Vehicle control method and vehicle control system

Abstract

To provide an object vehicle control method and a vehicle control system for improving safety of an object vehicle with respect to overtaking by a rear vehicle.SOLUTION: An object vehicle control method is related to overtaking by a rear vehicle using an on-coming lane under the condition that an on-coming vehicle approaches. The control method comprises: a step for specifying a travel state of each of an object vehicle, the on-coming vehicle, and the rear vehicle; and a step for controlling an object vehicle 10 so as to reduce the travel speed of the object vehicle and / or change the travel direction of the object vehicle for enabling overtaking of the object vehicle by the rear vehicle in a state where present travel states of the specified object vehicle, the on-coming vehicle, and the rear vehicle are in a state of not allowing the rear vehicle to overtake the object vehicle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a method for controlling a target vehicle against overtaking by a rear vehicle, and a vehicle control system. [Background technology]

[0002] Patent Document 1 discloses an apparatus and method relating to a technology for recognizing another vehicle that cuts in front of a target vehicle within a short distance during traffic congestion (for example, when the vehicle speed is 30 km / h or less).

[0003] Patent Document 2 relates to an apparatus and method for determining whether the operation of a surrounding or nearby vehicle constitutes cutting in, and aims to accurately determine the operation of the surrounding or nearby vehicle. According to this document, information on a first surrounding vehicle detected by a forward radar device and information on a second surrounding vehicle detected by a corner radar are combined to determine the movement of the surrounding vehicle.

[0004] Patent Document 3 discloses a method and device for estimating the movement of a rear vehicle ahead of a target vehicle by referring to camera data, radar data, and sensor data.

[0005] Patent Document 4 discloses a corner radar that calculates the movement of surrounding vehicles based on information about the surrounding vehicles detected by a sensor, and determines the intention of the surrounding vehicles to cut in by turning. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] German Patent Application Publication No. 102020209498 [Patent Document 2] US Patent Application Publication No. 2019 / 0184987 [Patent Document 3] German Patent Application Publication No. 102018217045 [Patent Document 4] Korean Patent Registration No. 10-2383433 Summary of the Invention [Problem to be solved by the invention]

[0007] When a vehicle behind is attempting to overtake a target vehicle (the vehicle itself) using the oncoming lane and an oncoming vehicle is present, there is a concern that the vehicle behind will steer toward the target vehicle to avoid a collision with the oncoming vehicle, resulting in contact between the target vehicle and the vehicle behind.

[0008] It is an object of the present disclosure to provide a vehicle control method and a vehicle control system for improving the safety of a target vehicle against overtaking by a rear vehicle. The above object is achieved by several aspects. [Means for solving the problem]

[0009] The vehicle control method disclosed herein is a method for controlling a target vehicle against overtaking by a rear vehicle, and includes the steps of: identifying the driving conditions of the target vehicle (10), an oncoming vehicle (12), and the rear vehicle (11); and, if the current driving conditions of the identified target vehicle, oncoming vehicle, and rear vehicle do not allow the rear vehicle to overtake the target vehicle, controlling the target vehicle including at least one of reducing the driving speed of the target vehicle and changing the driving direction of the target vehicle to allow the rear vehicle to overtake.

[0010] The vehicle control system of the present disclosure is a vehicle control system for a target vehicle traveling in a lane, and includes a rear detection means configured to detect the distance (D1) between the target vehicle and a rear vehicle and the speed (V1) of the rear vehicle, a front detection means configured to detect the distance (D2) between the target vehicle and an oncoming vehicle and the speed (V2) of the oncoming vehicle, a lane detection means configured to detect the lateral position of the target vehicle in the lane, and a processing means configured to process the data of the distance and speed detected by the rear detection means, the distance and speed detected by the front detection means, and the lateral position detected by the lane detection means to generate an output signal for at least one of reducing the speed of the target vehicle and steering the target vehicle toward the edge of the lane opposite the oncoming lane, so as to allow the rear vehicle to overtake the target vehicle while avoiding a collision between the target vehicle and the rear vehicle.

[0011] According to the vehicle control method / vehicle control system, it is possible to avoid a collision with a rear vehicle based on data observed in the target vehicle (in other words, the reaction of the target vehicle).

[0012] Note that the symbols in parentheses in the claims indicate a correspondence with the specific means described in the embodiments described below as one aspect, and do not limit the technical scope of the present disclosure. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram illustrating a driving situation in which application of the present disclosure can improve safety. [Figure 2] FIG. 1 is a diagram for explaining the prior art. [Figure 3] 1 is a diagram illustrating the operation of the method and control system of the present disclosure. [Figure 4] FIG. 10 is a diagram showing an example of parameters identified to improve the safety of a target vehicle in a situation where the target vehicle is being overtaken by a vehicle behind. DETAILED DESCRIPTION OF THE INVENTION

[0014] The foregoing objects of the present disclosure, together with other objects, features, and advantages thereof, will be more particularly described with reference to the accompanying drawings and corresponding specification details.

[0015] 1 illustrates a situation in which an oncoming vehicle 12 is approaching a target vehicle 10 and a rear vehicle 11, and the rear vehicle 11 is attempting to overtake the target vehicle 10. In such a situation, if there is not enough space in front of the target vehicle 10 for the rear vehicle 11 to complete the overtaking maneuver, an accident may occur.

[0016] The operation of the related prior art will be described in detail using FIGS. 2A to 2D. The prior art here may be understood as a technology that does not have the features of the present disclosure. The leftmost portion of FIG. 2, a, shows a scene in which the following vehicle 11 begins to overtake the target vehicle 10, which is the subject vehicle. Time flows in the order of a to d. As shown in FIG. 2B, all three vehicles, the target vehicle 10, the following vehicle 11, and the oncoming vehicle 12, are moving. Therefore, there is little space for the following vehicle 11 to maneuver in front of the target vehicle 10. As can be seen from FIG. 2C, in order to avoid the approaching oncoming vehicle 12, the distance between the following vehicle 11 and the target vehicle 10 becomes very small. As a result, as shown in FIG. 2D, the following vehicle 11 may collide with the target vehicle 10. In this case, the oncoming vehicle 12 continues on its path without being involved in a collision between the following vehicle 11 and the target vehicle 10.

[0017] The present disclosure relates to a method and control system for predicting and avoiding accidents in the above-mentioned scenario of short-distance overtaking and cutting-in by a rear vehicle 11. For example, the present disclosure may be applied when traveling on a one-lane road with a speed limit of 100 km / h.

[0018] In one embodiment, the target vehicle 10 may be equipped with multiple ADAS sensors, capable of performing forward sensing to detect the speed and distance of objects ahead, rear corner sensing to detect the speed and distance of objects behind, and forward or side sensing to determine the lateral position of the target vehicle 10 in the lane. ADAS stands for advanced driver assistance system. ADAS sensors may be understood to be sensors for recognizing the driving environment, such as cameras, radar, or lidar. The lateral position refers to the driving position of the target vehicle 10 in the road width direction, and is the position of the target vehicle 10 relative to the lane center or lane markings. These sensor data may be used in combination to determine whether the rear vehicle 11, as an overtaking vehicle, is likely to perform a dangerous cutting-in maneuver. The method and control system disclosed herein can avoid serious accidents between the target vehicle 10 and the rear vehicle 11, especially in situations where an oncoming vehicle 12 is approaching in an adjacent lane (i.e., oncoming lane), by ensuring sufficient space for the rear vehicle 11 to complete the overtaking maneuver, even if the rear vehicle 11 does not have the right-of-way. It is desirable that control for avoiding a collision in the target vehicle can be performed based only on data observed by the target vehicle.

[0019] An example in which the method / system of the present disclosure effectively operates is shown in FIGS. 3A to 3D. The leftmost part of FIG. 3, a, shows the rear vehicle 11 beginning to overtake the target vehicle 10. As shown in FIG. 3B, all three vehicles are moving, leaving little space for the rear vehicle 11 to maneuver in front of the target vehicle 10. As shown in FIG. 3C, in FIG. 3C, the target vehicle 10 slows down and moves to the right side of the lane compared to the situation shown in FIG. 2C. As a result, the distance between the rear vehicle 11 and the target vehicle 10 increases. The above-described actions by the target vehicle 10 can avoid a collision between the rear vehicle 11 and the target vehicle 10. Note that, as shown in FIG. 2D, even in FIG. 3D, the oncoming vehicle 12 continues traveling along the route without being caught in the interaction between the target vehicle 10 and the rear vehicle 11.

[0020] 3a to 3d show a case where the oncoming vehicle 12 and the following vehicle 11 are passenger cars, and the target vehicle 10 is a truck. However, the embodiments of the present disclosure are not limited thereto, and the present disclosure may be applicable to any traffic participant that can move linearly on a lane of a roadway. The oncoming vehicle 12, the following vehicle 11, and the target vehicle 10 may each be a bicycle, a motorcycle, a truck, a bus, or the like.

[0021] The control method of the target vehicle 10 for successfully avoiding a collision shown in Fig. 3a to 3d may include two steps. In the first step, the driving situation of the target vehicle 10, the driving situation of the oncoming vehicle 12, and the driving situation of the rear vehicle 11 are determined, taking into consideration the driving situation of the target vehicle 10, the driving situation of the oncoming vehicle 12, and the rear vehicle 11 overtaking the target vehicle 10. The oncoming vehicle 12 is a vehicle that is ahead of the target vehicle 10 and is driving in the opposite direction to the target vehicle 10 and the rear vehicle 11 in the oncoming lane. Determining the driving situation of the rear vehicle 11, taking into consideration the rear vehicle 11 overtaking the target vehicle 10, is a situation determination of the rear vehicle 11 on the assumption that the rear vehicle 11 is about to overtake the target vehicle 10, and may include accelerating at a reasonable acceleration rate that is designed in advance.

[0022] In the second step, based on the driving conditions of the oncoming vehicle 12 and the rear vehicle 11, the target vehicle 10 is controlled so that the rear vehicle 11 can overtake the target vehicle 10. This control of the target vehicle 10 may include at least one of (i) reducing the driving speed of the target vehicle 10 and (ii) changing the direction of travel of the target vehicle 10 away from the oncoming vehicle lane, when it is determined that the current driving conditions of the target vehicle 10, the rear vehicle 11, and the oncoming vehicle 12 do not allow the rear vehicle 11 to overtake the target vehicle 10 in a timely manner.

[0023] The implementation of the above method and a vehicle control system for implementing the above method will now be described in more detail.

[0024] 4 shows an example of parameters that the target vehicle 10 identifies to improve safety in a situation where a vehicle 11 behind is overtaking. The target vehicle 10 may preferably be configured to be able to use ADAS sensors as follows.

[0025] The ADAS sensor for forward sensing related to distance and speed is used to detect the speed V2 of the oncoming vehicle 12 and the distance D2 between the oncoming vehicle 12 and the target vehicle 10 as characteristics of the driving situation of the oncoming vehicle 12. For example, radar or lidar may be used for this forward sensing. The ADAS sensor for forward sensing corresponds to a forward detection means. Such an ADAS sensor that forms a detection range in front of the target vehicle may be referred to as a forward sensor or a forward-system sensor. Note that the speed V2 of the oncoming vehicle 12 may be referred to as the oncoming vehicle speed, and the distance D2 between the oncoming vehicle 12 and the target vehicle 10 may be referred to as a second distance or an oncoming vehicle distance.

[0026] The ADAS sensor for rear corner sensing related to distance and speed is used to detect the speed V1 of the rear vehicle 11 and the distance D1 between the rear vehicle 11 and the target vehicle 10 as characteristics of the driving situation of the oncoming vehicle 12. For example, radar or lidar can be used for rear corner sensing to detect distance and speed. The ADAS sensor for rear sensing corresponds to a rear detection means. Such an ADAS sensor that forms a detection range behind (including diagonally behind) the target vehicle may be referred to as a rear sensor or a rear-system sensor. The speed V1 of the rear vehicle 11 may be referred to as the rear vehicle speed, and the distance D1 between the rear vehicle 11 and the target vehicle 10 may be referred to as a first distance or a rear inter-vehicle distance. The distance D1 is the longitudinal distance from the rear end of the target vehicle 10 to the front end of the rear vehicle 11, and the rear of the target vehicle 10 is expressed as a positive value. The longitudinal direction is the direction in which the lane extends and corresponds to the fore-and-aft direction of the target vehicle 10.

[0027] When the rear inter-vehicle distance D1 is 0, it means that the front end of the rear vehicle 11 is lined up directly beside the rear end of the target vehicle 10. When the distance D1 is smaller than 0 (i.e., a negative value), it means that the front end of the rear vehicle 11 is located on the traveling direction side (i.e., in front of) the rear end of the target vehicle 10, in other words, it means that the rear vehicle 11 is located partially or entirely to the side of the target vehicle 10, or that the rear vehicle 11 has completely overtaken the target vehicle 10.

[0028] 4 is the length of the target vehicle 10, and is also referred to as the target vehicle length. The distance between the oncoming vehicle 12 and the rear vehicle 11 may be calculated by adding up the rear inter-vehicle distance D1, the target vehicle length L, and the oncoming inter-vehicle distance D2. In other words, when calculating the distance between the oncoming vehicle 12 and the rear vehicle 11, the length of the target vehicle 10, in other words, the vertical distance between the front ADAS sensor and the rear ADAS sensor, is taken into consideration.

[0029] The ADAS sensor for forward and / or lateral sensing mounted on the target vehicle 10 for lateral position estimation in a lane is used to detect the distance W from the side of the lane, i.e., the right edge of the lane in the example of FIG. 4, to the target vehicle 10 as a characteristic of the driving situation of the target vehicle 10. The ADAS sensor for lateral position estimation corresponds to a lane detection means. The distance W may be the distance between the target vehicle 10 and a lane mark 101, which serves as a roadway boundary. The distance W may also be referred to as a space width or an avoidance direction distance. The avoidance direction is a direction away from the oncoming lane, which corresponds to the right side in FIG. 4. This lateral position estimation by forward and / or lateral sensing may be performed using, for example, a camera. Furthermore, the driving situation of the target vehicle 10 may be further characterized by the speed Vsbj of the target vehicle 10 and the steering angle S of the target vehicle 10. The driving speed Vsbj and the steering angle S may be acquired, for example, via a CAN (Controller Area Network) bus of the target vehicle 10. The traveling speed Vsbj of the target vehicle 10 may be referred to as the target vehicle speed.

[0030] The traveling conditions of the target vehicle 10, the oncoming vehicle 12, and the following vehicle 11 detected above may be used as follows. First, a time to collision TTC1 between the oncoming vehicle 12 and the following vehicle 11 is determined based on the following vehicle speed V1, the following vehicle distance D1, and the oncoming vehicle speed V2, and the oncoming vehicle distance D2. The time to collision TTC1 may be referred to as a first time to collision. Next, a traveling distance D of the target vehicle 10 to the collision point between the oncoming vehicle 12 and the following vehicle 11 is determined based on the time to collision TTC1 between the oncoming vehicle 12 and the following vehicle 11, the following vehicle speed V1, and the oncoming vehicle speed V2. Note that the collision point may be, for example, a point obtained by dividing the road section from the following vehicle 11 to the oncoming vehicle 12 by the following vehicle speed V1 and the oncoming vehicle speed V2. That is, a point V1 × TTC1 ahead of the current position of the following vehicle 11 may be estimated as the collision point. As mentioned above, the time to collision TTC1 and the collision point may be predicted based on the assumption that the rear vehicle 11 accelerates at a predetermined acceleration (a). The collision point may be estimated to be a point V1×TTC1+(a×TTC1^2) / 2 ahead of the current position of the rear vehicle 11.

[0031] In the next step, the time to collision TTC2 of the target vehicle 10 until the collision point between the oncoming vehicle 12 and the rear vehicle 11 is determined based on the travel distance D of the target vehicle 10 and the travel speed (i.e., target vehicle speed) Vsbj of the target vehicle 10. The time to collision TTC2 of the target vehicle 10 may be determined, for example, by dividing the travel distance D by the target vehicle speed Vsbj, i.e., TTC2 = D / Vsbj. The time to collision TTC2 corresponds to the time it takes for the target vehicle 10 to reach the collision point between the oncoming vehicle 12 and the rear vehicle 11. The time to collision TTC2 of the target vehicle 10 may increase due to deceleration of the target vehicle 10. The time to collision TTC2 of the target vehicle 10 may be rephrased as a second time to collision.

[0032] According to the present disclosure, the time to collision TTC2 for the target vehicle 10 obtained in this manner is used to control the target vehicle 10 so that the following vehicle 11 can overtake the target vehicle 10 as follows: That is, if the rear inter-vehicle distance D1 is equal to or less than 0 and the time to collision TTC2 of the target vehicle 10 is smaller than the first threshold value α, the vehicle control system of the target vehicle 10 reduces the traveling speed Vsbj of the target vehicle 10. Alternatively or in addition, if the rear inter-vehicle distance D1 is equal to or less than 0, the time to collision TTC2 of the target vehicle 10 is smaller than the second threshold value β, and the distance W from the lane edge to the target vehicle 10 is at least equal to or greater than the third threshold value γ, the vehicle control system reduces the traveling speed Vsbj of the target vehicle 10 and steers the target vehicle 10 toward the lane edge. Here, the steering may be, for example, adding a value φ to the steering angle S of the target vehicle 10. The lane edge here refers to the edge of the own lane opposite the oncoming lane, and may be interpreted as the lane marking 101. Steering toward the lane edge corresponds to lateral movement. The thresholds α, β, γ, and φ may be specified, for example, by the automobile manufacturer and may be set, for example, taking safety standards into consideration. The above parameters (α, β, γ, φ, etc.) can be acquired, for example, via the CAN bus of the target vehicle 10. The values ​​of α and β may have a relationship of β<α.

[0033] To clarify the requirements for the ADAS sensors of the target vehicle 10, a worst-case scenario may be assumed in which the absolute speed V1 of the rear vehicle 11, the absolute speed V2 of the oncoming vehicle 12, and the absolute speed Vsbj of the target vehicle 10 are all approximately 100 km / h. Furthermore, in the worst-case scenario, it may be assumed that the rear vehicle 11 is next to the target vehicle 10. The ADAS sensors that perform forward sensing of distance and speed preferably have a high detection range to calculate TTC2 over a sufficient range. For example, if the detection range is 300 m, TTC2 may be 5.4 seconds even in the worst-case scenario described above. Note that, unlike the ADAS sensors for detecting oncoming vehicles, rear corner sensing and forward and / or side sensing for lateral position estimation do not necessarily need to be highly efficient.

[0034] Unlike the prior art, in a situation where an oncoming vehicle 12 is present in an adjacent lane (i.e., the opposite lane), in order to enable the rear vehicle 11 to overtake the target vehicle 10 while avoiding a collision between the target vehicle 10 and the rear vehicle 11, it is useful in this embodiment to consider the following prerequisites.

[0035] In the target vehicle 10, data is shared between one or more front sensors, one or more side sensors, and one or more rear sensors, so a large amount of data needs to be processed. Such sensor data processing may be performed using a centralized architecture. The vehicle control system may include one or more computers as processing means that process data related to the distance and speed of each object detected by the multiple sensors. The vehicle control method of the present disclosure may be executed by the one or more computers as processing means. The one or more computers as processing means may be configured to generate output signals for deceleration or applying a steering angle in an avoidance direction (in other words, lateral movement) and output them to corresponding actuators or electronic control devices.

[0036] Regarding the sharing of sensor data, it is efficient if there is a common output format for sensors, which may be provided as a system solution by a single supplier, for example. The common output format may be realized in a centralized architecture.

[0037] In the present disclosure, instead of receiving vehicle information (such as speed) from the following vehicle 11 and the oncoming vehicle 12, the TTC value is calculated within the target vehicle 10. This increases the calculation speed and shortens the time it takes for the target vehicle 10 to react to the overtaking maneuver of the following vehicle 11.

[0038] <Additional remarks> The present disclosure includes the following first to ninth aspects.

[0039] A method for controlling a target vehicle in relation to overtaking by a rear vehicle according to a first aspect includes the steps of: identifying a driving situation of the target vehicle, a driving situation of an oncoming vehicle, and a driving situation of a rear vehicle; and, when the current driving situations of the identified target vehicle, the oncoming vehicle, and the rear vehicle correspond to situations that do not allow the rear vehicle to overtake the target vehicle, performing control of the target vehicle, including at least one of reducing the driving speed of the target vehicle and changing the driving direction of the target vehicle, to enable the rear vehicle to overtake the target vehicle. Note that, in the present disclosure, an oncoming vehicle is a vehicle traveling in an oncoming lane ahead of the target vehicle. In the present disclosure, a rear vehicle is a vehicle that is attempting to overtake the target vehicle.

[0040] A second aspect included in the present disclosure is a vehicle control method according to the first aspect, wherein determining the driving conditions of the target vehicle includes determining at least one of the driving speed of the target vehicle and the position of the target vehicle in the lane in which the target vehicle is driving.

[0041] According to this control method, collisions can be avoided by a control procedure that can be executed relatively easily.

[0042] A third aspect of the present disclosure is a vehicle control method according to the first or second aspect, wherein the step of determining the driving conditions of the target vehicle, the oncoming vehicle, and the rear vehicle includes a step of specifying a driving speed (V1) of the rear vehicle, a distance (D1) between the rear vehicle and the target vehicle, a driving speed (V2) of the oncoming vehicle, and a distance (D2) between the oncoming vehicle and the target vehicle, and a step of determining the driving conditions of the oncoming vehicle and the rear vehicle based on the driving speed (V1) of the rear vehicle, the distance (D1) between the rear vehicle, the driving speed (V2) of the oncoming vehicle, and the distance (D2) between the oncoming vehicle and the target vehicle. the step of determining the time to collision (TTC1) of the oncoming vehicle and the rear vehicle, the step of determining the distance (D) that the target vehicle will travel to the point of collision between the oncoming vehicle and the rear vehicle based on the time to collision (TTC1) between the oncoming vehicle and the rear vehicle, the traveling speed (V1) of the rear vehicle, and the traveling speed (V2) of the oncoming vehicle, and the step of determining the time to collision (TTC2) of the target vehicle to the point of collision between the oncoming vehicle and the rear vehicle based on the traveling distance (D) of the target vehicle and the traveling speed (Vsbj) of the target vehicle.

[0043] This allows the target vehicle to calculate the information necessary for avoidance control based on sensors installed in the vehicle without communicating with other traffic participants, which can improve the target vehicle's reaction speed.

[0044] In a fourth aspect of the present disclosure, in the vehicle control method according to the third aspect, the step of controlling the target vehicle based on the determined driving conditions of the target vehicle, the oncoming vehicle, and the rear vehicle includes at least one of (i) controlling the target vehicle to reduce the driving speed (Vsbj) of the target vehicle when the distance (D1) between the rear vehicle and the target vehicle is equal to or less than 0 and the time to collision (TTC2) of the target vehicle is smaller than a first threshold (α), and (ii) steering the target vehicle toward a lane corner while reducing the driving speed (Vsbj) of the target vehicle when the distance (D1) between the rear vehicle and the target vehicle is equal to or less than 0, the time to collision (TTC2) of the target vehicle is smaller than a second threshold (β), and the distance (W) from the edge of the driving lane to the target vehicle is equal to or greater than a third threshold (γ). This control enables the target vehicle to respond appropriately to different traffic conditions while ensuring a safe reaction of the target vehicle.

[0045] A fifth aspect of the present disclosure is a vehicle control method according to the fourth aspect, wherein the step of controlling the target vehicle based on the determined traveling conditions of the target vehicle, oncoming vehicles, and rear vehicles takes into account the length (L) of the target vehicle, thereby enabling safety calculation based on the sensor position of the target vehicle.

[0046] A sixth aspect of the present disclosure is a vehicle control system for a target vehicle traveling in a driving lane, the vehicle control system including: a rear detection means configured to detect a distance (D1) between the target vehicle and a rear vehicle and a traveling speed (V1) of the rear vehicle; a forward detection means configured to detect a distance (D2) between the target vehicle and an oncoming vehicle located in a lane adjacent to the driving lane of the target vehicle and a traveling speed (V2) of the oncoming vehicle; a lane detection means configured to detect a lateral position of the target vehicle in the driving lane; and a processing means configured to process the distance and speed detected by the rear detection means, the distance and speed detected by the forward detection means, and the lateral position detected by the lane detection means, and to generate an output signal to perform at least one of reducing the speed (Vsbj) of the target vehicle and steering the target vehicle into the driving lane of the target vehicle so that the rear vehicle can overtake the target vehicle while avoiding a collision with the target vehicle.

[0047] Such a vehicle control system has the advantage that it is possible to avoid a collision with a vehicle behind based solely on the reaction of the target vehicle.

[0048] According to a seventh aspect of the present disclosure, the processing means of the vehicle control system according to the sixth aspect is configured to determine the time to collision (TTC1) between the oncoming vehicle and the rear vehicle based on the traveling speed (V1) and distance (D1) of the rear vehicle, and the traveling speed (V2) and distance (D2) of the oncoming vehicle; determine the traveling distance (D) of the target vehicle to the collision point between the oncoming vehicle and the rear vehicle based on the time to collision between the oncoming vehicle and the rear vehicle (TTC1), the traveling speed (V1) of the rear vehicle, and the traveling speed (V2) of the oncoming vehicle; and determine the time to collision (TTC2) of the target vehicle to the collision point between the oncoming vehicle and the rear vehicle based on the traveling distance (D) of the target vehicle and the traveling speed (Vsbj) of the target vehicle.

[0049] According to the above configuration, the vehicle control system can calculate the necessary information based on the detection results of the sensors installed in the vehicle without the need to communicate with other traffic participants, thereby improving the response speed of the target vehicle.

[0050] According to an eighth aspect of the present disclosure, the processing means of the vehicle control system according to the seventh aspect is configured to generate an output signal to achieve at least one of controlling the target vehicle to reduce its traveling speed (Vsbj) when the distance (D1) between the rear vehicle and the target vehicle is 0 or less and the time to collision (TTC2) of the target vehicle is smaller than a first threshold (α), and steering the target vehicle toward the side of the lane while reducing the traveling speed (Vsbj) of the target vehicle when the distance (D1) between the rear vehicle and the target vehicle is 0 or less, the time to collision (TTC2) of the target vehicle is smaller than a second threshold (β), and the distance (W) from the edge of the traveling lane to the target vehicle is greater than a third threshold (γ).

[0051] This allows the vehicle control system to respond appropriately and safely to different traffic situations.

[0052] According to a ninth aspect of the present disclosure, in the vehicle control system according to one of the sixth or eighth aspects, the processing means is configured to take into account the length (L) of the target vehicle, thereby enabling the vehicle control system to perform safety calculations based on the sensor positions of the target vehicle. [Explanation of symbols]

[0053] 10 target vehicle 10, 11 rear vehicle 11, 12 oncoming vehicle 12, V1 rear vehicle speed (traveling speed of rear vehicle), D1 rear inter-vehicle distance, V2 oncoming vehicle speed (traveling speed of oncoming vehicle), D2 oncoming inter-vehicle distance, L target vehicle length (length of target vehicle), W distance from lane edge to target vehicle, Vsbj host vehicle speed (traveling speed of target vehicle), TTC1 first time to collision, D traveling distance, TTC2 second time to collision, α first threshold, β second threshold

Claims

1. A method for controlling a target vehicle against overtaking by a rear vehicle, comprising: A step of identifying the driving conditions of a target vehicle (10), an oncoming vehicle (12), and a rear vehicle (11); When the current driving conditions of the identified target vehicle, the oncoming vehicle, and the rear vehicle do not allow the rear vehicle to overtake the target vehicle, the vehicle control method includes a step of controlling the target vehicle, which includes at least one of reducing the driving speed of the target vehicle and changing the driving direction of the target vehicle, in order to allow the rear vehicle to overtake.

2. 2. The vehicle control method according to claim 1, wherein identifying the driving conditions of the target vehicle includes identifying at least one of a driving speed (Vsbj) of the target vehicle and a lateral position of the target vehicle within a lane in which the target vehicle is traveling.

3. The step of identifying the driving conditions of the target vehicle (10), the oncoming vehicle, and the rear vehicle includes: Identifying the traveling speed (V1) of the rear vehicle, the distance (D1) between the rear vehicle and the target vehicle, the traveling speed (V2) of the oncoming vehicle, and the distance (D2) between the oncoming vehicle and the target vehicle; determining a first time to collision (TTC1), which is a time until a collision between the oncoming vehicle and the rear vehicle, based on the speed (V1) of the rear vehicle, the distance (D1) between the rear vehicle and the target vehicle, the speed (V2) of the oncoming vehicle, and the distance (D2) between the oncoming vehicle and the target vehicle; and determining a travel distance (D) of the target vehicle to a collision point between the oncoming vehicle and the rear vehicle, based on the first time to collision (TTC1), the speed (V1) of the rear vehicle, and the speed (V2) of the oncoming vehicle; 3. The vehicle control method according to claim 1, further comprising: determining a second time to collision (TTC2), which is the time it takes for the target vehicle to reach the collision point between the oncoming vehicle and the rear vehicle, based on the travel distance (D) of the target vehicle and the speed (Vsbj) of the target vehicle.

4. The step of controlling the target vehicle based on the travel conditions of the identified target vehicle, the oncoming vehicle, and the following vehicle includes: When the distance (D1) between the rear vehicle and the target vehicle is equal to or less than 0 and the second time to collision (TTC2) is smaller than a first threshold (α), the speed of the target vehicle is reduced; 4. The vehicle control method according to claim 3, wherein, when the distance (D1) between the rear vehicle and the target vehicle is 0 or less, the second time to collision (TTC2) is smaller than a second threshold (β), and the distance (W) between the target vehicle and the edge of a lane opposite to an oncoming lane is at least a third threshold (γ) or more, the speed of the target vehicle is reduced and the target vehicle is moved laterally toward the lane edge.

5. 4. The vehicle control method according to claim 3, wherein the step of controlling the target vehicle based on the respective traveling conditions of the identified target vehicle, the oncoming vehicle, and the rear vehicle is performed based on a length (L) of the target vehicle.

6. 1. A vehicle control system for a target vehicle traveling in a lane, comprising: a rear detection means configured to detect the distance (D1) between the target vehicle and a rear vehicle and the speed (V1) of the rear vehicle; a forward detection means configured to detect a distance (D2) between the target vehicle and an oncoming vehicle and a speed (V2) of the oncoming vehicle; lane detection means configured to detect the lateral position of the target vehicle in the lane; a processing means configured to process data on the distance and speed detected by the rear detection means, the distance and speed detected by the front detection means, and the lateral position detected by the lane detection means to generate an output signal for at least one of reducing the speed of the target vehicle and steering the target vehicle toward the edge of the lane opposite to the oncoming lane, in order to allow the rear vehicle to overtake the target vehicle while avoiding a collision between the target vehicle and the rear vehicle.

7. The processing means Identifying a first time to collision (TTC1), which is a time until a collision between the oncoming vehicle and the rear vehicle, based on the speed (V1) of the rear vehicle, the distance (D1) between the target vehicle and the rear vehicle, the speed (V2) of the oncoming vehicle, and the distance (D2) between the target vehicle and the oncoming vehicle; Identifying a travel distance (D) of the target vehicle to a collision point between the oncoming vehicle and the rear vehicle based on the first time to collision (TTC1), the speed (V1) of the rear vehicle, and the speed (V2) of the oncoming vehicle; and determining a second time to collision (TTC2), which is the time it takes for the target vehicle to reach the collision point between the oncoming vehicle and the rear vehicle, based on the travel distance (D) of the target vehicle and the speed (Vsbj) of the target vehicle.

8. The processing means generating an output signal to reduce the speed of the target vehicle when the distance (D1) between the rear vehicle and the target vehicle is equal to or less than 0 and the second time to collision (TTC2) is smaller than a first threshold (α); 8. The vehicle control system of claim 7, wherein the system is configured to perform at least one of the following: reduce the speed of the target vehicle and generate an output signal to move the target vehicle laterally toward the lane edge when the distance (D1) between the rear vehicle and the target vehicle is 0 or less, the second time to collision (TTC2) is smaller than a second threshold (β), and the distance (W) between the target vehicle and the edge of the lane opposite the oncoming lane is at least a third threshold (γ) or more.

9. 9. A vehicle control system according to any one of claims 6 to 8, wherein the processing means is configured to control the target vehicle taking into account a length (L) of the target vehicle.

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