技术领域technical field
本发明涉及智能交通技术领域，尤其涉及一种超车提示方法和装置。The invention relates to the technical field of intelligent transportation, in particular to an overtaking prompt method and device.
背景技术Background technique
随着汽车保有量的不断上升，路面交通状况也变的更加复杂，随之而来的是交通事故也越来越多，由超车引发的交通事故数量在所有交通事故总量中占相当大的百分比。With the continuous increase of car ownership, road traffic conditions have become more complex, followed by more and more traffic accidents. The number of traffic accidents caused by overtaking accounts for a considerable amount of all traffic accidents. percentage.
目前，虽然已经规定了车辆在不同等级的道路上和不同的行驶速度下的超车视距，但是在实际超车过程中，特别是在双车道(即双向单车道)进行逆向超车的过程中，依然需要驾驶员依靠主观判断来完成超车行为。At present, although the overtaking sight distance of vehicles on different grades of roads and different driving speeds has been stipulated, in the actual overtaking process, especially in the process of reverse overtaking in two-lane (that is, two-way single-lane), still The driver needs to rely on subjective judgment to complete the overtaking behavior.
这种依靠主观判断的超车方法，容易因主观观察失误，造成会车碰撞的情况。特别是：This overtaking method that relies on subjective judgment is prone to errors in subjective observation, resulting in collisions between passing vehicles. in particular:
1、车速较高，超越前方连续多辆车辆的情况下，预判对向车辆距离时，容易造成错觉，酿成惨剧。1. When the vehicle speed is high, when overtaking multiple consecutive vehicles in front, when predicting the distance of the oncoming vehicle, it is easy to cause illusions and lead to tragedy.
2、车辆一旦实施超车后，才发现之前观察缺失或判断失误，此时该车辆处于对向车道有车驶临无法前进，同时原车道又处于被超越车/车群位置无法回退的两难区域，酿成惨剧。2. Once the vehicle overtakes, it is discovered that the previous observation was missing or the judgment was wrong. At this time, the vehicle is in the opposite lane and cannot move forward. At the same time, the original lane is in the dilemma area where the overtaken vehicle/vehicle group cannot retreat , leading to tragedy.
发明内容Contents of the invention
本发明实施例提供一种超车提示方法和装置，用于提高超车判断的准确度和超车时的安全性。Embodiments of the present invention provide an overtaking prompt method and device, which are used to improve the accuracy of overtaking judgment and the safety during overtaking.
本发明实施例采用以下技术方案：Embodiments of the present invention adopt the following technical solutions:
本发明实施例提供了一种超车提示方法，应用于双向单车道道路中，所述方法包括：An embodiment of the present invention provides an overtaking prompt method, which is applied to a two-way single-lane road, and the method includes:
获取所述道路上各车辆的行车数据；所述行车数据包括所述车辆的位置信息和运动状态信息；Acquiring driving data of each vehicle on the road; the driving data includes position information and motion state information of the vehicle;
根据各车辆的行车数据，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆；According to the driving data of each vehicle, determine the front vehicle group that the target vehicle needs to overtake and the passing vehicles on the opposite lane;
根据确定出的前车车群和会车车辆，确定所述目标车辆、所述前车车群和所述会车车辆之间的位置关系；determining the positional relationship among the target vehicle, the preceding vehicle group, and the passing vehicle according to the determined preceding vehicle group and the passing vehicle;
根据所述位置关系，判断所述目标车辆是否能够进行超车；judging whether the target vehicle is capable of overtaking according to the positional relationship;
当判断出所述目标车辆能够进行超车时，输出可超车提示，否则输出不可超车提示。When it is determined that the target vehicle is capable of overtaking, an overtaking prompt is output; otherwise, an overtaking prompt is output.
可选的，根据各车辆的行车数据，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆，具体包括：Optionally, according to the driving data of each vehicle, determine the vehicle group in front that the target vehicle needs to overtake and the passing vehicles on the opposite lane, specifically including:
根据各车辆的行车数据，确定各车辆与所述道路之间的位置关系；determining the positional relationship between each vehicle and the road according to the driving data of each vehicle;
根据各车辆与所述道路之间的位置关系，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆。According to the positional relationship between each vehicle and the road, the vehicle group in front that the target vehicle needs to overtake and the passing vehicle on the opposite lane are determined.
可选的，根据各车辆与所述道路之间的位置关系，确定目标车辆需要超越的前车车群，具体包括：Optionally, according to the positional relationship between each vehicle and the road, determine the vehicle group in front that the target vehicle needs to overtake, specifically including:
根据各车辆与所述道路之间的位置关系，确定目标车辆需要超越的、符合预设条件的前车车群；其中，所述预设条件包括：所述前车车群中的任意两辆相邻车辆之间的行车间距小于所述前车车群对应的前车车群间距阈值，且所述前车车群对应的前车车群间距阈值根据所述前车车群的平均车速和所述目标车辆超车时在所述对向车道上的车速确定。According to the positional relationship between each vehicle and the road, determine the group of vehicles in front that the target vehicle needs to overtake and meet the preset conditions; wherein, the preset conditions include: any two vehicles in the group of vehicles in front The distance between adjacent vehicles is less than the threshold value of the distance between the preceding vehicle group corresponding to the preceding vehicle group, and the threshold value of the preceding vehicle group distance corresponding to the preceding vehicle group is based on the average vehicle speed of the preceding vehicle group and The speed of the target vehicle on the opposite lane is determined when the target vehicle overtakes.
可选的，所述位置关系包括：Optionally, the location relationship includes:
所述目标车辆超车前和所述会车车辆之间的道路长度，以及所述前向车群的车群长度；则The length of the road between the target vehicle and the passing vehicle before overtaking, and the length of the vehicle group in the forward direction; then
根据所述位置关系，判断所述目标车辆是否能够进行超车，具体包括：According to the positional relationship, judging whether the target vehicle can overtake another vehicle specifically includes:
判断所述目标车辆超车时的行驶总距离与所述前向车群的行驶总距离的差值是否大于所述前向车群的车群长度，以及判断所述目标车辆超车时在对向车道的行驶距离、所述目标车辆超车时所述会车车辆的行驶距离以及预先设置的所述目标车辆超车后与所述会车车辆之间的安全距离的总和是否小于所述目标车辆超车前与所述会车车辆之间的道路长度；judging whether the difference between the total traveling distance of the target vehicle when overtaking and the total traveling distance of the forward vehicle group is greater than the length of the forward vehicle group, and judging that the target vehicle is in the opposite lane when overtaking Whether the sum of the travel distance of the target vehicle, the travel distance of the passing vehicle when the target vehicle overtakes, and the preset safety distance between the target vehicle and the passing vehicle is less than the target vehicle before and after the target vehicle overtakes the length of the road between said passing vehicles;
当两个判断结果均为是时，确定所述目标车辆能够进行超车；否则，确定所述目标车辆不能进行超车。When both judgment results are yes, it is determined that the target vehicle can overtake; otherwise, it is determined that the target vehicle cannot overtake.
可选的，所述前向车群的车群长度按照如下方式确定：Optionally, the vehicle group length of the forward vehicle group is determined as follows:
当所述前向车群中仅包含一辆车时，所述车群长度为该车的安全行车间距；When only one vehicle is included in the forward group of vehicles, the length of the group of vehicles is the safe driving distance of the vehicle;
当所述前向车群中包含至少两辆车时，所述车群长度为所述前向车群中的头尾车辆之间的道路长度与所述前向车群中的头车的安全行车间距的总和。When at least two vehicles are included in the forward vehicle group, the length of the vehicle group is the length of the road between the head and tail vehicles in the forward vehicle group and the safety of the head vehicle in the forward vehicle group. The sum of the distances between vehicles.
可选的，当判断出所述目标车辆能进行超车时，输出可超车提示之后，所述方法还包括：Optionally, when it is determined that the target vehicle is capable of overtaking, after outputting an overtaking prompt, the method further includes:
输出所述目标车辆在超车时应该具备的速度信息和/或方向信息。Outputting speed information and/or direction information that the target vehicle should have when overtaking.
本发明实施例提供了一种超车提示装置，应用在双向单车道道路中，所述装置包括：An embodiment of the present invention provides an overtaking reminder device, which is applied in a two-way single-lane road, and the device includes:
行车数据获取单元，用于获取所述道路上各车辆的行车数据；所述行车数据包括所述车辆的位置信息和运动状态信息；a driving data acquisition unit, configured to acquire the driving data of each vehicle on the road; the driving data includes position information and motion state information of the vehicle;
车辆确定单元，用于根据所述行车数据获取单元获取的各车辆的行车数据，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆；A vehicle determination unit, configured to determine the group of vehicles in front that the target vehicle needs to overtake and the passing vehicles on the opposite lane according to the driving data of each vehicle acquired by the driving data acquisition unit;
第一位置关系确定单元，用于根据所述车辆确定单元确定出的前车车群和会车车辆，确定所述目标车辆、所述前车车群和所述会车车辆之间的位置关系；A first positional relationship determining unit, configured to determine the positional relationship among the target vehicle, the preceding vehicle group and the passing vehicle according to the preceding vehicle group and the passing vehicle determined by the vehicle determining unit ;
判断单元，用于根据所述第一位置关系确定单元确定的位置关系，判断所述目标车辆是否能够进行超车；a judging unit, configured to judge whether the target vehicle is capable of overtaking according to the positional relationship determined by the first positional relationship determining unit;
第一提示单元，用于当所述判断单元判断出所述目标车辆能够进行超车时，输出可超车提示，否则输出不可超车提示。The first prompting unit is configured to output an overtaking prompt when the judging unit judges that the target vehicle is capable of overtaking, otherwise output an overtaking prompt.
可选的，所述车辆确定单元，具体包括：Optionally, the vehicle determination unit specifically includes:
第二位置关系确定模块，用于根据各车辆的行车数据，确定各车辆与所述道路之间的位置关系；The second positional relationship determination module is used to determine the positional relationship between each vehicle and the road according to the driving data of each vehicle;
车辆确定模块，用于根据所述第二位置关系确定模块确定的各车辆与所述道路之间的位置关系，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆。The vehicle determination module is configured to determine the vehicle group in front that the target vehicle needs to overtake and the passing vehicles on the opposite lane according to the positional relationship between each vehicle and the road determined by the second positional relationship determination module.
可选的，所述车辆确定模块，具体用于：Optionally, the vehicle determination module is specifically used for:
根据各车辆与所述道路之间的位置关系，确定目标车辆需要超越的、符合预设条件的前车车群；其中，所述预设条件包括：所述前车车群中的任意两辆相邻车辆之间的行车间距小于所述前车车群对应的前车车群间距阈值，且所述前车车群对应的前车车群间距阈值根据所述前车车群的平均车速和所述目标车辆超车时在所述对向车道上的车速确定。According to the positional relationship between each vehicle and the road, determine the group of vehicles in front that the target vehicle needs to overtake and meet the preset conditions; wherein, the preset conditions include: any two vehicles in the group of vehicles in front The distance between adjacent vehicles is less than the threshold value of the distance between the preceding vehicle group corresponding to the preceding vehicle group, and the threshold value of the preceding vehicle group distance corresponding to the preceding vehicle group is based on the average vehicle speed of the preceding vehicle group and The speed of the target vehicle on the opposite lane is determined when the target vehicle overtakes.
可选的，所述位置关系包括：Optionally, the location relationship includes:
所述目标车辆超车前和所述会车车辆之间的道路长度，以及所述前向车群的车群长度；则The length of the road between the target vehicle and the passing vehicle before overtaking, and the length of the vehicle group in the forward direction; then
所述判断单元，具体用于：The judging unit is specifically used for:
判断所述目标车辆超车时的行驶总距离与所述前向车群的行驶总距离的差值是否大于所述前向车群的车群长度，以及判断所述目标车辆超车时在对向车道的行驶距离、所述目标车辆超车时所述会车车辆的行驶距离以及预先设置的所述目标车辆超车后与所述会车车辆之间的安全距离的总和是否小于所述目标车辆超车前与所述会车车辆之间的道路长度；当两个判断结果均为是时，确定所述目标车辆能够进行超车；否则，确定所述目标车辆不能进行超车。judging whether the difference between the total traveling distance of the target vehicle when overtaking and the total traveling distance of the forward vehicle group is greater than the length of the forward vehicle group, and judging that the target vehicle is in the opposite lane when overtaking Whether the sum of the travel distance of the target vehicle, the travel distance of the passing vehicle when the target vehicle overtakes, and the preset safety distance between the target vehicle and the passing vehicle is less than the target vehicle before and after the target vehicle overtakes The length of the road between the passing vehicles; when both judgment results are yes, it is determined that the target vehicle can overtake; otherwise, it is determined that the target vehicle cannot overtake.
可选的，所述前向车群的车群长度按照如下方式确定：Optionally, the vehicle group length of the forward vehicle group is determined as follows:
当所述前向车群中仅包含一辆车时，所述车群长度为该车的安全行车间距；When only one vehicle is included in the forward group of vehicles, the length of the group of vehicles is the safe driving distance of the vehicle;
当所述前向车群中包含至少两辆车时，所述车群长度为所述前向车群中的头尾车辆之间的道路长度与所述前向车群中的头车的安全行车间距的总和。When at least two vehicles are included in the forward vehicle group, the length of the vehicle group is the length of the road between the head and tail vehicles in the forward vehicle group and the safety of the head vehicle in the forward vehicle group. The sum of the distances between vehicles.
可选的，所述装置还包括：Optionally, the device also includes:
第二提示单元，用于输出可超车提示之后，继续输出所述目标车辆在超车时应该具备的速度信息和/或方向信息。The second prompting unit is configured to continue to output the speed information and/or direction information that the target vehicle should have when overtaking after outputting the overtaking prompt.
本发明实施例的有益效果如下：The beneficial effects of the embodiments of the present invention are as follows:
本发明实施例中，通过获取的各车辆的行车数据，确定出目标车辆、目标车辆需要超越的前车车群以及对向车道上的会车车辆之间的位置关系，进而判断目标车辆是否能够进行超车，并将判断结果输出，与现有技术中人为主观判断的方案相比，不仅能够提高超车判断的准确性，还能提高超车时的安全性，减少超车事故的发生率。In the embodiment of the present invention, through the obtained driving data of each vehicle, the positional relationship between the target vehicle, the group of vehicles in front that the target vehicle needs to overtake, and the passing vehicles on the opposite lane is determined, and then it is judged whether the target vehicle can Performing overtaking and outputting the judgment result, compared with the scheme of human subjective judgment in the prior art, can not only improve the accuracy of overtaking judgment, but also improve the safety of overtaking and reduce the incidence of overtaking accidents.
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
附图说明Description of drawings
此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:
图1为本发明实施例中，超车提示方法的实现流程图；Fig. 1 is in the embodiment of the present invention, the realization flowchart of overtaking prompting method;
图2为本发明实施例中，目标车辆超车过程示意图；Fig. 2 is a schematic diagram of the overtaking process of the target vehicle in the embodiment of the present invention;
图3为本发明实施例中，超车提示装置的实现流程图。Fig. 3 is a flow chart of the realization of the overtaking prompting device in the embodiment of the present invention.
具体实施方式detailed description
为了解决现有技术中存在的问题，本发明实施例提供了一种超车提示方案。该技术方案中，通过获取的各车辆的行车数据，确定出目标车辆、目标车辆需要超越的前车车群以及对向车道上的会车车辆之间的位置关系，进而判断目标车辆是否能够进行超车，并将判断结果输出，与现有技术中人为主观判断的方案相比，不仅能够提高超车判断的准确性，还能提高超车时的安全性，减少超车事故的发生率。In order to solve the problems existing in the prior art, an embodiment of the present invention provides an overtaking prompt solution. In this technical solution, through the acquired driving data of each vehicle, the positional relationship between the target vehicle, the group of vehicles ahead that the target vehicle needs to overtake, and the passing vehicles on the opposite lane is determined, and then it is judged whether the target vehicle can Overtaking and outputting the judgment result, compared with the scheme of human subjective judgment in the prior art, can not only improve the accuracy of overtaking judgment, but also improve the safety of overtaking and reduce the incidence of overtaking accidents.
以下结合说明书附图对本发明的实施例进行说明，应当理解，此处所描述的实施例仅用于说明和解释本发明，并不用于限制本发明。并且在不冲突的情况下，本发明中的实施例及实施例的特征可以互相结合。The embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention. And in the case of no conflict, the embodiments and the features of the embodiments in the present invention can be combined with each other.
本发明实施例提供了一种应用于双向单车道道路中的超车提示方法，如图1所示，为该方法的实现流程图，具体包括下述步骤：The embodiment of the present invention provides an overtaking prompt method applied to two-way single-lane roads, as shown in FIG. 1 , which is a flow chart for the implementation of the method, specifically including the following steps:
步骤11，获取道路上各车辆的行车数据；其中，行车数据包括车辆的位置信息和运动状态信息；Step 11, obtaining the driving data of each vehicle on the road; wherein, the driving data includes the position information and motion state information of the vehicle;
其中，运动状态信息可以包括：车辆的行驶速度、行驶方向和加速度信息。Wherein, the motion state information may include: the driving speed, driving direction and acceleration information of the vehicle.
步骤12，根据各车辆的行车数据，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆。Step 12, according to the driving data of each vehicle, determine the group of vehicles in front that the target vehicle needs to overtake and the passing vehicles on the opposite lane.
其中，目标车辆需要超越的前车可能是一辆，也可能是多辆，当需要超越的前车两两相邻较近时，使得目标车群变道超车后无法正常驶入两车之间时，则两车视为前车车群。Among them, the target vehicle needs to overtake the preceding vehicle may be one, or there may be multiple vehicles. When the preceding vehicles that need to overtake are adjacent to each other, the target vehicle group cannot normally drive between the two vehicles after changing lanes and overtaking. , the two cars are regarded as the front car group.
所谓会车车辆是指两辆车辆对向行驶在同一条车道上。当目标车群变道之后，目标车群逆向行驶，此时其前向出现的对向车辆即为对向车道上的会车车辆。The so-called meeting vehicle refers to two vehicles driving in opposite directions on the same lane. After the target vehicle group changes lanes, the target vehicle group travels in the opposite direction, and the oncoming vehicle that appears in front of it at this time is the meeting vehicle on the opposite lane.
在步骤12中，获取到各车辆的行车数据之后，首先可以根据该行车数据确定出各车辆与所行驶的道路之间的位置关系。具体的，将车辆的位置信息和预先设置的该道路上一系列经纬度记录点进行匹配，便能够得到车辆在道路上的行驶位置。同时，将车辆的行驶方向与道路走向(比如道路是直的还是弯曲的，是东西走向还是南北走向)进行对比，便能够得到车辆在道路中的哪个车道上行驶。然后便能够根据各车辆与所行驶的道路之间的位置关系，确定出目标车辆需要超越的前车车群以及对向车道上的会车车辆。In step 12, after the driving data of each vehicle is acquired, the positional relationship between each vehicle and the road on which it is traveling can be determined first according to the driving data. Specifically, the vehicle's driving position on the road can be obtained by matching the vehicle's position information with a series of preset longitude and latitude record points on the road. At the same time, by comparing the driving direction of the vehicle with the direction of the road (such as whether the road is straight or curved, whether it is east-west or north-south), it is possible to obtain which lane of the road the vehicle is driving on. Then, according to the positional relationship between each vehicle and the road on which it is traveling, it is possible to determine the group of vehicles in front that the target vehicle needs to overtake and the passing vehicles on the opposite lane.
其中，根据各车辆与所行驶的道路之间的位置关系，确定出目标车辆需要超越的前车车群以及对向车道上的会车车辆，可以但不限于按照如下过程实现：Among them, according to the positional relationship between each vehicle and the road on which it is traveling, determining the group of vehicles in front that the target vehicle needs to overtake and the passing vehicles on the opposite lane can be achieved, but not limited to, as follows:
根据各车辆与所行驶道路之间的位置关系，确定目标车辆需要超越的、符合预设条件的前车车群；其中，预设条件可以包括：前车车群中的任意两辆相邻车辆之间的行车间距小于前车车群对应的前车车群间距阈值，且前车车群对应的前车车群间距阈值可以根据前车车群的平均车速和目标车辆超车时在对向车道上的车速确定。According to the positional relationship between each vehicle and the road on which it is traveling, determine the group of vehicles in front that the target vehicle needs to overtake and meet the preset conditions; where the preset conditions may include: any two adjacent vehicles in the group of vehicles in front The distance between vehicles is less than the corresponding distance threshold of the preceding vehicle group, and the threshold value of the preceding vehicle group distance corresponding to the preceding vehicle group can be based on the average speed of the preceding vehicle group and the target vehicle’s speed in the opposite lane when overtaking. The speed on the vehicle is determined.
表1：Table 1:
参考表1，假设前车车群的平均车速V”＝70km/h，目标车辆超车时在对向车道上的车速V＝120km/h，则前车车群间距阈值为(70km/h+120km/h)×3.6s＝190m。Referring to Table 1, assuming that the average vehicle speed V” of the vehicle group in front is 70km/h, and the vehicle speed of the target vehicle on the opposite lane when overtaking is V=120km/h, then the distance threshold between the vehicle group in front is (70km/h+120km /h)×3.6s=190m.
步骤13，根据确定出的前车车群和会车车辆，确定目标车辆、前车车群以及会车车辆之间的位置关系。Step 13: Determine the positional relationship among the target vehicle, the preceding vehicle group, and the passing vehicle according to the determined preceding vehicle group and the passing vehicle.
本发明实施例中，确定出的目标车辆、前车车群以及会车车辆之间的位置关系可以包括：In the embodiment of the present invention, the determined positional relationship among the target vehicle, the vehicle group in front and the passing vehicle may include:
目标车辆超车前和会车车辆之间的道路长度，以及前向车群的车群长度；The length of the road between the target vehicle and the passing vehicle before overtaking, and the length of the vehicle group in the forward direction;
具体的，前车车群的车群长度可以按照如下方式确定：Specifically, the length of the vehicle group in front can be determined as follows:
当确定出的前向车群中仅包含一辆车时，车群长度为该车的安全行车间距；When the determined forward vehicle group contains only one vehicle, the length of the vehicle group is the safe driving distance of the vehicle;
当确定出的前向车群中包含至少两辆车时，车群长度为前向车群中的头尾车辆之间的道路长度与前向车群中的头车的安全行车间距的总和。When the determined forward vehicle group contains at least two vehicles, the vehicle group length is the sum of the road length between the front and rear vehicles in the forward vehicle group and the safe distance between vehicles in the forward vehicle group.
通常情况下，当道路中同一车道上有多个车辆行驶时，两个车辆之间的行车间距与两个车辆的车速有关，当两个车辆的车速发生变化时，两个车辆之间的行车间距也会发生变化，因此本发明实施例中的安全行车间距也可以根据车辆的行车速度确定，其中，车辆的安全行车间距参考值参见下述表2。Usually, when there are multiple vehicles driving in the same lane on the road, the distance between the two vehicles is related to the speed of the two vehicles. When the speed of the two vehicles changes, the distance between the two vehicles The distance will also change, so the safe driving distance in the embodiment of the present invention can also be determined according to the driving speed of the vehicle, wherein, the reference value of the safe driving distance of the vehicle can be found in Table 2 below.
表2：Table 2:
步骤14，根据上述位置关系，判断目标车辆是否能够进行超车。Step 14, according to the above positional relationship, it is judged whether the target vehicle is capable of overtaking.
具体的，根据上述位置关系，判断目标车辆超车时的行驶总距离与前向车群的行驶总距离的差值是否大于前向车群的车群长度，以及判断目标车辆超车时在对向车道的行驶距离、目标车辆超车时会车车辆的行驶距离以及预先设置的目标车辆超车后与会车车辆之间的安全距离的总和是否小于目标车辆超车前与会车车辆之间的道路长度；Specifically, according to the above positional relationship, it is judged whether the difference between the total traveling distance of the target vehicle when overtaking and the total traveling distance of the forward vehicle group is greater than the length of the forward vehicle group, and it is judged that the target vehicle is in the opposite lane when overtaking. Whether the sum of the travel distance of the target vehicle, the travel distance of the passing vehicle when the target vehicle overtakes, and the preset safety distance between the target vehicle and the passing vehicle is less than the road length between the target vehicle and the passing vehicle before overtaking;
当两个判断结果均为是时，确定目标车辆能够进行超车；否则，确定目标车辆不能进行超车。When both judgment results are yes, it is determined that the target vehicle can overtake; otherwise, it is determined that the target vehicle cannot overtake.
步骤15，当判断出目标车辆能够进行超车时，输出可超车提示，否则输出不可超车提示。Step 15, when it is judged that the target vehicle is capable of overtaking, output an overtaking prompt; otherwise, output an overtaking prompt.
当驾驶员在双向单车道道路上行驶时，欲进行超车机动时，可以参考上述超车提示来决定是否实施超车行为，从而提高超车判断的准确度和超车时的安全性。When the driver is driving on a two-way single-lane road and wants to perform an overtaking maneuver, he can refer to the above overtaking prompt to decide whether to implement an overtaking behavior, thereby improving the accuracy of overtaking judgment and the safety of overtaking.
另外，当输出可超车提示时，本发明实施例还可以进一步包括：In addition, when the overtaking prompt is output, the embodiment of the present invention may further include:
将车辆超车时在各个时刻点或各个位置应该具备的速度、方向等参数中的一种或多种输出，以便车主可以根据上述参数调整车辆的行驶速度或方向，进一步提高超车时的安全性。Output one or more of the parameters such as speed and direction that the vehicle should have at each time point or position when overtaking, so that the owner can adjust the driving speed or direction of the vehicle according to the above parameters, and further improve the safety of overtaking.
本发明实施例中，通过获取的各车辆的行车数据，确定出目标车辆、目标车辆需要超越的前车车群以及对向车道上的会车车辆之间的位置关系，进而判断目标车辆是否能够进行超车，并将判断结果输出，与现有技术中人为主观判断的方案相比，不仅能够提高超车判断的准确性，还能提高超车时的安全性，减少超车事故的发生率。In the embodiment of the present invention, through the obtained driving data of each vehicle, the positional relationship between the target vehicle, the group of vehicles in front that the target vehicle needs to overtake, and the passing vehicles on the opposite lane is determined, and then it is judged whether the target vehicle can Performing overtaking and outputting the judgment result, compared with the scheme of human subjective judgment in the prior art, can not only improve the accuracy of overtaking judgment, but also improve the safety of overtaking and reduce the incidence of overtaking accidents.
为了更好的理解本发明实施例，以下结合具体的实施对上述实施例中步骤14的具体实施过程进行说明。In order to better understand the embodiment of the present invention, the specific implementation process of step 14 in the foregoing embodiment will be described below in conjunction with specific implementation.
如图2所示，为目标车辆超车过程示意图。As shown in Figure 2, it is a schematic diagram of the overtaking process of the target vehicle.
其中，V′为会车车辆的车速(Km/h)；Among them, V' is the speed of the passing vehicle (Km/h);
L对向为目标车辆超车前和会车车辆之间的道路长度；L isthe length of the road between the target vehicle before overtaking and the passing vehicle;
V0为目标车辆超车之前的车速，即超车之前的初速度(Km/h)；V0 is the speed of the target vehicle before overtaking, that is, the initial speed before overtaking (Km/h);
S前为目标车辆和其前车之间的距离；Sfront is the distance between the target vehicle and the vehicle in front;
L车群为前向车群的车群长度；Lcar group is the car group length of the forward car group;
V″为前向车群的平均速度(Km/h)；V″ is the average speed of the forward vehicle group (Km/h);
t1为目标车辆超车时的加速时间(s)，根据S前和V0可以计算出t1 is the acceleration time (s) of the target vehicle when overtaking, which can be calculated accordingto S and V0
a为预先设置的超车平均加速度(m/s2)，根据车辆机动能力，数值一般在[2，6]，具体可以参考下述表3。a is the pre-set average overtaking acceleration (m/s2 ). According to the maneuverability of the vehicle, the value is generally in [2, 6]. For details, please refer to the following Table 3.
表3：table 3:
需要说明的是，该值也可以根据目标车辆的具体情况进行自定义设定。It should be noted that this value can also be customized according to the specific conditions of the target vehicle.
V为目标车辆超车时在对向车道上的行驶速度(Km/h)，根据V0、t1和a可以计算出V＝V0+a*t1；V is the driving speed (Km/h) of the target vehicle on the opposite lane when overtaking, and V=V0 +a*t1 can be calculated according to V0 , t1 and a;
t2为目标车辆超车时在对向车道上的行驶时间(s)，可以根据V和L车群计算出t2 is the travel time (s) of the target vehicle on the opposite lane when overtaking, which can be calculated according to the V and Lvehicle groups
S1为目标车辆超车时在当前车道加速行驶距离，即在驶入对向车道之前的加速行驶距离，其中，
S2为目标车辆超车时在对向车道的行驶距离，其中，S2 is the driving distance of the target vehicle in the opposite lane when overtaking, where,
S3为超车完成时，目标车辆与会车车辆之间的安全距离，这个安全距离根据V和V′确定，一般在[15,100]米，具体可参照下述表4。S3 is the safe distance between the target vehicle and the passing vehicle when overtaking is completed. This safe distance is determined according to V and V′, and is generally [15,100] meters. For details, refer to Table 4 below.
表4：Table 4:
S4为目标车辆超车时会车车辆的行驶距离，其中，S4 is the traveling distance of the passing vehicle when the target vehicle overtakes, where,
可选的，当地形困难或驾驶方式激进时，目标车辆超车时会车车辆的行驶距离为
S超为目标车辆超车时的行驶总距离，其中，S超＝S1+S2；Ssuper is the total traveling distance when the target vehicle overtakes, wherein, Ssuper =S1 +S2 ;
S被超为前向车群的行驶总距离，其中，S被超＝V″·(t1+t2)。Sis overtaken as the total traveling distance of the forward vehicle group, wherein, Sovertake =V″·(t1 +t2 ).
当目标车辆行驶到双向单车道道路上时，根据行车数据以及该道路上的一系列经纬度记录点，确定上述各个参数的值，然后实时进行如下判断：When the target vehicle is driving on a two-way single-lane road, according to the driving data and a series of longitude and latitude record points on the road, the values of the above parameters are determined, and then the following judgments are made in real time:
若实施超车机动，对于本车道(目标车辆当前所在车道)需要超越前方车群，故需要满足(S超-S被超)>L车群；同时，超车时，对向车道空间关系也需要保障能安全通过，故需要满足S2+S3+S4<L对向(在地形困难或驾驶方式激进的情况下，需要满足If an overtaking maneuver is implemented, the current lane (the lane where the target vehicle is currently located) needs to overtake the vehicle group in front, so it needs to satisfy (Sovertaking - Sbeing overtaken )>Lvehicle group ; at the same time, when overtaking, the spatial relationship of the opposite lane also needs to be guaranteed It can pass safely, so it needs to meet S2 +S3 +S4 <Lopposite direction (in the case of difficult terrain or aggressive driving style, it needs to meet
当符合上述判断要求时，显示逆行超车是可行的，否则，显示逆行超车是危险的。如此，当驾驶员在双向单车道道路上行驶时，欲进行超车机动时，可以参考超车提示器的提示来决定是否实施超车行为，从而提高超车的安全性。When the above judgment requirements are met, it indicates that overtaking in reverse direction is feasible; otherwise, it indicates that overtaking in reverse direction is dangerous. In this way, when the driver is driving on a two-way single-lane road and wants to perform an overtaking maneuver, he can refer to the prompt of the overtaking indicator to decide whether to implement an overtaking behavior, thereby improving the safety of overtaking.
基于同一发明构思，本发明实施例中还分别提供了一种超车提示装置，由于上述装置解决问题的原理与超车提示方法相似，因此上述装置的实施可以参见方法的实施，重复之处不再赘述。Based on the same inventive concept, the embodiment of the present invention also provides a kind of overtaking prompting device respectively. Since the principle of solving the problem of the above-mentioned device is similar to the overtaking prompting method, the implementation of the above-mentioned device can refer to the implementation of the method, and the repetition will not be repeated. .
如图3所示，为本发明实施例提供的应用在双向单车道道路中的超车提示装置的结构示意图，包括：As shown in FIG. 3 , it is a schematic structural diagram of an overtaking prompting device applied in a two-way single-lane road provided by an embodiment of the present invention, including:
行车数据获取单元31，用于获取所述道路上各车辆的行车数据；所述行车数据包括所述车辆的位置信息和运动状态信息；A driving data acquisition unit 31, configured to acquire the driving data of each vehicle on the road; the driving data includes position information and motion state information of the vehicle;
车辆确定单元32，用于根据所述行车数据获取单元31获取的各车辆的行车数据，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆；A vehicle determining unit 32, configured to determine the vehicle group in front that the target vehicle needs to overtake and the passing vehicle on the opposite lane according to the driving data of each vehicle acquired by the driving data acquiring unit 31;
第一位置关系确定单元33，用于根据所述车辆确定单元32确定出的前车车群和会车车辆，确定所述目标车辆、所述前车车群和所述会车车辆之间的位置关系；The first position relationship determining unit 33 is configured to determine the distance between the target vehicle, the preceding vehicle group and the passing vehicle according to the preceding vehicle group and the passing vehicle determined by the vehicle determining unit 32 Positional relationship;
判断单元34，用于根据所述第一位置关系确定单元33确定的位置关系，判断所述目标车辆是否能够进行超车；A judging unit 34, configured to judge whether the target vehicle is capable of overtaking according to the positional relationship determined by the first positional relationship determining unit 33;
第一提示单元35，用于当所述判断单元34判断出所述目标车辆能够进行超车时，输出可超车提示，否则输出不可超车提示。The first prompting unit 35 is configured to output an overtaking prompt when the judging unit 34 judges that the target vehicle is capable of overtaking, otherwise output an overtaking prompt.
可选的，所述车辆确定单元32，具体包括：Optionally, the vehicle determination unit 32 specifically includes:
第二位置关系确定模块321，用于根据各车辆的行车数据，确定各车辆与所述道路之间的位置关系；The second positional relationship determination module 321 is configured to determine the positional relationship between each vehicle and the road according to the driving data of each vehicle;
车辆确定模块322，用于根据所述第二位置关系确定模块321确定的各车辆与所述道路之间的位置关系，确定目标车辆需要超越的前车车群以及对向车道上的会车车辆。The vehicle determination module 322 is configured to determine the vehicle group in front that the target vehicle needs to overtake and the passing vehicle on the opposite lane according to the positional relationship between each vehicle and the road determined by the second positional relationship determination module 321 .
可选的，所述车辆确定模块322，具体用于：Optionally, the vehicle determining module 322 is specifically used for:
根据各车辆与所述道路之间的位置关系，确定目标车辆需要超越的、符合预设条件的前车车群；其中，所述预设条件包括：所述前车车群中的任意两辆相邻车辆之间的行车间距小于所述前车车群对应的前车车群间距阈值，且所述前车车群对应的前车车群间距阈值根据所述前车车群的平均车速和所述目标车辆超车时在所述对向车道上的车速确定。According to the positional relationship between each vehicle and the road, determine the group of vehicles in front that the target vehicle needs to overtake and meet the preset conditions; wherein, the preset conditions include: any two vehicles in the group of vehicles in front The distance between adjacent vehicles is less than the threshold value of the distance between the preceding vehicle group corresponding to the preceding vehicle group, and the threshold value of the preceding vehicle group distance corresponding to the preceding vehicle group is based on the average vehicle speed of the preceding vehicle group and The speed of the target vehicle on the opposite lane is determined when the target vehicle overtakes.
可选的，所述位置关系包括：Optionally, the location relationship includes:
所述目标车辆超车前和所述会车车辆之间的道路长度，以及所述前向车群的车群长度；则The length of the road between the target vehicle and the passing vehicle before overtaking, and the length of the vehicle group in the forward direction; then
所述判断单元34，具体用于：The judging unit 34 is specifically used for:
判断所述目标车辆超车时的行驶总距离与所述前向车群的行驶总距离的差值是否大于所述前向车群的车群长度，以及判断所述目标车辆超车时在对向车道的行驶距离、所述目标车辆超车时所述会车车辆的行驶距离以及预先设置的所述目标车辆超车后与所述会车车辆之间的安全距离的总和是否小于所述目标车辆超车前与所述会车车辆之间的道路长度；当两个判断结果均为是时，确定所述目标车辆能够进行超车；否则，确定所述目标车辆不能进行超车。judging whether the difference between the total traveling distance of the target vehicle when overtaking and the total traveling distance of the forward vehicle group is greater than the length of the forward vehicle group, and judging that the target vehicle is in the opposite lane when overtaking Whether the sum of the travel distance of the target vehicle, the travel distance of the passing vehicle when the target vehicle overtakes, and the preset safety distance between the target vehicle and the passing vehicle is less than the target vehicle before and after the target vehicle overtakes The length of the road between the passing vehicles; when both judgment results are yes, it is determined that the target vehicle can overtake; otherwise, it is determined that the target vehicle cannot overtake.
可选的，所述前向车群的车群长度按照如下方式确定：Optionally, the vehicle group length of the forward vehicle group is determined as follows:
当所述前向车群中仅包含一辆车时，所述车群长度为该车的安全行车间距；When only one vehicle is included in the forward group of vehicles, the length of the group of vehicles is the safe driving distance of the vehicle;
当所述前向车群中包含至少两辆车时，所述车群长度为所述前向车群中的头尾车辆之间的道路长度与所述前向车群中的头车的安全行车间距的总和。When at least two vehicles are included in the forward vehicle group, the length of the vehicle group is the length of the road between the head and tail vehicles in the forward vehicle group and the safety of the head vehicle in the forward vehicle group. The sum of the distances between vehicles.
可选的，所述装置还包括：Optionally, the device also includes:
第二提示单元36，用于输出可超车提示之后，继续输出所述目标车辆在超车时应该具备的速度信息和/或方向信息。The second prompting unit 36 is configured to continue to output the speed information and/or direction information that the target vehicle should have when overtaking after outputting the overtaking prompt.
为了描述的方便，以上各部分按照功能划分为各模块(或单元)分别描述。当然，在实施本发明时可以把各模块(或单元)的功能在同一个或多个软件或硬件中实现。For the convenience of description, the above parts are divided into modules (or units) according to their functions and described separately. Certainly, when implementing the present invention, the functions of each module (or unit) can be implemented in one or more pieces of software or hardware.
具体实施时，上述超车提示装置可以设置在车辆终端中。During specific implementation, the above-mentioned overtaking prompting device may be set in a vehicle terminal.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410612928.5ACN105551282B (en) | 2014-11-04 | 2014-11-04 | One kind is overtaken other vehicles reminding method and device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410612928.5ACN105551282B (en) | 2014-11-04 | 2014-11-04 | One kind is overtaken other vehicles reminding method and device |
| Publication Number | Publication Date |
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| CN105551282Atrue CN105551282A (en) | 2016-05-04 |
| CN105551282B CN105551282B (en) | 2018-08-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410612928.5AActiveCN105551282B (en) | 2014-11-04 | 2014-11-04 | One kind is overtaken other vehicles reminding method and device |
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