring the running parameter information and the positioning information of the vehicle, the running parameter information and the positioning information of surrounding vehicles and surrounding road condition information; calculating parameters of the overtaking early warning model according to the acquired information, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result, giving an early warning suggestion and outputting the early warning suggestion to intelligent roadside equipment;
and the intelligent road side equipment is used for acquiring the running parameter information, the road condition information and the traffic state information of surrounding vehicles, broadcasting the surrounding road conditions and other vehicle information, and broadcasting the early warning suggestion output by the intelligent vehicle-mounted equipment to guide the vehicles to run safely.
As a preferred embodiment of the technical scheme of the invention, the intelligent vehicle-mounted equipment comprises a data acquisition module, a vehicle-mounted communication module, a data processing module and an early warning and safety auxiliary module;
the data acquisition module is used for acquiring the driving parameter information and the positioning information of the vehicle;
the vehicle-mounted communication module is divided into vehicle-to-vehicle communication and vehicle-to-road communication and is used for acquiring running parameter information and positioning information of surrounding vehicles and surrounding road condition information;
the data processing module is used for calculating parameters of the overtaking early warning model according to the information acquired by the data acquisition module and the vehicle-mounted communication module, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result and storing the early warning result; the parameters of the overtaking early warning model comprise a vehicle distance, overtaking time and a minimum safety distance;
and the early warning and safety auxiliary module is used for giving early warning suggestions according to early warning results obtained by calculation of the data processing module and outputting the early warning suggestions to the intelligent road side equipment.
As a preferred embodiment of the technical solution of the present invention, the intelligent road side device includes a road side information acquisition module, a road side communication module, and a traffic control information distribution module;
the road side data acquisition module is used for acquiring running parameter information, road condition information and traffic state information of surrounding vehicles;
the roadside communication module is used for broadcasting surrounding road conditions and other vehicle messages;
and the traffic control information issuing module is used for broadcasting the early warning suggestion output by the early warning and safety auxiliary module to guide the vehicle to safely run.
As a preferable mode of the technical solution of the present invention, the intelligent vehicle-mounted devices communicate with each other via the PC5 to obtain the driving data of the vehicle and the driving data of the surrounding vehicles;
the intelligent road side equipment and the intelligent vehicle-mounted equipment acquire road condition information through PC5 communication and encapsulate HMI information of scanning vehicle longitude and latitude, course angle and acceleration information.
As a preferable aspect of the present invention, the data processing module is configured to perform an overtaking behavior analysis according to the acquired basic driving parameter information of the other vehicle and the vehicle, determine whether the vehicle, the speed of the preceding vehicle, and the opposite lane are driven by the vehicle, and calculate the minimum safe distance only when the speed of the vehicle is greater than the speed of the preceding vehicle.
As an optimization of the technical scheme of the invention, the data processing module is further used for constructing a overtaking time and minimum safe distance model to calculate the overtaking minimum safe distance, establishing an overtaking early warning model, and providing a reasonable overtaking suggestion according to the output result of the overtaking time and minimum safe distance model.
As a preferred preference of the technical scheme of the invention, the overtaking time and minimum safe distance model is as follows:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two vehicles, d A ＝v A0 h+d safe Where h represents the driver safety interval, d safe To compensate for the safety distance, d B 、d C Same principle calculates, v B The running speed v of the preceding vehicle B C Is the traveling speed, v, of the subject vehicle C A1 Acceleration time t for the host vehicle A 1 Last velocity, v A0 Acceleration time t for the host vehicle A 1 A is the acceleration of the host vehicle a.
In a second aspect, the technical solution of the present invention provides a two-lane overtaking early warning method, including the following steps:
installing intelligent vehicle-mounted equipment and intelligent road-side equipment, and installing the intelligent road-side equipment in a blind area and a road section sheltered by dust obstacles;
initializing intelligent vehicle-mounted equipment and intelligent road side equipment;
setting intelligent vehicle-mounted equipment and intelligent road side equipment to carry out real-time interaction to obtain basic driving parameter information of other vehicles and the vehicle;
according to basic driving parameter information of other vehicles and the vehicle, which is obtained by interaction of the intelligent vehicle-mounted equipment and the intelligent road side equipment, carrying out overtaking behavior analysis, and judging whether the vehicle, the speed of the front vehicle and an opposite lane have the vehicle to drive or not;
judging that overtaking behaviors exist when the speed of the vehicle is greater than that of the front vehicle, and calculating overtaking time and minimum safety distance;
dividing the overtaking distance danger level according to the overtaking time and the overtaking distance between the vehicle and the oncoming vehicle, and simultaneously dividing the danger level according to the following distance between the vehicle and the preceding vehicle;
giving out an early warning suggestion of suggesting overtaking or cautious overtaking or forbidding overtaking according to the classified danger level;
and broadcasting surrounding road conditions and other vehicle messages and early warning suggestions to guide the vehicle to safely run.
As a preferable aspect of the technical solution of the present invention, the step of calculating the overtaking time and the minimum safe distance includes:
judging whether a overtaking time model and a minimum safety distance model exist or not;
if yes, inputting a overtaking time and minimum safe distance model according to the acquired basic running parameter information of other vehicles and the vehicle to calculate the overtaking time and the minimum safe distance;
if not, establishing a overtaking time and minimum safe distance model;
the execution steps are as follows: and inputting the overtaking time and the minimum safe distance model according to the acquired basic running parameter information of other vehicles and the vehicle to calculate the overtaking time and the minimum safe distance.
As a preferred preference of the technical solution of the present invention, the step of creating the overtaking time and minimum safe distance model includes:
the safe distance between the vehicle A and the opposite vehicle C before overtaking is as follows: s safe ≥S A +S C +d C +l C Wherein d is C For braking a safe distance,/ C The length of the own vehicle A, S C The driving distance S of the opposite vehicle C in the overtaking process of the vehicle A A The driving distance of the vehicle A in the overtaking process of the vehicle A;
the overtaking total time is t: t = t 1 +t 2 The total driving distance in the overtaking process is S: S = S 1 +S 2 ；
Wherein the acceleration running time of the vehicle A is t 1 The running distance is S 1 The overtaking constant speed running time is t 2 The constant speed running distance is S 2 ；
The running distance S of the front vehicle B in the overtaking process B Is S B ＝v B (t 1 +t 2 ) And passes through the total travel distance S = S of the vehicle 1 +S 2 Obtaining:
the constant-speed running time of the vehicle A can be calculated as
So that the total overtaking time t of the vehicle A is->
The overtaking time of the vehicle A is calculated, and the total driving distance of the vehicle A can be obtained
Calculating the travel distance of the opposite vehicle C in the whole overtaking process
Calculating the minimum safe distance of the overtaking of the vehicle A as follows:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two vehicles, d A ＝v A0 h+d safe Where h represents the driver safety interval, d safe To compensate for the safety distance, d B 、d C And calculating in the same way.
According to the technical scheme, the invention has the following advantages: the V2X networking technology is utilized to obtain the running parameters of the vehicle and the surrounding vehicles in real time, and the warning device has good accuracy on dangerous overtaking warning under the conditions of low light, low visibility (dust, rain fog and other severe weather) or invisibility (shielding or blind areas) and the like. Meanwhile, the invention has a wide application scene range, can be reliably used under severe conditions such as severe weather such as dense fog and heavy snow, and view blind areas, and solves the problem of limited detection of sensors such as cameras and radars, and the communication of the V2X networking technology has the advantages of long distance, low time delay and high reliability.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic block diagram of a system of one embodiment of the present invention.
FIG. 2 is a schematic flow diagram of a method of one embodiment of the invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a two-lane overtaking early warning system, which includes a V2X communication architecture;
the V2X communication architecture comprises intelligent vehicle-mounted equipment and intelligent road-side equipment;
the intelligent vehicle-mounted equipment is used for acquiring the running parameter information and the positioning information of the vehicle, the running parameter information and the positioning information of surrounding vehicles and surrounding road condition information; calculating parameters of the overtaking early warning model according to the acquired information, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result, giving an early warning suggestion and outputting the early warning suggestion to intelligent roadside equipment;
and the intelligent road side equipment is used for acquiring the running parameter information, the road condition information and the traffic state information of surrounding vehicles, broadcasting the surrounding road conditions and other vehicle information, and broadcasting the early warning suggestion output by the intelligent vehicle-mounted equipment to guide the vehicles to run safely.
The V2X communication architecture of the overtaking early warning system adopts a mode of combining V2V vehicle-to-vehicle communication and V2I vehicle-to-road communication, the V2V communication mode mainly realizes detection, identification and data receiving and sending of surrounding vehicles, the communication mode has better real-time performance and lower time delay, the vehicle detects other vehicles in the communication range, the vehicle data information is analyzed to identify the potentially dangerous vehicles around the vehicle, the V2I communication mode can also realize detection, identification and data receiving and sending of the surrounding vehicles, the mode of forwarding the vehicle data information and road condition data information through road side equipment can be suitable for scenes with short visual distances such as more curves, more blind areas, obstacle sheltering, severe weather and the like, and the problem that data cannot be received or the data receiving is delayed due to sheltered signals is avoided.
In some examples, the intelligent vehicle-mounted device comprises a data acquisition module, a vehicle-mounted communication module, a data processing module and an early warning and safety auxiliary module;
the data acquisition module is used for acquiring the driving parameter information and the positioning information of the vehicle;
the vehicle-mounted communication module is divided into vehicle-to-vehicle communication and vehicle-to-road communication and is used for acquiring running parameter information and positioning information of surrounding vehicles and surrounding road condition information;
the data processing module is used for calculating parameters of the overtaking early warning model according to the information acquired by the data acquisition module and the vehicle-mounted communication module, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result and storing the early warning result; the parameters of the overtaking early warning model comprise a vehicle distance, overtaking time and a minimum safety distance;
and the early warning and safety auxiliary module is used for giving early warning suggestions according to early warning results obtained by calculation of the data processing module and outputting the early warning suggestions to the intelligent road side equipment.
The whole V2X communication architecture comprises intelligent vehicle-mounted equipment and intelligent road-side equipment, wherein the intelligent vehicle-mounted equipment comprises 4 parts of a data acquisition module, a vehicle-mounted communication module, a data processing module and an early warning and safety auxiliary module. The data acquisition module is used for acquiring the vehicle positioning information, the vehicle running parameter information and the like; the vehicle-mounted communication module is mainly divided into vehicle-to-vehicle communication and vehicle-to-road communication and is used for acquiring driving parameter information and positioning information of surrounding vehicles and surrounding road condition information; the data processing module is used for calculating parameters of the overtaking early warning model such as the vehicle distance, the overtaking time, the minimum safety distance and the like, finishing the calculation of the overtaking early warning model of the vehicle double lanes to obtain an early warning result and finally providing a function of realizing a data storage function; and the early warning and safety auxiliary module is used for giving early warning suggestions according to early warning results obtained by calculation of the data processing module.
The intelligent road side equipment comprises a road side information acquisition module, a road side communication module and a traffic control information release module;
the road side data acquisition module is used for acquiring running parameter information, road condition information and traffic state information of surrounding vehicles;
the roadside communication module is used for broadcasting surrounding road conditions and other vehicle messages;
and the traffic control information issuing module is used for broadcasting the early warning suggestion output by the early warning and safety auxiliary module to guide the vehicle to safely run.
The intelligent road side equipment comprises 3 parts of a road side information acquisition module, a road side communication module and a traffic control information publishing module. The road side data acquisition module is mainly used for acquiring running parameter information, road condition information, traffic state information and the like of surrounding vehicles, the side communication module is used for broadcasting surrounding road conditions and other vehicle information, and the traffic control information publishing module is used for broadcasting early warning decision information to guide the vehicles to run safely.
In some cases, the intelligent vehicle-mounted equipment acquires the driving data of the vehicle and the driving data of surrounding vehicles through PC5 communication;
the intelligent road side equipment and the intelligent vehicle-mounted equipment acquire road condition information through PC5 communication and encapsulate HMI information of scanning vehicle longitude and latitude, course angle and acceleration information.
The intelligent vehicle-mounted equipment and the road side system perform real-time interaction, wherein the real-time interaction comprises V2V vehicle-to-vehicle communication and V2I vehicle-to-road communication, the V2V communication acquires driving data of a vehicle and driving data of surrounding vehicles through PC5 communication of the vehicle-mounted equipment, the V2I communication is used for blind areas, dust and obstacles to cover more road sections, and road condition information and HMI information encapsulating information such as longitude and latitude, course angle, acceleration and the like of a scanned vehicle are acquired through PC5 communication between the road side equipment and the vehicle-mounted equipment.
And the data processing module is used for analyzing overtaking behaviors according to the acquired basic driving parameter information of other vehicles and the vehicle, judging whether the vehicle, the speed of the front vehicle and the opposite lane have the vehicle to drive or not, and calculating the minimum safety distance only when the speed of the vehicle is greater than the speed of the front vehicle.
The two-lane overtaking needs to meet the requirement that the vehicle and the opposite vehicle have enough safe sight distance after the overtaking is finished, and the distance between the vehicle and the opposite vehicle at the beginning of the overtaking is larger than the sum of the vehicle running distance, the opposite vehicle running distance and the safe sight distance between the vehicle and the opposite vehicle after the overtaking is finished, so that an overtaking time and minimum safe distance model needs to be constructed.
And the data processing module is also used for constructing a overtaking time and minimum safe distance model to calculate the overtaking minimum safe distance, establishing an overtaking early warning model and giving a reasonable overtaking suggestion according to the output result of the overtaking time and minimum safe distance model.
Note that the safe distance between the host vehicle a and the oncoming vehicle C before passing is: s safe ≥S A +S C +d C +l C In which d is C For braking a safe distance,/ C The length of the own vehicle A, S C The driving distance S of the opposite vehicle C in the overtaking process of the vehicle A A The driving distance of the vehicle A in the overtaking process of the vehicle A;
the overtaking total time is t: t = t 1 +t 2 The total driving distance in the overtaking process is S: S = S 1 +S 2 ；
Wherein the acceleration running time of the vehicle A is t 1 The running distance is S 1 The overtaking constant speed running time is t 2 The constant speed running distance is S 2 ；
The running distance S of the front vehicle B in the overtaking process B Is S B ＝v B (t 1 +t 2 ) And passing through the total travel distance S = S of the vehicle 1 +S 2 Obtaining:
the constant-speed running time of the vehicle A can be calculated as
So that the total overtaking time t of the vehicle A is->
The overtaking time of the vehicle A is calculated, and the total driving distance of the vehicle A can be obtained
Calculating the travel distance of the opposite vehicle C in the whole overtaking process
Calculating the minimum safe distance for the overtaking of the vehicle A as follows:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two cars, d A ＝v A0 h+d safe Whereinh represents the driver safety interval, d safe To compensate for the safety distance, d B 、d C And calculating in the same way.
The overtaking time and minimum safe distance model is:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two cars, d A ＝v A0 h+d safe Wherein h represents the driver safety interval, d safe To compensate for the safety distance, d B 、d C Same principle of calculation, v B The running speed v of the preceding vehicle B C Is the traveling speed, v, of the subject vehicle C A1 Acceleration time t for the host vehicle A 1 Last velocity, v A0 Acceleration time t for the host vehicle A 1 The initial velocity of (a) is the acceleration of the host vehicle (A).
Establishing an overtaking early warning model to ensure that a reasonable overtaking suggestion is given through the overtaking early warning model, avoiding the situation of false alarm and missed alarm, needing overtaking time t for the vehicle, and overtaking front distance S between the vehicle A and the opposite vehicle C AC The overtaking distance S between the vehicle A and the front vehicle B AB And dividing danger grade intervals.
The overtaking time t danger level is divided into 3 levels, t is less than or equal to (t) max -t 0 ) Is 1 grade, (t) max -t 0 )<t≤t max Is 2 level, t>t max Grade 3; overtaking distance S AC The danger level is classified into 3 (S) safe +S 0 )≤S AC Is 1 grade, S safe ≤S AC ≤(S safe +S 0 ) Is 2 grade, S AC <S safe Grade 3; following distance S AB The danger class is classified into 3 classes, (d) A +d 0 )≤S AB Is level 1, d A <S AB ≤(d A +d 0 ) Is 2 grade, S AB <d A Is 3 levels.
Wherein S safe For the host vehicle A and the pairMinimum safe distance to vehicle C, d A Is the minimum safe distance, S, between the vehicle A and the front vehicle B 0 The overtaking distance safety threshold is 0.2S safe ，d 0 The safety threshold value for following the vehicle is 0.2d A 。
Three overtaking suggestions are given according to the classification of the danger grades: advising overtaking, cautious overtaking, and prohibiting overtaking. When the danger level of the overtaking time t is 1 level or 2 levels and the overtaking distance S AC Danger grade is grade 1, following distance S AB When the danger level is level 1, overtaking is recommended; when overtaking time t and overtaking distance S AC Distance S between car and car AB Forbidding overtaking when any one of the danger levels of (1) appears in level 3; other situations suggest a cautious overtaking.
The embodiment of the invention provides a double-lane overtaking early warning method, which comprises the following steps:
step 1: installing intelligent vehicle-mounted equipment and intelligent road side equipment, and installing the intelligent road side equipment in a blind area and a dust barrier sheltering road section;
step 2: initializing intelligent vehicle-mounted equipment and intelligent road side equipment;
and step 3: setting intelligent vehicle-mounted equipment and intelligent road side equipment for real-time interaction to obtain basic driving parameter information of other vehicles and the vehicle;
and 4, step 4: according to basic driving parameter information of other vehicles and the vehicle, which is obtained by interaction of the intelligent vehicle-mounted equipment and the intelligent road side equipment, carrying out overtaking behavior analysis, and judging whether the vehicle, the front vehicle speed and an opposite lane have the vehicle to drive or not;
and 5: judging that overtaking behaviors exist when the speed of the vehicle is greater than the speed of the vehicle ahead, and calculating overtaking time and minimum safety distance;
in this step, the step of calculating the overtaking time and the minimum safe distance includes:
judging whether a overtaking time model and a minimum safety distance model exist or not;
if yes, inputting a overtaking time and minimum safe distance model according to the acquired basic running parameter information of other vehicles and the vehicle to calculate the overtaking time and the minimum safe distance;
if not, establishing a overtaking time and minimum safe distance model;
the execution steps are as follows: and inputting the overtaking time and the minimum safe distance model according to the acquired basic running parameter information of other vehicles and the vehicle to calculate the overtaking time and the minimum safe distance.
It is further noted that the step of creating a time-to-overtake and minimum safe distance model comprises:
the safe distance between the vehicle A and the opposite vehicle C before overtaking is as follows: s. the safe ≥S A +S C +d C +l C In which d is C For braking a safe distance,/ C The length of the own vehicle A, S C The driving distance S of the opposite vehicle C in the overtaking process of the vehicle A A The driving distance of the vehicle A in the overtaking process of the vehicle A;
the overtaking total time is t: t = t 1 +t 2 The total driving distance in the overtaking process is S: S = S 1 +S 2 ；
Wherein the acceleration running time of the vehicle A is t 1 The running distance is S 1 The overtaking constant speed running time is t 2 The uniform running distance is S 2 ；
The running distance S of the front vehicle B in the overtaking process B Is S B ＝v B (t 1 +t 2 ) And passes through the total travel distance S = S of the vehicle 1 +S 2 Obtaining:
the constant-speed running time of the vehicle A can be calculated as
So that the total overtaking time t of the vehicle A is>
The overtaking time of the vehicle A is calculated, and the total driving distance of the vehicle A can be obtained
Calculating the running distance of the opposite vehicle C in the whole overtaking process as
Calculating the minimum safe distance of the overtaking of the vehicle A as follows:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two vehicles, d A ＝v A0 h+d safe Wherein h represents the safety time interval of the driver, generally taking 2 seconds, d safe In order to compensate for the safe distance, the value is generally 3 meters; d B 、d C And calculating in the same way.
Step 6: dividing the overtaking distance danger level according to the overtaking time and the overtaking distance between the vehicle and the oncoming vehicle, and simultaneously dividing the danger level according to the following distance between the vehicle and the preceding vehicle;
the overtaking time t is classified into 3 grades, t is less than or equal to (t) max -t 0 ) Is 1 grade, (t) max -t 0 )<t≤t max Is 2 level, t>t max Grade 3; overtaking distance S AC The danger class is classified into 3 classes (S) safe +S 0 )≤S AC Is 1 grade，S safe ≤S AC ≤(S safe +S 0 ) Is level 2, S AC <S safe Grade 3; following distance S AB The danger class is classified into 3 classes, (d) A +d 0 )≤S AB Is level 1, d A <S AB ≤(d A +d 0 ) Is 2 grade, S AB <d A Is 3 levels.
Wherein S safe Is the minimum safe distance between the host vehicle A and the oncoming vehicle C, d A Is the minimum safe distance, S, between the vehicle A and the preceding vehicle B 0 The safe threshold value of the overtaking distance is 0.2S safe ，d 0 The safety threshold value for following the vehicle is 0.2d A 。
And 7: giving out an early warning suggestion of suggesting overtaking or cautious overtaking or forbidding overtaking according to the classified danger level;
three overtaking suggestions are given according to the classification of danger grades: advising overtaking, cautious overtaking, and prohibiting overtaking. When the danger level of the overtaking time t is 1 level or 2 levels and the overtaking distance S AC Danger grade is grade 1, following distance S AB When the danger level is level 1, overtaking is recommended; when overtaking time t and overtaking distance S AC Distance S between car and car AB Forbidding overtaking when any one of the danger levels of (1) is in a grade 3 state; other situations suggest a cautious overtaking.
And 8: and broadcasting surrounding road conditions and other vehicle messages and early warning suggestions to guide the vehicle to safely run.
And finally, the overtaking early warning system calculates according to the vehicle driving data acquired in real time, the driving data of surrounding vehicles and road condition information to obtain an early warning result, an overtaking early warning suggestion is given, and the vehicle determines whether to execute overtaking behaviors.
The embodiment of the invention also provides a double-lane overtaking early warning method based on the system, and the specific overtaking process is shown in figure 2.
Although the present invention has been described in detail in connection with the preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A double-lane overtaking early warning system is characterized by comprising a V2X communication framework;
the V2X communication architecture comprises intelligent vehicle-mounted equipment and intelligent road-side equipment;
the intelligent vehicle-mounted equipment is used for acquiring the running parameter information and the positioning information of the vehicle, the running parameter information and the positioning information of surrounding vehicles and surrounding road condition information; calculating parameters of the overtaking early warning model according to the acquired information, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result, giving an early warning suggestion and outputting the early warning suggestion to intelligent roadside equipment;
and the intelligent road side equipment is used for acquiring running parameter information, road condition information and traffic state information of surrounding vehicles, broadcasting surrounding road conditions and other vehicle information, and broadcasting early warning suggestions output by the intelligent vehicle-mounted equipment to guide the vehicles to run safely.
2. The dual-lane overtaking early warning system as recited in claim 1, wherein the intelligent vehicle-mounted device comprises a data acquisition module, a vehicle-mounted communication module, a data processing module and an early warning and safety auxiliary module;
the data acquisition module is used for acquiring the driving parameter information and the positioning information of the vehicle;
the vehicle-mounted communication module is divided into vehicle-to-vehicle communication and vehicle-to-road communication and is used for acquiring running parameter information and positioning information of surrounding vehicles and surrounding road condition information;
the data processing module is used for calculating parameters of the overtaking early warning model according to the information acquired by the data acquisition module and the vehicle-mounted communication module, completing calculation of the vehicle double-lane overtaking early warning model, obtaining an early warning result and storing the early warning result; the parameters of the overtaking early warning model comprise a vehicle distance, overtaking time and a minimum safety distance;
and the early warning and safety auxiliary module is used for giving early warning suggestions according to early warning results obtained by calculation of the data processing module and outputting the early warning suggestions to the intelligent road side equipment.
3. The dual-lane overtaking early warning system as recited in claim 2, wherein the intelligent roadside device comprises a roadside information acquisition module, a roadside communication module, and a traffic control information distribution module;
the road side data acquisition module is used for acquiring running parameter information, road condition information and traffic state information of surrounding vehicles;
the roadside communication module is used for broadcasting surrounding road conditions and other vehicle messages;
and the traffic control information issuing module is used for broadcasting the early warning suggestion output by the early warning and safety auxiliary module to guide the vehicle to safely run.
4. The dual-lane overtaking early warning system as claimed in claim 3, wherein the intelligent vehicle-mounted devices communicate with each other via the PC5 to obtain the driving data of the vehicle and the driving data of the surrounding vehicles;
the intelligent road side equipment and the intelligent vehicle-mounted equipment acquire road condition information through PC5 communication and encapsulate HMI information of scanning vehicle longitude and latitude, course angle and acceleration information.
5. The dual-lane overtaking early warning system as claimed in claim 4, wherein the data processing module is configured to perform overtaking behavior analysis according to the acquired basic driving parameter information of the other vehicle and the host vehicle, determine whether the host vehicle, the speed of the host vehicle and the opposite lane are driven by vehicles, and perform the calculation of the minimum safety distance only when the speed of the host vehicle is greater than the speed of the host vehicle.
6. The dual-lane overtaking early warning system as claimed in claim 5, wherein the data processing module is further configured to construct an overtaking time and minimum safe distance model to calculate the minimum safe distance for overtaking, establish an overtaking early warning model, and give a reasonable overtaking suggestion according to the output result of the overtaking time and minimum safe distance model.
7. The dual lane overtaking warning system as recited in claim 6 wherein the overtaking time and minimum safe distance model is:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two vehicles, d A ＝v A0 h+d safe Where h represents the driver safety interval, d safe To compensate for the safety distance, d B 、d C Same principle calculates, v B Is the running speed, v, of the preceding vehicle B C Is the traveling speed, v, of the subject vehicle C A1 Acceleration time t for the host vehicle A 1 Last velocity, v A0 Acceleration time t of the vehicle A 1 A is the acceleration of the host vehicle a.
8. A double-lane overtaking early warning method is characterized by comprising the following steps:
installing intelligent vehicle-mounted equipment and intelligent road side equipment, and installing the intelligent road side equipment in a blind area and a dust barrier sheltering road section;
initializing intelligent vehicle-mounted equipment and intelligent road side equipment;
setting intelligent vehicle-mounted equipment and intelligent road side equipment to carry out real-time interaction to obtain basic driving parameter information of other vehicles and the vehicle;
according to basic driving parameter information of other vehicles and the vehicle, which is obtained by interaction of the intelligent vehicle-mounted equipment and the intelligent road side equipment, carrying out overtaking behavior analysis, and judging whether the vehicle, the front vehicle speed and an opposite lane have the vehicle to drive or not;
judging that overtaking behaviors exist when the speed of the vehicle is greater than that of the front vehicle, and calculating overtaking time and minimum safety distance;
dividing the overtaking distance danger level according to the overtaking time and the overtaking distance between the vehicle and the opposite vehicle, and simultaneously dividing the danger level according to the following distance between the vehicle and the front vehicle;
giving out an early warning suggestion of suggesting overtaking or cautious overtaking or forbidding overtaking according to the classified danger level;
and broadcasting surrounding road conditions and other vehicle messages and early warning suggestions to guide the vehicle to safely run.
9. The dual lane overtaking warning method as recited in claim 8, wherein the step of calculating the overtaking time and the minimum safe distance comprises:
judging whether an overtaking time model and a minimum safe distance model exist or not;
if so, inputting the overtaking time and the minimum safe distance model according to the acquired basic running parameter information of other vehicles and the vehicle to calculate the overtaking time and the minimum safe distance;
if not, establishing a overtaking time and minimum safe distance model;
the execution steps are as follows: and inputting the overtaking time and the minimum safe distance model according to the acquired basic running parameter information of other vehicles and the vehicle to calculate the overtaking time and the minimum safe distance.
10. The dual lane overtaking warning method as recited in claim 9, wherein a time-to-overtake and minimum safe distance model is created:
wherein l A 、l B 、l C The length of the respective vehicle, d A 、d B 、d C For braking a safe distance between two vehicles, d A ＝v A0 h+d safe Wherein h represents the driver safety interval, d safe To compensate for the safety distance, d B 、d C Same principle of calculation, v B Is the running speed, v, of the preceding vehicle B C Is the traveling speed, v, of the subject vehicle C A1 Acceleration time t for the host vehicle A 1 Last velocity, v A0 Acceleration time t for the host vehicle A 1 A is the acceleration of the host vehicle a.
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| CN118609396A (en) * | 2024-05-30 | 2024-09-06 | 昆明理工大学 | Vehicle road-borrowing driving and overtaking auxiliary system for weak communication of vehicles in mountain area environment |
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| CN118609396A (en) * | 2024-05-30 | 2024-09-06 | 昆明理工大学 | Vehicle road-borrowing driving and overtaking auxiliary system for weak communication of vehicles in mountain area environment |
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