The invention discloses a reverse overtaking early warning method and system in a V2X Internet of Vehicles environment, and relates to the field of intelligent driving. The method comprises the steps:acquiring and analyzing a V2X communication message set to obtain motion states of an HV, an RV-1 and an RV-2; establishing a lane changing safety distance model, and calculating the minimum longitudinal safety distance during the first lane changing according to the established lane changing safety distance model; establishing an acceleration overtaking model, and on the basis of the establishedacceleration overtaking model, calculating acceleration overtaking time and constant-speed overtaking time to calculate a minimum longitudinal safety distance between the HV and the RV-1 after overtaking is completed; establishing a reverse overtaking safety distance model, and on the basis of the established reverse overtaking safety distance model, calculating the HV reverse overtaking longitudinal minimum safety distance through calculation; and judging whether a reverse overtaking safety risk exists at present or not, and carrying out early warning. By establishing the integrated reverseovertaking model, the complex reverse overtaking risk can be accurately recognized.
本发明公开了一种V2X车联网环境下逆向超车预警方法及系统,涉及智能驾驶领域,该方法包括获取V2X通信消息集并解析,得到HV、RV‑1和RV‑2的运动状态;建立换道安全距离模型,并根据建立的换道安全距离模型,计算第一次换道时的最小纵向安全距离;建立加速超车模型,并基于建立的加速超车模型,计算加速超车时间和匀速超车时间计算得到超车完成后HV和RV‑1间的最小纵向安全距离;建立逆向超车安全距离模型,并基于建立的逆向超车安全距离模型,计算得到HV逆向超车纵向最小安全距离;判断当前是否存在逆向超车安全风险,并进行预警。本发明通过建立一体化逆向超车模型,能够实现对复杂逆向超车风险的准确识别。
Reverse overtaking early warning method and system in V2X Internet of Vehicles environment
一种V2X车联网环境下逆向超车预警方法及系统
08.09.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08B SIGNALLING OR CALLING SYSTEMS , Signalisier- oder Rufsysteme / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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