CN104608765B - A kind of automobile intelligent method of overtaking and system - Google Patents

A kind of automobile intelligent method of overtaking and system Download PDF

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Publication number
CN104608765B
CN104608765B CN201410815266.1A CN201410815266A CN104608765B CN 104608765 B CN104608765 B CN 104608765B CN 201410815266 A CN201410815266 A CN 201410815266A CN 104608765 B CN104608765 B CN 104608765B
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vehicles
overtaking
surmounted
front truck
car
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CN104608765A (en
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张立军
吴军
朱沛沛
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Tongji University
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Tongji University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0616—Position of fuel or air injector
    • B60W2710/0633—Inlet air flow rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The present invention relates to a kind of automobile intelligent method of overtaking and system, the method is comprised the following steps：1) system of overtaking other vehicles is opened, the positional information of the surrounding vehicles of this car is obtained by trailer-mounted radar, plane coordinate system is set up；2) judge whether that satisfaction is overtaken other vehicles condition；3) the prediction wheelpath of front truck to be surmounted is obtained according to on-line prediction algorithm；4) track of initially overtaking other vehicles of this car is generated according to the prediction wheelpath of front truck；5) positional information according to the front truck to be surmounted for obtaining in real time, whether judgement is overtaken other vehicles terminates；6) continue to obtain the position signalling of front truck to be surmounted in real time, according to on-line prediction algorithm predicts wheelpath, the track of overtaking other vehicles of real-time revised version car；7) judge whether the size of front truck acceleration to be surmounted exceedes corresponding threshold value；8) judge the value of K whether equal to 5：9) close intelligent system of overtaking other vehicles.Compared with prior art, the present invention has the advantages that overtake other vehicles safety, simple to operate, low cost, algorithm of raising is advanced.

Description

A kind of automobile intelligent method of overtaking and system
Technical field
The present invention relates to automatic driving scrap disassembling technical device field, more particularly, to a kind of automobile intelligent method of overtaking and it is System.
Background technology
With being on the increase for China's automobile, automobile has had been enter into huge numbers of families, and automobile is giving people provides convenient of going on a journey While, the frequency for also occurring for growing number of motor traffic accidentss.It is relatively conventional behavior during traveling to overtake other vehicles, so And in short passing time, due to driver it is difficult to it was observed that the situation of all surrounding vehicles and prediction front vehicles Running orbit, therefore it is easy to vehicle accident.It is if whether the premise that can be judged to overtake other vehicles by set of system is met, subsequently pre- The running orbit of front vehicles is surveyed, a path of preferably overtaking other vehicles is formed then, for the safety that raising is overtaken other vehicles has very your writing With.
The content of the invention
The purpose of the present invention is exactly to provide one kind and improve safety of overtaking other vehicles to overcome the defect of above-mentioned prior art presence The advanced automobile intelligent method of overtaking of property, simple to operate, low cost, algorithm and system.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of automobile intelligent method of overtaking, comprises the following steps：
1) system of overtaking other vehicles is opened, trailer-mounted radar obtains the positional information of the surrounding vehicles of this car, and selectes a fixation Point is origin, and this car dead ahead is Y-axis, and this car right is X-axis, sets up plane coordinate system；
2) judge whether that satisfaction is overtaken other vehicles condition, if so, then carries out step 3), if it is not, then waiting a radar collection period Afterwards, return to step is 2)；
3) according to the position of this car and the front truck to be surmounted for detecting relative to this car position, by vehicle to be surmounted Position is transformed under plane coordinate system, and the prediction wheelpath of front truck to be surmounted is obtained according to on-line prediction algorithm；
4) generate the track of initially overtaking other vehicles of this car according to the prediction wheelpath of front truck to be surmounted, this car is according to initially overtaking other vehicles Track is overtaken other vehicles, and K assignment 1；
5) positional information according to the front truck to be surmounted for obtaining in real time, whether judgement is overtaken other vehicles terminates, and if so, then carries out step 9), if it is not, then carrying out step 6)；
6) continue to obtain the position signalling of front truck to be surmounted in real time, according to on-line prediction algorithm real-time estimate front truck to be surmounted Wheelpath, the track of overtaking other vehicles of revised version car in real time, the amendment for obtaining this car are overtaken other vehicles track；
7) acceleration in front truck X to be surmounted, Y-direction is calculated, judges whether the size of its acceleration exceedes corresponding threshold Value, if so, then K=K+1, and carry out step 8)；If it is not, then K=1, return to step is 5)；
8) judge that the value of K, whether equal to 5, is if so, then slowed down, and returns to former track, overtake other vehicles unsuccessfully, carry out step 9), if No, then return to step is 5)；
9) buzzer cipher three times, close intelligent system of overtaking other vehicles.
Described step 2) in the condition of overtaking other vehicles include：
(1) there is no other vehicles in the range of this car -3～0m of X-axis scope and Y-axis -50～250m of scope；
(2) spacing in the two cars of the dead ahead of this car is more than or equal to 200m；
(3) size in the acceleration of this front side front truck traveling to be surmounted is not above the threshold value for setting；
Must be fulfilled for when overtaking other vehicles it is all overtake other vehicles condition when just allow to overtake other vehicles.
Described step 3) and step 6) in on-line prediction algorithm be：
31) whether multiple positions and the time data according to the front truck to be surmounted for obtaining, judge data points s more than 50 It is individual, Kalman filtering is carried out to data then if so, step 32 is then carried out), if it is not, then directly carrying out step 32)；
32) data to obtaining carry out cubic spline interpolation, and regressive interpolation 2 seconds makes the time interval phase of data after interpolation Together, the expression formula of cubic spline functions is：
hi=xi+1-xi
The boundary condition of interpolation is：
Wherein, xiFor interpolating function f (xi) sampled point on interpolation section, SiFor sampled point xiThe second dervative at place, n Count for interpolation, i=0,1,2,3 ... n；
33) carry out Kalman Prediction according to the data after cubic spline interpolation, obtain one group include front truck to be surmounted each Prediction time position with the prediction data of speed；
34) the prediction wheelpath of front truck to be surmounted is obtained according to prediction data, and receives next data point, s values From Jia 1, return to step is 33).
It is described initially to overtake other vehicles track and amendment overtakes other vehicles track while meeting following condition：
(1) more than 3m is kept with the distance of the corresponding time point of the prediction wheelpath of front truck to be surmounted；
(2) in the left side of front truck to be surmounted, and trajectory tortuosity is continuous；
(3) through the location point of this car present position and front truck Y-axis forward direction 60m to be surmounted.
Described step 5) in the overtake other vehicles decision condition of end be：
The position of front truck to be surmounted is located at this car -0.5～0.5m of X-direction, and the relative distance at Y-axis rear is more than or waits In the range of 30m.
A kind of automobile intelligent is overtaken other vehicles system, it is characterised in that include：
Trailer-mounted radar, to the positional information for detecting vehicle nearby；
Air throttle electromagnetic valve, to adjust throttle opening, controls this car speed, makes this car speed big in overtaking process In front truck 10-20km/h to be surmounted；
Assist steering system electromagnetic valve, to the front wheel steering angle for controlling automobile；
Buzzer siren, buzzing warning is sent when system of overtaking other vehicles is closed；
ECU, built-in wheelpath algorithm routine, respectively with trailer-mounted radar, air throttle electromagnetic valve, assist steering system electromagnetism Valve and buzzer siren connection, ECU are obtained wheelpath according to built-in program, are passed through by the information of reception trailer-mounted radar Air throttle solenoid valve control speed is adjusted, assist steering system electromagnetic valve is adjusted, direction of traffic is controlled.
Compared with prior art, the present invention has advantages below：
First, improve and overtake other vehicles safety, whether premise meets by judging to overtake other vehicles, and judges whether in overtaking process full Foot continues the condition overtaken other vehicles, and take into account the fortuitous event during front truck traveling to be surmounted, preferably super so as to be formed Wheel paths, make overtaking other vehicles for passing vehicle safety and steady.
2nd, it is simple to operate, after system of originally overtaking other vehicles is opened, judged automatically, automatically generate track of overtaking other vehicles, and press automatically According to overtaking other vehicles, track is overtaken other vehicles, and reduces the burden of driver, mitigates driver fatigue.
3rd, low cost, the present invention only need to receive the position signalling of surrounding automobile by radar, and with the locking mesh of radar Mark function, without other sensors, therefore implements and is more prone to, advantage of lower cost.
4th, algorithm is advanced, by the built-in on-line prediction algorithm based on Kalman Prediction principle in ECU, enhances The real-time and reliability of on-line prediction.
Description of the drawings
Fig. 1 is method of the present invention flow chart.
Fig. 2 is the system structure diagram of the present invention.
Flow charts of the Fig. 3 for on-line prediction algorithm.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment：
As shown in figure 1, a kind of automobile intelligent method of overtaking, comprises the following steps：
A kind of automobile intelligent method of overtaking, comprises the following steps：
1) system of overtaking other vehicles is opened, trailer-mounted radar obtains the positional information of the surrounding vehicles of this car, and selectes a fixation Point is origin, and this car dead ahead is Y-axis, and this car right is X-axis, sets up plane coordinate system；
2) judge whether that satisfaction is overtaken other vehicles condition, if so, then carries out step 3), if it is not, then waiting a radar collection period Afterwards, 2) condition of overtaking other vehicles includes return to step：
(1) there is no other vehicles in the range of this car -3～0m of X-axis scope and Y-axis -50～250m of scope；
(2) spacing in the two cars of the dead ahead of this car is more than or equal to 200m；
(3) size in the acceleration of this front side front truck traveling to be surmounted is not above the threshold value for setting；
Must be fulfilled for when overtaking other vehicles it is all overtake other vehicles condition when just allow to overtake other vehicles；
3) according to the position of this car and the front truck to be surmounted for detecting relative to this car position, by vehicle to be surmounted Position is transformed under plane coordinate system, and the prediction wheelpath of front truck to be surmounted is obtained according to on-line prediction algorithm；
4) generate the track of initially overtaking other vehicles of this car according to the prediction wheelpath of front truck to be surmounted, this car is according to initially overtaking other vehicles Track is overtaken other vehicles, and K assignment 1, initially overtakes other vehicles track and amendment overtakes other vehicles track while meeting following condition：
(1) more than 3m is kept with the distance of the corresponding time point of the prediction wheelpath of front truck to be surmounted；
(2) in the left side of front truck to be surmounted, and trajectory tortuosity is continuous；
(3) through the location point of this car present position and front truck Y-axis forward direction 60m to be surmounted；
5) positional information according to the front truck to be surmounted for obtaining in real time, whether judgement is overtaken other vehicles terminates, and if so, then carries out step 9), if it is not, then carrying out step 6), the decision condition of end of overtaking other vehicles is：
The position of front truck to be surmounted is located at this car -0.5～0.5m of X-direction, and the relative distance at Y-axis rear is more than or waits In the range of 30m；
6) continue to obtain the position signalling of front truck to be surmounted in real time, according to on-line prediction algorithm real-time estimate front truck to be surmounted Wheelpath, the track of overtaking other vehicles of real-time revised version car, and obtain the amendment of this car and overtake other vehicles track；
7) acceleration in front truck X to be surmounted, Y-direction is calculated, judges whether the size of its acceleration exceedes corresponding threshold Value, if so, then K=K+1, and carry out step 8)；If it is not, then K=1, return to step is 5)；
8) judge that the value of K, whether equal to 5, is if so, then slowed down, and returns to former track, overtake other vehicles unsuccessfully, carry out step 9), if No, then return to step is 5)：
9) buzzer cipher three times, close intelligent system of overtaking other vehicles.
As shown in figure 3, on-line prediction algorithm is：
31) whether multiple positions and the time data according to the front truck to be surmounted for obtaining, judge data points s more than 50 It is individual, Kalman filtering is carried out to data then if so, step 32 is then carried out), if it is not, then directly carrying out step 32)；
32) data to obtaining carry out cubic spline interpolation, and regressive interpolation 2 seconds makes the time interval phase of data after interpolation Together, the expression formula of cubic spline functions is：
hi=xi+1-xi
The boundary condition of interpolation is：
Wherein, xiFor interpolating function f (xi) sampled point on interpolation section, SiFor sampled point xiThe second dervative at place, n Count for interpolation, i=0,1,2,3 ... n；
33) carry out Kalman Prediction according to the data after cubic spline interpolation, obtain one group include front truck to be surmounted each Prediction time position with the prediction data of speed；
34) the prediction wheelpath of front truck to be surmounted is obtained according to prediction data, and receives next data point, s values From Jia 1, return to step is 31).
The system as shown in Fig. 2 a kind of automobile intelligent is overtaken other vehicles, including：
Trailer-mounted radar, to the positional information for detecting vehicle nearby；
Air throttle electromagnetic valve, to adjust throttle opening, controls this car speed, makes this car speed big in overtaking process In front truck 10-20km/h to be surmounted；
Assist steering system electromagnetic valve, to the front wheel steering angle for controlling automobile；
Buzzer siren, buzzing warning is sent when system of overtaking other vehicles is closed；
ECU, built-in wheelpath algorithm routine, respectively with trailer-mounted radar, air throttle electromagnetic valve, assist steering system electromagnetism Valve and buzzer siren connection, ECU are obtained wheelpath according to built-in program, are passed through by the information of reception trailer-mounted radar Air throttle solenoid valve control speed is adjusted, assist steering system electromagnetic valve is adjusted, direction of traffic is controlled.
By radar detection surrounding vehicles situation, a kind of automobile intelligent method of overtaking, judges whether that satisfaction is overtaken other vehicles bar first Part, if being unsatisfactory for, continues detection surrounding vehicles situation and judges whether that satisfaction is overtaken other vehicles condition after waiting a radar collection period, Till condition of overtaking other vehicles meets；After condition of overtaking other vehicles meets, the position signalling of front truck to be surmounted is detected, by on-line prediction algorithm The track of front truck to be surmounted is predicted, and generates track of initially overtaking other vehicles.Subsequently often receive once front vehicle position signal to be surmounted to sentence Whether disconnected overtaking other vehicles terminates, if being not over, is overtaken other vehicles rail by the track of on-line prediction algorithm predicts front truck to be surmounted amendment Mark, while calculating its X, Y-direction acceleration, judges whether the size of the acceleration of front truck to be surmounted exceedes corresponding threshold value, if There is the situation that its acceleration exceedes correspondence threshold value for continuous five times, then car deceleration return to former track, subsequently intelligence is overtaken other vehicles and is System is closed, and triggers buzzer cipher three times.Otherwise, continue to detect front vehicle position signal to be surmounted, predict its track, and correct Overtake other vehicles track.The end if judgement is overtaken other vehicles, intelligent system closing of overtaking other vehicles, and buzzer cipher three times is triggered, remind driver.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and use invention. Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general Principle is applied in other embodiment without through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability Field technique personnel announcement of the invention, the improvement made without departing from scope and modification all should be the present invention's Within protection domain.

Claims (6)

1. a kind of automobile intelligent method of overtaking, it is characterised in that comprise the following steps：
1) system of overtaking other vehicles is opened, trailer-mounted radar obtains the positional information of the surrounding vehicles of this car, and selectes a fixing point and be Origin, this car dead ahead are Y-axis, and this car right is X-axis, sets up plane coordinate system；
2) judge whether that satisfaction is overtaken other vehicles condition, if so, then carries out step 3), if it is not, after then waiting a radar collection period, returning Return step 2)；
3) according to the position of this car and the front truck to be surmounted for detecting relative to this car position, by the position of vehicle to be surmounted It is transformed under plane coordinate system, and the prediction wheelpath of front truck to be surmounted is obtained according to on-line prediction algorithm；
4) track of initially overtaking other vehicles of this car is generated according to the prediction wheelpath of front truck to be surmounted, this car is according to track of initially overtaking other vehicles Overtaken other vehicles, and K assignment 1；
5) positional information according to the front truck to be surmounted for obtaining in real time, whether judgement is overtaken other vehicles terminates, and if so, then carries out step 9), If it is not, then carrying out step 6)；
6) continue to obtain the position signalling of front truck to be surmounted in real time, according to the row of on-line prediction algorithm real-time estimate front truck to be surmounted Wheel paths, the track of overtaking other vehicles of revised version car in real time, the amendment for obtaining this car are overtaken other vehicles track；
7) acceleration in front truck X to be surmounted, Y-direction is calculated, judges whether the size of its acceleration exceedes corresponding threshold value, if It is, then K=K+1, and carries out step 8)；If it is not, then K=1, return to step is 5)；
8) judge that the value of K, whether equal to 5, is if so, then slowed down, and returns to former track, overtake other vehicles unsuccessfully, carry out step 9), if it is not, then Return to step is 5)；
9) buzzer cipher three times, close intelligent system of overtaking other vehicles.
2. a kind of automobile intelligent method of overtaking according to claim 1, it is characterised in that described step 2) in overtake other vehicles Condition includes：
(1) there is no other vehicles in the range of this car -3～0m of X-axis scope and Y-axis -50～250m of scope；
(2) spacing in the two cars of the dead ahead of this car is more than or equal to 200m；
(3) size in the acceleration of this front side front truck traveling to be surmounted is not above the threshold value for setting；It is necessary when overtaking other vehicles Meet it is all overtake other vehicles condition when just allow to overtake other vehicles.
3. a kind of automobile intelligent method of overtaking according to claim 1, it is characterised in that described step 3) and step 6) In on-line prediction algorithm be：
31) whether multiple positions and the time data according to the front truck to be surmounted for obtaining, judge data points s more than 50, if It is that Kalman filtering is carried out to data then, then carries out step 32), if it is not, then directly carrying out step 32)；
32) data to obtaining carry out cubic spline interpolation, regressive interpolation 2 seconds, make the time interval of data after interpolation identical, and three The expression formula of secondary spline interpolation function is：
f ( x ) = - S i ( x - x i + 1 ) 3 6 h i + S i + 1 ( x - x i + 1 ) 3 6 h i + [ f ( x i ) - S i h i 2 6 ] x i + 1 - x h i + [ f ( x i + 1 ) - S i + 1 h i 2 6 ] x - x i h i
hi=xi+1-xi
The boundary condition of interpolation is：
s ′ ( x 0 ) = f 0 ′ s ′ ( x n ) = f n ′ ;
Wherein, xiFor interpolating function f (xi) sampled point on interpolation section, SiFor sampled point xiThe second dervative at place, n are interpolation Points, i=0,1,2,3 ... n；
33) carry out Kalman Prediction according to the data after cubic spline interpolation, obtain one group include front truck to be surmounted each prediction Moment position and the prediction data of speed；
34) the prediction wheelpath of front truck to be surmounted is obtained according to prediction data, and receives next data point, s values add certainly 1, return to step is 33).
4. a kind of automobile intelligent method of overtaking according to claim 1, it is characterised in that it is described initially overtake other vehicles track and Amendment overtakes other vehicles track while meeting following condition：
(1) more than 3m is kept with the distance of the corresponding time point of the prediction wheelpath of front truck to be surmounted；
(2) in the left side of front truck to be surmounted, and trajectory tortuosity is continuous；
(3) through the location point of this car present position and front truck Y-axis forward direction 60m to be surmounted.
5. a kind of automobile intelligent method of overtaking according to claim 1, it is characterised in that described step 5) in overtake other vehicles knot The decision condition of beam is：
The position of front truck to be surmounted is located at this car -0.5～0.5m of X-direction, and the relative distance at Y-axis rear is more than or equal to In the range of 30m.
6. a kind of system of overtaking other vehicles for realizing the automobile intelligent method of overtaking as described in any one of claim 1-5, it is characterised in that bag Include：
Trailer-mounted radar, to the positional information for detecting vehicle nearby；
Air throttle electromagnetic valve, to adjust throttle opening, controls this car speed, is more than this car speed and treats in overtaking process Surmount front truck 10-20km/h；
Assist steering system electromagnetic valve, to the front wheel steering angle for controlling automobile；
Buzzer siren, buzzing warning is sent when system of overtaking other vehicles is closed；
ECU, built-in wheelpath algorithm routine, respectively with trailer-mounted radar, air throttle electromagnetic valve, assist steering system electromagnetic valve and Buzzer siren connects, and ECU obtains wheelpath according to built-in program by the information of reception trailer-mounted radar, by adjusting Air throttle solenoid valve control speed, adjusts assist steering system electromagnetic valve, controls direction of traffic.
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