Vehicle overtaking operation

Abstract

The invention provides a'vehicle overtaking operation '. Systems and methods for controlling overtaking zone vehicles include receiving respective vehicle data for each of a plurality of vehicles on a roadway via wireless communication, the vehicle data including at least speed and position data. A set of current overtaking zones and a set of current overtaking prohibited zones on the roadway are determined based on speed and location data from the plurality of vehicles, the set of static overtaking prohibited zones and the set of static overtaking zones. A control parameter for a candidate overtaking vehicle of the plurality of vehicles is then transmitted, wherein the control parameter is determined based on the set of current overtaking zones and the set of current prohibited overtaking zones.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for controlling a passing zone vehicle. Background Art

[0002] Two-lane roads may have centerline markings to indicate passing zones (dashed lines) where passing is permitted in either lane, and no passing zones (solid lines) where passing is not permitted. "No Passing Zone" signs may also be posted when passing is not permitted. Vehicles may want to pass slower moving vehicles traveling in the same lane, and may do so in a passing zone when conditions permit. Summary of the invention

[0003] Data about vehicles along a portion of a road, such as the vehicle's location, speed, length, width, and / or planned or predicted route or path, may be provided to a remote or central computer that is programmed to predict areas where a first vehicle may overtake one or more second vehicles on the road. The central computer may also obtain data about the road, such as centerline markings, curves, road width, ramps, construction, and weather conditions, from the vehicle and / or from one or more databases. The central computer may determine a set of current overtaking zones and a set of no-overtaking zones on the road for the first vehicle to overtake the second vehicle based on the vehicle data and the road data. Control parameters, such as speed adjustments, may be sent to one or more vehicles so that the first vehicle may overtake the second vehicle in the current overtaking zone.

[0004] In one or more embodiments, a system may have a computer, the computer including a processor and a memory, the memory storing instructions, the instructions being executable by the processor so that the computer is programmed to: receive corresponding vehicle data of each of a plurality of vehicles on a road via wireless communication, the vehicle data including at least speed and position data; determine a set of current overtaking zones and a set of current no-overtaking zones on the road based on the speed and position data from the plurality of vehicles, a set of static no-overtaking zones, and a set of static overtaking zones; and transmit control parameters of a candidate overtaking vehicle among the plurality of vehicles, wherein the control parameters are determined based on the set of current overtaking zones and the set of current no-overtaking zones.

[0005] Embodiments of the system may also include instructions for transmitting one or more other corresponding control parameters to one or more vehicles of the plurality of vehicles in addition to transmitting the control parameters to the candidate overtaking vehicle.

[0006] In another embodiment of the system, the control parameters may include steering instructions to the candidate overtaking vehicle.

[0007] Other embodiments of the system may include instructions for determining a control parameter based on a location of a current passing zone selected from the set of current passing zones.

[0008] In another embodiment of the system, the instructions for determining the set of current overtaking zones and the set of current no-overtaking zones may take into account the position of the candidate overtaking vehicle.

[0009] In other embodiments of the system, the position of the candidate overtaking vehicle can be used to define a starting point for a look-ahead distance for a portion of the road that is evaluated to determine the set of current overtaking zones and the set of current no-overtaking zones, wherein the look-ahead distance can be selected from a fixed distance, an adjustable distance based on traffic conditions, an adjustable distance based on weather conditions, or an adjustable distance based on the candidate overtaking vehicle.

[0010] In an embodiment of the system, the instructions for determining the set of current overtaking zones and the set of current no-overtaking zones may take road conditions into account.

[0011] In another embodiment of the system, the road condition may include one of width, curve, slope, surface condition, and weather condition.

[0012] In an embodiment of the system, the vehicle data may include vehicle dimension data.

[0013] In another embodiment of the system, at least one of the set of current overtaking zones, the set of current no-overtaking zones, the set of static no-overtaking zones, and the set of static overtaking zones may be empty.

[0014] Other embodiments of the system may include instructions for receiving a passing zone request from a candidate overtaking vehicle.

[0015] Another embodiment of the system may include instructions for receiving vehicle data for a first vehicle of the plurality of vehicles from a roadside infrastructure element or a second vehicle of the plurality of vehicles.

[0016] Other embodiments of the system may include a vehicle computer in the candidate overtaking vehicle, the vehicle computer including a processor and a memory, the memory storing instructions executable by the processor such that the vehicle computer is programmed to control at least one of speed or steering based on the transmitted control parameters.

[0017] One or more embodiments of the method may include: receiving corresponding vehicle data of each of a plurality of vehicles on a road via wireless communication, the vehicle data including at least speed, position and size data; determining a set of current overtaking zones and a set of current no-overtaking zones on the road based on the speed and position data from the plurality of vehicles, a set of static no-overtaking zones and a set of static overtaking zones; and transmitting control parameters of a candidate overtaking vehicle among the plurality of vehicles, wherein the control parameters are determined based on the position of a current overtaking zone selected from the set of current overtaking zones.

[0018] Embodiments of the method may also include transmitting one or more other corresponding control parameters to one or more participating vehicles of the plurality of vehicles in addition to transmitting the control parameters to the candidate overtaking vehicle.

[0019] In another embodiment of the method, determining the set of current overtaking zones and the set of current no-overtaking zones may also be based on the position of the candidate overtaking vehicle and road conditions, wherein the road conditions include one of a curve, a slope, a lane width, a ground condition or a weather condition.

[0020] In other embodiments of the method, the position of the candidate overtaking vehicle can be used to define a starting point for a look-ahead distance for a portion of the road that is evaluated to determine the set of current overtaking zones and the set of current no-overtaking zones, wherein the look-ahead distance can be selected from a fixed distance, an adjustable distance based on traffic conditions, an adjustable distance based on weather conditions, or an adjustable distance based on the candidate overtaking vehicle.

[0021] Embodiments of the method may further include, in the candidate overtaking vehicle, controlling at least one of speed or steering according to a control parameter.

[0022] Another embodiment of the method may include receiving vehicle data of a first vehicle of the plurality of vehicles from a roadside infrastructure element or a second vehicle of the plurality of vehicles.

[0023] Embodiments of the method may further include receiving a passing zone request from a candidate overtaking vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is an illustration of an example system for providing a vehicle passing maneuver.

[0025] Figure 2A is an example diagram of a two-lane road showing a static passing zone and a static no-passing zone.

[0026] Figure 2B and Figure 2C is an example diagram of a two-lane road showing a current overtaking zone and a current no-overtaking zone.

[0027] Figure 2D is an example diagram of a two-lane road used to evaluate vehicle overtaking maneuvers.

[0028] Figure 3A and Figure 3B is another example diagram of a two-lane road showing a passing zone and a no-passing zone.

[0029] Figure 4 is a process flow diagram of an example process for a vehicle overtaking operation.

[0030] Figure 5 is a process flow diagram of another example process for a vehicle overtaking operation.

[0031] Figure 6 is a process flow diagram of another example process for a vehicle overtaking operation. DETAILED DESCRIPTION

[0032] refer to Figure 1 , the connected vehicle system 100 can provide communication between the vehicle 102 , other vehicles 103 , a server 118 , and one or more roadside units 120 .

[0033] Vehicle 102 is a set of components or parts for performing a function or a set of operations in vehicle 102, including hardware components, and typically also software and / or programming. Other vehicles 103 may be similar to vehicle 102. Vehicle components 110 typically include braking systems, propulsion systems, and steering systems, as well as other subsystems, including but not limited to advanced driver assistance systems (ADAS), including various driver assistance technologies (DAT), such as global navigation satellite system (GNSS)-based route selection systems, body control systems, climate control systems, and lighting systems. The propulsion subsystem converts energy into rotation of the wheels of vehicle 102 to propel vehicle 102 forward and / or backward. The braking subsystem can slow down and / or stop the movement of vehicle 102. The steering subsystem can control the vehicle to turn left and right and / or control the vehicle to maintain a straight path when vehicle 102 moves.

[0034] The vehicle 102 may also include a human-machine interface (HMI) 112, which may include a microphone, a head-up display (HUD), an instrument panel, an interface for controlling one or more components 110, and an infotainment system. The HMI 112 may include one or more display screens, and one or more of the display screens may receive input via touch screen control, voice control, and / or physical knobs and switches. For example, map data, route information, and route selection instructions for a GNSS-based route selection system may be displayed on the HMI 112 and receive input via voice or touch.

[0035] Computers including one or more vehicle computers 105 discussed herein (e.g., one or more electronic control units (ECUs)), servers 118, and roadside units 120 include corresponding processors and memories. Computer memory may include one or more forms of computer-readable media, and store instructions executable by a processor for performing various operations, including operations as disclosed herein. For example, the computer may be a general-purpose computer with a processor and memory as described above, and / or an ECU, controller, etc. for a specific function or set of functions, and / or a dedicated electronic circuit including an ASIC manufactured for a specific operation, such as an ASIC for processing sensor data and / or transmitting sensor data. In another example, the computer may include an FPGA (field programmable gate array), which is an integrated circuit manufactured to be configurable by a user. Typically, hardware description languages ​​such as VHDL (very high speed integrated circuit hardware description language) are used in electronic design automation to describe digital and mixed signal systems such as FPGAs and ASICs. For example, an ASIC is manufactured based on VHDL programming provided before manufacturing, and the logic components inside the FPGA can be configured based on, for example, VHDL programming stored in a memory electrically connected to the FPGA circuit. In some examples, a combination of processor, ASIC, and / or FPGA circuits may be included in a computer.

[0036] The computer memory may be of any suitable type, for example, EEPROM, EPROM, ROM, Flash, hard drive, solid state drive, server, or any volatile or non-volatile medium. The memory may store data, such as the memory of an ECU. The memory may be a device separate from the computer, and the computer may retrieve information stored in the memory, for example, one or more computers 105 may obtain the data to be stored via a vehicle network 106 in the vehicle 102 (e.g., via an Ethernet bus, a CAN bus, a wireless network, etc.). Alternatively or in addition, the memory may be part of the computer 105, i.e., as a memory of the computer 105 or firmware of a programmable chip.

[0037] One or more vehicle computers 105 (e.g., one or more ECUs) may be included in a vehicle 102, which may be any suitable type of ground vehicle 102, such as a passenger car or commercial vehicle, such as a sedan, coupe, truck, sport utility vehicle, crossover, van, minivan, etc. As part of a driver assistance system or advanced driver assistance system (ADAS), the vehicle computer 105 may include programming to operate one or more of braking, propulsion (e.g., by controlling one or more of an internal combustion engine (ICE), electric motor, hybrid ICE / electric propulsion, etc. to control the acceleration of the vehicle 102 and control the transmission of power therefrom), steering, climate control, interior and / or exterior lights, etc. of the vehicle 102 and determine whether and when the computer controls such operations as compared to a human operator, such as by sending vehicle data over a vehicle network 106. Additionally, the vehicle computer 105 may be programmed to determine whether and when a human operator controls such operations.

[0038] The vehicle computer 105 may include or be communicatively coupled to (e.g., via a vehicle network 106, such as a communication bus as further described below) more than one processor, for example, the more than one processor is included in a sensor 108, an electronic controller unit (ECU), etc. included in the vehicle 102 for monitoring and / or controlling various vehicle components, such as a powertrain controller, a brake controller, a steering controller, etc. The computer is typically arranged to communicate on the vehicle 102 communication network, which may include a bus in the vehicle 102, such as a controller area network (CAN), etc., and / or other wired and / or wireless mechanisms. Alternatively or additionally, in the case where the computer actually includes multiple devices, the vehicle network 106 can be used for communication between devices represented as computers in this disclosure.

[0039] The vehicle network 106 is a network via which messages can be exchanged between various devices in the vehicle 102. The vehicle computer 105 can generally be programmed to send messages to and / or receive messages from other devices in the vehicle 102 (e.g., any or all of the ECUs, sensors 108, actuators, components 110, communication modules 114, HMI 112, etc.) via the vehicle network 106. Additionally or alternatively, messages can be exchanged between various such other devices in the vehicle 102 via the vehicle network 106. In the event that the vehicle computer 105 includes multiple devices, the vehicle network 106 can be used for communication between the devices represented as computers in the present disclosure. In some embodiments, the vehicle network 106 can be a network in which messages are communicated via a vehicle 102 communication bus. For example, the vehicle network 106 can include a CAN in which messages are communicated via a controller area network (CAN) bus, or a LIN in which messages are communicated via a local interconnect network (LIN) bus. In some embodiments, the vehicle network 106 may include a network in which messages are communicated using other wired communication technologies and / or wireless communication technologies (e.g., Ethernet, Wi-Fi, Bluetooth, ultra-wideband (UWB), etc.). In some embodiments, other examples of protocols that can be used to communicate over the vehicle network 106 include, but are not limited to, media-oriented systems transport (MOST), time-triggered protocol TTP, and FlexRay. In some embodiments, the vehicle network 106 may represent a combination of multiple networks that may be of different types that support communication between devices in the vehicle 102. For example, the vehicle network 106 may include: CAN, in which some devices in the vehicle 102 communicate via a CAN bus; and a wired or wireless local area network, in which some devices in the vehicle 102 communicate according to Ethernet or WI-FI communication protocols.

[0040] The vehicle computer 105, the server 118, and / or the roadside unit 120 may communicate via the wide area network 116. In addition, the various computing devices discussed herein may communicate directly with each other, such as via direct radio frequency communication according to a protocol such as Bluetooth. For example, the vehicle 102 (and other vehicles 103) may include a communication module 114 for providing communication with devices and / or networks not included as part of the vehicle 102 (such as, for example, a global navigation satellite system (GNSS, not shown) and a wide area network 116). The communication module 114 may provide various communications, such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure or the outside world (V2X), or vehicle-to-the outside world (including cellular communication (C-V2X) wireless communication cellular, dedicated short-range communication (DSRC), etc.), typically providing communication to another vehicle 103 or infrastructure (such as a roadside unit 120) via direct radio frequency communication, and / or typically providing communication to, for example, a server 118 via the wide area network 116. The communication module 114 may include one or more mechanisms by which the vehicle computer 105 may communicate, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any one or more desired network topologies when utilizing multiple communication mechanisms. Exemplary communications provided via the module may include cellular, Bluetooth, IEEE 802.11, DSRC, Cellular V2X (CV2X), etc.

[0041] The vehicle 102 according to the present disclosure includes a plurality of sensors 108 that can support driver assistance or ADAS functions. For example, the sensors 108 may include, but are not limited to, a lidar sensor, one or more wheel speed sensors, a steering angle sensor, a GNSS sensor, a front camera, a side camera, a rear camera, an ultrasonic parking assist sensor, a short-range radar, a mid-range radar, a light sensor, a rain sensor, an accelerometer, a wheel torque sensor, an inertial sensor, a turn sensor, and the like.

[0042] The roadside unit 120 (sometimes referred to as an edge unit, infrastructure node, roadside infrastructure unit, or RSU) includes a physical structure, such as a tower or other support structure (e.g., a pole, a box that can be mounted to a bridge support, a cell phone tower, a road sign support, etc.), on or in which sensors, communication modules, and computers can be housed, mounted, stored, and / or contained and powered, etc. The roadside unit 120 is typically stationary, i.e., fixed to a specific physical location and cannot be moved from the specific physical location. The computer of the roadside unit 120 includes a processor and memory such as described above with respect to the vehicle computer 105. The roadside unit 120 also includes a power source, such as a battery, a solar cell, and / or a connection to a power grid. For ease of explanation, Figure 1 One roadside unit 120 is shown in FIG, but the system 100 may include multiple roadside units 120 along the road.

[0043] The roadside unit 120 may include one or more sensors having a field of view such as described above for the vehicle 102 sensor 108 (e.g., lidar, radar, camera, ultrasonic sensor, etc.). The sensors are typically fixed or stationary. That is, each sensor can be mounted to an infrastructure element so as to have a substantially non-moving and non-changing field of view. Alternatively or in addition, the sensor included in the roadside unit 120 may be movable to adjust the field of view of the sensor. In this context, the sensor included in the roadside unit 120 means that the sensor is deployed on, in, or near the roadside unit 120 and provides data to a computer in the roadside unit 120, which can communicate with other devices such as a server 118 and / or vehicles 102, 103 via a communication module.

[0044] The communication module of the roadside unit 120 may include one or more mechanisms by which the computer of the roadside unit 120 can communicate, such as conventional radio frequency transmitter and receiver components, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or multiple topologies when multiple communication mechanisms are utilized). Exemplary communications provided via the communication module may include cellular, Bluetooth, IEEE 802.11, dedicated short range communications (DSRC), cellular V2X (CV2X), etc.

[0045] Figure 2A is an illustration of an example two-lane road scene 200A. Figure 2A Not drawn to scale.

[0046] In scenario 200A, vehicles 102, 103, and 104 are traveling on a road 202 having two lanes 204 and 205, one in each of two opposite directions. Vehicle 102 is traveling in the same direction and lane 204 as vehicle 104. Additionally, vehicle 103 is traveling in lane 205 in the opposite direction.

[0047] Road 202 includes centerline markings indicating areas (dashed lines) where overtaking is allowed and areas (solid lines) where overtaking is not allowed in either lane 204 or 205. These areas are referred to herein as static no-overtaking zones and static overtaking zones, respectively. In this example, the centerline markings of lane 204 indicate that vehicle 102 is traveling in a static no-overtaking zone, and vehicle 104 is traveling in a static overtaking zone. In addition, the centerline markings of lane 205 indicate that vehicle 103 is traveling in a static overtaking zone, and when traveling further on lane 205, static no-overtaking zones and static overtaking zones will be encountered. These static overtaking zones and static no-overtaking zones do not change based on traffic or weather conditions, because they only indicate locations where overtaking is allowed or not allowed, and do not necessarily indicate locations where vehicle overtaking maneuvers can be completed.

[0048] refer to Figure 2B , showing an example schematic diagram of a two-lane road scenario 200B for a potential vehicle overtaking maneuver. Figure 2B Not drawn to scale and provided to illustrate the current concept of a passing zone.

[0049] In this example, road 202 includes centerline markings indicating that overtaking is permitted in the direction of travel of vehicles 102 and 104. Thus, in this example, the illustrated portion of road 202 is a static overtaking zone.

[0050] In scenario 200B, vehicles 102, 103, and 104 are traveling on a road 202 having two lanes 204 and 205, one in each of two opposite directions. Vehicle 102 is traveling at a speed V1 in lane 204 in the same direction as vehicle 104 traveling at a speed V2, which for the purposes of this example is a speed lower than V1 so that there may be a potential vehicle overtaking maneuver. Additionally, vehicle 103 is traveling in lane 205 in the opposite direction at a speed V3.

[0051] Vehicles traveling in the same direction and lane 204 (eg, vehicle 102 and vehicle 104) may maintain a first distance D from each other. STANDOFF1 To prevent the STANDOFF1 In addition, during the overtaking operation, the vehicles 102 may maintain a second distance D from each other. STANDOFF2 To prevent the vehicle from being in lane 205 when the distance from the oncoming vehicle 103 is less than D STANDOFF2 As used herein, the standoff distance is a predetermined distance from another vehicle that a vehicle should not encroach upon. It can be determined empirically or by any other suitable means, and can vary based on speed and road conditions (such as weather, traffic density, etc.).

[0052] A computer (such as server 118) may estimate the passing distance DPASS , the overtaking distance includes the vehicle 102 at speed V1 overtaking the vehicle 104 at speed V2 while maintaining a distance D STANDOFF1 and D STANDOFF2 The required distance of the road 202. For example, the server 118 can calculate the distance D that the vehicle 102 travels the combination STANDOFF1 The time t, the length of the vehicle 104, and the D at the relative speed V1-V2 STANDOFF2 The server 118 can then calculate the estimated distance traveled by the vehicle 102 along the road 202 during time t as V1*t to calculate the estimated overtaking distance D PASS Although not shown, the overtaking distance D PASS A buffer distance may also be included to account for uncertainties, such as an additional 10% to 20% due to possible speed variations due to terrain, wind, etc., which would extend the time t of the overtaking maneuver.

[0053] As shown by vehicle 103 in scenario 200B, when it is predicted that vehicle 103 will be ahead of the estimated overtaking distance D at the end of time t, PASS As the vehicle travels further along the road 202, the server 118 may designate the static passing zone of the road 202 as the current passing zone to allow the vehicle to pass the vehicle. Figure 2C As further explained, the boundaries of the current passing zone are dynamic, and the server 118 may determine that the static passing zone of the road 202 may be the estimated passing distance D where the predicted position of the vehicle 103 falls ahead of the vehicle 102. PASS As used herein, the overtaking distance D PASS The predicted position or positions of the oncoming vehicle within is called the predicted overlap or overlap.

[0054] refer to Figure 2C , shows an example schematic diagram of a two-lane road scenario 200C for a potential vehicle overtaking maneuver. Figure 2C It is not drawn to scale and is provided to illustrate the concept of a current no passing zone. It should be noted that although not shown in this example, a static no passing zone will necessarily be a current no passing zone for vehicles travelling in the same direction, as overtaking is not allowed in a static no passing zone.

[0055] In this example, road 202 includes centerline markings indicating that overtaking is permitted in the direction of travel of vehicles 102 and 104. Thus, in this example, the illustrated portion of road 202 is a static overtaking zone.

[0056] In scenario 200C, vehicles 102, 103, and 104 are traveling on a road 202 having two lanes 204 and 205, one in each of two opposite directions. Vehicle 102 is traveling at a speed V1 in lane 204 in the same direction as vehicle 104 traveling at a speed V2, which for the purposes of this example is a speed lower than V1 so that there may be a potential vehicle overtaking maneuver. Additionally, vehicle 103 is traveling in lane 205 in the opposite direction at a speed V3.

[0057] Vehicles traveling in the same direction and lane 204 (eg, vehicle 102 and vehicle 104) may maintain a first separation distance D as explained above. STANDOFF1 Additionally, as explained above, during the overtaking operation, the vehicle 102 may maintain a second separation distance D relative to the oncoming vehicle 103. STANDOFF2 .

[0058] A computer (such as server 118) may estimate the passing distance D PASS , the overtaking distance includes the vehicle 102 at speed V1 overtaking the vehicle 104 at speed V2 while maintaining a distance D STANDOFF1 and D STANDOFF2 The required distance of the road 202. For example, the server 118 can calculate the distance D that the vehicle 102 travels the combination STANDOFF1 The time t, the length of the vehicle 104, and the D at the relative speed V1-V2 STANDOFF2 The server 118 can then calculate the estimated distance traveled by the vehicle 102 along the road 202 during time t as V1*t to calculate the estimated overtaking distance D PASS Although not shown, the overtaking distance D PASS A buffer distance may also be included to account for uncertainties, such as an additional 10% to 20% due to possible speed variations due to terrain, wind, etc., which would extend the time t of the overtaking maneuver.

[0059] As shown by vehicle 103 in scenario 200C, if it is predicted that vehicle 103 will be at an estimated overtaking distance D on road 202 at the end of time t, PASS If the lane 205 is within the overlapped portion, the server 118 may designate the static overtaking zone of the road 202 as the current no-overtaking zone. PASS If there are no other vehicles within the vehicle 103, the server 118 may also designate a static passing zone for the road 202 as the current passing zone at the point where the vehicle 103 passes the vehicle 102 (ie, is behind the vehicle 103).

[0060] Therefore, if Figure 2A , Figure 2B and Figure 2C As shown, the server 118 can determine that the portion of the road 202 that is a static passing zone may be a current passing zone or a current no-passing zone based on the traffic conditions. STANDOFF1 and D STANDOFF2 It may vary based on traffic speed and / or road conditions (darkness, rain, snow, fog, glare, construction, etc.) so that the length and position of the current overtaking zone and the current no-overtaking zone may also vary based on traffic speed and / or road conditions.

[0061] Figure 2D An example two-lane road scenario 200D is shown of a vehicle passing maneuver. Figure 2D Not drawn to scale.

[0062] In this example, road 202 includes centerline markings indicating that overtaking is permitted in the direction of travel of vehicles 102 and 104. Thus, in this example, the illustrated portion of road 202 is a static overtaking zone.

[0063] In scenario 200D, vehicles 102, 103, and 104 are traveling on road 202 having two lanes 204 and 205, one in each of two opposite directions. Vehicle 102 is a distance D behind vehicle 104 in the same direction and lane 204 as vehicle 104. B 1. In this example, vehicle 104 may be similar to vehicle 102, or may be a larger and / or slower moving vehicle such as a truck (as shown), a bus, a piece of farm equipment, an RV, a tractor trailer, etc., traveling at a speed V2, which for purposes of this example is a speed lower than V1. Additionally, vehicle 103 is a distance D ahead of vehicle 104 in lane 205 in the opposite direction. A The vehicle travels at speed V3.

[0064] Based on the planned route of the first vehicle 102 , the speed V1 of the vehicle 102 , and the speed V2 of the second vehicle 104 , the server 118 may predict that the vehicle 102 will likely overtake the vehicle 104 and consider the vehicle 102 as a candidate for overtaking.

[0065] In an example embodiment of the present disclosure, server 118 may receive corresponding vehicle data of a plurality of vehicles on a road (e.g., vehicles 102, 103, and 104 on road 202), such as via wireless communication. Figure 2D, the vehicle data may include the dimensions (e.g., length and width) and locations (e.g., geographic coordinates) of the vehicles 102, 103, and 104, as well as their respective speeds V1, V3, and V2, and directions of travel on the road 202. The vehicle data for a vehicle may be provided by the vehicle, or may additionally or alternatively be provided by other nearby vehicles (not shown) or the roadside unit 120. For example, data about a vehicle that is not in communication with the server 118 (i.e., not connected) may be provided by sensors of the roadside unit 120 and / or by sensors of the vehicles 102, 103 that are in communication with the server 118.

[0066] The server 118 can also determine a set of current overtaking zones and a set of current no-overtaking zones on the road based on the speed and position data from the plurality of vehicles 102, 103, and 104, a set of static no-overtaking zones, and a set of static overtaking zones. In the embodiment where the vehicle 102 is a candidate overtaking vehicle, the forward sight distance D in front of the candidate overtaking vehicle 102 LA The portion of the road 202 that the server 118 evaluates to determine the current passing zone and the current no-passing zone for the associated group of candidate overtaking vehicles 102 may be described below with respect to Figure 5 and Figure 6 As further discussed, the vehicle 102 may request to overtake and / or the server may select the candidate overtaking vehicle 102 for a vehicle overtaking maneuver. Therefore, the server 118 needs to evaluate the road 202 ahead of the candidate overtaking vehicle 102 for a distance sufficient to provide the candidate overtaking vehicle 102 with a vehicle overtaking maneuver, which is referred to as the forward sight distance D. LA .

[0067] The position of the candidate overtaking vehicle 102 may be used to evaluate the server 118 to determine the partially defined foresight distance D of the road 202 for the set of current overtaking zones and the set of current no-overtaking zones. LA The foresight distance D can be selected in any suitable manner. LA , including selection as a fixed or default distance, wherein the fixed distance can be specified for a portion of the road 202, and further, wherein the fixed distance can be adjusted. That is, the adjustable distance can be determined based on traffic conditions, the adjustable distance can be determined based on weather conditions, and / or the adjustable distance can be determined based on the candidate overtaking vehicle 102 or its operator. For example, the forward sight distance D can be determined based on data stored in and provided by the server 118 (e.g., in a state that includes the road 202 and specifies the forward sight distance D for the corresponding portion of the road 202). LA ) specifies a fixed foresight distance D for a portion of the road 202 LA In some restrictions, the fixed foresight distance D can then be adjusted LA To adjust the foresight distance D LAThe server may implement an algorithm that takes into account traffic conditions (e.g., traffic density or number of vehicles per unit distance on a portion of road 202 and / or an average currently measured speed of vehicles on road 202), weather conditions on road 202 (e.g., ambient light, presence or absence of precipitation, etc.), and / or other factors. The algorithm may provide weights or adjustment factors for various values ​​of traffic conditions, weather conditions, etc. For example, when traffic density exceeds a threshold, when ambient light exceeds a threshold, when heavy precipitation exists, etc., the forward sight distance D may be reduced. LA As will be appreciated, the factors and weights implemented by server 118 may be determined through simulation and / or empirical testing.

[0068] For example, the server 118 may store a fixed look ahead distance D of, for example, 5 miles for overtaking in the same direction or in the same lane of a portion of the road 202. LA , and further, the server 118 may adjust the forward sight distance D for traffic conditions (such as speed) by setting a distance of 4 miles when the speed limit on the road 202 is 35-40 mph, a distance of 5 miles when the speed limit is 45-55 mph, and a distance of 6 miles when the speed limit is between 60-70 mph. LA In this way, the foresight distance D LA The increased D usually associated with higher speeds can be considered PASS The server 118 may use other traffic conditions (such as traffic density) to adjust the forward sight distance D by a factor (e.g., such as a multiplier between 0.5 and 2.0). LA , so as to reduce the forward sight distance D when traffic is sparse LA And increase the forward sight distance D in dense traffic LA Similarly, the server 118 may adjust the forward-looking distance D by a factor based on weather or environmental conditions (e.g., such as a multiplier between 0.5 and 2.0). LA , so that the foresight distance D is reduced when the conditions are clear and dry LA , and increases the forward sight distance D when weather conditions make vehicle speed less predictable LA The server 118 may set an allowed range of marginal speed changes for the candidate overtaking vehicle 102, or an operator associated with the candidate overtaking vehicle may adjust the amount of the marginal speed change allowed, such as through user input in the HMI 112. As used herein, a "marginal" change in vehicle speed or a "marginal speed change" of a vehicle means that the speed change is within an allowed or predetermined range of a + / - range that the vehicle user or the server 118 may define as a percentage or miles per hour. The server 118 may use the amount of the marginal speed change allowed to adjust the forward sight distance D by a factor (e.g., as discussed above).LA , in order to reduce the forward sight distance D when the marginal speed change is set to be large (e.g. + / - 5mph) LA , because the higher the speed, the shorter the guaranteed overtaking distance, and when the marginal speed change is small (e.g., + / - 2mph) the forward sight distance D is increased LA , because a small speed change extends the overtaking distance D PASS and may limit overtaking opportunities. The server 118 may include programming to alternatively or additionally consider other factors, including vehicle characteristics that may affect the time at which the vehicle can be predicted to perform an overtaking maneuver, such as vehicle length, vehicle weight, trailer towing, etc. In embodiments where the server 118 considers multiple factors, each factor may be applied to the basic forward sight distance D LA , weighted (the corresponding weights add up to 1), and added together to determine the adjusted foresight distance D LA The server 118 may use similar principles to account for large vehicles (described below) based on factors and weights determined through simulation and / or empirical testing on overtaking in the opposite direction. Figure 3A and Figure 3B Discussion) in the opposite direction of overtaking (as defined below) setting different front sight distances D LA , or D can be used for two cases LA Set to the same.

[0069] The server 118 may also alternatively or additionally be programmed to place the road 202 at the forward sight distance D when determining the set of current passing zones and the set of current no-passing zones. LA For example, the server 118 may take into account one or more road conditions, including but not limited to width, curvature, slope, surface condition, and weather conditions (including glare, darkness, rain, snow, fog, dust, smoke, wind, etc.) to determine whether overtaking is likely to take longer or adjust the overtaking distance D added to the determination of the set of current overtaking zones and the set of current no-overtaking zones. PASS The size of any buffer distance because each of these conditions may also affect the predictability of vehicle speed.

[0070] exist FIG. 2A to FIG. 2D In the example shown, the foresight distance D LA The road 202 within has a passing zone center mark and is straight, flat, and exceeds a threshold width to allow vehicles 102, 103, and 104 to overtake. Therefore, the set of static no-passing zones in this example is empty, and the set of static overtaking zones includes a forward sight distance D LA The full length.

[0071] However, based on the respective speeds V1, V2 and V3 of the candidate overtaking vehicle 102, the vehicle 104 and the oncoming vehicle 103 and the relative distances D of the candidate overtaking vehicle 102 and the oncoming vehicle 103 to the overtaken vehicle 104, B and D A , the server 118 may determine predicted overlap within an area of ​​the road 202 where the vehicles 102, 103, and 104 are predicted to be within the region as described above with respect to Figure 2B and Figure 2C Explanation of the applicable distance threshold D between each other during the overtaking maneuver STANDOFF1 or D STANDOFF2 In an embodiment, the server 118 may predict the vehicle position by solving basic physical motion equations known for predicting position based on trajectory data (e.g., Δx=v*Δt) and the like to determine the overlap area.

[0072] Therefore, based on the determination of the no-overtaking zone in this example, the set of current no-overtaking zones includes roads before and after the predicted overlap area, and the set of current no-overtaking zones includes the predicted overlap area. The extent of the predicted overlap area is determined by the overtaking distance D PASS The overtaking distance may be determined based on a predetermined distance between vehicles designed to maintain the same lane according to the travel speed and direction (e.g., from Figure 2B and Figure 2C The distance D STANDOFF1 and D STANDOFF2 ) and may include additional buffer distances at either end to account for various uncertainties in vehicle speed, such as weather and driver variations. The standoff distance (i.e., the distance vehicles are allowed to approach each other in the same lane) may be determined, for example, by empirical testing or simulation, and may be retrieved, for example, from a lookup table based on the speed of the overtaking vehicle. The buffer distance may be determined as the calculated overtaking distance D PASS The vehicle speed may be a specified percentage of the vehicle speed, such as 10% or 20%, and may depend on the level of uncertainty in the prediction (e.g., of the vehicle speed) and / or weather and road conditions (darkness, rain, snow, glare, construction, etc.).

[0073] The current no-passing zone based on the overlap predicted by the server 118 is generally dependent on the current speeds of the vehicles 102, 103, and 104 on the road 202. If one or more of the vehicles 102, 103, 104 adjust their speeds relative to each other, the predicted overlap during the vehicle overtaking maneuver can be eliminated and the current overtaking zone can be created. Similarly, the server 118 can determine control parameters for adjusting the speed of one or more vehicles 102, 103, 104 to exclude the current no-passing zone based on the static no-passing zone in order to allow the vehicle overtaking maneuver to proceed.

[0074] In the current example, in order to make the candidate overtaking vehicle 102 exclude the overtaking vehicle 104 in the current no-overtaking zone, the server 118 can select a current overtaking zone from a set of current overtaking zones and transmit control parameters that make the candidate overtaking vehicle 102 perform an overtaking operation in the selected current overtaking zone. As used herein, control parameters refer to one or more data values, i.e., standards, instructions, or thresholds, that can be used to actuate the propulsion, braking, or steering subsystems of the vehicle to facilitate the vehicle's overtaking operation. For example, the control parameters can instruct the candidate overtaking vehicle 102 to increase speed within a marginal speed change limit (i.e., marginally) to become within a distance D before the oncoming vehicle 103 becomes STANDOFF2 To facilitate the overtaking maneuver, the control parameters may also include steering instructions to the candidate overtaking vehicle 102, such as steering into the oncoming lane 205 and steering back to the driving lane 204. Similarly, the server 118 may instruct the candidate overtaking vehicle 102 to slow down marginally to allow the oncoming vehicle 103 to overtake the vehicle 104 before the candidate overtaking vehicle 102 begins to overtake the vehicle 104.

[0075] Alternatively, the server 118 may transmit a control parameter that causes the candidate overtaking vehicle 102 to maintain, increase, or decrease speed, and transmit one or more other control parameters to one or more of the other vehicles 103 and 104 instructing them to maintain, increase, or decrease speed, so that the overtaking maneuver and traffic flow can be more coordinated (and with smaller speed adjustments for each vehicle).

[0076] When the vehicle is controlled by an operator, various instructions for control parameters may be displayed on the HMI to the operator of the associated vehicle (102, 103 and / or 104) and / or may be used by the vehicle computer 105 to actuate vehicle subsystems when advanced driver assistance systems, such as adaptive cruise control, are active in the vehicle (i.e., operating one or more of propulsion, steering, or braking).

[0077] Larger foresight distance D LA The server 118 may be allowed to transmit control parameters to one or more vehicles earlier so that small changes may have a greater impact over time, but with a larger forward-looking distance D LA It may also be necessary to collect more data and additional computational load for determining possible overlaps at the server 118. Therefore, the forward sight distance D of the candidate overtaking vehicle is LA The appropriate choice of can balance these factors.

[0078] Figure 3A and Figure 3B Example two-lane road scenarios 300A and 300B are shown at an initial point based on a prediction of a vehicle passing maneuver. Figure 3A and Figure 3B The drawings are not drawn to scale and are used to illustrate the concepts of the present disclosure. Figure 2D The speed and relative distance indication of each vehicle 102, 103 and 104 used in the embodiment of the present invention, wherein the vehicle 104 is at a forward sight distance D of the vehicle 102 and / or the vehicle 103. LA Inside.

[0079] Scenarios 300A and 300B involve vehicle overtaking operations, where it is desired to allow a vehicle 102 or 103 traveling in a first direction to clear a large vehicle traveling in the opposite direction at certain points, such as blind curves, sharp curves, narrow sections, and single-lane sections. This situation is referred to as opposite-direction overtaking or opposite-lane overtaking.

[0080] In scenario 300A, vehicles 102, 103, and 104 are traveling on road 202 having two lanes, one in each of two opposing directions, or otherwise intended for two-way traffic. Vehicle 102 is traveling in the same direction as vehicle 103 at a distance D from vehicle 104. B In this example, vehicle 104 is a large vehicle, such as a truck, bus, piece of farm equipment, RV, tractor trailer, etc., traveling in the opposite direction on road 202 at a speed V2. Additionally, vehicle 103 is traveling in the same direction as vehicle 102 at a speed V3 at a distance D from large vehicle 104. A The distance D from the large vehicle 104 B Closer.

[0081] Based on the planned routes of vehicles 102, 103, and 104 on road 202, each of vehicles 102 and 103 will need to pass large vehicle 104 in the opposite direction. However, based on the size of large vehicle 104, the large vehicle may be too wide for vehicles 102 and 103 to comfortably pass in the sharp blind curves and / or narrow sections of road 202.

[0082] In an example embodiment of the present disclosure, server 118 may receive corresponding vehicle data of a plurality of vehicles on a road (e.g., vehicles 102, 103, and 104 on road 202), such as via wireless communication. Figure 3A, the vehicle data may include the dimensions (e.g., length and width) and locations (e.g., geographic coordinates) of the vehicles 102, 103, and 104, as well as their respective speeds V1, V3, and V2, and directions of travel on the road 202. A vehicle may provide vehicle data about itself, or additionally or alternatively, other vehicles (not shown) or roadside units 120 may provide data about the vehicle. For example, sensors of a roadside unit 120 and / or sensors of a vehicle 102 that is in communication with a server 118 may provide data about a vehicle 103 that is not in communication with (i.e., not connected to) the server 118.

[0083] The server 118 may also determine the forward sight distance D of the road based on the speed and position data from the plurality of vehicles 102 , 103 , and 104 , a set of static no passing zones, and a set of static passing zones. LA A set of current passing zones and a set of current no passing zones on the road 202. In this example, the road 202 may or may not have centerline markings and include blind turns and narrow sections. Figure 3A As shown, in this example, a set of static no-passing zones may include static no-passing zones 320 and 340 associated with blind turns and static no-passing zones 350 associated with narrow sections that are not wide enough to accommodate two vehicles at the same time (e.g., a single lane bridge). Alternatively, the narrow section may be wide enough to accommodate two oncoming cars, but when one of the vehicles is wider (truck, bus, etc.) (such as large vehicle 104), the narrow section is not wide enough to accommodate the oncoming vehicle. Although such blind spots and narrow no-passing zones can be designated as static no-passing zones (e.g., and include solid centerline markings) for the purpose of overtaking in the same direction, the server 118 may also designate these types of no-passing zones as static no-passing zones for the purpose of oncoming overtaking of large vehicles.

[0084] Figure 3B Prediction scenario 300B is shown based on the initial conditions of scenario 300A. Based on the respective speeds V1, V2 and V3 of vehicle 102, large vehicle 104 and vehicle 103 and the relative distances D of vehicle 102 and vehicle 103 relative to large vehicle 104 being overtaken B and D A , server 118 may determine a predicted overlap area of ​​the road where vehicles 102 and 103 are predicted to pass large vehicle 104 in opposite directions. The extent of the predicted overlap area for vehicles 102 and 103 may include the predicted overlap location and additional buffers at either end to account for various uncertainties in vehicle speeds, such as weather and driver variability.

[0085] In scenario 300B, server 118 may determine that the predicted overlap of vehicle 103 falls at position X within static no-passing zone 340 of scenario 300A. In this case, server 118 may determine the static no-passing zone as the current no-passing zone 340B for vehicle 103 based on the predicted overlap. To eliminate this overlap, server 118 may transmit control parameters to vehicle 103 so that the predicted overlap position X falls within the current overtaking zone. For example, control parameters may instruct candidate overtaking vehicle 103 to slow down to within the allowed marginal speed change to pass within overtaking zone 330 ( Figure 3A ) to pass the large vehicle 104 to identify the current overtaking zone 330B ( Figure 3B Similarly, server 118 may determine that the predicted overlap region of vehicle 102 falls within static overtaking zone 330 of scene 300A at position Y. In this case, server 118 may determine that the predicted overlap region of vehicle 102 falls within static overtaking zone 330 of scene 300A at position Y. Figure 3A ) is determined as the current overtaking zone 330B of the vehicle 102 ( Figure 3B ). The server 118 may transmit control parameters to the vehicle 102 to maintain speed or otherwise cause the predicted corresponding overlap area to fall within the current overtaking zone 330B. For example, the control parameters may instruct the vehicle 102 to maintain its speed or possibly slow down marginally to maintain the distance from the vehicle 103, but still pass the large vehicle 104 in the overtaking zone 330, so that it becomes the current overtaking zone 330B for the vehicle 102.

[0086] Alternatively or in addition, the server 118 may transmit control parameters that cause the candidate overtaking vehicle 102 or 103 to maintain, increase, or decrease speed, and transmit one or more other control parameters that instruct the large vehicle 104 to maintain, increase, or decrease speed to the large vehicle, so that the overtaking maneuver and traffic flow can be more coordinated (and the speed adjustment is smaller) while still causing the oncoming vehicle overtaking maneuver to occur in the current overtaking zone selected from the static overtaking zone of scenario 300A.

[0087] Figure 4 4 is a process flow diagram of an example process 400 for a vehicle overtaking operation. The process 400 may be applied to FIG. 2B to FIG. 2D Overtaking maneuvers in the same direction as shown or as Figure 3A and Figure 3B Overtaking maneuver in the opposite direction as shown.

[0088] Process 400 may begin at block 402 when a plurality of vehicles are operating on a portion of a two-lane road and a central computer, such as server 118, establishes communication with at least one of the vehicles in the portion of the road. For example, vehicle 102 may communicate with server 118, such as via wireless communication, and may share route data from a navigation subsystem indicating a planned route on road 202, or may share position data indicating current travel on road 202. The portion of the road may be predetermined and stored with map data, and / or may be a portion of the road defined as being within a specified distance or radius of a landmark or object, such as roadside unit 120.

[0089] In the next box 405, the server 118 obtains vehicle data for a plurality of vehicles (e.g., vehicles 102, 103, and 104) operating or planning to operate on a portion of a two-lane road (e.g., road 202). The server 118 may receive the corresponding vehicle data for the plurality of vehicles on the road (e.g., vehicles 102, 103, and 104 on road 202), such as via wireless communication. For example, the vehicle data may include the size (e.g., length and width) and location (e.g., geographic coordinates) of the vehicles 102, 103, and 104, as well as their respective speeds V1, V3, and V2, and the direction of travel on road 202. As described with respect to FIG. Figure 2D and Figure 3A , 3B As discussed, a vehicle may provide vehicle data about itself, or additionally or alternatively, other vehicles (not shown) or roadside units 120 may provide data about the vehicle. For example, sensors of a roadside unit 120 and / or sensors of a vehicle 102 that is in communication with a server 118 may provide data about a vehicle 103 that is not in communication with (i.e., not connected to) a server 118.

[0090] In block 410, the server 118 obtains road data for the road 202. The road data may include, but is not limited to, road boundaries, road or lane widths, road centerline markings, designated static passing zones and no passing zones, road curves, road slopes, road surface conditions, road weather conditions (including conditions such as water, snow, or ice and visibility conditions such as darkness, glare, rain, snow, fog, smoke, or sand), road construction boundaries, roadside visibility obstructions (e.g., blind curves), and posted road speed limits. The server 118 may obtain the road data from one or more sources, including, for example, digital maps, sensors of a roadside unit 120 in communication with the server 118, sensors of a vehicle 102 in communication with the server 118, and weather data for an area including a portion of the road 202.

[0091] In the next block 415, the server 118 determines the current overtaking zone and the current no-overtaking zone for a candidate overtaking vehicle (such as vehicle 102) in communication with the server 118. When overtaking is predicted (e.g., vehicle 102 approaches slower moving vehicle 104 on road 202), the server 118 may select the candidate overtaking vehicle 102 by default, or may receive an overtaking request from vehicle 102. As used herein, an overtaking request from vehicle 102 is a specific request for an overtaking maneuver of a second vehicle specified by the request to server 118, or a request from vehicle 102 to server 118 to perform an overtaking maneuver with respect to a slower moving vehicle, if possible. As described with respect to Figure 2D 3 , the server 118 may evaluate the forward sight distance D of the vehicle 102 along the road 202 LA , and determining a current passing zone and a no-passing zone for vehicle 102 based on speed, position, and size data of a plurality of vehicles (e.g., 102, 103, 104) and a set of static no-passing zones and a set of static passing zones from road data for same lane overtaking (e.g., Figure 2D ) and / or overtaking in the opposite lane (FIG. 3). When determining the forward sight distance D of the vehicle 102 along the road 202 LA and / or determine the estimated overtaking distance D PASS When determining a head-on distance or buffer zone, server 118 may also consider vehicle speed, road speed limits, weather conditions, and / or traffic conditions.

[0092] In the next block 420, the server 118 determines one or more control parameters that cause the passing maneuver to occur at or in one or more passing zones. If the server 118 predicts that the candidate overtaking vehicle 102 can perform a passing maneuver at its current speed relative to the first vehicle in the current passing zone (i.e., D PASS If the server 118 predicts that the candidate overtaking vehicle 102 cannot perform an overtaking maneuver with respect to another vehicle at its current speed because, at the current vehicle speed, the overtaking maneuver would occur in the current no-overtaking zone (i.e., D PASS overlaps with the current no-passing zone), the server 118 may evaluate possible vehicle speed changes (i.e., possible control parameters), typically but not necessarily within the marginal ranges described above, that would allow the candidate overtaking vehicle 102 to perform an overtaking maneuver in the overtaking zone. When evaluating such scenarios, the server 118 may only evaluate possible speed changes for vehicles in communication with the server 118. In one embodiment, the server 118 may evaluate possible speed changes for the candidate overtaking vehicle 102 that would allow an overtaking maneuver to occur in the overtaking zone, and may also evaluate possible speed changes for other vehicles on the road 202.

[0093] In block 425, the server 118 may transmit one or more control parameters to one or more vehicles in communication with the server 118 to enable the overtaking maneuver of the candidate overtaking vehicle 102. For example, if the server 118 predicts that the candidate overtaking vehicle 102 can perform an overtaking maneuver with respect to another vehicle in the current overtaking zone at its current speed, the control parameters may instruct the vehicle 102 to maintain its current speed. Similarly, if the server 118 predicts that the candidate overtaking vehicle 102 cannot perform an overtaking maneuver with respect to another vehicle at its current speed because the overtaking maneuver will occur in the current no-overtaking zone at the current vehicle speed, the control parameters may instruct the vehicle 102 and / or other vehicles in communication with the server 118 to speed up marginally or slow down marginally to enable the overtaking maneuver in the current overtaking zone (i.e., to enable the D PASS Therefore, the server 118 determines at least one control parameter based on the set of current overtaking zones and the set of current no-overtaking zones of the candidate overtaking vehicle 102. In an embodiment, the server 118 may transmit one or more other corresponding control parameters to one or more vehicles on the road as a supplement to transmitting the control parameters to the candidate overtaking vehicle 102.

[0094] In the next block 430, the server 118 determines whether to continue the process 400. If the process 400 was initiated by an overtaking request that has already been completed or the vehicle 102 stops communicating with the server 118, the server 118 can end the process 400 (i.e., determine "no" at block 430). If the server 118 determines that an overtaking operation based on the overtaking request has not yet occurred, the server 118 can continue to execute (i.e., determine "yes" at block 430) until the candidate overtaking vehicle 102 performs an overtaking operation to consider the updated conditions (i.e., updated vehicle data and road data), and / or if undetermined, in response to an overtaking request associated with a particular vehicle, can continue to execute (i.e., determine "yes" at block 430) to possibly perform additional overtaking operations on the candidate overtaking vehicle 102, for example, as long as data is received from the vehicle 102.

[0095] Figure 5 Another example process 500 for a vehicle overtaking operation is shown. The process 500 may be applied to FIG. 2B to FIG. 2D The same direction overtaking operation as shown or the opposite direction overtaking operation as shown in FIG. 3 .

[0096] Process 500 may begin when multiple vehicles are operating on a portion of a two-lane road, with at least one of the vehicles in communication with a central computer, such as server 118. For example, vehicle 102 may be in communication with server 118, such as via wireless communication, and may share route data from a navigation subsystem indicating a planned route on road 202, or may share position data indicating current travel on road 202.

[0097] In a first block 505, a central computer (such as server 118) obtains vehicle data for a plurality of vehicles (e.g., vehicles 102, 103, and 104) operating or planning to operate on a portion of a two-lane road (e.g., road 202), as described above with respect to Figure 4 As discussed in box 405 in.

[0098] In block 510, the server 118 obtains road data for the road 202, as described above with respect to Figure 4 As discussed in block 410 of FIG.

[0099] In the next block 515, the server 118 selects a candidate vehicle for the overtaking maneuver, such as the candidate overtaking vehicle 102. The server 118 may select the candidate overtaking vehicle 102 based on receiving an overtaking request from the candidate overtaking vehicle 102, or may select the candidate overtaking vehicle 102 based on the server 118's current route and speed to overtake the candidate overtaking vehicle in the same direction as the large vehicle (e.g., as shown in FIG. 1 ). Figure 2D ) or overtaking in the opposite direction (e.g. Figure 3A The candidate overtaking vehicle 102 is selected based on a prediction of overtaking another vehicle 104 .

[0100] In block 520 , the server 118 determines the specified forward sight distance D of the vehicle 102 along the road 202 LA Whether there is a static overtaking zone in the vehicle. The server 118 retrieves the forward sight distance D for the road 202 from the road data. LA Some of the lanes provided for vehicle 102 to overtake in the same lane (e.g., Figure 2D ) and / or overtaking in the oncoming lane ( Figure 3A and Figure 3B ) of a set of static passing zones. If the server 118 determines “No” at box 520 (i.e., the forward sight distance D of the vehicle 102 LA If the set of static overtaking zones in is empty or has a zero value), then no overtaking operation can be performed at this time, and the process 500 returns to another iteration of obtaining vehicle data at box 505. If the server 118 determines "yes" at box 520, the process 500 moves to box 525.

[0101] In block 525, the server 118 determines whether a passing zone for the candidate overtaking vehicle 102 is available by determining a current passing zone (and a current no-passing zone) for the candidate overtaking vehicle 102 based on the speed, position, and size data of the plurality of vehicles (e.g., 102, 103, 104) and the set of static passing zones from the road data. Figure 2B and 2C The overtaking distance D of the current overtaking zone is shown PASS When determining the distance or buffer zone between the candidate overtaking vehicles 102 and the candidate overtaking vehicle 102, the server 118 may also consider the vehicle speed, road speed limit, weather conditions and / or traffic conditions. If the server 118 determines that the overtaking zone for the candidate overtaking vehicle 102 is available (i.e., "yes" at box 525), the process 500 proceeds to box 535.

[0102] If the server 118 determines that a passing zone for the candidate overtaking vehicle 102 is not available (i.e., “No” at block 525), the process 500 proceeds to block 530, where the server 118 determines whether adjustments to one or more vehicles in communication with the server 118 would make a passing zone available. If the server 118 determines that adjustments are possible (i.e., “Yes” at block 530), the process 500 proceeds to block 535. If the server 118 determines that adjustments are not possible (i.e., “No” at block 530), the process 500 proceeds to block 540.

[0103] In block 535 , the server 118 determines and outputs one or more control parameters to one or more vehicles in communication with the server 118 to implement the passing maneuver of the candidate passing vehicle 102 .

[0104] When the overtaking operation of the candidate overtaking vehicle 102 is not currently possible, that is, the server 118 determines "no" at box 530, the server 118 determines whether the process 500 should continue at box 540. If the candidate overtaking vehicle 102 continues its route and / or there are additional vehicles in communication with the server 118 that can be selected for possible overtaking operations, the server 118 can continue the process 500 (i.e., determine "yes" at box 540) and return to box 505 to continue obtaining vehicle data. If the candidate overtaking vehicle completes its route and there are no additional vehicles in communication with the server 118 that can be selected for possible overtaking operations, the server 118 can end the process 500 (i.e., determine "no" at box 540).

[0105] Figure 6 1 shows an example flow chart of a process 600 for a vehicle overtaking operation performed at the vehicle 102. The process 600 may be applied to FIG. 2B to FIG. 2D Overtaking maneuvers in the same direction as shown or as Figure 3A and Figure 3BOvertaking maneuver in the opposite direction as shown.

[0106] Process 600 may begin when vehicle computer 105 initiates wireless communication with server 118 via communication module 114 .

[0107] In a first block 605, the vehicle computer 105 shares vehicle data with the server 118. The vehicle data may include the dimensions (e.g., length and width), location (e.g., geographic coordinates), speed V1, and planned route of the vehicle 102, and may also include the dimensions (e.g., length and width) and locations (e.g., geographic coordinates) of other nearby vehicles 103 and 104 and their respective speeds V3 and V2, as well as the driving direction on the road 202 shared via V2V or V2X communication with the vehicle 102 and / or collected by the sensors 108 of the vehicle 102.

[0108] In the next box 610, the vehicle computer 105 shares the road data with the server 118. The road data may be collected by the computer 105 based on input from the sensor 108 and may include the information described above with respect to Figure 4 The data discussed in box 410 in FIG.

[0109] In box 615, the vehicle computer 105 determines whether an overtaking request has been made. User input (such as a general setting selection for requesting an overtaking operation when approaching a slower moving vehicle) or a specific user input for requesting a current overtaking operation of a specific vehicle can indicate to the vehicle computer 105 that an overtaking request has been made by the vehicle 102. In other embodiments, the vehicle 102 can participate in the overtaking operation of other vehicles in communication with the server 118 and can receive notification of an overtaking request made by another vehicle. If the vehicle computer 105 determines that an overtaking request has not been made (i.e., "No" at box 615), the process 600 returns to box 605. If the vehicle computer 105 determines that an overtaking request has been made (i.e., "Yes" at box 615), the process 600 proceeds to box 620.

[0110] In block 620, the vehicle computer 105 receives one or more control parameters from the server 118 to implement an overtaking operation of the vehicle 102 or another vehicle in communication with the server 118, such as described above with respect to Figure 2D and Figure 3A and Figure 3B discussed.

[0111] In the next box 625, the vehicle computer 105 actuates controls of the vehicle 102 based on one or more control parameters. In one embodiment, the vehicle computer 105 may actuate a display of the HMI 112 to indicate the requested speed change. In another embodiment, when an advanced driver assistance system, such as adaptive cruise control, is active in the vehicle 102 (i.e., operating one or more of propulsion, steering, or braking), the vehicle computer 105 may actuate vehicle subsystems to perform the requested speed change and / or lane change.

[0112] In the next box 630, the vehicle computer 105 determines whether the process 600 should continue. If the vehicle 102 continues to travel on its route, the vehicle computer 105 can continue the process 600 (i.e., determine "yes" at box 630) and return to box 605 to continue sharing vehicle data. If the vehicle 102 has completed its route, the vehicle computer 105 can end the process 600 (i.e., determine "no" at box 630).

[0113] While the above is disclosed with respect to certain implementations, various other implementations are possible without departing from this disclosure.

[0114] The use of "in response to," "based on," and "upon determining..." herein indicates a causal relationship, not just a temporal relationship. In addition, unless otherwise expressly indicated herein, all terms used in the claims are intended to be given their ordinary and customary meanings as understood by those skilled in the art. Unless a claim recites an express limitation to the contrary, the use of singular articles such as "a / kind," "the," etc. should be interpreted as reciting one or more of the indicated elements.

[0115] In the accompanying drawings, the same or similar reference numerals indicate the same or similar elements. In addition, some or all of these elements may be changed. With respect to the media, processes, systems, methods, etc. described herein, it should be understood that although the steps of such processes, etc. have been described as occurring in a particular order, unless otherwise specified or as can be seen from the context, such processes may be practiced in the case where the steps are performed in an order other than the order described herein. Similarly, it should also be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. In other words, the description of the process herein is provided for the purpose of illustrating certain embodiments and should never be construed as limiting the present disclosure.

[0116] The present disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the present disclosure may be practiced in other ways than specifically described.

[0117] According to the present invention, a system is provided, the system having a computer, the computer including a processor and a memory, the memory storing instructions, the instructions being executable by the processor so that the computer is programmed to: receive corresponding vehicle data of each of a plurality of vehicles on a road via wireless communication, the vehicle data including at least speed and position data; determine a set of current overtaking zones and a set of current no-overtaking zones on the road based on the speed and position data from the plurality of vehicles, a set of static no-overtaking zones and a set of static overtaking zones; and transmit control parameters of a candidate overtaking vehicle among the plurality of vehicles, wherein the control parameters are determined based on the set of current overtaking zones and the set of current no-overtaking zones.

[0118] According to one embodiment, the invention is further characterized by instructions to transmit one or more other corresponding control parameters to one or more vehicles of the plurality of vehicles in addition to transmitting the control parameters to the candidate overtaking vehicle.

[0119] According to one embodiment, the control parameters include steering instructions to the candidate overtaking vehicle.

[0120] According to one embodiment, the invention also features instructions for determining a control parameter based on a position of a current overtaking zone selected from the set of current overtaking zones.

[0121] According to one embodiment, the instructions for determining the set of current overtaking zones and the set of current no-overtaking zones take into account the position of the candidate overtaking vehicle.

[0122] According to one embodiment, the position of the candidate overtaking vehicle is used to define a starting point for a look-ahead distance for a portion of the road that is evaluated to determine the set of current overtaking zones and the set of current no-overtaking zones, wherein the look-ahead distance is selected from a fixed distance, an adjustable distance based on traffic conditions, an adjustable distance based on weather conditions, or an adjustable distance based on the candidate overtaking vehicle.

[0123] According to one embodiment, the instructions for determining the set of current overtaking zones and the set of current no-overtaking zones take road conditions into account.

[0124] According to one embodiment, the road condition includes one of width, curve, slope, surface condition and weather condition.

[0125] According to one embodiment, the vehicle data comprises vehicle dimension data.

[0126] According to an embodiment, at least one of the set of current overtaking zones, the set of current no-overtaking zones, the set of static no-overtaking zones and the set of static overtaking zones is empty.

[0127] According to one embodiment, the invention also features instructions for receiving a passing zone request from a candidate overtaking vehicle.

[0128] According to one embodiment, the invention also features instructions for receiving vehicle data for a first vehicle of the plurality of vehicles from a roadside infrastructure element or a second vehicle of the plurality of vehicles.

[0129] According to one embodiment, the invention is also characterized by a vehicle computer in the candidate overtaking vehicle, the vehicle computer including a processor and a memory, the memory storing instructions executable by the processor such that the vehicle computer is programmed to control at least one of speed or steering according to the transmitted control parameters.

[0130] According to the present invention, a method includes: receiving corresponding vehicle data of each of a plurality of vehicles on a road via wireless communication, the vehicle data including at least speed, position and size data; determining a set of current overtaking zones and a set of current no-overtaking zones on the road based on the speed and position data from the plurality of vehicles, a set of static no-overtaking zones and a set of static overtaking zones; and transmitting control parameters of a candidate overtaking vehicle among the plurality of vehicles, wherein the control parameters are determined based on the position of a current overtaking zone selected from the set of current overtaking zones.

[0131] In one aspect of the invention, the method includes transmitting one or more other corresponding control parameters to one or more participating vehicles of the plurality of vehicles in addition to transmitting the control parameters to the candidate overtaking vehicle.

[0132] In one aspect of the present invention, the method includes determining that the set of current overtaking zones and the set of current no-overtaking zones are also based on the position of the candidate overtaking vehicle and road conditions, the road conditions including one of a curve, a slope, a lane width, a ground condition or a weather condition.

[0133] In one aspect of the invention, the position of the candidate overtaking vehicle is used to define a starting point for a look-ahead distance for a portion of the road that is evaluated to determine the set of current overtaking zones and the set of current no-overtaking zones, wherein the look-ahead distance is selected from a fixed distance, an adjustable distance based on traffic conditions, an adjustable distance based on weather conditions, or an adjustable distance based on the candidate overtaking vehicle.

[0134] In one aspect of the invention, the method comprises, in the candidate overtaking vehicle, controlling at least one of speed or steering according to a control parameter.

[0135] In one aspect of the invention, the method includes receiving vehicle data of a first vehicle of a plurality of vehicles from a roadside infrastructure element or a second vehicle of a plurality of vehicles.

[0136] In one aspect of the invention, the method includes receiving a passing zone request from a candidate overtaking vehicle.

Claims

1. A method comprising: receiving, via wireless communication, respective vehicle data for each of a plurality of vehicles on a road, the vehicle data comprising at least speed and position data; determining a set of current passing zones and a set of current no passing zones on the road based on the speed and position data from the plurality of vehicles, a set of static no passing zones, and a set of static passing zones; as well as A control parameter for a candidate overtaking vehicle of the plurality of vehicles is transmitted, wherein the control parameter is determined based on a position of a current overtaking zone selected from the set of current overtaking zones.

2. The method of claim 1, further comprising transmitting one or more other corresponding control parameters to one or more vehicles of the plurality of vehicles in addition to transmitting the control parameters to the candidate overtaking vehicle. 3 . The method of claim 1 , wherein the control parameter comprises a steering instruction to the candidate overtaking vehicle. 4 . The method of claim 1 , further comprising determining the control parameter based on a location of a current passing zone selected from the set of current passing zones. 5 . The method of claim 1 , wherein determining the set of current overtaking zones and the set of current no-overtaking zones takes into account a position of the candidate overtaking vehicle.

6. The method of claim 5, wherein the position of the candidate overtaking vehicle is used to define a starting point for a look-ahead distance for a portion of the road that is evaluated to determine the set of current overtaking zones and the set of current no-overtaking zones, wherein the look-ahead distance is selected from a fixed distance, an adjustable distance based on traffic conditions, an adjustable distance based on weather conditions, or an adjustable distance based on the candidate overtaking vehicle. 7 . The method of claim 1 , wherein determining the set of current overtaking zones and the set of current no-overtaking zones takes road conditions into account. 8 . The method of claim 7 , wherein the road condition comprises one of width, curve, slope, surface condition, and weather condition.

9. The method of claim 1, wherein the vehicle data includes vehicle dimension data.

10. The method of claim 1, wherein at least one of the set of current passing zones, the set of current no-passing zones, the set of static no-passing zones, and the set of static passing zones is empty.

11. The method of claim 1 further comprising receiving a passing zone request from the candidate overtaking vehicle.

12. The method of claim 1, wherein the control parameter of the candidate overtaking vehicle assists another vehicle through a passing zone request.

13. The method of claim 1, further comprising: In the candidate overtaking vehicle, at least one of speed or steering is controlled according to the control parameter.

14. The method of claim 1, further comprising receiving the vehicle data for a first vehicle of the plurality of vehicles from a roadside infrastructure element or a second vehicle of the plurality of vehicles.

15. A computing device comprising a processor and a memory, the memory storing instructions executable by the processor to perform the method of one of claims 1-14.

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