Method for operating a driver assistance system and driver assistance system

Abstract

The invention relates to a method for operating a driver assistance system, which includes operating (S1) a sensor device (S1;...; Sin) in the vehicle (EF) for monitoring the surroundings of the vehicle; identifying (S2) a fast vehicle (SF) traveling in a first lane (X1), the first lane being located beside a second lane (X2) in which the vehicle is traveling, and determining (S2a) the traveling speed (Vsf) of the fast vehicle (SF) along the traveling direction (x) of the vehicle by means of the sensor device (Si1;...; Sin) and by means of a control device (SE) relative to the traveling speed (V0) of the vehicle or a vehicle traveling behind (4) or a vehicle traveling in front (3); recognizing (S3) the movement of the fast vehicle (SF) as an overtaking process of the vehicle or a vehicle traveling behind (4) or a vehicle traveling in front (3); and recognizing (S4) a change in the movement of the fast vehicle (SF) as an interruption of the overtaking process. The invention also relates to a driver assistance system.

Description

Field of the Invention

[0001] The present invention relates to a method for operating a driver assistance system and a driver assistance system. Background Art

[0002] Modern vehicle systems typically include different sensors for sensing the vehicle's surroundings, such as cameras, radars or lidar systems, in order to determine, for example, the distance or relative speed with respect to other objects or traffic participants. The data obtained can be used to control different vehicle systems, such as speedometers, brakes or other driver assistance systems, such as a distance-adjusting speedometer (ACC: Adaptive Cruise Control). Braking can be performed, for example, until a standstill. In addition to objects or traffic participants, vehicles, lanes, signs, tunnels, etc. can also be recognized.

[0003] Common systems can also use the communication possibilities between vehicles, for example, communication possibilities based on vehicle-to-vehicle communication. The use of data from infrastructure (for example, fixed and movable traffic monitoring devices along or above the road, such as drones) can also be considered. In addition, sensor information and position information (mobile radio information, for example, data of a mobile phone in one of the surrounding vehicles, for example, data of a mobile phone of oncoming traffic) obtained by other vehicles can thus be transmitted by direct communication. Map data on road alignment, number of lanes, road category, altitude profile of the road and other information can also be used.

[0004] When the traveled road has a reverse traffic area in the second lane and when reverse traffic is only recognized during an overtaking operation, the overtaking operation, especially on suburban roads, often may lead to critical traffic situations. However, when the vehicle traveling behind the vehicle to be overtaken starts to fill the gap and reduces the distance with respect to the vehicle being overtaken during overtaking, the suddenly necessary re-merging may worsen the traffic situation and may prompt the participating driver (system) to make possible wrong actions.

[0005] DE102010047411 A1 describes a system for setting a driver assistance advice device. Data from driving sensors can be used for overtaking assistance. Summary of the Invention

[0006] The present invention realizes a method for operating a driver assistance system and a driver assistance system.

[0007] Extensions of the present invention are the subject of preferred embodiments.

[0008] The idea underlying the present invention is to describe a method for operating a driver assistance system and a driver assistance system, which are characterized by improved maneuvering and recognition of interrupted overtaking maneuvers, advantageously the recognition of interrupted overtaking maneuvers of another vehicle. The driver assistance system and method can improve the re-merging of the overtaking vehicle and, in particular, can improve the compliance with and generation of the distance between vehicles in order to enable a simpler re-merging.

[0009] According to the present invention, in a method for operating a driver assistance system, at least one sensor device for monitoring the surroundings of the own vehicle is operated in the own vehicle; a fast vehicle traveling in a first lane located beside a second lane in which the own vehicle is traveling is recognized; the traveling speed of the fast vehicle in the traveling direction of the own vehicle is determined by means of the sensor device and by means of a control device relative to the traveling speed of the own vehicle or a vehicle traveling behind or in front; the movement of the fast vehicle is recognized as an overtaking process of the own vehicle or a vehicle traveling behind or in front; and a change in the movement of the fast vehicle is recognized as an interruption of the overtaking process.

[0010] According to one embodiment of the method, after recognizing a change in the movement of the fast vehicle as an interruption of the overtaking process, the necessity of merging in front of or behind the own vehicle is recognized; and the own vehicle is braked and the vehicle distance for the fast vehicle between the own vehicle and the vehicle traveling in front is increased, or the own vehicle is accelerated and the vehicle distance for the fast vehicle between the own vehicle and the vehicle traveling behind is increased.

[0011] Advantageously, these lanes can extend parallel to each other, for example, on suburban roads. The vehicle can be a passenger car, a truck, a two-wheeler or any type of vehicle moving on a carriageway (road).

[0012] The sensor device can include different types of sensors, such as radar, camera, lidar, ultrasonic, distance sensors or other sensors. The driver assistance system can be configured to observe traffic conditions on suburban roads, traffic conditions in closed towns or traffic conditions in tunnels with oncoming traffic and, in particular, to react to the overtaking maneuvers of other vehicles, especially fast vehicles, when an overtaking process has to be interrupted. Advantageously, the driver assistance system can recognize driving on a highway or motorway with separated lanes and can then deactivate itself. The driver assistance system can also remain active on a motorway with two or more lanes arranged in the traveling direction in order to, in a similar way, create a suitable space for merging and avoiding collisions for potentially endangered drivers in the adjacent lane in the event of an unforeseen situation with a wrong-way driver.

[0013] Advantageously, the driving speed can relate in terms of direction and magnitude to the actual speed of the fast vehicle relative to the driving speed of the own vehicle or relative to the speed of the vehicle driving ahead or relative to the speed of the vehicle driving behind (driving behind the own vehicle).

[0014] In the case where the driving movement of the fast vehicle is recognized as an overtaking process, it is advantageously also possible to recognize column jumping, i.e., overtaking multiple vehicles during the overtaking process.

[0015] By using the sensor device as an environmental sensor, it is advantageously possible to reduce the accident risk caused by interrupted or critical overtaking operations in the own vehicle equipped with a driver assistance system. For the vehicle driving ahead or the vehicle driving behind, and also for the traffic that only passively participates in the overtaking process, the accident risk can be reduced. In addition, by the safer lane change of the fast vehicle, wrong behaviors and panic reactions of the participating traffic can be reduced when the overtaking process is interrupted.

[0016] According to a preferred embodiment of the method, the control device recognizes by means of the sensor device and / or by means of cartographic data and / or by means of a logic device for recognizing continuously oncoming oncoming traffic whether the second lane on which the fast vehicle is driving is a reverse traffic lane relative to the first lane on which the own vehicle is driving.

[0017] Information about the current number of lanes and information about the expected or actual driving direction can be obtained, for example, based on map data.

[0018] Another possibility for observing a sufficient distance from the vehicle driving ahead and / or the vehicle driving behind can be achieved in relation to the minimum distance by high-precision map data (height profile, road alignment, road width, etc.). Thus, for example, protrusions and narrow bends can be recognized in advance and can therefore be used to adapt the threshold value of the distance (which can be used as a reference or trigger boundary for autonomous driving interventions). Advantageously, from the map data, a general estimate of the traffic situation in terms of its criticality can be generated for the foreseeable future by the control device or an external data platform connected wirelessly or by a computing unit.

[0019] According to a preferred embodiment of the method, the movement of the fast vehicle is recognized as an overtaking process by determining that the driving speed of the fast vehicle is greater than the driving speed of the vehicle to be overtaken.

[0020] The driving speed of the fast vehicle can also be considered as a relative speed, and in order to recognize the overtaking process, the driving speed of the fast vehicle can also be considered in terms of the corresponding speed of the vehicle driving behind or the vehicle driving ahead (driving behind or in front of the own vehicle respectively).

[0021] According to a preferred embodiment of the method, by obtaining a first speed gradient of the fast vehicle, an interruption of the overtaking process is identified when the first speed gradient is negative or becomes negative or equal to zero or becomes zero.

[0022] According to a preferred embodiment of the method, the control device obtains, by means of a sensor device, the position of the fast vehicle relative to the own vehicle in the driving direction, and when, upon identifying an interruption of the overtaking process, the fast vehicle is located in front of the front end of the own vehicle in a manner projected onto a second lane on which the own vehicle is driving, at least one first vehicle distance, a first spacing from the vehicle driving ahead is measured and the own vehicle is braked and the vehicle spacing for the fast vehicle in front of the own vehicle is increased; or when the fast vehicle is located behind the rear end of the own vehicle at at least one second vehicle distance, a second spacing from the vehicle driving behind is obtained and the own vehicle is accelerated and the vehicle spacing for the fast vehicle behind the own vehicle is increased.

[0023] According to a preferred embodiment of the method, the at least one first vehicle distance and / or the at least one second vehicle distance relative to the front end or the rear end of the fast vehicle includes one third or two thirds or more than one time the length of the fast vehicle.

[0024] According to a preferred embodiment of the method, the control device obtains the magnitude of a second speed gradient for braking or accelerating the own vehicle based on the movement of the fast vehicle perpendicular to the driving direction of the own vehicle and based on the driving speed of the own vehicle.

[0025] The movement perpendicular to the driving direction can at least partially or completely correspond to a lane change. The second speed gradient can correspond to the deceleration or acceleration that may be required for the own vehicle to provide a sufficient spacing from the vehicle driving ahead or the vehicle driving behind.

[0026] According to a preferred embodiment of the method, wireless communication is carried out between the control device and the fast vehicle and / or the vehicle driving behind and / or the vehicle driving ahead.

[0027] According to the present invention, a driving assistance system for a vehicle includes: at least one sensor device in the vehicle, the sensor device being configured to monitor the surrounding environment of the vehicle; a control device in the vehicle, the control device being connected to the sensor device and configured to identify a fast vehicle traveling in a first lane, the first lane being beside a second lane in which the vehicle is traveling, and the control device being configured to determine the traveling speed of the fast vehicle in the traveling direction of the vehicle through the sensor device and the control device with respect to the traveling speed of the vehicle or a vehicle traveling behind or in front, and to recognize the movement of the fast vehicle as an overtaking process of the vehicle or a vehicle traveling behind or in front, and to recognize the interruption of the overtaking process from a change in the movement of the fast vehicle and to identify the necessity of merging in front of or behind the vehicle, and to brake the vehicle and increase the vehicle gap for the fast vehicle between the vehicle and the vehicle traveling in front, or to accelerate the vehicle and increase the vehicle gap for the fast vehicle between the vehicle and the vehicle traveling behind.

[0028] According to a preferred embodiment of the driving assistance system, the driving assistance system includes a communication device in the vehicle, the communication device being configured to communicate with the fast vehicle and / or with the vehicle traveling in front and / or with the vehicle traveling behind and / or with a data platform.

[0029] Therefore, the driving assistance system can also communicate via the cloud. For example, a vehicle (one or all vehicles) can communicate with the cloud, and then the cloud communicates with other vehicles via mobile radio.

[0030] Other features and advantages of embodiments of the present invention are derived from the following description with reference to the accompanying drawings. Description of the Drawings

[0031] The present invention will be described in detail below with reference to embodiments illustrated in the schematic diagrams in the accompanying drawings.

[0032] Drawings:

[0033] Figure 1 Schematic diagram showing a driving assistance system according to an embodiment of the present invention;

[0034] Figure 2 Schematic diagram showing a traffic situation with the vehicle, the vehicle including and operating a driving assistance system according to an embodiment of the present invention;

[0035] Figure 3a Schematic method flowchart showing a method according to an embodiment of the present invention with reference to a traffic situation;

[0036] Figure 3b Schematic method flowchart showing a method according to another embodiment of the present invention with reference to a traffic situation;

[0037] Figure 4 Schematic block diagram showing method steps of a method according to an embodiment of the present invention. Detailed description

[0038] In the drawings, the same reference numerals denote the same or functionally identical elements.

[0039] Figure 1 Schematic diagram showing a driving assistance system according to an embodiment of the present invention.

[0040] The driving assistance system 10 includes at least one sensor device Si1, Si2…Sin in the host vehicle EF, the sensor device being configured to monitor the surroundings of the host vehicle EF; the driving assistance system further includes a control device SE in the host vehicle EF, the control device being connected to the sensor devices Si1…Sin and configured to identify a fast vehicle SF traveling in a first lane X1, the first lane being located beside a second lane X2 on which the host vehicle EF is traveling, and the control device being configured to determine, by means of the sensor devices Si1,…Sin and the control device SE, the traveling speed Vsf of the fast vehicle SF in the traveling direction x of the host vehicle EF with respect to the traveling speed V0 of the host vehicle EF or a following vehicle 4 or a preceding vehicle, and to recognize the movement of the fast vehicle SF as an overtaking process with respect to the host vehicle EF or the following vehicle 4 or the preceding vehicle (not shown in Figure 1 ), and to recognize an interruption of the overtaking process from a change in the movement of the fast vehicle SF and to identify the need for a lane change in front of or behind the host vehicle EF, and to advantageously automatically brake the host vehicle EF by means of the control device SE and increase the vehicle gap for the fast vehicle SF between the host vehicle EF and the preceding vehicle ( Figure 1 not shown in), or to advantageously automatically accelerate the host vehicle EF by means of the control device SE and increase the vehicle gap 2 for the fast vehicle SF between the host vehicle EF and the following vehicle 4. The consideration of the speed may also relate to the following vehicle or the preceding vehicle.

[0041] In addition to the driving speed Vsf, a first speed gradient gradV1 of the fast vehicle SF can be determined and observed over time. When the driving speed Vsf of the fast vehicle SF is greater than the driving speed V0, the movement of the fast vehicle SF can be identified as an overtaking process. In addition, to analyze the overtaking process more accurately, the overtaking process can be identified when the relative speed suddenly decreases within a characteristic time interval, preferably suddenly becomes less than the driving speed of the own vehicle or the driving speed of the vehicle to be overtaken just before. Additionally or alternatively, a negative change in the first speed gradient gradV1, i.e., a decrease, can also be used as an indicator of the interruption of the overtaking process. The system, in particular the control device, can record these indications of the interruption of the overtaking process as a higher danger level compared to normal driving or non-critical overtaking (where the fast vehicle does not brake during overtaking).

[0042] The control device SE can determine the position of the fast vehicle SF relative to the own vehicle EF in the driving direction x by means of the sensor devices Si1,…Sin, and when the fast vehicle SF is located behind the rear end HE of the own vehicle EF at a second vehicle distance dd2 projected onto the second lane X2 on which the own vehicle EF is traveling when an interruption of the overtaking process is identified, determine the second spacing d2 of the following vehicle 4 and accelerate the own vehicle EF and increase the vehicle spacing 2 of the fast vehicle SF located behind the own vehicle EF.

[0043] Similarly, when the fast vehicle is in front of the front end VE of the own vehicle and has to merge into the vehicle traveling ahead, a braking process of the own vehicle EF can be carried out.

[0044] Here, the first vehicle distance and / or the second vehicle distance dd2 relative to the front end 100 or the rear end 200 of the fast vehicle can be one-third or two-thirds or more than one times the length of the fast vehicle SF.

[0045] Based on the movement y of the fast vehicle SF perpendicular to the driving direction x, such as a lane change, a starting lane change, or at least one movement indicated in the y direction, and the driving speed V0 of the own vehicle EF, the control device SE can determine the magnitude of a second speed gradient gradV0 for braking or accelerating the own vehicle EF in order to facilitate the lane change of the fast vehicle SF.

[0046] To determine the spacing, speed, and directional movement, wireless communication can also be advantageously carried out between the control device SE and the fast vehicle SF and / or the following vehicle 4 and / or the vehicle traveling ahead 3 with the support of the sensor device, and the sensing devices of these vehicles can also be utilized or at least requested to be utilized.

[0047] In addition, an interruption of the overtaking process can also be recognized when the driving speed, i.e., the relative speed or the first speed gradient, exceeds or falls below a limit value. In this way, it is possible to advantageously distinguish whether the fast vehicle and / or the own vehicle or the vehicle to be overtaken is driving in a platoon.

[0048] In addition, the effectiveness of the brake lights or tail lights (and headlights) on the fast vehicle and / or on the vehicle driving in front or behind can be analyzed and evaluated, and the position and overtaking behavior of the fast vehicle relative to the own vehicle and the rest of the traffic can be observed and estimated. Additionally, the number of lanes can be determined from the brake lights or tail lights based on the assignment of the vehicle to the lane in order to distinguish an interruption of the overtaking process from platoon driving.

[0049] Additionally, it is possible to estimate and observe the vehicle distance for the fast vehicle by observing the rear end 200 of the fast vehicle SF. For example, the fast vehicle can always be located in front of the front end VE of the own vehicle and thus always be able to perform a lane change. Additionally, a safety distance (for a possible lane change) matched to the corresponding speed can also be considered here.

[0050] Advantageously, the vehicle distance 2 can already be increased by the own vehicle EF directly after the interruption of the overtaking operation is recognized (even if the fast vehicle is still driving in the second lane). From the driving speed, i.e., the relative speed, it can be deduced when the fast vehicle SF has to perform a lane change again. The size of the vehicle distance 2 to be generated can vary in such a way that, for example, the length of the fast vehicle SF measured previously (measured when passing the own vehicle or another vehicle or transmitted by the fast vehicle itself), a fixed standard length, a model-based standard length (e.g., related to the vehicle type, the presence of a trailer), and / or a hybrid form thereof can be considered. The advantages can lie in the early reaction of the own vehicle and in the reaction itself (greater comfort for the driver and less risk for other traffic can be achieved here). By recognizing the necessity of a lane change early on, the necessity for the own vehicle EF to decelerate strongly can be reduced compared to when the interruption of the overtaking operation is recognized at a later time point. In this way, the reaction time of the system to the interruption can be advantageously increased, but the vehicle distance 2 can also be increased as a precaution when no interruption is recognized, advantageously increasing the vehicle distance to the length of the fast vehicle and the safety distance.

[0051] The adjustment of the rear end 200 of the fast vehicle can also be carried out for the front end 100 in a similar manner and can accelerate the vehicle, and in combination with other observed traffic variants, for example, in combination with the compliance (maintenance) of the vehicle distance 2 directly when an interruption is recognized as already mentioned. This can advantageously cause that, when an interruption is wrongly recognized with an error, the reaction of the vehicle can be significantly less pronounced (adjustment of the distance and acceleration or braking) and preferably the driver does not notice this situation. Thus, the sensitive setting system (with an increased error detection rate) can react more frequently in critical situations without disturbing the driver too strongly in non-critical situations.

[0052] Figure 2 A schematic view of a traffic situation with the vehicle according to the invention is shown, which vehicle includes and operates a driving assistance system according to an embodiment of the invention.

[0053] The vehicles traveling on the road can include the driving assistance system of the invention and are hereinafter referred to as the vehicle EF.

[0054] Figure 2 The traffic situation shows a fast vehicle SF still moving in the second lane X2, as well as the vehicle EF and the vehicle 3 traveling in front, in particular the fast vehicle SF moving between them. For overtaking, the fast vehicle can accelerate and have a positive first speed gradient gradV1 and can change to the first lane X1, wherein the fast vehicle can have a positive relative speed Vrel with respect to the driving speed V0 of the vehicle and also with respect to the speed of the vehicle traveling in front. The vehicle EF and the fast vehicle SF have a movement in the driving direction x.

[0055] Figure 3a A schematic method flow of a method according to an embodiment of the invention is shown by means of a traffic situation.

[0056] Figure 3a The traffic situation of can correspond to Figure 2 a subsequent situation of the traffic situation of.

[0057] When it can be determined that the driving speed Vrel of the fast vehicle SF is greater than the speed V2' of the vehicle 3 traveling in front, advantageously when the fast vehicle is at least partially beside the vehicle traveling in front or beside the vehicle traveling behind, the movement of the fast vehicle SF can be recognized as an overtaking process.

[0058] In order to achieve an improved estimate of the traffic situation, it is also possible to determine the speed or movement, such as the distance, of the vehicle F approaching the fast vehicle SF head-on during an overtaking process, and to estimate the overtaking behavior or lane-changing behavior of the fast vehicle SF. The movement of the oncoming vehicle F can be carried out, for example, by means of communication between the vehicles, for example after the SF itself has also measured and transmitted data on the oncoming vehicle F. Advantageously, the measurement of the movement of the oncoming traffic can be dispensed with, but the measurement can also be carried out additionally.

[0059] In addition to the driving speed Vsf, a first speed gradient gradV1 of the fast vehicle SF can also be determined and observed over time. When the first speed gradient gradV1 is positive or at least zero, the movement of the fast vehicle can be determined as an overtaking process of the vehicle 3 driving in front.

[0060] Figure 3b A schematic method flow of a method according to another embodiment of the present invention is shown by means of the traffic situation.

[0061] Figure 3b The traffic situation shows Figure 3a the subsequent situation when the fast vehicle SF is forced to interrupt the overtaking process and has to change lanes behind the vehicle 3 in front and in front of the own vehicle EF.

[0062] The control device SE can determine the position of the fast vehicle SF relative to the own vehicle EF in the driving direction x by means of the sensor devices Si1,…Sin, and when, upon recognition of the interruption of the overtaking process, the fast vehicle SF is located in front of the front end VE of the own vehicle EF at a distance of at least one first vehicle distance dd1 projected onto the second lane X2 on which the own vehicle EF is driving, the first distance d1 relative to the vehicle 3 driving in front can be measured and the own vehicle can be braked and the vehicle distance 2 in front of the own vehicle for the fast vehicle SF can be increased so that the fast vehicle can change lanes. The speed of the fast vehicle Vsf can also be considered as the relative speed relative to other vehicles.

[0063] When the first speed gradient gradV1 is zero or negative, the interruption of the overtaking process can be recognized by determining the first speed gradient gradV1 of the fast vehicle SF.

[0064] Figure 4 A schematic block diagram of the method steps of a method according to an embodiment of the present invention is shown.

[0065] In a method for operating a driving assistance system, operate S1 at least one sensor device in the vehicle for monitoring the surroundings of the vehicle; identify S2 a fast vehicle traveling in a first lane, the first lane being adjacent to a second lane in which the vehicle is traveling; and determine S2a the traveling speed of the fast vehicle in the traveling direction of the vehicle with respect to the traveling speed of the vehicle or a vehicle traveling behind or in front of the vehicle by means of the sensor device and a control device; recognize S3 the movement of the fast vehicle as an overtaking process of the vehicle, a vehicle traveling behind or a vehicle traveling in front; recognize S4 a change in the movement of the fast vehicle as an interruption of the overtaking process; and identify S4a the necessity of a lane change in front of or behind the vehicle; and brake S5 the vehicle and increase the vehicle distance for the fast vehicle between the vehicle and a vehicle traveling in front; or accelerate S5a the vehicle and increase the vehicle distance for the fast vehicle between the vehicle and a vehicle traveling behind.

[0066] Although the invention has been completely described above by means of preferred embodiments, the invention is not limited thereto, but can be modified in various ways.

Claims

1. A method for operating a driver assistance system, comprising the following steps: Operating at least one sensor device in the vehicle itself, the sensor device being used to monitor the surrounding environment of the vehicle itself; Identifying a fast vehicle traveling in a first lane, the first lane being beside a second lane in which the vehicle itself is traveling, and determining, by means of the sensor device and a control device, the traveling speed of the fast vehicle in the traveling direction of the vehicle itself relative to the traveling speed of the vehicle itself or a vehicle traveling behind or in front; Identifying the movement of the fast vehicle as an overtaking process with respect to the vehicle itself or the vehicle traveling behind or the vehicle traveling in front, wherein the movement of the fast vehicle is identified as an overtaking process by obtaining that the traveling speed of the fast vehicle is greater than the traveling speed of the vehicle to be overtaken; Identifying a change in the movement of the fast vehicle as an interruption of the overtaking process, wherein by obtaining a first speed gradient of the fast vehicle, the interruption of the overtaking process is identified when the first speed gradient is negative or equal to zero; wherein a magnitude of a second speed gradient for braking or accelerating the vehicle itself is obtained by the control device according to the movement of the fast vehicle perpendicular to the traveling direction of the vehicle itself and the traveling speed of the vehicle itself; wherein after identifying a change in the movement of the fast vehicle as an interruption of the overtaking process, the necessity of merging in front of or behind the vehicle itself is identified; and Braking the vehicle itself and increasing the vehicle spacing for the fast vehicle between the vehicle itself and the vehicle traveling in front or accelerating the vehicle itself and increasing the vehicle spacing for the fast vehicle between the vehicle itself and the vehicle traveling behind; wherein the effectiveness of brake lights, tail lights and / or head lights on the fast vehicle and / or on the vehicle traveling in front or the vehicle traveling behind is analyzed and evaluated, and the position and overtaking behavior of the fast vehicle relative to the vehicle itself and the rest of the traffic are observed and estimated, and wherein the number of lanes is obtained by means of the brake lights and / or the tail lights based on the association between the vehicle and the lane, in order to distinguish an interruption of the overtaking process from platoon driving.

2. The method according to claim 1, wherein The control device identifies, by means of the sensor device and / or with the aid of cartographic data: whether the first lane is a reverse traffic lane with respect to the second lane.

3. The method according to claim 1 or 2, wherein, The control device obtains, by means of the sensor device, the position of the fast vehicle relative to the vehicle itself in the traveling direction, and when the fast vehicle is projected onto the second lane in which the vehicle itself is traveling when the interruption of the overtaking process is identified (i) When it is in front of the front end of the vehicle itself at at least one first vehicle distance, measuring a first spacing with respect to the vehicle traveling in front and braking the vehicle itself and increasing the vehicle spacing for the fast vehicle in front of the vehicle itself; or (ii) When it is behind the rear end of the vehicle itself at at least one second vehicle distance, obtaining a second spacing of the vehicle traveling behind and accelerating the vehicle itself and increasing the vehicle spacing for the fast vehicle behind the vehicle itself.

4. The method according to claim 3, wherein, The first vehicle distance and / or the second vehicle distance relative to the front end or the rear end of the fast vehicle includes one-third or two-thirds or more than one time the length of the fast vehicle.

5. The method according to claim 1 or 2, wherein Wireless communication is performed between the control device and the fast vehicle and / or the following vehicle and / or the preceding vehicle.

6. A driving assistance system for a host vehicle, comprising: At least one sensor device in the host vehicle, the sensor device being configured to monitor the surrounding environment of the host vehicle; A control device in the host vehicle, the control device being connected to the sensor device and configured to identify a fast vehicle traveling in a first lane, the first lane being beside a second lane in which the host vehicle is traveling, and the control device being configured to: determine, by the sensor device and the control device, the traveling speed of the fast vehicle along the traveling direction of the host vehicle relative to the traveling speed of the host vehicle or the following vehicle or the preceding vehicle; and identify the movement of the fast vehicle as an overtaking process for the host vehicle or the following vehicle or the preceding vehicle, wherein the movement of the fast vehicle is identified as an overtaking process by: obtaining that the traveling speed of the fast vehicle is greater than the traveling speed of the vehicle to be overtaken; and identifying the interruption of the overtaking process from the change in the movement of the fast vehicle, wherein the interruption of the overtaking process is identified when the first speed gradient of the fast vehicle is negative or zero; and identifying the necessity of merging in front of or behind the host vehicle, and braking the host vehicle and increasing the vehicle gap for the fast vehicle between the host vehicle and the preceding vehicle or accelerating the host vehicle and increasing the vehicle gap for the fast vehicle between the host vehicle and the following vehicle; and obtaining the magnitude of the second speed gradient for braking or accelerating the host vehicle according to the movement of the fast vehicle perpendicular to the traveling direction of the host vehicle and the traveling speed of the host vehicle. Wherein, the effectiveness of the brake lights, tail lights and / or head lights on the fast vehicle and / or the preceding vehicle or the following vehicle is analyzed and evaluated, and the position and overtaking behavior of the fast vehicle relative to the host vehicle and the rest of the traffic are observed and estimated, and wherein the number of lanes is obtained by means of the assignment relationship between the vehicle and the lane by the brake lights and / or the tail lights in order to distinguish the interruption of the overtaking process from platoon driving.

7. The driving assistance system according to claim 6, the driving assistance system comprising a communication device in the host vehicle, the communication device being configured to communicate with the fast vehicle and / or the preceding vehicle and / or the following vehicle and / or a data platform.

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