Overtaking method considering vehicle coming in opposite direction in two-way lane scene

Abstract

The invention discloses an automatic driving vehicle overtaking method considering an opposite coming vehicle in a two-way lane scene. The method comprises the following steps: 1, calculating a lane changing terminal point and a returning starting point of a vehicle; 2, judging the current area of the vehicle; 3, judging whether opposite vehicles come from adjacent lanes or not; 4, regulating and controlling the vehicle to change into an adjacent lane; 5, calculating a return position for ensuring the safety of an opposite coming vehicle; 6, judging whether the safety of the overtaken vehicle can be ensured or not; 7, overtaking or lane changing return is regulated and controlled according to the vehicle position; and 8, circulating the steps until the control time is over. According to the overtaking method considering the vehicle coming in the opposite direction, the overtaking opportunity can be explored in real time when the speed of the front vehicle on the two-way road is low, the state of the vehicle coming in the opposite direction is considered, overtaking is conducted when the safety of the vehicle coming in the opposite direction and the safety of the overtaken vehicle are met at the same time, and therefore the running efficiency of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the field of traffic control of autonomous vehicles, and particularly relates to an overtaking method for an autonomous vehicle considering oncoming vehicles in a two-way lane scenario. Background Art

[0002] Two-way roads often appear in low-class highways or rural roads. Due to the limitations of road infrastructure and scenarios, there are some vehicles with slow speeds on the road, which seriously affect traffic efficiency. Moreover, the uncertainty of oncoming vehicles increases the danger of overtaking.

[0003] With the development of autonomous driving technology, new methods for solving various traffic problems are bound to emerge. Compared with manually driven vehicles, due to the application of high-precision radar, visual recognition, and artificial intelligence, autonomous vehicles have stronger information acquisition capabilities and faster response capabilities. Therefore, autonomous vehicles can achieve more complex driving behaviors. In previous studies on vehicle overtaking behaviors, they mainly focused on scenarios on one-way roads. However, there are a large number of two-way roads in reality, especially in rural roads. Compared with one-way roads, two-way roads have the risk of oncoming vehicles and more complex weaving behaviors. Overtaking can greatly improve traffic efficiency, but vehicles must ensure a safe distance from oncoming vehicles while overtaking slow vehicles, which greatly increases the safety of overtaking and also brings difficulties to vehicle decision-making. Summary of the Invention

[0004] The present invention overcomes the deficiencies of the prior art and proposes an overtaking method for an autonomous vehicle considering oncoming vehicles in a two-way lane scenario, aiming to enable the vehicle to collect information about itself, the vehicle in front, and oncoming vehicles in the adjacent lane in real time when the vehicle in front has a slow speed, and regulate the vehicle's behavior based on this information to find a safe gap for overtaking, thereby improving traffic efficiency.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The overtaking method for an autonomous vehicle considering oncoming vehicles in a two-way lane scenario of the present invention is characterized in that it is applied to two lanes for two-way traffic; the overtaking method includes the following steps:

[0007] Step 1: Denote the autonomous vehicle that needs to overtake as target vehicle A, the lane where target vehicle A is located as the first lane, the adjacent lane as the oncoming lane, the vehicle that target vehicle A needs to overtake on the first lane as vehicle B, and the oncoming vehicle on the oncoming lane as vehicle C; take any point behind target vehicle A on the center line of the first lane as the origin, the driving direction of target vehicle A as the positive x-axis direction, and the direction perpendicular to the x-axis and pointing to the oncoming lane as the positive y-axis direction to establish a plane rectangular coordinate system;

[0008] Define the total control duration as ; Define the update time interval as ;

[0009] Define the speed of target vehicle A at time t as , the heading angle as , the abscissa of the position as , and the ordinate of the position as ;

[0010] Define the speed of vehicle B at time t as , and the abscissa of the position as ;

[0011] Define the speed of vehicle C at time t as , and the abscissa of the position as ;

[0012] Step 2: Use Equation (1) to calculate the abscissa of the end point when target vehicle A changes lanes from the first lane to the oncoming lane at time t and the abscissa of the starting point when returning from the oncoming lane to the first lane at time t ;

[0013] (1)

[0014] In Equation (1), and respectively represent the vehicle lengths of vehicle A and vehicle B; represents the minimum safe distance between vehicles;

[0015] Step 3: Use Equation (2) to calculate the minimum safe distance maintained between target vehicle A and vehicle C at time t ;

[0016] (2)

[0017] In Equation (2), b represents the comfortable acceleration during the vehicle deceleration process; represents the vehicle length of vehicle C;

[0018] Step 4: Judge whether holds. If it holds, it means that target vehicle A has not changed into the oncoming lane at time t, and execute Step 5; otherwise, it means that target vehicle A has changed into the oncoming lane at time t, and execute Step 10;

[0019] Step 5: Generate the lane-changing path for target vehicle A to change into the oncoming lane;

[0020] Step 6: Judge whether there is vehicle C in the oncoming direction of target vehicle A at time t. If there is, execute Step 7; otherwise, execute Step 9;

[0021] Step 7: Calculate the target point coordinates of the target vehicle A returning to the first lane at time t to avoid a collision with vehicle C, i.e., when the distance between the two vehicles in the x-axis direction is the minimum safety distance ;

[0022] Step 8: Judge the safety of the target vehicle A and vehicle B at time

[0023] Step 8.1: Use equation (6) to predict the abscissa of the position of vehicle B at time ;

[0024] (6)

[0025] Step 8.2: Judge whether equation (7) holds. If it holds, execute Step 9; otherwise, execute Step 16;

[0026] (7)

[0027] Step 9: Regulate the target vehicle A to travel along the lane-changing path function at speed and execute Step 17, where is the maximum comfortable acceleration of the vehicle; is the speed limit value of the road;

[0028] Step 10: Judge whether there is a vehicle C in the oncoming direction of the target vehicle A at time t. If there is, execute Step 11; otherwise, execute Step 13;

[0029] Step 11: Calculate the target point coordinates of the target vehicle A returning to the first lane when the distance between the target vehicle A and vehicle C in the x-axis direction is the minimum safety distance at time t;

[0030] Step 12: Judge the safety of the target vehicle A and vehicle B at time

[0031] Step 12.1: Use equation (9) to predict the abscissa of the position of vehicle B at time ;

[0032] (9)

[0033] Step 12.2: Judge whether equation (10) holds. If it holds, execute Step 13; otherwise, execute Step 15;

[0034] (10)

[0035] Step 13: Judge Is it established? If it is established, the target vehicle A is regulated to travel at a speed and maintain traveling in the oncoming lane, and step 17 is executed; otherwise, step 14 is executed;

[0036] Step 14: The target vehicle A changes lanes and returns to the first lane, and step 17 is executed;

[0037] Step 15: The target vehicle A travels in the oncoming lane at an acceleration b at time t, and step 17 is executed;

[0038] Step 16: Calculate the acceleration of the target vehicle A at time t using Equation (13) , and regulate the target vehicle A to return to the first lane;

[0039] (13)

[0040] In Equation (15), represents the desired distance between vehicle A and vehicle B at time t;

[0041] Step 17: Assign to , and determine whether is established. If it is established, the regulation process ends; otherwise, return to step 2 and execute sequentially.

[0042] Another feature of the method for an autonomous vehicle to overtake considering oncoming vehicles in a two-way lane scenario according to the present invention is that the step 5 includes:

[0043] Step 5.1: Generate a lane-changing path function for the target vehicle A when changing into the oncoming lane using Equation (3);

[0044] (3)

[0045] In Equation (3), and respectively represent the position abscissa and position ordinate of the lane-changing path function of the target vehicle A; , , and represent four parameters;

[0046] Step 5.2: Solve the four parameters in Equation (3) using Equation (4);

[0047] (4)

[0048] In Equation (4), is the ordinate of the center line of the oncoming lane road, and ; is the width of a single lane road.

[0049] Further, step 7 includes:

[0050] Step 7.1: Calculate the abscissa of the target point where the target vehicle A returns to the first lane using Equation (5), that is, the abscissa of the position of the target vehicle A at time ;

[0051] (5)

[0052] In Equation (5), is the time required for the target vehicle A to reach the target point at time t from ; is the path length of the lane change; is the derivative of the lane change path function of the target vehicle A;

[0053] Step 7.2: Let the ordinate of the position of the target vehicle A at time be , that is, the center line of the first lane road.

[0054] Further, step 11 includes:

[0055] Step 11.1: Calculate the abscissa of the target point where the target vehicle A returns to the first lane using Equation (8), that is, the abscissa of the position of the target vehicle A at time ;

[0056] (8)

[0057] Step 11.2: Let the ordinate of the position of the target vehicle A at time be , that is, return to the center line of the first lane road.

[0058] Further, step 14 includes:

[0059] Step 14.1: Generate the return path function of vehicle A using Equation (11);

[0060] (11)

[0061] In Equation (13), and respectively represent the abscissa and ordinate of the position of the return path function of the target vehicle A; , , and represent four parameters;

[0062] Step 14.2: Solve the four parameters in Equation (11) using Equation (12).

[0063] (12)

[0064] Step 14.3: Control the target vehicle A to travel along the return path function at a speed and execute Step 17.

[0065] An electronic device according to the present invention includes a memory and a processor, characterized in that the memory is used to store a program that supports the processor to execute the overtaking method considering oncoming vehicles, and the processor is configured to execute the program stored in the memory.

[0066] A computer-readable storage medium according to the present invention, characterized in that a computer program stored on the computer-readable storage medium executes the steps of the overtaking method considering oncoming vehicles when run by a processor.

[0067] Compared with the prior art, the beneficial technical effects of the present invention are reflected in:

[0068] 1. The present invention fully considers the influence of oncoming vehicles in a two-way lane scenario, so that an autonomous vehicle can achieve overtaking behavior in this complex scenario.

[0069] 2. Compared with the prior art, the present invention continuously re-acquires traffic information at a certain time step and can control in a timely manner according to the current traffic information when an oncoming vehicle is detected at different overtaking stages, greatly improving the flexibility of vehicle overtaking.

[0070] 3. Compared with the prior art, the present invention does not rely on the cooperative control of other vehicles and only controls the vehicle itself according to the information that the vehicle can obtain, improving the applicability of the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 is the overall flowchart of the present invention;

[0072] Figure 2 is the flowchart of the decision-making method of the present invention;

[0073] Figure 3 is the schematic diagram of the scenario of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0074] In this embodiment, an overtaking method considering oncoming vehicles in a two-way lane scenario is characterized in that it is applied to two lanes for two-way traffic; as Figure 1 shown, the overtaking method includes the following steps:

[0075] Step 1: AsFigure 3 As shown in the figure, the autonomous vehicle to be overtaken is denoted as target vehicle A. The lane where target vehicle A is located is the first lane, the adjacent lane is the oncoming lane, the vehicle to be overtaken by target vehicle A on the first lane is denoted as vehicle B, and the oncoming vehicle on the oncoming lane is denoted as vehicle C. Taking any point behind target vehicle A on the center line of the first lane as the origin, the driving direction of target vehicle A as the positive x-axis direction, and the direction perpendicular to the x-axis and pointing to the oncoming lane as the positive y-axis direction, a plane rectangular coordinate system is established.

[0076] Define the total control duration as ; Define the update time interval as ;

[0077] Define the speed of target vehicle A at time t as , the heading angle as , the abscissa of the position as , and the ordinate of the position as ;

[0078] Define the speed of vehicle B at time t as , and the abscissa of the position as ;

[0079] Define the speed of vehicle C at time t as , and the abscissa of the position as ;

[0080] Step 2: As shown in Figure 2 , use Equation (1) to calculate the abscissa of the end point of target vehicle A changing lanes from the first lane to the oncoming lane at time t, and the abscissa of the starting point of target vehicle A returning from the oncoming lane to the first lane at time t;

[0081] (1)

[0082] In Equation (1), and respectively represent the vehicle lengths of vehicle A and vehicle B; represents the minimum safe distance between vehicles;

[0083] Determine the abscissa of the end point of the lane change area, which is also the abscissa of the end point of the overtaking area, according to the position of vehicle B , and the abscissa of the end point of the overtaking area is also the starting point abscissa of the return area .

[0084] Step 3: Use Equation (2) to calculate the minimum safe distance that target vehicle A maintains with vehicle C at time t, that is, the distance that target vehicle A ensures not to collide with vehicle C;

[0085] (2)

[0086] In formula (2), b represents the comfortable acceleration during the vehicle deceleration process; represents the vehicle length of vehicle C;

[0087] Step 4, judge Whether it holds. If it holds, it means that the target vehicle A has not switched into the oncoming lane at time t, and step 5 is executed; otherwise, it means that the target vehicle A has switched into the oncoming lane at time t, and step 10 is executed; thus, it is judged whether vehicle A is in the lane-changing area;

[0088] Step 5, generate a lane-changing path for the target vehicle A to switch into the oncoming lane;

[0089] Step 5.1, use a cubic polynomial to plan the lane-changing path of vehicle A, so as to generate a lane-changing path function when the target vehicle A switches into the oncoming lane by using formula (3);

[0090] (3)

[0091] In formula (3), and respectively represent the position abscissa and position ordinate of the lane-changing path function of the target vehicle A; , , and represent four parameters.

[0092] Step 5.2, solve the four parameters in formula (3) by using formula (4);

[0093] (4)

[0094] In formula (4), is the ordinate of the center line of the oncoming lane, and ; is the width of a single lane road;

[0095] Step 6, judge whether there is a vehicle C in the oncoming direction of the target vehicle A at time t. If there is, execute step 7; otherwise, execute step 9;

[0096] Step 7, calculate the target point coordinates of the target vehicle A returning to the first lane at time t to avoid a collision with vehicle C, that is, when the distance between the two vehicles in the x-axis direction is the minimum safety distance ;

[0097] Step 7.1, calculate the target point abscissa of the target vehicle A returning to the first lane by using formula (5), that is, it is expected that the target vehicle A is at Abscissa of the position at a certain moment ;

[0098] (5)

[0099] In formula (5), is the time required for the target vehicle A to reach the target point at time t from ; is the path length of the lane change; is the derivative of the lane change path function of the target vehicle A;

[0100] Step 7.2, Calculate the position where vehicle A can ensure safety when the lateral distance between vehicle A and vehicle C is the safety critical distance, that is, the position where vehicle A returns to the first lane, that is, make the ordinate of the position of the target vehicle A at moment , that is, the center line of the first lane road; indicating that vehicle A has completely returned to the first lane;

[0101] Step 8, Judge safety of the target vehicle A and vehicle B at moment

[0102] Step 8.1, Use formula (6) to predict abscissa of the position of vehicle B at moment ;

[0103] (6)

[0104] Step 8.2, When vehicle A overtakes and returns to the first lane without colliding with vehicle C, judge whether it can ensure not to collide with vehicle B; that is, judge whether formula (7) holds. If it holds, execute step 9; otherwise, execute step 16;

[0105] (7)

[0106] Step 9, Regulate the target vehicle A to travel along the lane change path function at speed , and execute step 17, where is the maximum acceleration of the vehicle; is the road speed limit value; as shown in part a of Figure 3 , vehicle A is in the overtaking area and can overtake safely. Regulate the vehicle to accelerate and change lanes to the end position of the oncoming lane;

[0107] Step 10, Judge whether there is a vehicle C in the oncoming direction of the target vehicle A at time t. If there is, execute step 11; otherwise, execute step 13;

[0108] Step 11, Calculate the x-axis direction distance between the target vehicle A and vehicle C at time t as the minimum safety distance When, the target point coordinates of the target vehicle A returning to the first lane;

[0109] Step 11.1: Calculate the abscissa of the target point where the target vehicle A returns to the first lane using Equation (8), that is, predict the abscissa of the position of the target vehicle A at time ;

[0110] (8)

[0111] Step 11.2: Let the ordinate of the position of the target vehicle A at time be, that is, return to the center line of the first lane road;

[0112] Step 12: Judge the safety of the target vehicle A and vehicle B at time;

[0113] Step 12.1: Predict the abscissa of the position of vehicle B at time using Equation (9) ;

[0114] (9)

[0115] Step 12.2: Judge whether Equation (10) holds. If it holds, execute Step 13; otherwise, execute Step 15;

[0116] (10)

[0117] Step 13: Judge whether holds. If it holds, adjust the target vehicle A to travel in the oncoming lane at a speed of and execute Step 17; otherwise, execute Step 14; As shown in part b of Figure 3 , if vehicle A is in the overtaking area and can ensure safety with both vehicle B and vehicle C at the same time, then adjust vehicle A to accelerate and overtake vehicle B;

[0118] Step 14: Adjust the target vehicle A to change lanes and return to the first lane;

[0119] Step 14.1: Generate the return path function of vehicle A using Equation (11);

[0120] (11)

[0121] In Equation (13), and respectively represent the abscissa and ordinate of the position of the return path function of the target vehicle A; , , and represent four parameters;

[0122] Step 14.2: Solve the four parameters in Equation (11) using Equation (12);

[0123] (12)

[0124] Step 14.3: Control the target vehicle A to travel at a speed along the return path function and execute Step 17; as shown in part c of Figure 3 , if vehicle A is in the return area and can ensure safety with both vehicle B and vehicle C at the same time, control vehicle A to change lanes and return to the first lane, i.e., complete overtaking;

[0125] Step 15: When there is a collision risk between vehicle A and vehicle B and vehicle C, control the target vehicle A to abandon overtaking at a deceleration of b at time t and travel in the oncoming lane, and execute Step 17;

[0126] Step 16: When the vehicle is in the lane-changing area and there is a risk of overtaking, control vehicle A to abandon overtaking and change lanes to return behind vehicle B in the first lane; thus, calculate the acceleration of the target vehicle A at time t using Equation (13) , and control the target vehicle A to return to the first lane;

[0127] (13)

[0128] In Equation (15), represents the desired distance between vehicle A and vehicle B at time t;

[0129] Step 17: Assign to , and determine whether holds. If it holds, end the control process; otherwise, return to Step 2 and execute sequentially.

[0130] In this embodiment, an electronic device includes a memory and a processor. The memory is used to store a program that supports the processor to execute the above overtaking method, and the processor is configured to execute the program stored in the memory.

[0131] In this embodiment, a computer-readable storage medium stores a computer program, and when the computer program is run by a processor, it executes the steps of the above overtaking method.

Claims

1. A method for overtaking an autonomous driving vehicle in a two-way lane scenario taking into account oncoming vehicles, characterized in that: It is applied to two lanes of two-way traffic; the overtaking method comprises the following steps: Step 1: The autonomous driving vehicle that needs to overtake is called target vehicle A, the lane where target vehicle A is located is called the first lane, the adjacent lane is called the opposite lane, the vehicle that target vehicle A in the first lane wants to overtake is called vehicle B, and the oncoming vehicle in the opposite lane is called vehicle C; establish a plane rectangular coordinate system with any point on the center line of the first lane behind target vehicle A as the origin, the driving direction of target vehicle A as the positive direction of the x-axis, and the direction perpendicular to the x-axis and pointing to the opposite lane as the positive direction of the y-axis; Define the total control time as ; Define the update interval as ; The speed of the target vehicle A at time t is defined as , the heading angle is , the horizontal coordinate of the position is , the vertical coordinate of the position is ; Define the speed of vehicle B at time t as , the horizontal coordinate of the position is ; The speed of vehicle C at time t is defined as , the horizontal coordinate of the position is ; Step 2: Use formula (1) to calculate the end point horizontal coordinate of the target vehicle A when it changes lanes from the first lane to the opposite lane at time t: And the horizontal coordinate of the starting point of returning from the opposite lane to the first lane at time t ; (1) In formula (1), and Represent the lengths of vehicle A and vehicle B respectively; Indicates the minimum safe distance between vehicles; Step 3: Use formula (2) to calculate the minimum safe distance between target vehicle A and vehicle C at time t: ; (2) In formula (2), b represents the comfortable acceleration during vehicle deceleration; represents the length of vehicle C; Step 4: Judgement Is it true? If true, it means that the target vehicle A has not switched to the opposite lane at time t, and step 5 is executed; otherwise, it means that the target vehicle A has switched to the opposite lane at time t, and step 10 is executed; Step 5: Generate a lane-changing path for the target vehicle A to change into the opposite lane; Step 6: Determine whether there is a vehicle C facing the target vehicle A at time t. If yes, go to step 7; otherwise, go to step 9; Step 7: Calculate the minimum safe distance between target vehicle A and vehicle C at time t, that is, when the distance between the two vehicles in the x-axis direction is the minimum safe distance. When target vehicle A returns to the target point coordinates of the first lane; Step 8: Judgement The safety of target vehicles A and B at all times; Step 8.1: Use formula (6) to predict The horizontal coordinate of the position of vehicle B at the moment ; (6) Step 8.2: Determine whether formula (7) is true. If true, go to step 9; otherwise, go to step 16; (7) Step 9: Regulate the target vehicle A at a speed Drive along the lane change path function and execute step 17, wherein, is the maximum comfortable acceleration of the vehicle; is the road speed limit; Step 10, determine whether there is a vehicle C facing the target vehicle A at time t, if yes, execute step 11; otherwise, execute step 13; Step 11: Calculate the x-axis distance between the target vehicle A and the vehicle C at time t as the minimum safe distance When , the target point coordinates of the target vehicle A returning to the first lane; Step 12: Judgement The safety of target vehicles A and B at all times; Step 12.1: Use formula (9) to predict The horizontal coordinate of the position of vehicle B at the moment ; (9) Step 12.2: Determine whether formula (10) is true. If true, proceed to step 13; otherwise, proceed to step 15; (10) Step 13: Judgement Is it true? If true, then control the target vehicle A at a speed Keep driving in the opposite lane and execute step 17; otherwise, execute step 14; Step 14: Control the target vehicle A to change lanes and return to the first lane, and execute step 17; Step 15, control the target vehicle A to travel in the opposite lane at the acceleration b at time t, and execute step 17; Step 16: Calculate the acceleration of the target vehicle A at time t using formula (13): , and control the target vehicle A to return to the first lane; (13) In formula (15), represents the expected distance between vehicle A and vehicle B at time t; Step 17: Assign to ,judge Is it true? If so, end the control process; otherwise, return to step 2 and execute sequentially.

2. The method for overtaking an autonomous driving vehicle in a two-way lane scenario taking into account oncoming vehicles according to claim 1, characterized in that: The step 5 comprises: Step 5.1, using formula (3) to generate a lane-changing path function when the target vehicle A changes into the opposite lane; (3) In formula (3), and Represent the position abscissa and position ordinate of the lane change path function of the target vehicle A respectively; , , and Represents four parameters; Step 5.2, use formula (4) to solve the four parameters in formula (3); (4) In formula (4), is the ordinate of the centerline of the oncoming lane, and ; is the width of a single lane road.

3. The method for overtaking an autonomous driving vehicle in a two-way lane scenario taking oncoming vehicles into consideration according to claim 2, characterized in that: The step 7 comprises: Step 7.1: Use equation (5) to calculate the horizontal coordinate of the target point where the target vehicle A returns to the first lane, that is, the target vehicle A is expected to return to the first lane. The horizontal coordinate of the position at the time ; (5) In formula (5), is the target vehicle A at time t. The time required to reach the destination; is the path length of lane change; is the derivative of the lane-changing path function of the target vehicle A; Step 7.2: Set the target vehicle A to The vertical coordinate of the position at the time , which is the center line of the first lane of road.

4. The method for overtaking an autonomous driving vehicle in a two-way lane scenario taking oncoming vehicles into consideration according to claim 3, characterized in that: The step 11 comprises: Step 11.1, use formula (8) to calculate the horizontal coordinate of the target point where the target vehicle A returns to the first lane, that is, the target vehicle A is expected to return to the first lane. The horizontal coordinate of the position at the time ; (8) Step 11.2: Set the target vehicle A to The vertical coordinate of the position at the time , that is, return to the center line of the first lane road.

5. The method for overtaking an autonomous driving vehicle in a two-way lane scenario taking into account oncoming vehicles according to claim 4, characterized in that: The step 14 comprises: Step 14.1, generate the return path function of vehicle A using equation (11); (11) In formula (13), and Represent the position abscissa and position ordinate of the return path function of the target vehicle A respectively; , , and Represents four parameters; Step 14.2, use equation (12) to solve the four parameters in equation (11); (12) Step 14.3: Control the target vehicle A at a speed Follow the return path function and execute step 17.

6. An electronic device, comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the overtaking method taking oncoming vehicles into consideration as described in any one of claims 1-5, and the processor is configured to execute the program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the overtaking method considering oncoming vehicles described in any one of claims 1 to 5 are executed.

Images