CN110335503A - One kind is overtaken other vehicles control method, device and terminal - Google Patents
One kind is overtaken other vehicles control method, device and terminal Download PDFInfo
- Publication number
- CN110335503A CN110335503A CN201910477108.2A CN201910477108A CN110335503A CN 110335503 A CN110335503 A CN 110335503A CN 201910477108 A CN201910477108 A CN 201910477108A CN 110335503 A CN110335503 A CN 110335503A
- Authority
- CN
- China
- Prior art keywords
- lane
- vehicle
- target vehicle
- vehicles
- current vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
It overtakes other vehicles control method, device and terminal the invention discloses one kind, which comprises receive the instruction of overtaking other vehicles of overshoot vehicle, the target vehicle and current vehicle are located at adjacent first lane, on second lane；Judge whether the target vehicle has more line driving intention；If so, judging whether there is third lane, the third lane includes the accessible lane adjacent with the second lane；It overtakes other vehicles on the third lane if so, controlling the current vehicle.Control method of overtaking other vehicles of the invention, after receiving and overtaking other vehicles instruction, by judging whether the target vehicle of adjacent lane has more line driving intention, it is determined whether execution is overtaken other vehicles instruction, to efficiently avoid the risk that collides during intelligent driving.
Description
Technical field
It overtakes other vehicles control method, device and terminal the present invention relates to vehicle drive security fields more particularly to one kind.
Background technique
Driving (HWA) function is assisted mainly to be provided by preceding camera in highway, forward direction radar can provide target identification
Miscellaneous function carries out target identification, and vehicle is kept to travel in two lane line centers, or selection follow the bus, or according to setting speed row
It sails.
When oversize vehicle occurs in adjacent lane and has with current relatively close or adjacent lane the vehicle of vehicle distances that drives
More line driving intention and with it is current drive vehicle distances it is closer when, also keep preset vehicle speed in lane if currently driving vehicle
Central Bank sails, then, risk of collision is had when the following distance of two vehicles is less than certain distance.
It overtakes other vehicles control method, device and terminal therefore, it is necessary to provide one kind, to improve the safety overtaken other vehicles.
Summary of the invention
It overtakes other vehicles control method, device and terminal, improves in view of the deficiencies of the prior art, it is an object of the present invention to provide one kind
The safety overtaken other vehicles.
The present invention is achieved by the following technical solutions:
On the one hand, it overtakes other vehicles control method the present invention provides one kind, which comprises
The instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at the first adjacent vehicle
On road, second lane；
Judge whether the target vehicle has more line driving intention；
If so, judge whether there is third lane, the third lane includes adjacent with the second lane accessible
Lane；
It overtakes other vehicles on the third lane if so, controlling the current vehicle.
Further, described to judge whether the target vehicle there is more line driving intention to include:
Judge whether the distance between the target vehicle and the first lane line are less than or equal to pre-determined distance, described the
One lane line is in two lane lines of the first lane close to one of the current vehicle；
Correspondingly, if so, determining that the target vehicle has more line driving intention.
Further, the control current vehicle is overtaken other vehicles on the third lane includes:
Judge the current vehicle at a distance from the target vehicle whether within the scope of the first pre-determined distance；
It overtakes other vehicles on the third lane if so, controlling the current vehicle.
Further, described to judge whether the target vehicle there is more line driving intention to include:
Judge whether the transverse acceleration of the target vehicle is greater than zero；Or
Judging the target vehicle, whether crimping travels；Or
Judge whether the target vehicle issues the first turn signal, first turn signal is used to indicate target vehicle
Lane to be diverted is the lane where the current vehicle；
Correspondingly, determining that the target vehicle has more line driving intention if any of the above-described be judged as YES.
Further, the control current vehicle is overtaken other vehicles on the third lane includes:
Judge the current vehicle at a distance from the target vehicle whether within the scope of the second pre-determined distance；
It overtakes other vehicles on the third lane if so, controlling the current vehicle.
On the other hand, it overtakes other vehicles control device the present invention provides one kind, described device includes:
It overtakes other vehicles command reception module, for receiving the instruction of overtaking other vehicles of overshoot vehicle, the target vehicle and works as front truck
It is located at adjacent first lane, on second lane；
Judgment module, for judging whether the target vehicle has more line driving intention；
Lane judgment module, for judging whether there is third vehicle when the target vehicle has more line driving intention
Road, the third lane include the accessible lane adjacent with the second lane；
First overtakes other vehicles control module, for when there are third lane, controlling the current vehicle in the third lane
On overtake other vehicles.
Preferably, the judgment module includes:
Lane line Distance Judgment unit, for whether judging the distance between the target vehicle and the first lane line
Less than or equal to pre-determined distance, the first lane line is in two lane lines of the first lane close to the current vehicle
One；
First determination unit, it is default for being less than or equal at a distance from the target vehicle is between the first lane line
Apart from when, determine the target vehicle have more line driving intention.
Preferably, the described first control module of overtaking other vehicles includes:
First vehicle distances judging unit, for judging the current vehicle at a distance from the target vehicle whether
Within the scope of one pre-determined distance；
First control unit, in the current vehicle at a distance from the target vehicle in the first pre-determined distance range
When interior, control the current vehicle and overtake other vehicles on the third lane.
Preferably, the judgment module includes:
First judging unit, for judging whether the transverse acceleration of the target vehicle is greater than zero；
Second judgment unit, for judging the target vehicle, whether crimping is travelled；
Third judging unit, for judging whether the target vehicle issues the first turn signal, described first turns to letter
Number being used to indicate target vehicle lane to be diverted is the lane where the current vehicle；
Second determination unit is when being, to determine the target vehicle for the judging result in any of the above-described judging unit
With more line driving intention.
Preferably, the described first control module of overtaking other vehicles includes:
Second vehicle distances judging unit, for judging the current vehicle at a distance from the target vehicle whether
Within the scope of two pre-determined distances；
Second control unit, in the current vehicle at a distance from the target vehicle in the second pre-determined distance range
When interior, control the current vehicle and overtake other vehicles on the third lane.
On the other hand, the present invention provides a kind of terminal, the terminal includes processor and memory, in the memory
It is stored at least one instruction, at least a Duan Chengxu, code set or instruction set, described at least one instructs, is at least one section described
Program, the code set or instruction set are loaded by the processor and are executed to realize control method of overtaking other vehicles as described above.
Control method of overtaking other vehicles, device and terminal provided by the invention, have the following technical effect that
It overtakes other vehicles control method the present invention provides one kind, after receiving and overtaking other vehicles instruction, by the mesh for judging adjacent lane
Whether mark vehicle has more line driving intention, it is determined whether instruction of overtaking other vehicles is executed, to efficiently avoid in intelligent driving mistake
Collide risk in journey.
Detailed description of the invention
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is only the embodiment of the present invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow chart of control method of overtaking other vehicles provided in an embodiment of the present invention；
Fig. 2 is that another kind provided in an embodiment of the present invention is overtaken other vehicles the flow chart of control method；
Fig. 3 is that another kind provided in an embodiment of the present invention is overtaken other vehicles the flow chart of control method；
Fig. 4 is that another kind provided in an embodiment of the present invention is overtaken other vehicles the flow chart of control method；
Fig. 5 is that one kind provided in an embodiment of the present invention is overtaken other vehicles schematic diagram；
Fig. 6 is that another kind provided in an embodiment of the present invention is overtaken other vehicles schematic diagram；
Fig. 7 is a kind of structural schematic diagram of control device of overtaking other vehicles provided in an embodiment of the present invention.
Wherein, appended drawing reference is corresponding in figure are as follows: 1- current vehicle, 2- the second class vehicle, 3- first kind vehicle.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without creative labor
Example is applied, shall fall within the protection scope of the present invention.
In several embodiments provided by the present invention, described system embodiment is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Covering non-exclusive includes to be not necessarily limited to clearly for example, containing the process, method of a series of steps or units, system, product
Those of list step or unit, but may include be not clearly listed or for these process, methods, product or equipment
Intrinsic other step or units.
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of control method of overtaking other vehicles provided in an embodiment of the present invention, this explanation
Book provides the method operating procedure as described in embodiment or flow chart, but can wrap based on routine or without creative labor
Include more or less operating procedure.The step of enumerating in embodiment sequence is only one of numerous step execution sequences
Mode does not represent and unique executes sequence.
The control method of overtaking other vehicles of the present embodiment is applied to current vehicle, and described method includes following steps:
S101. the instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at adjacent
On first lane, second lane；The current vehicle refers to that reception is overtaken other vehicles the vehicle of instruction；
Wherein first lane, second lane refer to two adjacent lanes being parallel to each other；
In practical applications, in general, receive overshoot vehicle overtake other vehicles instruct when, the speed of the target vehicle
Less than the speed of the current vehicle；
Target vehicle, current vehicle in the present embodiment can be common motor bus, medium-sized or above cargo vehicle and large size
The oversize vehicles such as special purpose vehicle；It is also possible to car, jeep, minicar, light bus, light truck and small, dedicated
The small vehicles such as automobile；
S103. judge whether the target vehicle has more line driving intention；
It is changed it should be noted that the target vehicle refers to that target vehicle has from first lane with more line driving intention
To the driving intention of second lane；
S105. if so, judging whether there is third lane, the third lane includes the nothing adjacent with the second lane
Obstacle lane；The accessible lane meets: less than in the region of default value at a distance from the current vehicle on lane
There is no other vehicles or barriers；
S107. it overtakes other vehicles on the third lane if so, controlling the current vehicle；
If it is not, the speed of the current vehicle is reduced, until the speed of the current vehicle is less than or equal to the target carriage
Speed；And it controls the current vehicle and is travelled on the second lane according to present speed.
Control method provided in this embodiment of overtaking other vehicles, after receiving and overtaking other vehicles instruction, by the target for judging adjacent lane
Whether vehicle has more line driving intention, it is determined whether instruction of overtaking other vehicles is executed, to efficiently avoid in intelligent driving process
In collide risk.
In some embodiments, before step S101 can with the following steps are included:
S100. instruction of overtaking other vehicles is sent to current vehicle；
If the speed of current vehicle is greater than the speed of target vehicle on adjacent lane, user can send to current vehicle
It overtakes other vehicles instruction；
Wherein, it may include one of following manner that user, which sends instruction of overtaking other vehicles to current vehicle:
User directly sends instruction of overtaking other vehicles to the control system of current vehicle, such as is arranged on the instrument board of current vehicle
Operation button, user's trigger action button send instruction of overtaking other vehicles；Or
User sends instruction of overtaking other vehicles, the terminal device and the control to the control system of current vehicle by terminal device
By wirelessly or non-wirelessly connecting between system processed.
The terminal device may include smart phone, tablet computer, laptop, digital assistants, intelligence it is wearable
The entity device of the types such as equipment, car-mounted terminal also may include the software run in entity device, such as application program
Deng.
It overtakes other vehicles control method, includes the following steps: as shown in Fig. 2, this specification embodiment additionally provides one kind
S301. the instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at adjacent
On first lane, second lane；The current vehicle refers to that reception is overtaken other vehicles the vehicle of instruction；
In practical applications, in general, receive overshoot vehicle overtake other vehicles instruct when, the speed of the target vehicle
Less than the speed of the current vehicle；
S303. judge whether the distance between the target vehicle and the first lane line are less than or equal to pre-determined distance,
The first lane line is in two lane lines of the first lane close to one of the current vehicle；
Correspondingly, if so, determining that the target vehicle has more line driving intention；
If S305. the target vehicle has more line driving intention, third lane, the third lane are judged whether there is
Accessible lane specially adjacent with the second lane, the accessible lane meet: working as on third lane with described
The distance of vehicle in front, which is less than in the region of default value, is not present other vehicles or barrier；
S307. third lane if it exists judges whether the current vehicle is pre- first at a distance from the target vehicle
If in distance range；
In some preferred embodiments, the first pre-determined distance range can be set to 1-2.5 meters；
S309. it if so, opening light and/or auditory tone cues (such as: opening turn signal and/or whistle prompt), and controls
The current vehicle is overtaken other vehicles on the third lane.
The present embodiment gets over line driving intention for the difference of target vehicle, has formulated different strategies of overtaking other vehicles, has improved super
More there is the safety of different more line driving intention target vehicle.
It overtakes other vehicles control method, includes the following steps: as shown in figure 3, this specification embodiment additionally provides one kind
S401. the instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at adjacent
On first lane, second lane；The current vehicle refers to that reception is overtaken other vehicles the vehicle of instruction；
In practical applications, in general, receive overshoot vehicle overtake other vehicles instruct when, the speed of the target vehicle
Less than the speed of the current vehicle；
S403. judge whether the transverse acceleration of the target vehicle is greater than zero；Or
Judging the target vehicle, whether crimping travels；Or
Judge whether the target vehicle issues the first turn signal, first turn signal is used to indicate target vehicle
Lane to be diverted is the lane where the current vehicle；
Correspondingly, determining that the target vehicle has more line driving intention if any of the above-described be judged as YES；
If S405. the target vehicle has more line driving intention, third lane, the third lane are judged whether there is
Accessible lane specially adjacent with the second lane, the third lane meet: on third lane with it is described current
The distance of vehicle, which is less than in the region of default value, is not present other vehicles or barrier；
S407. third lane if it exists judges whether the current vehicle is pre- second at a distance from the target vehicle
If in distance range；
In some preferred embodiments, the second pre-determined distance range can be set to 2.5-4 meters；
S409. if so, opening light and/or auditory tone cues, and it is enterprising in the third lane to control the current vehicle
Row is overtaken other vehicles.
The present embodiment gets over line driving intention for the difference of target vehicle, has formulated different strategies of overtaking other vehicles, has improved super
More there is the safety of different more line driving intention target vehicle.
It overtakes other vehicles control method, includes the following steps: as shown in figure 4, this specification embodiment additionally provides one kind
S501. the instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at adjacent
On first lane, second lane；The current vehicle refers to that reception is overtaken other vehicles the vehicle of instruction；
In practical applications, in general, receive overshoot vehicle overtake other vehicles instruct when, the speed of the target vehicle
Less than the speed of the current vehicle；
S502. judge whether the speed of the target vehicle is more than or equal to the first pre-set velocity；
S503. if so, judging whether the target vehicle has more line driving intention；
S505. if so, judging whether there is third lane, the third lane includes the nothing adjacent with the second lane
Obstacle lane；
S507. it overtakes other vehicles on the third lane if so, controlling the current vehicle.
Correspondingly, the type of the target vehicle is judged when the target vehicle does not have more line driving intention, it is described
The type of target vehicle includes first kind vehicle 3 and the second class vehicle 2；
In practical applications, in general, the first kind vehicle 3 mentioned in the present embodiment refers to common motor bus, medium-sized
The oversize vehicles such as the above cargo vehicle and large-scale special purpose vehicle；Second vehicle 2 refers to car, jeep, minicar, light coach
The small vehicles such as vehicle, light truck and small, dedicated automobile；
As shown in figure 5, judging the speed of the target vehicle when the type of the target vehicle is first kind vehicle 3
Whether the second pre-set velocity is more than or equal to；
If so, reducing the speed of the current vehicle 1 to third pre-set velocity, the third pre-set velocity is greater than the mesh
Mark the second present speed of vehicle；
It controls the current vehicle 1 and overtakes other vehicles on the second lane according to present speed.
As shown in fig. 6, controlling the holding of current vehicle 1 when the type of the target vehicle is the second class vehicle 2 and working as
Preceding driving status is overtaken other vehicles.
The present invention increases when judging that the target vehicle does not have more line driving intention and judges target vehicle type
Step, and different strategies of overtaking other vehicles is formulated for different types of target vehicle, improve the safety for surmounting different vehicle.
This specification embodiment additionally provides one kind and overtakes other vehicles control method, includes the following steps:
S601. the instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at adjacent
On first lane, second lane；The current vehicle refers to that reception is overtaken other vehicles the vehicle of instruction；
In practical applications, in general, receive overshoot vehicle overtake other vehicles instruct when, the speed of the target vehicle
Less than the speed of the current vehicle；
S602. judge whether the speed of the target vehicle is more than or equal to the first pre-set velocity；
S603. if so, judging whether the distance between the target vehicle and the first lane line are less than or equal to preset
Distance, the first lane line are in two lane lines of the first lane close to one of the current vehicle；
Correspondingly, if so, determining that the target vehicle has more line driving intention；
If S605. the target vehicle has more line driving intention, third lane, the third lane are judged whether there is
Accessible lane specially adjacent with the second lane, the third lane meet: on third lane with it is described current
The distance of vehicle, which is less than in the region of default value, is not present other vehicles or barrier；
S607. third lane, the speed for reducing the current vehicle are default to the 4th pre-set velocity, the described 4th if it exists
Speed is greater than the first present speed of the target vehicle；
S608. judge the current vehicle at a distance from the target vehicle whether within the scope of the first pre-determined distance；
S609. it if so, opening light and/or auditory tone cues (such as: opening turn signal and/or whistle prompt), and controls
The current vehicle is overtaken other vehicles on the third lane according to the 4th pre-set velocity.
The present invention judges the target carriage before whether the target vehicle for judging adjacent lane has more line driving intention
Speed whether be more than or equal to the first pre-set velocity；The speed of combining target vehicle and more line driving intention judging result, system
The traveling strategy for making current vehicle, further improves the safety for surmounting the vehicle of friction speed.
This specification embodiment additionally provides one kind and overtakes other vehicles control method, includes the following steps:
S701. the instruction of overtaking other vehicles of overshoot vehicle is received, the target vehicle and current vehicle are located at adjacent
On first lane, second lane；The current vehicle refers to that reception is overtaken other vehicles the vehicle of instruction；
In practical applications, in general, receive overshoot vehicle overtake other vehicles instruct when, the speed of the target vehicle
Less than the speed of the current vehicle；
S702. judge whether the speed of the target vehicle is more than or equal to the first pre-set velocity；
S703. if so, judging whether the transverse acceleration of the target vehicle is greater than zero；Or
Judging the target vehicle, whether crimping travels；Or
Judge whether the target vehicle issues the first turn signal, first turn signal is used to indicate target vehicle
Lane to be diverted is the lane where the current vehicle；
Correspondingly, determining that the target vehicle has more line driving intention if any of the above-described be judged as YES.
If S705. the target vehicle has more line driving intention, third lane, the third lane are judged whether there is
Accessible lane specially adjacent with the second lane, the third lane meet: on third lane with it is described current
The distance of vehicle, which is less than in the region of default value, is not present other vehicles or barrier；
S707. third lane if it exists, reduces the speed of the current vehicle, until the current vehicle and the target
The speed difference of vehicle is less than or equal to default value；
S708. judge the current vehicle at a distance from the target vehicle whether within the scope of the first pre-determined distance；
S709. it if so, opening light and/or auditory tone cues (such as: opening turn signal and/or whistle prompt), and controls
The current vehicle is overtaken other vehicles on the third lane according to present speed.
The present invention judges the target carriage before whether the target vehicle for judging adjacent lane has more line driving intention
Speed whether be more than or equal to the first pre-set velocity；The speed of combining target vehicle and more line driving intention judging result, system
The traveling strategy for making current vehicle, further improves the safety for surmounting the vehicle of friction speed.
This specification embodiment additionally provides a kind of terminal, and the terminal includes processor and memory, the memory
In be stored at least one instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, described at least one
Duan Chengxu, the code set or instruction set are loaded by the processor and are executed to realize control method of overtaking other vehicles as described above.
It overtakes other vehicles control device as shown in fig. 7, this specification embodiment additionally provides one kind, described device includes:
Command reception module of overtaking other vehicles 801, for receiving the instruction of overtaking other vehicles of overshoot vehicle, the target vehicle and current
Vehicle is located at adjacent first lane, on second lane；
Judgment module 802, for judging whether the target vehicle has more line driving intention；
Lane judgment module 803, for judging whether there is third when the target vehicle has more line driving intention
Lane, the third lane include the accessible lane adjacent with the second lane；
First overtakes other vehicles control module 804, for when there are third lane, controlling the current vehicle in the third vehicle
It overtakes other vehicles on road.
In some preferred embodiments, target vehicle is detected and known using the preposition radar and camera of vehicle
Not.
In some preferred embodiments, the judgment module 802 includes:
Lane line Distance Judgment unit, for whether judging the distance between the target vehicle and the first lane line
Less than or equal to pre-determined distance, the first lane line is in two lane lines of the first lane close to the current vehicle
One；
First determination unit, it is default for being less than or equal at a distance from the target vehicle is between the first lane line
Apart from when, determine the target vehicle have more line driving intention.
In some preferred embodiments, the described first control module 804 of overtaking other vehicles includes:
First vehicle distances judging unit, for judging the current vehicle at a distance from the target vehicle whether
Within the scope of one pre-determined distance；
First control unit, in the current vehicle at a distance from the target vehicle in the first pre-determined distance range
When interior, control the current vehicle and overtake other vehicles on the third lane.
In some preferred embodiments, the judgment module 802 includes:
First judging unit, for judging whether the transverse acceleration of the target vehicle is greater than zero；
Second judgment unit, for judging the target vehicle, whether crimping is travelled；
Third judging unit, for judging whether the target vehicle issues the first turn signal, described first turns to letter
Number being used to indicate target vehicle lane to be diverted is the lane where the current vehicle；
Second determination unit is when being, to determine the target vehicle for the judging result in any of the above-described judging unit
With more line driving intention.
In some preferred embodiments, the described first control module 804 of overtaking other vehicles includes:
Second vehicle distances judging unit, for judging the current vehicle at a distance from the target vehicle whether
Within the scope of two pre-determined distances；
Second control unit, in the current vehicle at a distance from the target vehicle in the second pre-determined distance range
When interior, control the current vehicle and overtake other vehicles on the third lane.
In some preferred embodiments, described device further include:
First Speed control module, for reducing the speed of the current vehicle, directly when the third lane is not present
It is less than or equal to the speed of the target vehicle to the speed of the current vehicle；
Control module is travelled, is travelled on the second lane for controlling the current vehicle according to present speed.
In some preferred embodiments, described device further include:
First pre-set velocity judgment module, for judging whether the speed of the target vehicle is more than or equal to the first default speed
Degree；
Execution module executes the judgement when being more than or equal to the first pre-set velocity for the speed in the target vehicle
Whether the target vehicle has more line driving intention.
In some preferred embodiments, described device further include:
Type of vehicle judgment module, for judging the target when the target vehicle does not have more line driving intention
The type of vehicle, the type of the target vehicle include first kind vehicle；
Second pre-set velocity judgment module, for when the type of the target vehicle is first kind vehicle, described in judgement
Whether the speed of target vehicle is more than or equal to the second pre-set velocity；
Second speed control module when being more than or equal to the second pre-set velocity for the speed in the target vehicle, reduces
For the speed of the current vehicle to third pre-set velocity, the third pre-set velocity is greater than the second current speed of the target vehicle
Degree；
Second overtakes other vehicles control module, carries out on the second lane for controlling the current vehicle according to present speed
It overtakes other vehicles.
In some preferred embodiments, the type of the target vehicle further includes the second class vehicle, and described device is also wrapped
It includes:
Third is overtaken other vehicles control module, described current for controlling when the type of the target vehicle is the second class vehicle
Vehicle keeps current running state to overtake other vehicles.
The technical solution that is there is provided by above this specification embodiment it is found that overtake other vehicles control method the present invention provides one kind,
After receiving and overtaking other vehicles instruction, by judging whether the target vehicle of adjacent lane has more line driving intention, it is determined whether hold
Capable instruction of overtaking other vehicles, to efficiently avoid the risk that collides during intelligent driving；
The present invention judges the target carriage before whether the target vehicle for judging adjacent lane has more line driving intention
Speed whether be more than or equal to the first pre-set velocity；The speed of combining target vehicle and more line driving intention judging result, system
The traveling strategy for making current vehicle, further improves the safety for surmounting the vehicle of friction speed；
The present invention increases when judging that the target vehicle does not have more line driving intention and judges target vehicle type
Step, and different strategies of overtaking other vehicles is formulated for different types of target vehicle, improve the safety for surmounting different vehicle.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device and
For server example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to side
The part of method embodiment illustrates.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (11)
- The control method 1. one kind is overtaken other vehicles, which is characterized in that the described method includes:Receive the instruction of overtaking other vehicles of overshoot vehicle, the target vehicle and current vehicle be located at adjacent first lane, On second lane；Judge whether the target vehicle has more line driving intention；If so, judging whether there is third lane, the third lane includes the accessible lane adjacent with the second lane；It overtakes other vehicles on the third lane if so, controlling the current vehicle.
- 2. judging whether the target vehicle has more line traveling the method according to claim 1, wherein described Intention includes:Judge whether the distance between the target vehicle and first lane line are less than or equal to pre-determined distance, the first lane line It is one of the current vehicle close in two lane lines of the first lane；Correspondingly, if so, determining that the target vehicle has more line driving intention.
- 3. according to the method described in claim 2, it is characterized in that, the control current vehicle is on the third lane It overtakes other vehicles and includes:Judge the current vehicle at a distance from the target vehicle whether within the scope of the first pre-determined distance；It overtakes other vehicles on the third lane if so, controlling the current vehicle.
- 4. judging whether the target vehicle has more line traveling the method according to claim 1, wherein described Intention includes:Judge whether the transverse acceleration of the target vehicle is greater than zero；OrJudging the target vehicle, whether crimping travels；OrJudge whether the target vehicle issues the first turn signal, first turn signal is used to indicate target vehicle and waits turning To lane be the current vehicle where lane；Correspondingly, determining that the target vehicle has more line driving intention if any of the above-described be judged as YES.
- 5. the method according to claim 1, wherein the control current vehicle is on the third lane It overtakes other vehicles and includes:Judge the current vehicle at a distance from the target vehicle whether within the scope of the second pre-determined distance；It overtakes other vehicles on the third lane if so, controlling the current vehicle.
- 6. the method according to claim 1, wherein the method also includes:When the third lane is not present, the speed of the current vehicle is reduced, until the speed of the current vehicle is less than Equal to the speed of the target vehicle；It controls the current vehicle and is travelled on the second lane according to present speed.
- 7. according to the described in any item methods of claim 2-6, which is characterized in that judge whether the target vehicle has described Before having the step of more line driving intention, the method also includes:Judge whether the speed of the target vehicle is more than or equal to the first pre-set velocity；If so, execution is described to judge whether the target vehicle has more line driving intention.
- 8. the method according to claim 1, wherein getting over line driving intention judging that the target vehicle does not have When, the method also includes:Judge that the type of the target vehicle, the type of the target vehicle include first kind vehicle；When the type of the target vehicle is first kind vehicle, judge whether the speed of the target vehicle is more than or equal to second Pre-set velocity；If so, reducing the speed of the current vehicle to third pre-set velocity, the third pre-set velocity is greater than the target carriage The second present speed；It controls the current vehicle and overtakes other vehicles on the second lane according to present speed.
- 9. according to the method described in claim 8, it is characterized in that, the type of the target vehicle further includes the second class vehicle, When the type of the target vehicle is the second class vehicle, controls the current vehicle and current running state is kept to overtake other vehicles.
- The control device 10. one kind is overtaken other vehicles, which is characterized in that described device includes:It overtakes other vehicles command reception module, for receiving the instruction of overtaking other vehicles of overshoot vehicle, the target vehicle and current vehicle point On first lane that Wei Yu be not adjacent, second lane；Judgment module, for judging whether the target vehicle has more line driving intention；Lane judgment module, for judging whether there is third lane, institute when the target vehicle has more line driving intention Stating third lane includes the accessible lane adjacent with the second lane；First overtakes other vehicles control module, surpasses on the third lane for when there are third lane, controlling the current vehicle Vehicle.
- 11. a kind of terminal, which is characterized in that the terminal includes processor and memory, is stored at least in the memory One instruction, at least a Duan Chengxu, code set or instruction set, at least one instruction, an at least Duan Chengxu, the generation Code collection or instruction set are loaded by the processor and are executed to realize controlling party as described in any one of claim 1 to 9 of overtaking other vehicles Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910477108.2A CN110335503B (en) | 2019-06-03 | 2019-06-03 | Overtaking control method, device and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910477108.2A CN110335503B (en) | 2019-06-03 | 2019-06-03 | Overtaking control method, device and terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110335503A true CN110335503A (en) | 2019-10-15 |
| CN110335503B CN110335503B (en) | 2021-04-13 |
Family
ID=68141036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910477108.2A Active CN110335503B (en) | 2019-06-03 | 2019-06-03 | Overtaking control method, device and terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110335503B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452789A (en) * | 2020-04-07 | 2020-07-28 | 北京汽车集团越野车有限公司 | Automatic driving overtaking control method and system |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090102629A1 (en) * | 2006-06-13 | 2009-04-23 | Jochen Kaller | Lane-change assistant for motor vehicles |
| CN105513423A (en) * | 2015-11-30 | 2016-04-20 | 惠州华阳通用电子有限公司 | Vehicle overtaking early-warning method and device |
| CN106218637A (en) * | 2016-08-08 | 2016-12-14 | 合肥泰好乐电子科技有限公司 | A kind of automatic Pilot method |
| US9533682B2 (en) * | 2013-07-01 | 2017-01-03 | Audi Ag | Method for operating a motor vehicle when changing lanes, and motor vehicle |
| CN106627582A (en) * | 2016-12-09 | 2017-05-10 | 重庆长安汽车股份有限公司 | Path planning system and method for overtaking vehicle on adjacent lane in single-lane automatic drive mode |
| CN106740835A (en) * | 2016-11-21 | 2017-05-31 | 北汽福田汽车股份有限公司 | Adaptive cruise control method, device and vehicle |
| CN106985819A (en) * | 2017-03-31 | 2017-07-28 | 北京汽车集团有限公司 | The determination methods and device of vehicle driving intention |
| CN107097773A (en) * | 2017-04-05 | 2017-08-29 | 吉利汽车研究院（宁波）有限公司 | A kind of overtake other vehicles householder method and system for vehicle |
| DE102017005166A1 (en) * | 2017-05-31 | 2017-12-28 | Daimler Ag | Method for operating a vehicle |
| CN107644551A (en) * | 2017-09-04 | 2018-01-30 | 维沃移动通信有限公司 | One kind is overtaken other vehicles pre-judging method and terminal |
| DE102016009762A1 (en) * | 2016-08-11 | 2018-02-15 | Trw Automotive Gmbh | Control system and control method for determining a likelihood of a lane change of a preceding motor vehicle |
| CN108122432A (en) * | 2016-11-28 | 2018-06-05 | 罗伯特·博世有限公司 | For asking for the method for the data of traffic |
-
2019
- 2019-06-03 CN CN201910477108.2A patent/CN110335503B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090102629A1 (en) * | 2006-06-13 | 2009-04-23 | Jochen Kaller | Lane-change assistant for motor vehicles |
| US9533682B2 (en) * | 2013-07-01 | 2017-01-03 | Audi Ag | Method for operating a motor vehicle when changing lanes, and motor vehicle |
| CN105513423A (en) * | 2015-11-30 | 2016-04-20 | 惠州华阳通用电子有限公司 | Vehicle overtaking early-warning method and device |
| CN106218637A (en) * | 2016-08-08 | 2016-12-14 | 合肥泰好乐电子科技有限公司 | A kind of automatic Pilot method |
| DE102016009762A1 (en) * | 2016-08-11 | 2018-02-15 | Trw Automotive Gmbh | Control system and control method for determining a likelihood of a lane change of a preceding motor vehicle |
| CN106740835A (en) * | 2016-11-21 | 2017-05-31 | 北汽福田汽车股份有限公司 | Adaptive cruise control method, device and vehicle |
| CN108122432A (en) * | 2016-11-28 | 2018-06-05 | 罗伯特·博世有限公司 | For asking for the method for the data of traffic |
| CN106627582A (en) * | 2016-12-09 | 2017-05-10 | 重庆长安汽车股份有限公司 | Path planning system and method for overtaking vehicle on adjacent lane in single-lane automatic drive mode |
| CN106985819A (en) * | 2017-03-31 | 2017-07-28 | 北京汽车集团有限公司 | The determination methods and device of vehicle driving intention |
| CN107097773A (en) * | 2017-04-05 | 2017-08-29 | 吉利汽车研究院（宁波）有限公司 | A kind of overtake other vehicles householder method and system for vehicle |
| DE102017005166A1 (en) * | 2017-05-31 | 2017-12-28 | Daimler Ag | Method for operating a vehicle |
| CN107644551A (en) * | 2017-09-04 | 2018-01-30 | 维沃移动通信有限公司 | One kind is overtaken other vehicles pre-judging method and terminal |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452789A (en) * | 2020-04-07 | 2020-07-28 | 北京汽车集团越野车有限公司 | Automatic driving overtaking control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110335503B (en) | 2021-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109895771B (en) | Apparatus and method for controlling train traveling in lead vehicle | |
| CN107614346B (en) | Driving support device | |
| EP1332910B1 (en) | Method and system for vehicle operator assistance improvement | |
| CN100581866C (en) | Method and system for assisting a driver of a vehicle | |
| CN109795487A (en) | Device and method for controlling vehicle platoon traveling | |
| DE102016204265A1 (en) | DRIVING CONTROL DEVICE | |
| CN104648395A (en) | Steering Risk Decision System And Method For Driving Narrow Roads | |
| US20200247415A1 (en) | Vehicle, and control apparatus and control method thereof | |
| CN109690650A (en) | The travel control method and travel controlling system of vehicle | |
| CN111731296B (en) | Travel control device, travel control method, and storage medium storing program | |
| CN105190723B (en) | Driving assist system | |
| EP3915857B1 (en) | A parking assist apparatus and a method of controlling the parking assist apparatus | |
| JP4899429B2 (en) | Driving support device | |
| CN111434551B (en) | Travel control device, travel control method, and storage medium storing program | |
| CN108437988B (en) | Transverse control device and method for intelligent navigation system | |
| CN113859240B (en) | Lane change assisting system and lane change method using the same | |
| CN110198875A (en) | Improvement or associated improvement to driver assistance system | |
| CN110447057A (en) | Controller of vehicle | |
| CN110341710A (en) | A kind of self-adapting cruise control method, device and equipment | |
| EP4092633A1 (en) | Method and device for lane-changing prediction of target vehicle | |
| CN110335503A (en) | One kind is overtaken other vehicles control method, device and terminal | |
| CN114475608A (en) | Method and device for changing lanes for automatic driving vehicle, vehicle and storage medium | |
| EP3709279A1 (en) | Target detection device for vehicle | |
| JP2020152192A (en) | Vehicle control apparatus, vehicle control method, vehicle, and program | |
| CN115489530A (en) | Lane changing method and device for vehicle, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |