The invention discloses a cooperative lane changing processing method based on vehicle-to-vehicle communication. The method comprises the steps that a vehicle exchanges basic data with adjacent vehicles in a certain range in real time; synchronizing data of different vehicles; calculating a relative azimuth angle with the adjacent vehicle under a vehicle coordinate system according to the synchronized data; when the turn light of the vehicle is turned on or the turning angle of the steering wheel is greater than 10 degrees, judging whether the vehicle which is within a certain range of a relative azimuth angle, has a distance perpendicular to the lane direction smaller than the lane width and is closest to the vehicle along the lane direction exists, if so, judging whether the vehicle collides according to the speeds and accelerations of the two vehicles, and if not, judging whether the vehicle with a relative azimuth angle within a smaller range, a distance perpendicular to the lane direction smaller than the lane width and closest to the vehicle A in the lane direction exists or not, if yes, judging whether the vehicles collide or not according to the speeds and the accelerated speeds of the two vehicles, and if yes, judging what kind of alarm information and alarm objects are generated through a game algorithm.
本发明公开了基于车车通信的处理协同换道方法,包括步骤:车辆与一定范围内的相邻车辆实时交换基本数据;同步不同车辆的数据;根据同步后的数据,在车辆坐标系下计算与邻车的相对方位角;当车辆转向灯打开或者方向盘转角大于10°时,判断是否存在相对方位角一定范围内、垂直于车道方向距离小于车道宽度、且与车辆沿着车道方向距离最近的车辆,若是,则根据两车的速度和加速度判定车辆是否会碰撞,若不会碰撞,则判断是否存在相对方位角在更小范围内、垂直于车道方向距离小于车道宽度、且与车辆A沿着车道方向距离最近的车辆,若是,则根据两车的速度和加速度判定车辆是否会碰撞,若会碰撞,则通过博弈算法判断生成何种报警信息及报警对象。
Cooperative lane changing processing method and system based on vehicle-to-vehicle communication
基于车车通信的处理协同换道方法及系统
2021-11-05
Patent
Electronic Resource
Chinese
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