Overtaking assistance method, device, equipment and storage medium

Abstract

The present invention belongs to the field of intelligent driving technology, and discloses an overtaking assistance method, device, equipment and storage medium. The method includes: detecting the user's intention to overtake; when the user has the intention to overtake, obtaining the working information of the current vehicle; evaluating the safe overtaking distance according to the working information of the current vehicle; generating an overtaking comparison image according to the safe overtaking distance, the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance; overtaking assistance is performed according to the overtaking comparison image. Through the above manner, a method for overtaking evaluation is implemented when oncoming vehicle detection is not possible. By providing the overtaking comparison image to the user for reference, even inexperienced drivers can get more reliable guidance, thereby improving the safety of overtaking.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an overtaking assistance method, device, equipment and storage medium. Background Art

[0002] When driving on some two-way two-lane roads such as county roads and township roads, your car may not be able to pass quickly due to the type of vehicle and driving style of the vehicle in front. For example, the driving speed of trucks, lorries, motorcycles, etc. is not high, or some drivers are unwilling to drive too fast, which reduces the speed of your car.

[0003] In this case, the road may only have two-way dual lanes, or even a single lane with two-way traffic. There is a risk of oncoming vehicles when overtaking. The general overtaking assistance function cannot determine the vehicle information in the adjacent or oncoming lanes due to limitations such as sensor performance and obstruction by the preceding vehicle, making it difficult to plan an overtaking path. At this time, the driver can only rely on his experience to overtake, which will pose a greater safety risk.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide an overtaking assistance method, device, equipment and storage medium, aiming to solve the technical problem of high overtaking risk in the prior art.

[0006] To achieve the above object, the present invention provides an overtaking assistance method, which comprises the following steps:

[0007] Detecting the user's intention to overtake;

[0008] When the user intends to overtake, obtain the working information of the current vehicle;

[0009] estimating a safe overtaking distance according to the current vehicle operating information;

[0010] generating an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance;

[0011] Overtaking assistance is performed according to the overtaking comparison image.

[0012] Optionally, generating an overtaking comparison image according to the safe overtaking distance includes:

[0013] Get the driver's eye position;

[0014] Determining the vehicle projection size according to the driver's eye position and the safe overtaking distance;

[0015] An overtaking comparison image is determined according to the vehicle projection size.

[0016] Optionally, determining the vehicle projection size according to the driver's eye position and the safe overtaking distance includes:

[0017] Obtaining a vehicle model size relationship mapping table, wherein the vehicle model size relationship mapping table includes vehicle models of trucks, vans, cars, and motorcycles and corresponding vehicle sizes;

[0018] The vehicle projection size corresponding to each vehicle model is generated according to the driver's eye position, the safe overtaking distance and the vehicle size of each vehicle model in the vehicle model size relationship mapping table.

[0019] Optionally, the evaluating the safe overtaking distance according to the current vehicle operating information includes:

[0020] Determining a first overtaking required distance according to the working information of the current vehicle;

[0021] Determining an overtaking time according to the working information of the current vehicle and the first overtaking required distance;

[0022] A safe overtaking distance is determined according to the first overtaking required distance, the overtaking time and the current working information of the vehicle.

[0023] Optionally, determining the first required overtaking distance according to the working information of the current vehicle includes:

[0024] Determine the travel distance of the preceding vehicle, the preceding vehicle distance, the preceding vehicle length, and the vehicle distance to be maintained after overtaking according to the working information of the current vehicle;

[0025] The first required overtaking distance is determined according to the preceding vehicle's travel distance, the preceding vehicle's distance, the preceding vehicle's length, and the preceding vehicle's distance to be maintained after overtaking.

[0026] Optionally, determining the overtaking time according to the working information of the current vehicle and the first overtaking required distance includes:

[0027] Get the speed limit of the current road;

[0028] Determining the current vehicle speed and overtaking acceleration according to the current vehicle operating information;

[0029] determining a second overtaking required distance according to the speed limit value, the current vehicle speed and the overtaking acceleration;

[0030] An overtaking time is determined according to the first overtaking required distance and the second overtaking required distance.

[0031] Optionally, when the user intends to overtake, after obtaining the working information of the current vehicle, the method further includes:

[0032] Determining front road information, destination information or adjacent lane information according to the current vehicle operation information;

[0033] Perform risk assessment based on the front road information, destination information or adjacent lane information to obtain a risk assessment result;

[0034] Generate prompt information according to the risk assessment result to issue an overtaking warning.

[0035] In addition, to achieve the above-mentioned purpose, the present invention further provides an overtaking assistance device, the overtaking assistance device comprising:

[0036] An acquisition module is used to detect the user's intention to overtake;

[0037] The processing module is used to obtain the working information of the current vehicle when the user intends to overtake;

[0038] The processing module is further used to evaluate the safe overtaking distance according to the working information of the current vehicle;

[0039] The processing module is further used to generate an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance;

[0040] A control module is used to perform overtaking assistance according to the overtaking comparison image.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes an overtaking assistance device, which includes: a memory, a processor, and an overtaking assistance program stored in the memory and executable on the processor, and the overtaking assistance program is configured to implement the steps of the overtaking assistance method described above.

[0042] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which an overtaking assistance program is stored, and when the overtaking assistance program is executed by a processor, the steps of the overtaking assistance method described above are implemented.

[0043] The present invention detects the user's intention to overtake; when the user has the intention to overtake, obtains the working information of the current vehicle; evaluates the safe overtaking distance according to the working information of the current vehicle; generates an overtaking comparison image according to the safe overtaking distance, the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance; and assists in overtaking according to the overtaking comparison image. Through the above method, a method for overtaking evaluation is implemented in the case where oncoming vehicle detection cannot be performed, and by providing the overtaking comparison image to the user for reference, even inexperienced drivers can get more reliable guidance, thereby improving the safety of overtaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural diagram of an overtaking assistance device in a hardware operating environment involved in an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of the flow chart of the first embodiment of the overtaking assistance method of the present invention;

[0046] Figure 3 A schematic diagram of a scenario of an embodiment of an overtaking assistance method of the present invention;

[0047] Figure 4 It is a flowchart of a second embodiment of the overtaking assistance method of the present invention;

[0048] Figure 5 A projection diagram of an embodiment of an overtaking assistance method of the present invention;

[0049] Figure 6 FIG. 4 is a structural block diagram of a first embodiment of an overtaking assistance device according to the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0052] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of the overtaking assistance device in the hardware operating environment involved in the embodiment of the present invention.

[0053] like Figure 1As shown, the overtaking assistance device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0054] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the overtaking assistance device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0055] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an overtaking assistance program.

[0056] exist Figure 1 In the overtaking assistance device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the overtaking assistance device of the present invention can be set in the overtaking assistance device, and the overtaking assistance device calls the overtaking assistance program stored in the memory 1005 through the processor 1001, and executes the overtaking assistance method provided by an embodiment of the present invention.

[0057] The embodiment of the present invention provides an overtaking assistance method, referring to Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of an overtaking assistance method according to the present invention.

[0058] In this embodiment, the overtaking assistance method includes the following steps:

[0059] Step S10: Detecting the user's intention to overtake.

[0060] It should be noted that the executor of this embodiment is a smart terminal, which may be a vehicle computer, a smart terminal that communicates with the vehicle, or other devices with the same or similar functions as the vehicle computer. This embodiment does not limit this and only takes the vehicle computer as an example for explanation.

[0061] It should be noted that this embodiment is applied to vehicle overtaking conditions. When driving on some two-way two-lane roads such as county roads and township roads, the vehicle type and driving style of some vehicles in front may cause the vehicle to be unable to pass quickly. For example, the driving speed of trucks, lorries, motorcycles, etc. is not high, or some drivers are unwilling to drive too fast, which reduces the speed of the vehicle. In this case, the road may only have two-way two-lane roads, or even a single lane for two-way traffic. When overtaking, there is a risk of oncoming vehicles. The general overtaking assistance function cannot determine the vehicle information in the adjacent or oncoming lanes due to the limitations of sensor performance, front vehicle occlusion, etc., and it is difficult to plan the overtaking path. At this time, overtaking can only rely on the driver's experience, which will have a greater safety risk. Based on the above content, this embodiment proposes a solution to the above problem. For example, when the front vehicle in the two-way two-lane is speeding up, the vehicle determines whether the environment of the vehicle is a two-way two-lane according to the map combined with the front-view camera, and determines whether the vehicle has the intention to overtake according to the driving speed before the speeding up, the cruise setting speed, the steering lever, the lane change behavior, etc. The car owner is reminded through map and navigation analysis of the overtaking environment and overtaking benefits of the current road. When the car owner chooses to overtake, the vehicle model size is recommended based on the speed of the front vehicle, the road speed limit, the distance to the front vehicle and other conditions, and displayed on the windshield through the HUD. The user compares and confirms. If the actual object is smaller than the recommended model, the system starts to overtake. During the process, if the user finds that the actual object is larger than the model, the system decides whether to give up overtaking and return to the original lane based on the risk. By displaying the outline size of the oncoming vehicle when it is safe to overtake on a HUD or other display device, the user can be compared and referenced to assist the user in safely overtaking or assisting in overtaking control.

[0062] It should be noted that this embodiment is preferably applied to narrow lane scenarios (such as Figure 3As shown), the target vehicle driven by the user has the need to overtake the vehicle in front and may be threatened by the oncoming vehicle, so a strategy is needed to refer to whether to overtake, for example: determine whether it is in a narrow road speed reduction condition, specifically, locate the vehicle through the map to see whether it is in a two-way two-lane or two-way single-lane condition; determine whether the vehicle in front is speeding up; obtain the type, speed, distance from the vehicle in front through cameras, radars, etc.; compare with the cruise setting speed, if the difference between the speed of the vehicle in front and the cruise setting speed is greater than the threshold s1, and the duration is greater than t1, it is determined to be speeding up; or if the user does not set the cruise speed, then the speed of the vehicle in front is compared with the road speed limit, the difference is greater than s2 and the duration is greater than t2, then it is determined to be speeding up. In the scenario where the user is in a narrow lane and speed reduction, this embodiment can play a better technical effect, because in a narrow lane, overtaking is likely to meet with the oncoming vehicle, especially in scenes such as rural roads, because there are many motorcycles, small trucks, tractors, etc., and the speed is very slow, it is difficult not to choose to overtake at this time.

[0063] It is understandable that detecting the user's intention to overtake Figure 1 Generally, it can be done in a variety of ways, for example, by using a camera to determine whether the vehicle is crossing the line to the left, or whether the left-turn steering lever is fluctuating, and if so, it is determined that the user intends to overtake. Alternatively, the driver's behavior can be observed, such as the use of lane change signals, the adjustment of vehicle position, and the change in speed. If the driver frequently uses lane change signals, adjusts the vehicle position to adapt to overtaking situations, or accelerates to overtake other vehicles, this may indicate that the driver intends to overtake, and this embodiment does not limit this.

[0064] Step S20: When the user intends to overtake, the operating information of the current vehicle is obtained.

[0065] It is understandable that when a user intends to overtake, it is necessary to judge whether the vehicle is overtaking. Therefore, it is necessary to collect multiple information. Among them, the current working information of the vehicle can be obtained in various ways, such as various sensors, image acquisition devices and various computing units of the vehicle.

[0066] Specifically, the current working information of the vehicle may include: vehicle motion information (vehicle speed, acceleration, etc.), geographic positioning information, travel information, image information collected by various image acquisition devices, perception information collected by sensors, etc.

[0067] In some embodiments, the road ahead information, destination information or adjacent lane information is determined based on the working information of the current vehicle; a risk assessment is performed based on the road ahead information, destination information or adjacent lane information to obtain a risk assessment result; and prompt information is generated based on the risk assessment result to issue an overtaking warning.

[0068] It should be noted that before making an overtaking judgment, it is possible to determine whether the vehicle is suitable for overtaking from some relatively simple work information, and a reminder can be issued first to clearly inform the user that overtaking is not recommended, which can save subsequent computing resources. For example: according to the navigation, the distance to the destination is calculated. If the distance is lower than the threshold s3, it is judged to be a low-speed driving that is about to reach the destination. At this time, if the system determines that the user has the intention to overtake, the user is reminded that "you are about to reach the destination, please drive patiently"; if there is an intersection within a certain distance s4 ahead and the user has the intention to overtake, the user is reminded that "there is an intersection ahead, and overtaking is dangerous"; if a vehicle is detected in the opposite lane and the user has the intention to overtake, the user is reminded that "there is a vehicle in the opposite lane, please do not overtake"; the current remaining mileage on the narrow road is determined by combining the map and navigation, and the required time is estimated based on the current vehicle speed, and the mileage and time are notified to the user. When the user has the intention to change lanes, the narrow road travel time is calculated according to the maximum speed limit of the road, and the time t3 that can be saved by overtaking is compared with the threshold t4. When it is lower than t4, the user is reminded that "occupying the opposite lane to overtake can only save t3 time, overtaking is not recommended"; when it is higher than t4, the user is reminded that "occupying the opposite lane to overtake can only save t3 time, please drive carefully", and when the user clearly indicates the intention to overtake through voice, switch, steering lever, etc., the system assists in overtaking; preconditions for overtaking: determine whether there is an intersection within a certain distance s4 ahead, if so, overtaking is not allowed; determine whether there is a vehicle in the opposite lane within a certain time t5, if so, overtaking is not allowed; whether the road curvature exceeds the threshold s5, if the curvature does not meet the requirement, overtaking is not allowed; other risk judgments for overtaking in the opposite lane (obstacles, pedestrians, etc.). The above t1~t5, s1~s5 are all adjustable thresholds set according to engineer experience or calibration values, which are used to assist in the description of this embodiment and do not limit their specific values.

[0069] Step S30: Evaluate the safe overtaking distance according to the current vehicle operating information.

[0070] It should be noted that the safe overtaking distance is Figure 3 How far away must the oncoming vehicle be from your vehicle for it to be considered safe? For example, if the oncoming vehicle is greater than or equal to the safe overtaking distance away from your vehicle, overtaking is allowed. If the oncoming vehicle is less than the safe overtaking distance away from your vehicle, there is a certain risk of overtaking and overtaking is not recommended. Although the oncoming vehicle may slow down when it sees the target vehicle, safety is the priority and it is not recommended for the target vehicle to change lanes and overtake.

[0071] In some embodiments, a first overtaking distance is determined based on the working information of the current vehicle; an overtaking time is determined based on the working information of the current vehicle and the first overtaking distance; and a safe overtaking distance is determined based on the first overtaking distance, the overtaking time and the working information of the current vehicle.

[0072] It can be understood that the first overtaking required distance is the distance that the target vehicle needs to travel to complete the overtaking action. The specific calculation method can be estimated by the driving distance, the speed of the preceding vehicle and the expected driving time, or the calibration data under the test condition, that is, the preceding vehicle speed, the current vehicle speed and the user's driving habits. In a specific implementation, the first overtaking required distance, the overtaking time and the working information of the current vehicle determine the safe overtaking distance. According to the overtaking required distance and the overtaking time, it can be determined whether the current vehicle has the opportunity to reach the speed limit of the road during the overtaking process. Therefore, it is necessary to make a comprehensive judgment based on the first overtaking required distance, the overtaking time and the working information of the current vehicle (mainly speed, acceleration, speed limit value, etc.). Specifically, for example, the first overtaking required distance l5 can be determined by information such as sensors, and t6 is calculated based on l5 and t6 to calculate t6 = (2·l5 / a1), where a1 is the vehicle acceleration generally used by the user.

[0073] In some embodiments, the driving distance of the preceding vehicle, the distance of the preceding vehicle, the length of the preceding vehicle and the distance to be maintained after overtaking are determined based on the working information of the current vehicle; and the first required distance for overtaking is determined based on the driving distance of the preceding vehicle, the distance of the preceding vehicle, the length of the preceding vehicle and the distance to be maintained after overtaking.

[0074] It should be noted that in order to accurately calculate the distance required for the first overtaking, multiple factors need to be considered, such as: obtaining the distance l1 between the vehicle and the vehicle in front through sensors, evaluating the length of the vehicle in front l2 through the type of the vehicle in front (truck, van, car, two-wheeled vehicle), etc., the distance l3 that needs to be maintained with the vehicle in front when returning to the own lane, the distance l0 traveled by the vehicle in front during the overtaking process, and the distance l4 increased relative to the straight-line distance caused by two lane changes. l5 = l1 + l2 + l3 + l4 + l0 is the first overtaking distance required for the entire overtaking. Among them, l0 is the distance traveled by the vehicle in front, l1 is the distance of the vehicle in front, l2 is the length of the vehicle in front, and l3 is the distance to be maintained after overtaking. The distance l4 that needs to be traveled when changing lanes can also be considered. The distance l4 accounts for a small proportion, but it is recommended to be added to improve the accuracy of the calculation of the distance required for the first overtaking.

[0075] In some embodiments, a speed limit value of a current road is obtained; a current vehicle speed and an overtaking acceleration are determined based on the current vehicle operating information; a second overtaking distance required is determined based on the speed limit value, the current vehicle speed and the overtaking acceleration; and an overtaking time is determined based on the first overtaking distance required and the second overtaking distance required.

[0076] Specifically, this embodiment proposes the following preferred method for calculating the safe overtaking distance in combination with the overtaking time: the distance l1 between the vehicle and the front vehicle is obtained through the sensor, the length l2 of the front vehicle is evaluated by the type of the front vehicle (truck, van, car, two-wheeled vehicle), the distance l3 that needs to be maintained with the front vehicle when returning to the own lane, the distance l0 traveled by the front vehicle during the overtaking process, and the distance l4 increased by two lane changes relative to the straight-line distance. l5 = l1 + l2 + l3 + l4 + l0 is the driving distance required for the entire overtaking. The general overtaking acceleration under this condition is a1, the current vehicle speed v1, and the road speed limit is increased by 10% as the maximum driving speed v2, l6 = (v2 – v1) 2 / (2·a1), compare the size of l6 and l5: when l6≥l5, t6=(2·l5 / a1)1 / 2; when l6<l5, t6=(l5+l6) / (v2–v1); the required vehicle-free section l7 of the adjacent lane is calculated, l7=l5+(v1+v2)·t6. (The driving speed of the opposite target is considered to be v2). Among them, t6 is the overtaking time, and l7 is the safe overtaking distance. l5 is the first overtaking distance required, and l6 is the second overtaking distance required. If the overtaking distance is too long, the vehicle's driving speed curve is first accelerated and then uniform. If the overtaking distance is short, it is always in an accelerating state. Therefore, two safety distances, l5 and l6, are set to determine which motion state is in the overtaking process according to the second overtaking distance required, and then more accurately calculate the safe overtaking distance.

[0077] Step S40: generating an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance.

[0078] It should be noted that the overtaking comparison image is an image used to provide users with a reference to determine whether the target vehicle meets the safe overtaking distance. Through this image information, users can compare the overtaking comparison image on the display device with the oncoming vehicle to determine whether there are overtaking conditions. Among them, the overtaking comparison image is an image of the projected size of the vehicle at the safe overtaking distance, that is, the overtaking comparison image should appear to be the same size as the actual vehicle at the safe overtaking distance when viewed from the user's position.

[0079] Step S50: performing overtaking assistance according to the overtaking comparison image.

[0080] It should be noted that there are many implementation methods for overtaking assistance based on the overtaking comparison image. It can be displayed directly on the screen for users to compare, or it can be displayed on the HUD of the front windshield. By locking the vehicle position and the user's eye position, the overtaking comparison image is displayed between or near the above two positions to help users compare, wherein HUD is the abbreviation of Head-Up Display. HUD is a technology that displays important information directly in the driver's field of vision by projecting it on a transparent display screen within the driver's field of vision, so that the driver can obtain key information without shifting his eyes from the road ahead. HUD can display data such as vehicle speed, navigation instructions, warning information and other driving-related data. This technology aims to improve the driver's concentration and reaction time to enhance driving safety. HUD is widely used in fields such as automobiles, aircraft and military applications. Here, it is preferred that the HUD is projected on the front windshield.

[0081] This embodiment detects the user's intention to overtake; when the user has the intention to overtake, obtains the working information of the current vehicle; evaluates the safe overtaking distance based on the working information of the current vehicle; generates an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance; and assists in overtaking based on the overtaking comparison image. Through the above method, a method for overtaking evaluation is implemented when oncoming vehicle detection is not possible. By providing the overtaking comparison image to the user for reference, even inexperienced drivers can get more reliable guidance, thereby improving the safety of overtaking.

[0082] refer to Figure 4 , Figure 4 Schematic diagram of a flow chart of a second embodiment of an overtaking assistance method of the present invention.

[0083] Based on the first embodiment, the overtaking assistance method of this embodiment further includes, in step S40:

[0084] Step S41: Obtain the driver's eye position.

[0085] It should be noted that obtaining the driver's eye position is mainly used to determine the distance from the driver's eyes to the front windshield, or the distance to the display position of the overtaking comparison chart, and the acquisition method can be obtained through cockpit monitoring or driving position image acquisition device.

[0086] Step S42: determining the vehicle projection size according to the driver's eye position and the safe overtaking distance.

[0087] It should be noted that the driver's eye position is obtained according to the sensors in the cockpit (camera, radar, etc.), and the distance l8 from the driver's eye position to the HUD display position is calculated based on the position. According to the similarity principle, the projection size of the front view outline of a general car is calculated, such as Figure 5 As shown, l8 is the distance from the driver's eye position to the display position, l7 is the safe overtaking distance, n1 is the vehicle size, and n2 is the vehicle projection size.

[0088] In some embodiments, a vehicle model size relationship mapping table is obtained, wherein the vehicle model size relationship mapping table includes vehicle models of trucks, vans, sedans, and motorcycles and corresponding vehicle sizes; and a vehicle projection size corresponding to each vehicle model is generated based on the driver's eye position, safe overtaking distance, and the vehicle size of each vehicle model in the vehicle model size relationship mapping table.

[0089] It is understandable that if the oncoming vehicle type is different, the actual estimated vehicle size should also be different. Therefore, the size of the vehicle model can be determined according to the vehicle model. If the vehicle model cannot be identified due to the distance being too far or being blocked by the vehicle in front, several typical vehicle models can be displayed for user reference, such as trucks, vans, cars and motorcycles and their corresponding vehicle sizes. Figure 5 As shown, the size of the truck is calculated according to (m1, n1). Based on the similarity principle, the projection size can be derived: n2=n1·l8 / l7, m2=m1·l8 / l7. Similarly, the projection sizes of trucks, vans, cars, motorcycles, etc. can be calculated and projected on the HUD together.

[0090] Step S43: determining an overtaking comparison image according to the vehicle projection size.

[0091] It should be noted that after determining the vehicle projection size, an overtaking comparison image can be drawn according to the vehicle size, wherein the overtaking comparison image can be a simulated vehicle front face image or a size frame for easy comparison. This embodiment takes the size frame as an example for subsequent explanation.

[0092] Further, this embodiment proposes the following preferred improvement scheme, for example: the driver compares the target with the size box of the same type by observing the opposite target. If it is smaller than the size box, it means that there is no vehicle within the required driving distance, and the system assists in changing lanes. If it is larger than the size box, it means that there is a vehicle within the required driving distance, and the system does not change lanes. The user confirms that the target size is smaller than the size box, and the system performs an overtaking action of occupying the opposite lane according to the designed path. Calculation and judgment during the overtaking process; During the overtaking process, as time goes by, t6 gradually decreases, and the corresponding calculated projection size box gradually increases. During the lane changing process, when the user determines that the target size is larger than the size box, the system calculates according to the lane changing process: before the lane changing time t obtained by adjusting a1 to the maximum acceleration allowed by the system and l3 to the minimum distance allowed by the system, after adjusting a1 to the time t after the deceleration returns to the original relative position of the following vehicle, compare t before and t after, and select the smaller time to continue overtaking or return to the original relative position of the following vehicle. At the same time, if the sensor detects an oncoming target vehicle, v2 is adjusted to the actual speed of the oncoming target for risk assessment. When there is a risk, t before and t after are assessed. If the former is satisfied, the lane change is accelerated, and if the latter is satisfied, the lane change is decelerated and retreated. If neither is satisfied, the user is reminded to take over while retreating. During the lane change process, if there is another vehicle in front of the vehicle, an assessment is made based on the distance l9 between the vehicle in front and the vehicle in front. If l9 is less than the threshold s6, the length l2 of the vehicle in front is adjusted to the distance from the tail of the vehicle in front to the head of the vehicle in front; if l9 is not less than the threshold s6, the overtaking behavior is not affected.

[0093] This embodiment obtains the driver's eye position; determines the vehicle projection size according to the driver's eye position and the safe overtaking distance; and determines the overtaking comparison image according to the vehicle projection size. Through the above method, the process of determining the vehicle projection size according to the user's eye position is realized, further improving the visual effect of the overtaking comparison image, making it easier for users to compare, and improving the safety of the vehicle.

[0094] In addition, an embodiment of the present invention further proposes a storage medium, on which an overtaking assistance program is stored. When the overtaking assistance program is executed by a processor, the steps of the overtaking assistance method described above are implemented.

[0095] Reference Figure 6 , Figure 6 FIG. 4 is a structural block diagram of a first embodiment of an overtaking assistance device according to the present invention.

[0096] like Figure 6 As shown, the overtaking assistance device proposed in the embodiment of the present invention includes:

[0097] An acquisition module 10 is used to detect the user's intention to overtake;

[0098] The acquisition module 10 is also used to acquire the working information of the current vehicle when the user intends to overtake;

[0099] A processing module 20, configured to evaluate a safe overtaking distance according to the current vehicle operation information;

[0100] The processing module 20 is further used to generate an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance;

[0101] The control module 30 is used to perform overtaking assistance according to the overtaking comparison image.

[0102] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0103] In this embodiment, the acquisition module 10 detects the user's intention to overtake; the acquisition module 10 acquires the working information of the current vehicle when the user has the intention to overtake; the processing module 20 evaluates the safe overtaking distance according to the working information of the current vehicle; the processing module 20 generates an overtaking comparison image according to the safe overtaking distance, and the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance; the control module 30 performs overtaking assistance according to the overtaking comparison image. Through the above method, a method for overtaking evaluation is realized when the oncoming vehicle detection cannot be performed. By providing the overtaking comparison image to the user for reference, even inexperienced drivers can get more reliable guidance, which improves the safety of overtaking.

[0104] In some embodiments, the processing module 20 is further used to obtain the driver's eye position;

[0105] Determining the vehicle projection size according to the driver's eye position and the safe overtaking distance;

[0106] An overtaking comparison image is determined according to the vehicle projection size.

[0107] In some embodiments, the processing module 20 is further used to obtain a vehicle model size relationship mapping table, wherein the vehicle model size relationship mapping table includes vehicle models of trucks, vans, cars, and motorcycles and corresponding vehicle sizes;

[0108] The vehicle projection size corresponding to each vehicle model is generated according to the driver's eye position, the safe overtaking distance and the vehicle size of each vehicle model in the vehicle model size relationship mapping table.

[0109] In some embodiments, the processing module 20 is further used to determine the first overtaking required distance according to the working information of the current vehicle;

[0110] Determining an overtaking time according to the working information of the current vehicle and the first overtaking required distance;

[0111] A safe overtaking distance is determined according to the first overtaking required distance, the overtaking time and the current working information of the vehicle.

[0112] In some embodiments, the processing module 20 is further used to determine the driving distance of the preceding vehicle, the preceding vehicle distance, the preceding vehicle length, and the vehicle distance to be maintained after overtaking according to the working information of the current vehicle;

[0113] The first required distance for overtaking is determined according to the preceding vehicle's travel distance, the preceding vehicle's distance, the preceding vehicle's length, and the preceding vehicle's distance to be maintained after overtaking.

[0114] In some embodiments, the processing module 20 is further used to obtain the speed limit value of the current road;

[0115] Determining the current vehicle speed and overtaking acceleration according to the current vehicle operating information;

[0116] determining a second overtaking required distance according to the speed limit value, the current vehicle speed and the overtaking acceleration;

[0117] An overtaking time is determined according to the first overtaking required distance and the second overtaking required distance.

[0118] In some embodiments, the processing module 20 is further used to determine the front road information, the destination information or the adjacent lane information according to the working information of the current vehicle;

[0119] Perform risk assessment based on the front road information, destination information or adjacent lane information to obtain a risk assessment result;

[0120] Generate prompt information according to the risk assessment result to issue an overtaking warning.

[0121] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0122] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the overtaking assistance method provided in any embodiment of the present invention, and will not be repeated here.

[0123] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0124] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An overtaking assistance method, characterized in that: The overtaking assistance method comprises: Detecting the user's intention to overtake; When the user intends to overtake, obtain the working information of the current vehicle; estimating a safe overtaking distance according to the current vehicle operating information; generating an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance; performing overtaking assistance according to the overtaking comparison image; The generating of the overtaking comparison image according to the safe overtaking distance comprises: Get the driver's eye position; Determining the vehicle projection size according to the driver's eye position and the safe overtaking distance; An overtaking comparison image is determined according to the vehicle projection size.

2. The method according to claim 1, characterized in that The determining of the vehicle projection size according to the driver's eye position and the safe overtaking distance comprises: Obtaining a vehicle model size relationship mapping table, wherein the vehicle model size relationship mapping table includes vehicle models of trucks, vans, cars, and motorcycles and corresponding vehicle sizes; The vehicle projection size corresponding to each vehicle model is generated according to the driver's eye position, the safe overtaking distance and the vehicle size of each vehicle model in the vehicle model size relationship mapping table.

3. The method according to claim 1, characterized in that The estimating the safe overtaking distance according to the current vehicle operating information includes: Determining a first overtaking required distance according to the working information of the current vehicle; Determining an overtaking time according to the working information of the current vehicle and the first overtaking required distance; A safe overtaking distance is determined according to the first overtaking required distance, the overtaking time and the current working information of the vehicle.

4. The method according to claim 3, characterized in that The determining the first required overtaking distance according to the working information of the current vehicle includes: Determine the travel distance of the preceding vehicle, the preceding vehicle distance, the preceding vehicle length, and the vehicle distance to be maintained after overtaking according to the working information of the current vehicle; The first required overtaking distance is determined according to the preceding vehicle's travel distance, the preceding vehicle's distance, the preceding vehicle's length, and the preceding vehicle's distance to be maintained after overtaking.

5. The method according to claim 3, characterized in that The determining the overtaking time according to the working information of the current vehicle and the first overtaking required distance includes: Get the speed limit of the current road; Determining the current vehicle speed and overtaking acceleration according to the current vehicle operating information; determining a second overtaking required distance according to the speed limit value, the current vehicle speed and the overtaking acceleration; An overtaking time is determined according to the first overtaking required distance and the second overtaking required distance.

6. The method according to claim 1, characterized in that When the user intends to overtake, after obtaining the working information of the current vehicle, the method further includes: Determining front road information, destination information or adjacent lane information according to the current vehicle operation information; Perform risk assessment based on the front road information, destination information or adjacent lane information to obtain a risk assessment result; Generate prompt information according to the risk assessment result to issue an overtaking warning.

7. An overtaking assistance device, characterized in that: The overtaking assistance device comprises: An acquisition module is used to detect the user's intention to overtake; The acquisition module is also used to acquire the working information of the current vehicle when the user intends to overtake; A processing module, used for evaluating a safe overtaking distance according to the current vehicle operation information; The processing module is further used to generate an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance; The processing module is further used to obtain the driver's eye position; determine the vehicle projection size according to the driver's eye position and the safe overtaking distance; and determine the overtaking comparison image according to the vehicle projection size; A control module is used to perform overtaking assistance according to the overtaking comparison image.

8. An overtaking assistance device, characterized in that: The device comprises: a memory, a processor, and an overtaking assistance program stored in the memory and executable on the processor, wherein the overtaking assistance program is configured to implement the steps of the overtaking assistance method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores an overtaking assistance program, and when the overtaking assistance program is executed by the processor, the steps of the overtaking assistance method according to any one of claims 1 to 6 are implemented.

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