Dynamic regulation and control method for bidirectional two-lane overtaking in network connection environment

Abstract

The invention discloses a dynamic regulation and control method for bidirectional two-lane overtaking in a network connection environment. The dynamic regulation and control method comprises the following steps: 1, establishing an overtaking intention model to judge whether a target vehicle has an overtaking demand or not; 2, calculating the overtaking distance of the target vehicle under the condition of overtaking at the speed; 3, calculating the safety range of collision avoidance of the target vehicle in the three overtaking scenes; 4, adjusting the overtaking speed of the target vehicle in combination with the safety range; and 5, circulating the steps until the control time is over. According to the method, the CAV can judge whether overtaking is allowed or not, early warning and driving suggestions can be provided during overtaking, and therefore the risk of traffic accidents can be reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation systems and vehicle control technology, and in particular to a dynamic control method for overtaking in a two-way, two-lane connected environment, applicable to autonomous vehicles with vehicle-to-everything (V2X) communication capabilities. Background Technology

[0002] In traditional traffic environments, overtaking is a common driving maneuver on two-lane highways, but its safety heavily relies on the driver's real-time judgment and can easily lead to accidents in low visibility or complex traffic conditions. With the development of intelligent connected vehicle technology, vehicles can obtain surrounding information through V2V and V2I communication, providing a data foundation for overtaking assistance.

[0003] Existing overtaking assistance systems mostly rely on sensors to detect vehicles ahead or oncoming, but they generally lack the ability to dynamically and comprehensively assess multi-vehicle interaction scenarios, making it difficult to balance safety and efficiency in two-lane two-way traffic. Furthermore, these systems often fail to adequately consider factors such as vehicle dynamics constraints, driver reaction time, and differences in safe distances, resulting in high false alarm rates or delayed decision-making, thus failing to meet the real-time and safety requirements of connected autonomous vehicles. Summary of the Invention

[0004] The present invention aims to address the shortcomings of the existing technology by providing a dynamic control method for overtaking in a two-lane bidirectional networked environment. This method aims to enable safe overtaking decisions and speed control in multi-vehicle scenarios, thereby solving the problems of insufficient judgment, delayed response, and low safety of existing overtaking assistance systems in complex multi-vehicle scenarios.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a dynamic control method for overtaking in a two-lane bidirectional environment under a connected environment, characterized in that the motor vehicles in the connected environment are all connected autonomous vehicles, and the lanes in which the vehicles travel are two straight lanes; the lane where the target vehicle A to be overtaken is located is designated as lane 1, and the oncoming lane is designated as lane 2. The dynamic control method includes the following steps: Step 1: Collect historical data of overtaking vehicles and overtaken vehicles as input to the neural network, and use the overtaking vehicle's actual overtaking intention as the output of the neural network to train the neural network and obtain the overtaking intention model. Step 2: The first vehicle in lane 1 that is in front of the target vehicle A is designated as vehicle B; the first vehicle in lane 2 that is traveling in the opposite direction to the target vehicle A is designated as vehicle C; and the first vehicle in front of vehicle B is designated as vehicle D. by A Cartesian coordinate system is established with the center position of target vehicle A at time t as the origin, the direction of travel of target vehicle A at time t as the positive direction of the x-axis, and the direction perpendicular to the x-axis and pointing towards the second lane as the positive direction of the y-axis. Define the total control duration as T, and the update time interval as... ; Collect data using roadside intelligent transportation equipment. The speed of target vehicle A at any given time x-coordinate of the front position of the vehicle Train Length and acceleration The speed of vehicle B x-coordinate of the front position of the vehicle And the train commander The speed of vehicle C x-coordinate of the front position of the vehicle And the train commander The speed of vehicle D The x-coordinate of the front position of the car And the train commander Set the speed limit for the road to be [value]. ; Step 3: Input the data of target vehicle A and vehicle B collected in Step 2 into the overtaking intention model for processing to determine... Does target vehicle A need to overtake at any given time? If so, proceed to step 4; otherwise, prohibit overtaking and proceed to step 7. Step 4: Assume target vehicle A is in At all times with speed To overtake, use equations (1) and (2) to calculate the distance of target vehicle A. Overtaking distance at any moment And vehicle B is driving in Distance of time ; (1) (2) In equations (1) and (2), express The safe distance between target vehicle A and vehicle B at all times; express The safe distance between target vehicles A and B when the overtaking is completed after a certain time; and the following: (3) (4) In equations (3) and (4), Indicates the safety distance for compensation. The time during which target vehicle A accelerates; Indicates the safe headway; and includes: (5) Step 5, if If there is vehicle B in front and vehicle C in the second lane, then determine whether equation (6) is true. If it is true, then it means that... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, indicate... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; (6) In equation (6), for The distance traveled by vehicle C after target vehicle A completes the overtaking maneuver at the specified time; for The distance between target vehicle A and vehicle C at any given time; express The safe distance between target vehicles A and C when the overtaking is completed after a certain time; and the following: (7) (8) In equations (7) and (8), Reaction time; This is the vehicle's maximum braking acceleration; like If there are vehicles B and D ahead, and no vehicles in the second lane, then determine whether equation (9) is true. If it is true, then it means... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, indicate... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; (9) In equation (9), for The distance traveled by vehicle D after target vehicle A completes the overtaking maneuver at the specified time. for The distance between target vehicle A and vehicle D at any given time; express The safe distance between target vehicle A and vehicle D when overtaking is completed after a certain time, and the following: (10) (11) like At any given moment, there are vehicles B and D in front, and vehicle C in the second lane; then determine whether equations (8) and (11) are both true. If they are true, then it means... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, indicate... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; Step 6: Calculate the safe range of the horizontal coordinate for vehicle A to avoid collision after overtaking in three complex environments; Step 7: Based on the safe range, determine whether the overtaking speed of target vehicle A is appropriate. Adjustments will be made; if so, the adjusted overtaking speed will apply. Overtake; otherwise, At any given moment, target vehicle A must abandon lane changing and is prohibited from overtaking; Step 8, Assign to ,judge If the condition is met, the control process ends; otherwise, return to step 2 and execute sequentially.

[0006] The dynamic control method for overtaking in a two-lane bidirectional networked environment described in this invention is also characterized in that step 6 includes: like At any given moment, there is vehicle B in the front lane and vehicle C in the second lane; then use equations (12) and (13) to calculate The position of vehicle B after overtaking Position relative to vehicle C Thus obtain The safe range for vehicle A to avoid a collision after overtaking. ; (12) (13) like At any given moment, there are vehicles B and D ahead, and no vehicles in the second lane; then use equations (12) and (14) to calculate The positions of vehicle B and vehicle D after overtaking. ; thereby obtaining The safe range for vehicle A to avoid a collision after overtaking. ; (14) like At any given moment, there are vehicles B and D ahead, and vehicle C in the second lane; then, use equations (12), (13), and (14) to calculate the position of vehicle B after overtaking. The position of vehicle C Position relative to vehicle C ; thereby obtaining The safe range for vehicle A to avoid a collision after overtaking. .

[0007] Furthermore, step 7 includes: like If there is vehicle B in front and vehicle C in the second lane, then the minimum overtaking speed can be calculated using equations (15) and (16). and maximum overtaking speed ; (15) (16) when No ,and At that time, then Adjust to Between, and obtain the adjusted overtaking speed ; when No ,and At that time, then Adjust to Between, and obtain the adjusted overtaking speed ; when At that time, At any given moment, target vehicle A must abandon lane changing and is prohibited from overtaking; like If there are vehicles B and D ahead, and there are no vehicles in the second lane, then the minimum overtaking speed can be calculated using equations (15) and (17). and maximum overtaking speed ; (17) when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking; like At a given moment, there are vehicles B and D ahead, and vehicle C in the second lane; then, the minimum overtaking speed can be calculated using equations (15) and (18). and maximum overtaking speed ; (18) when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking.

[0008] The present invention provides an electronic device, including a memory and a processor, characterized in that the memory is used to store a program that supports the processor in executing the dynamic control method, and the processor is configured to execute the program stored in the memory.

[0009] The present invention provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, performs the steps of the dynamic control method.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention effectively addresses the shortcomings of existing technologies in dynamically assessing complex traffic flow by establishing a multi-scenario safety judgment model. It constructs different safety distance calculation formulas and safety range determination methods, achieving a comprehensive consideration of the vehicle's B, C, and D positions and future trajectory. This enables the system to accurately quantify overtaking risks, significantly improving decision-making safety and scenario adaptability in complex two-lane two-way environments, and overcoming the misjudgments and omissions caused by the single model in traditional systems. 2. This invention overcomes the technical challenges of delayed decision-making and high misjudgment rates in existing systems by integrating neural network intent recognition with real-time network communication. It employs an RBF neural network, using dynamic features such as vehicle relative speed and position as input, to train a high-precision overtaking intent model. Simultaneously, it utilizes roadside equipment to acquire real-time information about surrounding vehicles. This combined technology enables early and accurate identification of driver overtaking intentions and ensures data real-time performance through a networked environment, thereby significantly improving the foresight, accuracy, and response speed of the entire control system. 3. This invention innovatively introduces a dynamic speed control mechanism, optimizing road traffic efficiency while ensuring safety. Based on the calculated safe range, feasible overtaking speed intervals are derived in reverse, and vehicle speed is dynamically adjusted after coordination with road speed limits. This technical feature achieves a decision-making upgrade from "whether overtaking is possible" to "how to overtake safely and efficiently," providing vehicles with overtaking opportunities as much as possible while strictly ensuring safe distances, thus effectively balancing driving safety and road traffic efficiency. Attached Figure Description

[0011] Figure 1 This is the overall flowchart of the present invention; Figure 2 This is a flowchart of the decision-making method of the present invention; Figure 3a This is a schematic diagram of a scenario for the present invention; Figure 3b This is a schematic diagram of a scenario for the present invention; Figure 3c This is a schematic diagram of a scenario according to the present invention. Detailed Implementation

[0012] In this embodiment, a dynamic control method for overtaking in a two-way two-lane connected environment is described. Figures 3a to 3c The diagrams correspond to three typical overtaking scenarios: vehicle B is ahead and vehicle C is coming from the opposite direction (…). Figure 3a There are vehicles B and D ahead, and no oncoming vehicles. Figure 3b There are vehicles B and D ahead, and vehicle C is coming from the opposite direction. Figure 3c In a connected environment, all motor vehicles are connected autonomous vehicles, and they are located in two-lane straight roads; the direction in which the target vehicle is located is designated as lane 1, and the opposite lane is designated as lane 2, such as... Figure 1 As shown, the dynamic control method includes the following steps: Step 1: Establish an overtaking intent model; Step 1.1: Collect historical speed and location information of overtaking and overtaken vehicles, as well as road speed limits, and preprocess them to obtain a dataset. ,in, , These represent the lateral coordinates and speed of the overtaking vehicle, respectively. , The data represents the lateral coordinates and speed of the vehicle being overtaken. Since this embodiment considers the data within 3 seconds before the actual overtaking maneuver to represent valid data indicating a lane-changing intention, the collected data is the data information within the first 3 seconds.

[0013] Step 1.2: Based on the input vector The RBF neural network is trained to obtain the overtaking intention model. Each vector plus its label is used as a sample. All samples are divided into training set and test set in a 4:1 ratio. The test set is used to test the classification accuracy of the model. The radial basis function of the RBF neural network is a Gaussian function. The final output of the model is 0 or 1, where 0 represents No (no overtaking intention) and 1 represents Yes (overtaking intention).

[0014] Step 2: The first vehicle in lane 1 that is in front of the target vehicle A is designated as vehicle B; the first vehicle in lane 2 that is traveling in the opposite direction to the target vehicle A is designated as vehicle C; and the first vehicle in front of vehicle B is designated as vehicle D. by Taking the center position of target vehicle A as the origin, and... Establish a Cartesian coordinate system with the direction of travel of target vehicle A at any given time as the positive direction of the x-axis and the direction perpendicular to the x-axis and pointing towards the second lane as the positive direction of the y-axis; Define the total control duration as T, and the update time interval as... ; Collect data using roadside intelligent transportation equipment. The speed of target vehicle A at any given time x-coordinate of the front position of the vehicle Train Length and acceleration The speed of vehicle B x-coordinate of the front position of the vehicle And the train commander The speed of vehicle C x-coordinate of the front position of the vehicle And the train commander The speed of vehicle D The x-coordinate of the front position of the car And the train commander Set the speed limit for the road to be [value]. .

[0015] Step 3: Using the overtaking intent model established in Step 1, input the data of target vehicle A and vehicle B collected in Step 2 into the overtaking intent model for processing to determine... Does target vehicle A need to overtake at any given time? If so, proceed to step 4; otherwise, prohibit overtaking and proceed to step 7. Figure 2 As shown in the decision-making flowchart, the ability to overtake is determined and processed based on the presence of vehicles B, C, and D; the detailed process is described in steps 5, 6, and 7 respectively. Step 4: Assume target vehicle A is in At all times with speed To overtake, use equations (1) and (2) to calculate the distance of target vehicle A. Overtaking distance at any moment And vehicle B is driving in Distance of time ; (1) (2) In equations (1) and (2), express The safe distance between target vehicle A and vehicle B at all times; express The safe distance between target vehicles A and B when the overtaking is completed after a certain time; and the following: (3) (4) In equations (3) and (4), Indicates the safety distance for compensation. The time during which target vehicle A accelerates; Indicates the safe headway; and includes: (5).

[0016] Step 5, if If there is vehicle B in front and vehicle C in the second lane, then determine whether equation (6) is true. If it is true, then it means that... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, indicate... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; (6) In equation (6), for The distance traveled by vehicle C after target vehicle A completes the overtaking maneuver at the specified time; for The distance between target vehicle A and vehicle C at any given time; express The safe distance between target vehicles A and C when the overtaking is completed after a certain time; and the following: (7) (8) In equations (7) and (8), Reaction time; This is the vehicle's maximum braking acceleration.

[0017] like If there are vehicles B and D ahead, and no vehicles in the second lane, then determine whether equation (9) is true. If it is true, then it means... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, indicate... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; (9) In equation (9), for The distance traveled by vehicle D after target vehicle A completes the overtaking maneuver at the specified time. for The distance between target vehicle A and vehicle D at any given time; express The safe distance between target vehicle A and vehicle D when overtaking is completed after a certain time, and the following: (10) (11) like At any given moment, there are vehicles B and D in front, and vehicle C in the second lane; then determine whether equations (8) and (11) are both true. If they are true, then it means... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, indicate... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed.

[0018] Step 6: Calculate the range of the horizontal coordinates for vehicle A to avoid collision after overtaking in three complex environments; like At any given moment, there is vehicle B in the front lane and vehicle C in the second lane; then use equations (12) and (13) to calculate The position of vehicle B after overtaking Position relative to vehicle C Thus obtain The safe range for vehicle A to avoid a collision after overtaking. ; (12) (13) like At any given moment, there are vehicles B and D ahead, and no vehicles in the second lane; then use equations (12) and (14) to calculate The positions of vehicle B and vehicle D after overtaking. ; thereby obtaining The safe range for vehicle A to avoid a collision after overtaking. ; (14) like At any given moment, there are vehicles B and D ahead, and vehicle C in the second lane; then, use equations (12), (13), and (14) to calculate the position of vehicle B after overtaking. The position of vehicle C Position relative to vehicle C ; thereby obtaining The safe range for vehicle A to avoid a collision after overtaking. .

[0019] Step 7: Determine the overtaking speed of target vehicle A within the safe range. Make adjustments; like If there is vehicle B in front and vehicle C in the second lane, then the minimum overtaking speed can be calculated using equations (15) and (16). and maximum overtaking speed ; (15) (16) when No ,and At that time, then Adjust to Between, and obtain the adjusted overtaking speed ; when No ,and At that time, then Adjust to Between, and obtain the adjusted overtaking speed ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking.

[0020] like If there are vehicles B and D ahead at a given time, and there are no vehicles in the second lane; then use equations (15) and (17) to find the minimum and maximum overtaking speeds. and ; (17) when No ,and Then adjustments are needed. And obtain the adjusted overtaking speed. ; when No ,and Then adjustments are needed. And obtain the adjusted overtaking speed. ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking.

[0021] like If there are vehicles B and D ahead, and vehicle C in the second lane, then use equations (15) and (18) to find the minimum and maximum overtaking speeds. and ; = (18) when No ,and Then adjustments are needed. And obtain the adjusted overtaking speed. ; when No ,and Then adjustments are needed. And obtain the adjusted overtaking speed. ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking.

[0022] Step 8, Assign to ,judge If the condition is met, the control process ends; otherwise, return to step 2 and execute sequentially.

[0023] In this embodiment, an electronic device includes a memory and a processor. The memory stores a program that supports the processor in executing the above-described method, and the processor is configured to execute the program stored in the memory.

[0024] In this embodiment, a computer-readable storage medium stores a computer program, which is executed by a processor to perform the steps of the above method.

Claims

1. A dynamic control method for overtaking in a two-lane bidirectional networked environment, characterized in that, In the connected vehicle environment, all motor vehicles are connected autonomous vehicles, and the lanes they travel in are two-lane straight roads. The lane where the target vehicle A to be overtaken is located is designated as lane 1, and the oncoming lane is designated as lane 2. The dynamic control method includes the following steps: Step 1: Collect historical data of overtaking vehicles and overtaken vehicles as input to the neural network, and use the overtaking vehicle's actual overtaking intention as the output of the neural network to train the neural network and obtain the overtaking intention model. Step 2: The first vehicle in lane 1 that is in front of the target vehicle A is designated as vehicle B; the first vehicle in lane 2 that is traveling in the opposite direction to the target vehicle A is designated as vehicle C; and the first vehicle in front of vehicle B is designated as vehicle D. by A Cartesian coordinate system is established with the center position of target vehicle A at time t as the origin, the direction of travel of target vehicle A at time t as the positive direction of the x-axis, and the direction perpendicular to the x-axis and pointing towards the second lane as the positive direction of the y-axis. Define the total control duration as T, and the update time interval as... ; Collect data using roadside intelligent transportation equipment. The speed of target vehicle A at any given time x-coordinate of the front position of the vehicle Train Length and acceleration The speed of vehicle B x-coordinate of the front position of the vehicle And the train commander The speed of vehicle C x-coordinate of the front position of the vehicle And the train commander The speed of vehicle D The x-coordinate of the front position of the car And the train commander Set the speed limit for the road to be [value]. ; Step 3: Input the data of target vehicle A and vehicle B collected in Step 2 into the overtaking intention model for processing to determine... Does target vehicle A need to overtake at any given time? If so, proceed to step 4; otherwise, prohibit overtaking and proceed to step 7. Step 4: Assume target vehicle A is in At all times with speed To overtake, use equations (1) and (2) to calculate the distance of target vehicle A. Overtaking distance at any moment And vehicle B is driving in Distance of time ; (1) (2) In equations (1) and (2), express The safe distance between target vehicle A and vehicle B at all times; express The safe distance between target vehicles A and B when the overtaking is completed after a certain time; and the following: (3) (4) In equations (3) and (4), Indicates the safety distance for compensation. The time during which target vehicle A accelerates; Indicates the safe headway; and includes: (5) Step 5, if If there is vehicle B in front and vehicle C in the second lane, then determine whether equation (6) is true. If it is true, then it means that... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, it indicates... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; (6) In equation (6), for The distance traveled by vehicle C after target vehicle A completes the overtaking maneuver at the specified time; for The distance between target vehicle A and vehicle C at any given time; express The safe distance between target vehicles A and C when the overtaking is completed after a certain time; and the following: (7) (8) In equations (7) and (8), Reaction time; This is the vehicle's maximum braking acceleration; like If there are vehicles B and D ahead, and no vehicles in the second lane, then determine whether equation (9) is true. If it is true, then it means that... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, it indicates... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; (9) In equation (9), for The distance traveled by vehicle D after target vehicle A completes the overtaking maneuver at the specified time. for The distance between target vehicle A and vehicle D at any given time; express The safe distance between target vehicle A and vehicle D when the overtaking is completed after a certain time is given, and the following is also given: (10) (11) like At any given moment, there are vehicles B and D in front, and vehicle C in the second lane; then determine whether equations (8) and (11) are both true. If they are true, then it means... If target vehicle A can overtake vehicle B at any given time, proceed to step 6; otherwise, it indicates... At any given moment, target vehicle A does not meet the overtaking requirements, and step 8 is executed; Step 6: Calculate the safe range of the horizontal coordinate for vehicle A to avoid collision after overtaking in three complex environments; Step 7: Based on the safe range, determine whether the overtaking speed of target vehicle A is appropriate. Adjustments will be made; if so, the adjusted overtaking speed will apply. Overtake; otherwise, At any given moment, target vehicle A must abandon lane changing and is prohibited from overtaking; Step 8, Assign to ,judge If the condition is met, the control process ends; otherwise, return to step 2 and execute sequentially.

2. The dynamic control method for overtaking in a two-lane bidirectional networked environment according to claim 1, characterized in that, Step 6 includes: like At any given moment, there is vehicle B in the front lane and vehicle C in the second lane; then use equations (12) and (13) to calculate The position of vehicle B after overtaking. Position relative to vehicle C Thus obtain The safe range for vehicle A to avoid a collision after overtaking. ; (12) (13) like At any given moment, there are vehicles B and D ahead, and no vehicles in the second lane; then use equations (12) and (14) to calculate The positions of vehicle B and vehicle D after overtaking. ; thereby obtaining The safe range for vehicle A to avoid a collision after overtaking. ; (14) like At any given moment, there are vehicles B and D ahead, and vehicle C in the second lane; then, use equations (12), (13), and (14) to calculate the position of vehicle B after overtaking. The position of vehicle C Position relative to vehicle C ; thereby obtaining The safe range for vehicle A to avoid a collision after overtaking. .

3. The dynamic control method for overtaking in a two-lane bidirectional networked environment according to claim 2, characterized in that, Step 7 includes: like If there is vehicle B in front and vehicle C in the second lane, then the minimum overtaking speed can be calculated using equations (15) and (16). and maximum overtaking speed ; (15) (16) when No ,and At that time, then Adjust to Between, and obtain the adjusted overtaking speed ; when No ,and At that time, then Adjust to Between, and obtain the adjusted overtaking speed ; when At that time, At any given moment, target vehicle A must abandon lane changing and is prohibited from overtaking; like If there are vehicles B and D ahead, and there are no vehicles in the second lane, then the minimum overtaking speed can be calculated using equations (15) and (17). and maximum overtaking speed ; (17) when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking; like At a given moment, there are vehicles B and D ahead, and vehicle C in the second lane; then, the minimum overtaking speed can be calculated using equations (15) and (18). and maximum overtaking speed ; (18) when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when No ,and At that time, then Adjustment And obtain the adjusted overtaking speed. ; when At that time, At any given moment, target vehicle A abandons lane changing and is prohibited from overtaking.

4. An electronic device, comprising a memory and a processor, characterized in that, The memory is used to store a program that supports the processor in executing the dynamic control method according to any one of claims 1-3, and the processor is configured to execute the program stored in the memory.

5. A computer-readable storage medium storing a computer program thereon, characterized in that, The computer program is executed by the processor to perform the steps of the dynamic control method according to any one of claims 1-3.

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