Lane departure warning system

Abstract

Single-lane road passing assistance is provided. Methods and systems are provided for providing single-lane passing assistance for a vehicle. A sensor is configured to obtain sensor data regarding a second vehicle traveling at a lower rate in the same lane as the vehicle. A processor is coupled to the sensor and to one or more remote devices and is configured to at least facilitate: receiving sensor data from the sensor; receiving additional data from the one or more remote devices regarding the road, including oncoming traffic in an adjacent lane; using the sensor data and the additional data to determine a passing maneuver for the vehicle to pass the second vehicle and a level of caution associated with the passing maneuver; and performing a vehicle control action based on the passing maneuver and the level of caution associated therewith via instructions provided by the processor.

Description

Technical Field

[0001] The technical field generally relates to vehicles, and more specifically to systems and methods for providing overtaking assistance to drivers of vehicles. Background Technology

[0002] Nowadays, drivers may encounter situations where they are following slower vehicles in single-lane traffic and may need assistance to overtake them.

[0003] Therefore, it is desirable to provide methods and systems for providing overtaking assistance to vehicles, including in single-lane traffic. Summary of the Invention

[0004] According to an exemplary embodiment, a method is provided, the method comprising: obtaining sensor data about a second vehicle via one or more sensors of a vehicle, the vehicle traveling in a lane along a single-lane road having a single lane in each direction, the second vehicle traveling in the same lane as the vehicle at a lower speed than the vehicle; obtaining additional data about the road, including oncoming traffic in adjacent lanes adjacent to the lane of the vehicle; determining, via a processor of the vehicle, an overtaking maneuver of the vehicle to overtake the second vehicle; and a level of caution associated with the overtaking maneuver; and performing vehicle control actions based on the overtaking maneuver and the associated level of caution based on instructions provided by the processor.

[0005] Also in an exemplary embodiment, the additional data is further obtained from vehicle-to-vehicle communication and includes map data on road features, including whether there is an overtaking lane along the road near the vehicle, and oncoming traffic.

[0006] Also in an exemplary embodiment, the additional data is further obtained from vehicle-to-infrastructure communication and includes map data on road characteristics, including whether there is an overtaking lane along the road near the vehicle, and oncoming traffic.

[0007] Similarly, in an exemplary embodiment, the execution of vehicle control actions includes providing the driver of the vehicle with visual notifications on the vehicle's display screen according to instructions provided by the processor, informing them of the level of caution and indicating whether it is advisable to continue the overtaking maneuver.

[0008] Similarly, in an exemplary embodiment, the execution of vehicle control actions further includes controlling the movement of the vehicle according to instructions provided by the processor, wherein the instructions are executed by one or more of the vehicle's braking system, steering system, and drive system.

[0009] Similarly, in an exemplary embodiment, the level of caution is determined by the processor based on: the relative distance between the vehicle and the second vehicle; the relative distance between the vehicle and an oncoming vehicle in the oncoming traffic; and the speed and acceleration of each of the vehicle, the second vehicle, and the oncoming vehicle.

[0010] Similarly, in an exemplary embodiment, the level of caution is determined by the processor based on whether an overtaking lane exists along the road.

[0011] Similarly, in an exemplary embodiment, the level of caution is determined by the processor according to the following equation: (C) = (TTT) – (O) – (F) – (L), where (C) represents the clearance time between the vehicle and an oncoming vehicle in the oncoming traffic, (L) represents the time to lane change, (F) represents the follow-time gap relative to the second vehicle, (O) represents the time to overtake the second vehicle, and (TTT) represents the time to target relative to the oncoming vehicle in the oncoming traffic.

[0012] Similarly, in the exemplary embodiment, if the gap time is determined to be greater than or equal to a first threshold, the overtaking maneuver is classified as low-risk; if the gap time is alternatively determined to be less than or equal to the first threshold and less than or equal to a second threshold smaller than the first threshold, the overtaking maneuver is alternatively classified as high-risk; and if the gap time is alternatively determined to be less than or equal to the first threshold but greater than the second threshold, the overtaking maneuver is alternatively classified as medium-risk.

[0013] In another exemplary embodiment, a system is provided that includes one or more sensors of a vehicle and a processor of the vehicle. The one or more sensors are configured to acquire sensor data about a second vehicle while the vehicle is traveling in a lane along a single-lane road having a single lane in each direction, the second vehicle traveling in the same lane as the first vehicle at a lower speed compared to the first vehicle. The processor is coupled to the one or more sensors and to one or more remote devices, and is configured to at least facilitate: receiving sensor data from the one or more sensors; receiving additional data about the road from the one or more remote devices, including oncoming traffic in adjacent lanes adjacent to the lane of the first vehicle; determining, using the sensor data and the additional data: an overtaking maneuver by the first vehicle to overtake the second vehicle; and a level of caution associated with the overtaking maneuver; and performing vehicle control actions based on the overtaking maneuver and the associated level of caution, via instructions provided by the processor.

[0014] Also in an exemplary embodiment, the additional data is further obtained from vehicle-to-vehicle communication and includes map data on road features, including whether there is an overtaking lane along the road near the vehicle, and oncoming traffic.

[0015] Also in an exemplary embodiment, the additional data is further obtained from vehicle-to-infrastructure communication and includes map data on road characteristics, including whether there is an overtaking lane along the road near the vehicle, and oncoming traffic.

[0016] Also in an exemplary embodiment, the processor is further configured to at least facilitate the execution of vehicle control actions by providing visual notifications to the driver of the vehicle on a display screen according to instructions provided by the processor, informing them of the level of caution and indicating whether to recommend continuing overtaking maneuvers.

[0017] Similarly, in an exemplary embodiment, the processor is further configured to at least facilitate the execution of vehicle control actions by providing haptic notifications to the driver of the vehicle.

[0018] Similarly, in an exemplary embodiment, the processor is further configured to at least facilitate the execution of vehicle control actions by controlling the movement of the vehicle according to instructions provided by the processor, and these instructions are executed by one or more of the vehicle's braking system, steering system, and drive system.

[0019] In another exemplary embodiment, the processor is further configured to facilitate the determination of a level of caution based at least on: the relative distance between the vehicle and the second vehicle; the relative distance between the vehicle and an oncoming vehicle in the oncoming traffic; and the speed and acceleration of each of the vehicle, the second vehicle, and the oncoming vehicle, and further based on the presence of an overtaking lane along the road.

[0020] Also in an exemplary embodiment, the processor is further configured to at least facilitate the determination of a level of caution according to the following equation: (C) = (TTT) – (O) – (F) – (L), where (C) represents the gap time between the vehicle and an oncoming vehicle in the oncoming traffic, (L) represents the lane change time, (F) represents the following time interval relative to the second vehicle, (O) represents the time to overtake the second vehicle, and (TTT) represents the target time relative to the oncoming vehicle in the oncoming traffic.

[0021] Also in an exemplary embodiment, the processor is further configured to at least facilitate classifying overtaking maneuvers as: a low-risk level if the gap time is determined to be greater than or equal to a first threshold; a high-risk level if the gap time is alternatively determined to be less than or equal to the first threshold and less than or equal to a second threshold smaller than the first threshold; and a medium-risk level if the gap time is alternatively determined to be less than or equal to the first threshold but greater than the second threshold.

[0022] In another exemplary embodiment, a vehicle is provided, including a body, a drive system, a display system, one or more sensors, a transceiver, and a processor. The drive system is configured to move the body. The display system has a display screen. The one or more sensors are configured to acquire sensor data about a second vehicle while the vehicle is traveling along a lane of a single-lane highway, the single-lane highway having a single lane in each direction, the second vehicle traveling in the same lane as the first vehicle at a lower speed compared to the first vehicle. The transceiver is configured to receive additional data about the road from one or more remote devices via vehicle-to-vehicle communication, vehicle-to-infrastructure communication, or both. The additional data includes whether an overtaking lane is present near the vehicle along the road while the vehicle is traveling along the single-lane highway, and oncoming traffic. The processor is coupled to one or more sensors and to a transceiver, and is configured to facilitate at least the following when a vehicle is traveling along a single-lane highway: determining, using the sensor data and the additional data, an overtaking maneuver of the vehicle to overtake a second vehicle; a level of caution associated with the overtaking maneuver; and determining the level of caution according to the following equation: (C) = (TTT) – (O) – (F) – (L), where (C) represents the gap time between the vehicle and an oncoming vehicle in the oncoming traffic, (L) represents the lane change time, (F) represents the following time interval relative to the second vehicle, (O) represents the time to overtake the second vehicle, and (TTT) represents the target time relative to the oncoming vehicle in the oncoming traffic, and includes the overtaking time. Vehicle handling is classified as follows: low risk level, if the gap time is determined to be greater than or equal to a first threshold; high risk level, if alternatively the gap time is determined to be less than or equal to the first threshold and less than or equal to a second threshold smaller than the first threshold; and medium risk level, if alternatively the gap time is determined to be less than or equal to the first threshold but greater than the second threshold; and vehicle control actions are performed based on overtaking maneuvers and associated caution levels via instructions provided by the processor, including performing vehicle control actions by providing visual notifications to the driver of the vehicle on the vehicle's display screen according to instructions provided by the processor, informing them of the caution level and indicating whether it is recommended to continue overtaking maneuvers.

[0023] In another exemplary embodiment, the vehicle further includes a braking system and a steering system; wherein the processor is further configured to at least facilitate the execution of vehicle control actions by controlling the movement of the vehicle according to instructions provided by the processor, and such instructions are executed by one or more of the vehicle's braking system, steering system, and drive system. Attached Figure Description

[0024] The present disclosure will now be described in conjunction with the following accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0025] Figure 1 This is a functional block diagram of a system including a vehicle and a remote device according to an exemplary embodiment, wherein the vehicle has a control system for providing overtaking assistance to the vehicle, including in single-lane traffic;

[0026] Figure 2 This is a flowchart of a process for providing overtaking assistance to a vehicle according to an exemplary embodiment, including in single-lane traffic, and the process can be combined with... Figure 1 This is achieved through a system that includes remote devices and vehicles and their control systems; and

[0027] Figure 3 Depicting according to exemplary embodiments Figure 2 An exemplary implementation of the process steps, namely, the step of calculating the risk factors of overtaking maneuvers in single-lane traffic;

[0028] Figure 4 Depicting according to exemplary embodiments Figure 2 The process (including) Figure 3 An exemplary implementation of the real-time connection (steps); and

[0029] Figures 5 to 8 Depicting via exemplary embodiments Figure 2 The process provides an exemplary implementation of the display. Detailed Implementation

[0030] The following detailed description is exemplary in nature only and is not intended to limit this disclosure or its application and use. Furthermore, it is not intended to be bound by the foregoing background or any theories presented in the following detailed description.

[0031] Figure 1 A system 10 including a vehicle 100 and a remote device 170 is shown. (Example) Figure 1As shown, system 10 also includes one or more wireless communication networks 160 that communicatively connect vehicle 100 and remote device 170. In some embodiments, vehicle 100 refers to a number of different vehicles (e.g., in a fleet) that are also connected to remote device 170 via wireless communication network 160 and have similar connectivity to... Figure 1 Features similar to those described in the text and those described below in conjunction with vehicle 100. Also in various embodiments, remote device 170 refers to one or more other vehicles (e.g., for vehicle-to-vehicle communication), remote servers, and / or infrastructure (e.g., traffic lights, signs, road devices, etc., for vehicle-to-infrastructure communication).

[0032] In various embodiments, as described below, vehicle 100 includes a control system 102 for controlling various functions of vehicle 100, including providing overtaking assistance for the vehicle (including in single-lane traffic).

[0033] In various embodiments, vehicle 100 includes an automobile. Vehicle 100 can be any of a variety of different types of automobiles, such as, for example, sedans, station wagons, trucks, or sport utility vehicles (SUVs), and in some embodiments can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD) and / or various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as aircraft, spacecraft, ships, etc., and / or one or more other types of mobile platforms (e.g., robots and / or other mobile platforms).

[0034] In some embodiments, vehicle 100 may include an autonomous or semi-autonomous vehicle, where vehicle control (including propulsion, steering, braking, etc.) is wholly or partially planned and executed automatically by control system 102. In some other embodiments, vehicle 100 may also be wholly or partially operated by a human driver.

[0035] In the depicted embodiment, vehicle 100 includes a body 104 disposed on a chassis 116. The body 104 substantially surrounds the other components of vehicle 100. The body 104 and chassis 116 may together form a frame. Vehicle 100 also includes a plurality of wheels 112. Each wheel 112 is rotatably coupled to the chassis 116 near a corresponding corner of the body 104 to facilitate movement of vehicle 100. In one embodiment, vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0036] The drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example, via axle 114. The drive system 110 preferably includes a propulsion system. In some embodiments, the drive system 110 provides propulsion according to the driver's intention, such as as manifested by the driver pressing the accelerator pedal. Also in some embodiments, the drive system 110 may provide automatic propulsion control as appropriate, based on instructions provided by the control system 102.

[0037] In some exemplary embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator coupled to its transmission. In some embodiments, the drive system 110 may vary, and / or two or more drive systems 110 may be used. For example, the vehicle 100 may also include any one or a combination of a variety of different types of propulsion systems, such as, for example, a combustion engine fueled by gasoline or diesel, a "flexible fuel vehicle" (FFV) engine (i.e., using a mixture of gasoline and ethanol), an engine fueled by gaseous compounds (e.g., hydrogen and / or natural gas), a combustion / electric motor hybrid engine, and an electric motor.

[0038] like Figure 1 As shown, in various embodiments, vehicle 100 also includes a braking system 108 and a steering system 109. In an exemplary embodiment, braking system 108 controls the braking of vehicle 100 using braking components controlled via input provided by the driver (e.g., via brake pedal 101 in some embodiments) and / or automatically controlled as appropriate by control system 102.

[0039] Similarly, in an exemplary embodiment, the steering system 109 controls the steering of the vehicle 100 via steering components (e.g., a steering column coupled to axle 114 and / or wheel 112), which are controlled via input provided by the driver (e.g., via steering wheel 103 in some embodiments) and / or automatically controlled as appropriate via the control system 102.

[0040] exist Figure 1 In the illustrated embodiment, the control system 102 is coupled to the braking system 108, the steering system 109, and the drive system 110, as well as to the remote device 170. As described above, in some embodiments, the vehicle 100 includes one or more functions automatically controlled via the control system 102, including providing overtaking assistance for the vehicle (including in single-lane traffic).

[0041] like Figure 1 As shown, in various embodiments, the control system 102 includes a sensor array 120, a position system 130, a transceiver 133, a display system 135, and a controller 140.

[0042] In various embodiments, sensor array 120 includes various sensors that acquire sensor data relating to the operation of vehicle 100 and the road on which vehicle 100 travels and other vehicles on the road. In the depicted embodiments, sensor array 120 includes one or more radar sensors 121, cameras 122, and / or lidar sensors 124. In various embodiments, sensor array 120 includes one or more speed sensors 125, accelerometers 126, and / or other sensors 128.

[0043] In various embodiments, radar sensor 121, camera 122, and / or lidar sensor 124 acquire detection sensor data outside vehicle 100. In various embodiments, the detection sensor data relates to other vehicles detected along the road along which vehicle 100 is traveling.

[0044] Similarly, in various embodiments, speed sensor 125 acquires speed sensor data (or rate sensor data) about the speed or rate of vehicle 100. In some embodiments, speed sensor 125 includes one or more wheel speed sensors coupled to one or more wheels 112 of vehicle 100.

[0045] Similarly, in various embodiments, accelerometer 127 obtains acceleration data about the acceleration data of vehicle 100.

[0046] In various embodiments, the sensor array 120 may also include one or more other sensors 128, such as, for example, one or more transmission and / or gear position sensors of the vehicle 100 (e.g., regarding whether the engine is on and / or the current gear of the vehicle 100), one or more other detection sensors (for detecting other vehicles or objects on the road in which the vehicle 100 is traveling, e.g., one or more sonar sensors), one or more input sensors (e.g., for the driver to approve or initiate overtaking maneuvers to catch up with a slower vehicle in the same lane), and / or one or more other types of sensors.

[0047] Similarly, in various embodiments, the location system 130 is configured to acquire and / or generate positioning and / or location data regarding the vehicle 100's movement and / or impending stop. In some embodiments, the location system 130 includes and / or is connected to satellite-based networks and / or systems, such as the Global Positioning System (GPS) and / or other satellite-based systems, and / or uses the Transmission Control Protocol (TCP), etc.

[0048] In some embodiments, vehicle 100 also includes transceiver 133. In various embodiments, transceiver 133 communicates with remote device 170 via one or more wireless communication networks 160.

[0049] In various embodiments, the display system 135 provides information or instructions to the driver and / or other occupants of the vehicle 100. In some embodiments, the display system 135 provides the driver with instructions or suggestions related to vehicle assistance (including in single-lane traffic), among other possible information. In some embodiments, the display system 135 may provide a visual description related to assisted control actions on a display screen. In some other embodiments, one or more audio, haptic, and / or other notifications may also be provided. Also in some embodiments, in addition to a display screen, the display system 135 may include an infotainment system, a head-up display, a windshield display, and an augmented reality display, as well as other possible features and components.

[0050] In various embodiments, controller 140 is coupled to sensor array 120, position system 130, transceiver 133, and display system 135, and in various embodiments is also coupled to remote device 170. Also in various embodiments, controller 140 includes a computer system (referred to herein as computer system 140) and includes processor 142, memory 144, interface 146, storage device 148, and computer bus 150. In various embodiments, controller (or computer system) 140 performs assistance to the vehicle (including in single-lane traffic) based on sensor data obtained from sensor array 120, and in some embodiments, position data obtained from position system 130 (and, also in various embodiments, data obtained from remote device 170 via transceiver 133). In various embodiments, controller 140... Figures 2 to 8 These and other functionalities are provided as shown in the diagram and in the steps described below in conjunction with the further description of the process and implementation.

[0051] In various embodiments, the controller 140 (and in some embodiments, the control system 102 itself) is disposed within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 116. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be disposed outside the body 104, for example, on a remote device, in the cloud, or in another device that remotely performs image processing.

[0052] It should be understood that controller 140 may otherwise differ from... Figure 1 The embodiments shown are illustrated. For example, controller 140 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example, as part of one or more of the equipment and systems of the vehicle 100 described above.

[0053] In the depicted embodiment, the computer system of controller 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. The processor 142 performs the computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit (such as a microprocessor), or any suitable number of integrated circuit devices and / or circuit boards that work together to perform the functions of the processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144 and thus controls the general operation of controller 140 and its computer system, typically in the course of performing the processes described herein, such as... Figures 2 to 8 The process and implementation are shown below and further described in conjunction with it.

[0054] Memory 144 can be any suitable type of memory. For example, memory 144 can include various types of dynamic random access memory (DRAM), such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 144 is located on and / or co-located with processor 142 on the same computer chip. In the depicted embodiments, memory 144 stores the aforementioned program 152, as well as map data 153 (e.g., from location system 130 and / or transceiver 133 and / or used in conjunction with it) and one or more stored values ​​154 (e.g., including thresholds in various embodiments).

[0055] Bus 150 is used to transfer programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication with the computer system of controller 140, for example, from system drives and / or another computer system, and can be implemented using any suitable methods and means. In one embodiment, interface 146 obtains various data from sensor array 120, position system 130, and / or remote device 170. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to storage devices such as storage device 148.

[0056] Storage device 148 can be any suitable type of storage device, including various types of direct access storage and / or other memory devices. In one exemplary embodiment, storage device 148 includes a program product from which memory 144 can receive program 152, which executes. Figures 2 to 8And one or more embodiments thereof, in conjunction with the processes and implementations further described below. In another exemplary embodiment, the program product may be stored directly in memory 144 and / or disk (e.g., disk 157) and / or otherwise accessed by memory and / or disk, as referenced below.

[0057] Bus 150 can be any suitable physical or logical device for connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0058] It should be understood that although this exemplary embodiment is described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as a program product having one or more types of non-transitory computer-readable signal-bearing media for storing the program and its instructions and for performing its distribution, such as a non-transitory computer-readable medium carrying the program and containing computer instructions stored therein for causing a computer processor (such as processor 142) to execute and run the program. Such program products can take many forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used for performing the distribution. Examples of signal-bearing media include recordable media (such as floppy disks), hard disk drives, memory cards, and optical disks, as well as transmission media (such as digital and analog communication links). It should be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it should be understood that the computer system of controller 140 may also be otherwise connected to… Figure 1 The embodiments shown differ, for example, in that the computer system of controller 140 may be connected to one or more remote computer systems and / or other control systems or may otherwise utilize one or more remote computer systems and / or other control systems.

[0059] Continue to refer to Figure 1 ,like Figure 1 As shown and as described above, in various embodiments, the remote device 170 is connected to the vehicle 100 via one or more wireless communication networks 160. Similar to the discussion above, in various embodiments, Figure 1 The remote device 170 shown may represent one or more different remote devices 170, which may include one or more other vehicles (e.g., for vehicle-to-vehicle communication), remote servers and / or infrastructure (e.g., traffic lights, signs, road devices, etc., for vehicle-to-infrastructure communication) and / or a part of them and / or connected to them.

[0060] In various embodiments, remote device 170 provides sensor data and / or other information about the road on which vehicle 100 is traveling, as well as other vehicles and other objects on the road.

[0061] In various embodiments, the remote device 170 utilizes a transceiver 172 and a computer system 180 including a processor 182 and a memory 184, as well as features similar to those described above in conjunction with the vehicle 100 (e.g., the vehicle 100's transceiver 133, controller / computer system 140, processor 142, memory 144, etc.), and other components to provide these functions.

[0062] Reference Figure 2 A flowchart is provided for a process 200 for providing overtaking assistance to a vehicle (including in single-lane traffic) according to an exemplary embodiment. In various embodiments, process 200 may be combined with Figure 1 The system 10 is implemented, including vehicle 100 (including its control system 102), remote device 170, and other components thereof. Similarly, in various embodiments, process 200 can also be implemented in combination with various other implementations, such as… Figures 3 to 8 As shown, and further described below.

[0063] like Figure 2 As shown, in some embodiments, process 200 begins when vehicle 100 is started and / or begins operation (e.g., during current vehicle driving). In one embodiment, the steps of process 200 are performed continuously during vehicle operation.

[0064] In various embodiments, data is obtained (step 202). In various embodiments, sensor data, location data, and map data are obtained. Specifically, in various embodiments, data is obtained from... Figure 1 The sensor array 120 obtains information about the road, other vehicles detected on the road (i.e., from...). Figure 1 (radar sensor 121, camera 122 and / or lidar sensor 124) and the operation of the vehicle 100 (i.e., from Figure 1 Sensor data from the speed sensor 125 and / or accelerometer 126, and data from... Figure 1 The location system 130 provides location data about the location of vehicle 100, and additional sensor data about the road and other vehicles on the road is obtained from remote device 170. Also in various embodiments, map data about the road is obtained via vehicle 100's memory 144 and / or from remote device 170.

[0065] In various embodiments, it is determined that vehicle 100 is traveling on a road with a single lane (step 206). Specifically, in various embodiments, during step 206, processor 142 determines, based on the data from step 204, that vehicle 100 is traveling along a road with only a single lane in the same direction as the direction of movement of vehicle 100, such that vehicle 100 needs to turn into the opposite lane to overtake another vehicle traveling in the same current lane as vehicle 100.

[0066] In various embodiments, when vehicle 100 is traveling in a single lane, another vehicle is detected (step 208). Specifically, in various embodiments, one or more detection sensors (such as...) Figure 1 The radar sensor 121, camera 122, and / or lidar sensor 124 detect other vehicles moving slower than vehicle 100 in the same lane. In various embodiments, the slower vehicle is traveling at a speed less than the posted legal speed limit, and the difference is at least as large as a predetermined threshold (i.e., stored in memory 144 as its stored value 154 in some embodiments).

[0067] In various embodiments, an overtaking maneuver is requested (step 210). Specifically, in various embodiments, Figure 1 The processor 142 provides instructions to the display system 135 to provide suggestions to the driver (e.g., via a visual display on the screen) in order for the driver to initiate or approve overtaking maneuvers to catch up with slower vehicles.

[0068] In various embodiments, it is determined whether the driver has approved the request (step 212). Specifically, in various embodiments, processor 142 determines whether the driver has approved the request from step 210 to initiate or approve an overtaking maneuver to allow vehicle 100 to overtake (e.g., via one or more input sensors, such as in some embodiments...). Figure 1 (Input sensors among the other sensors 128).

[0069] In various embodiments, if it is determined in step 212 that the driver has not approved the overtaking maneuver request, the process returns to step 208. In various embodiments, steps 208-212 continue in various iterations until it is determined in the iteration of step 212 that the driver has approved the overtaking maneuver request.

[0070] Conversely, in various embodiments, once it is determined in the iteration of step 212 that the driver has approved the request for overtaking maneuver, it is determined whether performing the overtaking maneuver is legal (step 214). Specifically, in various embodiments, during step 214, processor 142 determines whether overtaking a slower-moving vehicle in the same lane is legal, given the current road conditions and applicable laws and regulations. Specifically, in various embodiments, data from camera data (e.g., from camera 122), map data (e.g., Figure 1 The system determines lane markings and / or information about lanes and roads from memory 144 (map data 153, etc.) to determine the legality of potential overtaking maneuvers. For example, in various embodiments, dashed lane markings may indicate that overtaking is permitted, while solid lane markings may indicate that overtaking is not permitted, and so on.

[0071] In various embodiments, if it is determined in step 214 that the overtaking maneuver is illegal, the process proceeds to step 216. In various embodiments, during step 216, a high level of caution is applied, and processor 142 determines that the overtaking maneuver is inappropriate. Also in some embodiments, based on instructions provided by processor 142, Figure 1 The display system 135 provides a notification informing the user that overtaking is inappropriate. In some embodiments, a visual notification is provided. In some embodiments, one or more other notifications (e.g., audio and / or haptic) may also be provided. Also in various embodiments, the notification includes the reason why overtaking is inappropriate (e.g., in this example, due to the illegality of the overtaking maneuver as reflected by lane markings).

[0072] In various embodiments, one or more other vehicle actions may also be taken (step 230). Specifically, in some embodiments, when overtaking maneuvers have begun and it is subsequently determined that completing the overtaking maneuver may be undesirable (e.g., due to changes in the speed or acceleration of vehicle 100 and / or one or more other vehicles, and / or one or more other circumstances), processor 142 may provide instructions (e.g., via display system 135) to the display in order for the driver to abort the overtaking maneuver and instead return to the original driving lane (e.g., retreat behind a slower-moving vehicle). Also in some embodiments, if the driver has selected an automatic assistance feature, processor 142 may provide instructions to braking system 108, steering system 109, and / or drive system 110, which execute the instructions to automatically control all or part of the movement of vehicle 100, including for performing and / or aborting overtaking maneuvers as determined by processor 142 and / or for providing resistance (e.g., steering resistance) as a warning to the driver, etc. In various embodiments, the process then terminates at 232.

[0073] Returning to step 214, in various embodiments, if it is alternatively determined in step 214 that the overtaking maneuver is legal, the process proceeds instead to step 218. In various embodiments, during step 218, processor 142 determines whether an overtaking lane is nearby. Specifically, in various embodiments, during step 218, processor 142 determines whether there is an approaching overtaking lane along the road in the current direction of travel of vehicle 100, allowing vehicle 100 to use that overtaking lane to overtake and catch up with slower-moving vehicles. Specifically, in various embodiments, processor 142 determines whether an overtaking lane is nearby based on map data regarding the presence of an overtaking lane within a predetermined distance of vehicle 100 (e.g., in some embodiments, approximately two to five miles, although this may vary in other embodiments).

[0074] In various embodiments, if it is determined in step 218 that the overtaking lane is approaching, the process proceeds to step 216 described above. As mentioned above, in various embodiments, processor 142 determines during step 216 that the overtaking maneuver is inappropriate. Also in some embodiments, based on instructions provided by processor 142, Figure 1 The display system 135 (which may include, for example, a display screen, an infotainment system, a head-up display, a windshield display, and an augmented reality display, etc.) provides a notification informing that overtaking is appropriate. In some embodiments, a visual notification is provided. In some embodiments, one or more other notifications (e.g., audio and / or haptic) may also be provided. Also in various embodiments, the notification includes the reason why overtaking is inappropriate (e.g., in this example, the overtaking lane may actually be easier to use to overtake a slower-moving vehicle because there is one for several miles).

[0075] In various embodiments, the process then proceeds to step 230 above, where one or more other vehicle actions may also be taken. Specifically, in the example above, overtaking is inappropriate due to the approaching overtaking lane. Also in some embodiments where the driver has selected features for automatic assistance, processor 142 may automatically control all or part of braking, steering, and / or propulsion (e.g., via braking system 108, steering system 109, and / or drive system 110), similar to the discussion above. In various embodiments, the process then terminates at 232.

[0076] Returning to step 218, in various embodiments, if it is alternatively determined in step 218 that the overtaking lane is not imminent, the process proceeds to step 220. In various embodiments, during step 220, processor 142 performs an assessment regarding whether an overtaking maneuver can be safely performed. Specifically, in various embodiments, during step 220, processor 142 assesses whether the primary vehicle 100 can successfully complete an overtaking maneuver by using an adjacent lane to overtake a slowly moving vehicle and then returning to its current lane without contacting oncoming vehicles from the adjacent lane (and further exercising sufficient caution to avoid any concerns and / or anxieties, etc.). In various embodiments, this determination is made by processor 142 using data relating to vehicles, including oncoming traffic in adjacent lanes, such as data from... Figure 1 Sensor data from radar sensor 121, camera 122 and / or lidar sensor 124, and / or via data obtained from... Figure 1 Data from one or more remote devices 170 (e.g., via a remote server, and / or via vehicle-to-vehicle communication or vehicle-to-infrastructure communication, etc.).

[0077] In various embodiments, it is determined whether the detected oncoming vehicle may pose a danger to overtaking maneuvers (step 222). Specifically, in various embodiments, during step 222, Figure 1 The processor 142 determines, based on the evaluation of step 220, whether there is an oncoming vehicle (e.g., in an adjacent lane) that could potentially affect overtaking maneuvers.

[0078] In various embodiments, if it is determined in step 222 that a detected oncoming vehicle may pose a danger to overtaking maneuvers, the process proceeds to step 216 described above. As mentioned above, in various embodiments, during step 216, the processor 142 makes a determination based on the risk level of the overtaking maneuvers (e.g., high risk, medium risk, low risk, as appropriate). Also in some embodiments, according to instructions provided by the processor 142, Figure 1 The display system 135 (for example, as described above, it may include a display screen, infotainment system, head-up display, windshield display, and augmented reality display, etc.) provides a notification informing that overtaking is appropriate. In some embodiments, a visual notification is provided. In some embodiments, one or more other notifications (e.g., audio and / or haptic) may also be provided. Also in various embodiments, the notification includes the reason why overtaking is inappropriate (e.g., in this example, due to the approach of oncoming traffic).

[0079] In various embodiments, the process then proceeds to step 230 above, where one or more other vehicle actions may also be taken. Specifically, in the example above, overtaking is inappropriate due to the approaching overtaking lane. Also in some embodiments, if the driver has selected an automatic assistance feature, the processor 142 may automatically control all or part of the braking, steering, and / or propulsion, similar to what has been discussed above. In various embodiments, the process then terminates at 232.

[0080] In various embodiments, if it is alternatively determined in step 222 that the detected oncoming vehicle is unlikely to pose a danger to overtaking maneuvers, the process proceeds instead to step 228.

[0081] In various embodiments, during step 228, it is determined whether data regarding oncoming traffic is impaired. Specifically, in various embodiments, during step 228, processor 142 determines whether data regarding oncoming traffic is unavailable and / or obstructed, the data originating from (A) sensor data from sensor array 120 (such as radar sensor 121, camera, and / or lidar sensor 124 of vehicle 100) and / or from remote devices 170 (such as via vehicle-to-vehicle communication and / or vehicle-to-infrastructure communication).

[0082] In various embodiments, if it is determined in step 228 that the data regarding oncoming traffic is compromised, the process proceeds to step 229. In various embodiments, during step 229, a moderate level of caution is applied, and during step 228, the processor 142 determines that overtaking maneuvers should be performed with caution. Also in some embodiments, based on instructions provided by the processor 142, Figure 1 The display system 135 provides a notification informing the driver that overtaking should be performed with caution. In some embodiments, a visual notification is provided. In some embodiments, one or more other notifications (e.g., audio and / or haptic) may also be provided. Also in various embodiments, the notification includes the reason why the overtaking maneuver should be performed with caution (e.g., due to the damaging nature of the data).

[0083] In various embodiments, the process then proceeds to step 230 described above, where one or more other vehicle actions may also be taken. Specifically, in the example discussed above where overtaking maneuvers should be performed with caution, in some embodiments, if the driver has selected the automatic control feature, the processor 142 may automatically control all or part of the braking, steering, and / or propulsion (e.g., via braking system 108, steering system 109, and / or drive system 110) in a manner that allows overtaking maneuvers but only with more cautious actions (e.g., via slower speeds and / or other cautious actions). In various embodiments, the process then terminates at 232.

[0084] Returning to step 228, if it is alternatively determined in step 228 that the data regarding oncoming traffic is not compromised, the process proceeds instead to step 224. In various embodiments, during step 224, a risk assessment is performed by calculating a risk factor for overtaking maneuvers in single-lane traffic. Specifically, in various embodiments, processor 142 calculates a risk assessment regarding oncoming traffic using all available data, including sensor data and data from vehicle-to-vehicle communications and vehicle-to-infrastructure communications, etc. In various embodiments, based on the distance between vehicle 100 and oncoming traffic, and also based on the operating parameters of vehicle 100 and oncoming traffic (e.g., speed and acceleration), the likelihood that oncoming traffic will interfere with vehicle 100 performing an overtaking maneuver (or whether vehicle 100 has sufficient space to complete the overtaking maneuver without interference or contact from oncoming traffic vehicles) is assessed.

[0085] In various embodiments, during step 224, if it is deemed that oncoming traffic has a sufficient likelihood to interfere with the overtaking maneuver, such as proving that the high level of caution in step 216 is justified, the process proceeds to step 216, issuing a high level of caution warning as described in step 216, followed by an iteration of step 230 corresponding to the vehicle action in step 216, and so on. In various embodiments, process 200 then terminates at step 232.

[0086] Similarly, in various embodiments, if during step 224 it is alternatively determined that oncoming traffic may potentially interfere with the overtaking maneuver with a lower probability than the high level of caution in step 216, but alternatively has a level of caution corresponding to the moderate level of caution in step 229, then the process alternatively proceeds to step 229, issuing the moderate caution warning of step 219, followed by an iteration of step 230 corresponding to the vehicle action of the moderate caution warning of step 219, and so on. In various embodiments, process 200 then terminates at step 232.

[0087] Furthermore, in various embodiments, if during step 224 it is alternatively determined that oncoming traffic may potentially interfere with the overtaking maneuver with a lower probability than the moderate level of caution in step 229, but alternatively with a low level of caution (such as determining that oncoming traffic does not pose a risk to the overtaking maneuver), then the process is alternatively carried out to step 226.

[0088] In various embodiments, during step 226, a low level of caution is applied, and processor 142 determines that overtaking maneuvers are appropriate. Also in some embodiments, based on instructions provided by processor 142, Figure 1The display system 135 provides a notification informing that overtaking is appropriate. In some embodiments, a visual notification is provided. In some embodiments, one or more other notifications (e.g., audio and / or haptic) may also be provided. Also in various embodiments, the notification includes the reason why overtaking is appropriate (e.g., in this example, due to the illegality of the overtaking maneuver as reflected by lane markings).

[0089] In various embodiments, one or more other vehicle actions may also be taken (step 230). Specifically, in the overtaking examples discussed above, in some embodiments, during step 230, if the driver has selected an automatic assistance feature, the processor 142 may automatically control all or part of the braking, steering, and / or propulsion (e.g., via braking system 108, steering system 109, and / or drive system 110) in a manner that performs and / or allows the driver to freely perform overtaking maneuvers. In various embodiments, the process then terminates at 232.

[0090] Figures 3 to 8 Provided according to exemplary embodiments Figure 2 An exemplary implementation of process 200.

[0091] First refer to Figure 3 Provides information about, according to exemplary embodiments Figure 2 A flowchart illustrating an exemplary implementation of the process steps, namely, the step of calculating the risk factor for overtaking maneuvers in single-lane traffic. Figure 2 (Steps).

[0092] like Figure 3 As shown, vehicle 100 travels along road 302, which has single-lane traffic in each of two directions. Specifically, vehicle 100 travels in a first lane 303, which is adjacent to a second lane 304 in which vehicles travel in the opposite direction. Similarly... Figure 1 As shown, the slower-moving vehicle 306 is also traveling in front of vehicle 100 in the first lane 303, and the oncoming vehicle 308 is traveling in the second lane 304.

[0093] In various embodiments, similar to the above description... Figure 2 In addition to the discussion of whether there is an approaching overtaking lane along the road along which vehicle 100 is traveling, processor 142 also determines the level of caution for the proposed overtaking maneuver based on the relative distance between the vehicle and the second vehicle, the relative distance between the vehicle and the oncoming vehicle in the oncoming traffic, and the speed and acceleration of each of the first vehicle, the second vehicle and the oncoming vehicle.

[0094] In addition, such as Figure 3 As shown, additional parameters are used in various embodiments. For example, such as Figure 3 As shown, in an exemplary embodiment, the slower-moving vehicle 306 has a length of 322. Furthermore, in addition to the space 326 required after overtaking, a minimum overtaking interval 324 is determined for overtaking the slower-moving vehicle 306 (e.g., to provide a buffer or relief when passing the slower-moving vehicle 306 without causing any collision or concern between vehicle 100 and the slower-moving vehicle 306, etc.). In some embodiments, the distance (D) 320 between vehicle 100 and the oncoming vehicle 308 is determined based on the sum of the length 322, the minimum overtaking interval 324, and the space 326 required after overtaking.

[0095] Similarly, Figure 3 As shown, in various embodiments, different parameters are used to calculate the risk factor. Lane change time (L) 312 is determined as the amount of time required for vehicle 100 to move into the second lane 304. Furthermore, following interval (F) 314 is used to allow vehicle 100 to follow the slower-moving vehicle 306. Additionally, overtaking time (O) 316 represents the amount of time required for vehicle 100 to reach the point where it can safely return to the first lane 303 after overtaking the slower-moving vehicle 306 (i.e., after overtaking the slower-moving vehicle 306 and traveling beyond the minimum overtaking interval 324 and the space required after overtaking 326). Figure 3 As shown, in an exemplary embodiment, the target time (TTT) 310, calculated in seconds, is equal to the sum of each of the lane change time (L) 312, the following time interval (F) 314, and the overtaking time (O) 316.

[0096] Furthermore, the gap time (C) is calculated as the amount of time between vehicle 100 and oncoming vehicle 308 when vehicle 100 performs an overtaking maneuver in second lane 304. According to an exemplary embodiment, the gap time represents the amount of time before oncoming vehicle 308 will collide with vehicle 100 (in the case where both vehicles continue to travel along their respective paths (and at their respective speeds and accelerations) in the same lane (i.e., second lane 304).

[0097] In various embodiments, as part of step 224, the gap time (C) is calculated according to the following equation:

[0098] (C)=(TTT)–(O)–(F)–(L)(Equation 1),

[0099] Where (C) represents the gap time, (L) represents the lane change time 312, (F) represents the following time interval 314, (O) represents the overtaking time 316, and (TTT) represents the target time 310, as described above. Figure 3 As stated above.

[0100] In various embodiments, during step 224, if the gap time is determined to be greater than or equal to a first threshold, the overtaking maneuver is classified as... Figure 2 Step 226 is associated with a first (e.g., low) risk level (and provides an associated display and takes corresponding actions, as described above). Figure 2 The above).

[0101] Conversely, in various embodiments, also during step 224, if it is alternatively determined that the gap time is less than or equal to a first threshold and less than or equal to a second threshold (where the second threshold is less than the first threshold), then the overtaking maneuver is alternatively classified as... Figure 2 Step 216 is associated with a second (e.g., high) risk level (and provides an associated display and takes corresponding actions, as described above). Figure 2 The above).

[0102] Furthermore, in various embodiments, also during step 224, if it is alternatively determined that the gap time is less than or equal to a first threshold but greater than a second threshold, then the overtaking maneuver is alternatively classified as... Figure 2 Step 229 associates a third (e.g., medium) risk level (and provides an associated display and takes corresponding actions, as described above). Figure 2 The above).

[0103] In various embodiments, the first threshold, the second threshold, and the third threshold are stored as storage value 154. Figure 1 The threshold is stored in memory 144. In various embodiments, the threshold may depend on the driver and / or the driver's driving behavior, as well as other possible variations.

[0104] Figure 4 An exemplary illustration 400 is provided, which depicts an embodiment of the present invention. Figure 2 Process 200 (including process 200 and in Figure 3 An exemplary implementation of the real-time connection described in step 224). Figure 4 As shown, in an exemplary embodiment, vehicle 100 connects to one or more remote servers 402 in the cloud via one or more wireless communication networks 160, and to one or more other vehicles 404 and one or more infrastructures 406 (e.g., traffic lights, signs, road devices, and / or other infrastructure). In various embodiments, vehicle 100 communicates with other vehicles 404 via vehicle-to-vehicle (V2V) communication and with infrastructure via vehicle-to-infrastructure (V2X) communication, and so on.

[0105] In various embodiments, each of the remote server 402, other vehicle 404, and infrastructure 406 may correspond to and / or include and / or be connected to. Figure 1 One or more remote devices 170. Also in various embodiments, each of the remote server 402, other vehicles 404 and infrastructure 406 can provide data (such as sensor data, location data, map data, etc.) about the road on which vehicle 100 travels and other vehicles traveling along the road (e.g., in the same lane as vehicle 100 and in the lane adjacent to vehicle 100).

[0106] Figures 5 to 8 Depicting via exemplary embodiments Figure 2 The process 200 provides an exemplary implementation of the display. In various embodiments, Figures 5 to 8 Each display corresponds to one of step 216 (e.g., a display with high caution), step 229 (e.g., a display with medium caution), or step 226 (e.g., a display with low caution). In some embodiments, each display is provided on the front dashboard of the vehicle 100 and / or elsewhere in a location visible to the driver (e.g., on a navigation screen in some embodiments, etc.).

[0107] First refer to Figure 5 A first display 500 is provided according to an exemplary embodiment. For example... Figure 5 As shown, the first display 500 includes general information about vehicle speed, transmission gear, engine torque, etc., and a driver assistance display 502, which relates to possible overtaking maneuvers to catch up with a slower vehicle moving in front of vehicle 100 and in the same lane as vehicle 100.

[0108] exist Figure 5 In the example, the driver assistance display 502 provides a depiction of the slowly moving vehicle 504, and also indicates the desirability of overtaking maneuvers 506 and the route 508 to be taken if an overtaking maneuver is to be performed. Figure 5 In this particular example, the indication of desirability 506 indicates that overtaking maneuvers are not recommended (e.g., as shown by a circle marked with a slash). Also in this particular example, the indication of desirability 506 indicates the reason why overtaking maneuvers are not recommended (e.g., as shown by a depiction of an oncoming vehicle). Also in an exemplary embodiment, the driver assistance display 502 is depicted in a first color (e.g., red) to indicate that a high level of caution should be associated with a potential overtaking maneuver (e.g., corresponding to...). Figure 2 Step 216).

[0109] Next, refer to Figure 6 A second display 600 is provided according to an exemplary embodiment. For example... Figure 6As shown, the second display 600 similarly includes general information about vehicle speed, transmission gear, engine torque, etc., as well as a driver assistance display 602, which relates to possible overtaking maneuvers to catch up with slower vehicles moving in front of vehicle 100 and in the same lane as vehicle 100.

[0110] exist Figure 6 In the example, the driver assistance display 602 provides a depiction of the slowly moving vehicle 604, and also indicates the desirability of overtaking maneuvers 606 and the route 608 to be taken if an overtaking maneuver is to be performed. Figure 6 In this particular example, the indication of desirability 606 indicates that overtaking maneuvers are not recommended (e.g., as shown by a circle marked with a slash). Also in this particular example, the indication of desirability 606 indicates the reason why overtaking maneuvers are not recommended (e.g., as shown by a statement that the overtaking lane will be available in two miles). Also in an exemplary embodiment, the driver assistance display 602 is depicted in a first color (e.g., red) to indicate that a high level of caution should be associated with a potential overtaking maneuver (e.g., corresponding to...). Figure 2 Step 216).

[0111] Reference Figure 7 A third display 700 is provided according to an exemplary embodiment. For example... Figure 7 As shown, the third display 700 similarly includes general information about vehicle speed, transmission gear, engine torque, etc., as well as a driver assistance display 702, which relates to possible overtaking maneuvers to catch up with slower vehicles moving in front of vehicle 100 and in the same lane as vehicle 100.

[0112] exist Figure 7 In the example, the driver assistance display 702 provides a depiction of the slowly moving vehicle 704, and also indicates the desirability of overtaking maneuvers 706 and the route 708 to be taken if an overtaking maneuver is to be performed. Figure 7 In this particular example, the indication of desirability 706 suggests that overtaking maneuvers may not be recommended (e.g., because of the presence of a circle marked with a slash). Also in this particular example, the indication of desirability 706 also suggests the reason why overtaking maneuvers may not be recommended (e.g., as shown by the depiction of oncoming vehicles). Also in an exemplary embodiment, the driver assistance display 702 is depicted in a second color (e.g., yellow) to indicate that a moderate level of caution should be associated with a potential overtaking maneuver (e.g., corresponding to...). Figure 2 Step 229).

[0113] Reference Figure 8 A fourth display 800 is provided according to an exemplary embodiment. For example... Figure 8As shown, the fourth display 800 similarly includes general information about vehicle speed, transmission gear, engine torque, etc., as well as a driver assistance display 802, which relates to possible overtaking maneuvers to catch up with slower vehicles moving in front of vehicle 100 and in the same lane as vehicle 100.

[0114] exist Figure 8 In the example, the driver assistance display 802 provides a depiction of the slowly moving vehicle 804, and also indicates the desirability of overtaking maneuvers 806 and the route 808 to be taken if an overtaking maneuver is to be performed. Figure 8 In this particular example, the indication of desirability 806 suggests that overtaking maneuvers are permitted (e.g., because there is no circle marked with a slash as in the other examples described above). Also in the exemplary embodiment, the driver assistance display 802 is depicted in a third color (e.g., green) to indicate that a low level of caution should be associated with a potential overtaking maneuver (e.g., corresponding to...). Figure 2 Step 226).

[0115] Therefore, methods, systems, and vehicles are provided for providing overtaking assistance to vehicles, including in single-lane traffic. As described herein, in various embodiments, different levels of caution are provided for proposed overtaking maneuvers along a single lane based on various parameters, including the minimum overtaking interval for passing a slower-moving vehicle in the same lane, the space required after overtaking the slower-moving vehicle, lane change time, following interval, time to overtake the slower-moving vehicle, and gap time relative to oncoming traffic in adjacent lanes, as illustrated in the figures and described above in conjunction with various embodiments.

[0116] It should be understood that the systems, vehicles, and methods may differ from those shown in the figures and described herein. For example, system 10 (including...) Figure 1 The remote device 170, vehicle 100 and its control system 102 and / or other components) can communicate with Figure 1 The difference is shown. Similarly, it should be understood that... Figures 2 to 8 The process and implementation steps may differ from those shown in the figure, and / or various steps may occur simultaneously and / or occur in a different order than that shown in the figure.

[0117] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the exemplary embodiments or multiple exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing the exemplary embodiments or multiple exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method, the method comprising: Sensor data about a second vehicle is obtained via one or more sensors of the vehicle, the vehicle being driven in a lane along a single-lane road having a single lane in each direction, the second vehicle being driven in the same lane as the vehicle being driven at a lower speed than the vehicle being driven. Obtain additional data about the road, including oncoming traffic in adjacent lanes adjacent to the vehicle's lane; The vehicle's processor uses the sensor data and the additional data to determine: The vehicle's overtaking maneuver to overtake the second vehicle; and The level of caution associated with the overtaking maneuver; as well as Vehicle control actions are performed based on the overtaking maneuver and the associated level of caution, as instructed by the processor.

2. The method of claim 1, wherein the additional data is further obtained from vehicle-to-vehicle communication and includes map data on the characteristics of the road, including whether there is an overtaking lane along the road near the vehicle, and the oncoming traffic.

3. The method of claim 1, wherein the additional data is further obtained from vehicle-to-infrastructure communication and includes map data on the characteristics of the road, including whether there is an overtaking lane along the road near the vehicle, and the oncoming traffic.

4. The method according to claim 1, wherein the execution of the vehicle control action comprises: According to instructions provided by the processor, the driver of the vehicle is given visual notification on the vehicle's display screen to inform of the level of caution and to indicate whether it is recommended to continue the overtaking maneuver.

5. The method of claim 4, wherein the execution of the vehicle control action further comprises: The movement of the vehicle is controlled according to instructions provided by the processor, and the instructions are executed by one or more of the vehicle's braking system, steering system, and drive system.

6. The method of claim 1, wherein the level of caution is determined by the processor based on: the relative distance between the vehicle and the second vehicle; the relative distance between the vehicle and an oncoming vehicle in the oncoming traffic; and the speed and acceleration of each of the vehicle, the second vehicle, and the oncoming vehicle.

7. The method of claim 6, wherein the level of caution is determined by the processor based on the presence of an overtaking lane along the road.

8. The method of claim 1, wherein the level of caution is determined by the processor according to the following equation: (C)=(TTT)–(O)–(F)–(L), Wherein (C) represents the time interval between the vehicle and the oncoming vehicle in the oncoming traffic, (L) represents the lane change time, (F) represents the following time interval relative to the second vehicle, (O) represents the time to overtake the second vehicle, and (TTT) represents the target time relative to the oncoming vehicle in the oncoming traffic.

9. The method according to claim 8, wherein: If the interval time is determined to be greater than or equal to a first threshold, the overtaking maneuver is classified as a low-risk level. If, alternatively, the gap time is determined to be less than or equal to the first threshold and less than or equal to a second threshold smaller than the first threshold, then the overtaking maneuver is alternatively classified as a high-risk level. and If, alternatively, the gap time is determined to be less than or equal to the first threshold but greater than the second threshold, then the overtaking maneuver is alternatively classified as a medium-risk level.

10. A system comprising: One or more sensors of a vehicle are configured to acquire sensor data about a second vehicle while the vehicle is traveling in a lane along a single-lane road having a single lane in each direction, the second vehicle traveling in the same lane as the vehicle at a lower speed than the vehicle. and A processor, coupled to the one or more sensors and coupled to one or more remote devices, and configured to at least facilitate: Receive sensor data from the one or more sensors; Receive additional data about the road from the one or more remote devices, including oncoming traffic in adjacent lanes adjacent to the lane of the vehicle; Using the sensor data and the additional data, determine: The vehicle's overtaking maneuver to overtake the second vehicle; and The level of caution associated with the overtaking maneuver; as well as Vehicle control actions are performed based on the overtaking maneuver and the associated level of caution, as instructed by the processor.

Images