Overtaking assistance method, system, vehicle, computer-readable storage medium and device

Abstract

The present invention provides an overtaking assistance method for a vehicle, an overtaking assistance system for a vehicle for executing the method, a vehicle equipped with the system, a computer-readable storage medium and a computer device for executing the method. The overtaking assistance method comprises the following steps: S1: obtaining a front-to-rear distance L1 between the vehicle and a preceding vehicle along the vehicle's travel direction, S2: selecting any lane line as a reference lane line, and obtaining the distance between the vehicle and the reference lane line as the lane line distance, S3: flashing a turn signal and / or honking a horn when the front-to-rear distance L1 decreases and the lane line distance changes.

Description

Technical Field

[0001] The present invention relates to the field of overtaking assistance for vehicles, and in particular, to an overtaking assistance method for a vehicle, an overtaking assistance system for a vehicle for executing the method, a vehicle equipped with the system, a computer-readable storage medium and a computer device for executing the method. Background Art

[0002] With the rapid development of domestic roads, especially expressways, expressways now run through various provinces and cities. However, the management system of expressways is not perfect. It is very common for lanes to be occupied by large vehicles.

[0003] Because buses or trucks occupy the lane, car drivers will try to overtake. According to Article 43 of the "Road Traffic Safety Law of the People's Republic of China", when a motor vehicle wants to overtake, it should first give a left turn signal in advance, and the driver needs to flash the high beam and low beam lights or honk the horn. However, many drivers complete the overtaking without any instructions. This incorrect driving habit is very dangerous, especially when the front car changes lanes when the rear car overtakes.

[0004] CN107521494A discloses an overtaking assistance method and device, the overtaking assistance method comprising: step 1: before overtaking a second vehicle, a first vehicle checks whether there is a third vehicle traveling in an adjacent lane, wherein the second vehicle is in the same lane and direction as the first vehicle; step 2: if the check result of step 1 is true, the first vehicle detects the current position and motion parameters of the second vehicle and the third vehicle; step 3: the first vehicle determines whether the overtaking can be completed. Summary of the invention

[0005] According to different aspects, the purpose of the present invention is to provide an overtaking assistance method for a vehicle, an overtaking assistance system for a vehicle for executing the method, a vehicle equipped with the system, a computer-readable storage medium and a computer device for executing the method to solve two main problems, one of which is to indicate to the front vehicle with flashing lights when the driver of the rear vehicle wants to overtake, and the other is to take emergency measures when the front vehicle changes lanes in the case of overtaking by the rear vehicle. Through various technical solutions according to the present invention, the safety of the highway is improved. There is no similar function at present.

[0006] In addition, the present invention is also intended to solve or alleviate other technical problems existing in the prior art.

[0007] The present invention solves the above problems by providing an overtaking assistance method for a vehicle. Specifically, according to one aspect of the present invention, it provides:

[0008] A method for assisting a vehicle to overtake, wherein the method comprises the following steps:

[0009] S1: Obtaining the front-to-rear distance L1 between the vehicle and the preceding vehicle along the vehicle's travel direction,

[0010] S2: Select any lane line as a reference lane line, and obtain the distance between the vehicle and the reference lane line as the lane line distance.

[0011] S3: When the front-to-rear distance L1 decreases and the lane line distance changes, flash the turn signal and / or honk the horn.

[0012] According to another aspect of the present invention, the present invention provides an overtaking assistance system for a vehicle, wherein the overtaking assistance system is used to execute any of the above-mentioned overtaking assistance methods, wherein the overtaking assistance system has a receiving module, a judgment module and an output module that are communicatively connected to each other, the receiving module is configured to obtain a front-to-rear distance L1 between the vehicle and a preceding vehicle along the vehicle's driving direction, and obtain a distance between the vehicle and any lane line serving as a reference lane line as a lane line distance; the judgment module is configured to determine whether the front-to-rear distance L1 is reduced and whether the lane line distance is changed, and if so, the output module outputs a signal to flash the turn signal and / or honk the horn.

[0013] According to yet another aspect of the present invention, the present invention provides a vehicle, wherein the vehicle has the above-mentioned overtaking assistance system.

[0014] According to another aspect of the present invention, the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, any of the above-mentioned overtaking assistance methods is implemented.

[0015] According to yet another aspect of the present invention, the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the above-mentioned overtaking assistance methods when executing the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which:

[0017] Figure 1 A logic block diagram of an implementation of an overtaking assistance method according to the present invention is shown;

[0018] Figure 2 A schematic diagram of an implementation scenario of an overtaking assistance method according to the present invention is shown. DETAILED DESCRIPTION

[0019] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction to the technical solution of the present invention.

[0020] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to their different positions and different usage states. Therefore, these or other directional terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", "third", etc. or similar expressions are only used for description and distinction purposes, and cannot be understood as indicating or implying the relative importance of the corresponding components.

[0021] refer to Figure 1 and 2 , which respectively show a logic block diagram and an implementation scenario schematic diagram of an implementation method of the overtaking assistance method according to the present invention. Figure 1 101 is ADAS (Advanced Driver Assistance System), 102 is the turn signal symbol, 103 is ESP (Electronic Stability Program), 104 is distance, 105 is lane change, 106 is turn signal / turn signal activation signal, 107 is throttle opening, 108 is vehicle speed, 109 is steering wheel, 110 is driver intention detection, 111 is wheel pressure, 112 is brake master cylinder pressure, 113 is brake switch signal, 114 is true, 115 is overtaking assistance system, 116 is receiving module, 117 is judgment module, 118 is output module, 119 is light flashing, 120 is whistle, 121 is wheel target pressure level, 122 is HAL (hydraulicarbitration layer, hydraulic actuator unit); Figure 2 The 201 in the figure is the middle lane line.

[0022] The overtaking assistance method comprises the following steps:

[0023] S1: Obtain the front-to-rear distance L1 between the vehicle (marked as vehicle A in the figure) and the preceding vehicle (marked as vehicle B in the figure) along the vehicle's travel direction.

[0024] S2: Select any lane line as a reference lane line, and obtain the distance between the vehicle and the reference lane line as the lane line distance.

[0025] S3: When the front-to-rear distance L1 decreases and the lane line distance changes, flash the turn signal and / or honk the horn.

[0026] It should be noted that, such as S1, S2, etc. are only used to indicate the names of the steps and to facilitate reference to the indicated steps, but do not indicate the order relationship between the steps. Unless otherwise expressly stated in this specification or there is an obvious conflict, each step can be performed in any order or simultaneously.

[0027] It should be understood that the reference lane line can be selected arbitrarily, for example, the middle lane line 201 is selected as a reference, so that the lane line distance can be detected more easily. If the front-to-rear distance L1 decreases and the lane line distance changes, it means that the vehicle is changing lanes. This situation can not only occur in the case of overtaking, but also in the case of avoiding the vehicle in front that is too slow or brakes suddenly. Therefore, it is necessary to flash the turn signal and / or honk the horn to remind the driver of the vehicle in front to take corresponding measures to avoid accidents. Among them, which specific turn signal should flash can depend on the direction in which the vehicle is overtaking / avoiding. This direction can also be determined by the original relative position of the selected reference lane line relative to the vehicle and whether the lane line distance increases or decreases to determine the vehicle's turning direction, so that the turn signal selection will not be opposite to the direction. And this method is also beneficial to left-hand driving countries such as the United Kingdom. In addition, the reference point on the vehicle (including the vehicle and the vehicle in front) can also be arbitrary, as long as the reference point is not changed when detecting the same distance. In addition, the front-to-rear distance L1 and the lane line distance can be obtained through ADAS, which is an advanced driver assistance system. It uses various sensors installed on the car to sense the surrounding environment at any time during the driving process of the car, collect data, identify, detect and track static and dynamic objects, and combine the navigation map data to perform systematic calculations and analysis, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. In addition, the overtaking assistance method can be applied to various road sections, especially high-speed sections, and of course it can also be applied to other sections such as streets when necessary or under certain conditions.

[0028] It can also be seen from the figure that the overtaking assistance method further includes the following steps:

[0029] S4: Obtaining a left-right distance L2 between the vehicle and the preceding vehicle along a direction perpendicular to the driving direction of the vehicle,

[0030] S5: When the left-right distance L2 is decreasing and decreases to be smaller than a first safety threshold, sound the horn.

[0031] It should be noted that the reference to the left-right distance L2 being reduced here means that not only the left-right distance L2 needs to be less than the first safety threshold, but also the left-right distance L2 is in a state of being reduced, so that the vehicle and the preceding vehicle can be seen to be approaching each other. Otherwise, there may be a potential possibility of misjudgment, for example, when the vehicle just starts to overtake, the left-right distance L2 is quite small, but in fact, at that time, although the left-right distance L2 is very small, it is in a state of being increased, so the two vehicles are not actually approaching each other.

[0032] Optionally and as shown in the figure, the overtaking assistance method further comprises the following steps:

[0033] S6: When the left-right distance L2 is decreasing and decreases to be smaller than a second safety threshold, performing vehicle braking, wherein the second safety threshold is smaller than the first safety threshold.

[0034] It should be noted that the values ​​of the first safety threshold and the second safety threshold can be determined according to the vehicle type and specific experimental conditions, for example, taking into account the safety level to be achieved. The second safety threshold is introduced to take into account the situation where the horn has no effect on the driver of the vehicle in front due to some reason, that is, the two vehicles are still close to each other, so for safety reasons, emergency measures must be taken, that is, braking the vehicle.

[0035] Regarding the implementation scheme of the braking, for example, it can be determined by considering the master cylinder pressure, wheel pressure and / or brake switch signal, and this determination includes how much the braking force should be applied and whether the braking should be performed. Specifically, the brake switch signal indicates whether the driver actively brakes. If the driver actively brakes, the method can choose not to intervene in the driver's active braking behavior, but default to follow the driver's operation and judgment. It should be understood that these three signals can be obtained by ESP. ESP refers to the electronic stability system, which is a general term for systems or programs that are designed to improve the handling performance of the vehicle while effectively preventing the car from losing control when it reaches its dynamic limit. The electronic stability program can improve the safety and handling of the vehicle. It analyzes the vehicle driving status information transmitted from various sensors, and then sends correction instructions to ABS (Antilock Brake System) and ASR (Acceleration Slip Regulation) to help the vehicle maintain dynamic balance. ESP can keep the vehicle in the best stability under various conditions, and the effect is more obvious in the case of oversteering or understeering. The main function of the brake master cylinder is to push the brake fluid (or gas) to each brake cylinder to push the piston. The brake master cylinder is a one-way acting piston hydraulic cylinder, and its function is to convert the mechanical energy input by the pedal mechanism into hydraulic energy. Therefore, the brake master cylinder pressure and the wheel pressure determine the output braking force. After obtaining the target wheel pressure level, the final braking operation can be performed, for example, by ESP. Or as shown in the figure, the braking operation is performed by the hydraulic actuator unit of the vehicle. The hydraulic actuator unit is also called HAL, which is a mature technology, so it will not be repeated here. Among them, the preset deceleration during braking is, for example, 2m / s 2 , lasting for 1 second, the above parameters are all calibrable parameters; and the braking pressure can be converted from the target deceleration, for example.

[0036] In order to make the judgment of overtaking behavior more accurate, it is optional to determine the execution of flashing of the turn signal and / or honking of the horn in step S3 by also considering the throttle opening, vehicle speed and / or steering wheel angle. Among them, the throttle opening represents the opening angle of the engine throttle. The throttle of the automobile engine is manipulated by the driver through the accelerator pedal to change the intake volume of the engine, thereby controlling the operation of the engine. Different throttle openings indicate different operating conditions of the engine. Therefore, whether the throttle opening increases and whether the vehicle speed increases can reflect the driver's acceleration intention. And whether the steering wheel angle changes can reflect the driver's intention to change lanes, so it can be comprehensively judged whether there is an intention to overtake. It should be understood that the throttle opening, vehicle speed and / or steering wheel angle signals can be obtained, for example, from ESP.

[0037] Regarding the acquisition of the front-to-rear distance L1 and the lane line distance, this can be done, for example, through detection by a vehicle-mounted radar. Of course, the acquisition of the left-right distance L2 can also be done through detection by a vehicle-mounted radar. Vehicle-mounted radars or car radars include various radars based on different technologies (such as laser, ultrasonic, and microwave), with different functions (such as obstacle detection, collision prediction, and adaptive cruise control), and using different working principles (such as pulse radar, FMCW (Frequency Modulated Continuous Wave) radar, and microwave impact radar).

[0038] In order to take into account the driver's active control when he is aware of the current overtaking or avoidance behavior and then comply with the driver's own driving intention and behavior, it is further configured that the flashing of the turn signal and / or the honking behavior in step S3 is triggered only when the driver does not actively turn on the turn signal. If it is detected that the driver actively turns on the turn signal, it can be determined that the driver is aware of the current working conditions and thus comply with the driver's subsequent behavior. In this regard, similarly, the vehicle braking in step S6 is performed only when the driver does not actively turn on the turn signal. The reason is the same. When the driver actively turns on the turn signal, it can be considered that the driver has performed the correct behavior in the current overtaking or avoidance process and is aware of the current working conditions, so that it can naturally distinguish whether the distance between the adjacent vehicle (that is, the previous vehicle in front) and the vehicle is at a safe level, and then can actively honk or brake when necessary.

[0039] It should be understood that the acquisition of the various information or signals mentioned above, such as brake master cylinder pressure, wheel pressure, brake switch signal, front-to-rear distance L1, left-to-right distance L2, turn signal on signal, lane line distance (whether to change lanes), throttle opening, vehicle speed, and steering wheel angle signal is a mature technology and those skilled in the art will know how to obtain this information or signal when they know the technical solution of the present invention.

[0040] According to another aspect of the present invention, the present invention also provides an overtaking assistance system 115 for a vehicle, wherein the overtaking assistance system 115 is used to execute any of the above-mentioned overtaking assistance methods, wherein the overtaking assistance system 115 has a receiving module 116, a judging module 117 and an output module 118 that are communicatively connected to each other, the receiving module 116 is configured to obtain the front-to-rear distance L1 between the vehicle and the preceding vehicle along the vehicle's driving direction, and obtain the distance between the vehicle and any lane line as a reference lane line as the lane line distance; the judging module 117 is configured to determine whether the front-to-rear distance L1 is reduced and whether the lane line distance is changed, and if so, the output module 118 outputs a signal to flash the turn signal and / or honk the horn. For various implementations of the overtaking assistance system 115 and the technical effects brought about, please refer to the content about the overtaking assistance method.

[0041] In addition, the system of the present invention can also be applied to various vehicles, including pure electric vehicles, hybrid vehicles, fuel vehicles, etc., so the present invention is also intended to protect various vehicles equipped with the system. In addition, the method of the present invention can also be implemented by a computer-readable storage medium or a computer device. Specifically, a computer program is stored on the computer-readable storage medium, wherein the computer program implements any of the above-mentioned overtaking assistance methods when executed by a processor; the computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements any of the above-mentioned overtaking assistance methods when executing the computer program.

[0042] In summary, the various technical solutions of the present invention can solve two main problems: one is that the driver of the rear vehicle uses flashing lights to indicate the vehicle in front when he wants to overtake; the other is the taking of emergency measures when the vehicle in front changes lanes when the rear vehicle overtakes, thereby improving the safety of the highway.

[0043] It should be understood that all the above preferred embodiments are illustrative rather than restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of the present invention should be within the legal protection scope of the present invention.

Claims

1. A method for assisting a vehicle in overtaking, characterized in that: The overtaking assistance method comprises the following steps: S1: Obtaining the front-to-rear distance L1 between the vehicle and the preceding vehicle along the vehicle's travel direction, S2: Select any lane line as a reference lane line, and obtain the distance between the vehicle and the reference lane line as the lane line distance. S3: When the front-to-rear distance L1 decreases and the lane line distance changes, the turn signal is flashed and / or the horn is sounded. The overtaking assistance method further includes the following steps: S4: Obtaining a left-right distance L2 between the vehicle and the preceding vehicle along a direction perpendicular to the driving direction of the vehicle, S5: When the left-right distance L2 is decreasing and decreases to be smaller than a first safety threshold, sound the horn.

2. The overtaking assistance method according to claim 1, characterized in that: The overtaking assistance method further comprises the following steps: S6: When the left-right distance L2 is decreasing and decreases to be smaller than a second safety threshold, performing vehicle braking, wherein the second safety threshold is smaller than the first safety threshold.

3. The overtaking assistance method according to claim 2, characterized in that: The decision to perform vehicle braking in step S6 is also made taking into account the master cylinder pressure, the wheel pressure and / or the brake switch signal.

4. The overtaking assistance method according to claim 1, characterized in that: The execution of flashing the turn signal and / or honking the horn in step S3 is determined also in consideration of the throttle opening, the vehicle speed and / or the steering wheel angle.

5. The overtaking assistance method according to claim 1, characterized in that: The front-to-rear distance L1 and the lane line distance are acquired through detection by a vehicle-mounted radar.

6. The overtaking assistance method according to claim 2, characterized in that: The vehicle braking in step S6 is performed by a hydraulic actuating unit of the vehicle.

7. The overtaking assistance method according to claim 2, characterized in that: The vehicle braking in step S6 is performed only when the driver does not actively turn on the turn signal.

8. The overtaking assistance method according to claim 1, characterized in that: The flashing of the turn signal and / or honking of the horn in step S3 is performed only when the driver does not actively turn on the turn signal.

9. An overtaking assistance system (115) for a vehicle, characterized in that: The overtaking assistance system (115) is used to execute the overtaking assistance method according to any one of claims 1 to 8, wherein the overtaking assistance system (115) has a receiving module (116), a judging module (117) and an output module (118) which are communicatively connected to each other, the receiving module (116) is configured to obtain a front-to-rear distance L1 between the vehicle and a preceding vehicle along a vehicle travel direction, and obtain a distance between the vehicle and any lane line serving as a reference lane line as a lane line distance; the judging module (117) is configured to judge whether the front-to-rear distance L1 is reduced and whether the lane line distance is changed, and if so, the output module (118) outputs a signal to flash a turn signal and / or honk a horn.

10. A vehicle, characterized in that: The vehicle has an overtaking assistance system (115) according to claim 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the overtaking assistance method according to any one of claims 1 to 8 is implemented.

12. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the overtaking assistance method according to any one of claims 1 to 8 is implemented.

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