Overtaking assistance method, apparatus and device, and storage medium

Abstract

The present disclosure belongs to the technical field of intelligent driving. Disclosed are an overtaking assistance method, apparatus and device, and a storage medium. The method comprises: performing detection on an overtaking intent of a user; when the user has an overtaking intent, acquiring operation information of the current vehicle; evaluating a safety overtaking distance on the basis of the operation information of the current vehicle; generating an overtaking comparison image on the basis of the safety overtaking distance, wherein the overtaking comparison image is a vehicle projection image at the safety overtaking distance; and performing overtaking assistance on the basis of the overtaking comparison image.

Description

Overtaking assistance method, device, equipment and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. CN202311694861.X filed on December 8, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of intelligent driving technology, and in particular to an overtaking assistance method, device, equipment, and storage medium. Background Art

[0004] When driving on some two-way, two-lane roads, such as county roads and rural roads, your vehicle may be unable to pass quickly due to the type of vehicle or driving style of the vehicle ahead. For example, the speed limit of the vehicle ahead, such as a van, truck, or motorcycle, or the driver of the vehicle ahead may be reluctant to drive too fast, thus slowing down your speed.

[0005] In this situation, the road only has two lanes in both directions, or even a single lane in both directions. This creates the risk of overtaking vehicles crossing into oncoming traffic. Conventional overtaking assistance features, due to limitations in sensor performance and obstructions by preceding vehicles, cannot determine information about vehicles in adjacent or oncoming lanes, making it difficult to plan an overtaking path. Overtaking is essentially a matter of relying solely on driver experience, which can pose significant safety risks.

[0006] The above content is only used to assist in understanding the technical solution of the present disclosure and does not constitute an admission that the above content is prior art.

[0007] Summary of the Invention

[0008] The main purpose of the present disclosure is to provide an overtaking assistance method, device, equipment and storage medium, aiming to solve the technical problem of high overtaking risk in the prior art.

[0009] To achieve the above-mentioned objectives, the present disclosure provides an overtaking assistance method, which includes the following steps: detecting a user's intention to overtake; when the user has the intention to overtake, obtaining the working information of the current vehicle; evaluating the safe overtaking distance based on the working information of the current vehicle; generating an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image being an image projected by the vehicle at the safe overtaking distance; and performing overtaking assistance based on the overtaking comparison image.

[0010] To achieve the above-mentioned objectives, the present disclosure also proposes an overtaking assistance device, comprising: an acquisition module for detecting a user's intention to overtake; a processing module for acquiring operating information of a current vehicle when the user has the intention to overtake; the processing module is further used to evaluate a safe overtaking distance based on the operating information of the current vehicle; the processing module is further used to generate an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image being an image projected by the vehicle at the safe overtaking distance; and a control module for performing overtaking assistance based on the overtaking comparison image.

[0011] To achieve the above objectives, the present disclosure also proposes an overtaking assistance device, including: a memory, a processor, and an overtaking assistance program stored in the memory and executable on the processor, wherein the overtaking assistance program is configured to implement the steps of the overtaking assistance method described above.

[0012] To achieve the above objectives, the present disclosure further proposes a storage medium, on which an overtaking assistance program is stored. When the overtaking assistance program is executed by a processor, the steps of the overtaking assistance method described above are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG1 is a schematic structural diagram of an overtaking assistance device according to some embodiments of the present disclosure;

[0014] FIG2 is a flow chart of a first embodiment of an overtaking assistance method according to some embodiments of the present disclosure;

[0015] FIG3 is a schematic diagram of an application scenario of FIG2 ;

[0016] FIG4 is a flow chart of a second embodiment of an overtaking assistance method according to some embodiments of the present disclosure;

[0017] FIG5 is a schematic diagram of the projected dimensions of the vehicle in FIG4 ; and

[0018] FIG6 is a structural block diagram of a first embodiment of an overtaking assistance device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0019] The realization of the objectives, functional features and advantages of the present disclosure will be further described in conjunction with embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate the present disclosure and are not intended to limit the present disclosure.

[0020] FIG1 is a schematic structural diagram of an overtaking assistance device according to some embodiments of the present disclosure.

[0021] As shown in Figure 1, the overtaking assistance device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the processor 1001.

[0022] Those skilled in the art will appreciate that the structure shown in FIG1 does not limit the overtaking assistance device, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0023] As shown in FIG1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an overtaking assistance program.

[0024] In the overtaking assistance device shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the overtaking assistance device of the present disclosure can be set in the overtaking assistance device, and the overtaking assistance device calls the overtaking assistance program stored in the memory 1005 through the processor 1001 and executes the overtaking assistance method provided by the embodiment of the present disclosure.

[0025] An embodiment of the present disclosure provides an overtaking assistance method. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of the overtaking assistance method according to some embodiments of the present disclosure.

[0026] In the embodiment of the present disclosure, the overtaking assistance method may include the following steps S10 to S50.

[0027] In step S10 , the user's intention to overtake is detected.

[0028] It should be noted that the executing entity of the embodiment of the present disclosure is a smart terminal, which can be a car computer, a smart terminal that communicates with the vehicle, or other devices with the same or similar functions as the car computer. The embodiment of the present disclosure does not limit this and only uses the car computer as an example for illustration.

[0029] It should be noted that the embodiments of the present disclosure can be applied to vehicle overtaking conditions. When driving on some two-way two-lane roads such as county roads and rural roads, the vehicle may not be able to pass quickly due to the type of vehicle in front, the driving style, and other reasons. For example, the speed of the vehicle in front is limited by the speed of the vehicle in front, such as vans, trucks, motorcycles, or the reluctance of some drivers of the vehicle in front to drive too fast. In this case, the road only has two lanes in both directions, or even a single lane with two-way traffic. When overtaking, the vehicle is at risk of meeting a vehicle traveling in the opposite direction. Due to limitations such as sensor performance and obstruction by the vehicle in front, the general overtaking assistance function cannot determine the information of vehicles in adjacent or opposite lanes, making it difficult to plan the overtaking path. Overtaking can only rely on the driver's experience, which will lead to greater safety risks. Based on the above content, the embodiments of the present disclosure propose a solution to the above problems. In some embodiments, when a preceding vehicle in a two-way, two-lane road is accelerating, the vehicle can determine whether the vehicle is in a two-way, two-lane road environment based on a map and a forward-facing camera. It can also determine whether the vehicle intends to overtake based on its speed, cruise control speed, steering lever, lane change behavior, and other factors. Maps and navigation analyze the current road's overtaking environment and the benefits of overtaking to provide user reminders. When the user chooses to overtake, a vehicle model size is recommended based on factors such as the preceding vehicle's speed, road speed limit, and distance to the preceding vehicle. This size is displayed on the windshield via a HUD (Head-up Display) for easy comparison and confirmation. If the oncoming vehicle is smaller than the recommended model, the vehicle computer system initiates the overtaking maneuver. During the overtaking process, if the user discovers that the oncoming vehicle is larger than the recommended model, the system decides whether to abandon the overtaking maneuver and return to the original lane based on the risk. By displaying the expected size of the oncoming vehicle for safe overtaking, such as on a HUD or other display device, the user can compare and reference the size to assist in safely overtaking or assist in overtaking control.

[0030] It should be noted that the disclosed embodiments can be applied to narrow lane scenarios (as shown in FIG3 ). The user's current vehicle needs to overtake the vehicle ahead and may be threatened by oncoming vehicles, so a strategy is needed to determine whether to overtake. In some embodiments, it can be determined whether the current vehicle is in a narrow lane and is speeding down. The current vehicle can be located on a map to determine whether it is in a two-way two-lane or a two-way single lane, and whether the preceding vehicle is speeding down. If the current vehicle is in a two-way two-lane or a two-way single lane and the preceding vehicle is speeding down, it is determined that the current vehicle is in a narrow lane and is speeding down. In some embodiments, information such as the type, speed, and distance of the preceding vehicle from the current vehicle can be obtained through a camera, radar, or the like. Based on this information, the preceding vehicle's speed is determined and then compared with the cruise control speed. If the difference between the preceding vehicle's speed and the cruise control speed is greater than a threshold value s1 and lasts for a period greater than time t1, the preceding vehicle is determined to be speeding down. Alternatively, if the user has not set a cruise control speed, the preceding vehicle's speed can be compared with the road speed limit. If the difference between the two is greater than a threshold value s2 and lasts for a period greater than time t2, the preceding vehicle is determined to be speeding down. When the vehicle is currently in a narrow lane and is speeding, the disclosed embodiment can achieve better technical effects. This is because in a narrow lane, overtaking is likely to result in meeting an oncoming vehicle, especially in scenes such as country roads. Due to the presence of many motorcycles, small trucks, tractors, etc., all of which are moving very slowly, it is difficult not to choose to overtake.

[0031] It is understandable that detecting the user's intention to overtake can generally be done in a variety of ways. In some embodiments, a camera can be used to determine whether the current vehicle is crossing the line to the left, or whether the left-turn steering lever fluctuates. If so, it is determined that the user has the intention to overtake. In other embodiments, the user's behavior can be observed, such as the use of lane change signals, adjustments to the vehicle's position, changes in vehicle speed, etc. If the user frequently uses lane change signals, adjusts the vehicle's position to accommodate overtaking situations, or accelerates to overtake other vehicles, it indicates that the user has the intention to overtake, and the embodiments of the present disclosure are not limited to this.

[0032] In step S20, when the user intends to overtake, the operating information of the current vehicle is obtained.

[0033] It is understandable that when a user intends to overtake, it is necessary to judge whether the current vehicle is overtaking. Therefore, it is necessary to collect multiple aspects of information. Among them, the working information of the current vehicle can be obtained in various ways, such as various sensors, image acquisition devices and various computing units of the vehicle.

[0034] In some embodiments, the current vehicle operating information may include: vehicle motion information (vehicle speed, acceleration, etc.), geographic positioning information, travel information, image information collected by various image acquisition devices, perception information collected by sensors, etc.

[0035] In some embodiments, the road ahead information, destination information or adjacent lane information can be determined based on the current vehicle's working information; a risk assessment can be performed based on the road ahead information, destination information or adjacent lane information to obtain a risk assessment result; and a prompt message can be generated based on the risk assessment result to issue an overtaking warning.

[0036] It should be noted that before making an overtaking decision, the vehicle's suitability for overtaking can be determined from relatively simple operational information. If the vehicle is not suitable for overtaking, a reminder can be issued to clearly inform the user that overtaking is not recommended, thus saving subsequent computing resources. In some embodiments, the distance between the current vehicle and the destination can be calculated based on navigation. If this distance is less than a threshold s3, the vehicle is determined to be traveling at a low speed nearing the destination. At this point, if the system determines that the user intends to overtake, the user is reminded, "We are almost at our destination. Please be patient." In some embodiments, if there is an intersection within a certain distance s4 ahead of the current vehicle and the user intends to overtake, the user is reminded, "There is an intersection ahead. Overtaking is dangerous." In some embodiments, if a vehicle is detected in the oncoming lane and the user intends to overtake, the user is reminded, "There is a vehicle in the oncoming lane. Do not overtake." In some embodiments, the remaining mileage on a narrow road can be determined by combining a map and navigation, and the required time can be estimated based on the current vehicle speed. The mileage and time are then communicated to the user. If the user intends to overtake, the narrow road travel time is calculated based on the maximum speed limit, and the time saved by overtaking, t3, is compared with the threshold t4. When time t3 is less than threshold t4, the user is reminded that "occupying the opposite lane to overtake can only save t3 time, overtaking is not recommended"; when time t3 is greater than threshold t4, the user is reminded that "occupying the opposite lane to overtake can only save t3 time, please drive carefully". In some embodiments, when the user clearly indicates the intention to overtake through voice, switches, steering levers, etc., the system assists in overtaking. The preconditions for overtaking are: judging whether there is an intersection within a certain distance s4 ahead, if so, overtaking is not allowed; judging whether there is a vehicle in the opposite lane within a certain time t5, if so, overtaking is not allowed; whether the road curvature exceeds threshold s5, if the curvature does not meet the requirement, overtaking is not allowed; other risk judgments for overtaking in the opposite lane (obstacles, pedestrians, etc.). The above-mentioned t1~t5 and s1~s5 are adjustable thresholds set according to engineer experience or calibration values, which are used to assist in the description of the embodiments of the present disclosure and are not limited to their specific values.

[0037] In step S30 , a safe overtaking distance is estimated based on the current vehicle operating information.

[0038] It should be noted that the safe overtaking distance (as shown in Figure 3) is the minimum distance between the current vehicle and the oncoming vehicle, preserving the requirement for safe overtaking. If the distance between the current vehicle and the oncoming vehicle is greater than or equal to the safe overtaking distance, overtaking is permitted. If the distance between the current vehicle and the oncoming vehicle is less than the safe overtaking distance, overtaking is risky and is not recommended. Although the oncoming vehicle may slow down upon seeing the current vehicle, changing lanes to overtake is not recommended for safety reasons.

[0039] In some embodiments, the first overtaking distance required can be determined based on the working information of the current vehicle; the overtaking time can be determined based on the working information of the current vehicle and the first overtaking distance required; and the safe overtaking distance can be determined based on the first overtaking distance required, the overtaking time and the working information of the current vehicle.

[0040] It is understandable that the first overtaking distance required is the distance that the current vehicle needs to travel to complete the overtaking action. It can be estimated by the driving distance, the speed of the preceding vehicle and the expected driving time, or calculated by calibration data under test conditions, that is, the speed of the preceding vehicle, the speed of the current vehicle and the user's driving habits. In a specific implementation, it can be determined whether the current vehicle has the opportunity to reach the speed limit of the road during the overtaking process based on the distance required for overtaking and the overtaking time. In the embodiment of the present application, it is necessary to make a comprehensive judgment based on the first overtaking distance required, the overtaking time and the working information of the current vehicle (mainly speed, acceleration, speed limit, etc.) to determine the safe overtaking distance. In some embodiments, the first overtaking distance required l5 can be determined by information such as sensors, and then t6 = 2×l5 / a1 can be calculated based on l5 and a1, where a1 is the vehicle acceleration generally used by the user.

[0041] In some embodiments, the travel distance of the preceding vehicle, the distance between the current vehicle and the preceding vehicle, the length of the preceding vehicle, and the distance to be maintained after overtaking are determined based on the working information of the current vehicle; the first required distance for overtaking is determined based on the travel distance of the preceding vehicle, the distance between the current vehicle and the preceding vehicle, the length of the preceding vehicle, and the distance to be maintained after overtaking.

[0042] It should be noted that in order to accurately calculate the first overtaking distance required, multiple factors need to be considered, such as: the distance l1 between the current vehicle and the vehicle in front, which can be obtained through sensors; the length of the vehicle in front, l2, which is assessed by the type of vehicle in front (truck, van, car, two-wheeled vehicle); the distance l3 that needs to be maintained from the vehicle in front when returning to the own lane; the distance l0 traveled by the vehicle in front during the overtaking process; and the straight-line distance l4 added by the two lane changes. l5 = l1 + l2 + l3 + l4 + l0 is taken as the first overtaking distance required for overtaking. Among them, l0 is the distance traveled by the vehicle in front, l1 is the distance between the current vehicle and the vehicle in front, l2 is the length of the vehicle in front, l3 is the distance to be maintained after overtaking, and l4 is the straight-line distance added by the two lane changes. It should be noted that although l4 accounts for a small proportion, it is recommended to be included to improve the accuracy of the calculation of the first overtaking distance required.

[0043] In some embodiments, the speed limit of the current road can be obtained; the current vehicle speed and overtaking acceleration can be determined based on the current vehicle operating information; the second overtaking required distance can be determined based on the speed limit, the current vehicle speed and the overtaking acceleration; and the overtaking time can be determined based on the first overtaking required distance and the second overtaking required distance.

[0044] The disclosed embodiment proposes the following preferred method for calculating the safe overtaking distance in conjunction with the overtaking time: using sensors to determine the distance l1 between the current vehicle and the vehicle in front, and evaluating the length l2 of the vehicle in front based on the type of vehicle in front (truck, van, car, two-wheeled vehicle), to determine the required distance l3 from the vehicle in front when returning to the own lane, the distance l0 traveled by the vehicle in front during the overtaking process, and the added straight-line distance l4 from the two lane changes. The required distance for overtaking is l5 = l1 + l2 + l3 + l4 + l0. The general overtaking acceleration under this condition is a1, the current vehicle speed is v1, and the maximum speed v2 is calculated as a 10% increase in the road speed limit. l6 = (v2 – v1). 2 / (2×a1), comparing l6 and l5: When l6 ≥ l5, t6 = (2×l5 / a1) × 1 / 2; when l6 < l5, t6 = (l5 + l6) / (v2 – v1); l7 = l5 + (v1 + v2) × t6. (Assume the oncoming vehicle's speed is v2). Here, t6 is the overtaking time, l7 is the safe overtaking distance, l5 is the first required overtaking distance, and l6 is the second required overtaking distance. If the overtaking distance is too long, the vehicle's speed curve will accelerate first and then maintain a constant speed. If the overtaking distance is short, the vehicle will continue to accelerate. Therefore, two required overtaking distances, l5 and l6, are set. The second required overtaking distance is used to determine the motion state during the overtaking process, thereby more accurately calculating the safe overtaking distance.

[0045] In step S40 , an overtaking comparison image is generated according to the safe overtaking distance. The overtaking comparison image is an image projected by the vehicle at the safe overtaking distance.

[0046] It should be noted that the overtaking comparison image is an image used by the user to determine whether the oncoming vehicle meets the safe overtaking distance. The user can compare the overtaking comparison image on the display device with the oncoming vehicle to determine whether there are conditions for overtaking.

[0047] It is understandable that the overtaking comparison image is an image projected from the oncoming vehicle at a safe overtaking distance onto the display device, and may or may not include projection size information.

[0048] In some embodiments, the overtaking comparison image is an image of the projected size of the vehicle at the safe overtaking distance, that is, the overtaking comparison image should appear to be the same size as the actual vehicle at the safe overtaking distance when viewed from the user's position.

[0049] It is understandable that the overtaking comparison image may include projection size information. In this case, the overtaking comparison image is an image of the projection size of the oncoming vehicle projected from a safe overtaking distance onto the display device.

[0050] In step S50 , overtaking assistance is performed based on the overtaking comparison image.

[0051] It should be noted that there are many ways to implement overtaking assistance based on the overtaking comparison image. It can be displayed directly on the screen for the user to compare, or it can be displayed on the HUD on the front windshield. By locking the vehicle position and the user's eye position, the overtaking comparison image is displayed at a position between or near the above two positions to help the user compare. HUD is a technology that displays important information directly in the user's field of view by projecting it onto a transparent display screen within the user's line of sight, allowing the user to obtain key information without having to divert their eyes from the road ahead. HUD can display data such as vehicle speed, navigation instructions, warning information and other driving-related data. This technology is designed to improve the user's concentration and reaction time to enhance driving safety. HUD is widely used in fields such as automobiles, aircraft and military applications. In the embodiment of the present disclosure, the HUD can be projected onto the front windshield.

[0052] The disclosed embodiment detects a user's overtaking intention; when the user indicates an overtaking intention, obtains the current vehicle's operating information; assesses a safe overtaking distance based on the current vehicle's operating information; generates an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image being an image of the projected dimensions of the vehicle at the safe overtaking distance; and provides overtaking assistance based on the overtaking comparison image. This method implements an overtaking assessment method when oncoming vehicle detection is unavailable. By providing the user with an overtaking comparison image for reference, even inexperienced drivers can receive reliable guidance, improving overtaking safety.

[0053] FIG4 is a flow chart of a second embodiment of an overtaking assistance method according to some embodiments of the present disclosure.

[0054] Based on the above-mentioned first embodiment, step S40 of the overtaking assistance method of the embodiment of the present disclosure may include steps S41 and S42.

[0055] In step S41, the user's eye position is obtained.

[0056] It should be noted that obtaining the user's eye position is mainly used to determine the distance between the user's eyes and the front windshield, or the distance between the user's eyes and the display position of the overtaking comparison map. The user's eye position can be obtained through cockpit monitoring or driving seat image acquisition device, where the user can be the driver.

[0057] In step S42, the vehicle projection size is determined according to the user's eye position and the safe overtaking distance.

[0058] In some embodiments, the user's eye position can be obtained based on sensors in the cockpit (camera, radar, etc.), and the distance l8 from the user's eye position to the HUD display position can be calculated based on this position. Based on the similarity principle, the projection size of the general vehicle's front view outline can be calculated, as shown in Figure 5, where l8 is the distance from the user's eye position to the HUD display position, l7 is the safe overtaking distance, n1 is the vehicle size, and n2 is the vehicle projection size.

[0059] In some embodiments, a vehicle model size relationship mapping table can be obtained, which includes vehicle models of trucks, vans, cars and motorcycles and the vehicle sizes corresponding to the vehicle models; based on the user's eye position, safe overtaking distance and the vehicle sizes of each vehicle model in the vehicle model size relationship mapping table, the vehicle projection size corresponding to each vehicle model is generated.

[0060] It is understandable that if the model of the oncoming vehicle is different, the actual estimated vehicle size should also be different. Therefore, the size of the vehicle model can be determined based on the model. If the vehicle model cannot be identified due to the distance being too far or being blocked by the vehicle in front, then several typical vehicle models can be displayed for user reference, such as trucks, vans, cars, and motorcycles and their corresponding vehicle sizes. As shown in Figure 5, the size of the truck is calculated according to (m1, n1). According to the similarity principle, the vehicle projection size can be derived: n2 = n1 × l8 / l7, m2 = m1 × l8 / l7. Similarly, the vehicle projection sizes of trucks, vans, cars, motorcycles, etc. can be calculated and projected on the HUD together.

[0061] In step S43, an overtaking comparison image is determined according to the vehicle projection size.

[0062] It should be noted that after determining the vehicle projection size, an overtaking comparison image can be drawn based on the vehicle projection size, wherein the overtaking comparison image can be a simulated vehicle front face image or a size frame for convenient comparison. This embodiment uses the size frame as an example for subsequent explanation.

[0063] The disclosed embodiment proposes the following preferred improvement scheme: the user compares the size of the oncoming vehicle with the size box of the same vehicle model by observing the oncoming vehicle. If it is smaller than the size box, it means that there is no vehicle within the required driving distance, and the system assists in changing lanes. If it is larger than the size box, it means that there is a vehicle within the required driving distance, and the system does not change lanes. When the user confirms that the size of the oncoming vehicle is smaller than the size box, the system performs an overtaking action to occupy the opposite lane according to the designed path. Calculation and judgment during the overtaking process: During the overtaking process, as time goes by, the overtaking time t6 gradually decreases, and the corresponding calculated size box gradually increases. During the lane changing process, when the user judges that the size of the oncoming vehicle is larger than the size box, the system calculates according to the lane changing process: the vehicle acceleration a1 generally used by the user is adjusted to the maximum acceleration allowed by the system and the distance l3 that the current vehicle needs to maintain with the vehicle in front when returning to its own lane is adjusted to the minimum distance allowed by the system, and the lane changing time t is obtained. 前 , after adjusting a1 to deceleration, calculate the time t to return to the original relative position of the following vehicle 后 , compare time t 前 and time t 后 , choose a smaller time to continue overtaking or return to the original relative following position. At the same time, if the sensor detects an oncoming vehicle, adjust the maximum speed v2 to the actual speed of the oncoming vehicle for risk judgment. If there is a risk, the time t 前 or time t 后 Compared with the collision time (calculated based on the actual speed of the oncoming vehicle, the distance between the oncoming vehicle and the current vehicle, and the speed of the current vehicle), if the time t前 If the time t is less than the collision time, then accelerate the lane change. 后 If the time t is less than the collision time, the system will slow down and retreat. 前 and time t 后 If both are greater than the collision time, the vehicle will back off and prompt the user to take over. During a lane change, if a preceding vehicle is detected, the distance l9 between the preceding and preceding vehicles is evaluated. If l9 is less than the threshold s6, the preceding vehicle's length l2 is adjusted to the distance from the rear of the preceding vehicle to the front of the preceding vehicle. If l9 is not less than the threshold s6, overtaking is unaffected.

[0064] The disclosed embodiment obtains the user's eye position; determines the vehicle projection size based on the user's eye position and the safe overtaking distance; and generates an overtaking comparison image based on the vehicle projection size. This method achieves the process of determining the vehicle projection size based on the user's eye position, further improving the visual quality of the overtaking comparison image, making it easier for users to compare and enhancing vehicle safety.

[0065] In addition, an embodiment of the present disclosure further proposes a storage medium on which an overtaking assistance program is stored. When the overtaking assistance program is executed by a processor, the steps of the overtaking assistance method described above are implemented.

[0066] FIG6 is a structural block diagram of a first embodiment of an overtaking assistance device according to some embodiments of the present disclosure.

[0067] As shown in Figure 6, the overtaking assistance device proposed in the embodiment of the present disclosure may include: an acquisition module 10, used to detect the user's overtaking intention; the acquisition module 10 is also used to obtain the working information of the current vehicle when the user has the intention to overtake; a processing module 20, used to evaluate the safe overtaking distance based on the working information of the current vehicle; the processing module 20 is also used to generate an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image is an image projected at the safe overtaking distance; and a control module 30, used to perform overtaking assistance based on the overtaking comparison image.

[0068] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present disclosure. In specific applications, those skilled in the art can make settings as needed, and the present disclosure does not impose any restrictions on this.

[0069] In the disclosed embodiment, acquisition module 10 detects a user's overtaking intention; when the user indicates an overtaking intention, acquisition module 10 acquires the current vehicle's operating information; processing module 20 assesses a safe overtaking distance based on the current vehicle's operating information; processing module 20 generates an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image being an image of the vehicle's projected size at the safe overtaking distance; and control module 30 provides overtaking assistance based on the overtaking comparison image. This method implements an overtaking assessment when oncoming vehicle detection is unavailable. By providing the user with an overtaking comparison image for reference, even inexperienced drivers can receive reliable guidance, improving overtaking safety.

[0070] In some embodiments, the processing module 20 may also be configured to generate an overtaking comparison image based on the safe overtaking distance, where the overtaking comparison image is an image of the vehicle projection size at the safe overtaking distance.

[0071] In some embodiments, the processing module 20 can also be used to obtain the user's eye position; determine the vehicle projection size based on the user's eye position and the safe overtaking distance; and determine the overtaking comparison image based on the vehicle projection size.

[0072] In some embodiments, the processing module 20 can also be used to obtain a vehicle model size relationship mapping table, which includes vehicle models of trucks, vans, cars and motorcycles and the vehicle sizes corresponding to the vehicle models; and generate the vehicle projection size corresponding to each vehicle model based on the user's eye position, safe overtaking distance and the vehicle size of each vehicle model in the vehicle model size relationship mapping table.

[0073] In some embodiments, the processing module 20 can also be used to determine a first overtaking distance required based on the working information of the current vehicle; determine an overtaking time based on the working information of the current vehicle and the first overtaking distance required; and determine a safe overtaking distance based on the first overtaking distance required, the overtaking time and the working information of the current vehicle.

[0074] In some embodiments, the processing module 20 can also be used to determine the distance traveled by the preceding vehicle, the distance between the current vehicle and the preceding vehicle, the length of the preceding vehicle, and the distance to be maintained after overtaking based on the working information of the current vehicle; and determine the first overtaking distance required based on the distance traveled by the preceding vehicle, the distance between the current vehicle and the preceding vehicle, the length of the preceding vehicle, and the distance to be maintained after overtaking.

[0075] In some embodiments, the processing module 20 can also be used to obtain the speed limit value of the current road; determine the current vehicle speed and overtaking acceleration based on the current vehicle working information; determine the second overtaking required distance based on the speed limit value, the current vehicle speed and overtaking acceleration; determine the overtaking time based on the first overtaking required distance and the second overtaking required distance.

[0076] In some embodiments, the processing module 20 can also be used to determine the road ahead information, destination information or adjacent lane information based on the current vehicle's working information; perform risk assessment based on the road ahead information, destination information or adjacent lane information to obtain a risk assessment result; and generate prompt information based on the risk assessment result to issue an overtaking warning.

[0077] The present disclosure detects a user's overtaking intention; when the user indicates an overtaking intention, obtains the current vehicle's operating information; assesses a safe overtaking distance based on the current vehicle's operating information; generates an overtaking comparison image based on the safe overtaking distance, the overtaking comparison image being a projected image of the vehicle at the safe overtaking distance; and provides overtaking assistance based on the overtaking comparison image. This method implements an overtaking assessment even when oncoming vehicle detection is unavailable. By providing the user with the overtaking comparison image for reference, even inexperienced drivers can receive reliable guidance, improving overtaking safety.

[0078] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present disclosure. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the present embodiment, and no restrictions are imposed here.

[0079] In addition, for technical details not fully described in this embodiment, please refer to the overtaking assistance method provided in any embodiment of the present disclosure, and will not be repeated here.

[0080] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0081] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0082] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0083] The above are only preferred embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure and the drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. An overtaking assistance method, comprising: Detecting the user's intention to overtake; When the user intends to overtake, obtain the working information of the current vehicle; estimating a safe overtaking distance according to the current vehicle operating information; generating an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image projected by the vehicle at the safe overtaking distance; as well as Overtaking assistance is performed according to the overtaking comparison image.

2. The method of claim 1, wherein: The generating of the overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image projected by the vehicle at the safe overtaking distance, includes: An overtaking comparison image is generated according to the safe overtaking distance, and the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance.

3. The method according to claim 1 or 2, wherein: The generating of the overtaking comparison image according to the safe overtaking distance includes: Get the user's eye position; Determining the vehicle projection size according to the user's eye position and the safe overtaking distance; and An overtaking comparison image is determined according to the vehicle projection size.

4. The method of claim 3, wherein: The determining the vehicle projection size according to the user's eye position and the safe overtaking distance includes: Obtaining a vehicle model size relationship mapping table, wherein the vehicle model size relationship mapping table includes vehicle models of trucks, vans, cars, and motorcycles and vehicle sizes corresponding to the vehicle models; The vehicle projection size corresponding to each vehicle model is generated according to the user's eye position, the safe overtaking distance and the vehicle size of each vehicle model in the vehicle model size relationship mapping table.

5. The method according to claim 1 or 2, wherein: The estimating the safe overtaking distance according to the current vehicle operating information includes: Determining a first overtaking required distance according to the working information of the current vehicle; Determining an overtaking time according to the working information of the current vehicle and the first overtaking required distance; A safe overtaking distance is determined according to the first required overtaking distance, the overtaking time and the current vehicle operating information.

6. The method of claim 5, wherein: The determining the first required overtaking distance according to the working information of the current vehicle includes: Determine, based on the working information of the current vehicle, the travel distance of the preceding vehicle, the distance between the current vehicle and the preceding vehicle, the length of the preceding vehicle, and the vehicle distance to be maintained after overtaking; The first required overtaking distance is determined according to the travel distance of the preceding vehicle, the distance between the current vehicle and the preceding vehicle, the length of the preceding vehicle, and the vehicle distance to be maintained after overtaking.

7. The method of claim 5, wherein: The determining the overtaking time according to the working information of the current vehicle and the first required overtaking distance includes: Get the speed limit of the current road; Determining the current vehicle speed and overtaking acceleration according to the current vehicle operating information; determining a second overtaking required distance according to the speed limit value, the current vehicle speed and the overtaking acceleration; The overtaking time is determined according to the first overtaking required distance and the second overtaking required distance.

8. The method according to claim 1 or 2, wherein after obtaining the working information of the current vehicle when the user intends to overtake, the method further comprises: Determining front road information, destination information or adjacent lane information according to the current vehicle operation information; Perform risk assessment based on the front road information, destination information or adjacent lane information to obtain a risk assessment result; as well as Generate prompt information according to the risk assessment result to issue an overtaking warning.

9. An overtaking assistance device, comprising: An acquisition module is used to detect the user's intention to overtake; The acquisition module is also used to acquire the working information of the current vehicle when the user intends to overtake; A processing module, used for evaluating a safe overtaking distance according to the current vehicle operation information; The processing module is further used to generate an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image projected by the vehicle at the safe overtaking distance; as well as A control module is used to perform overtaking assistance according to the overtaking comparison image.

10. The overtaking assistance device according to claim 9, wherein: The processing module is further used to generate an overtaking comparison image according to the safe overtaking distance, wherein the overtaking comparison image is an image of the projection size of the vehicle at the safe overtaking distance.

11. An overtaking assistance device, comprising: A memory, a processor, and an overtaking assistance program stored in the memory and executable on the processor, wherein the overtaking assistance program is configured to implement the steps of the overtaking assistance method according to any one of claims 1 to 8.

12. A storage medium having an overtaking assistance program stored thereon, wherein the overtaking assistance program, when executed by a processor, implements the steps of the overtaking assistance method according to any one of claims 1 to 8.

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