Method for assisting a following vehicle of a platoon to overtake and vehicle performing the method

Abstract

The invention relates to a method for assisting a following vehicle of a vehicle platoon to overtake, the vehicle platoon comprising at least two vehicles, the vehicle platoon driving on the same path. The method comprises at least the steps of activating an overtake mode of the at least two vehicles, detecting at least a distance between the two vehicles of the vehicle platoon and a number of vehicles on an oncoming lane, and assisting the following vehicle of the two vehicles of the vehicle platoon to overtake with the detected results. The method according to the invention is particularly implemented on a two-lane road in both directions, i.e. the vehicles of the vehicle platoon particularly need to use the oncoming lane in order to overtake. The invention also relates to a vehicle for carrying out the method.

Description

Technical Field

[0001] This invention relates to a method for assisting a following vehicle in a convoy to overtake, the convoy comprising at least two vehicles traveling on the same path. The method according to the invention is particularly applicable to two-lane roads, i.e., vehicles in a convoy need to use the oncoming lane to overtake. The invention also relates to a vehicle for performing this method. Background Technology

[0002] When driving in a convoy on a two-lane road, especially on winding roads, such as in mountainous areas, vehicles in the convoy may sometimes be separated by trucks or other slower vehicles, causing the rear vehicles to fall further and further behind. Due to blind spots on curves, if there are oncoming vehicles in the opposite lane within the blind spot, the slowed-down rear vehicles in the convoy will be hesitant to overtake, making overtaking particularly difficult, especially on mountain roads. This reduces the overall speed of the convoy, causing the vehicles to become separated.

[0003] Existing technologies for assisting overtaking typically address urban traffic scenarios and rely on the construction of road infrastructure. However, in areas where infrastructure is relatively scarce, devices or methods for assisting overtaking are not common. Summary of the Invention

[0004] This invention proposes a method for assisting vehicles in a convoy to overtake, particularly on two-lane roads. In road traffic, vehicles in a convoy often need to use the oncoming lane to overtake, especially on roads with many curves, where such overtaking is dangerous and opportunities are limited.

[0005] Therefore, the method according to the invention enables overtaking of vehicles following in a convoy, particularly on a two-lane road, especially overtaking slower vehicles outside the convoy that are sandwiched in the middle of the convoy. Within the framework of the invention, the convoy comprises at least two vehicles traveling on the same path, particularly on a two-lane road, wherein the method includes at least the following steps:

[0006] -Activate the overtaking mode for at least two vehicles.

[0007] - At least detect the distance between any two vehicles in the convoy and the number of vehicles in the oncoming lane, especially the distance between any two adjacent vehicles in the convoy and the number of vehicles in the oncoming lane between those adjacent vehicles.

[0008] - Use the detected results to assist the following vehicle in the convoy in overtaking.

[0009] Within the framework of this invention, a convoy can consist of vehicles capable of implementing the method according to the invention, rather than necessarily multiple vehicles with a common destination. For example, if a first vehicle capable of implementing the method is traveling on a two-lane road with at least one vehicle ahead, particularly a slower-moving one, then the first vehicle can establish a direct or indirect connection with a second vehicle (capable of implementing the method) further ahead, thereby forming a convoy to implement the method according to the invention, assisting the first vehicle in overtaking the vehicle ahead. The second vehicle is preferably the vehicle adjacent to the first vehicle in the convoy; however, a third vehicle may also exist between the second and first vehicles. In particular, the overtaken vehicle is not part of the convoy. Here, the convoy can be temporarily formed during road travel; that is, vehicles capable of implementing the method according to the invention can form a temporary convoy to implement the method according to the invention if they encounter other vehicles also capable of implementing the method according to the invention while traveling on the road. However, it is also conceivable that the vehicles in the convoy have already formed a convoy at the start and, in particular, have the same destination.

[0010] After the convoy is established, the corresponding vehicles in the convoy first activate the overtaking mode. In the overtaking mode, the distance between the first and second vehicles that are preferably adjacent in the convoy and the number of vehicles in the opposite lane between these two vehicles are calculated. Based on the detected results, the following vehicle in the convoy is assisted in overtaking, especially in overtaking vehicles that do not belong to the convoy.

[0011] However, it is also conceivable to calculate the distance between the first and second non-adjacent vehicles in the convoy and the number of vehicles in the opposite lane between these two vehicles, and based on the detected results, assist the following vehicle in overtaking. Here, the vehicle being overtaken can be the third vehicle in the convoy.

[0012] According to a preferred embodiment of the present invention, the method uses position sensors on two vehicles in a convoy to determine the leading and trailing vehicles, and to determine the distance between the leading and trailing vehicles. The position sensors are preferably satellite positioning systems, such as GPS, BeiDou, GLONASS, and / or Galileo.

[0013] Within the framework of this invention, vehicles in the convoy are detected by their respective sensors in the oncoming lane, particularly by determining the direction of travel of the vehicles in the oncoming lane based on the sensing sequence of the front and rear sensors of the vehicles. For example, in a right-hand drive road, if the left front radar and left rear radar of a vehicle in the convoy detect vehicles in the oncoming lane in succession, it indicates that a vehicle in the oncoming lane is traveling towards the vehicle in the convoy; if the left rear radar and left front radar of a vehicle in the convoy detect vehicles in the oncoming lane in succession, it indicates that a vehicle in the oncoming lane is traveling in the same direction as the vehicle in the convoy, meaning that a vehicle in the convoy has been overtaken.

[0014] According to a preferred embodiment of the invention, the sensors used by vehicles in a convoy to detect vehicles passing in the oncoming lane are, for example, radar and / or cameras, particularly side radars and / or front cameras. For example, in a right-hand drive lane, the presence of oncoming vehicles is sensed by a combination of a front camera and a left front radar, and / or by a left rear radar, which senses that the oncoming vehicle has passed and moved away.

[0015] According to a preferred embodiment of the present invention, when a vehicle traveling in the opposite direction passes by the vehicle in front, the counter is incremented by 1, and / or when a vehicle traveling in the opposite direction passes by the vehicle behind, the counter is decremented by 1. However, when a vehicle traveling in the same direction passes by the vehicle in front or behind in the opposite lane, i.e., the vehicle in front or behind is overtaken, the counter preferably does not increment or decrement.

[0016] Within the framework of this invention, the counter can be installed on the vehicles in the fleet, for example, it can be a counting program in the vehicle control system of each vehicle in the fleet, or it can be a device specifically designed for counting on the vehicle. The vehicle control system can be configured to execute at least a portion of the method according to the invention, for example, including an application-specific integrated circuit, one or more processors, and a non-transitory memory storing instructions. The vehicle control system is, for example, an electronic control unit (ECU), commonly referred to as a "vehicle computer," "on-board computer," etc. Alternatively, the counter may not be installed on the vehicles in the fleet, but rather in a central server. Within the framework of this invention, the central server can be a central server set up by the vehicle manufacturer, or it can be a universal platform applicable to various brands of vehicles.

[0017] According to a preferred embodiment of the invention, when the counter count is 0, a prompt indicating that overtaking is possible is output to the following vehicle. A counter count of 0 specifically means that there are no oncoming vehicles in the opposite lane between the leading and following vehicles in the convoy.

[0018] According to a preferred embodiment of the present invention, the driver of the following vehicle and / or the vehicle control system of the following vehicle decides whether to overtake based at least on the prompt. Within the framework of the present invention, the "prompt" may be, for example, a voice prompt, text displayed on an in-vehicle display, or information output to the vehicle control system. In particular, voice prompts and displayed text are used to remind the driver that overtaking is permissible, while the information output to the vehicle control system provides a decision-making basis for the vehicle control system. Here, the vehicle control system can alternatively or additionally automatically decide whether to overtake based at least on the prompt. Within the framework of the present invention, when the driver or vehicle control system automatically decides whether to overtake, other information may be required, such as the relative speed between the following vehicle and the vehicle immediately ahead of it, the distance between the following vehicle and the vehicle in the convoy, especially the adjacent vehicle ahead, the absolute speed of the following vehicle, road conditions (e.g., whether there are sharp turns), weather conditions (e.g., whether the road surface is slippery), etc.

[0019] Within the framework of this invention, road conditions can be determined, for example, by combining map data pre-stored in the vehicle control system with the vehicle's location information, and weather conditions can be obtained, for example, by establishing a real-time connection between the vehicle control system and the Internet and obtaining information from weather service websites. Those skilled in the art can also employ other methods to obtain information such as road conditions and weather conditions to provide decision-making support for the driver or vehicle control system.

[0020] According to a preferred embodiment of the present invention, various sensor data from each vehicle in the fleet can be transmitted to a central server, which then returns processed information and / or instructions to each vehicle. The transmission to the central server can be achieved through various methods known to those skilled in the art. Preferably, the vehicle's control system (especially through an onboard communication device) establishes a connection with a radio communication base station, and then the radio communication base station establishes a connection with the central server; or the vehicle control system (especially through an onboard communication device) establishes a connection with the driver's mobile terminal, and then the mobile terminal establishes a connection with the central server. Here, the mobile terminal can refer to, for example, a mobile phone, tablet computer, laptop computer, or other terminal device with network connectivity, especially a mobile phone with an application program that connects to the central server.

[0021] Within the framework of this invention, for example, the central server receives information such as the position and speed of the first and second vehicles in the convoy. Using this information, it determines that the first and second vehicles are the following and preceding vehicles, respectively, and determines the distance between them. Then, it uses sensor signals, preferably radar and camera signals from the following and preceding vehicles to determine if there are oncoming vehicles in the opposite lane. When an oncoming vehicle passes by the following vehicle in the opposite lane, the central server increments its counter by 1; when an oncoming vehicle passes by the following vehicle in the opposite lane, the central server decrements its counter by 1. The central server transmits the processed information to the corresponding vehicles in the convoy, particularly transmitting information such as the distance to the preceding vehicle and a counter of 0 to the following vehicles. Here, there may be other vehicles belonging to the convoy, such as a third vehicle, between the following and preceding vehicles. In this case, the following vehicle can overtake the third vehicle, which also belongs to the convoy. Alternatively, the following and preceding vehicles may be two adjacent vehicles in the convoy, meaning there may be other vehicles not belonging to the convoy between them.

[0022] Alternatively or additionally, the central server may combine the location information uploaded by each vehicle in the fleet to transmit information such as road conditions and weather conditions that match the location information to each vehicle.

[0023] According to a preferred embodiment of the invention, sensor data from all vehicles in the convoy are transmitted to the onboard control system of the convoy leader vehicle. The convoy leader vehicle's onboard control system then returns processed information and / or instructions to each vehicle. The leader vehicle can be any vehicle in the convoy. In this case, the vehicles in the convoy can establish a direct connection via wireless communication. After establishing the direct connection, for example, the first vehicle at the rear receives sensor data from the adjacent vehicle (second vehicle) in the convoy ahead of it. This first vehicle, especially the leader vehicle, compares the received sensor data with data measured by its own sensors to at least determine the distance to the preceding vehicle (second vehicle) in the convoy and the number of vehicles in the oncoming lane between them. The leader vehicle outputs an overtaking prompt based on the processed information. If the leader vehicle is a following vehicle, it itself issues an overtaking prompt to the driver, and / or the leader vehicle's vehicle control system, combined with other information (as mentioned above), automatically decides whether to overtake.

[0024] It should be noted that, within the framework of this invention, the vehicle control system automatically decides whether to overtake, particularly within the scope of autonomous driving. For example, only after the driver of the following vehicle activates its autonomous driving function can its vehicle control system automatically decide whether to overtake based on the processed information received. Here, "processed information" refers, for example, the relative speed between the following vehicle and the vehicle immediately ahead of it to be overtaken, the distance between the following vehicle and the vehicle in the convoy, especially the adjacent vehicle ahead, the absolute speed of the following vehicle, road conditions (e.g., whether there are sharp turns), weather conditions (e.g., whether the road surface is slippery), etc. The processed information can be information received from a central server, and / or information obtained by processing data sensed by various vehicle sensors.

[0025] According to a preferred embodiment of the invention, the convoy travels on a two-lane road. This is because, on a two-lane road, each vehicle in the convoy is adjacent to an oncoming lane, and each vehicle must use the oncoming lane to overtake. The method according to the invention is particularly advantageous for overtaking of vehicles in a convoy traveling on a two-lane road.

[0026] Another aspect of the invention proposes a vehicle capable of overtaking using the method described above. In particular, the vehicle according to the invention has a vehicle control system capable of executing the method according to the invention. For example, when overtaking mode is activated, the vehicle control system can receive sensor data from other vehicles in the convoy (those in overtaking mode), process the received sensor data, and, at least after obtaining information that a counter is 0, the vehicle is behind another vehicle in the convoy, and the distance to a preferred adjacent vehicle in front of the convoy, issue a prompt to the driver indicating that overtaking is permissible. Alternatively, when overtaking mode is activated, the vehicle control system can send information collected by the vehicle's sensors to a central server, and, upon receiving information from the central server that the vehicle is behind another vehicle, the distance to a preferred adjacent vehicle in the convoy, and a counter of 0, issue a prompt to the driver indicating that overtaking is permissible. Alternatively or additionally, the vehicle control system can automatically decide whether to overtake based on the obtained prompt indicating that overtaking is permissible, combined with other sensor data. Attached Figure Description

[0027] The following examples illustrate the method according to the present invention for assisting a following vehicle in a convoy to overtake.

[0028] Figure 1 A preferred embodiment of this application is shown, wherein a convoy of two vehicles is preferably traveling in the same direction on a two-lane road with multiple curves. Detailed Implementation

[0029] As seen in the exemplary embodiment, a convoy of two vehicles travels in the same direction on a two-lane road with multiple curves. In this embodiment, the vehicles travel on the right. The convoy consists of a first vehicle 1 and a second vehicle 2, with the first vehicle 1 being the rear vehicle and the second vehicle 2 being the front vehicle. Between the first vehicle 1 and the second vehicle 2 are several other vehicles 11 and 12 that do not belong to the convoy.

[0030] Depend on Figure 1 As can be seen, both the first vehicle 1 and the second vehicle 2 have side sensors and front cameras. In the figure, the side triangular area and the front triangular area of ​​the two vehicles are schematic sensing areas of the side sensors 3 and 4 and the front camera 5, respectively. Here, the side sensors, especially the side radars, are the left front radar 3 and the left rear radar 4, respectively, in the figure.

[0031] In an embodiment of the present invention, the direction of travel of a vehicle passing in the opposite lane is determined by combining the sensing sequence of the vehicle's left front radar 3 and left rear radar 4 with the front camera 5. For example, if the left front radar 3 and left rear radar 4 of the second vehicle 2 detect a vehicle 13 passing in the opposite lane in succession, and the front camera 5 senses a vehicle 13 approaching from the front, it indicates that a vehicle 13 is traveling towards the second vehicle 2 in the opposite lane. Conversely, as not shown in the figure, if, for example, the left rear radar 4 and left front radar 3 of the first vehicle 1 detect a vehicle passing in the opposite lane in succession, it indicates that a vehicle is traveling in the same direction as the first vehicle 1 in the opposite lane, i.e., the first vehicle 1 is being overtaken.

[0032] exist Figure 1 In the embodiment shown, if the left front radar 3 and left rear radar 4 of the first vehicle 1 detect that a vehicle 14 is passing by in the opposite lane, and the front camera 5 senses that a vehicle 14 is approaching from the front, it means that a vehicle 14 is traveling in the opposite direction and passing by the first vehicle 1.

[0033] exist Figure 1 In one embodiment, vehicles 13 and 14 in the opposite lane travel in the opposite lane along the dashed arrow.

[0034] Then, the vehicle control systems of the second vehicle 2 and the first vehicle 1 respectively transmit the information about the detected oncoming vehicles in the opposite lane directly to the central server 30 through the base station 20. The central server 30 includes a counter; when an oncoming vehicle passes in the opposite lane next to the second vehicle 2, the counter increments by 1; when an oncoming vehicle passes in the opposite lane next to the first vehicle 1, the counter decrements by 1. Furthermore, when the first vehicle 1 or the second vehicle 2 detects that it has been overtaken, the central server's counter preferably does not perform any increment or decrement. The central server 30 also receives information such as the position and speed of the first vehicle 1 and the second vehicle 2 in the convoy, using this information to determine that the first vehicle 1 and the second vehicle 2 are the following and preceding vehicles, and to determine the distance between the two vehicles. The central server 30 can also combine the position information uploaded by each vehicle in the convoy to transmit road condition and weather condition information that matches the position information to each vehicle.

[0035] Alternatively, with Figure 1 In a manner not shown, the vehicle control system establishes a connection with the driver's mobile terminal, particularly through an onboard communication device, and then connects to the central server 30 through the mobile terminal. Here, the mobile terminal can refer to a terminal device with network connectivity, such as a mobile phone, tablet, or laptop, especially a mobile phone with an application that connects to the central server.

[0036] In addition to the embodiments shown in the accompanying drawings, the counter can also be installed on vehicles in the convoy, for example, as a counting program in the vehicle control system of each vehicle in the convoy, or as a device specifically designed for counting on the vehicle.

[0037] When the counter reaches 0, the central server 30 sends a prompt to the following vehicle (i.e., the first vehicle 1) via the base station 20, indicating that overtaking is permitted. A counter of 0 means that there are no vehicles traveling in the opposite direction in the lane between the second vehicle 2 and the first vehicle 1 in the convoy.

[0038] At this time, the driver of the following vehicle (first vehicle 1) and / or the vehicle's onboard control system decide whether to overtake based at least on the aforementioned prompt. The "prompt" may be, for example, a voice prompt, text displayed on an onboard display, or information output to the vehicle control system.

[0039] Here, when the driver or the vehicle control system of the first vehicle 1 automatically decides whether to overtake, other information is required if necessary, such as the relative speed between the first vehicle 1 and the vehicle 11 that is close in front of it, the distance between the first vehicle 1 and the second vehicle 2, the absolute speed of the first vehicle 1, road conditions (e.g., whether there is a sharp turn), weather conditions (e.g., whether the road surface is slippery), etc.

[0040] In this embodiment, road conditions can be determined using map data pre-stored in the vehicle control system combined with the vehicle's location information, while weather conditions can be obtained from a weather service website via a real-time connection established between the vehicle control system and the internet. Information needed by the driver or vehicle control system to decide whether to overtake can be transmitted, at least partially, from the central server 30 to the corresponding vehicle via base station 20.

[0041] Apart from Figure 1 As shown, there may be other vehicles, also belonging to the convoy, between the following vehicle and the preceding vehicle. In this case, the following vehicle may overtake the third vehicle, which also belongs to the convoy.

[0042] according to Figure 1 In the illustrated embodiment, after receiving a counter indicating 0, the driver or vehicle control system of the first vehicle 1 preferably makes a decision to overtake other vehicles 11 and 12 by considering factors such as the distance between the first vehicle 1 and the second vehicle 2 (e.g., 500 meters), road conditions (e.g., multiple curves but no sharp turns), and weather conditions (sunny day, dry road). Alternatively, after receiving a counter indicating 0, the driver or vehicle control system of the first vehicle 1 preferably makes a decision not to overtake by considering factors such as the distance between the first vehicle 1 and the second vehicle 2 (e.g., 100 meters, too short), road conditions (sharp turns), and weather conditions (rainy day, slippery road).

[0043] Within the framework of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly defined.

[0044] It should be understood that the embodiments shown above are exemplary and not limiting, illustrating typical implementations of the method for assisting a following vehicle in a convoy to overtake according to the present invention. More precisely, in addition to the embodiments described above, numerous variations that are meaningful to those skilled in the art can be derived by combining various features of the present invention.

Claims

1. A method for assisting a following vehicle in a convoy to overtake, the convoy comprising at least two vehicles traveling on the same path, wherein, The method includes at least the following steps: - Activate the overtaking mode for at least two vehicles. - At least detect the distance between two vehicles in the convoy and the number of vehicles in the oncoming lane between the two vehicles. - The distance between two vehicles and the number of vehicles in the oncoming lane between the two vehicles are used to assist the rear vehicle in the convoy to overtake the vehicle in front of it that is located between the two vehicles.

2. The method according to claim 1, wherein, The position sensors of the two vehicles are used to determine the front and rear vehicles respectively, and to determine the distance between the front and rear vehicles.

3. The method according to claim 2, wherein, The vehicles in the convoy use their individual sensors to detect vehicles passing in the opposite lane, and determine the direction of travel of the vehicles passing in the opposite lane based on the sensing sequence of the front and rear sensors of the vehicles.

4. The method according to claim 3, wherein, When a vehicle traveling in the opposite direction passes in the oncoming lane next to the vehicle in front, the counter increments by 1, and / or The counter is decremented by 1 when a vehicle traveling in the opposite direction passes in the lane next to the vehicle behind it.

5. The method according to claim 4, wherein, When the counter reaches 0, a prompt indicating that overtaking is permitted is output to the following vehicle.

6. The method according to claim 5, wherein, The driver of the following vehicle makes an overtaking decision at least based on the prompt, and / or the vehicle control system of the following vehicle automatically makes an overtaking decision at least based on the prompt.

7. The method according to any one of claims 1 to 6, wherein, The sensor data of all vehicles in the fleet is transmitted to the central server, which then returns processed information and / or instructions to each vehicle. Sensor data from all vehicles in the convoy is transmitted to the onboard control system of the convoy leader vehicle, which then returns processed information and / or instructions to each vehicle.

8. The method according to any one of claims 1 to 6, wherein, The two vehicles are two adjacent vehicles in the convoy.

9. The method according to any one of claims 1 to 6, wherein, The convoy was traveling on a two-lane road in both directions.

10. A vehicle capable of overtaking by means of any one of claims 1 to 9.

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