CN113602265A - Processing cooperative lane changing method and system based on vehicle-to-vehicle communication - Google Patents

Processing cooperative lane changing method and system based on vehicle-to-vehicle communication Download PDF

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CN113602265A
CN113602265A CN202110944355.6A CN202110944355A CN113602265A CN 113602265 A CN113602265 A CN 113602265A CN 202110944355 A CN202110944355 A CN 202110944355A CN 113602265 A CN113602265 A CN 113602265A
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vehicle
lane
vehicles
collision
alarm
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赵奕铭
李瑞翩
庹新娟
姚小婷
郭剑锐
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a processing cooperative lane changing method based on vehicle-to-vehicle communication, which comprises the following steps: exchanging basic data between the vehicle and adjacent vehicles within a certain range in real time; synchronizing data of different vehicles; calculating a relative azimuth angle with an adjacent vehicle under a vehicle coordinate system according to the synchronized data; when a vehicle steering lamp is turned on or the steering wheel angle is larger than 10 degrees, whether a vehicle which is within a certain range of a relative azimuth angle, has a distance which is smaller than the width of a lane and is closest to the vehicle along the lane direction exists or not is judged, if yes, whether the vehicle collides or not is judged according to the speed and the acceleration of the two vehicles, if not, whether the vehicle which has a relative azimuth angle which is within a smaller range, has a distance which is smaller than the width of the lane and is closest to the vehicle A along the lane direction exists or not is judged, if yes, whether the vehicle collides or not is judged according to the speed and the acceleration of the two vehicles, and if so, which alarm information and alarm object are generated is judged through a game algorithm.

Description

Processing cooperative lane changing method and system based on vehicle-to-vehicle communication
Technical Field
The invention relates to the field of automobile driving, in particular to a processing and cooperative lane changing method and system based on vehicle-to-vehicle communication.
Background
V2X, the connection between car and anything, mainly includes V2V car and car, V2I car and infrastructure, V2P car and person, V2N car and cloud. The detailed point is that the vehicle communicates with other surrounding vehicles, people and objects through sensors and network communication technology, and the technology analyzes and makes decisions according to the collected information.
Under the push of social progress and economic development, automobiles are playing an increasingly important role in people's daily life. Due to the rapid increase of the number of automobiles, safe driving of the automobiles becomes a worldwide problem, the automobiles sense the state information of other traffic participants in the driving environment through V2X network communication, further calculate whether the driving state of the automobile A is influenced, and then remind the driver accordingly.
In the existing market active safety technology, traditional sensors such as a camera and a radar are mainly used for detecting traffic environment information around a vehicle A, a processor carried by the vehicle is used for analyzing and processing obstacle information detected by the camera and the Radai to obtain a vehicle with collision danger to the vehicle A, and then early warning is carried out according to the distance.
In the prior art, some early warning schemes only can identify vehicles with driving threats to the vehicle A behind the vehicle A, but cannot identify vehicles with the threats to the vehicle A due to lane changing of vehicles in front; in other schemes, whether the vehicle is about to change the lane or not can be judged only through the state of the steering lamp of the front vehicle, however, some drivers often forget to turn on the steering lamp before changing the lane, so that the function is disabled, and the collision risk is generated.
Disclosure of Invention
The invention mainly aims to provide a processing cooperative lane changing method based on vehicle-vehicle communication, which can avoid the collision with a vehicle behind the vehicle and the collision with a vehicle in front of the vehicle in the whole lane changing process.
The technical scheme adopted by the invention is as follows:
the processing and cooperative lane changing method based on vehicle-to-vehicle communication comprises the following steps:
the vehicle A exchanges basic data including position information, speed of a running vehicle, acceleration, the state of a steering lamp and the steering angle of a steering wheel with adjacent vehicles in a certain range in real time;
correcting basic data, and synchronizing data of different vehicles;
according to the synchronized data, calculating a relative azimuth angle with an adjacent vehicle under a vehicle A coordinate system;
when a left turn light of a vehicle A is turned on or a left turn angle of a steering wheel is larger than 10 degrees, whether a vehicle C with a relative azimuth angle within (270 degrees and 360 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether the vehicle A, C collides is judged according to the speeds and accelerations of the two vehicles, if not, whether a vehicle B with a relative azimuth angle within (180 degrees and 270 degrees, a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether the vehicle A, B collides is judged according to the speeds and accelerations of the two vehicles, and if so, what alarm information and alarm objects are generated through a game algorithm.
According to the scheme, when a right steering lamp of the vehicle A is turned on or the right corner of a steering wheel is larger than 10 degrees, whether a vehicle with a relative azimuth angle within (0 degrees and 90 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether the two vehicles collide is judged according to the speed and the acceleration of the two vehicles, if not, whether a vehicle with a relative azimuth angle within (90 degrees and 180 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether the two vehicles collide is judged according to the speed and the acceleration of the two vehicles, and if yes, the generated alarm information and an alarm object are judged through a game algorithm.
In the scheme, the step of determining A, C whether the two vehicles collide according to the speed and the acceleration of the two vehicles is specifically as follows:
v is whenA<vCAnd a isA≤aCAt the time, the vehicle A does not collide with the vehicle C, where vAIs the speed of the vehicle A, aAIs the acceleration of the vehicle A, where vCIs the speed of the vehicle C, aCIs the acceleration of the vehicle C;
iv when vA<vCAnd a isA>aCThe calculation formula of the collision time t of the two vehicles is as follows:
Figure BDA0003216248880000031
wherein the content of the first and second substances,
Figure BDA0003216248880000032
if t>tSetting upThere is no risk of collision, tSetting up＝tLane changing device+ Δ t, Δ t is the driver's reaction time at the completion of the lane change, tLane changing deviceFor track change time,. DELTA.S2Is the distance between vehicle a and vehicle C in the lane direction;
if t is less than or equal to tSetting upIf so, collision danger exists, and an alarm is generated to remind the driver to cancel lane changing operation; controlling vehicle A to accelerate at an acceleration of a'AThe running of the vehicle is carried out,
Figure BDA0003216248880000033
following the above scheme, when vA>vCAnd a isA≥aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000034
wherein the content of the first and second substances,
Figure BDA0003216248880000035
if t>tSetting upThere is no risk of collision;
if t is less than or equal to tSetting upIf collision danger exists, an alarm is generated to remind a driver to cancel lane changing operation; controlling vehicle A to accelerate at an acceleration of a'AThe running of the vehicle is carried out,
Figure BDA0003216248880000041
following the above scheme, when vA>vCAnd a isA<aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000042
wherein the content of the first and second substances,
Figure BDA0003216248880000043
if the t has no positive real value, the two vehicles do not collide;
if t>tSetting upThere is no risk of collision;
if t is less than or equal to tSetting upControlling the vehicle A to accelerate a 'at the risk of collision'AThe vehicle is driven by the electric vehicle,
Figure BDA0003216248880000044
in the scheme, the step of determining A, B whether the two vehicles collide according to the speed and the acceleration of the two vehicles is specifically as follows:
v is whenA>vBAnd a isA≥aBIn the process, the vehicle A does not collide with the vehicle B, and no alarm is given; wherein v isAIs the speed of the vehicle A, aAIs the acceleration of the vehicle A, where vBIs the speed of the vehicle B, aBIs the acceleration of vehicle B;
iv when vA>vBAnd a isA<aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000045
wherein the content of the first and second substances,
Figure BDA0003216248880000046
if t>tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given; t is tSetting up＝tLane changing device+ Δ t, Δ t is the driver's reaction time at the completion of the lane change, tLane changing deviceFor track change time,. DELTA.S1Is the distance between vehicle a and vehicle B in the lane direction;
if tLane changing device<t≤tSetting upIf collision danger exists, alarm information is generated and an alarm is given to the vehicle B;
if t is less than or equal to tLane changing deviceAnd if the collision danger exists and the vehicle collides in the lane changing process, generating alarm information and giving an alarm to the vehicle A.
Following the above scheme, when vA<vBAnd a isA<aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000051
wherein the content of the first and second substances,
Figure BDA0003216248880000052
if t>tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device<t≤tSetting upIf the vehicle A is in collision danger, generating alarm information and giving an alarm to the vehicle B because the vehicle A is in collision after the vehicle A is replaced; or controlling the vehicle B to take the acceleration as a 'when the vehicle B receives the lane change of the vehicle A'BThe vehicle is driven by the electric vehicle,
Figure BDA0003216248880000053
if t is less than or equal to tLane changing deviceAnd if the collision danger exists and the vehicle collides in the lane changing process, generating alarm information, giving an alarm to the vehicle A and canceling the lane changing operation.
Following the above scheme, when vA<vBAnd a isA>aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000054
wherein the content of the first and second substances,
Figure BDA0003216248880000055
if the t has no positive real value, the two vehicles do not collide and do not alarm;
if t>tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device<t≤tSetting upAnd if the vehicle A is in collision danger after the vehicle A is replaced, generating alarm information and giving an alarm to the vehicle B.
The invention also provides a processing cooperative lane changing system based on vehicle-to-vehicle communication, which comprises the following steps:
the communication module is used for exchanging basic data including position information, driving vehicle speed, acceleration, steering lamp state and steering wheel turning angle between the vehicle A and adjacent vehicles in a certain range in real time;
the synchronization module is used for correcting basic data and synchronizing data of different vehicles;
the calculation module is used for calculating the relative azimuth angle with the adjacent vehicle under the vehicle A coordinate system according to the synchronized data;
the cooperation module is used for judging whether a vehicle C with a relative azimuth angle within (270 degrees and 360 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists or not when a left turn lamp of the vehicle A is turned on or a left turn angle of a steering wheel is larger than 10 degrees, judging A, C whether the vehicle C collides or not according to the speed and the acceleration of the two vehicles if the vehicle C collides or not, judging whether the vehicle B with the relative azimuth angle within (180 degrees and 270 degrees, the distance perpendicular to the lane direction smaller than the lane width and the distance closest to the vehicle A along the lane direction exists or not if the vehicle C does not collide or not, judging A, B whether the vehicle B collides or not according to the speed and the acceleration of the two vehicles if the vehicle B collides or not, and judging which alarm information and alarm object are generated through a game algorithm if the vehicle B collides.
According to the scheme, the cooperation module is further used for judging whether a vehicle with a relative azimuth angle within (0 degrees and 90 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists or not when a right steering lamp of the vehicle A is turned on or a right steering angle of a steering wheel is larger than 10 degrees, if so, judging whether the two vehicles collide or not according to the speeds and accelerations of the two vehicles, if not, judging whether the two vehicles collide or not according to the speeds and the accelerations of the two vehicles, if so, judging which alarm information and alarm object is generated through a game algorithm, wherein the distance perpendicular to the lane direction is smaller than the lane width and the distance closest to the vehicle A along the lane direction exists or not, and if not, judging whether the two vehicles collide or not according to the speeds and the accelerations of the two vehicles.
The invention has the following beneficial effects: the invention judges the driving trend of the vehicle according to the state of the steering lamp or the steering wheel angle of the vehicle, and adds a mathematical logic calculation method for collision danger with the rear vehicle caused by lane change of the vehicle and a game idea of early warning of the vehicle or the rear vehicle; meanwhile, a mathematical logic calculation method for collision danger with the vehicle caused by lane change of the front vehicle and a game idea of early warning of the vehicle or the front vehicle are also added. The specific calculation process of the lane change of the vehicle has detailed mathematical logic, and system alarm and control are carried out according to the calculation result, so that the collision with the vehicle behind the vehicle can be avoided, and the collision with the vehicle in front of the vehicle can also be avoided.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2(a) is a schematic diagram of relative azimuth angles;
FIG. 2(b) is a schematic diagram of relative heading angles;
FIG. 3(a) is a schematic diagram of a left lane change of a vehicle according to an embodiment of the present invention;
FIG. 3(b) is a schematic diagram of a right lane change of a vehicle according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for processing a cooperative lane change based on inter-vehicle communication according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Abbreviations and key term definitions:
the V2X vehicle to vehicle exchanges information with the outside;
V2V vehicle to vehicle;
V2I vehicle to infrastructure vehicle and infrastructure;
V2P vehicle to passenger car and human;
V2N vehicle to network vehicle and cloud.
The vehicle carries out real-time exchange of various basic data such as vehicle speed, acceleration, steering lamp shapes, steering wheel turning angles and the like through a positioning device such as an inertial navigation system and a GPS (global positioning system) by the vehicle, then the V2X wireless communication technology is used for exchanging various basic data such as vehicle speed, acceleration, steering lamp shapes, steering wheel turning angles and the like, the vehicle A is assumed to be the vehicle, the vehicle obtains state information of a far vehicle through V2X communication technology, data transmission of a V2X vehicle-mounted equipment unit depends on the self positioning system, and when positioning fails, the V2X vehicle-mounted equipment unit does not broadcast messages outwards, and the transmission frequency is the same as the updating frequency of the positioning data. This causes different sampling frequencies of different sensors, which results in a large error in calculating the current time states of the host vehicle and the distant vehicle, and therefore, if the sampled data are not at the same time point, the determination of the state information of the host vehicle and the adjacent vehicle is meaningless. Because compared with traditional sensor equipment such as radars, cameras and the like, the sampling frequency of the inertial navigation and GPS positioning device is low, the vehicle state information parameters acquired by the inertial navigation and GPS positioning device need to be interpolated to ensure the data synchronization of different sensors.
Specifically, it is assumed that longitude and latitude coordinates collected by the GPS positioning device before interpolation are L respectively0And B0And the latitude and longitude coordinates after interpolation are L and B, the following interpolation formula is provided:
Figure BDA0003216248880000081
wherein, the delta L and the delta B respectively represent the interpolation offset of the longitude and latitude coordinates, and the calculation formula is as follows:
Figure BDA0003216248880000082
wherein v ishRepresenting the vehicle running speed, at represents the interpolation time interval,
Figure BDA0003216248880000083
indicating the vehicle heading angle and l the distance in one degree increase in latitude for the same longitude.
In the same way, the rest parameters acquired by the inertial navigation and GPS positioning device are interpolated according to the same calculation principle, and finally the synchronization of data acquisition time on all sensors is ensured, so that the input requirements of each model are met.
It is understood that the data synchronization may be performed in other manners, and the above embodiments are only examples and are not intended to limit the synchronization method of the present patent.
And due to proper coordinate system selection, the analysis process of the collision danger point can be effectively simplified, the calculation amount is reduced, and the accuracy of vehicle motion state prediction is effectively improved. Because of the analysis requirements for the relative relation between vehicles in the early warning strategy establishment, the invention selects to establish a coordinate system on the vehicle and takes the coordinate system as a public coordinate system, and the established coordinate system is named as a vehicle body coordinate system of the vehicle, which is hereinafter referred to as the vehicle coordinate system. The process of establishing the coordinate system of the vehicle is that the center of mass of the vehicle is taken as the origin, the longitudinal direction of the vehicle is the Y axis, and the direction of the vehicle head is the positive direction of the Y axis; the vehicle transversely is an X axis, and the right side facing the lower part of the vehicle head is the positive direction of the X axis; the vertical line vertical to the horizontal plane of the chassis is a Z axis, and the upward direction of the vertical line is the positive direction of the Z axis.
The vehicle position information expressed in the WGS-84 coordinate system collected by the GPS positioning device is converted into a space rectangular coordinate system with the center of the earth as the origin to be expressed. Namely, converting the position parameters (L, B, H) under the WGS-84 coordinate system into the position parameters (X, Y, Z) under the space rectangular coordinate system, and concretely calculating the formula as follows:
Figure BDA0003216248880000091
wherein the content of the first and second substances,
Figure BDA0003216248880000092
radius of a unit of twelve earthly branches
In the formula (I), the compound is shown in the specification,
Figure BDA0003216248880000093
a is the major semi-axis of the earth ellipse, and b is the minor semi-axis of the earth ellipse.
The relative azimuth angle beta is in a value range of [0,2 pi ], which means that in the vehicle coordinate system, from the positive direction of the longitudinal axis of the coordinate axis, the included angle between straight lines determined by the mass center point of the vehicle and the mass center point of the adjacent vehicle is measured clockwise, and the included angle is the relative azimuth angle between the adjacent vehicle and the vehicle. As shown in fig. 2(a), according to the relative position relationship between the two vehicles shown in the figure, the relative azimuth angle between the adjacent vehicle and the host vehicle is 315 °.
As shown in FIG. 1, the longitude and latitude of the main vehicle HV and the remote vehicle RV are A (L)A,BA) And B (L)B,BB)。LAAnd LBIs longitude, BAAnd BBThe latitude is. Assuming that the straight line passing through point C is perpendicular to OA and intersects point M, for point a,
Figure BDA0003216248880000094
the direction is north and is parallel to the tangent line passing through the north-north direction A. Since the distance between points A and B is relatively short, the straight line AB can be seen as a tangent line passing through point A, and it is shown that the dihedral angle C-OA-B is equivalent to that of point A
Figure BDA0003216248880000095
And
Figure BDA0003216248880000096
the angle alpha therebetween.
The dihedral angle C-OA-B is calculated by space geometric derivation, a Google map method can be adopted, and the longitude and latitude are directly calculated, wherein the & lt AOE and & lt BOF are respectively considered as the latitude of A, the latitude of two points B, and the & lt EOF is the difference of the longitude.
Firstly, sin (angle AOB) is solved, and the sine is obtained by the trigonal cosine theorem:
cos(∠AOB)＝sin(∠AOC)cos(∠BOC)+sin(∠AOC)cos(∠BOC)cos(∠EOF)＝sin(BA)sin(BB)+cos(BA)cos(BB)cos(LB-LA)
then the process of the first step is carried out,
Figure BDA0003216248880000101
② the spherical sine formula can be obtained:
Figure BDA0003216248880000102
in the formula, sin ([ angle A ] -OC-B) ═ sin ([ angle EOF) ═ sin (L)B-LA)
Then, dihedral angle C-OA-B is:
when the host vehicle HV is in the south RV (B)B-BA>0) When the temperature of the water is higher than the set temperature,
Figure BDA0003216248880000103
when the host vehicle HV is on the north side of RV (B)A-BB>0) When the temperature of the water is higher than the set temperature,
Figure BDA0003216248880000104
③ as shown in fig. 2(a), the relative azimuth angle β under the host vehicle coordinate is:
when the RV of the remote vehicle is at the east of HV (L)B-LA>0) When the temperature of the water is higher than the set temperature,
Figure BDA0003216248880000105
when the RV of the remote vehicle is west of HV (L)B-LA<0) When the temperature of the water is higher than the set temperature,
Figure BDA0003216248880000106
in the formula (I), the compound is shown in the specification,
Figure BDA0003216248880000107
showing the clockwise included angle between the direction of the head of the vehicle and the due north direction.
As shown in fig. 2(b), the relative heading angle γ is in a range of [0,2 pi ], which is an angle between straight lines from the positive direction of the longitudinal axis of the coordinate axis to the vector between the origin of the coordinate system of the vehicle and the heading of the adjacent vehicle, i.e., the relative heading angle between the adjacent vehicle and the vehicle. As shown in fig. 2(b), according to the relative relationship between the heading angles of the two vehicles in the coordinate system of the vehicle, the relative heading angle between the adjacent vehicle and the vehicle is 45 °. The calculation formula is as follows:
Figure BDA0003216248880000108
in the formula (I), the compound is shown in the specification,
Figure BDA0003216248880000109
showing the clockwise included angle between the direction of the head of the vehicle and the due north direction,
Figure BDA00032162488800001010
indicating a clockwise angle between the direction of the vehicle head of the vehicle and the true north direction.
The relative azimuth angle range of the possibility of collision with the vehicle in the lane changing process is shown in table 1:
TABLE 1 relative azimuthal Range
Figure BDA0003216248880000111
As shown in fig. 3(a) and 3(B), assuming that the host vehicle is the vehicle a and the lane change is prepared to the lane on which the distant vehicles B and C travel, the vehicles a, B and C obtain their respective positions and heading angle data by the positioning devices such as inertial navigation, GPS and the like mounted on the vehicles a, B and C, and exchange the travel state information by the V2X wireless communication method. According to traffic rules, a driver can turn on corresponding steering lamps in advance when executing lane change operation. As shown in fig. 3(a), when the left turn light of the vehicle a is turned on (or the left rotation angle of the steering wheel is greater than 10 °), the vehicle anti-collision warning system triggers to determine whether to warn.
Under the scenario of fig. 3(a), the processing cooperative lane change method based on vehicle-to-vehicle communication according to the embodiment of the present invention, as shown in fig. 4, mainly includes the following steps:
the vehicle A exchanges basic data including position information, speed of a running vehicle, acceleration, the state of a steering lamp and the steering angle of a steering wheel with adjacent vehicles in a certain range in real time;
correcting basic data, and synchronizing data of different vehicles;
according to the synchronized data, calculating a relative azimuth angle with an adjacent vehicle under a vehicle A coordinate system;
when a left turn light of a vehicle A is turned on or a left turn angle of a steering wheel is larger than 10 degrees, whether a vehicle C with a relative azimuth angle within (270 degrees and 360 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether A, C is collided is judged according to the speed and the acceleration of the two vehicles, if no, whether a vehicle B with a relative azimuth angle within (180 degrees and 270 degrees, a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether A, B is collided is judged according to the speed and the acceleration of the two vehicles, and if yes, the game algorithm of the following embodiment is used for judging which alarm information and alarm objects are generated.
Further, as shown in fig. 3(b), when the right turn light of the vehicle a is turned on or the right turn angle of the steering wheel is greater than 10 °, it is determined whether there is a vehicle whose relative azimuth is within (0 °, 90 °), whose distance perpendicular to the lane direction is less than the lane width, and whose distance from the vehicle a along the lane direction is closest, if so, it is determined whether the two vehicles collide according to the speeds and accelerations of the two vehicles, if not, it is determined whether there is a vehicle whose relative azimuth is within (90 °, 180 °), whose distance perpendicular to the lane direction is less than the lane width, and whose distance from the vehicle a along the lane direction is closest, if so, it is determined whether the two vehicles collide according to the speeds and accelerations of the two vehicles, and if so, it is determined which kind of alarm information and alarm object is generated by the game algorithm of the following embodiment.
According to experience, the lane change time tLane changing deviceThe time for changing lanes is about 5 seconds, and during the lane changing period, the component of the travel distance in the vertical lane direction is relatively small, and the travel distance along the lane center direction can be considered as the travel distance of the vehicle A in the lane changing process of the vehicle.
If a target vehicle B and a vehicle C with collision risks exist in the lane changing process, the distances S between the vehicle A and the lane changing starting time of the vehicle B and the vehicle C are calculated respectivelyABAnd SACDistance Δ S in the lane direction1And Δ S2And a distance Δ S 'perpendicular to the lane direction'1And Δ S'2。
Figure BDA0003216248880000121
Wherein, delta S'1Not more than the width of the lane
Figure BDA0003216248880000122
Wherein, delta S'2Not more than the width of the lane
Judging whether the vehicle A, the vehicle B and the vehicle C have the possibility of collision or not in the lane change process of the vehicle A according to the table 1 and the delta S'1And Δ S'2And judging the relation with the lane width, if collision risks exist, judging whether a vehicle A carrying system carries out early warning to remind a driver to cancel lane changing operation or a vehicle B carrying system carries out early warning to remind the driver to decelerate through a game algorithm by the anti-collision system, or carrying out lane changing under the control of a vehicle system, and further carrying out safe lane changing on the vehicle A, so that the running efficiency is improved on the premise of avoiding collision. Considering the lane change of the vehicle, the driving efficiency of the vehicle itself is affected or the driving speed is lower than the driving speed that the driver of the vehicle is accustomed to because the driving speed of the vehicle in front is relatively slow, so the vehicle does not exceed the highest speed limit of the road in the lane change process.
Firstly, judging whether the vehicle A collides with the vehicle C during lane changing operation, considering that the vehicle generally performs acceleration operation during the lane changing process, the speed of the vehicle A may be higher than that of the vehicle C when the lane changing operation is completed, and if the distance between the two vehicles is relatively short, collision possibility still exists, so when judging whether the vehicle A collides with the vehicle C during lane changing operation, the system should give a reaction time delta t to a driver to avoid collision with the vehicle C when the lane changing operation is completed during calculation.
tSetting up＝tLane changing device+Δt
V is when vA<vCAnd a isA≤aCWhen the vehicle A collides with the vehicle C, the vehicle A does not collide with the vehicle C;
when vA<vCAnd a isA>aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000131
wherein the content of the first and second substances,
Figure BDA0003216248880000132
if t is tTTC>tSetting upThere is no risk of collision, tTTCThe time required for the two vehicles to travel in the current state and collide;
if t is tTTC≤tSetting up，
a) When collision danger exists, the system gives an alarm to remind a driver to cancel lane changing operation;
Figure BDA0003216248880000133
b) control by vehicle System to accelerate a'AThe vehicle runs.
When v isA>vCAnd a isA≥aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000141
wherein the content of the first and second substances,
Figure BDA0003216248880000142
if t is tTTC>tSetting upThere is no risk of collision;
if t is tTTC≤tSetting up，
a) When collision danger exists, the system gives an alarm to remind a driver to cancel lane changing operation;
Figure BDA0003216248880000143
b) control by vehicle System to accelerate a'AAnd performing cooperative lane change driving.
When vA>vCAnd a isA<aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000144
wherein the content of the first and second substances,
Figure BDA0003216248880000145
if the t has no positive real value, the two vehicles do not collide;
if t is tTTC>tSetting upThere is no danger of collision
If t is tTTC≤tSetting up，
a) When collision danger exists, the system gives an alarm to remind a driver to cancel lane changing operation;
Figure BDA0003216248880000146
b) control by vehicle System to accelerate a'AAnd performing cooperative lane change driving.
And on the premise that the collision with the vehicle C does not exist, judging whether the vehicle A collides with the vehicle B in the lane changing operation process, if so, judging whether the vehicle A cancels the lane changing operation or whether the vehicle B gives an alarm to decelerate by a system through a game method so as to avoid the collision when the vehicle A performs the lane changing operation.
V is when vA>vBAnd a isA≥aBIn the process, the vehicle A does not collide with the vehicle B, and no alarm is given;
when vA>vBAnd a isA<aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000151
wherein the content of the first and second substances,
Figure BDA0003216248880000152
if t is tTTC>tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device<t＝tTTC≤tSetting upIf the vehicle A is in collision danger, the vehicle B gives an alarm and the vehicle A does not give an alarm because the vehicle A collides after being changed;
if t is tTTC≤tLane changing deviceExistence ofThe vehicle A gives an alarm and the vehicle B does not give an alarm when the vehicle is in collision danger and the vehicle is in collision in the lane changing process;
when v isA<vBAnd a isA<aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000153
wherein the content of the first and second substances,
Figure BDA0003216248880000154
if t is tTTC>tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device<t＝tTTC≤tSetting upIf the vehicle A is in collision danger, the vehicle B gives an alarm and the vehicle A does not give an alarm because the vehicle A collides after being changed; or when the vehicle B receives the lane change of the vehicle A, the current acceleration is changed by the system control to drive, and the acceleration is a'B。
Figure BDA0003216248880000155
If t is tTTC≤tLane changing deviceIf the vehicle A is in collision danger and the vehicle is in collision in the lane changing process, the vehicle A gives an alarm to cancel the lane changing operation, and the vehicle B does not give an alarm;
when vA<vBAnd a isA>aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure BDA0003216248880000156
wherein the content of the first and second substances,
Figure BDA0003216248880000157
if the t has no positive real value, the two vehicles do not collide and do not alarm;
if t is tTTC>tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device<t＝tTTC≤tSetting upAnd if the vehicle A is in collision danger after the vehicle A is completely replaced, the vehicle B gives an alarm, and the vehicle A does not give an alarm.
The processing cooperation lane changing system based on vehicle-to-vehicle communication in the embodiment of the invention comprises:
the communication module is used for exchanging basic data including position information, driving vehicle speed, acceleration, steering lamp state and steering wheel turning angle between the vehicle A and adjacent vehicles in a certain range in real time;
the synchronization module is used for correcting basic data and synchronizing data of different vehicles;
the calculation module is used for calculating the relative azimuth angle with the adjacent vehicle under the vehicle A coordinate system according to the synchronized data;
the cooperation module is used for judging whether a vehicle C with a relative azimuth angle within (270 degrees and 360 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists or not when a left turn lamp of the vehicle A is turned on or a left turn angle of a steering wheel is larger than 10 degrees, judging A, C whether the vehicle C collides or not according to the speed and the acceleration of the two vehicles if the vehicle C collides or not, judging whether the vehicle B with the relative azimuth angle within (180 degrees and 270 degrees, the distance perpendicular to the lane direction smaller than the lane width and the distance closest to the vehicle A along the lane direction exists or not if the vehicle C does not collide or not, judging whether the vehicle A, B collides or not according to the speed and the acceleration of the two vehicles if the vehicle B collides or not, and judging which alarm information and alarm object are generated through a game algorithm if the vehicle B collides.
Further, the cooperation module is further used for judging whether a vehicle with a relative azimuth angle within (0 degrees and 90 degrees), a distance perpendicular to the lane direction smaller than the lane width and a vehicle A closest to the vehicle A along the lane direction exists when a right turn lamp of the vehicle A is turned on or a right turn angle of a steering wheel is larger than 10 degrees, judging whether the vehicle collides according to the speeds and accelerations of the two vehicles if the vehicle with the relative azimuth angle within (90 degrees and 90 degrees) and the vehicle with the vehicle A closest to the vehicle A along the lane direction exists, judging whether the two vehicles collide according to the speeds and accelerations of the two vehicles if the vehicle with the relative azimuth angle within (90 degrees and 180 degrees) and the vehicle with the vehicle A closest to the lane width along the lane direction exists, and judging which alarm information and alarm object are generated through a game algorithm if the vehicle collides.
The specific calculation process and the game method of the system are described in the above embodiments, and are not described herein.
In conclusion, the driving trend of the vehicle is judged according to the state of the steering lamp or the steering wheel angle of the vehicle, and a mathematical logic calculation method for collision danger with a rear vehicle caused by lane change of the vehicle and a game idea of early warning of the vehicle or the rear vehicle are added; meanwhile, a mathematical logic calculation method for collision danger with the vehicle caused by lane change of the front vehicle and a game idea of early warning of the vehicle or the front vehicle are also added. The specific calculation process of the lane change of the vehicle has detailed mathematical logic, and system alarm and control are carried out according to the calculation result, so that the collision with the vehicle behind the vehicle can be avoided, and the collision with the vehicle in front of the vehicle can also be avoided.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (10)

1. A processing cooperation lane changing method based on vehicle-to-vehicle communication is characterized by comprising the following steps:
the vehicle A exchanges basic data including position information, speed of a running vehicle, acceleration, the state of a steering lamp and the steering angle of a steering wheel with adjacent vehicles in a certain range in real time;
correcting basic data, and synchronizing data of different vehicles;
according to the synchronized data, calculating a relative azimuth angle with an adjacent vehicle under a vehicle A coordinate system;
when a left turn light of a vehicle A is turned on or a left turn angle of a steering wheel is larger than 10 degrees, whether a vehicle C with a relative azimuth angle within (270 degrees and 360 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether the vehicle A, C collides is judged according to the speeds and accelerations of the two vehicles, if not, whether a vehicle B with a relative azimuth angle within (180 degrees and 270 degrees, a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists is judged, if yes, whether the vehicle A, B collides is judged according to the speeds and accelerations of the two vehicles, and if so, what alarm information and alarm objects are generated through a game algorithm.
2. The vehicle-vehicle communication-based processing cooperative lane changing method according to claim 1, wherein when a right turn light of a vehicle a is turned on or a right turn angle of a steering wheel is greater than 10 °, it is determined whether there is a vehicle whose relative azimuth is within (0 °, 90 °), whose distance perpendicular to a lane direction is smaller than a lane width, and whose distance along the lane direction from the vehicle a is closest, if so, it is determined whether the two vehicles collide according to speeds and accelerations of the two vehicles, if not, it is determined whether there is a vehicle whose relative azimuth is within (90 °, 180 °), whose distance perpendicular to the lane direction is smaller than the lane width, and whose distance along the lane direction from the vehicle a is closest, if so, it is determined whether the two vehicles collide according to the speeds and accelerations of the two vehicles, and if so, it is determined which kind of alarm information and alarm object is generated by a game algorithm.
3. The vehicle-to-vehicle communication-based processing cooperative lane change method according to claim 1, wherein the step of determining A, C whether a collision will occur based on the speed and acceleration of two vehicles is specifically:
when vA＜vCAnd a isA≤aCAt the time, the vehicle A does not collide with the vehicle C, where vAIs the speed of the vehicle A, aAIs the acceleration of the vehicle A, where vCIs the speed of the vehicle C, aCIs the acceleration of the vehicle C;
v whenA＜vCAnd a isA＞aCCollision of two vehiclesThe formula for calculating the time to collision t is as follows:
Figure FDA0003216248870000021
wherein the content of the first and second substances,
Figure FDA0003216248870000022
if t > tSetting upThere is no risk of collision, tSetting up＝tLane changing device+ Δ t, Δ t is the driver's reaction time at the completion of the lane change, tLane changing deviceFor track change time,. DELTA.S2Is the distance between vehicle a and vehicle C in the lane direction;
if t is less than or equal to tSetting upIf so, collision danger exists, and an alarm is generated to remind the driver to cancel lane changing operation; controlling vehicle A to accelerate at an acceleration of a'AThe running of the vehicle is carried out,
Figure FDA0003216248870000023
4. the vehicle-to-vehicle communication-based processing cooperative lane change method according to claim 3, wherein when v isA＞vCAnd a isA≥aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure FDA0003216248870000024
wherein the content of the first and second substances,
Figure FDA0003216248870000025
if t > tSetting upThere is no risk of collision;
if t is less than or equal to tSetting upIf collision danger exists, an alarm is generated to remind a driver to cancel lane changing operation; controlling vehicle A to accelerate at an acceleration of a'AThe running of the vehicle is carried out,
Figure FDA0003216248870000026
5. the vehicle-to-vehicle communication-based processing cooperative lane change method according to claim 3, wherein when v isA＞vCAnd a isA＜aCThe formula for calculating the collision time of the two vehicles is as follows:
Figure FDA0003216248870000027
wherein the content of the first and second substances,
Figure FDA0003216248870000028
if the t has no positive real value, the two vehicles do not collide;
if t > tSetting upThere is no risk of collision;
if t is less than or equal to tSetting upControlling the vehicle A to accelerate a 'at the risk of collision'AThe vehicle is driven by the electric vehicle,
Figure FDA0003216248870000031
6. the vehicle-to-vehicle communication-based processing cooperative lane change method according to claim 1, wherein the step of determining A, B whether a collision will occur based on the speed and acceleration of two vehicles is specifically:
when vA＞vBAnd a isA≥aBIn the process, the vehicle A does not collide with the vehicle B, and no alarm is given; wherein v isAIs the speed of the vehicle A, aAIs the acceleration of the vehicle A, where vBIs the speed of the vehicle B, aBIs the acceleration of vehicle B;
v whenA＞vBAnd a isA＜aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure FDA0003216248870000032
wherein the content of the first and second substances,
Figure FDA0003216248870000033
if t > tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given; t is tSetting up＝tLane changing device+ Δ t, Δ t is the driver's reaction time at the completion of the lane change, tLane changing deviceFor track change time,. DELTA.S1Is the distance between vehicle a and vehicle B in the lane direction;
if tLane changing device＜t≤tSetting upIf collision danger exists, alarm information is generated and an alarm is given to the vehicle B;
if t is less than or equal to tLane changing deviceAnd if the collision danger exists and the vehicle collides in the lane changing process, generating alarm information and giving an alarm to the vehicle A.
7. The vehicle-to-vehicle communication-based processing cooperative lane change method according to claim 6, wherein when v isA＜vBAnd a isA＜aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure FDA0003216248870000034
wherein the content of the first and second substances,
Figure FDA0003216248870000035
if t > tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device＜t≤tSetting upIf the vehicle A is in collision danger, generating alarm information and giving an alarm to the vehicle B because the vehicle A is in collision after the vehicle A is replaced; or controlling the vehicle B to take the acceleration as a 'when the vehicle B receives the lane change of the vehicle A'BThe vehicle is driven by the electric vehicle,
Figure FDA0003216248870000041
if t is less than or equal to tLane changing deviceAnd if the collision danger exists and the vehicle collides in the lane changing process, generating alarm information, giving an alarm to the vehicle A and canceling the lane changing operation.
8. The vehicle-to-vehicle communication-based processing cooperative lane change method according to claim 6, wherein when v isA＜vBAnd a isA＞aBThe formula for calculating the collision time of the two vehicles is as follows:
Figure FDA0003216248870000042
wherein the content of the first and second substances,
Figure FDA0003216248870000043
if the t has no positive real value, the two vehicles do not collide and do not alarm;
if t > tSetting upAlthough collision is possible, the vehicle B has enough reaction time, and no alarm is given;
if tLane changing device＜t≤tSetting upAnd if the vehicle A is in collision danger after the vehicle A is replaced, generating alarm information and giving an alarm to the vehicle B.
9. A processing cooperative lane change system based on vehicle-to-vehicle communication is characterized by comprising:
the communication module is used for exchanging basic data including position information, driving vehicle speed, acceleration, steering lamp state and steering wheel turning angle between the vehicle A and adjacent vehicles in a certain range in real time;
the synchronization module is used for correcting basic data and synchronizing data of different vehicles;
the calculation module is used for calculating the relative azimuth angle with the adjacent vehicle under the vehicle A coordinate system according to the synchronized data;
the cooperation module is used for judging whether a vehicle C with a relative azimuth angle within (270 degrees and 360 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists or not when a left turn lamp of the vehicle A is turned on or a left turn angle of a steering wheel is larger than 10 degrees, judging A, C whether the vehicle C collides or not according to the speed and the acceleration of the two vehicles if the vehicle C collides or not, judging whether the vehicle B with the relative azimuth angle within (180 degrees and 270 degrees, the distance perpendicular to the lane direction smaller than the lane width and the distance closest to the vehicle A along the lane direction exists or not if the vehicle C does not collide or not, judging A, B whether the vehicle B collides or not according to the speed and the acceleration of the two vehicles if the vehicle B collides or not, and judging which alarm information and alarm object are generated through a game algorithm if the vehicle B collides.
10. The vehicle-to-vehicle communication-based processing cooperative lane change system according to claim 9, wherein the cooperative module is further configured to, when a right turn light of the vehicle A is turned on or a right turn angle of a steering wheel is greater than 10 °, judging whether a vehicle with a relative azimuth angle within (0 degrees and 90 degrees), a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists or not, if so, judging whether the two vehicles collide according to the speeds and the accelerations of the two vehicles, if not, judging whether a vehicle with a relative azimuth angle within 90 degrees and 180 degrees, a distance perpendicular to the lane direction smaller than the lane width and a distance closest to the vehicle A along the lane direction exists, if so, and judging whether the two vehicles collide according to the speeds and the accelerations of the two vehicles, and if so, judging which alarm information and alarm object are generated through a game algorithm.
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