Method for completing a passing maneuver in different traffic situations

Abstract

In an example embodiment, a vehicle system is provided that includes a sensor array and a processor. The sensor array is configured to generate vehicle sensor data relating to a target vehicle proximate to the vehicle. The processor is coupled to the sensor array and is configured to at least facilitate: initiating a passing maneuver of the vehicle via instructions provided to the drive system when the processor initially determines that conditions for the vehicle to pass are valid; after initiating the passing maneuver, determining, via the processor, whether passing conditions for the target vehicle are still valid based on updated sensor data reflecting different traffic conditions; and further controlling the passing maneuver based on the determination as to whether the passing conditions for the target vehicle are still valid.

Description

Technical Field

[0001] This technical field generally relates to vehicles, and more specifically, to methods and systems for controlling a vehicle to overtake another vehicle along a road under different traffic conditions. Background Technology

[0002] Today, some vehicles include features to overtake another vehicle, for example, if that other vehicle is traveling along the same lane as the road. However, such existing vehicle systems may not always provide optimal results when overtaking another vehicle under different traffic conditions, such as when the other vehicle changes its speed.

[0003] Therefore, it is desirable to provide improved methods and systems for controlling vehicle overtaking maneuvers under various traffic conditions. Furthermore, other desirable features and characteristics of this disclosure will become apparent from the following detailed description and appended claims, in conjunction with the accompanying drawings and the foregoing technical and background information. Summary of the Invention

[0004] According to an exemplary embodiment, a method is provided, comprising: acquiring vehicle sensor data relating to a target vehicle approaching the main vehicle via one or more sensors of a main vehicle; initiating an overtaking maneuver of the main vehicle via instructions provided by the processor of the main vehicle when the processor initially determines that a condition for the target vehicle to be overtaken by the main vehicle is valid; determining, via the processor, whether the overtaking condition for the target vehicle is still valid based on updated sensor data reflecting different traffic conditions after the overtaking maneuver has been initiated; and further controlling the overtaking maneuver via instructions provided by the processor based on the determination that the overtaking condition for the target vehicle is still valid.

[0005] Similarly, in an exemplary embodiment, the overtaking conditions of the target vehicle are based at least in part on the speed of the master vehicle, the relative speed between the master vehicle and the target vehicle, and the distance between the master vehicle and the target vehicle.

[0006] Similarly, in an exemplary embodiment, the overtaking condition of the target vehicle is also based at least in part on one or more additional target vehicles approaching the main vehicle.

[0007] Similarly, in an exemplary embodiment, the step of further controlling the overtaking maneuver includes: when the processor determines that the overtaking conditions of the target vehicle are still valid, continuing the overtaking maneuver via an instruction provided by the processor; and when the processor determines that the overtaking conditions of the target vehicle are no longer valid, suspending the overtaking maneuver via an instruction provided by the processor.

[0008] Similarly, in an exemplary embodiment, determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on the speed change of the target vehicle, and also at least in part on whether the required speed change for the master vehicle to overtake the target vehicle exceeds a predetermined threshold.

[0009] Similarly, in the exemplary embodiment, determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on a comparison of: a pull zone in which the primary vehicle would further accelerate to overtake the target vehicle; and a push zone in which the primary vehicle would decelerate to return to its original lane behind the target vehicle.

[0010] Similarly, in an exemplary embodiment, determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on: a pull area weight, which is based on the distance between the rear bumpers of the main vehicle and the target vehicle; and a push area weight, which is based on the distance between the front bumpers of the main vehicle and the target vehicle.

[0011] In another exemplary embodiment, a system including a sensor array and a processor is provided. The sensor array includes one or more sensors of a host vehicle and is configured to generate vehicle sensor data relating to a target vehicle approaching the host vehicle. The processor is coupled to the sensor array and is configured to at least facilitate: initiating an overtaking maneuver of the host vehicle when the processor initially determines that a condition for the target vehicle to be overtaken by the host vehicle is valid; determining, after the overtaking maneuver has been initiated, whether the overtaking condition for the target vehicle remains valid based on updated sensor data reflecting different traffic conditions; and further controlling the overtaking maneuver based on the determination that the overtaking condition for the target vehicle remains valid.

[0012] Similarly, in an exemplary embodiment, the overtaking conditions of the target vehicle are based at least in part on the speed of the master vehicle, the relative speed between the master vehicle and the target vehicle, and the distance between the master vehicle and the target vehicle.

[0013] Similarly, in an exemplary embodiment, the overtaking condition of the target vehicle is also based at least in part on one or more additional target vehicles approaching the main vehicle.

[0014] Also in an exemplary embodiment, the processor is further configured to at least facilitate: continuing overtaking maneuvers when the processor determines that the overtaking conditions of the target vehicle are still valid; and suspending overtaking maneuvers when the processor determines that the overtaking conditions of the target vehicle are no longer valid.

[0015] Similarly, in an exemplary embodiment, the processor is also configured to determine whether the overtaking condition of the target vehicle is still valid, based at least in part on the speed change of the target vehicle and at least in part on whether the required speed change for the master vehicle to overtake the target vehicle exceeds a predetermined threshold.

[0016] Also in an exemplary embodiment, the processor is configured to determine, at least in part, whether the overtaking conditions of the target vehicle are still valid based on comparisons of: a pull zone in which the lead vehicle will further accelerate to overtake the lead of the target vehicle; and a push zone in which the lead vehicle will decelerate to return to the original lane behind the target vehicle.

[0017] Also in an exemplary embodiment, the processor is further configured to determine, at least in part, whether the overtaking conditions of the target vehicle are still valid based on: pulling a region weight based on the distance between the rear bumpers of the main vehicle and the target vehicle; and pushing a region weight based on the distance between the front bumpers of the main vehicle and the target vehicle.

[0018] In another exemplary embodiment, a vehicle is provided, comprising: a body; a drive system; a sensor array; and a processor. The drive system is configured to generate movement of the body. The sensor array includes one or more sensors of the vehicle and is configured to generate vehicle sensor data relating to a target vehicle approaching the vehicle. The processor is coupled to the sensor array and is configured to at least facilitate: initiating an overtaking maneuver of the vehicle via instructions provided to the drive system when the processor initially determines that conditions for the vehicle to overtake the target vehicle are valid; determining, via the processor, whether the overtaking conditions for the target vehicle are still valid based on updated sensor data reflecting different traffic conditions after the overtaking maneuver has commenced; and further controlling the overtaking maneuver based on the determination that the overtaking conditions for the target vehicle are still valid.

[0019] Similarly, in an exemplary embodiment, the overtaking conditions of the target vehicle are based at least in part on the vehicle's speed, the relative speed between the vehicle and the target vehicle, and the distance between the vehicle and the target vehicle.

[0020] Also in an exemplary embodiment, the processor is further configured to at least facilitate: continuing overtaking maneuvers when the processor determines that the overtaking conditions of the target vehicle are still valid; and suspending overtaking maneuvers when the processor determines that the overtaking conditions of the target vehicle are no longer valid.

[0021] Similarly, in an exemplary embodiment, the processor is also configured to determine whether the overtaking condition of the target vehicle is still valid, at least in part based on the speed change of the target vehicle and at least in part based on whether the required speed change for the vehicle to overtake the target vehicle exceeds a predetermined threshold.

[0022] Also in an exemplary embodiment, the processor is configured to determine, at least in part, whether the overtaking conditions for the target vehicle are still valid based on comparisons of: a pull zone in which the vehicle would further accelerate to overtake the target vehicle; and a push zone in which the vehicle would decelerate to return to its original lane behind the target vehicle.

[0023] Also in an exemplary embodiment, the processor is further configured to determine, at least in part, whether the overtaking conditions of the target vehicle are still valid based on: pulling a region weight based on the distance between the vehicle and the rear bumper of the target vehicle; and pushing a region weight based on the distance between the vehicle and the front bumper of the target vehicle.

[0024] The present invention may also include the following solutions.

[0025] 1. A method comprising:

[0026] Vehicle sensor data relating to a target vehicle approaching the main vehicle is obtained via one or more sensors of the main vehicle;

[0027] When the processor initially determines that the condition for the target vehicle to be overtaken by the master vehicle is valid, the master vehicle begins the overtaking maneuver via instructions provided by the master vehicle's processor.

[0028] After initiating the overtaking maneuver, based on updated sensor data reflecting different traffic conditions, the processor determines whether the overtaking conditions for the target vehicle are still valid; and

[0029] The overtaking maneuver is further controlled by instructions provided by the processor, based on a determination of whether the overtaking conditions for the target vehicle are still valid.

[0030] 2. The method according to Scheme 1, wherein the overtaking conditions of the target vehicle are based at least in part on the speed of the master vehicle, the relative speed between the master vehicle and the target vehicle, and the distance between the master vehicle and the target vehicle.

[0031] 3. The method according to Scheme 2, wherein the overtaking conditions of the target vehicle are also based at least in part on one or more additional target vehicles approaching the main vehicle.

[0032] 4. According to the method of Scheme 1, the step of further controlling the overtaking maneuver includes:

[0033] When the processor determines that the overtaking conditions for the target vehicle are still valid, the overtaking maneuver continues via instructions provided by the processor; and

[0034] When the processor determines that the overtaking conditions of the target vehicle are no longer valid, the overtaking maneuver is suspended via an instruction provided by the processor.

[0035] 5. The method according to Scheme 1, wherein determining whether the overtaking conditions of the target vehicle are still valid is based at least in part on the speed change of the target vehicle, and also at least in part on whether the required speed change for the master vehicle to overtake the target vehicle exceeds a predetermined threshold.

[0036] 6. The method according to Scheme 1, wherein determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on a comparison of the following:

[0037] A pulling zone, in which the main vehicle will further accelerate to overtake the target vehicle; and

[0038] In the push zone, the main vehicle will decelerate to return to its original lane behind the target vehicle.

[0039] 7. The method according to Scheme 6, wherein determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on:

[0040] The pull area weight is based on the distance between the rear bumpers of the main vehicle and the target vehicle; and

[0041] The region weight is driven based on the distance between the front bumpers of the primary vehicle and the target vehicle.

[0042] 8. A system comprising:

[0043] A sensor array comprising one or more sensors of a host vehicle, the sensor array being configured to generate vehicle sensor data relating to a target vehicle approaching the host vehicle; and

[0044] A processor, which is coupled to the sensor array and configured to at least facilitate:

[0045] When the processor initially determines that the condition for the target vehicle to be overtaken by the master vehicle is valid, the overtaking maneuver of the master vehicle is initiated.

[0046] After initiating the overtaking maneuver, it is determined whether the overtaking conditions for the target vehicle remain valid based on updated sensor data reflecting different traffic conditions; and

[0047] The overtaking maneuver is further controlled based on whether the overtaking conditions for the target vehicle are still valid.

[0048] 9. The system according to Scheme 8, wherein the overtaking conditions of the target vehicle are based at least in part on the speed of the master vehicle, the relative speed between the master vehicle and the target vehicle, and the distance between the master vehicle and the target vehicle.

[0049] 10. The system according to Scheme 9, wherein the overtaking conditions of the target vehicle are also based at least in part on one or more additional target vehicles approaching the main vehicle.

[0050] 11. The system according to claim 8, wherein the processor is further configured to at least facilitate:

[0051] When the processor determines that the overtaking conditions for the target vehicle are still valid, the overtaking maneuver continues; and

[0052] When the processor determines that the overtaking conditions for the target vehicle are no longer valid, it suspends the overtaking maneuver.

[0053] 12. The system according to claim 8, wherein the processor is further configured to at least facilitate determining whether the overtaking conditions of the target vehicle are still valid based at least in part on the speed change of the target vehicle and also at least in part on whether the required speed change for the master vehicle to overtake the target vehicle will exceed a predetermined threshold.

[0054] 13. The system according to claim 8, wherein the processor is further configured to determine whether the overtaking conditions for the target vehicle are still valid, at least in part, based on comparisons of the following:

[0055] A pulling zone, in which the main vehicle will further accelerate to overtake the target vehicle; and

[0056] In the push zone, the main vehicle will decelerate to return to its original lane behind the target vehicle.

[0057] 14. The system according to claim 13, wherein the processor is further configured to at least facilitate determining, in part, whether the overtaking conditions for the target vehicle are still valid based on:

[0058] The pull area weight is based on the distance between the rear bumpers of the main vehicle and the target vehicle; and

[0059] The region weight is driven based on the distance between the front bumpers of the primary vehicle and the target vehicle.

[0060] 15. A vehicle comprising:

[0061] Body;

[0062] A drive system configured to generate movement of the vehicle body;

[0063] A sensor array comprising one or more sensors of the vehicle, the sensor array being configured to generate vehicle sensor data relating to a target vehicle approaching the vehicle; and

[0064] A processor, which is coupled to the sensor array and configured to at least facilitate:

[0065] When the processor initially determines that the conditions for the vehicle to overtake are valid, it initiates the overtaking maneuver of the vehicle via instructions provided to the drive system.

[0066] After initiating the overtaking maneuver, the processor determines, based on updated sensor data reflecting different traffic conditions, whether the overtaking conditions for the target vehicle are still valid; and

[0067] The overtaking maneuver is further controlled based on whether the overtaking conditions for the target vehicle are still valid.

[0068] 16. The vehicle according to claim 15, wherein the overtaking conditions of the target vehicle are based at least in part on the speed of the vehicle, the relative speed between the vehicle and the target vehicle, and the distance between the vehicle and the target vehicle.

[0069] 17. The vehicle according to claim 15, wherein the processor is further configured to at least facilitate:

[0070] When the processor determines that the overtaking conditions for the target vehicle are still valid, the overtaking maneuver continues; and

[0071] When the processor determines that the overtaking conditions for the target vehicle are no longer valid, it suspends the overtaking maneuver.

[0072] 18. The vehicle according to claim 15, wherein the processor is further configured to at least facilitate determining whether the overtaking conditions of the target vehicle are still valid based at least in part on the speed change of the target vehicle and also at least in part on whether the required speed change for the master vehicle to overtake the target vehicle will exceed a predetermined threshold.

[0073] 19. The vehicle according to claim 15, wherein the processor is further configured to determine, at least in part, whether the overtaking conditions of the target vehicle are still valid based on comparisons of:

[0074] A pulling zone, in which the vehicle will further accelerate to overtake the target vehicle; and

[0075] In the push zone, the vehicle will decelerate to return to its original lane behind the target vehicle.

[0076] 20. The vehicle according to claim 19, wherein the processor is further configured to at least facilitate determining, in part, whether the overtaking conditions of the target vehicle are still valid based on:

[0077] The pull area weight is based on the distance between the rear bumpers of the vehicle and the target vehicle; and

[0078] The region weight is driven based on the distance between the front bumper of the vehicle and the target vehicle. Attached Figure Description

[0079] The present disclosure will be described below in conjunction with the following accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0080] Figure 1 This is a functional block diagram of a vehicle according to an exemplary embodiment, the vehicle including a control system for controlling vehicle overtaking maneuvers, including under different traffic conditions;

[0081] Figure 2 This is a flowchart of a process for controlling vehicle overtaking maneuvers according to an exemplary embodiment; and

[0082] Figure 3 It is achievable according to an exemplary embodiment. Figure 2 The description of the process and the road. Detailed Implementation

[0083] The following detailed description is exemplary in nature only and is not intended to limit this disclosure or its application and use. Furthermore, one is not expected to be bound by the foregoing background information or any theories presented in the following detailed description.

[0084] Figure 1 A vehicle 100 according to an exemplary embodiment is shown. As described in more detail below, according to an exemplary embodiment, the vehicle 100 includes a control system 102 configured to control overtaking maneuvers of the vehicle 100.

[0085] In various embodiments, vehicle 100 includes an automobile. Vehicle 100 can be any of many different types of automobiles, such as, for example, a sedan, van, truck, or sports utility vehicle (SUV), and in some embodiments can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD) and / or various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as aircraft, spacecraft, ships, etc., and / or one or more other types of mobility platforms (e.g., robots and / or other mobility platforms).

[0086] Vehicle 100 includes a body 104 disposed on a chassis 116. The body 104 substantially surrounds the other components of vehicle 100. The body 104 and chassis 116 may together form a frame. Vehicle 100 also includes a plurality of wheels 112. Each wheel 112 is rotatably coupled to chassis 116 near a corresponding corner of body 104 to facilitate movement of vehicle 100. In one embodiment, vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0087] The drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example, via axle 114. In some embodiments, the drive system 110 includes a propulsion system. In some exemplary embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator coupled to its transmission. In some embodiments, the drive system 110 may vary, and / or two or more drive systems 110 may be used. As an example, the vehicle 100 may also include any one or a combination of a variety of different types of propulsion systems, such as, for example, a combustion engine fueled by gasoline or diesel, a "flexible fuel vehicle" (FFV) engine (i.e., using a mixture of gasoline and alcohol), an engine fueled by gaseous compounds (e.g., hydrogen and / or natural gas), a combustion / electric motor hybrid engine, and an electric motor.

[0088] like Figure 1 As shown, in various embodiments, the vehicle also includes a braking system 106 and a steering system 108. In an exemplary embodiment, the braking system 106 uses braking components to control the braking of the vehicle 100, which are controlled via input provided by the driver (e.g., via the brake pedal in some embodiments) and / or automatically controlled via the control system 102. Similarly, in an exemplary embodiment, the steering system 108 controls the steering of the vehicle 100 via steering components (e.g., a steering column coupled to axle 114 and / or wheel 112), which are controlled via input provided by the driver (e.g., via the steering wheel in some embodiments) and / or automatically controlled via the control system 102.

[0089] exist Figure 1 In the illustrated embodiment, the control system 102 is coupled to the braking system 106 and the drive system 110. In some embodiments, the control system 102 may also be coupled to the steering system 108. Similarly... Figure 1 As shown, in various embodiments, the control system 102 includes a sensor array 120 and a controller 140.

[0090] In various embodiments, sensor array 120 includes various sensors that acquire sensor data for controlling the movement of vehicle 100 (also referred to herein as the “master” vehicle), including overtaking another vehicle (also referred to herein as the “target” vehicle) along a road or path (collectively referred to herein as the “road”) on which vehicle 100 is traveling. In the depicted embodiments, sensor array 120 includes a speed sensor 130, a detection sensor 132, and an input sensor 134. In some embodiments, sensor array 120 may also include one or more other sensors 136 (e.g., in some embodiments, one or more steering sensors, braking sensors, etc.).

[0091] In various embodiments, the speed sensor 130 includes one or more wheel speed sensors and / or other sensors configured to measure the speed and / or rate of the vehicle 100 and / or data for calculating the speed and / or rate of the vehicle 100.

[0092] Similarly, in various embodiments, the detection sensor 132 includes one or more sensors configured to detect and determine measurements regarding one or more target vehicles traveling near vehicle 100 along the same road as vehicle 100. In some embodiments, the detection sensor 132 may include one or more cameras, radar, lidar, sonar, and / or other sensors configured to detect such target vehicles.

[0093] Similarly, in various embodiments, input sensor 134 includes one or more sensors configured to receive input from the driver and / or one or more other operators and / or users of vehicle 100. For example, in some embodiments, input sensor 134 may include one or more touchscreens, dial pads, buttons, audio sensors (e.g., microphones), and / or other sensors configured to receive input from the driver and / or other users regarding the driver's and / or user's intentions, including regarding cruise control functions of vehicle 100.

[0094] Similarly, in some embodiments, other sensors 136 may include one or more accelerometers, steering angle sensors, and / or other sensors for vehicle 100.

[0095] In various embodiments, controller 140 is coupled to sensor array 120, providing instructions to it and controlling its operation. In various embodiments, controller 140 may also be coupled to braking system 106, steering system 108, drive system 110, and / or one or more other vehicle systems and / or components, providing instructions to them and controlling their operation. Also in various embodiments, controller 140 includes a computer system (also referred to herein as computer system 140) and includes processor 142, memory 144, interface 146, storage device 148, and computer bus 150. In various embodiments, controller (or computer system) 140 controls vehicle operation, including controlling overtaking maneuvers of vehicle 100 relative to target vehicles near the vehicle along a road in which vehicle 100 is traveling. In various embodiments, controller 140 according to... Figure 2 The steps of the process and Figure 3 The implementation provides these and other functions, such as cruise control for vehicle 100.

[0096] In various embodiments, the controller 140 (and in some embodiments, the control system 102 itself) is disposed within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be disposed outside the body 104, for example on a remote server, in the cloud, or on other devices that remotely perform image processing.

[0097] It is understandable that controller 140 can interact with in other ways. Figure 1 The embodiments shown differ. For example, controller 140 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example as part of the apparatus and systems of one or more of the vehicles 100 described above.

[0098] In the depicted embodiment, the computer system of controller 140 includes processor 142, memory 144, interface 146, storage device 148, and bus 150. Processor 142 performs the computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that work together to perform the functions of the processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144, and therefore generally performs the processes described herein (such as...). Figure 2 The process and Figure 3 The implementation of the control controller 140 and the computer system of the controller 140 are described in detail below.

[0099] Memory 144 can be any suitable type of memory. For example, memory 144 can include various types of dynamic random access memory (DRAM), such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 144 is located and / or co-located on the same computer chip as processor 142. In the depicted embodiments, memory 144 stores the aforementioned program 152, as well as map data 154, one or more tables 155 (e.g., lookup tables for controlling vehicle actions, including information about vehicle speed, the speed difference between the master vehicle 100 and the target vehicle, and the distance between the master vehicle 100 and the target vehicle), and one or more stored values ​​156 (e.g., in various embodiments, including one or more thresholds for controlling vehicle actions, including vehicle speed and changes in vehicle speed when performing a vehicle overtaking maneuver).

[0100] Bus 150 is used to transmit programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication, for example, from system drives and / or another computer system to the computer system of controller 140, and can be implemented using any suitable methods and devices. In one embodiment, interface 146 obtains various data from sensor array 120 and other possible data sources. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to storage devices, such as storage device 148.

[0101] Storage device 148 can be any suitable type of storage device, including various types of direct access storage and / or other storage devices. In one exemplary embodiment, storage device 148 includes a program product from which memory 144 can receive a program 152 that executes one or more embodiments of one or more processes of this disclosure, such as... Figure 2 The steps of the process and Figure 3 The implementation methods are described below in further detail. In another exemplary embodiment, the program product may be stored directly in memory 144 and / or disk (e.g., disk 156) and / or otherwise accessed by memory 144 and / or disk (e.g., disk 156), as referenced below.

[0102] Bus 150 can be any suitable physical or logical device for connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0103] It will be understood that although this exemplary embodiment has been described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as a program product having one or more types of non-transient computer-readable signal-bearing media for storing a program and its instructions and performing its distribution, such as a non-transient computer-readable medium carrying a program and containing computer instructions stored therein for causing a computer processor (such as processor 142) to execute and implement the program. Such program products can take various forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to perform the distribution. Examples of signal-bearing media include: recordable media, such as floppy disks, hard disks, memory cards, and optical disks; and transmission media, such as digital and analog communication links. It will be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it should be understood that the computer system of controller 140 may also differ in other ways. Figure 1 The embodiment shown differs, for example, in that the computer system of controller 140 may be connected to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0104] Figure 2 This is a flowchart of a high-level representation of a process 200 for controlling vehicle overtaking maneuvers according to an exemplary embodiment. In various embodiments, process 200 may be combined with... Figure 1 The vehicle 100 and control system 102 and their components are used to implement this.

[0105] Figure 2 The process 200 is also combined below, such as Figure 3 The implementation methods described herein will be used. Specifically, Figure 3 Depicting Figure 1 Vehicle 100 is traveling on road 300. (Example) Figure 3 As shown, road 300 includes at least two adjacent lanes, namely a first lane 301 and a second lane 302. In various embodiments, Figure 2 The process 200 begins with both the primary vehicle 100 and the target vehicle 310 traveling in the first lane 301. Also in various embodiments, the process 200 continues (as described in more detail below) when the primary vehicle 100 attempts to overtake the target vehicle 310 by using the second lane 302 and then eventually returning to the first lane 301.

[0106] Return to reference Figure 2Process 200 begins at 202. In one embodiment, process 200 begins when the vehicle is driven or the ignition cycle begins, for example, when the driver approaches or enters vehicle 100, or when the driver turns on the vehicle and / or its ignition system (e.g., by turning a key, engaging a key remote control, or the start button, etc.). In one embodiment, the steps of process 200 are performed continuously during vehicle operation.

[0107] Similarly, Figure 2 As shown, the control system is activated at 204. In various embodiments, this is based on input provided by the driver or other operator of vehicle 100, for example via... Figure 1 One or more input devices detected by one or more input sensors 134 activate the control system 102 for the automatic vehicle overtaking function. Also in various embodiments, when the control system is activated, it is also via... Figure 1 The detection sensor 132 acquires sensor data, including information about the road along which the vehicle 100 travels (i.e., such as...). Figure 3 Any other vehicle (i.e., the "target vehicle") approaching vehicle 100 on road 300) Figure 3 Target vehicle 310).

[0108] In various embodiments, a determination is made regarding whether the evaluator requests a lane change (step 206). For example, in some embodiments, this can be satisfied when a different lane change is requested and / or due to one or more reasons other than the automatic overtaking of a target vehicle. As an example, in various embodiments, vehicle 100 has a number of software components (e.g., the "evaluator") that can request automatic lane changes, including but not limited to overtaking a slower vehicle, returning to an open right lane, leaving a lane that will soon close, following a navigation route, avoiding lanes with heavy traffic, etc. In various embodiments, if an automatic lane change is about to be commanded, the determination in step 206 helps ensure that the process does not command an increase in speed. In various embodiments, this is determined by… Figure 1 The processor 142 is determined.

[0109] In various embodiments, if it is determined that the evaluator is requesting a lane change, overtaking is not initiated (207), and the process returns to 206 for a new iteration (e.g., including updated sensor data from detection sensor 132). Conversely, in various embodiments, if it is determined that the evaluator is not requesting a lane change, the process proceeds to 208, as described below.

[0110] In various embodiments, during step 208, it is determined whether abdication is active. For example, in some embodiments, this may be satisfied when the vehicle overtaking system or function is suspended or temporarily disabled. In various embodiments, this is determined by... Figure 1The processor 142 is determined.

[0111] In various embodiments, if it is determined that abandonment is active, overtaking is not initiated (207), and the process returns to 206 for a new iteration (e.g., including updated sensor data from detection sensor 132). Conversely, in various embodiments, if it is determined that abandonment is not active, the process proceeds to 210, as described below.

[0112] In various embodiments, during step 210, it is determined whether the initial passing criteria regarding the target vehicle's proximity to the master vehicle are valid. For example, in some embodiments, the passing criteria are considered valid when both of the following occur: (i) the speed difference between the master vehicle 100 and the target vehicle exceeds a predetermined speed difference threshold (the master vehicle 100 has a large relative speed); and (ii) the distance between the master vehicle 100 and the target vehicle is less than a predetermined distance threshold. In various embodiments, the predetermined speed and distance thresholds are stored in... Figure 1 The value is stored as 157 in memory 144. For example, in one exemplary embodiment, if the distance between the target vehicle on the right and the main vehicle 100 is less than thirty-five meters (35m) when the speed difference is half a meter per second (0.5m / s), the process can begin a speed command; however, this may vary in other embodiments. In various embodiments, these determinations are made by... Figure 1 The processor 142 is based on... Figure 1 The sensor data generated by the sensor array 120 includes sensor data from its speed sensor 130 and detection sensor 132.

[0113] In various embodiments, if it is determined that the target vehicle is not near the main vehicle, overtaking is not initiated (207), and the process returns to 206 for a new iteration (e.g., including updated sensor data from detection sensor 132). Conversely, in various embodiments, if it is determined that the target vehicle is close to the main vehicle, the process proceeds to 211, as described below.

[0114] In various embodiments, during step 211, it is determined whether an obstructing target is in front of the primary vehicle. For example, in some embodiments, this can be satisfied when a second target vehicle is present in the lane that the primary vehicle 100 will use to overtake the target vehicle. For example, refer to... Figure 3 When the second target vehicle 320 was deployed Figure 3 The condition can be met when the second target vehicle 320 is sufficiently close to the main vehicle 100 within the second lane 302 such that the second target vehicle 320 will impair the main vehicle 100's ability to overtake the target vehicle 310. For example, in some embodiments, the condition is met when the distance between the second target vehicle 320 and the main vehicle 100 (e.g., via a distance from...) Figure 1The value determined by sensor data from one or more detection sensors 132 is less than the value stored in the memory. Figure 1 This can be satisfied when the predetermined threshold of its stored value 157 is stored in the memory 144. In one embodiment, the predetermined threshold may be equal to approximately thirty meters (30m); however, this may vary in other embodiments. In various embodiments, this is determined by... Figure 1 The processor 142 is determined.

[0115] In various embodiments, if it is determined that the obstructing target is in front of the main vehicle, the vehicle does not initiate overtaking (207), and the process returns to 206 for a new iteration (e.g., including updated sensor data from detection sensor 132). Conversely, in various embodiments, if it is determined that the obstructing target is not in front of the main vehicle, the process proceeds to 212, as described below.

[0116] In various embodiments, during 212, the speed of the master vehicle is increased. In various embodiments, during 212, the master vehicle 100 is given an initial speed increase to initiate overtaking (or passing) of the target vehicle (e.g., Figure 1 The target vehicle 310). In various embodiments, the initial speed increase is approximately equal to the value stored in the target vehicle 310. Figure 1 The predetermined threshold is stored in memory 144 as its stored value 157. In some embodiments, the initial speed increase is in the range of approximately one mile per hour (1 mph) to two miles per hour (2 mph); however, this can vary in other embodiments. In various embodiments, the speed increase of the main vehicle 100 is achieved via... Figure 1 The processor 142 provides instructions to command, and the instructions are then given by Figure 1 The drive system 110 is used to implement this.

[0117] Furthermore, also in various embodiments, during 212, according to the information provided by processor 142 and provided by... Figure 1 The steering system 108 executes commands, and the main vehicle 100 also moves to the adjacent lane or overtaking lane (e.g., corresponding to...). Figure 3 In the second lane (302). In various embodiments, the process then proceeds to 214, as described below.

[0118] In various embodiments, during step 214, it is determined whether the system is disabled. In various embodiments, Figure 1 The processor 142 determines whether the control system 102, the automatic overtaking function, and / or the cruise control function are disabled, for example, via a method provided by the processor 142. Figure 1 The user input is detected by the input sensor 134.

[0119] In various embodiments, if it is determined that the system is disabled, the vehicle overtaking is considered complete (215), and the process proceeds to 224, which is further described below (wherein, the overtaking response is paused). Conversely, in various embodiments, if it is determined that the system is not disabled, the process proceeds to 216, as described below.

[0120] In various embodiments, during step 216, it is determined whether the master vehicle has overtaken the target vehicle. In various embodiments, this is done when the master vehicle 100 has longitudinally and completely overtaken the target vehicle 310. Figure 1 The processor 142 determines that the primary vehicle has overtaken the target vehicle, thus enabling the primary vehicle 100 to safely return to its original lane (e.g., Figure 1 First lane 301).

[0121] In various embodiments, if it is determined that the primary vehicle has overtaken the target vehicle, the overtaking is considered complete (215), and the process proceeds to 224, as further described below (wherein, the overtaking response is paused). Conversely, in various embodiments, if it is determined that the primary vehicle has not yet overtaken the target vehicle, the process proceeds to 218, as described below.

[0122] In various embodiments, during step 218, it is determined whether the overtaking maneuver has exceeded a predetermined threshold. In various embodiments, Figure 1 The processor 142 determines whether an overtaking action (e.g., a passing action or event) has occurred (e.g., started at a rate of 212) for more than a predetermined threshold time. In various embodiments, this predetermined threshold is stored... Figure 1 The value is stored as 157 in memory 144. In some embodiments, the predetermined threshold is equal to approximately fifteen seconds (15 seconds); however, this can vary in other embodiments. In some embodiments, the threshold can vary based on how close the main vehicle 100 is to the target vehicle. For example, in one exemplary embodiment, if the process has commanded a speed increase of fifteen seconds (15 seconds) and the target vehicle on the right is fifty meters (50m) in front of the main vehicle 100, the speed can be commanded to decrease. On the other hand, in an exemplary embodiment, if the process has commanded a speed increase of forty-five seconds (45 seconds) and the target vehicle on the right is only one meter (1m) in front of the main vehicle 100, the speed can be maintained at the same speed, and so on.

[0123] In various embodiments, if it is determined that the overtaking action has exceeded a predetermined threshold, the vehicle overtaking is considered complete (215), and the process proceeds to 224, as further described below (wherein, the overtaking response is paused). Conversely, in various embodiments, if it is determined that the overtaking action has not exceeded the predetermined threshold, the process proceeds to 220, as described below.

[0124] In various embodiments, during step 220, it is determined whether the overtaking validity conditions of step 210 (discussed above) still apply to overtaking the target vehicle. In various embodiments, Figure 1 The processor 142 makes this determination based on whether the speed difference between the main vehicle 100 and the target vehicle still exceeds a predetermined speed difference threshold and whether the distance between the main vehicle 100 and the target vehicle is still less than a predetermined distance threshold (e.g., similar to the discussion above).

[0125] In various embodiments, if it is determined that the overtaking condition is no longer valid, the vehicle overtaking is considered complete (215), and the process proceeds to 224, which is further described below (wherein, the overtaking response is paused). Conversely, in various embodiments, if it is determined that the overtaking condition is still valid, the process proceeds to 222, as described below.

[0126] In various embodiments, during step 222, it is determined whether overtaking by the vehicle is still feasible. In various embodiments, Figure 1 The processor 142 makes this determination, at least in part, based on whether a further increase in speed required for the primary vehicle 100 to overtake the target vehicle would exceed a maximum speed increase for the primary vehicle 100. In some embodiments, a maximum speed increase refers to a maximum permissible speed change exceeding a preset speed selected by the vehicle's driver or other user (e.g., as part of cruise control for vehicle 100). Therefore, in some embodiments, the speed has already been increased to a level exceeding the preset speed at 212, and during 222, the processor 142 determines whether any further increase in speed required to overtake the target vehicle (when added to the initial increase at 212) would together (as a sum) exceed the maximum permissible speed change. In various embodiments, the maximum permissible speed change is stored in... Figure 1 The value is stored as 157 in memory 144. In some embodiments, the maximum permissible speed variation is equal to approximately two miles per hour (2 mph); however, this may vary in other embodiments.

[0127] In various embodiments, Figure 1 The processor 142 also determines 222 based on modeling a "pull zone" (where, for the primary vehicle 100, it is optimal to overtake the target vehicle in front and then return to the original lane) versus a "push zone" (where, for the primary vehicle 100, it is optimal to decelerate behind the target vehicle and then return to the original lane). Reference Figure 3 The "pull region" is represented as pull region 330, and the "push region" is represented as push region 340. Similarly, as... Figure 3 As shown, the intermediate region 350 may be located between the pulling region 330 and the pushing region 350, which may require additional identification and evaluation.

[0128] In various embodiments, the decision regarding whether the main vehicle 100 should overtake the target vehicle in front of it or reverse behind it can be approximated as follows:

[0129] (Equation 1),

[0130] Where: (i)A represents the modeling as f~V h , Δx, ΔV x The overstatement, wherein, in an exemplary embodiment, Δx is established based on a lookup table (stored in [the table]) between the target vehicle's rear bumper and the lower boundary extending toward the main vehicle 100. Figure 1 (ii) B represents the parameters in memory 144; (ii) B represents the modeling as f~V h , Δx, ΔV x The backoff assertion, wherein, in an exemplary embodiment, Δx is established on the front bumper of the target vehicle and the upper boundary for extending away from the master vehicle 100 based on a lookup table (stored in...). Figure 1 The parameters are in memory 144.

[0131] Similarly, in various embodiments: Equation 1 The weight of the pull region is represented by the following equation:

[0132] (Equation 2),

[0133] in represent Figure 3 The pull area is 330 in size, and Representing vehicles from 100 to Figure 3 The pulling area is 330 units away.

[0134] Similarly, in various embodiments: Equation 1 The driving region weights are represented by the following equation:

[0135] (Equation 3),

[0136] in represent Figure 3 The size of the pushing area is 340, and Representing vehicles from 100 to Figure 3 The driving area is 340 meters away.

[0137] Similarly, in some embodiments, the dimensions of the pull region 330 and the push region 340 can be dynamically modeled using lookup tables and environmental parameters, such as according to the following equation:

[0138] (Equation 4),

[0139] Where V current V represents the vehicle's current speed of 100. set GainV represents the speed set by the driver or other user of vehicle 100 (e.g., via cruise control). x This indicates an increase in the total speed of the main vehicle 100 during overtaking maneuvers. Similarly, in various embodiments, "n" and "m" are parameters that can be determined via a lookup table based on the main vehicle speed, road speed limits, and the speed selected by the driver.

[0140] In various embodiments, if it is determined that overtaking is still feasible, the process returns to 212, and the speed of the main vehicle 100 is further increased (while not exceeding the maximum permissible speed change). The process then continues at 212 with a new iteration until it is determined that overtaking has been completed (in iteration 216) and / or until one or more other exit criteria (such as those described above) are met. Conversely, if it is determined that overtaking is not feasible, overtaking is considered complete (215), and the process proceeds to 224, as described below.

[0141] During 224, the overtaking response is paused. In various embodiments, during 224, the attempt by the master vehicle 100 to overtake (i.e., pass) the target vehicle is at least temporarily halted. In various embodiments, the speed of the master vehicle 100 is reduced accordingly to return to its starting position. Figure 1 The target vehicle 310 is in the first lane 301 behind the target vehicle 310. In various embodiments, the processor 142 provides instructions for the master vehicle 100 to reduce its speed to less than that of the target vehicle 310, and then return to the first lane 301 when it is safe to do so. In various embodiments, these instructions are then... Figure 1 The braking system 106 and / or drive system 110 (e.g., when reducing the speed of the main vehicle 100) and Figure 1 The steering system 108 (for example, when performing a lane change) is implemented automatically.

[0142] In various embodiments, it is then determined at 226 whether the process continues. For example, in some embodiments, processor 142 determines whether vehicle 100 is still operating with control system 102 activated (e.g., with automatic vehicle overtaking and / or cruise control system and function activated).

[0143] In various embodiments, if it is determined that the process will continue, the process returns to 206 for a new iteration (e.g., via 207, as described above). Conversely, in various embodiments, if it is determined that the process will not continue, the process terminates at 228.

[0144] Therefore, methods, systems, and vehicles for controlling a vehicle to overtake a target vehicle are provided. In various embodiments, the overtaking control is performed automatically by a computer control system based on dynamic traffic conditions, including changes in the speeds of both the lead vehicle and the target vehicle, changes in the distance between the lead vehicle and the target vehicle, and other different traffic conditions.

[0145] It should be understood that the systems, vehicles, and methods may differ from those depicted in the accompanying drawings and described herein. For example, Figure 1 The vehicle 100, its control system 102 and / or Figure 1 Its components may vary in different embodiments. Similarly, it should be understood that the steps of process 200 may be related to... Figure 2 The differences shown, and / or the various steps of process 200, can occur simultaneously and / or with Figure 2 The different sequences shown occur. This will be understood similarly. Figure 3 The implementation methods may also differ in different embodiments.

[0146] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing one or more exemplary embodiments. It should be understood that various changes may be made to the function and arrangement of elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method for overtaking maneuvers under different traffic conditions, comprising: Vehicle sensor data relating to a target vehicle approaching the main vehicle is obtained via one or more sensors of the main vehicle; When the processor initially determines that the condition for the target vehicle to be overtaken by the master vehicle is valid, the master vehicle begins overtaking maneuvers by increasing the initial speed of the master vehicle via instructions provided by the processor of the master vehicle. After the overtaking maneuver is initiated, the processor determines whether the overtaking conditions for the target vehicle are still valid based on updated sensor data reflecting different traffic conditions. as well as The overtaking maneuver is further controlled via instructions provided by the processor, based on a determination of whether the overtaking conditions for the target vehicle are still valid, including: The processor calculates the further speed increase required to successfully complete the overtaking maneuver, and The overtaking maneuver is selectively performed based on whether the further speed increase, combined with the initial speed increase, will exceed a preset speed selected by the vehicle user, and by comparing the amount exceeding the preset speed with the maximum permissible speed change stored in the vehicle's memory.

2. The method according to claim 1, wherein, The overtaking conditions for the target vehicle are based at least in part on the speed of the master vehicle, the relative speed between the master vehicle and the target vehicle, and the distance between the master vehicle and the target vehicle.

3. The method according to claim 2, wherein, The overtaking conditions for the target vehicle are also based, at least in part, on one or more additional target vehicles approaching the main vehicle.

4. The method according to claim 1, wherein, Further steps to control overtaking maneuvers include: When the processor determines that the overtaking conditions for the target vehicle are still valid, the overtaking maneuver continues via instructions provided by the processor; and When the processor determines that the overtaking conditions of the target vehicle are no longer valid, the overtaking maneuver is suspended via an instruction provided by the processor.

5. The method according to claim 1, wherein, Determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on the speed change of the target vehicle, and also at least in part on whether the required speed change for the main vehicle to overtake the target vehicle exceeds a predetermined threshold.

6. The method according to claim 1, wherein, Determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on a comparison of the following: The pulling zone, in which the main vehicle will further accelerate to overtake the target vehicle; as well as In the push zone, the main vehicle will decelerate to return to its original lane behind the target vehicle.

7. The method according to claim 6, wherein, Determining whether the overtaking conditions for the target vehicle are still valid is based at least in part on: The weight of the pull area is based on the distance between the rear bumpers of the main vehicle and the target vehicle; as well as The region weight is driven based on the distance between the front bumpers of the primary vehicle and the target vehicle.

8. The method according to claim 6, further comprising: The processor calculates the sum of the initial speed increase and the further speed increase; and The processor calculates the difference between the sum and a preset speed selected by the vehicle user as part of the vehicle's cruise control characteristics.

9. A system for overtaking maneuvers under different traffic conditions, comprising: A sensor array comprising one or more sensors of a host vehicle, the sensor array being configured to generate vehicle sensor data relating to a target vehicle approaching the host vehicle; as well as A processor, which is coupled to the sensor array and configured to at least facilitate: When the processor initially determines that the condition for the target vehicle to be overtaken by the master vehicle is valid, the overtaking maneuver of the master vehicle is initiated by increasing the initial speed of the master vehicle. After the overtaking maneuver is initiated, it is determined whether the overtaking conditions for the target vehicle are still valid based on updated sensor data reflecting different traffic conditions. as well as Further control of the overtaking maneuver based on the determination of whether the overtaking conditions for the target vehicle are still valid includes: The processor calculates the further speed increase required to successfully complete the overtaking maneuver, and The overtaking maneuver is selectively performed based on whether the further speed increase, combined with the initial speed increase, will exceed a preset speed selected by the vehicle user, and by comparing the amount exceeding the preset speed with the maximum permissible speed change stored in the vehicle's memory.

10. The system according to claim 9, wherein, The overtaking conditions for the target vehicle are based at least in part on the speed of the master vehicle, the relative speed between the master vehicle and the target vehicle, and the distance between the master vehicle and the target vehicle.

11. The system according to claim 10, wherein, The overtaking conditions for the target vehicle are also based, at least in part, on one or more additional target vehicles approaching the main vehicle.

12. The system of claim 9, wherein the processor is further configured to at least facilitate: When the processor determines that the overtaking conditions for the target vehicle are still valid, the overtaking maneuver continues; and When the processor determines that the overtaking conditions for the target vehicle are no longer valid, it suspends the overtaking maneuver.

13. The system of claim 9, wherein the processor is further configured to at least facilitate determining whether the overtaking conditions of the target vehicle are still valid based at least in part on the speed change of the target vehicle and at least in part on whether the required speed change for the master vehicle to overtake the target vehicle will exceed a predetermined threshold.

14. The system of claim 9, wherein the processor is further configured to determine whether the overtaking conditions for the target vehicle are still valid, at least in part, based on comparisons of: A pulling zone, in which the main vehicle will further accelerate to overtake the target vehicle; and In the push zone, the main vehicle will decelerate to return to its original lane behind the target vehicle.

15. The system of claim 14, wherein the processor is further configured to at least facilitate determining, in part, whether the overtaking conditions for the target vehicle are still valid based on: The pull area weight is based on the distance between the rear bumpers of the main vehicle and the target vehicle; and The region weight is driven based on the distance between the front bumpers of the primary vehicle and the target vehicle.

16. A vehicle comprising: Body; A drive system configured to generate movement of the vehicle body; A sensor array comprising one or more sensors of the vehicle, the sensor array being configured to generate vehicle sensor data relating to a target vehicle approaching the vehicle; as well as A processor, which is coupled to the sensor array and configured to at least facilitate: When the processor initially determines that the conditions for the vehicle to overtake are valid, it initiates the overtaking maneuver of the vehicle by increasing the initial speed of the main vehicle via instructions provided to the drive system. After the overtaking maneuver is initiated, the processor determines whether the overtaking conditions for the target vehicle are still valid based on updated sensor data reflecting different traffic conditions. as well as Further control of the overtaking maneuver based on the determination of whether the overtaking conditions for the target vehicle are still valid includes: The processor calculates the further speed increase required to successfully complete the overtaking maneuver, and The overtaking maneuver is selectively performed by comparing the further speed increase with whether the initial speed increase will exceed a preset speed selected by the vehicle user, and by the amount exceeding which is stored in the vehicle's memory as the maximum permissible speed change.

17. The vehicle according to claim 16, wherein, The overtaking conditions for the target vehicle are based at least in part on the vehicle's speed, the relative speed between the vehicle and the target vehicle, and the distance between the vehicle and the target vehicle.

18. The vehicle according to claim 16, wherein, The processor is also configured to at least facilitate: When the processor determines that the overtaking conditions for the target vehicle are still valid, the overtaking maneuver continues; as well as When the processor determines that the overtaking conditions for the target vehicle are no longer valid, it suspends the overtaking maneuver.

19. The vehicle according to claim 16, wherein, The processor is also configured to determine whether the overtaking conditions of the target vehicle are still valid, at least in part based on the speed change of the target vehicle and at least in part based on whether the required speed change for the master vehicle to overtake the target vehicle will exceed a predetermined threshold.

20. The vehicle according to claim 16, wherein, The processor is also configured to determine, at least in part, whether the overtaking conditions for the target vehicle are still valid based on comparisons of the following: The pulling zone, in which the vehicle will further accelerate to overtake the target vehicle; as well as In the push zone, the vehicle will decelerate to return to its original lane behind the target vehicle.

21. The vehicle according to claim 20, wherein, The processor is also configured to determine, at least in part, whether the overtaking conditions for the target vehicle are still valid based on the following: The pull area weight is based on the distance between the rear bumper of the vehicle and the target vehicle; as well as The region weight is driven based on the distance between the front bumper of the vehicle and the target vehicle.

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