CN-122024509-A - Narrow-road meeting auxiliary passing method, system, equipment and storage medium

CN122024509ACN 122024509 ACN122024509 ACN 122024509ACN-122024509-A

Abstract

The invention discloses a narrow-road vehicle-meeting auxiliary passing method, a system, equipment and a storage medium, which comprise the steps of constructing a first local high-precision map of a vehicle on a narrow road section within a preset range in real time, establishing a V2V communication link between the vehicle and an opposite vehicle when the opposite vehicle within the preset distance is detected, carrying out master-slave computing node distribution on the vehicle and the opposite vehicle, acquiring a second local high-precision map of the opposite vehicle when the opposite vehicle is a slave computing node, fusing the first local high-precision map and the second local high-precision map, determining temporary avoidance area information of the vehicle and the opposite vehicle according to the fused global cooperative map, generating an avoidance decision scheme according to the temporary avoidance area information and sending the avoidance decision scheme to the opposite vehicle to realize the narrow-road vehicle-meeting auxiliary passing. The invention solves the problems of asymmetric information and difficult decision in the narrow-road meeting process by establishing a real-time data sharing and decision mechanism between two vehicles.

Inventors

WANG ZHIQUAN
ZOU LIBAO
ZHANG YI
Liang Chencheng

Assignees

武汉江夏楚能汽车技术研发有限公司

Dates

Publication Date: 20260512
Application Date: 20260226

Claims (10)

1. An auxiliary passing method for narrow road meeting vehicles is characterized by comprising the following steps: constructing a first local high-precision map of the own vehicle in a preset range on a narrow road section in real time; When an opposite vehicle within a preset distance is detected, establishing a V2V communication link between the own vehicle and the opposite vehicle; performing master-slave computing node distribution on the own vehicle and the opposite vehicle, and acquiring a second local high-precision map corresponding to the opposite vehicle when the opposite vehicle is a slave computing node; fusing the first local high-precision map and the second local high-precision map; Carrying out temporary avoidance area analysis on the fused global collaborative map, and respectively determining temporary avoidance area information corresponding to the self-vehicle and the opposite vehicle; Generating an avoidance decision scheme according to the temporary avoidance area information and a distance avoidance rule, and sending the avoidance decision scheme to the opposite vehicle through the V2V communication link so as to realize the auxiliary passing of the narrow-road meeting vehicle.
2. The method of claim 1, wherein constructing a first local high-precision map of the host vehicle in real-time over a predetermined range on the narrow road segment comprises: when detecting that the vehicle is in a narrow road section, acquiring multi-sensor road data in a preset range of the vehicle in real time; and constructing a first local high-precision map through an SLAM engine according to the multi-sensor road data.
3. The method of claim 2, wherein after constructing a first local high-precision map from the multi-sensor road data by a SLAM engine, further comprising: And carrying out road edge feature analysis on the first local high-precision map, identifying a temporary parking area corresponding to the own vehicle, and marking the temporary parking area in the first local high-precision map.
4. The method of claim 1, wherein the establishing a V2V communication link between the host vehicle and the opposing vehicle upon detecting the opposing vehicle within a predetermined distance comprises: when an opposite vehicle within a preset distance is detected, determining the road width and the road curvature radius; judging whether the passing difficulty exists or not according to the road width and the road curvature radius; if so, a vehicle meeting cooperative request signal is sent to the opposite vehicle so that the own vehicle and the opposite vehicle establish a V2V communication link.
5. The method of claim 1, wherein the master-slave computing node allocation of the host vehicle and the opposing vehicle comprises: Acquiring configuration information of the own vehicle and configuration information of the opposite vehicle; comparing the configuration information of the own vehicle with the configuration information of the opposite vehicle; and carrying out master-slave computing node allocation on the own vehicle and the opposite vehicle based on the configuration comparison result.
6. The method of claim 1, wherein after the master-slave computing node assignment to the host vehicle and the opposing vehicle, further comprising: when the opposite vehicle is a main computing node, the first local high-precision map is sent to the opposite vehicle, so that the opposite vehicle fuses the first local high-precision map and the second local high-precision map, and temporary avoidance area analysis and avoidance decision scheme generation are carried out on the fused global collaborative map.
7. The method of claim 1, wherein the fusing the first local high precision map and the second local high precision map comprises: The same feature point identification is carried out on the first local high-precision map and the second local high-precision map; And carrying out coordinate alignment and stitching on the first local high-precision map and the second local high-precision map based on the identified same characteristic points.
8. A narrow road meeting auxiliary pass system, the system comprising: The local map building module is used for building a first local high-precision map of the own vehicle in a preset range on a narrow road section in real time; the V2V communication module is used for establishing a V2V communication link between the own vehicle and the opposite vehicle when the opposite vehicle within a preset distance is detected; The collaborative decision-making module is used for carrying out master-slave computing node distribution on the self-vehicle and the opposite vehicle, and acquiring a second local high-precision map corresponding to the opposite vehicle when the opposite vehicle is a slave computing node; The collaborative decision-making module is further configured to fuse the first local high-precision map and the second local high-precision map; the collaborative decision-making module is further used for carrying out temporary avoidance area analysis on the integrated global collaborative map, and determining temporary avoidance area information corresponding to the self-vehicle and the opposite vehicle respectively; The collaborative decision-making module is further configured to generate an avoidance decision-making scheme according to the temporary avoidance area information and a distance avoidance rule, and send the avoidance decision-making scheme to the opposite vehicle through the V2V communication link, so as to realize auxiliary passing of the narrow-road meeting vehicle.
9. A narrow road junction auxiliary pass apparatus comprising a memory, a processor and a narrow road junction auxiliary pass program stored on the memory and operable on the processor, the narrow road junction auxiliary pass program being configured to implement the steps of the narrow road junction auxiliary pass method of any one of claims 1 to 7.
10. A storage medium having stored thereon a narrow road junction auxiliary passing program which when executed by a processor implements the steps of the narrow road junction auxiliary passing method according to any one of claims 1 to 7.

Description

Narrow-road meeting auxiliary passing method, system, equipment and storage medium Technical Field The invention relates to the technical field of auxiliary passing of vehicles meeting, in particular to a method, a system, equipment and a storage medium for auxiliary passing of narrow-road vehicles meeting. Background Narrow road limited traffic scenarios are prevalent in urban road networks and rural highway systems. Such road segments are characterized by road widths that accommodate single vehicle traffic or marginal two-way traffic, and when two vehicles traveling in opposite directions meet at such road segments, the vehicle-crossing process presents a significant challenge to the driver. The existing technical scheme mainly has the following limitations: the sensing capability is limited in that the existing vehicle auxiliary system relies on a camera, an ultrasonic radar, a millimeter wave radar and other bicycle sensors to sense the environment. Under the condition of a narrow road curve, a visual blind area or a complex obstacle shielding, a bicycle cannot acquire information of a subtended vehicle and a shielded road section. Drivers often communicate only through traditional modes such as whistling, slow heuristics, etc., and safety risks exist. The existing solutions are usually passive early warning, such as displaying images around the vehicle through a 360-degree looking-around system, or monitoring distance through radar and giving an alarm. These schemes only provide environmental information presentation, lack of active analysis and decision advice for meeting scenes, and cannot provide clear collaborative schemes for drivers. Therefore, how to break through the perception boundary of the bicycle and realize intelligent cooperative auxiliary passing among the vehicles on the narrow road section becomes a problem to be solved urgently. The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art. Disclosure of Invention The invention mainly aims to provide a narrow road meeting auxiliary passing method, a narrow road meeting auxiliary passing system, narrow road meeting auxiliary passing equipment and a storage medium, and aims to solve the technical problem of how to break through a perception boundary of a bicycle and realize intelligent cooperative auxiliary passing among vehicles on a narrow road section. In order to achieve the above object, the present invention provides a method for assisting in passing vehicles on a narrow road, the method for assisting in passing vehicles on a narrow road comprising: constructing a first local high-precision map of the own vehicle in a preset range on a narrow road section in real time; When an opposite vehicle within a preset distance is detected, establishing a V2V communication link between the own vehicle and the opposite vehicle; performing master-slave computing node distribution on the own vehicle and the opposite vehicle, and acquiring a second local high-precision map corresponding to the opposite vehicle when the opposite vehicle is a slave computing node; fusing the first local high-precision map and the second local high-precision map; Carrying out temporary avoidance area analysis on the fused global collaborative map, and respectively determining temporary avoidance area information corresponding to the self-vehicle and the opposite vehicle; Generating an avoidance decision scheme according to the temporary avoidance area information and a distance avoidance rule, and sending the avoidance decision scheme to the opposite vehicle through the V2V communication link so as to realize the auxiliary passing of the narrow-road meeting vehicle. Optionally, the real-time construction of the first local high-precision map of the own vehicle within a preset range on the narrow road section includes: when detecting that the vehicle is in a narrow road section, acquiring multi-sensor road data in a preset range of the vehicle in real time; and constructing a first local high-precision map through an SLAM engine according to the multi-sensor road data. Optionally, after the first local high-precision map is constructed according to the multi-sensor road data through the SLAM engine, the method further includes: And carrying out road edge feature analysis on the first local high-precision map, identifying a temporary parking area corresponding to the own vehicle, and marking the temporary parking area in the first local high-precision map. Optionally, the establishing the V2V communication link between the host vehicle and the opposite vehicle when the opposite vehicle within the preset distance is detected includes: when an opposite vehicle within a preset distance is detected, determining the road width and the road curvature radius; judging whether the passing difficulty exists or not according to the