Overtaking auxiliary control method, device and equipment for intelligent driving, storage medium and vehicle

Abstract

The invention discloses an overtaking auxiliary control method, device and equipment for intelligent driving, a storage medium and a vehicle. The overtaking auxiliary control method comprises the steps that surrounding environment information and self-vehicle information are acquired; controlling the vehicle to accelerate immediately and setting a limit time interval between the vehicle and a target vehicle in front of the original lane as a first preset overtaking limit time interval under the conditions that the vehicle follows the vehicle, a steering lamp is turned on and a steering wheel rotates; in the state that the vehicle follows the vehicle, a steering lamp is turned on and a steering wheel does not rotate, the vehicle is controlled to be accelerated immediately during accelerated driving, and the limiting time distance between the vehicle and a target vehicle in front of the original lane is set to be a second preset overtaking limiting time distance; during deceleration driving, the vehicle is controlled to accelerate immediately, and the limit time distance between the vehicle and the target vehicle in front of the original lane is set as a third preset overtaking limit time distance; and during constant-speed driving, the vehicle is controlled to accelerate immediately, and the limiting time distance between the vehicle and the target vehicle in front of the original lane is set as a fourth preset overtaking limiting time distance. The acceleration requirement of the driver before starting to change the lane is met.

Description

Technical Field

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

[0002] With the improvement of vehicle intelligence, intelligent driving systems play an increasingly important role in vehicle control. ADAS (Advanced Driving Assistance System) controls the acceleration / braking / steering of the vehicle, and the driver does not need to directly control the vehicle under normal circumstances, but only needs to monitor the driving status of the vehicle. ADAS is equipped with environmental perception sensors such as front cameras and front radars, which can realize the function of adaptive cruise control, that is, by detecting the speed and distance of the vehicle in front, combined with the speed of the vehicle and the set time distance, it can maintain a certain time distance with the vehicle in front. The overtaking assistance function in ADAS is that when the driver observes the adjacent lane to confirm that it is possible to change lanes and overtake during the process of the vehicle in front driving at a reduced speed, the driver turns on the turn signal, and the system automatically realizes the longitudinal control of the vehicle to accelerate and overtake.

[0003] At present, the overtaking assistance function in ADAS has the following problems: First, during the longitudinal control acceleration overtaking process, due to the limitation of TTC (Time To Collision), the vehicle cannot accelerate before releasing the target vehicle in the lane. The vehicle speed must be accelerated only after the front wheels of the vehicle enter the overtaking lane. This is not in line with the driver's driving habits and the subjective overtaking experience is poor. Second, when the target vehicle in front of the lane decelerates suddenly, the vehicle will also decelerate sharply. If the driver turns on the turn signal to change lanes at this time, the target vehicle in front of the lane releases late, so the vehicle is still decelerating when it is in the overtaking lane, resulting in a delayed acceleration feeling for users and a poor experience. Summary of the invention

[0004] To solve at least one aspect of the above problems, the present invention provides an overtaking assistance control method for intelligent driving, comprising the following steps: obtaining surrounding environment information and vehicle information, the surrounding environment information including information of a target vehicle in front of the original lane and information of a target vehicle in front of the overtaking lane, and the vehicle information including vehicle parameter information, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the vehicle and the target vehicle in front, and real-time distance between the vehicle and the lane line; judging whether the vehicle is in a following state according to the surrounding environment information; judging whether the turn signal is turned on for the first time according to the real-time turn signal information when the vehicle is in the following state; judging whether the steering wheel is turned on for the first time according to the real-time steering wheel information when the turn signal is turned on; controlling the vehicle to accelerate immediately when the steering wheel is turned, and setting the time limit between the vehicle and the target vehicle in front of the original lane to a first preset overtaking time limit; judging the driving state of the vehicle according to the real-time vehicle speed information when the steering wheel is not turned, and the driving state of the vehicle includes accelerating, decelerating and driving at a constant speed driving; in the accelerated driving state, the vehicle is controlled to accelerate immediately, and the limited time distance between the vehicle and the target vehicle in front of the original lane is set to the second preset overtaking limited time distance; in the decelerated driving state, the vehicle is controlled to accelerate immediately, and the limited time distance between the vehicle and the target vehicle in front of the original lane is set to the third preset overtaking limited time distance; in the uniform speed driving state, the vehicle is controlled to accelerate immediately, and the limited time distance between the vehicle and the target vehicle in front of the original lane is set to the fourth preset overtaking limited time distance; according to the real-time information of the steering wheel, it is judged for the second time whether the steering wheel is turned; when the steering wheel is not turned, the vehicle is controlled to resume normal following driving, at which time the limited time distance between the vehicle and the target vehicle in front of the original lane is set to the preset limited time distance for normal driving; when the steering wheel is turned, according to the real-time information of the turn signal, it is judged for the second time whether the turn signal is turned off; when the turn signal is turned off, the vehicle is controlled to resume normal driving, at which time the limited time distance between the vehicle and the target vehicle in front of the original lane is set to the preset limited time distance for normal driving; when the turn signal is turned on, the vehicle is controlled to overtake.

[0005] Preferably, the following steps are also included: judging whether there is a target vehicle ahead in the overtaking lane based on the target vehicle information ahead in the overtaking lane; judging whether point R of the driver's seat of the own vehicle has crossed the left lane line of the original lane based on the whole vehicle parameter information and the real-time distance between the own vehicle and the lane line when there is a target vehicle ahead in the overtaking lane; when point R of the driver's seat of the own vehicle has not crossed the left lane line of the original lane, controlling the vehicle to maintain acceleration, and limiting the time distance between the own vehicle and the target vehicle ahead in the original lane to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; when point R of the driver's seat of the own vehicle crosses the left lane line of the original lane, releasing the target vehicle ahead in the original lane, marking the target vehicle ahead in the overtaking lane as a following target vehicle mark, and control the vehicle to follow the vehicle normally. At this time, the time distance between the self-vehicle and the target vehicle in front of the overtaking lane is set to the preset limit time distance for normal driving; when there is no target vehicle in front in the overtaking lane, judge whether the R point of the self-vehicle driver's seat crosses the left lane line of the original lane according to the vehicle parameter information and the real-time distance between the self-vehicle and the lane line; when the R point of the self-vehicle driver's seat does not cross the left lane line of the original lane, control the vehicle to keep accelerating, and the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; when the R point of the self-vehicle driver's seat crosses the left lane line of the original lane, release the target vehicle in front of the original lane and perform adaptive cruise driving.

[0006] Preferably, the first preset overtaking limit time distance, the second preset overtaking limit time distance, the third preset overtaking limit time distance and the fourth preset overtaking limit time distance are equal to or different from each other.

[0007] Preferably, the range of the first preset overtaking limit time distance, the range of the second preset overtaking limit time distance, the range of the third preset overtaking limit time distance and the range of the fourth preset overtaking limit time distance are 0.5-0.9 TTC.

[0008] Preferably, the first preset overtaking limit time distance is 0.6TTC, the second preset overtaking limit time distance is 0.6TTC, the third preset overtaking limit time distance is 0.7TTC, and the fourth preset overtaking limit time distance is 0.6TTC.

[0009] The present application also provides an overtaking auxiliary control device for intelligent driving, the device comprising: a receiving module, configured to obtain surrounding environment information and vehicle information, the surrounding environment information including target vehicle information in front of the original lane and target vehicle information in front of the overtaking lane, the vehicle information including vehicle parameter information, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the vehicle and the target vehicle in front, and real-time distance between the vehicle and the lane line; a first judgment module, configured to judge whether the vehicle is in a following state according to the surrounding environment information; a second judgment module, configured to judge whether the vehicle is in a following state according to the turn signal when the vehicle is in a following state The first judgment module is configured to judge whether the turn signal is on based on the real-time information of the steering wheel when the turn signal is on for the first time. The third judgment module is configured to judge whether the steering wheel is turned based on the real-time information of the steering wheel when the turn signal is on. The first control module is configured to control the vehicle to accelerate immediately when the steering wheel is turned, and set the limit time distance between the vehicle and the target vehicle in front of the original lane to the first preset overtaking limit time distance. The fourth judgment module is configured to judge the driving state of the vehicle based on the real-time information of the vehicle speed when the steering wheel is not turned, and the driving state of the vehicle includes accelerating, decelerating and driving at a constant speed. The second control module is configured to control the vehicle to accelerate immediately when the steering wheel is turned, and set the limit time distance between the vehicle and the target vehicle in front of the original lane to the first preset overtaking limit time distance. In the state, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the second preset overtaking time limit; the third control module is configured to control the vehicle to accelerate immediately in the deceleration driving state, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the third preset overtaking time limit; the fourth control module is configured to control the vehicle to accelerate immediately in the uniform speed driving state, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the fourth preset overtaking time limit; the fifth judgment module is configured to judge whether the steering wheel is turned for the second time according to the real-time information of the steering wheel; the fifth control module The module is configured to control the vehicle to resume normal following driving when the steering wheel is not turned, and the limit time distance between the vehicle and the target vehicle in front of the original lane is set to the preset limit time distance for normal driving; the sixth judgment module is configured to judge whether the turn signal is turned off for the second time according to the real-time information of the turn signal when the steering wheel is turned; the sixth control module is configured to control the vehicle to resume normal driving when the turn signal is turned off, and the limit time distance between the vehicle and the target vehicle in front of the original lane is set to the preset limit time distance for normal driving; the seventh control module is configured to control the vehicle to overtake when the turn signal is turned on.

[0010] Preferably, the device also includes: a seventh judgment module, configured to judge whether there is a target vehicle ahead in the overtaking lane according to the target vehicle ahead information in the overtaking lane; an eighth judgment module, configured to judge whether the R point of the driver's seat of the own vehicle has crossed the left lane line of the original lane according to the whole vehicle parameter information and the real-time distance between the own vehicle and the lane line when there is a target vehicle ahead in the overtaking lane; an eighth control module, configured to control the vehicle to maintain acceleration when the R point of the driver's seat of the own vehicle has not crossed the left lane line of the original lane, and the time distance between the own vehicle and the target vehicle ahead in the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; a ninth control module, configured to release the target vehicle ahead in the original lane and mark the target vehicle ahead in the overtaking lane when the R point of the driver's seat of the own vehicle crosses the left lane line of the original lane. The vehicle is recorded as the following target, and the vehicle is controlled to follow the vehicle normally. At this time, the time distance between the self-vehicle and the target vehicle in front of the overtaking lane is set to the preset limit time distance for normal driving; the ninth judgment module is configured to judge whether the R point of the self-vehicle driver's seat crosses the left lane line of the original lane according to the vehicle parameter information and the real-time distance between the self-vehicle and the lane line when there is no target vehicle in front in the overtaking lane; the tenth control module is configured to control the vehicle to keep accelerating when the R point of the self-vehicle driver's seat does not cross the left lane line of the original lane, and the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; the eleventh control module is configured to release the target vehicle in front of the original lane and perform adaptive cruise driving when the R point of the self-vehicle driver's seat crosses the left lane line of the original lane.

[0011] The present application also provides an overtaking assistance control device for intelligent driving, the device comprising a memory and a processor, the memory storing a computer program, and implementing any one of the above-mentioned overtaking assistance control methods for intelligent driving when the computer program is executed by the processor.

[0012] The present application also provides a vehicle, comprising the above-mentioned overtaking assistance control device for intelligent driving.

[0013] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above items is executed.

[0014] The overtaking assistance control method, device, equipment, storage medium and vehicle for intelligent driving of the present invention have the following beneficial effects:

[0015] (1) When judging whether the vehicle is in the overtaking state, the present application adds the judgment of whether the steering wheel is turned on the basis of judging whether the turn signal is on. When exiting the overtaking state, the present application also adds the judgment of whether the steering wheel is turned before judging whether the turn signal is off, which helps to improve intelligence and safety.

[0016] (2) When the present application determines that the vehicle is in an overtaking state, that is, the vehicle is following a vehicle with the turn signal on and the steering wheel turned, or the vehicle is following a vehicle with the turn signal on and the steering wheel not turned, and the vehicle is accelerating or decelerating or traveling at a constant speed, the present application will accelerate immediately and shorten the corresponding preset overtaking limit time distance under different states, optimize the overtaking assistance control logic, meet the driver's acceleration requirements before starting to change lanes, be more in line with driving habits, and provide a better experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0018] Figure 1 A flow chart of an overtaking assistance control method for intelligent driving according to an embodiment of the present invention is shown;

[0019] Figure 2 A schematic diagram of a first overtaking scenario of the overtaking assistance control method for intelligent driving according to an embodiment of the present invention is shown;

[0020] Figure 3 A schematic diagram of a second overtaking scenario of the overtaking assistance control method for intelligent driving according to an embodiment of the present invention is shown;

[0021] Figure 4 A structural block diagram of an overtaking assistance control device for intelligent driving according to an embodiment of the present invention is shown.

[0022] Description of reference numerals:

[0023] 101. Receiving module; 102. First judgment module; 103. Second judgment module; 104. Third judgment module; 105. First control module; 106. Fourth judgment module; 107. Second control module; 108. Third control module; 109. Fourth control module; 110. Fifth judgment module; 111. Fifth control module; 112. Sixth judgment module; 113. Sixth control module; 114. Seventh control module; 115. Seventh judgment module; 116. Eighth judgment module; 117. Eighth control module; 118. Ninth control module; 119. Ninth judgment module; 120. Tenth control module; 121. Eleventh control module. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0025] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] In order to at least partially solve the above problems and one or more of other potential problems, the embodiments of the present disclosure provide an overtaking assistance control method for intelligent driving, such as Figure 1As shown, the following steps are included: obtaining surrounding environment information and vehicle information, the surrounding environment information includes information of the target vehicle in front of the original lane and the target vehicle in front of the overtaking lane, and the vehicle information includes vehicle parameter information, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the vehicle and the target vehicle in front, and real-time distance between the vehicle and the lane line; in a specific embodiment, a number of sensors are installed on the vehicle, such as a sensor for photographing the road lane line, a sensor for photographing the vehicle in front, a sensor for detecting distance or time distance, a sensor for detecting vehicle speed, a sensor for detecting whether the turn signal is turned on, a sensor for detecting whether the steering wheel is turned, etc., and the detection results of the several sensors are processed by the corresponding processors and then output analysis results to the bus, such as information of the target vehicle in front of the original lane, information of the target vehicle in front of the overtaking lane, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the vehicle and the target vehicle in front, and real-time distance between the vehicle and the lane line, etc., and the bus also stores vehicle parameter information, and some processors receive certain analysis results on the bus for further processing and output analysis results to the bus again, so the present application can obtain surrounding environment information and driving information from the bus.

[0027] Determine whether the vehicle is in the following state based on the surrounding environment information. If the vehicle is in the following state, determine whether the turn signal is on for the first time based on the real-time information of the turn signal. If the turn signal is on, determine whether the steering wheel is turned for the first time based on the real-time information of the steering wheel.

[0028] When the steering wheel is turned, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the first preset overtaking time limit, the first preset overtaking time limit range is 0.5-0.9TTC, preferably, the first preset overtaking time limit is 0.6TTC. When the steering wheel is not turned, the driving state of the vehicle is judged according to the real-time information of the vehicle speed, and the driving state of the vehicle includes accelerating driving, decelerating driving and constant speed driving; in the accelerating driving state, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the second preset overtaking time limit, the second preset overtaking time limit can be selected to be equal to or different from the first preset overtaking time limit, the second preset overtaking time limit range is 0.5-0.9TTC, preferably, the second preset overtaking time limit is 0.6TTC; in the decelerating driving state, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the third preset overtaking time limit, the third preset The overtaking limit time distance, the second preset overtaking limit time distance, and the first preset overtaking limit time distance can be selected to be equal or unequal, and the third preset overtaking limit time distance ranges from 0.5 to 0.9TTC. Preferably, the third preset overtaking limit time distance is 0.7TTC; under a uniform speed driving state, the vehicle is controlled to accelerate immediately, and the limit time distance between the vehicle and the target vehicle in front of the original lane is set to the fourth preset overtaking limit time distance. The fourth preset overtaking limit time distance, the third preset overtaking limit time distance, the second preset overtaking limit time distance, and the first preset overtaking limit time distance can be selected to be equal or unequal, and the fourth preset overtaking limit time distance ranges from 0.5 to 0.9TTC. Preferably, the fourth preset overtaking limit time distance is 0.6TTC.

[0029] Based on the real-time information of the steering wheel, determine for the second time whether the steering wheel is turned; if the steering wheel is not turned, control the vehicle to resume normal following driving, and the limit time between the vehicle and the target vehicle in front of the original lane is set to the preset limit time between normal driving; if the steering wheel is turned, determine for the second time whether the turn signal is turned off based on the real-time information of the turn signal; if the turn signal is turned off, control the vehicle to resume normal driving, and the limit time between the vehicle and the target vehicle in front of the original lane is set to the preset limit time between normal driving; if the turn signal is on, control the vehicle to overtake.

[0030] In a preferred embodiment, the overtaking step includes the following steps: judging whether there is a front target vehicle in the overtaking lane according to the front target vehicle information in the overtaking lane.

[0031] When there is a target vehicle ahead in the overtaking lane, Figure 2As shown, according to the vehicle parameter information and the real-time distance between the vehicle and the lane line, it is judged whether the R point of the driver's seat of the vehicle has crossed the left lane line of the original lane; when the R point of the driver's seat of the vehicle has not crossed the left lane line of the original lane, the vehicle is controlled to keep accelerating, and the time distance between the vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; specifically, when the time limit between the vehicle and the target vehicle in front of the original lane is the first preset overtaking limit time distance, correspondingly, the time limit between the vehicle and the target vehicle in front of the original lane is limited to the first preset overtaking limit time distance; when the time limit between the vehicle and the target vehicle in front of the original lane is the second preset overtaking limit time distance, correspondingly , the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the second preset overtaking limit time distance; when the limited time distance between the self-vehicle and the target vehicle in front of the original lane is the third preset overtaking limit time distance, correspondingly, the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the third preset overtaking limit time distance; when the limited time distance between the self-vehicle and the target vehicle in front of the original lane is the fourth preset overtaking limit time distance, correspondingly, the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the fourth preset overtaking limit time distance; when the R point of the driver's seat of the self-vehicle crosses the left lane line of the original lane, the target vehicle in front of the original lane is released, the target vehicle in front of the overtaking lane is marked as the following target, and the vehicle is controlled to follow the vehicle normally. At this time, the time distance between the self-vehicle and the target vehicle in front of the overtaking lane is set to the normal driving preset limit time distance.

[0032] If there is no target vehicle ahead in the overtaking lane, Figure 3 As shown, according to the vehicle parameter information and the real-time distance between the vehicle and the lane line, it is judged whether the R point of the driver's seat of the vehicle has crossed the left lane line of the original lane; when the R point of the driver's seat of the vehicle has not crossed the left lane line of the original lane, the vehicle is controlled to keep accelerating, and the time distance between the vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; specifically, when the time distance between the vehicle and the target vehicle in front of the original lane is the first preset overtaking limit time distance, correspondingly, the time distance between the vehicle and the target vehicle in front of the original lane is limited to the first preset overtaking limit time distance; when the time distance between the vehicle and the target vehicle in front of the original lane is the first preset overtaking limit time distance, When the limited time distance between the target vehicle and the front target vehicle in the original lane is the second preset overtaking limited time distance, correspondingly, the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the second preset overtaking limited time distance; when the limited time distance between the self-vehicle and the target vehicle in front of the original lane is the third preset overtaking limited time distance, correspondingly, the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the third preset overtaking limited time distance; when the limited time distance between the self-vehicle and the target vehicle in front of the original lane is the fourth preset overtaking limited time distance, correspondingly, the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the fourth preset overtaking limited time distance; when the R point of the driver's seat of the self-vehicle crosses the left lane line of the original lane, the target vehicle in front of the original lane is released and adaptive cruise driving is performed.

[0033] The present application also provides an overtaking auxiliary control device for intelligent driving, such as Figure 4 As shown, the device includes: a receiving module 101, configured to obtain surrounding environment information and self-vehicle information, the surrounding environment information includes information of the target vehicle in front of the original lane and the target vehicle in front of the overtaking lane, and the self-vehicle information includes vehicle parameter information, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the self-vehicle and the target vehicle in front, and real-time distance between the self-vehicle and the lane line; a first judgment module 102, configured to judge whether the self-vehicle is in a following state according to the surrounding environment information; a second judgment module 103, configured to judge whether the turn signal is turned on for the first time according to the real-time turn signal information when the self-vehicle is in the following state; The third judgment module 104 is configured to determine for the first time whether the steering wheel is turned according to the real-time information of the steering wheel when the turn signal is turned on; the first control module 105 is configured to control the vehicle to accelerate immediately when the steering wheel is turned, and set the limit time distance between the vehicle and the target vehicle in front of the original lane to the first preset overtaking limit time distance; the fourth judgment module 106 is configured to determine the driving state of the vehicle according to the real-time information of the vehicle speed when the steering wheel is not turned, and the driving state of the vehicle includes accelerating, decelerating and driving at a constant speed; the second control module 107 is configured to control the vehicle to accelerate immediately when the steering wheel is accelerated , and sets the time limit between the vehicle and the target vehicle in front of the original lane to the second preset overtaking time limit; the third control module 108 is configured to control the vehicle to accelerate immediately in the deceleration state, and set the time limit between the vehicle and the target vehicle in front of the original lane to the third preset overtaking time limit; the fourth control module 109 is configured to control the vehicle to accelerate immediately in the uniform speed state, and set the time limit between the vehicle and the target vehicle in front of the original lane to the fourth preset overtaking time limit; the fifth judgment module 110 is configured to judge whether the steering wheel is turned for the second time according to the real-time information of the steering wheel; the fifth control module 111 is configured to The sixth judgment module 112 is configured to control the vehicle to resume normal following driving when the steering wheel is not turned, and the limit time between the vehicle and the target vehicle in front of the original lane is set to the preset limit time between normal driving; the sixth judgment module 112 is configured to judge whether the turn signal is turned off for the second time according to the real-time information of the turn signal when the steering wheel is turned; the sixth control module 113 is configured to control the vehicle to resume normal driving when the turn signal is turned off, and the limit time between the vehicle and the target vehicle in front of the original lane is set to the preset limit time between normal driving; the seventh control module 114 is configured to control the vehicle to overtake when the turn signal is turned on.

[0034] In a preferred embodiment, the device also includes: a seventh judgment module 115, configured to judge whether there is a target vehicle ahead in the overtaking lane based on the target vehicle ahead information in the overtaking lane; an eighth judgment module 116, configured to judge whether the R point of the driver's seat of the own vehicle has crossed the left lane line of the original lane based on the whole vehicle parameter information and the real-time distance between the own vehicle and the lane line when there is a target vehicle ahead in the overtaking lane; an eighth control module 117, configured to control the vehicle to maintain acceleration when the R point of the driver's seat of the own vehicle has not crossed the left lane line of the original lane, and the time distance between the own vehicle and the target vehicle ahead in the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; a ninth control module 118, configured to release the target vehicle ahead of the original lane when the R point of the driver's seat of the own vehicle crosses the left lane line of the original lane, and move the vehicle ahead of the overtaking lane The target vehicle is marked as a following target, and the vehicle is controlled to follow the vehicle normally. At this time, the time distance between the self-vehicle and the target vehicle in front of the overtaking lane is set to the preset limit time distance for normal driving; the ninth judgment module 119 is configured to judge whether the R point of the self-vehicle driver's seat crosses the left lane line of the original lane according to the vehicle parameter information and the real-time distance between the self-vehicle and the lane line when there is no target vehicle in front in the overtaking lane; the tenth control module 120 is configured to control the vehicle to maintain acceleration when the R point of the self-vehicle driver's seat does not cross the left lane line of the original lane, and the time distance between the self-vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking limit time distance or the second preset overtaking limit time distance or the third preset overtaking limit time distance or the fourth preset overtaking limit time distance; the eleventh control module 121 is configured to release the target vehicle in front of the original lane and perform adaptive cruise driving when the R point of the self-vehicle driver's seat crosses the left lane line of the original lane.

[0035] The present application also provides an overtaking assistance control device for intelligent driving, the device comprising a memory and a processor, the memory storing a computer program, and implementing any one of the above-mentioned overtaking assistance control methods for intelligent driving when the computer program is executed by the processor.

[0036] The present application also provides a vehicle, comprising the above-mentioned overtaking assistance control device for intelligent driving.

[0037] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above items is executed.

[0038] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. An overtaking assistance control method for intelligent driving, characterized in that: The following steps are involved: Obtain surrounding environment information and vehicle information. Surrounding environment information includes information about the target vehicle in front of the original lane and the target vehicle in front of the overtaking lane. Vehicle information includes vehicle parameter information, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the vehicle and the target vehicle in front, and real-time distance between the vehicle and the lane line. Determine whether the vehicle is in a following state based on the surrounding environment information; When the vehicle is following a vehicle, the first step is to determine whether the turn signal is on based on the real-time information of the turn signal. When the turn signal is on, the first check is made based on the real-time information of the steering wheel whether the steering wheel is turned; When the steering wheel is turned, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the first preset overtaking time limit; When the steering wheel is not turned, the driving state of the vehicle is determined based on the real-time vehicle speed information. The driving state of the vehicle includes acceleration, deceleration and constant speed. In the accelerating driving state, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the second preset overtaking time limit; In the deceleration driving state, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle in front of the original lane is set to the third preset overtaking time limit; In a state of uniform speed driving, the vehicle is controlled to accelerate immediately, and the time limit between the vehicle and the target vehicle ahead in the original lane is set to a fourth preset time limit for overtaking; According to the real-time information of the steering wheel, determine for the second time whether the steering wheel is turned; When the steering wheel is not turned, the vehicle is controlled to resume normal following driving. At this time, the time limit between the vehicle and the target vehicle in front of the original lane is set to the preset time limit for normal driving; When the steering wheel is turned, the turn signal is judged for the second time whether it is turned off according to the real-time information of the turn signal; When the turn signal is off, the vehicle is controlled to resume normal driving. At this time, the time limit between the vehicle and the target vehicle in front of the original lane is set to the preset time limit for normal driving; When the turn signal is on, control the vehicle to overtake.

2. The overtaking assistance control method for intelligent driving according to claim 1, characterized in that: The following steps are also included: According to the information of the target vehicle in front of the overtaking lane, determine whether there is a target vehicle in front of the overtaking lane; When there is a target vehicle ahead in the overtaking lane, determine whether the R point of the driver's seat of the ego vehicle has crossed the left lane line of the original lane based on the vehicle parameter information and the real-time distance between the ego vehicle and the lane line; When the R point of the driver's seat of the ego vehicle does not cross the left lane line of the original lane, the vehicle is controlled to keep accelerating, and the time distance between the ego vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking time limit, second preset overtaking time limit, third preset overtaking time limit, or fourth preset overtaking time limit; When the R point of the driver's seat of the ego vehicle crosses the left lane line of the original lane, the target vehicle in front of the original lane is released, the target vehicle in front of the overtaking lane is marked as the following target, and the vehicle is controlled to follow the vehicle normally. At this time, the time distance between the ego vehicle and the target vehicle in front of the overtaking lane is set to the preset limit time distance for normal driving; When there is no target vehicle ahead in the overtaking lane, determine whether the R point of the driver's seat of the ego vehicle has crossed the left lane line of the original lane based on the vehicle parameter information and the real-time distance between the ego vehicle and the lane line; When the R point of the driver's seat of the ego vehicle does not cross the left lane line of the original lane, the vehicle is controlled to keep accelerating, and the time distance between the ego vehicle and the target vehicle in front of the original lane is limited to the corresponding first preset overtaking time limit, second preset overtaking time limit, third preset overtaking time limit, or fourth preset overtaking time limit; When the R point of the driver's seat crosses the left lane line of the original lane, the target vehicle in front of the original lane is released and adaptive cruise driving is performed.

3. The overtaking assistance control method for intelligent driving according to claim 1, characterized in that: The first preset overtaking limit time distance, the second preset overtaking limit time distance, the third preset overtaking limit time distance and the fourth preset overtaking limit time distance are equal to or different from each other.

4. The overtaking assistance control method for intelligent driving according to claim 3, characterized in that: The range of the first preset overtaking limit time distance, the range of the second preset overtaking limit time distance, the range of the third preset overtaking limit time distance and the range of the fourth preset overtaking limit time distance are 0.5-0.9 TTC.

5. The overtaking assistance control method for intelligent driving according to claim 4, characterized in that: The first preset overtaking limit time distance is 0.6TTC, the second preset overtaking limit time distance is 0.6TTC, the third preset overtaking limit time distance is 0.7TTC, and the fourth preset overtaking limit time distance is 0.6TTC.

6. An overtaking auxiliary control device for intelligent driving, characterized in that: The device comprises: A receiving module (101) is configured to obtain surrounding environment information and vehicle information, wherein the surrounding environment information includes information about a target vehicle in front of the original lane and information about a target vehicle in front of the overtaking lane, and the vehicle information includes vehicle parameter information, real-time vehicle speed information, real-time turn signal information, real-time steering wheel information, real-time time distance between the vehicle and the target vehicle in front, and real-time distance between the vehicle and the lane line; A first judgment module (102) is configured to judge whether the vehicle is in a following vehicle state according to surrounding environment information; A second judgment module (103) is configured to determine whether the turn signal is turned on for the first time according to the real-time information of the turn signal when the vehicle is in the following state; A third judgment module (104) is configured to determine for the first time whether the steering wheel is turned according to the real-time information of the steering wheel when the turn signal is turned on; A first control module (105) is configured to control the vehicle to accelerate immediately when the steering wheel is turned, and to set the time limit between the vehicle and the target vehicle in front of the original lane to a first preset time limit for overtaking; A fourth judgment module (106) is configured to judge the driving state of the vehicle according to the real-time vehicle speed information when the steering wheel is not turned, wherein the driving state of the vehicle includes accelerating, decelerating and driving at a constant speed; A second control module (107) is configured to control the vehicle to accelerate immediately in an accelerating driving state, and to set the time limit between the vehicle and the target vehicle ahead in the original lane to a second preset overtaking time limit; A third control module (108) is configured to control the vehicle to accelerate immediately in a decelerating driving state, and set the time limit between the vehicle and the target vehicle in front of the original lane to a third preset overtaking time limit; A fourth control module (109) is configured to control the vehicle to accelerate immediately when the vehicle is traveling at a constant speed, and to set the time limit between the vehicle and the target vehicle ahead in the original lane to a fourth preset time limit for overtaking; A fifth judgment module (110) is configured to judge for the second time whether the steering wheel is turned according to the real-time information of the steering wheel; A fifth control module (111) is configured to control the vehicle to resume normal following driving when the steering wheel is not turned, and the limit time distance between the vehicle and the target vehicle in front of the original lane is set to a preset limit time distance for normal driving; A sixth judgment module (112), configured to judge whether the turn signal is turned off for the second time according to the real-time information of the turn signal when the steering wheel is turned; A sixth control module (113) is configured to control the vehicle to resume normal driving when the turn signal is turned off, and the limit time distance between the vehicle and the target vehicle in front of the original lane is set to a preset limit time distance for normal driving; The seventh control module (114) is configured to control the vehicle to overtake when the turn signal is turned on.

7. The overtaking auxiliary control device for intelligent driving according to claim 6, characterized in that: The device also includes: A seventh judgment module (115) is configured to judge whether there is a front target vehicle in the overtaking lane according to the front target vehicle information in the overtaking lane; An eighth judgment module (116) is configured to judge whether the driver's seat point R of the vehicle crosses the left lane line of the original lane according to the vehicle parameter information and the real-time distance between the vehicle and the lane line when there is a target vehicle ahead in the overtaking lane; an eighth control module (117), configured to control the vehicle to maintain acceleration when the driver's seat R point of the vehicle does not cross the left lane line of the original lane, and to limit the time distance between the vehicle and the target vehicle in front of the original lane to the corresponding first preset overtaking time limit, second preset overtaking time limit, third preset overtaking time limit, or fourth preset overtaking time limit; A ninth control module (118) is configured to release the target vehicle in front of the original lane, mark the target vehicle in front of the overtaking lane as a following target, and control the vehicle to follow the vehicle normally when the R point of the driver's seat of the ego vehicle crosses the left lane line of the original lane, and the time distance between the ego vehicle and the target vehicle in front of the overtaking lane is set to a preset limit time distance for normal driving; A ninth judgment module (119), configured to judge whether the driver's seat R point of the vehicle crosses the left lane line of the original lane according to the vehicle parameter information and the real-time distance between the vehicle and the lane line when there is no target vehicle ahead in the overtaking lane; a tenth control module (120), configured to control the vehicle to maintain acceleration when the driver's seat R point of the vehicle does not cross the left lane line of the original lane, and to limit the time distance between the vehicle and the target vehicle in front of the original lane to the corresponding first preset overtaking time limit, second preset overtaking time limit, third preset overtaking time limit, or fourth preset overtaking time limit; The eleventh control module (121) is configured to release the target vehicle in front of the original lane and perform adaptive cruise driving when the driver's seat R point of the vehicle owner crosses the left lane line of the original lane.

8. An overtaking auxiliary control device for intelligent driving, characterized in that: The device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, an overtaking assistance control method for intelligent driving according to any one of claims 1 to 5 is implemented.

9. A vehicle, characterized in that: Including an overtaking assistance control device for intelligent driving as described in claim 8.

10. A storage medium, characterized in that: Computer-readable instructions are stored, and when the instructions are executed by a processor, the method according to any one of claims 1 to 5 is executed.

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