CN115246396A

CN115246396A - Auxiliary overtaking method and device and electronic equipment

Info

Publication number: CN115246396A
Application number: CN202110464755.7A
Authority: CN
Inventors: 谢鹏; 齐涛; 王金凤; 瞿进圆; 刘璋勇
Original assignee: Kunshan Bao Innovative Energy Technology Co Ltd
Current assignee: Kunshan Bao Innovative Energy Technology Co Ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2022-10-28

Abstract

The application relates to the technical field of driving assistance, in particular to a method and a device for assisting overtaking and electronic equipment. The auxiliary overtaking method provided by the embodiment of the application comprises the following steps: when an auxiliary overtaking request is received, acquiring a real-time driving scene of a target vehicle; determining a required borrowing lane when the target vehicle exceeds the vehicle to be overtaken from a real-time driving scene; generating an auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle; and executing an auxiliary overtaking strategy so that the target vehicle can overtake the vehicle to be overtaken on the overtaking lane through the automatic driving system, or broadcasting the auxiliary overtaking strategy so that a driver of the target vehicle can control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy. The auxiliary overtaking method, the auxiliary overtaking device and the electronic equipment can guarantee safe and effective overtaking behaviors and reduce the probability of traffic accidents caused by the overtaking behaviors.

Description

Auxiliary overtaking method and device and electronic equipment

Technical Field

The application relates to the technical field of driving assistance, in particular to a method and a device for assisting overtaking and electronic equipment.

Background

With the development of social economy, the quantity of automobiles is continuously increased, the driving scene is more and more complex, and traffic accidents caused by overtaking are also frequently caused, particularly in the driving process of a highway. In addition, because the overtaking process needs to comprehensively judge the overall state of a plurality of lanes, the driver is required to have abundant driving experience, and meanwhile, the driver is required to have good driving habits, and if the driving experience of the driver is insufficient or the driving habits are poor, the probability of traffic accidents caused by overtaking can be further increased, so that safe and effective overtaking becomes a research hotspot in the technical field of driving assistance.

Disclosure of Invention

An object of the present application is to provide a method, an apparatus and an electronic device for assisting passing, so as to solve the above problems.

In a first aspect, the present application provides a method for assisting passing, comprising:

when an auxiliary overtaking request is received, acquiring a real-time driving scene of a target vehicle;

determining a required borrowing lane when the target vehicle exceeds the vehicle to be overtaken from a real-time driving scene;

generating an auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle;

and executing an auxiliary overtaking strategy to allow the target vehicle to overtake the vehicle to be overtaken on the overtaking lane through the automatic driving system, or broadcasting the auxiliary overtaking strategy to allow a driver of the target vehicle to control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy.

With reference to the first aspect, an embodiment of the present application further provides a first optional implementation manner of the first aspect, and before the generating of the auxiliary overtaking strategy based on the position and direction of the borrowed lane relative to the target vehicle, the auxiliary overtaking method further includes:

acquiring a lane occupation state of a borrowing lane according to a real-time driving scene;

judging whether the lane occupation state meets a first preset overtaking requirement or not;

and if the lane occupation state meets the first preset overtaking requirement, executing a step of generating an auxiliary overtaking strategy based on the position and the direction of the borrowed lane relative to the target vehicle.

With reference to the first aspect, embodiments of the present application further provide a second optional implementation manner of the first aspect, where before the generating of the auxiliary passing strategy based on the position and direction of the borrowed lane relative to the target vehicle, the auxiliary passing method further includes:

acquiring the running state of a vehicle to be overtaken;

judging whether the driving state meets a corresponding second preset overtaking requirement or not according to the lane attribute of the original lane and the lane attribute of the borrowed lane corresponding to the target vehicle;

if the driving state meets the corresponding second preset overtaking requirement, executing a step of generating an auxiliary overtaking strategy based on the position direction of the borrowed lane relative to the target vehicle;

and if the driving state does not meet the corresponding second preset overtaking requirement, executing a step of generating an auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle when the change condition of the spacing distance between the target vehicle and the vehicle to be overtaken meets the preset distance change requirement.

With reference to the first aspect, the first optional implementation manner of the first aspect, or the second optional implementation manner of the first aspect, an embodiment of the present application further provides a third optional implementation manner of the first aspect, where the generating of the auxiliary passing strategy based on the position direction of the borrowed lane with respect to the target vehicle includes:

acquiring the vehicle type information of a vehicle to be overtaken;

if the vehicle type information represents that the vehicles to be overtaken are small and medium-sized vehicles, acquiring a preset general safe overtaking distance as a safe distance;

if the vehicle type information represents that the vehicle to be overtaken is a large vehicle, acquiring a safe distance according to the real-time driving speed of the vehicle to be overtaken;

and generating an auxiliary overtaking strategy by combining the position direction and the safe distance of the borrowing lane relative to the target vehicle.

With reference to the third optional implementation manner of the first aspect, an embodiment of the present application further provides a fourth optional implementation manner of the first aspect, where obtaining the safe distance according to the real-time driving speed of the vehicle to be overtaken includes:

calling a preset distance query table;

and acquiring a distance value corresponding to the real-time driving speed from the distance query table to serve as a safety distance.

With reference to the third optional implementation manner of the first aspect, the present application provides a fifth optional implementation manner of the first aspect, where the generating of the auxiliary passing strategy with reference to the position direction and the safe distance of the borrowed lane with respect to the target vehicle includes:

generating a first overtaking prompt information control instruction according to the position direction of the borrowed lane relative to the original lane corresponding to the target vehicle, wherein the first overtaking prompt information control instruction is used for controlling the target vehicle to turn on a corresponding steering lamp and executing a corresponding steering action;

and when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds the safety distance, packaging the first overtaking prompt information control command into an auxiliary overtaking strategy.

With reference to the fifth optional implementation manner of the first aspect, an embodiment of the present application further provides a sixth optional implementation manner of the first aspect, where an auxiliary overtaking strategy is executed, so that the target vehicle can overtake the vehicle to be overtaken on the overtaking lane through the automatic driving system, or the auxiliary overtaking strategy is broadcasted, so that after a driver of the target vehicle controls the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy, the auxiliary overtaking method further includes:

when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds the safety distance, generating an auxiliary lane changing strategy;

and executing an auxiliary lane changing strategy so that the target vehicle is changed to the original lane from the borrowed lane through the automatic driving system, or broadcasting the auxiliary lane changing strategy so that a driver of the target vehicle controls the target vehicle to be changed to the original lane from the borrowed lane according to the auxiliary lane changing strategy.

In a second aspect, an auxiliary overtaking device provided in an embodiment of the present application includes:

the scene acquisition module is used for acquiring a real-time driving scene of a target vehicle when receiving an auxiliary overtaking request;

the lane determining module is used for determining a borrowing lane required by the target vehicle when exceeding the vehicle to be overtaken from a real-time driving scene;

the first strategy generation module is used for generating an auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle;

and the first strategy execution module is used for executing an auxiliary overtaking strategy so that the target vehicle can overtake the vehicle to be overtaken on the overtaking lane through the automatic driving system, or broadcasting the auxiliary overtaking strategy so that a driver of the target vehicle can control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy.

In a third aspect, an electronic device provided in an embodiment of the present application includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the computer program to implement the method for assisting passing provided in the first aspect or any optional implementation manner of the first aspect.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for assisting passing provided by the first aspect or any one of the optional implementation manners of the first aspect is implemented.

The method for assisting the passing of the vehicle can acquire a real-time driving scene of the target vehicle when receiving the request for assisting the passing of the vehicle, determine a passing lane required by the target vehicle when the target vehicle passes the vehicle to be passed from the real-time driving scene, automatically generate an auxiliary passing strategy based on the position direction of the passing lane relative to the target vehicle, and execute the auxiliary passing strategy, so that the target vehicle can pass the vehicle to be passed on the passing lane through an automatic driving system, or broadcast the auxiliary passing strategy, so that a driver of the target vehicle can control the target vehicle to pass the vehicle to be passed on the passing lane according to the auxiliary passing strategy. Therefore, the target vehicle can avoid the possibility of traffic accidents caused by the lack of driving experience and bad driving habits of drivers in the process of overtaking the vehicle to be overtaken on the borrowing lane, thereby ensuring safe and effective overtaking behaviors and reducing the probability of traffic accidents caused by the overtaking behaviors.

The auxiliary overtaking device, the electronic device and the computer readable storage medium provided by the embodiment of the application have the same beneficial effects as the auxiliary overtaking method, and are not repeated herein.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural block diagram of an electronic device according to an embodiment of the present application.

Fig. 2 is a flowchart illustrating steps of a method for assisting passing provided in an embodiment of the present application.

Fig. 3 is a schematic view of a first real-time driving scene provided in the embodiment of the present application.

Fig. 4 is a schematic view of a second real-time driving scenario provided in the embodiment of the present application.

Fig. 5 is a schematic view of a third real-time driving scenario provided in the embodiment of the present application.

Fig. 6 is a schematic structural block diagram of an auxiliary overtaking device according to an embodiment of the present application.

Reference numerals: 100-an electronic device; 110-a processor; 120-a memory; 200-auxiliary overtaking device; 210-a scene acquisition module; 220-a lane determination module; 230-a first policy generation module; 240 — first policy enforcement module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Furthermore, it should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

Referring to fig. 1, a schematic block diagram of an electronic device 100 according to an embodiment of the present disclosure is shown. In the embodiment of the present application, the electronic device 100 may be a vehicle-mounted terminal device.

Structurally, electronic device 100 may include a processor 110 and a memory 120.

The processor 110 and the memory 120 are electrically connected, directly or indirectly, to enable data transfer or interaction, for example, the components may be electrically connected to each other via one or more communication buses or signal lines. The auxiliary overtaking device includes at least one software module that may be stored in the memory 120 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the electronic device 100. The processor 110 is configured to execute executable modules stored in the memory 120, such as software functional modules and computer programs included in the auxiliary overtaking device, so as to implement the auxiliary overtaking method.

The processor 110 may execute the computer program upon receiving the execution instruction. The processor 110 may be an integrated circuit chip having signal processing capabilities. The Processor 110 may also be a general-purpose Processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, which can implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application, and furthermore, the general-purpose Processor may be a microprocessor or any conventional Processor.

The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), and an electrically Erasable Programmable Read-Only Memory (EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.

It should be understood that the structure shown in fig. 1 is merely an illustration, and the electronic device 100 provided in the embodiment of the present application may also have fewer or more components than those shown in fig. 1, or may have a different configuration than that shown in fig. 1, for example, a display, an input/output device, and the like. Further, the components shown in fig. 1 may be implemented by software, hardware, or a combination thereof.

Please refer to fig. 2, which is a flowchart illustrating an auxiliary overtaking method according to an embodiment of the present application, the method being applied to the electronic device 100 shown in fig. 1. It should be noted that the auxiliary overtaking method provided in the embodiment of the present application is not limited by the sequence shown in fig. 2 and the following, and specific procedures and steps of the auxiliary overtaking method are described below with reference to fig. 2.

And step S100, acquiring a real-time driving scene of the target vehicle when the auxiliary overtaking request is received.

In the embodiment of the application, the auxiliary overtaking request can be generated by triggering the electronic device when the driver of the target vehicle has an overtaking demand, and the real-time driving scene of the target vehicle can be acquired by a camera device or a safety auxiliary device (for example, a reverse collision avoidance radar or a parking auxiliary device) arranged on the target vehicle.

And S200, determining a required borrowing lane when the target vehicle exceeds the vehicle to be overtaken from the real-time driving scene.

In the embodiment of the application, a running vehicle positioned in front of a target vehicle can be determined from a real-time running scene and is used as a vehicle to be overtaken.

In addition, in this embodiment of the application, before step S200 is executed, an origin lane corresponding to the target vehicle (that is, a lane where the target vehicle is located before the vehicle to be overtaken on the borrowing lane) may be determined from the real-time driving scene, and lane attributes of the origin lane may be obtained, where, taking a bidirectional four-lane highway as an example, the highway is divided into a left overtaking lane, a middle position lane and a right emergency lane, and then the lane attributes of the origin lane may be a overtaking lane, a travelling lane or an emergency lane.

Based on the above description, in the embodiment of the application, after the original lane corresponding to the target vehicle is determined from the real-time driving scene and the lane attribute of the original lane is obtained, the borrowing lane required by the target vehicle when the target vehicle surpasses the vehicle to be overtaken can be determined from the real-time driving scene according to the lane attribute of the original lane. For example, if the lane attribute of the origin lane is the passing lane, the lane to be borrowed, which is required when the target vehicle passes the vehicle to be passed, may be determined from the real-time driving scene, and if the lane attribute of the origin lane is the passing lane, the lane to be borrowed, which is required when the target vehicle passes the vehicle to be passed, may be determined from the real-time driving scene as the passing lane.

In step S300, an auxiliary passing strategy is generated based on the position and direction of the borrowed lane with respect to the target vehicle.

In order to further ensure safe and effective overtaking behaviors and reduce the occurrence probability of traffic accidents caused by the overtaking behaviors, in the embodiment of the present application, before executing step S300, it is further required to determine whether the lane occupation state of the borrowed lane meets the first preset overtaking requirement. Based on this, the method for assisting in passing car provided in the embodiment of the present application may further include step S011, step S012, and step S013 before step S300 is executed.

And S011, acquiring the lane occupation state of the borrowing lane according to the real-time driving scene.

And step S012, judging whether the lane occupation state meets a first preset overtaking requirement.

And S013, if the lane occupation state meets the first preset overtaking requirement, executing a step of generating an auxiliary overtaking strategy based on the position direction of the borrowed lane relative to the target vehicle.

In the embodiment of the present application, the first preset overtaking request may be: the method comprises the steps that no other running vehicle exists in a first preset distance range in front of a target vehicle on a borrowing lane, no other running vehicle exists in a second preset distance range behind the target vehicle on the borrowing lane, meanwhile, the borrowing lane is not shielded, and in actual implementation, the first preset distance range and the second preset distance range can be determined according to the speed limit size of the borrowing lane, and the method is not specifically limited.

Similarly, in order to further ensure a safe and effective overtaking behavior and reduce the occurrence probability of a traffic accident caused by the overtaking behavior, in the embodiment of the present application, before step S300 is executed, it is further required to determine whether the driving state of the vehicle to be overtaken meets a second preset overtaking requirement, and based on this, the method for assisting in overtaking provided by the embodiment of the present application may further include step S021, step S022, step S023 and step S024 before step S300 is executed.

And S021, acquiring the running state of the vehicle to be overtaken.

And S022, judging whether the driving state meets a corresponding second preset overtaking requirement or not according to the lane attribute of the original lane and the lane attribute of the borrowed lane corresponding to the target vehicle.

Step S023, if the driving status meets the corresponding second preset overtaking request, executing the step of generating the auxiliary overtaking strategy based on the position and direction of the borrowed lane relative to the target vehicle.

And S024, if the driving state does not accord with the corresponding second preset overtaking requirement, when the change condition of the spacing distance between the target vehicle and the vehicle to be overtaken meets the preset distance change requirement, executing the step of generating an auxiliary overtaking strategy based on the position direction of the borrowed lane relative to the target vehicle.

In the embodiment of the present application, if the lane attribute of the origin lane corresponding to the target vehicle is a lane, the lane attribute of the lane is a passing lane, that is, the actual passing demand is: and (3) overtaking in the overtaking lane, wherein the corresponding second preset overtaking requirement is as follows: the method comprises the following steps that a vehicle to be overtaken runs on an original lane (namely, a traffic lane) in a standard and stable mode, the running speed is within a speed limit range specified by the traffic lane, if the lane attribute of the original lane corresponding to a target vehicle is the overtaking lane, the lane attribute of the borrowing lane is the traffic lane, namely, the actual overtaking requirement is as follows: and if the vehicle overtakes on the traffic lane, the corresponding second preset overtaking requirement is as follows: the vehicle to be overtaken normally and stably runs on the original lane (namely, the overtaking lane), and the running speed is lower than the speed limit range specified by the overtaking lane. In addition, it should be noted that, in the embodiment of the present application, whether the vehicle to be overtaken is running regularly and stably on the origin lane, and the running speed of the vehicle to be overtaken may be obtained by analyzing the real-time driving scene related data collected by the camera device or the safety assistance device provided in the target vehicle, which are not described herein again.

In addition, for step S024, taking the lane attribute of the origin lane corresponding to the target vehicle as the traffic lane and the lane attribute of the borrowed lane as the overtaking lane, that is, the actual overtaking requirement is the overtaking of the overtaking lane, if the driving state does not meet the corresponding second preset overtaking requirement, for example, the vehicle to be overtaken does not travel on the origin lane (that is, the traffic lane) in a standard and unstable manner, the change of the separation distance between the target vehicle and the vehicle to be overtaken may be monitored, and if the change of the separation distance meets the preset distance change requirement, step S300 is executed to generate the auxiliary overtaking strategy based on the position direction of the overtaking lane relative to the target vehicle. In addition, in the embodiment of the present application, the preset distance change requirement may be that the separation distance between the target vehicle and the vehicle to be overtaken is not reduced.

Further, in the embodiment of the present application, regarding step S300, as an optional implementation manner, step S310, step S320, step S330, and step S340 may be included.

And step S310, obtaining the model information of the vehicle to be overtaken.

And S320, if the vehicle type information represents that the vehicle to be overtaken is a medium-sized and small-sized vehicle, acquiring a preset general safe overtaking distance as a safe distance. In practical implementation, the preset general safe overtaking distance may be 100m, which is not specifically limited in the embodiment of the present application.

And step S330, if the vehicle type information represents that the vehicle to be overtaken is a large vehicle, acquiring a safe distance according to the real-time driving speed of the vehicle to be overtaken.

And step S340, generating an auxiliary overtaking strategy by combining the position direction and the safe distance of the borrowing lane relative to the target vehicle.

In the embodiment of the application, the vehicle type information of the vehicle to be overtaken can be acquired by analyzing the real-time driving scene related data acquired by the camera device or the safety auxiliary device arranged on the target vehicle, for example, analyzing the vehicle image information in the real-time driving scene. In addition, in the embodiment of the present application, the medium and small-sized vehicles may include a medium passenger car, a small passenger car, and a mini passenger car, and the large-sized vehicle may include a large passenger car, a freight car, and a tank car.

For step S320, in the embodiment of the present application, as an optional implementation manner, the implementation manner may be: and calling a preset distance query table, and acquiring a distance value corresponding to the real-time driving speed from the distance query table to serve as a safety distance. Illustratively, the preset distance lookup table is shown in table 1.

TABLE 1

On the basis of the above, as for step S340, in the embodiment of the present application, as an optional implementation manner, step S341 and step S342 may be included.

Step S341, a first overtaking prompting information control instruction is generated based on the position direction of the borrowed lane relative to the original lane corresponding to the target vehicle, where the first overtaking prompting information control instruction is used to control the target vehicle to turn on a corresponding turn light and execute a corresponding turning action.

And step S342, when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds the safety distance, packaging the first overtaking prompt information control command into an auxiliary overtaking strategy.

In the embodiment of the present invention, when step S341 is executed, the information control command may be adjusted according to the traveling state of the vehicle to be overtaken and the road change situation in front of the target vehicle. For example, the driving state of the vehicle to be overtaken does not meet the corresponding second preset overtaking requirement, or the road change condition in front of the target vehicle is as follows: if a vehicle convergence port exists, a sub-prompt message control command for controlling the target vehicle to whistle and remind can be added in the first overtaking prompt message control command.

And step S400, executing an auxiliary overtaking strategy to allow the target vehicle to overtake the vehicle to be overtaken on the overtaking lane through the automatic driving system, or broadcasting the auxiliary overtaking strategy to allow a driver of the target vehicle to control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy.

In the embodiment of the application, if the target vehicle is provided with the automatic driving system, the auxiliary overtaking strategy can be directly executed so that the target vehicle can overtake the vehicle to be overtaken on the borrowing lane through the automatic driving system, and if the target vehicle is not provided with the automatic driving system, the auxiliary overtaking strategy can be broadcasted so that a driver of the target vehicle can control the target vehicle to overtake the vehicle to be overtaken on the borrowing lane according to the auxiliary overtaking strategy.

Further, the overtaking assisting method provided by the embodiment of the application may further include step S500 and step S600, which are used for assisting the target vehicle to change from the borrowing lane to the original lane after the target vehicle overtakes the vehicle to be overtaken on the borrowing lane.

And S500, when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds the safety distance, generating an auxiliary lane changing strategy. The manner of obtaining the safe distance may refer to the related descriptions in step S320 and step S32, which are not described herein again.

And step S600, executing an auxiliary lane change strategy to allow the target vehicle to change from the borrowed lane to the original lane through the automatic driving system, or broadcasting the auxiliary lane change strategy to allow a driver of the target vehicle to control the target vehicle to change from the borrowed lane to the original lane according to the auxiliary lane change strategy.

For step S500, in the embodiment of the present application, as an optional implementation manner, the implementation manner may be: and generating a second overtaking prompt information control instruction based on the position direction of the original lane relative to the borrowed lane, wherein the second overtaking prompt information control instruction is used for controlling the target vehicle to turn on a corresponding steering lamp and executing a corresponding steering action, so that when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds a safe distance, the second overtaking prompt information control instruction is packaged into an auxiliary lane change strategy. Similarly, in the embodiment of the present application, if the target vehicle has an automatic driving system, the auxiliary lane change policy may be directly executed, so that the target vehicle changes from the borrowed lane to the original lane through the automatic driving system, and if the target vehicle does not have the automatic driving system, the auxiliary passing policy may be broadcasted, so that the driver of the target vehicle controls the target vehicle to change from the borrowed lane to the original lane according to the auxiliary lane change policy.

Hereinafter, the auxiliary overtaking method provided by the embodiment of the present application will be described with reference to a specific real-time driving scene.

(1) As shown in fig. 3, according to a first real-time driving scenario:

the actual overtaking requirements are as follows: overtaking in a lane, wherein the original lane corresponding to the target vehicle A is a traffic lane, and the borrowing lane is the overtaking lane;

the lane occupation state of the borrowing lane meets a first preset overtaking requirement;

and the running state of the vehicle B to be overtaken meets the corresponding second preset overtaking requirement.

Finally, an auxiliary overtaking strategy is implemented: and when the spacing distance between the target vehicle A and the vehicle B to be overtaken exceeds the safety distance, the target vehicle A turns on a left steering lamp and performs left steering.

After the target vehicle A transcends the vehicle B to be overtaken on the borrowing lane, the target vehicle A needs to change from the borrowing lane to the original lane, and at the moment, an auxiliary lane change strategy is executed: and when the spacing distance between the target vehicle A and the vehicle B to be overtaken exceeds the safety distance, the target vehicle A turns on the right steering lamp and turns to the right.

(2) As shown in fig. 4, according to the second real-time driving scenario:

the actual overtaking requirements are as follows: the lane overtaking is carried out (after the overtaking is carried out), at the moment, the corresponding original lane of the target vehicle A is the overtaking lane, and the borrowing lane is the traffic lane;

the lane occupation state of the borrowed lane meets a first preset overtaking requirement;

Finally, an auxiliary overtaking strategy is executed: and when the spacing distance between the target vehicle A and the vehicle B to be overtaken exceeds the safety distance, the target vehicle A turns on the right steering lamp and turns to the right.

After the target vehicle A surpasses the vehicle B to be overtaken on the traffic lane, the target vehicle A needs to be changed from the traffic lane to the overtaking lane, and at the moment, an auxiliary lane changing strategy is executed: and when the spacing distance between the target vehicle A and the vehicle B to be overtaken exceeds the safety distance, the target vehicle A turns on a left steering lamp and turns to the left.

(3) As shown in fig. 5, according to the illustrated real-time driving scenario:

the running state of the vehicle B to be overtaken does not meet the corresponding second preset overtaking requirement, and/or the road change condition in front of the target vehicle is as follows: there is a vehicle ingress.

Finally, an auxiliary overtaking strategy is executed: monitoring the change condition of the spacing distance between the target vehicle and the vehicle to be overtaken, so that when the spacing distance between the target vehicle and the vehicle to be overtaken is not reduced and the spacing distance between the target vehicle A and the vehicle to be overtaken exceeds a safe distance, the target vehicle A starts a left turn light, whistles to remind and turns left.

After the target vehicle A surpasses the vehicle B to be overtaken on the borrowing lane, the target vehicle A needs to change from the borrowing lane to the original lane, and at the moment, an auxiliary lane changing strategy is executed: and monitoring the change condition of the spacing distance between the target vehicle and the vehicle to be overtaken, so that when the spacing distance between the target vehicle and the vehicle to be overtaken is not reduced and the spacing distance between the target vehicle A and the vehicle B to be overtaken exceeds a safe distance, the target vehicle A turns on a right steering lamp and turns to the right.

Based on the same inventive concept as the auxiliary overtaking method, the embodiment of the application also provides an auxiliary overtaking device 200. Referring to fig. 6, the device 200 for assisting passing provided by the embodiment of the present application includes a scene acquiring module 210, a lane determining module 220, a first policy generating module 230, and a first policy executing module 240.

The scene acquiring module 210 is configured to acquire a real-time driving scene of the target vehicle when the auxiliary overtaking request is received.

And the lane determining module 220 is used for determining a required borrowing lane of the target vehicle when the target vehicle surpasses the vehicle to be overtaken from the real-time driving scene.

A first strategy generation module 230 for generating an auxiliary passing strategy based on a positional direction of the borrowed lane with respect to the target vehicle.

The first policy executing module 240 is configured to execute an auxiliary overtaking policy, so that the target vehicle can overtake the vehicle to be overtaken on the overtaking lane through the automatic driving system, or the auxiliary overtaking policy is broadcasted, so that a driver of the target vehicle can control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking policy.

The auxiliary overtaking device 200 provided by the embodiment of the application may further include a lane occupation state obtaining module, a first judging module and a first skipping module.

And the lane occupation state acquisition module is used for acquiring the lane occupation state of the borrowing lane according to the real-time driving scene.

The first judgment module is used for judging whether the lane occupation state meets a first preset overtaking requirement or not.

And the first skipping module is used for skipping to execute the step of generating the auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle when the lane occupation state meets the first preset overtaking requirement.

The auxiliary overtaking device 200 provided by the embodiment of the application may further include a driving state obtaining module, a second determining module, a second skipping module, and a third skipping module.

And the running state acquisition module is used for acquiring the running state of the vehicle to be overtaken.

And the second judgment module is used for judging whether the driving state meets the corresponding second preset overtaking requirement or not according to the lane attribute of the original lane and the lane attribute of the borrowed lane corresponding to the target vehicle.

And the second skipping module is used for skipping to execute the step of generating the auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle when the driving state meets the corresponding second preset overtaking requirement.

And the third skipping module is used for skipping to execute the step of generating the auxiliary overtaking strategy based on the position direction of the borrowed lane relative to the target vehicle when the driving state does not accord with the corresponding second preset overtaking requirement and the change condition of the spacing distance between the target vehicle and the vehicle to be overtaken meets the preset distance change requirement.

In this embodiment, the first policy generating module 230 may include a vehicle type information acquiring unit, a first safe distance acquiring unit, a second safe distance acquiring unit, and a policy generating unit.

And the vehicle type information acquisition unit is used for acquiring the vehicle type information of the vehicle to be overtaken.

And the first safety distance acquisition unit is used for acquiring a preset general safety overtaking distance as a safety distance when the vehicle type information represents that the vehicle to be overtaken is a medium-sized or small-sized vehicle.

And the second safe distance acquisition unit is used for acquiring the safe distance according to the real-time driving speed of the vehicle to be overtaken when the vehicle type information represents that the vehicle to be overtaken is a large vehicle.

And the strategy generating unit is used for generating an auxiliary overtaking strategy by combining the position direction and the safe distance of the borrowing lane relative to the target vehicle.

In the embodiment of the application, the second safe distance obtaining unit is specifically configured to call a preset distance query table, and obtain a distance value corresponding to the real-time driving speed from the distance query table as the safe distance.

In the embodiment of the application, the strategy generating unit is specifically configured to generate a first overtaking prompt information control instruction according to a position direction of a borrowed lane relative to an original lane corresponding to a target vehicle, where the first overtaking prompt information control instruction is used to control the target vehicle to turn on a corresponding steering lamp, execute a corresponding steering action, and package the first overtaking prompt information control instruction into an auxiliary overtaking strategy when a separation distance between the target vehicle and a vehicle to be overtaken exceeds a safe distance.

The auxiliary overtaking device 200 provided by the embodiment of the application can further include a second policy generation module and a second policy execution module.

And the second strategy generation module is used for generating an auxiliary lane changing strategy when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds the safety distance.

And the second strategy execution module is used for executing an auxiliary lane change strategy so that the target vehicle can be changed to the original lane from the borrowed lane through the automatic driving system, or broadcasting the auxiliary lane change strategy so that a driver of the target vehicle can control the target vehicle to be changed to the original lane from the borrowed lane according to the auxiliary lane change strategy.

Since the auxiliary overtaking device 200 provided in the embodiment of the present application is implemented based on the same inventive concept as the aforementioned auxiliary overtaking method, specific descriptions of each software module in the auxiliary overtaking device 200 can be referred to the related descriptions of the corresponding steps in the aforementioned auxiliary overtaking method embodiment, and are not described herein again.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for assisting a vehicle passing provided in the foregoing method embodiment is implemented.

In summary, the method for assisting in overtaking provided by the embodiment of the present application can obtain a real-time driving scene of the target vehicle when receiving the request for assisting in overtaking, determine a borrowed lane required when the target vehicle overtakes the vehicle to be overtaken from the real-time driving scene, automatically generate the assist overtaking strategy based on the position direction of the borrowed lane relative to the target vehicle, and execute the assist overtaking strategy, so that the target vehicle can overtake the vehicle to be overtaken on the borrowed lane through the automatic driving system, or broadcast the assist overtaking strategy, so that a driver of the target vehicle can control the target vehicle to overtake the vehicle to be overtaken on the borrowed lane according to the assist overtaking strategy. Therefore, the target vehicle can avoid the possibility of traffic accidents caused by the lack of driving experience and bad driving habits of drivers in the process of overtaking the vehicle to be overtaken on the borrowing lane, thereby ensuring safe and effective overtaking behaviors and reducing the probability of traffic accidents caused by the overtaking behaviors.

In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in each embodiment of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

Further, the functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the present application, or portions thereof, which substantially or partly contribute to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method described in each embodiment of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

It is further noted that, herein, relational terms such as "first," "second," "third," and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims

1. A method of assisting in passing, comprising:

determining a required borrowing lane when the target vehicle exceeds a vehicle to be overtaken from the real-time driving scene;

and executing the auxiliary overtaking strategy to allow the target vehicle to overtake the vehicle to be overtaken on the overtaking lane through an automatic driving system, or broadcasting the auxiliary overtaking strategy to allow a driver of the target vehicle to control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy.

2. The assisted overtaking method as recited in claim 1, wherein prior to the generating an assisted overtaking maneuver based on the positional orientation of the borrowed lane relative to the target vehicle, the assisted overtaking method further comprises:

acquiring the lane occupation state of the borrowing lane according to the real-time driving scene;

and if the lane occupation state meets the first preset overtaking requirement, executing the step of generating an auxiliary overtaking strategy based on the position and the direction of the borrowed lane relative to the target vehicle.

3. The assisted overtaking method as recited in claim 1, wherein prior to the generating an assisted overtaking maneuver based on the positional orientation of the borrowed lane relative to the target vehicle, the assisted overtaking method further comprises:

acquiring the running state of the vehicle to be overtaken;

judging whether the driving state meets a corresponding second preset overtaking requirement or not according to the lane attribute of the original lane corresponding to the target vehicle and the lane attribute of the borrowed lane;

if the driving state meets a corresponding second preset overtaking requirement, executing the step of generating an auxiliary overtaking strategy based on the position and the direction of the borrowed lane relative to the target vehicle;

and if the driving state does not accord with a corresponding second preset overtaking requirement, executing the step of generating an auxiliary overtaking strategy based on the position direction of the overtaking lane relative to the target vehicle when the change condition of the distance between the target vehicle and the vehicle to be overtaken meets the preset distance change requirement.

4. The method according to any one of claims 1 to 3, wherein the generating of the auxiliary passing strategy based on the positional direction of the borrowed lane with respect to the target vehicle includes:

obtaining the vehicle type information of the vehicle to be overtaken;

if the vehicle type information represents that the vehicle to be overtaken is a medium-sized and small-sized vehicle, acquiring a preset general safe overtaking distance as a safe distance;

if the vehicle type information represents that the vehicle to be overtaken is a large vehicle, acquiring the safe distance according to the real-time driving speed of the vehicle to be overtaken;

and generating an auxiliary overtaking strategy by combining the position direction of the borrowing lane relative to the target vehicle and the safe distance.

5. The auxiliary overtaking method as claimed in claim 4, wherein the obtaining the safe distance according to the real-time driving speed of the vehicle to be overtaken comprises:

calling a preset distance query table;

and acquiring a distance numerical value corresponding to the real-time driving speed from the distance query table to serve as the safe distance.

6. The method of assisting passing according to claim 4, wherein the generating an assisting passing strategy in conjunction with the positional direction of the borrowed lane with respect to the target vehicle and the safe distance comprises:

generating a first overtaking prompt information control instruction according to the position direction of the borrowing lane relative to the original lane corresponding to the target vehicle, wherein the first overtaking prompt information control instruction is used for controlling the target vehicle to turn on a corresponding steering lamp and executing a corresponding steering action;

and when the spacing distance between the target vehicle and the vehicle to be overtaken exceeds the safety distance, packaging the first overtaking prompt information control command into the auxiliary overtaking strategy.

7. The assisted overtaking method as recited in claim 6, wherein the executing of the assisted overtaking maneuver for the target vehicle to overtake the vehicle to be overtaken on the borrowed lane by an autonomous driving system or the broadcasting of the assisted overtaking maneuver for a driver of the target vehicle to control the target vehicle to overtake the vehicle to be overtaken on the borrowed lane according to the assisted overtaking maneuver further comprises:

and executing the auxiliary lane change strategy to change the target vehicle from the borrowed lane to the original lane through an automatic driving system, or broadcasting the auxiliary lane change strategy to control the target vehicle to change from the borrowed lane to the original lane according to the auxiliary lane change strategy by a driver of the target vehicle.

8. An auxiliary overtaking device, characterized by comprising:

the lane determining module is used for determining a required borrowing lane when the target vehicle exceeds the vehicle to be overtaken from the real-time driving scene;

a first strategy generation module for generating an auxiliary overtaking strategy based on the position direction of the borrowing lane relative to the target vehicle;

the first strategy execution module is used for executing the auxiliary overtaking strategy so that the target vehicle can overtake the vehicle to be overtaken on the overtaking lane through an automatic driving system, or broadcasting the auxiliary overtaking strategy so that a driver of the target vehicle can control the target vehicle to overtake the vehicle to be overtaken on the overtaking lane according to the auxiliary overtaking strategy.

9. An electronic device, comprising a processor and a memory, the memory having a computer program stored thereon, the processor being configured to execute the computer program to implement the method of assisting passing as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, having stored thereon a computer program which, when executed, implements the assisted overtaking method as recited in any one of claims 1 to 7.