Estimation of the vehicle's minimum overtaking speed

Abstract

The present application relates to estimating a minimum overtaking speed of a vehicle. The present disclosure relates to a method for estimating a minimum overtaking speed of a vehicle performed by an overtaking estimation system (1). The overtaking estimation system determines (1001) a remaining distance (D) to an overtaking lane (42) adjacent to a driving lane (41) of the host vehicle (2) based on the host vehicle (2). 剩余 The overtaking estimation system also determines (1002) an incremental distance (D) between the host vehicle and a preceding vehicle (7) located in the lane of travel of the host vehicle. 增量 ). In addition, the overtaking estimation vehicle determines (1003) an incremental time for the host vehicle to reach the preceding vehicle. The overtaking estimation system also determines (1004) a speed of the preceding vehicle based on the incremental distance, the incremental time, and the determined speed of the host vehicle. In addition, the overtaking estimation system determines (1005) a minimum overtaking speed for the host vehicle to overtake the preceding vehicle within the remaining distance in the overtaking lane based on the remaining distance, the incremental distance, the speed of the preceding vehicle, and the overtaking influence parameter.

Description

Technical Field

[0001] The present disclosure relates to the estimation of a minimum overtaking speed of a vehicle. Background Art

[0002] Before and / or during a vehicle overtaking maneuver, it may be necessary to consider driving environment variables, such as the desired speed, whether there is enough space, whether there are other vehicles nearby that may interfere, etc.

[0003] Tracking multiple such driving environment variables may pose a challenge to, for example, the driver of an overtaking vehicle and / or the ADAS / AD system of the overtaking vehicle. Therefore, a method of providing assistance to the driver of an overtaking vehicle and / or the ADAS / AD system of the overtaking vehicle is needed. Summary of the Invention

[0004] It is therefore an object of embodiments herein to provide a method for estimating a vehicle's minimum overtaking speed in an improved and / or alternative manner.

[0005] The above objectives can be achieved by the subject matter disclosed herein. Various embodiments are set forth in the accompanying claims, the following description and the accompanying drawings.

[0006] The disclosed subject matter relates to a method for estimating a minimum overtaking speed of a vehicle, performed by an overtaking estimation system. The overtaking estimation system determines, based on a host vehicle, a remaining distance to a passing lane adjacent to the host vehicle's lane of travel. The overtaking estimation system also determines an incremental distance between the host vehicle and a preceding vehicle located in the host vehicle's lane of travel. Furthermore, the overtaking estimation system determines an incremental time for the host vehicle to reach the preceding vehicle. The overtaking estimation system also determines a speed of the preceding vehicle based on the incremental distance, the incremental time, and the determined speed of the host vehicle. Furthermore, the overtaking estimation system determines a minimum overtaking speed for the host vehicle to overtake the preceding vehicle within the remaining distance in the overtaking lane based on the remaining distance, the incremental distance, the speed of the preceding vehicle, and an overtaking influencing parameter.

[0007] The disclosed subject matter also relates to an overtaking estimation system for and / or adapted to estimate a minimum overtaking speed of a vehicle. The overtaking estimation system includes a remaining distance determination unit, which is used and / or adapted to determine a remaining distance of an overtaking lane adjacent to the driving lane of the host vehicle based on the host vehicle. The overtaking estimation system also includes an incremental distance determination unit, which is used and / or adapted to determine an incremental distance between the host vehicle and a preceding vehicle located in the driving lane of the host vehicle. In addition, the overtaking estimation system includes an incremental time determination unit, which is used and / or adapted to determine an incremental time for the host vehicle to reach the preceding vehicle. The overtaking estimation system also includes a preceding vehicle speed determination unit, which is used and / or adapted to determine the speed of the preceding vehicle based on the incremental distance, the incremental time and the determined speed of the host vehicle. In addition, the overtaking estimation system includes an overtaking speed determination unit, which is used and / or adapted to determine a minimum overtaking speed for the vehicle to overtake the vehicle in front within the remaining distance of the overtaking lane based on the remaining distance, the incremental distance, the speed of the vehicle in front and the overtaking influencing parameter.

[0008] Furthermore, the disclosed subject matter relates to a vehicle comprising an overtaking estimation system as described herein.

[0009] Furthermore, the disclosed subject matter relates to a computer program product comprising a computer program containing computer program code means arranged to cause a computer or processor to perform the steps of the overtaking estimation system described herein, the computer program product being stored on a computer readable medium or carrier wave.

[0010] The disclosed subject matter also relates to a non-transitory computer-readable storage medium having stored thereon the computer program product.

[0011] Thus, a method is introduced that assists in measuring driving environment variables before a potential vehicle overtaking situation occurs. Specifically, by determining the remaining distance to a passing lane adjacent to the vehicle's driving lane based on the host vehicle, the remaining distance to the current and / or upcoming passing lane adjacent to the driving lane in which the host vehicle is located, traveling, and / or advancing is determined. Thus, utilizing the introduced concept, the distance available for overtaking in the passing lane is determined based on the host vehicle's position. If the host vehicle has not yet reached the beginning of the passing lane, the full length of the passing lane remains, while if the host vehicle is located somewhere parallel to the passing lane, only a portion of the passing lane remains. Furthermore, by determining the incremental distance between the host vehicle and a preceding vehicle located in the vehicle's driving lane, the distance between the host vehicle and a preceding vehicle located, traveling, and / or advancing ahead of the host vehicle in the vehicle's driving lane is determined. Furthermore, that is, because the incremental time for the host vehicle to reach the preceding vehicle is also determined, an estimate of the time it may take the host vehicle to catch up with the preceding vehicle is calculated. Further, that is, because the speed of the preceding vehicle is determined based on the incremental distance, the incremental time, and the determined speed of the host vehicle, a travel speed of the preceding vehicle is determined (derived from the estimated distance to the preceding vehicle, the estimated time to reach the preceding vehicle, and the determined vehicle speed of the host vehicle). Further, that is, because the minimum overtaking speed for the host vehicle to overtake the preceding vehicle within the remaining distance in the passing lane is determined based on the remaining distance, the incremental distance, the speed of the preceding vehicle, and the overtaking influence parameter, an estimate of the host vehicle's velocity required for the host vehicle to attempt to overtake the preceding vehicle before the passing lane terminates is calculated. That is, at any given point in time (considering that the host vehicle is performing a potential overtaking maneuver at or substantially at that point in time), the currently required minimum overtaking speed of the host vehicle 2 can be derived based on the currently (or substantially currently) determined remaining distance, incremental distance, speed of the preceding vehicle, and overtaking impact parameters, as proposed by the aforementioned method. Thus, the overtaking estimation system assists in measuring driving environment variables before the host vehicle performs a potential overtaking maneuver, thereby subsequently making such a potential overtaking maneuver less challenging for, for example, the potential vehicle driver and / or the host vehicle's ADAS / AD system.

[0012] Therefore, a method of estimating a minimum overtaking speed of a vehicle in an improved and / or alternative manner is provided.

[0013] The technical features and corresponding advantages of the above method will be discussed in further detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Various aspects of non-limiting embodiments including particular features and advantages will be readily understood from the following detailed description and accompanying drawings, in which:

[0015] Figure 1 A schematic diagram illustrating an exemplary overtaking estimation system according to an embodiment of the present disclosure is shown;

[0016] Figure 2 is a schematic block diagram illustrating an exemplary overtaking estimation system according to an embodiment of the present disclosure; and

[0017] Figure 3 is a flowchart depicting an exemplary method performed by an overtaking estimation system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] Non-limiting embodiments of the present disclosure will now be described more fully below with reference to the accompanying drawings, in which currently preferred embodiments of the present disclosure are shown. However, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Throughout the text, similar reference symbols represent similar elements. Dashed lines in certain blocks in the figures indicate that these units or actions are optional and not required.

[0019] Hereinafter, according to embodiments herein related to estimating a minimum overtaking speed of a vehicle, a method will be disclosed, according to which assistance is provided for measuring traveling environment variables before a potential vehicle overtaking situation occurs.

[0020] Referring now to the drawings, and in particular to the Figure 1 , which depicts a schematic diagram of an exemplary overtaking estimation system 1 according to an embodiment of the present disclosure. The overtaking estimation system 1 is adapted to estimate a minimum overtaking speed of a vehicle. A host vehicle 2 is provided with an onboard overtaking system 1, such as included in 2.

[0021] The exemplary present vehicle 2 may refer to any manned or unmanned vehicle, for example, an engine-driven or electric vehicle (e.g., a car, truck, lorry, van, bus, tractor, motorcycle, moped, scooter, etc.). According to one example, the present vehicle 2 may even refer to, for example, a hoverboard or a bicycle. Furthermore, the term "vehicle" may refer throughout this disclosure to a "road traffic vehicle" and / or a "road-driven vehicle", and may also refer to a "manually driven vehicle and / or a vehicle that is at least partially autonomously driven". The "present vehicle" may refer to an "ego vehicle" and / or simply to a "vehicle". The phrase "overtaking estimation system" may refer to an "overtaking speed estimation system", an "overtaking determination system", a "vehicle overtaking system" and / or an "overtaking estimation system". According to an example, the "overtaking estimation system" may refer to an "onboard overtaking estimation system and / or an overtaking estimation system included in the vehicle". On the other hand, "for estimating a minimum overtaking speed" may refer to "being adapted for estimating a minimum overtaking speed," while the phrase "for estimating" a minimum overtaking speed may refer to "for determining" a minimum overtaking speed. A "minimum" overtaking speed may refer to a "required," "balanced," and / or "desired" overtaking speed, while "a vehicle's minimum overtaking speed" may refer to "a minimum overtaking vehicle speed," "a potential minimum overtaking speed of a vehicle," and / or simply "the vehicle's overtaking speed." Throughout this disclosure, "speed" may refer to "rate." The phrase "for estimating a vehicle's minimum overtaking speed" may refer to "being used to estimate a vehicle's minimum overtaking speed prior to a potential overtaking of the vehicle" and / or "being used to assist in and / or support the measurement and / or interpretation of driving environment variables prior to a potential vehicle overtaking situation." By way of example, the phrase "for estimating a vehicle's minimum overtaking speed" may also refer to "being used to estimate a vehicle's minimum overtaking speed on a 2+1 road" and / or "being used to estimate a vehicle's minimum overtaking speed in a overtaking lane on a 2+1 road."

[0022] Figure 1 Also depicted is an optional exemplary monocular camera 3. The optional monocular camera 3 (which may be provided on the host vehicle 2, for example, on the inside of the front windshield of 2) may be adapted to capture the surroundings (e.g., the surroundings of the host vehicle 2). The monocular camera 3 may refer to any monocular camera, such as a well-known monocular camera that supports image capture and subsequently provides image data, here an image of the host vehicle's surroundings or a portion thereof (e.g., an image in a forward direction or substantially forward direction as the host vehicle 2 travels along the exemplary road 4).

[0023] A “monocular camera” may refer to a “monocular camera” and, depending on the example, may also refer to “a monocular camera” and / or “a single monocular camera.” On the other hand, the phrase “a monocular camera adapted to capture the surroundings of the host vehicle” may refer to a monocular camera “adapted and / or configured to capture a portion of the surroundings of the host vehicle (e.g., at least in the forward direction).”

[0024] The host vehicle 2 (here an exemplary passenger car) is located on and / or traveling or travelling along the exemplary traffic road 4 (on the driving lane 41 of 4), where the exemplary traffic road 4 is an exemplary well-known 2+1 type. The exemplary traffic road 4 also includes a passing lane 42, which is adjacent to the driving lane 41 of the host vehicle 2, where the passing lane 42 has an exemplary fixed distance D 固定 Optional fixed length D of the overtaking lane 42 固定 The maximum distance can be of any size, for example, ranging from tens of meters to tens of thousands of meters.

[0025] The overtaking estimation system 1 (for example, by the remaining distance determination unit 101 (in Figure 2 )) is adapted and / or configured to determine a remaining distance D of the host vehicle 2 relative to the overtaking lane 42 adjacent to the driving lane 41 of the host vehicle 2. 剩余 Thus, the remaining distance D of the current and / or upcoming overtaking lane 42 adjacent to the driving lane 41 in which the host vehicle 2 is located, traveling and / or advancing is determined. Thus, using the introduced concept, the distance D of the overtaking lane 42 available for overtaking is determined based on the position of the host vehicle 2. 剩余 If the vehicle 2 has not yet reached the starting point of the overtaking lane 42, the remaining length of the overtaking lane is D 固定 , whereas if the host vehicle 2 is located somewhere parallel to the overtaking lane 42 , only a portion of the overtaking lane 42 remains.

[0026] The remaining distance D may be determined in any feasible manner depending on what input data is available and / or the current situation. 剩余 For example, the remaining distance D 剩余 The positioning system 5 (e.g., a known positioning system) on board the vehicle 2 can be used. Figure 2 The input data obtained from the vehicle position is determined by combining, for example, information including the overtaking lane 42 and / or the fixed length D of 42. 固定 Additionally or alternatively, the remaining distance D 剩余The determination may be based on input data obtained from an image capture system (e.g., a camera) onboard the host vehicle 2 (e.g., known), the image capture system being adapted to capture road sign information (not shown) along the road 4 and the position and / or speed of the host vehicle 2 relative to the road sign, wherein the road sign information indicates a fixed distance D of the overtaking lane 42. 固定 and / or the remainder. The optional image capture system may or may not reference the optional monocular camera 3 discussed above. Furthermore, the referenced host vehicle speed may be determined in any practicable manner depending on what input data is available and / or the current situation. According to an example, the host vehicle speed (e.g., Figure 2 As shown), the speed determination system 6 includes, for example, a speedometer and / or an odometer. The input data indicates the speed of the vehicle and can be obtained by the overtaking estimation system 1.

[0027] According to the example, the following equation can be used as a basis:

[0028] D 剩余 =D 固定 –V 本车 *Δt(1)

[0029] in,

[0030] D 固定 = fixed distance of overtaking lane 42,

[0031] V 本车 = own vehicle speed,

[0032] Δt = delta time between two timestamps, and

[0033] D 剩余 = Remaining distance in overtaking lane 42

[0034] The phrase "determining" the remaining distance may refer to "calculating" and / or "deriving" the remaining distance, and according to an example, it may also refer to "determining the remaining distance based on input obtained from a positioning system onboard the host vehicle in combination with map data including information about the overtaking lane", and / or "determining the remaining distance based on input obtained from an image capture system and / or a monocular camera onboard the host vehicle and indicating a road sign indicating a fixed length and / or a remaining portion of the overtaking lane". In addition, "determining the remaining distance" may refer to "determining the current (or substantially current) remaining distance" and / or "determining the remaining distance at a point in time". On the other hand, determining the remaining distance "based on the host vehicle" may refer to determining the remaining distance "according to the position of the host vehicle", and the remaining "distance" may refer to the remaining "distance in the longitudinal direction". The expression "driving lane" may refer to a "traffic lane", and "overtaking lane" may refer to a "passing lane", a "overtaking lane that allows faster-moving traffic", and / or a "overtaking lane in the same direction as the driving lane of the host vehicle". "Overtaking lane" may also refer to a "current and / or upcoming overtaking lane". According to an example, “passing lane” may also refer to “a passing lane having and / or including a predetermined and / or fixed distance, extension and / or length” and / or “a passing lane of a 2+1 road”. On the other hand, the phrase “passing lane adjacent to” the driving lane may refer to a passing lane that is “near” and / or “immediately adjacent” to the driving lane.

[0035] The overtaking estimation system 1 is (for example, by the incremental distance determination unit 102 (in Figure 2 )) is adapted and / or configured to determine an incremental distance D between the host vehicle 2 and a preceding vehicle 7 located in the host vehicle's driving lane 41. 增量 Thus, the distance D between the host vehicle 2 and the preceding vehicle 7 located in the host vehicle driving lane 41 and traveling and / or advancing in the host vehicle driving lane 41 and located in front of the host vehicle 2 is determined. 增量 .

[0036] The exemplary preceding vehicle 7 may refer to any manned or unmanned vehicle, such as an engine-driven or electric vehicle (e.g., a car, truck, lorry, van, bus, tractor, motorcycle, moped, scooter, etc.). Depending on the example, the preceding vehicle may even refer to, for example, a hoverboard or a bicycle.

[0037] The incremental distance D may be determined in any practicable manner depending on what input data is available and / or the current situation. 增量 According to the example, the incremental distance D 增量The distance D between the host vehicle 2 and the preceding vehicle 7 may be determined based on input data obtained from a vehicle-to-vehicle communication system (e.g., known) onboard the host vehicle 2, the vehicle-to-vehicle communication system being adapted to communicate with surrounding vehicles (e.g., the preceding vehicle 7), the input data indicating the distance D between the host vehicle 2 and the preceding vehicle 7. 增量 .

[0038] However, additionally or alternatively, the incremental distance D 增量 The distance D to the surrounding objects may be determined based on input data obtained from one or more surrounding object sensing systems (e.g., including one or more of a camera, radar, lidar, and / or ultrasonic sensor) onboard the host vehicle 2 (e.g., known). The surrounding object sensing systems are adapted to detect surrounding objects (e.g., the preceding vehicle 7) and the distances D to these surrounding objects. 增量 .

[0039] Optionally, determine the incremental distance D 增量 The incremental distance D may be determined based on image data obtained from the previously discussed monocular camera 3 adapted to capture the surroundings of the host vehicle 2. 增量 Thus, the incremental distance D between the host vehicle 2 and the preceding vehicle 7 is 增量 This can be determined in an efficient and cost-effective manner, wherein no other surrounding object detection sensors are required in addition to the monocular camera 3 .

[0040] Further optionally, determining the incremental distance D 增量 This may include determining the incremental distance D based on a (eg, known) monocular depth reconstruction model. 增量 . Optional monocular depth reconstruction models and / or systems may, for example, include a (eg, known) convolutional neural network (CNN).

[0041] The phrase "determining" an incremental distance may refer to "calculating" and / or "deriving" an incremental distance, and according to an example, it may also refer to "determining" an incremental distance based on input obtained from a surrounding object sensing system onboard the host vehicle. In addition, "determining an incremental distance" may refer to "determining a current (or substantially current) incremental distance" and / or "determining an incremental distance at the point in time (or substantially at the point in time)". On the other hand, "the incremental distance between the host vehicle and the preceding vehicle" may refer to "the incremental distance from the host vehicle to the preceding vehicle", and according to an example, it may also refer to "the incremental distance between the substantial front end of the host vehicle and the substantial rear end of the preceding vehicle". In addition, a "preceding" vehicle may refer to a "front" vehicle. A preceding vehicle "located in" the driving lane of the host vehicle may refer to a preceding vehicle "traveling or traveling" in the driving lane of the host vehicle and / or a preceding vehicle "located in front of" the driving lane of the host vehicle in the driving lane of the host vehicle, and "the vehicle driving lane of the host vehicle" may refer to "the driving lane of the host vehicle".

[0042] The overtaking estimation system 1 (for example, by the incremental time determination unit 103 (in Figure 2 The UE 2 is adapted and / or configured to determine the delta time for the host vehicle 2 to reach the preceding vehicle 7. Thereby, the time taken for the host vehicle 2 to catch up with the preceding vehicle 7 is estimated.

[0043] The delta time may be determined in any feasible manner depending on what input data is available and / or the current situation.According to an example, the delta time may be determined based on input data obtained from the exemplary optional one or more surrounding object sensing systems discussed previously.

[0044] However, optionally, determining the delta time may include determining the delta time based on image data obtained from the previously discussed monocular camera 3 adapted to capture the surroundings of the host vehicle 2. Further optionally, determining the delta time may include determining the delta time based on image data captured at two or more different points in time, the image data obtained from the previously discussed monocular camera 3. Thus, the delta time for the host vehicle 2 to reach the preceding vehicle 7 may be determined in an efficient and cost-effective manner (e.g., as known), wherein no surrounding object detection sensors other than the monocular camera 3 are required.

[0045] The phrase "determining" a delta time may refer to "calculating" and / or "deriving" a delta time, and according to an example, may also refer to "determining" a delta time based on input obtained from a surrounding object sensing system onboard the host vehicle. Furthermore, "determining a delta time" may refer to "determining a current (or substantially current) delta time" and / or "determining a delta time at (or substantially at) the time point," and according to an example, "the delta time for the host vehicle to reach the preceding vehicle" may refer to "the time it takes to reach the preceding vehicle." On the other hand, the delta time for the host vehicle to reach the preceding vehicle may refer to the delta time for the host vehicle to catch up with the preceding vehicle, and according to an example, may also refer to the delta time for the front end of the host vehicle to substantially reach the rear end of the preceding vehicle. Furthermore, "image data captured at two or more different time points" may refer to "image data captured at two or more different time stamps." The different time points may differ by any duration feasible for the current implementation and / or situation, for example, a difference between the time stamps of a few microseconds to a few seconds.

[0046] The overtaking estimation system 1 (for example, by the preceding vehicle speed determination unit 104 (in Figure 2 )) is adapted and / or configured for use based on the incremental distance D 增量 , the incremental time and the determined speed of the host vehicle to determine the speed of the preceding vehicle 7. Thus, as estimated from the distance D to the preceding vehicle 7 增量 , the estimated time to reach the preceding vehicle 7 , and the determined vehicle speed of the host vehicle 2 , and the traveling speed of the preceding vehicle 7 is determined.

[0047] Furthermore, the referenced host vehicle speed may be determined in any feasible manner depending on what input data is available and / or the current situation. The host vehicle speed may be obtained, for example, from the optional exemplary speed determination system 6 discussed above.

[0048] On the other hand, the speed of the preceding vehicle may be determined in any feasible manner based on the incremental distance D 增量 , the determined incremental time and the determined speed of the vehicle.

[0049] According to an example, the following equation(s) may be used as a basis:

[0050] (V 本车辆 –V 在前车辆 )*T 增量 =D 增量 (2)

[0051] V 在前车辆 =-D 增量 / T 增量 +V本车辆 (3)

[0052] in,

[0053] V 本车辆 = the speed of the vehicle,

[0054] T 增量 = the incremental time for the vehicle to reach the preceding vehicle 7,

[0055] D 增量 = the incremental distance between the host vehicle 2 and the preceding vehicle 7, and

[0056] V 在前车辆 = Speed of the vehicle in front

[0057] As previously mentioned, the incremental distance D between the host vehicle 2 and the preceding vehicle 7 is 增量 It can optionally be computed with support from a monocular depth reconstruction model (e.g., using a CNN-based approach).

[0058] The phrase “determining” the speed of the preceding vehicle based on the incremental distance, the incremental time and the determined speed of the host vehicle may refer to “determining” the speed of the preceding vehicle based on an equation and / or algorithm including the incremental distance, the incremental time and the determined speed of the host vehicle. On the other hand, “determining based on…” may refer to “calculating based on…” in the context. Furthermore, “determining the speed of the preceding vehicle” may refer to “determining the current (or substantially current) speed of the preceding vehicle” and / or “determining the speed of the preceding vehicle at or (substantially at) the point in time”. On the other hand, “determining the speed of the host vehicle” may refer to “deriving the speed of the host vehicle” and, according to an example, it may also refer to “the speed of the host vehicle obtained from a speed determination system onboard the vehicle”.

[0059] The overtaking estimation system 1 (for example, by the overtaking speed determination unit 105 ( Figure 2 )) is adapted and / or configured for use based on the remaining distance D 剩余 , incremental distance D 增量 , the speed of the preceding vehicle and the overtaking influence parameter to determine the remaining distance D of the host vehicle 2 in the overtaking lane 42 剩余 The minimum overtaking speed of the vehicle 7 in front of the overtaking lane 42 is calculated. From this, an estimated value representing the speed of the host vehicle 2 required to try to overtake the vehicle 7 in front before the end of the overtaking lane 42 is calculated. That is, at any given point in time (considering that the host vehicle 2 is performing a potential overtaking maneuver at or substantially at that point in time), the minimum overtaking speed currently required for the host vehicle 2 can be calculated based on the current (or substantially current) determined remaining distance D 剩余 , incremental distance D增量 , the speed of the preceding vehicle, and the overtaking impact parameter, as proposed by the aforementioned method. Thus, the overtaking estimation system assists in measuring the driving environment variables before the host vehicle 2 performs a potential overtaking maneuver, thereby subsequently making such a potential overtaking maneuver less challenging for, for example, the potential vehicle driver and / or the ADAS / AD system of the host vehicle 2.

[0060] Overtaking influencing parameter may refer to any arbitrary parameter that provides a margin in determining the minimum overtaking speed.

[0061] Optionally, the overtaking influencing parameter may include the length L of the host vehicle 2 本车辆 The length of the vehicle is L 本车辆 It can be represented by a constant; however, according to the example, the length L of the vehicle 本车辆 It can be represented by a variable, which can be obtained from (for example, known) a vehicle equipment length determination system 8 ( Figure 2 ), which can be meaningful, for example, if the vehicle 2 is attached to and / or towing, for example, a trailer, semitrailer and / or caravan.

[0062] Additionally or alternatively, the overtaking influencing parameter may include the length L of the preceding vehicle 7 在前车辆 Length of the preceding vehicle L 在前车辆 It can be represented by a constant, for example, the maximum permissible length of a vehicle; however, according to the example, the length L of the preceding vehicle 在前车辆 It can be represented by a variable which, for example: can be obtained from the preceding vehicle 7 itself, for example via vehicle-to-vehicle communication; and / or can be obtained from a database, which is for example comprised in a backend system, such as the well-known automotive cloud, which holds information such as the length of the vehicle based on the registration number and / or vehicle type, which information can be collected by the host vehicle 2, for example with the support of an image capture system such as the above-mentioned optional monocular camera 3.

[0063] Furthermore, in addition or alternatively, the overtaking influencing parameter may include a safety distance margin D 裕度 , which defines the closest distance that the host vehicle 2 is allowed to approach the preceding vehicle 7. Safety distance margin D 裕度 can be represented by a constant; however, according to the example, the safety distance margin D 裕度 It can be represented by a variable that reflects, for example, the driver's driving style and / or a determined driving environment and / or traffic conditions, which can be obtained, for example, from a (for example, known) cooperative system such as a node and / or an electronic control module ECU on board the vehicle 2. Accordingly, the safety distance margin D 裕度 The range can be from tens of millimeters to tens of meters.

[0064] The minimum passing speed may be determined in any feasible manner based on the remaining distance D in the passing lane 42. 剩余的 , the determined incremental distance D between the host vehicle 2 and the preceding vehicle 7 增量 , the determined speed of the preceding vehicle 7 and the overtaking influencing parameters.

[0065] According to an example, the following equation may be used as a basis:

[0066] V 超车 =V 在前车辆 *D 剩余 / (D 剩余 –D 增量 –k 影响 ) (4)

[0067] in,

[0068] V 在前车辆 = Speed of the vehicle in front

[0069] D 剩余 = Remaining distance in overtaking lane 42

[0070] D 增量 = incremental distance between the host vehicle 2 and the preceding vehicle 7,

[0071] K 影响 = Overtaking impact parameter, and

[0072] V 超车 =Minimum overtaking speed of the vehicle

[0073] It will be appreciated that it may be assumed that the host vehicle 2 and the preceding vehicle 7 maintain substantially constant speeds and / or accelerations, respectively, during the minimum overtaking speed estimation process (and it may also be assumed that the preceding vehicle 7 maintains substantially constant speeds and / or accelerations during a potential overtaking maneuver).

[0074] The phrase “determining” the minimum overtaking speed based on the remaining distance, the incremental distance, the speed of the preceding vehicle, and the overtaking influencing parameter may refer to “determining” the minimum overtaking speed based on an equation and / or algorithm including the remaining distance, the incremental distance, the speed of the preceding vehicle, and the overtaking influencing parameter. On the other hand, “determining based on…” may refer to “calculating based on…” in this context. Furthermore, “determining the minimum overtaking speed” may refer to “determining the current (or substantially current) minimum overtaking speed” and / or “determining the minimum overtaking speed at the point in time (or substantially at the point in time)”. “Minimum overtaking speed” may refer to “target speed” and / or simply “overtaking speed”. On the other hand, the phrase “overtaking the preceding vehicle within the remaining distance in the overtaking lane” may refer to “overtaking the preceding vehicle before reaching the end of the remaining distance”. The “length” of the host vehicle / previous vehicle may refer to the “determined length” and / or the “estimated length” of the host vehicle / previous vehicle. According to one example, the phrase “the length of the host vehicle” may refer to “the length of the host vehicle obtained from a vehicle-equipped length determination system,” and similarly, the phrase “the length of the preceding vehicle” may refer to “the length of the preceding vehicle determined based on the registration number and / or vehicle type obtained from an image capture system (e.g., a monocular camera) onboard the host vehicle.” On the other hand, the phrase “the closest distance at which the host vehicle is allowed to approach the preceding vehicle” may refer to “the closest distance at which the host vehicle is allowed to approach the preceding vehicle,” “the closest distance at which the host vehicle is allowed to approach the rear of the preceding vehicle,” and / or “the closest distance at which the host vehicle is allowed to approach the preceding vehicle during a potential overtaking maneuver.”

[0075] The overtaking estimation system 1 may (for example, via the optional overtaking speed communication unit 106 (in Figure 2 ) is adapted and / or configured to transmit estimated overtaking speed data reflecting the minimum overtaking speed to an action taking system 9 onboard the host vehicle 2. Thus, the estimated minimum overtaking speed can be provided to, for example, a human-machine interface HMI onboard the host vehicle 2 (for example, to inform potential drivers of the host vehicle 2 of the minimum overtaking speed) via the estimated overtaking speed data, and / or provided as input to an (for example, known) advanced driver assistance system ADAS and / or (for example, known) autonomous driving AD system of the host vehicle 2.

[0076] The estimated overtaking speed data may be communicated in any feasible manner (e.g., via wired and / or wireless communication), and the action-taking system 9 may refer to any system 9 onboard the host vehicle 2 that is feasible for the present implementation. For example, the action-taking system 9 may include (and / or refer to): a human-machine interface (HMI interface), such as a display and / or a speaker, adapted to present and / or prompt the determined minimum overtaking speed to, for example, a potential vehicle driver; and / or may include (and / or refer to), for example, an ADAS / AD system adapted to at least partially control the overtaking maneuver. The optional HMI interface may, for example, be included and / or installed in the host vehicle 2 and / or included in a user device such as a smartphone carried on the host vehicle 2.

[0077] The phrase "transmitting" estimated overtaking speed data may refer to "transmitting the estimated overtaking speed data via wired and / or wireless means," and "estimated overtaking speed data" may refer to "one or more estimated overtaking speed signals and / or messages." On the other hand, estimated overtaking speed data "reflecting a minimum overtaking speed" may refer to estimated overtaking speed data "including a determined minimum overtaking speed." By way of example, the phrase "an action-taking system onboard the host vehicle" may refer to "an action-taking system onboard the host vehicle, the action-taking system comprising an HMI interface and / or an ADAS / AD system."

[0078] As in Figure 2 As further shown in ( Figure 21 shows a schematic block diagram of an exemplary overtaking estimation system 1 according to an embodiment of the present disclosure. The overtaking estimation system 1 includes a remaining distance determination unit 101, an incremental distance determination unit 102, an incremental time determination unit 103, a preceding vehicle speed determination unit 104, an overtaking speed determination unit 105, and an optional overtaking speed transmission unit 106, all of which have been described in more detail above. Furthermore, the embodiments herein for estimating a vehicle's minimum overtaking speed can be implemented using one or more processors (e.g., processor 107, here represented as a CPU) in conjunction with computer program code for performing the functions and actions of the embodiments herein. The program code can also be provided as a computer program product, for example, in the form of a data carrier carrying computer program code for executing the embodiments herein when loaded into the overtaking estimation system 1. One such carrier can be in the form of a CD ROM disk and / or a hard drive, although other data carrier formats are also possible. The computer program code can also be provided as pure program code on a server and downloaded to the overtaking estimation system 1. The overtaking estimation system 1 can also include a memory 108 comprising one or more memory units. The memory 108 can be arranged to store, for example, information and can further be arranged to store data, configurations, schedules, and applications for performing the methods herein when executed in the overtaking estimation system 1. For example, the computer program code can be implemented in firmware, stored in the flash memory 108 of the embedded processor 107, and / or downloaded wirelessly, for example, from an off-board server. Furthermore, the remaining distance determination unit 101, the incremental distance determination unit 102, the incremental time determination unit 103, the preceding vehicle speed determination unit 104, the overtaking speed determination unit 105, the optional overtaking speed transmission unit 106, the optional processor 107, and / or the optional memory 108 can be at least partially included in one or more nodes 109 (e.g., an ECU of the vehicle 2). Those skilled in the art will also recognize that the above-described units 101, 102, 103, 104, 105, 106 may involve a combination of analog and digital circuits, and / or one or more processors configured with software and / or firmware (e.g., stored in a memory such as memory 108) that, when executed by one or more processors such as processor 107, performs as described herein. One or more of these processors, as well as other digital hardware, may be included in a single ASIC (Application Specific Integrated Circuit), or several processors and various digital hardware may be distributed among several separate components, whether packaged separately or assembled into an SoC (System on a Chip).

[0079] Figure 2Also shown are an optional monocular camera 3, an optional positioning system 5, an optional speed determination system 6, an optional vehicle equipment length determination system 8, an optional action taking system 9, and an optional automotive cloud, all of which have been discussed in detail above.

[0080] Figure 3 is a flow chart depicting an exemplary method performed by the overtaking estimation system 1 according to an embodiment of the present disclosure. The method is used to estimate the minimum overtaking speed of a vehicle. The exemplary method (which may be repeated continuously) includes referring to Figure 1-2 One or more of the following actions discussed. Furthermore, where applicable, the actions may be performed in any suitable order and / or one or more actions may be performed simultaneously and / or in an alternate order. For example, actions 1002-1004 may be performed simultaneously with and / or before action 1001, and further, actions 1002-1004 may be performed simultaneously and / or in an alternate order.

[0081] Action 1001

[0082] In action 1001, the overtaking estimation system 1 determines the remaining distance D of the overtaking lane 42 adjacent to the driving lane 41 of the host vehicle 2 based on the host vehicle 2, for example, with the support of the remaining distance determination unit 101. 剩余 .

[0083] Action 1002

[0084] In action 1002, the overtaking estimation system 1 determines the incremental distance D between the host vehicle 2 and the preceding vehicle 7 located in the driving lane 41 of the host vehicle, for example with the support of the incremental distance determination unit 102. 增量 .

[0085] Optionally, determine the incremental distance D 增量 Action 1002 may comprise determining the incremental distance based on image data obtained from a monocular camera 3 adapted to capture the surroundings of the host vehicle 2 .

[0086] Alternatively, determine the incremental distance D 增量 Action 1002 may include determining the incremental distance based on a monocular depth reconstruction model. The monocular depth reconstruction model may further include a convolutional neural network (CNN).

[0087] Action 1003

[0088] In action 1003 , the overtaking estimation system 1 determines the incremental time it will take for the host vehicle 2 to reach the preceding vehicle 7 , for example with the support of the incremental time determination unit 103 .

[0089] Optionally, the action 1003 of determining the incremental time may include determining the incremental time based on image data obtained from a monocular camera 3 adapted to capture the surroundings of the host vehicle 2 .

[0090] Alternatively, the action 1003 of determining the incremental time may include: determining the incremental time based on image data captured by the monocular camera 3 at two or more different time points.

[0091] Action 1004

[0092] In action 1004 , the overtaking estimation system 1 , for example with the support of the preceding vehicle speed determination unit 104 , determines the vehicle speed based on the incremental distance D 增量 , the incremental time and the determined own vehicle speed are used to determine the speed of the preceding vehicle 7 .

[0093] Action 1005

[0094] In action 1005, the overtaking estimation system 1 , for example with the support of the overtaking speed determination unit 105 , determines the remaining distance D 剩余 , incremental distance D 增量 , the speed of the preceding vehicle and the overtaking influence parameter to determine the remaining distance D of the host vehicle 2 in the overtaking lane 42 剩余 The minimum overtaking speed of the vehicle in front 7.

[0095] Action 1006

[0096] In optional action 1006 , the overtaking estimation system 1 may transmit estimated overtaking speed data reflecting the minimum overtaking speed to the action taking system 9 onboard the host vehicle 2 , for example with the support of the optional overtaking speed transmission unit 106 .

[0097] The action taking system 9 may include an HMI interface and / or an ADAS / AD system.

[0098] Optionally, the overtaking influencing parameter may include the length L of the host vehicle 2 本车辆 Additionally or alternatively, the overtaking influencing parameter may include the length L of the preceding vehicle 7 . 在前车辆 Furthermore, additionally or alternatively, the overtaking influencing parameter may include a safety distance margin D 裕度 , which defines the closest distance that the host vehicle 2 is allowed to approach the preceding vehicle 7.

[0099] Those skilled in the art will recognize that the present disclosure is in no way limited to the preferred embodiments described above. Rather, numerous modifications and variations are possible within the scope of the appended claims. It should also be noted that the drawings are not necessarily drawn to scale and that the dimensions of certain features may be exaggerated for clarity. Instead, the emphasis is on illustrating the principles of the embodiments herein. Furthermore, in the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality.

Claims

1. A method for estimating a minimum overtaking speed of a vehicle, performed by an overtaking estimation system (1), the method comprising: Based on the host vehicle (2), a remaining distance (D) of a passing lane (42) adjacent to the driving lane (41) of the host vehicle (2) is determined (1001) according to at least one of the following items: 剩余 ): input of map data derived from a positioning system (5) on board the host vehicle (2) in combination with information about the overtaking lane (42) and / or the fixed length of the overtaking lane (42), and Input data derived from an image capture system and / or a monocular camera onboard the host vehicle (2) that captures road signs indicating a fixed length and / or a remaining portion of the passing lane (42); Determine (1002) an incremental distance (D) between the host vehicle (2) and a preceding vehicle (7) located in the host vehicle's travel lane (41). 增量 ); determining (1003) a delta time for the host vehicle (2) to reach the preceding vehicle (7); Based on the incremental distance (D 增量 ), the incremental time and the determined speed of the host vehicle, to determine (1004) the speed of the preceding vehicle (7); as well as Based on the remaining distance (D 剩余 ), the incremental distance (D 增量 ), the speed of the preceding vehicle and the overtaking influence parameter, to determine (1005) the remaining distance (D) of the host vehicle (2) in the overtaking lane (42) 剩余 ) is the minimum overtaking speed of the preceding vehicle (7) for overtaking.

2. The method according to claim 1, further comprising: Overtaking speed data reflecting the minimum overtaking speed estimate is transmitted (1006) to an action taking system (9) onboard the host vehicle (2).

3. The method according to claim 1 or 2, wherein: The overtaking influencing parameters include: The length (L) of the vehicle (2) 本车辆 ); and / or The length (L) of the preceding vehicle (7) 在前车辆 ); and / or Safety distance margin (D 裕度 ), the safety distance margin (D 裕度 ) defines the closest distance at which the host vehicle (2) is allowed to approach the preceding vehicle (7).

4. The method according to claim 1, wherein Determine (1002) the incremental distance (D 增量 ) and / or determining (1003) the incremental time comprises: determining the incremental distance (D) based on image data obtained from a monocular camera (3) adapted to capture the surroundings of the host vehicle (2) 增量 ) and / or the incremental time.

5. The method according to claim 4, wherein Determining (1003) the delta time includes determining the delta time based on image data captured at two or more different points in time.

6. The method according to claim 4 or 5, wherein: Determine (1002) the incremental distance (D 增量 ) includes: determining the incremental distance (D 增量 ).

7. An overtaking estimation system (1) for estimating a minimum overtaking speed of a vehicle, the overtaking estimation system (1) comprising: A remaining distance determination unit (101) for determining (1001) a remaining distance (D) of a passing lane (42) adjacent to a driving lane (41) of the host vehicle (2) based on at least one of the following items: 剩余 ): input of map data derived from a positioning system (5) on board the host vehicle (2) in combination with information about the overtaking lane (42) and / or the fixed length of the overtaking lane (42), and Input data derived from an image capture system and / or a monocular camera onboard the host vehicle (2) that captures road signs indicating a fixed length and / or a remaining portion of the passing lane (42); An incremental distance determination unit (102) determines (1002) an incremental distance (D) between the host vehicle (2) and a preceding vehicle (7) located in a driving lane (41) of the host vehicle. 增量 ); an incremental time determination unit (103) for determining (1003) an incremental time for the host vehicle (2) to reach the preceding vehicle (7); A preceding vehicle speed determination unit (104) is configured to determine the speed of the preceding vehicle based on the incremental distance (D 增量 ), determining (1004) the speed of the preceding vehicle (7) using the incremental time and the determined speed of the host vehicle; as well as The overtaking speed determination unit (105) is configured to determine the overtaking speed based on the remaining distance (D 剩余 ), the incremental distance (D 增量 ), the speed of the preceding vehicle and the overtaking influence parameter are used to determine (1005) the remaining distance (D) of the host vehicle (2) in the overtaking lane (42) 剩余 ) is the minimum overtaking speed of the preceding vehicle (7) for overtaking.

8. The overtaking estimation system (1) according to claim 7, further comprising: An overtaking speed transmitting unit (106) is used to transmit (1006) estimated overtaking speed data reflecting the minimum overtaking speed to an action taking system (9) onboard the host vehicle (2).

9. The overtaking estimation system (1) according to claim 7 or 8, wherein: The overtaking influencing parameters include: The length (L) of the vehicle (2) 本车辆 ); and / or The length (L) of the preceding vehicle (7) 在前车辆 ); and / or Safety distance margin (D 裕度 ), the safety distance margin (D 裕度 ) defines the closest distance at which the host vehicle (2) is allowed to approach the preceding vehicle (7).

10. The overtaking estimation system (1) according to claim 7, wherein: The incremental distance determination unit (102) is adapted to determine the incremental distance (D) based on image data obtained from a monocular camera (3) adapted to capture the surroundings of the host vehicle (2). 增量 ), and / or the incremental time determination unit (103) is adapted to determine the incremental time based on image data obtained from a monocular camera (3) adapted to capture the surrounding environment of the vehicle (2).

11. The overtaking estimation system (1) according to claim 10, wherein: The delta time determination unit (103) is adapted to determine the delta time based on image data captured at two or more different time points.

12. The overtaking estimation system (1) according to claim 10 or 11, wherein: The incremental distance determination unit (102) is adapted to determine the incremental distance (D 增量 ).

13. A vehicle (2) comprising the overtaking estimation system (1) according to any one of claims 7 to 12.

14. A computer program product comprising a computer program containing computer program code means arranged to cause a computer or a processor to perform the steps of the method according to any one of claims 1 to 6, the computer program product being stored on a computer readable medium or a carrier wave.

15. A non-volatile computer-readable storage medium having stored thereon the computer program product according to claim 14.

Images