Adaptive headway calculation method and module for ACC overtaking assistance function

Abstract

The present invention discloses an adaptive time distance calculation method and module for an ACC overtaking assistance function. When it is recognized that the driver has an intention to overtake, an overtaking assistance time accumulation calculation is performed. If the overtaking intention is withdrawn midway or the accumulated value of the overtaking assistance time at the previous moment is greater than the accumulated upper limit of the overtaking assistance time, the accumulated time value is cleared and an overtaking intention exit instruction is output in real time. The overtaking intention instruction and the accumulated time value are output in real time and given to a subsequent calculation unit. When the overtaking intention instruction output by the overtaking intention timing calculation unit is received, a two-input and one-output time distance influence factor lookup table is designed. When the overtaking intention instruction output by the overtaking intention timing calculation unit is received. The adaptive time distance calculation method and module for an ACC overtaking assistance function designs an adaptive variable time distance influence factor by considering the accumulated sequence of the overtaking intention time and the influence of the vehicle speed, thereby solving the problem that the existing overtaking assistance method has many parameters to be coded and is not easy to mass-produce.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an adaptive time-to-distance calculation method and module for an ACC overtaking assistance function. Background Art

[0002] As the popularity of adaptive cruise control (ACC) in vehicles increases, consumers have higher requirements for the ACC experience. During ACC following control, the vehicle must stably follow the vehicle ahead at the following distance preset by the driver and maintain a safe following distance corresponding to the current distance.

[0003] When the driver intends to overtake, the current ACC overtaking assistance longitudinal control method lacks adaptive adjustment of the time interval, and cannot adaptively match the designed time interval to complete the comfortable longitudinal acceleration control of the vehicle after the overtaking intention is generated, that is, it cannot control the acceleration of the vehicle by adaptively shortening the time interval, and the longitudinal control effect of the driver's overtaking assistance is limited. In addition, the current ACC overtaking assistance algorithm is difficult to adjust the parameters, and the adaptability of multiple models and multiple time intervals is also poor, resulting in a poor functional experience and difficulty in mass production.

[0004] Therefore, we propose an adaptive time-to-distance calculation method and module for the ACC overtaking assistance function to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide an adaptive time distance calculation method and module for the ACC overtaking assistance function, so as to solve the problem of the currently commonly used adaptive cruise control system (ACC) proposed in the above background technology. When the driver intends to overtake, the current ACC overtaking assistance longitudinal control method lacks adaptive adjustment of the time distance, and cannot adaptively match the designed time distance of the time series after the overtaking intention is generated to complete the comfortable longitudinal acceleration control of the vehicle, that is, it cannot control the acceleration of the vehicle by adaptively shortening the time distance, and the longitudinal control effect on the driver's overtaking assistance is limited. In addition, the current ACC overtaking assistance algorithm is difficult to adjust the parameters, and the adaptability of multiple models and multiple time distances is also poor, resulting in poor functional use experience and greater difficulty in mass production.

[0006] To achieve the above object, the present invention provides the following technical solution: an adaptive time-to-distance calculation method and module for an ACC overtaking assistance function, comprising the following steps:

[0007] S1, the accumulated value of the overtaking assistance time at the initial moment is 0. When the driver is identified to have the intention to overtake, the overtaking intention instruction is recorded as 1, and the accumulated calculation of the overtaking assistance time is performed. The accumulated value of the overtaking assistance time is the sum of the accumulated value of the overtaking assistance time at the previous moment and a single time step;

[0008] S2: When the overtaking intention is exited midway or the accumulated overtaking assistance time at the previous moment is greater than the accumulated upper limit of the overtaking assistance time, the accumulated time value is cleared and the overtaking intention exit instruction is output in real time:

[0009] S3, outputting the overtaking intention instruction and the accumulated time value in real time to the subsequent calculation unit;

[0010] S4, when receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a two-input and one-output time distance influence factor lookup table is designed;

[0011] S5, when receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a lookup table of time distance influence factors with one input and one output varying with vehicle speed is designed;

[0012] S6, calculating the adaptive following time distance in the overtaking assistance phase according to the time distance influence factor that varies with time and the time distance influence factor that varies with vehicle speed.

[0013] Preferably, when the overtaking intention at the current moment in S2 is 0, the accumulated value of the overtaking assistance time at the current moment is 0.

[0014] Preferably, the cumulative upper limit of the overtaking assistance time is determined by actual vehicle calibration.

[0015] Preferably, the input terminals in S4 are respectively the time accumulation value input and the time interval set by the driver.

[0016] Preferably, when the overtaking intention exit instruction output by the overtaking intention timing calculation unit is received, the time distance influence factor is 0.

[0017] Preferably, the calculation module includes:

[0018] An overtaking intention timing calculation unit is used to detect the driver's overtaking intention, perform time accumulation calculation according to the detected overtaking intention, and output the overtaking intention instruction and time accumulation value in real time;

[0019] A time distance influence factor calculation unit that changes with time receives the overtaking intention instruction and the time accumulation value, calculates the time distance influence factor according to a preset time distance influence factor table, and outputs it;

[0020] A time distance influence factor calculation unit that changes with vehicle speed receives the overtaking intention instruction and vehicle speed change information, calculates the time distance influence factor according to a preset time distance influence factor table, and outputs it;

[0021] The adaptive time distance calculation unit receives the time distance influence factor from the time distance influence factor calculation unit that varies with time and the time distance influence factor calculation unit that varies with vehicle speed, and calculates the adaptive following time distance in the overtaking assistance stage according to relevant parameters, which is used for ACC following acceleration calculation.

[0022] Preferably, the overtaking intention timing calculation unit comprises:

[0023] a. A time accumulation calculation module, used to accumulate the time of the driver's overtaking intention detected;

[0024] b. Overtaking intention instruction output module, used to output overtaking intention instruction in real time;

[0025] c. A time accumulation value clearing module is used to clear the time accumulation value and output an exit instruction for overtaking intention.

[0026] Preferably, the time-varying distance impact factor calculation unit includes:

[0027] a. A time distance impact factor lookup module receives the overtaking intention instruction and the accumulated time value, calculates the time distance impact factor according to the preset time distance impact factor table, and outputs it;

[0028] b. A time distance impact factor clearing module is used to clear the time distance impact factor when receiving an exit instruction of overtaking intention.

[0029] Preferably, the time distance influence factor calculation unit that varies with vehicle speed includes:

[0030] a. A time distance influence factor lookup module receives the overtaking intention instruction and the vehicle speed change information, calculates the time distance influence factor according to the preset time distance influence factor table, and outputs it;

[0031] b. A time distance impact factor clearing module is used to clear the time distance impact factor when receiving an exit instruction of overtaking intention.

[0032] The adaptive time interval calculation unit comprises:

[0033] The adaptive following distance calculation module receives the distance influence factors from the distance influence factor calculation unit that varies with time and the distance influence factor calculation unit that varies with vehicle speed, and calculates the adaptive following distance in the overtaking assistance stage according to relevant parameters for ACC following acceleration calculation.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows: the adaptive time distance calculation method and module of the ACC overtaking assistance function, by considering the cumulative sequence of overtaking intention time and the influence of vehicle speed, designs the adaptive variable time distance influence factor, and by reasonably dividing the input and output, offline designs two-dimensional and one-dimensional lookup tables, reduces the parameter calibration amount, solves the problem that the existing overtaking assistance method has many parameters to be calibrated and is not easy to mass-produce, and has substantial significance for the commercial application of this function. The method also takes into account the various time distance influences set by the driver, can adapt to multiple vehicle models and multiple time distance configurations, improves the versatility of the method adaptation, and has broad application prospects and high market value;

[0035] 1. When the driver is identified to have the intention to overtake, the time accumulation operation is performed, and the overtaking intention instruction and the time accumulation value are output in real time to the subsequent calculation unit. When the overtaking intention is withdrawn midway or the time accumulation limit is reached, the time accumulation value is cleared and the overtaking intention withdrawal instruction and the cleared time accumulation value are output in real time to the subsequent calculation unit;

[0036] 2. When receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a two-input and one-output time distance influence factor lookup table is designed. The input ends are the time accumulation value input and the time distance set by the driver, and the timing segment and time distance segment are reasonably divided, and a two-dimensional time distance influence factor table is designed offline;

[0037] 3. When receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a lookup table of time distance influence factors that vary with vehicle speed is designed with one input and one output. The input end is the speed increment, the speed segment is reasonably divided, and the table of time distance influence factors that vary with speed is designed offline;

[0038] 4. Based on the time distance influence factor that changes with time and the time distance influence factor that changes with vehicle speed, the adaptive following time distance in the overtaking assistance stage is calculated and used for ACC following acceleration calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a logic block diagram of the time distance calculation method of the ACC overtaking assistance function of the present invention;

[0040] Figure 2 is a table of time distance influence factors varying with time of the present invention;

[0041] Figure 3 The table of time distance influence factors varying with vehicle speed according to the present invention;

[0042] Figure 4 Formula 1 of the present invention;

[0043] Figure 5 It is formula 2 of the present invention;

[0044] Figure 6 It is formula 3 of the present invention;

[0045] Figure 7 Formula 4 of the present invention;

[0046] Figure 8 This is formula 5 of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] The present invention provides a technical solution: an adaptive time distance calculation method and module for an ACC overtaking assistance function, the method is used for an adaptive cruise control system (ACC) overtaking assistance function, and the technical solution includes four module units: overtaking intention timing calculation, time distance influence factor calculation that varies with time, time distance influence factor calculation that varies with vehicle speed, and adaptive time distance calculation;

[0049] First embodiment;

[0050] The present invention provides an adaptive time-to-distance calculation method for an ACC overtaking assistance function, comprising the following steps:

[0051] S1, the accumulated value of the overtaking assistance time at the initial moment is 0. When the driver is identified to have the intention to overtake, the overtaking intention instruction is recorded as 1, and the accumulated calculation of the overtaking assistance time is performed. The accumulated value of the overtaking assistance time is the sum of the accumulated value of the overtaking assistance time at the previous moment and a single time step;

[0052] S2, when the overtaking intention is withdrawn midway or the accumulated value of the overtaking assistance time at the previous moment is greater than the accumulated upper limit of the overtaking assistance time, the accumulated time value is cleared and the overtaking intention withdrawal instruction is output in real time;

[0053] S3, outputting the overtaking intention instruction and the accumulated time value in real time to the subsequent calculation unit;

[0054] S4, when receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a two-input and one-output time distance influence factor lookup table is designed;

[0055] S5, when receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a lookup table of time distance influence factors with one input and one output varying with vehicle speed is designed;

[0056] S6, calculating the adaptive following time distance in the overtaking assistance phase according to the time distance influence factor that varies with time and the time distance influence factor that varies with vehicle speed.

[0057] Second embodiment;

[0058] The present invention provides an adaptive time-to-distance calculation method for an ACC overtaking assistance function, comprising the following steps:

[0059] S1: When the driver is identified to overtake, the flag is recordedovk (k)=1, and the overtaking assistance time is accumulated: Figure 4 Formula 1, where t ovk (0) indicates the accumulated value of overtaking assistance time at the initial moment, and the initial moment is Flag ovk (k) the moment when it changes from 0 to 1; t ovk (k) represents the accumulated value of overtaking assistance time at the current moment; t ovk (k-1) represents the cumulative value of the overtaking assistance time at the previous moment; T represents a single time step.

[0060] S2: When the overtaking intention is aborted midway or the time accumulation limit is reached, the time accumulation value is cleared and the overtaking intention exit instruction is output in real time. Figure 5 Formula 2, where Flag ovk (k) indicates the overtaking intention at the current moment; t ovk (k) represents the accumulated value of overtaking assistance time at the current moment; t ovk (k-1) represents the cumulative value of the overtaking assistance time at the previous moment; t max Indicates the cumulative upper limit of overtaking assistance time, which can be determined through actual vehicle calibration;

[0061] S3, the overtaking intention command Flag ovk (k) and the accumulated time value t ovk (k) Real-time output and to subsequent computing units;

[0062] S4, a time distance influence factor calculation unit that changes with time. When receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a two-input and one-output time distance influence factor lookup table is designed. The input ends are the time cumulative value input t ovk and the time interval t set by the driver dsr , reasonably divide the time sequence and time interval segments, and design the two-dimensional time interval impact factor table offline 1 (t ovk ,t dsr ). When receiving the overtaking intention exit instruction output by the overtaking intention timing calculation unit, the time distance influence factor f 1 =0. For the above calculation process, please refer to Figure 6 Formula 3;

[0063] Among them, f 1 (k) represents the time-distance impact factor that changes with time; Flag ovk (k) indicates the overtaking intention at the current moment; t ovk (k) represents the accumulated value of overtaking assistance time at the current moment; t dsr (k) represents the time interval set by the driver; f 1 (t ovk(k),t dsr (k)) represents the two-dimensional time-distance influence factor table designed offline, which can be obtained through real vehicle calibration;

[0064] An exemplary time-varying distance influence factor f 1 (t ovk ,t dsr ) table reference Figure 1 ;

[0065] S5, a time distance influence factor calculation unit that varies with vehicle speed. When receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, an input-output time distance influence factor lookup table that varies with vehicle speed is designed. The input end is the speed increment Δv, and the speed segment is reasonably divided. The time distance influence factor table f that varies with speed is designed offline. 2 (Δv). When receiving the overtaking intention exit instruction output by the overtaking intention timing calculation unit, the time distance influence factor f 2 =0, please refer to the above calculation process Figure 7 Formula 4.

[0066] Among them, Δv(k) represents the velocity increment; v h (k) represents the vehicle speed; v th Indicates the lower speed limit of overtaking assistance, which can be determined through actual vehicle calibration; f 2 (k) represents the time distance influence factor that changes with vehicle speed; Flag ovk (k) indicates the intention to overtake at the current moment; f 2 (Δv(k)) represents the one-dimensional speed-varying time-distance influence factor table designed offline, which can be obtained through actual vehicle calibration.

[0067] For example, f 2 (Δv(k)) value refer to Figure 2 The time headway factor f that changes with vehicle speed 2 (Δv(k)) table;

[0068] S6, adaptive time distance calculation unit. According to the time distance influence factor f that changes with time 1 and the time headway factor f that varies with vehicle speed 2 , the adaptive following distance in the overtaking assistance phase is calculated. The calculation expression is shown in Figure 8 Formula 5;

[0069] Among them, f 1 (k) represents the time-distance influence factor that changes with time; t dsr (k) represents the time distance influence factor that changes with vehicle speed; t md(k) represents the time distance set by the driver; it represents the adaptive following time distance of the ACC overtaking assistance function, which is used in the acceleration control calculation of the ACC function to assist the driver in longitudinal comfort acceleration when changing lanes and overtaking, thereby improving the ACC user experience.

[0070] Third embodiment;

[0071] The present invention provides an adaptive time-to-distance calculation module for the ACC overtaking assistance function, see Figure 1

[0072] When using the adaptive time distance calculation method and module of the ACC overtaking assistance function, it includes: an overtaking intention timing calculation unit, which is used to detect the driver's overtaking intention, and perform time accumulation calculation according to the detected overtaking intention, and output the overtaking intention instruction and the time accumulation value in real time. The overtaking intention timing calculation unit includes: a. a time accumulation calculation module, which is used to accumulate the time of the detected driver's overtaking intention; b. an overtaking intention instruction output module, which is used to output the overtaking intention instruction in real time; c. a time accumulation value clearing module, which is used to clear the time accumulation value and output the overtaking intention exit instruction. When it is recognized that the driver has the intention to overtake, the time accumulation calculation is performed, and the overtaking intention instruction and the time accumulation value are output in real time to the subsequent calculation unit. When the overtaking intention is withdrawn midway or the time accumulation upper limit is reached, the time accumulation value is cleared and the overtaking intention exit instruction and the cleared time accumulation value are output in real time to the subsequent calculation unit;

[0073] The time distance influence factor calculation unit that varies with time receives the overtaking intention instruction and the accumulated time value, calculates the time distance influence factor according to the preset time distance influence factor table, and outputs it. The time distance influence factor calculation unit that varies with time includes: a. a time distance influence factor lookup module that receives the overtaking intention instruction and the accumulated time value, calculates the time distance influence factor according to the preset time distance influence factor table, and outputs it; b. a time distance influence factor clearing module that is used to clear the time distance influence factor when receiving the overtaking intention exit instruction. When receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a two-input and one-output time distance influence factor lookup table is designed. The input ends are the time accumulated value input quantity t ovk and the time interval t set by the driver dsr , reasonably divide the time sequence and time interval segments, and design the two-dimensional time interval impact factor table offline 1 (t ovk ,t dsr ). When receiving the overtaking intention exit instruction output by the overtaking intention timing calculation unit, the time distance influence factor f 1 =0;

[0074] The time distance influence factor calculation unit that varies with vehicle speed receives the overtaking intention instruction and vehicle speed change information, calculates the time distance influence factor according to the preset time distance influence factor table, and outputs it. The time distance influence factor calculation unit that varies with vehicle speed includes: a. a time distance influence factor lookup module that receives the overtaking intention instruction and vehicle speed change information, calculates the time distance influence factor according to the preset time distance influence factor table, and outputs it; b. a time distance influence factor clearing module that is used to clear the time distance influence factor when receiving the overtaking intention exit instruction. When receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, an input-output time distance influence factor lookup table that varies with vehicle speed is designed. The input end is the speed increment Δv, the speed segment is reasonably divided, and the time distance influence factor table f that varies with speed is designed offline. 2 (Δv). When receiving the overtaking intention exit instruction output by the overtaking intention timing calculation unit, the time distance influence factor f 2 =0;

[0075] The adaptive time distance calculation unit receives the time distance influence factor from the time distance influence factor calculation unit that varies with time and the time distance influence factor calculation unit that varies with vehicle speed, and calculates the adaptive following time distance in the overtaking assistance stage according to relevant parameters, which is used for ACC following acceleration calculation. The adaptive time distance calculation unit includes: an adaptive following time distance calculation module, which receives the time distance influence factor from the time distance influence factor calculation unit that varies with time and the time distance influence factor calculation unit that varies with vehicle speed, and calculates the adaptive following time distance in the overtaking assistance stage according to relevant parameters, which is used for ACC following acceleration calculation, and according to the time distance influence factor f that varies with time 1 and the time headway factor f that varies with vehicle speed 2 , the adaptive following time distance in the overtaking assistance stage is calculated and used for ACC following acceleration calculation. This is the entire working process of the adaptive time distance calculation method and module of the ACC overtaking assistance function.

[0076] The contents not described in detail in this specification belong to the prior art known to the professional and technical personnel in this field. The standard parts used in the present invention can be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0077] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The adaptive time-to-distance calculation method of the ACC overtaking assistance function is characterized by: The following steps are involved: S1: The initial accumulated value of the overtaking assistance time is 0. When the driver's overtaking intention is recognized, the overtaking intention instruction is recorded as 1, and the overtaking assistance time accumulation calculation is performed. The accumulated value of the overtaking assistance time is the sum of the accumulated value of the overtaking assistance time at the previous moment and the single time step; S2: When the overtaking intention is aborted midway or the accumulated overtaking assistance time at the previous moment is greater than the accumulated upper limit of the overtaking assistance time, the accumulated time value is cleared and the overtaking intention exit instruction is output in real time: S3, outputs the overtaking intention instruction and the accumulated time value in real time to the subsequent calculation unit; S4, when receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a two-input and one-output time distance influence factor lookup table is designed, the input ends are the time cumulative value input t ovk and the time interval t set by the driver dsr , reasonably divide the time sequence segment and time interval segment, and design the two-dimensional time interval impact factor table f1(t ovk ,t dsr ), when receiving the overtaking intention exit instruction output by the overtaking intention timing calculation unit, the time distance influence factor f1=0; Among them, the time distance influence factor that changes with time is f1(k); the overtaking intention at the current moment is Flag ovk (k); The current cumulative overtaking assistance time is t ovk (k); the time interval set by the driver is t dsr (k); The two-dimensional time-distance impact factor table of offline design is f1(t ovk (k),t dsr (k)) can be obtained through real vehicle calibration; S5, when receiving the overtaking intention instruction output by the overtaking intention timing calculation unit, a lookup table of time distance influence factors that vary with vehicle speed is designed with one input and one output. The input end is the speed increment Δv. The speed segments are reasonably divided, and an offline table of time distance influence factors f2(Δv) that varies with speed is designed. When receiving the overtaking intention exit instruction output by the overtaking intention timing calculation unit, the time distance influence factor f2 = 0; Among them, the velocity increment is Δv(k); the vehicle speed is v h (k); The lower speed limit for overtaking assistance is v th , which can be determined by actual vehicle calibration; the time distance influencing factor that changes with vehicle speed is f2(k); the overtaking intention at the current moment is Flag ovk (k); The one-dimensional speed-varying time-to-distance influence factor table designed offline is f2(Δv(k)), which can be obtained through real vehicle calibration; S6, calculating an adaptive following distance in the overtaking assistance phase based on the time-varying distance influence factor f1 and the time-varying distance influence factor f2 according to the time-varying distance influence factor f1 and the time-varying distance influence factor f2; Among them, the time distance influence factor that changes with time is f1(k); the time distance influence factor that changes with vehicle speed is t dsr (k); the time interval set by the driver is t md (k); represents the adaptive following distance of the ACC overtaking assist function, used for ACC function acceleration control calculation.

2. The adaptive time-to-distance calculation method for the ACC overtaking assistance function according to claim 1, characterized in that: When the overtaking intention at the current moment in S2 is 0, the accumulated value of the overtaking assistance time at the current moment is 0.

3. The adaptive time-to-distance calculation method for the ACC overtaking assistance function according to claim 1, characterized in that: The cumulative upper limit of the overtaking assistance time is determined through actual vehicle calibration.

4. The adaptive time-to-distance calculation method for the ACC overtaking assistance function according to claim 1, characterized in that: The input terminals of S4 are the time accumulation value input and the time interval set by the driver.

5. The adaptive time-to-distance calculation method for the ACC overtaking assistance function according to claim 4 is characterized in that: When the overtaking intention exit instruction output by the overtaking intention timing calculation unit is received, the time distance influence factor is 0.

6. The adaptive time-to-distance calculation module of the ACC overtaking assistance function is characterized by: The calculation module includes: An overtaking intention timing calculation unit is used to detect the driver's overtaking intention, perform time accumulation calculation based on the detected overtaking intention, and output the overtaking intention instruction and time accumulation value in real time; A time distance influence factor calculation unit that changes with time receives an overtaking intention instruction and a time accumulation value, calculates a time distance influence factor according to a preset time distance influence factor table, and outputs the result; A time distance influence factor calculation unit that changes with vehicle speed receives an overtaking intention instruction and vehicle speed change information, calculates a time distance influence factor according to a preset time distance influence factor table, and outputs the result; The adaptive time distance calculation unit receives the time distance influence factor from the time distance influence factor calculation unit that varies with time and the time distance influence factor calculation unit that varies with vehicle speed, and calculates the adaptive following time distance in the overtaking assistance stage based on relevant parameters, which is used for ACC following acceleration calculation.

7. The adaptive time-to-distance calculation module for the ACC overtaking assistance function according to claim 6, characterized in that: The overtaking intention timing calculation unit includes: a. Time accumulation calculation module, used to accumulate the time of the driver's overtaking intention detected; b. Overtaking intention instruction output module, used to output overtaking intention instructions in real time; c. Time accumulation value clearing module, used to clear the time accumulation value and output the overtaking intention exit instruction.

8. The adaptive time-to-distance calculation module for the ACC overtaking assistance function according to claim 6, characterized in that: The time distance impact factor calculation unit that changes with time includes: a time distance impact factor lookup module, receives the overtaking intention instruction and the accumulated time value, calculates the time distance impact factor according to the preset time distance impact factor table, and outputs; b. A time distance impact factor clearing module is used to clear the time distance impact factor when receiving an exit instruction indicating an overtaking intention.

9. The adaptive time-to-distance calculation module for the ACC overtaking assistance function according to claim 6, characterized in that: The time distance influence factor calculation unit that changes with vehicle speed includes: a time distance impact factor lookup module, receives the overtaking intention instruction and speed change information, calculates the time distance impact factor according to the preset time distance impact factor table, and outputs it; b. A time distance impact factor clearing module is used to clear the time distance impact factor when receiving an exit instruction indicating an overtaking intention.

10. The adaptive time-to-distance calculation module for the ACC overtaking assistance function according to claim 6, characterized in that: The adaptive time interval calculation unit includes: The adaptive following distance calculation module receives the distance influence factors from the time-varying distance influence factor calculation unit and the speed-varying distance influence factor calculation unit, and calculates the adaptive following distance in the overtaking assistance stage based on relevant parameters for ACC following acceleration calculation.

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