Overtaking control method, system and equipment and computer readable storage medium

Abstract

The invention discloses an overtaking control method, system and device and a computer readable storage medium, and relates to the field of safe driving, and the method specifically comprises the steps: determining a target safe distance threshold value on an overtaking lane according to the real-time speed of a vehicle, a first duration, a second duration and a first road adhesion coefficient on the overtaking lane, the first duration is a preset response duration of a driver of the vehicle, and the second duration is a preset response duration of a vehicle control system of the vehicle; overtaking lane changing of the vehicle is controlled according to the real-time speed of the vehicle, the real-time speed of the front vehicle on the overtaking lane, a first distance, a second distance and a target safety distance threshold value, the first distance is the distance between the front vehicle on the overtaking lane and the vehicle, and the second distance is the distance between the rear vehicle on the overtaking lane and the vehicle. According to the method, lane changing can be planned in advance, and the safety in the overtaking lane changing process is improved.

Description

Technical Field

[0001] The present application relates to the field of safe driving, and specifically to an overtaking control method, system, device and computer-readable storage medium. Background Art

[0002] With the rapid development of autonomous driving technology, the demand for safer and more intelligent overtaking and lane-changing systems is increasing. Existing overtaking and lane-changing systems typically rely on issuing warnings only during the overtaking and lane-changing process. This prevents the system from providing early warning of potential dangers, limiting safety during the process.

[0003] Therefore, how to plan overtaking and lane changing in advance to improve safety during the overtaking and lane changing process is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present application provides an overtaking control method, system, device and computer-readable storage medium, which can plan lane changes in advance to improve safety during overtaking and lane changing.

[0005] In a first aspect, an embodiment of the present application provides an overtaking control method, the overtaking control method comprising: Determining a target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, a first time duration, a second time duration, and a first road surface adhesion coefficient in the overtaking lane, wherein the first time duration is a preset reaction time duration for the driver of the vehicle, and the second time duration is a preset reaction time duration for the vehicle control system of the vehicle; The vehicle's overtaking and lane change is controlled based on the vehicle's real-time speed, the real-time speed of the preceding vehicle in the overtaking lane, a first distance, a second distance, and a target safety distance threshold. The first distance is the distance between the preceding vehicle and the vehicle in the overtaking lane, and the second distance is the distance between the following vehicle and the vehicle in the overtaking lane.

[0006] In conjunction with the first aspect, in one embodiment, before the step of controlling the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold, the method further includes: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

[0007] In conjunction with the first aspect, in one embodiment, determining whether the vehicle's lane is safe based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind it in its lane, the braking frequency of the vehicle ahead, and the second road adhesion coefficient includes: Determine a safety distance threshold for the preceding vehicle based on the vehicle's real-time speed, the first duration, the second duration, and the second road adhesion coefficient; Determine a rear vehicle safety distance threshold based on the first duration, the second duration, the second road adhesion coefficient, and the real-time speed of the rear vehicle in the lane of the own vehicle; If the first target condition is met, the vehicle's lane is determined to be safe; If the first target condition is not met, the vehicle's lane is determined to be unsafe; Among them, the first target condition is that the third distance is less than the safety distance threshold of the vehicle in front, the fourth distance is less than the safety distance threshold of the vehicle behind, the real-time speed of the vehicle is greater than the preset speed threshold and the braking frequency of the vehicle in front is greater than the preset braking frequency threshold.

[0008] In conjunction with the first aspect, in one embodiment, controlling the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold includes: When the second target condition is detected, the vehicle is controlled to overtake and change lanes. The second target condition is that the first distance is greater than the target safety distance threshold, the second distance is greater than the target safety distance threshold, and the real-time speed of the vehicle is greater than the sum of the real-time speed of the preceding vehicle in the overtaking lane and the preset speed difference.

[0009] In conjunction with the first aspect, in one embodiment, after the step of detecting the second target condition, the method further includes: The overtaking planning result is displayed through the electronic rearview mirror, and the overtaking planning result includes a left overtaking prompt or a right overtaking prompt.

[0010] In conjunction with the first aspect, in one embodiment, determining the target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, the first duration, the second duration, and the first road surface adhesion coefficient in the overtaking lane includes: Substitute the real-time speed of the vehicle, the first duration, the second duration, and the first road adhesion coefficient into the first calculation formula to obtain the target safety distance threshold. The first calculation formula is:

[0011] Where, The real-time speed of the vehicle; For the first duration; For the second duration; is the first road adhesion coefficient; is the target safety distance threshold in the overtaking lane.

[0012] In a second aspect, an embodiment of the present application provides an overtaking control system, the overtaking control system comprising: a first processing module configured to determine a target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, a first time duration, a second time duration, and a first road surface adhesion coefficient in the overtaking lane, wherein the first time duration is a preset reaction time duration for the driver of the vehicle, and the second time duration is a preset reaction time duration for the vehicle control system of the vehicle; The second processing module is used to control the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, a first distance, a second distance and a target safety distance threshold, wherein the first distance is the distance between the preceding vehicle and the vehicle in the overtaking lane, and the second distance is the distance between the following vehicle and the vehicle in the overtaking lane.

[0013] In conjunction with the second aspect, in one embodiment, the second processing module is specifically configured to: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

[0014] In a third aspect, an embodiment of the present application provides an overtaking control device, which includes a processor, a memory, and an overtaking control program stored in the memory and executable by the processor, wherein when the overtaking control program is executed by the processor, the steps of the overtaking control method as described in any one of the above items are implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which an overtaking control program is stored, wherein when the overtaking control program is executed by a processor, the steps of the overtaking control method as described in any one of the above items are implemented.

[0016] The beneficial effects of the technical solutions provided in the embodiments of the present application include: The target safety distance threshold is determined by the real-time speed of the vehicle, the preset first reaction time of the driver of the vehicle, the preset second reaction time of the vehicle control system of the vehicle and the road adhesion coefficient in the overtaking lane. That is, the safety distance is determined before the overtaking and lane changing operation, which can more accurately judge when it is safe to overtake and change lanes; the overtaking and lane changing of the vehicle is controlled according to the real-time speed of the vehicle, the real-time speed of the front vehicle in the overtaking lane, the first distance between the front vehicle and the vehicle in the overtaking lane, the second distance between the rear vehicle and the vehicle in the overtaking lane and the target safety distance threshold, which can smoothly overtake and change lanes when the safety distance is met, thereby improving the safety during the overtaking and lane changing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of an embodiment of the overtaking control method of the present application; Figure 2 Schematic diagram of vehicles in the own lane and vehicles in the overtaking lane in the overtaking control method of this application; Figure 3 This is a flow chart of the lane safety judgment of the vehicle in the overtaking control method of this application; Figure 4 A schematic diagram showing the overtaking result through the electronic rearview mirror in the overtaking control method of this application; Figure 5 This is a schematic diagram of the hardware structure of the overtaking control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0020] In a first aspect, an embodiment of the present application provides an overtaking control method.

[0021] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the overtaking control method of this application. Figure 1 As shown, the overtaking control method includes: Step S10: Determine a target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, a first time duration, a second time duration, and a first road adhesion coefficient in the overtaking lane, wherein the first time duration is a preset reaction time duration for the driver of the vehicle, and the second time duration is a preset reaction time duration for the vehicle control system of the vehicle.

[0022] For example, in the embodiment of the present application, the real-time speed of the vehicle refers to the current driving speed of the vehicle, which directly affects the reaction time and braking distance required for the vehicle during driving, and can be measured by a speed sensor; the first time length is the reaction time of the driver of the vehicle, which indicates the time required for the driver to perceive the danger, react and take measures; the second time length is the reaction time of the vehicle control system of the vehicle, which refers to the time length for the automatic driving or assisted driving system to complete the operation after receiving the instruction. The specific values ​​of the preset reaction time of the driver of the vehicle and the preset reaction time of the vehicle control system of the vehicle can be determined according to actual needs and are not limited here.

[0023] It is understood that the first road adhesion coefficient on the overtaking lane represents the friction between the road surface and the tires on the overtaking lane, which directly affects the braking performance and vehicle control ability. The specific value of the first road adhesion coefficient can be determined according to actual conditions and is not limited here. For example, the first road adhesion coefficient corresponding to an icy road surface is preferably less than or equal to 1m / s 2 The first road adhesion coefficient corresponding to the snow road is preferably less than or equal to 3.5m / s 2 The first road adhesion coefficient corresponding to the high adhesion road surface is preferably less than or equal to 9m / s 2 By combining the vehicle's real-time speed, the first duration, the second duration, and the first road adhesion coefficient, the dynamic safety distance (i.e., the target safety distance threshold) for the vehicle in the overtaking lane can be comprehensively calculated, thereby ensuring that sufficient safety margin is maintained during the overtaking process.

[0024] Step S20: Control the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold. The first distance is the distance between the preceding vehicle and the vehicle in the overtaking lane, and the second distance is the distance between the following vehicle and the vehicle in the overtaking lane.

[0025] For example, in the embodiment of the present application, refer to Figure 2 As shown, A represents the leading vehicle in the overtaking lane, and B represents the trailing vehicle in the overtaking lane. The real-time speed of the leading vehicle in the overtaking lane indicates the speed of the vehicle ahead in the overtaking lane, which affects the relative position of the host vehicle and the vehicle ahead in the overtaking lane, as well as the mutual interference during overtaking. The first distance refers to the distance between the leading vehicle and the host vehicle in the overtaking lane, which directly affects whether overtaking is feasible. A smaller first distance may lead to a collision risk during overtaking. The second distance refers to the distance between the trailing vehicle and the host vehicle in the overtaking lane, which reflects the proximity of the trailing vehicle in the overtaking lane and the possible risk of rear-end collision. The first and second distances can be measured by distance sensors. By combining these parameters, the system can accurately determine whether overtaking lane change is appropriate, ensuring a safe and smooth overtaking process.

[0026] The present application determines a target safety distance threshold through the real-time speed of the vehicle, a preset first reaction time of the driver of the vehicle, a preset second reaction time of the vehicle control system of the vehicle, and the road adhesion coefficient in the overtaking lane. That is, the safety distance is determined before the overtaking and lane changing operation, which can more accurately judge when it is safe to overtake and change lanes; the overtaking and lane changing of the vehicle is controlled according to the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance between the preceding vehicle and the vehicle in the overtaking lane, the second distance between the following vehicle and the vehicle in the overtaking lane, and the target safety distance threshold, so that smooth overtaking and lane changing can be performed when the safety distance is met, thereby improving the safety during the overtaking and lane changing process.

[0027] Furthermore, in one embodiment, before the step of controlling the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold, the method further includes: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

[0028] For example, in the embodiment of the present application, refer to Figure 2 As shown in the figure, C represents the vehicle in front of the vehicle in the host lane, and D represents the vehicle behind the vehicle in the host lane. The third distance refers to the distance between the vehicle in front of the vehicle and the host vehicle in the host lane, representing the relative position of the vehicle in front of the vehicle and the host vehicle in the host lane, which affects the collision risk and avoidance space. The fourth distance refers to the distance between the vehicle behind the vehicle and the host vehicle in the host lane, reflecting the following distance of the vehicle behind the vehicle in the host lane and affecting the risk of rear-end collision. The real-time speed of the vehicle behind the vehicle in the host lane indicates the speed of the vehicle behind, which determines whether the vehicle behind the vehicle in the host lane is likely to quickly approach the host vehicle. The braking frequency of the vehicle in the host lane indicates the number of times the vehicle in the host lane brakes within a certain period of time. The second road adhesion coefficient refers to the friction between the road surface and the tires in the host lane, which affects the vehicle's braking performance and control ability. By combining these parameters, the safety of the host vehicle's lane can be determined. If the host vehicle's lane is safe, the host vehicle can be controlled to continue driving in the host lane. If the host vehicle's lane is unsafe, the relevant parameters of the host vehicle and the vehicle in the overtaking lane can be further used to determine whether an overtaking lane change is possible to ensure safe driving of the host vehicle.

[0029] Furthermore, in one embodiment, referring to Figure 3 As shown, the method of determining whether the vehicle's lane is safe based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind it in its lane, the braking frequency of the vehicle ahead, and the second road adhesion coefficient includes: Step P10: Determine a threshold value of a safety distance from the preceding vehicle based on the vehicle's real-time speed, the first duration, the second duration, and the second road adhesion coefficient; Step P20: Determine a rear vehicle safety distance threshold based on the first duration, the second duration, the second road adhesion coefficient, and the real-time speed of the rear vehicle in the lane of the host vehicle; Step P30: If the first target condition is met, the lane of the vehicle is determined to be safe; Step P40: If the first target condition is not met, the vehicle lane is determined to be unsafe; Among them, the first target condition is that the third distance is less than the safety distance threshold of the vehicle in front, the fourth distance is less than the safety distance threshold of the vehicle behind, the real-time speed of the vehicle is greater than the preset speed threshold and the braking frequency of the vehicle in front is greater than the preset braking frequency threshold.

[0030] For example, in the embodiment of the present application, the real-time speed of the vehicle, the first duration, the second duration, and the second road adhesion coefficient are substituted into the following calculation formula to obtain the preceding vehicle safety distance threshold in the lane of the vehicle. The calculation formula is:

[0031] Where, The real-time speed of the vehicle; For the first duration; For the second duration; is the second road adhesion coefficient; is the safety distance threshold of the vehicle ahead in the lane of the vehicle.

[0032] Substitute the first duration, the second duration, the second road adhesion coefficient, and the real-time speed of the vehicle behind the vehicle in the lane into the following calculation formula to obtain the threshold value of the safety distance to the vehicle behind the vehicle in the lane. The calculation formula is:

[0033] Where, The real-time speed of the vehicle behind you in the lane; For the first duration; For the second duration; is the second road adhesion coefficient; D safeb is the safety distance threshold of the following vehicle in the lane of the vehicle.

[0034] It should be noted that the specific values ​​of the preset vehicle speed threshold and the preset braking frequency threshold can be determined according to actual needs and are not limited here. For example, the preset vehicle speed threshold can be preferably taken as 40km / h, and the preset braking frequency threshold can be preferably taken as 3 times / minute; the first target condition is that the third distance is less than the safety distance threshold of the vehicle in front of the vehicle in the lane of the vehicle, the fourth distance is less than the safety distance threshold of the vehicle in the lane of the vehicle behind the vehicle, the real-time speed of the vehicle is greater than the preset vehicle speed threshold and the braking frequency of the vehicle in front of the vehicle in the lane of the vehicle is greater than the preset braking frequency threshold.

[0035] It can be understood that if the third distance in the host vehicle's lane is less than the preceding vehicle safety distance threshold, it indicates that the distance between the preceding vehicle and the host vehicle in the host vehicle's lane is too close, potentially posing a collision risk. If the fourth distance in the host vehicle's lane is less than the following vehicle safety distance threshold, it indicates that the distance between the following vehicle and the host vehicle in the host vehicle's lane is too close, potentially posing a rear-end collision risk. If the host vehicle's real-time speed is greater than the preset speed threshold, it indicates that the host vehicle is traveling at a high speed, potentially shortening its reaction time to a dangerous situation. If the braking frequency of the preceding vehicle in the host vehicle's lane is greater than the preset braking frequency threshold, it indicates that the preceding vehicle's driving state in the host vehicle's lane is unstable, and frequent braking may lead to sudden stops, increasing the risk of collision. If all four of the above conditions are met, the host vehicle's lane is deemed unsafe. If any one of these conditions is not met, the host vehicle's lane is deemed safe. By comprehensively considering these conditions, the system achieves real-time assessment of the host vehicle's lane safety and can make timely judgments and responses based on driving conditions and environmental conditions.

[0036] Furthermore, in one embodiment, controlling the vehicle to overtake and change lanes based on the vehicle's real-time speed, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold includes: When the second target condition is detected, the vehicle is controlled to overtake and change lanes. The second target condition is that the first distance is greater than the target safety distance threshold, the second distance is greater than the target safety distance threshold, and the real-time speed of the vehicle is greater than the sum of the real-time speed of the preceding vehicle in the overtaking lane and the preset speed difference.

[0037] For example, in the embodiment of the present application, the preset speed difference can be determined according to actual needs and is not limited here; the second target condition is that the first distance is greater than the target safety distance threshold, the second distance is greater than the target safety distance threshold and the real-time speed of the vehicle is greater than the sum of the real-time speed of the front vehicle in the overtaking lane and the preset speed difference; wherein, if the first distance in the overtaking lane is greater than the target safety distance threshold, it means that the distance between the front vehicle and the vehicle in the overtaking lane is large enough to ensure a safe gap when overtaking; if the second distance between the rear vehicle and the vehicle in the overtaking lane is greater than the target safety distance threshold, it means that the relative position of the rear vehicle and the vehicle in the overtaking lane is safe and will not cause the risk of rear-end collision; if the real-time speed of the vehicle is greater than the sum of the real-time speed of the front vehicle in the overtaking lane and the preset speed difference, it means that the vehicle has sufficient overtaking speed and can quickly open a safe distance from the front vehicle in the overtaking lane after overtaking to avoid the risk of collision caused by speed difference.

[0038] It's understandable that if all three conditions are met, the vehicle's lane is deemed suitable for overtaking and the system controls the vehicle to perform the overtaking maneuver, ensuring a safe lane change. If any of these conditions are not met, indicating unfavorable overtaking conditions, the system avoids the overtaking lane change to ensure driving safety. By assessing these conditions, the system ensures the safety of overtaking lane change operations and reduces the risk of traffic accidents.

[0039] Furthermore, in one embodiment, after the step of detecting the second target condition, the method further includes: The overtaking planning result is displayed through the electronic rearview mirror, and the overtaking planning result includes a left overtaking prompt or a right overtaking prompt.

[0040] For example, in the embodiment of the present application, refer to Figure 4 As shown, the overtaking planning result includes a left overtaking prompt or a right overtaking prompt. After the second target condition is detected, it means that overtaking and lane changing are possible at this time, and the left overtaking prompt or the right overtaking prompt can be displayed through the electronic rearview mirror. Through the above operations, it is ensured that the driver can make overtaking decisions according to safety information, thereby reducing the risk of traffic accidents.

[0041] Furthermore, in one embodiment, determining the target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, the first duration, the second duration, and the first road adhesion coefficient in the overtaking lane includes: Substitute the real-time speed of the vehicle, the first duration, the second duration, and the first road adhesion coefficient into the first calculation formula to obtain the target safety distance threshold. The first calculation formula is:

[0042] Where, The real-time speed of the vehicle; For the first duration; For the second duration; is the first road adhesion coefficient; is the target safety distance threshold in the overtaking lane.

[0043] For example, in this embodiment of the present application, the real-time speed of the vehicle , first duration , second duration and the first road adhesion coefficient Substitute the following formula to obtain the target safety distance threshold :

[0044] In a second aspect, an embodiment of the present application further provides an overtaking control system, the overtaking control system comprising: a first processing module configured to determine a target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, a first time duration, a second time duration, and a first road surface adhesion coefficient in the overtaking lane, wherein the first time duration is a preset reaction time duration for the driver of the vehicle, and the second time duration is a preset reaction time duration for the vehicle control system of the vehicle; The second processing module is used to control the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, a first distance, a second distance and a target safety distance threshold, wherein the first distance is the distance between the preceding vehicle and the vehicle in the overtaking lane, and the second distance is the distance between the following vehicle and the vehicle in the overtaking lane.

[0045] Furthermore, in one embodiment, the second processing module is specifically configured to: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

[0046] Furthermore, in one embodiment, the second processing module is further configured to: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

[0047] Furthermore, in one embodiment, the second processing module is further configured to: Determine a safety distance threshold for the preceding vehicle based on the vehicle's real-time speed, the first duration, the second duration, and the second road adhesion coefficient; Determine a rear vehicle safety distance threshold based on the first duration, the second duration, the second road adhesion coefficient, and the real-time speed of the rear vehicle in the lane of the own vehicle; If the first target condition is met, the vehicle's lane is determined to be safe; If the first target condition is not met, the vehicle's lane is determined to be unsafe; Among them, the first target condition is that the third distance is less than the safety distance threshold of the vehicle in front, the fourth distance is less than the safety distance threshold of the vehicle behind, the real-time speed of the vehicle is greater than the preset speed threshold and the braking frequency of the vehicle in front is greater than the preset braking frequency threshold.

[0048] Furthermore, in one embodiment, the second processing module is further configured to: When the second target condition is detected, the vehicle is controlled to overtake and change lanes. The second target condition is that the first distance is greater than the target safety distance threshold, the second distance is greater than the target safety distance threshold, and the real-time speed of the vehicle is greater than the sum of the real-time speed of the preceding vehicle in the overtaking lane and the preset speed difference.

[0049] Furthermore, in one embodiment, the second processing module is further configured to: The overtaking planning result is displayed through the electronic rearview mirror, and the overtaking planning result includes a left overtaking prompt or a right overtaking prompt.

[0050] Furthermore, in one embodiment, the first processing module is specifically configured to: Substitute the real-time speed of the vehicle, the first duration, the second duration, and the first road adhesion coefficient into the first calculation formula to obtain the target safety distance threshold. The first calculation formula is:

[0051] Where, The real-time speed of the vehicle; For the first duration; For the second duration; is the first road adhesion coefficient; is the target safety distance threshold in the overtaking lane.

[0052] The present application determines a target safety distance threshold through the real-time speed of the vehicle, a preset first reaction time of the driver of the vehicle, a preset second reaction time of the vehicle control system of the vehicle, and the road adhesion coefficient in the overtaking lane. That is, the safety distance is determined before the overtaking and lane changing operation, which can more accurately judge when it is safe to overtake and change lanes; the overtaking and lane changing of the vehicle is controlled according to the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance between the preceding vehicle and the vehicle in the overtaking lane, the second distance between the following vehicle and the vehicle in the overtaking lane, and the target safety distance threshold, so that smooth overtaking and lane changing can be performed when the safety distance is met, thereby improving the safety during the overtaking and lane changing process.

[0053] Among them, the functional implementation of each module in the above-mentioned overtaking control system corresponds to the various steps in the above-mentioned overtaking control method embodiment, and their functions and implementation processes will not be repeated here one by one.

[0054] In a third aspect, an embodiment of the present application provides an overtaking control device, which may be a device with data processing capabilities, such as a personal computer (PC), a laptop computer, or a server.

[0055] Reference Figure 5 , Figure 5Schematic diagram of the hardware structure of the overtaking control device involved in the embodiment of the present application. In the embodiment of the present application, the overtaking control device may include a processor, a memory, a communication interface and a communication bus.

[0056] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0057] Communication interfaces include input / output (I / O), physical, and logical interfaces, which interconnect components within the overtaking control device and connect it to other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.

[0058] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0059] The processor may be a general-purpose processor that can invoke an overtaking control program stored in a memory and execute the overtaking control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The methods executed when the overtaking control program is invoked can be referenced in the various embodiments of the overtaking control method of the present application and will not be further described here.

[0060] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0061] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0062] The readable storage medium of the present application stores an overtaking control program, wherein when the overtaking control program is executed by the processor, the steps of the overtaking control method as described above are implemented.

[0063] Among them, the method implemented when the overtaking control program is executed can refer to the various embodiments of the overtaking control method of this application, and will not be repeated here.

[0064] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0065] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0066] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0067] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0068] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0069] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.

[0070] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for overtaking control, characterized in that: The overtaking control method comprises: Determining a target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, a first time duration, a second time duration, and a first road surface adhesion coefficient in the overtaking lane, wherein the first time duration is a preset reaction time duration for the driver of the vehicle, and the second time duration is a preset reaction time duration for the vehicle control system of the vehicle; The vehicle's overtaking and lane change is controlled based on the vehicle's real-time speed, the real-time speed of the preceding vehicle in the overtaking lane, a first distance, a second distance, and a target safety distance threshold. The first distance is the distance between the preceding vehicle and the vehicle in the overtaking lane, and the second distance is the distance between the following vehicle and the vehicle in the overtaking lane.

2. The overtaking control method according to claim 1, characterized in that: Before the step of controlling the vehicle to overtake and change lanes according to the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold, the method further includes: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

3. The overtaking control method according to claim 2, characterized in that: The determining whether the vehicle lane is safe based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind it in its lane, the braking frequency of the vehicle ahead, and the second road adhesion coefficient includes: Determine a safety distance threshold for the preceding vehicle based on the vehicle's real-time speed, the first duration, the second duration, and the second road adhesion coefficient; Determine a rear vehicle safety distance threshold based on the first duration, the second duration, the second road adhesion coefficient, and the real-time speed of the rear vehicle in the lane of the own vehicle; If the first target condition is met, the vehicle's lane is determined to be safe; If the first target condition is not met, the vehicle's lane is determined to be unsafe; Among them, the first target condition is that the third distance is less than the safety distance threshold of the vehicle in front, the fourth distance is less than the safety distance threshold of the vehicle behind, the real-time speed of the vehicle is greater than the preset speed threshold and the braking frequency of the vehicle in front is greater than the preset braking frequency threshold.

4. The overtaking control method according to claim 1, wherein: The controlling of the vehicle to overtake and change lanes according to the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, the first distance, the second distance, and the target safety distance threshold includes: When the second target condition is detected, the vehicle is controlled to overtake and change lanes. The second target condition is that the first distance is greater than the target safety distance threshold, the second distance is greater than the target safety distance threshold, and the real-time speed of the vehicle is greater than the sum of the real-time speed of the preceding vehicle in the overtaking lane and the preset speed difference.

5. The overtaking control method according to claim 4, characterized in that: After the step of detecting the second target condition, the method further includes: The overtaking planning result is displayed through the electronic rearview mirror, and the overtaking planning result includes a left overtaking prompt or a right overtaking prompt.

6. The overtaking control method according to claim 1, wherein: Determining the target safety distance threshold in the overtaking lane according to the real-time speed of the vehicle, the first duration, the second duration, and the first road adhesion coefficient in the overtaking lane includes: Substitute the real-time speed of the vehicle, the first duration, the second duration, and the first road adhesion coefficient into the first calculation formula to obtain the target safety distance threshold. The first calculation formula is: Where, The real-time speed of the vehicle; For the first duration; For the second duration; is the first road adhesion coefficient; is the target safety distance threshold in the overtaking lane.

7. An overtaking control system, characterized in that: The overtaking control system includes: a first processing module configured to determine a target safety distance threshold in the overtaking lane based on the real-time speed of the vehicle, a first time duration, a second time duration, and a first road surface adhesion coefficient in the overtaking lane, wherein the first time duration is a preset reaction time duration for the driver of the vehicle, and the second time duration is a preset reaction time duration for the vehicle control system of the vehicle; The second processing module is used to control the vehicle to overtake and change lanes based on the real-time speed of the vehicle, the real-time speed of the preceding vehicle in the overtaking lane, a first distance, a second distance and a target safety distance threshold, wherein the first distance is the distance between the preceding vehicle and the vehicle in the overtaking lane, and the second distance is the distance between the following vehicle and the vehicle in the overtaking lane.

8. The overtaking control system according to claim 7, characterized in that: The second processing module is specifically configured to: Whether the vehicle's lane is safe is determined based on the vehicle's real-time speed, the third distance, the fourth distance, the first duration, the second duration, the real-time speed of the vehicle behind the vehicle in the vehicle's lane, the braking frequency of the vehicle in front, and the second road adhesion coefficient. The third distance is the distance between the vehicle in front and the vehicle in the vehicle's lane, and the fourth distance is the distance between the vehicle behind the vehicle in the vehicle's lane and the vehicle in the vehicle's lane.

9. An overtaking control device, characterized in that: The overtaking control device includes a processor, a memory, and an overtaking control program stored in the memory and executable by the processor, wherein when the overtaking control program is executed by the processor, the steps of the overtaking control method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an overtaking control program, wherein when the overtaking control program is executed by the processor, the steps of the overtaking control method according to any one of claims 1 to 6 are implemented.

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