WO2017220203A1 - Overtaking assisting method and device - Google Patents

Overtaking assisting method and device Download PDF

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Publication number
WO2017220203A1
WO2017220203A1 PCT/EP2017/000724 EP2017000724W WO2017220203A1 WO 2017220203 A1 WO2017220203 A1 WO 2017220203A1 EP 2017000724 W EP2017000724 W EP 2017000724W WO 2017220203 A1 WO2017220203 A1 WO 2017220203A1
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WIPO (PCT)
Prior art keywords
vehicle
overtaking
gap
driver
completed
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Application number
PCT/EP2017/000724
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French (fr)
Inventor
Jia Wang
Original Assignee
Audi Ag
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Publication date
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Publication of WO2017220203A1 publication Critical patent/WO2017220203A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots

Definitions

  • This application relates to automobile driving technology, in particular, relates to an overtaking assisting method, device and device.
  • a driver driving a following vehicle on a road usually confronts the needs to overtake a preceding vehicle if the preceding vehicle runs at a relative low velocity.
  • the driver of a following vehicle often "borrows" an adjacent lane to complete its overtaking, sometimes he even has to borrow an opposite adjacent lane to complete its overtaking.
  • the situation of vehicles running in the adjacent lanes is changing constantly. The driver often judges if he can start a borrowing lane overtaking by his observation skills and experience. This may bring a danger to driving due to improper observation or judgment.
  • this application provides an overtaking assisting method, comprising:
  • step 1 checking by a first vehicle if a third vehicle is running in an adjacent lane before the first vehicle overtakes a second vehicle which is in a same lane and in a same direction with the first vehicle;
  • step 2 detecting current positions and movement parameters of the second vehicle and the third vehicle by the first vehicle if check result of step 1 is true;
  • step 3 judging by the first vehicle if an overtaking can be completed.
  • the movement parameters in step 2 include velocity and acceleration.
  • step 1 includes checking if the third vehicle is running in the same direction with the first vehicle.
  • step 3 includes judging by the first vehicle if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a second gap between the second vehicle and the third vehicle.
  • the first gap is determined based on the distance detected between the first vehicle and the second vehicle; the second gap is calculated based on the first gap, the distance between the first vehicle and the third vehicle, and the angle formed by the second vehicle and the third vehicle around the first vehicle.
  • step 1 includes checking if the third vehicle is running in the opposite direction to the first vehicle.
  • step 3 includes judging by the first vehicle if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a third gap between the first vehicle and the third vehicle.
  • the overtaking assisting method further comprises: sending out a warning to a driver of the first vehicle if an overtaking cannot be completed and the driver of the first vehicle has an intention to overtake.
  • the overtaking assisting method further comprises: sending out multiple level warnings to the driver of the first vehicle.
  • a driver of the first vehicle is judged as with an intention to overtake when a rotation angle of a steering wheel of the first vehicle is greater than 0 degree and/or a acceleration is greater than 0.
  • This application further provides an overtaking assisting device, which is in a first vehicle, comprising: checking means adapted to check if a third vehicle is running in a adjacent lane before the first , vehicle overtakes a second vehicle which is in the same lane and in the same direction;
  • detecting means adapted to detect the current positions and movement parameters of the second vehicle and the third vehicle if check result of checking means is true
  • judging means adapted to judge if an overtaking can be completed.
  • the movement parameters include velocity and acceleration.
  • checking means is further adapted to check if the third vehicle is running in the same direction.
  • the calculating and judging means is further adapted to judge if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a second gap between the second vehicle and the third vehicle.
  • the first gap is determined based on the distance detected between the first vehicle and the second vehicle; the second gap is calculated based on the first gap, the distance between the first vehicle and the third vehicle, and the angle formed by the second vehicle and the third vehicle around the first vehicle.
  • the checking means is further adapted to check if the third vehicle is running in the opposite direction.
  • the calculating and judging means is further adapted to judge if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a third gap between the first vehicle and the third vehicle.
  • the overtaking assisting device further comprises:
  • a warning means adapted to give out a warning the driver of the first vehicle if an overtaking cannot be completed and the driver of the first vehicle has an intention to overtake.
  • the warning means is adapted to give out multiple level warnings to the driver of the first vehicle.
  • the driver of the first vehicle is judged as with an intention to overtake when the rotation angle of the steering wheel of the first vehicle is greater than 0 degree and/or the acceleration is greater than 0.
  • this invention provides overtaking assisting judgment, which replaces subjectively experience and provides objective measurement result to assist judging if it is suitable to start an overtaking.
  • Fig. 1 illustrates a block diagram of an overtaking assisting device according to an embodiment of this invention
  • Fig. 2 illustrates the diagram of overtaking a preceding vehicle in the same direction from the right side according to an embodiment of this invention
  • Fig. 3 illustrates a schematic diagram for calculating the gap between the second vehicle and the third vehicle
  • Fig. 4 shows another schematic diagram for calculating the gap between the second vehicle and the third vehicle
  • Fig. 5 illustrates the situation where a first vehicle overtakes a second vehicle, wherein a third vehicle . is running in the left adjacent lane;
  • Fig. 6 illustrates the situation where a first vehicle overtakes a second vehicle by an opposite adjacent lane, wherein a third vehicle is running in the opposite adjacent lane;
  • Fig. 7 illustrates a schematic diagram for calculating the gap between the second vehicle and the third vehicle
  • Fig. 8 illustrates the situation where a first vehicle overtakes a second vehicle by an opposite adjacent lane, wherein a third vehicle is running in the opposite adjacent lane and the first vehicle will overtake the second vehicle from the left side.
  • Fig. 1 shows a block diagram of ah overtaking assisting device according to an embodiment of this invention.
  • the overtaking assisting device 400 which is installed in a first vehicle 1, comprises: a checking means 100, which is used to check if a third vehicle 3 is running in the adjacent lane before the first vehicle 1 overtakes a second vehicle 2 which is in a same lane and in a same direction; a detecting means 200, which is used to detect the current positions and movement parameters of the second vehicle 2 and the third vehicle 3 if check result of checking means is true; and a calculating and judging means, which is used to calculate and judge if an overtaking can be completed.
  • At least one radar is installed in one side of the first vehicle 1 for use as detecting means.
  • the radars transmit detection waveform toward front and an adjacent lane and detect and detect the movement parameters of the vehicle relative to the first vehicle 1.
  • At least one camera, used as checking means, is installed in one side of the first vehicle 1. The cameras monitor traffic situation in an adjacent lane and current positions of vehicles in a lane, and judge if a vehicle is running there.
  • Fig.2 shows the situation where a first vehicle 1 overtakes a second vehicle 2, wherein a third vehicle 3 is running in the right adjacent lane.
  • the lanes have the same direction.
  • the first vehicle 1 is installed with an overtaking assisting device according to this invention.
  • the velocities of the first vehicle 1, the second vehicle 2, the third vehicle 3 are vl, v2 and v3 respectively.
  • a driver of the first vehicle 1 first checks if there is another vehicle running in the adjacent lane.
  • the radars of the first vehicle 1 transmit a detecting waveform toward one side of itself, and checks if another vehicle exists there by detecting the reflected waveform.
  • cameras can be installed in one side or both sides of the first vehicle 1 and the cameras are used to monitor if there is a vehicle running in the adjacent lane and monitor current positions of the vehicles relative to the traffic marking on the road. After confirmation that a third vehicle 3 is running in the adjacent lane, the radars are used to detect distance d
  • Fig. 3 shows a schematic diagram for calculating the gap between the second vehicle 2 and the third vehicle 3, wherein the third vehicle 3 is lagged behind the first vehicle 1.
  • PI, P2 and P3 represent the first vehicle 1, the second vehicle 2 and the third vehicle 3 respectively.
  • the distance di 2 and relative velocity V12 of the second vehicle 2 relative to the first vehicle 1 are also detected by the radars.
  • the angle ⁇ between the radar detecting waveform and the second radar detecting waveform can be known based on the installation conditions of the radars.
  • FIG. 4 shows another schematic diagram for calculating the gap between the second vehicle 2 and the third vehicle 3, wherein the third vehicle 3 is in front of the first vehicle 1 laterally.
  • d l2 , d )3 can be detected by the radars.
  • the radars By the radars, the relative velocity of the first vehicle 1 relative to the third vehicle 3 also can be detected.
  • the calculating and judging means 300 calculates if the gap is larger than the size of the first vehicle 1 by a suitable margin, and how long it will take for the first vehicle 1 to change into the adjacent lane in front of the third vehicle 3.
  • the warning means of the overtaking assisting device may give a warning signal to the indicating system of the first vehicle 1 , for example, a warning to the driver of the first vehicle 1 by a lamp indicator, ring sound or a text message displayed in the dashboard panel.
  • a driver of the first vehicle 1 is judged as with an intention to overtake when the rotation angle of the steering wheel of the first vehicle 1 is greater than 0 degree and/or the acceleration is greater than 0.
  • the calculating and judging means 300 judges that an overtaking cannot be completed. If the margin is suitably great, none of a warning signal is given so as not to bother the normal driving. At the same time, the calculating and judging means 300 judges that an overtaking can be completed.
  • the warning means can give multiple level warnings so that the driver can adjust the sensitivity of warning according to his preference.
  • the relative velocity v )2 , Vi 3 detected by the radars can help evaluate the time for completing an overtaking.
  • an objective measurement in combination with subjective experience and observation of a driver can help the driver to determine the possibility of completing an overtaking.
  • Fig. 5 shows the situation where a first vehicle 1 overtakes a second vehicle 2, wherein a third vehicle 3 is running in the left adjacent lane.
  • the lanes have the same direction.
  • the first vehicle 1 is installed with an overtaking assisting device according to this invention. In this situation, the first vehicle 1 will overtake the second vehicle 2 from the left side.
  • Fig. 6 shows the situation where a first vehicle 1 overtakes a second vehicle 2 by an opposite adjacent lane, wherein a third vehicle 3 is running in the opposite adjacent lane.
  • the first vehicle 1 is installed with an overtaking assisting device according to this invention. In fig. 6, the first vehicle 1 will overtake the second vehicle 2 from the right side.
  • the velocities of the first vehicle 1, the second vehicle 2, the third vehicle 3 are vl, v2 and v3 respectively.
  • the radars of the first vehicle 1 transmit a detecting waveform toward one side, including front of it and checks if another vehicle exists there by detecting the reflected waveform.
  • cameras installed in one side or both sides of the first vehicle 1 also can monitor if there is a vehicle running in the adjacent lane. After confirmation that a third vehicle 3 is running in the opposite adjacent lane, the radars are used to detect distance dn and relative velocity v 13 of the third vehicle 3 relative to the first vehicle 1.
  • Fig. 7 shows a schematic diagram for calculating the gap between the second vehicle 2 and the third vehicle 3.
  • the distance d t2 and relative velocity v )2 of the second vehicle 2 relatiye to the first vehicle 1 are also detected by the radars.
  • the angle ⁇ between the radar detecting waveform and the second radar detecting waveform can be known based on the installation conditions of the radars.
  • Fig. 8 shows the situation where a first vehicle 1 overtakes a second vehicle 2 by an opposite adjacent lane, wherein a third vehicle 3 is running in the opposite adjacent lane and the first vehicle 1 will overtake the second vehicle 2 from the left side.
  • the technical solution for this situation is similar to the situation in Fig. 7.
  • the radars can find it and calculate the distance and relative velocity between the second vehicle 2 and the third vehicle, and provide information.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

This application relates to an overtaking assisting method and device. The method comprising: step 1 : checking by a first vehicle if a third vehicle is running in an adjacent lane before the first vehicle overtakes a second vehicle which is in a same lane and in a same direction with the first vehicle; step 2: detecting current positions and movement parameters of the second vehicle and the third vehicle by the first vehicle if check result of step 1 is true; step 3: judging by the first vehicle if an overtaking can be completed. By solutions according to embodiments of this invention, this invention provides overtaking assisting judgment, which replaces subjectively experience and provides objective measurement result to assist judging if it is suitable to start an overtaking.

Description

Spec
Overtaking assisting method and device
Technology Field
This application relates to automobile driving technology, in particular, relates to an overtaking assisting method, device and device.
Technology Background
A driver driving a following vehicle on a road usually confronts the needs to overtake a preceding vehicle if the preceding vehicle runs at a relative low velocity. For the situation when a vehicle is running in a multiple lane road, to overtake a preceding vehicle, the driver of a following vehicle often "borrows" an adjacent lane to complete its overtaking, sometimes he even has to borrow an opposite adjacent lane to complete its overtaking. However, the situation of vehicles running in the adjacent lanes is changing constantly. The driver often judges if he can start a borrowing lane overtaking by his observation skills and experience. This may bring a danger to driving due to improper observation or judgment. In the situation of borrowing an opposite adjacent lane to complete an overtaking, a driver of an ego vehicle even cannot find a vehicle is coming in the opposite adjacent lane due to the blockage of view by the preceding vehicle. Once the following vehicle changes into the opposite adjacent lane to overtake the preceding vehicle, it risks the great danger of colliding with the coming vehicle.
Summary
Considering the above situations, this application provides an overtaking assisting method, comprising:
step 1: checking by a first vehicle if a third vehicle is running in an adjacent lane before the first vehicle overtakes a second vehicle which is in a same lane and in a same direction with the first vehicle;
step 2: detecting current positions and movement parameters of the second vehicle and the third vehicle by the first vehicle if check result of step 1 is true;
step 3: judging by the first vehicle if an overtaking can be completed. Preferably, in the overtaking assisting method, wherein, the movement parameters in step 2 include velocity and acceleration.
Preferably, in the overtaking assisting method, wherein, step 1 includes checking if the third vehicle is running in the same direction with the first vehicle.
Preferably, in the overtaking assisting method, wherein, step 3 includes judging by the first vehicle if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a second gap between the second vehicle and the third vehicle.
Preferably, in the overtaking assisting method, wherein, the first gap is determined based on the distance detected between the first vehicle and the second vehicle; the second gap is calculated based on the first gap, the distance between the first vehicle and the third vehicle, and the angle formed by the second vehicle and the third vehicle around the first vehicle.
Preferably, in the overtaking assisting method, wherein, step 1 includes checking if the third vehicle is running in the opposite direction to the first vehicle.
Preferably, in the overtaking assisting method, wherein, step 3 includes judging by the first vehicle if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a third gap between the first vehicle and the third vehicle.
Preferably, the overtaking assisting method further comprises: sending out a warning to a driver of the first vehicle if an overtaking cannot be completed and the driver of the first vehicle has an intention to overtake.
Preferably, the overtaking assisting method further comprises: sending out multiple level warnings to the driver of the first vehicle.
Preferably, in the overtaking assisting method, wherein, a driver of the first vehicle is judged as with an intention to overtake when a rotation angle of a steering wheel of the first vehicle is greater than 0 degree and/or a acceleration is greater than 0.
This application further provides an overtaking assisting device, which is in a first vehicle, comprising: checking means adapted to check if a third vehicle is running in a adjacent lane before the first , vehicle overtakes a second vehicle which is in the same lane and in the same direction;
detecting means adapted to detect the current positions and movement parameters of the second vehicle and the third vehicle if check result of checking means is true;
judging means adapted to judge if an overtaking can be completed.
Preferably, in the overtaking assisting device, wherein, the movement parameters include velocity and acceleration.
Preferably, in the overtaking assisting device, checking means is further adapted to check if the third vehicle is running in the same direction.
Preferably, in the overtaking assisting device, the calculating and judging means is further adapted to judge if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a second gap between the second vehicle and the third vehicle.
Preferably, in the overtaking assisting device, the first gap is determined based on the distance detected between the first vehicle and the second vehicle; the second gap is calculated based on the first gap, the distance between the first vehicle and the third vehicle, and the angle formed by the second vehicle and the third vehicle around the first vehicle.
Preferably, in the overtaking assisting device, the checking means is further adapted to check if the third vehicle is running in the opposite direction.
Preferably, in the overtaking assisting device, the calculating and judging means is further adapted to judge if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a third gap between the first vehicle and the third vehicle.
Preferably, the overtaking assisting device further comprises:
a warning means adapted to give out a warning the driver of the first vehicle if an overtaking cannot be completed and the driver of the first vehicle has an intention to overtake.
Preferably, in the Overtaking assisting device, the warning means is adapted to give out multiple level warnings to the driver of the first vehicle. Preferably, in the overtaking assisting device, the driver of the first vehicle is judged as with an intention to overtake when the rotation angle of the steering wheel of the first vehicle is greater than 0 degree and/or the acceleration is greater than 0.
By solutions according to embodiments of this invention, this invention provides overtaking assisting judgment, which replaces subjectively experience and provides objective measurement result to assist judging if it is suitable to start an overtaking.
Brief Explanation for Drawings
Other characteristics and advantages of the present invention will become more evident from the description of a preferred, but not exclusive, embodiment of driving support device, illustrated by way of an indicative, but not limitative example in the accompanying drawings wherein:
Fig. 1 illustrates a block diagram of an overtaking assisting device according to an embodiment of this invention;
Fig. 2 illustrates the diagram of overtaking a preceding vehicle in the same direction from the right side according to an embodiment of this invention;
Fig. 3 illustrates a schematic diagram for calculating the gap between the second vehicle and the third vehicle;
Fig. 4 shows another schematic diagram for calculating the gap between the second vehicle and the third vehicle;
Fig. 5 illustrates the situation where a first vehicle overtakes a second vehicle, wherein a third vehicle . is running in the left adjacent lane;
Fig. 6 illustrates the situation where a first vehicle overtakes a second vehicle by an opposite adjacent lane, wherein a third vehicle is running in the opposite adjacent lane;
Fig. 7 illustrates a schematic diagram for calculating the gap between the second vehicle and the third vehicle;
Fig. 8 illustrates the situation where a first vehicle overtakes a second vehicle by an opposite adjacent lane, wherein a third vehicle is running in the opposite adjacent lane and the first vehicle will overtake the second vehicle from the left side.
Specific Embodiments
Please note that the like component has the like reference number in below description.
Fig. 1 shows a block diagram of ah overtaking assisting device according to an embodiment of this invention. The overtaking assisting device 400, which is installed in a first vehicle 1, comprises: a checking means 100, which is used to check if a third vehicle 3 is running in the adjacent lane before the first vehicle 1 overtakes a second vehicle 2 which is in a same lane and in a same direction; a detecting means 200, which is used to detect the current positions and movement parameters of the second vehicle 2 and the third vehicle 3 if check result of checking means is true; and a calculating and judging means, which is used to calculate and judge if an overtaking can be completed. At least one radar is installed in one side of the first vehicle 1 for use as detecting means. The radars transmit detection waveform toward front and an adjacent lane and detect and detect the movement parameters of the vehicle relative to the first vehicle 1. At least one camera, used as checking means, is installed in one side of the first vehicle 1. The cameras monitor traffic situation in an adjacent lane and current positions of vehicles in a lane, and judge if a vehicle is running there.
Fig.2 shows the situation where a first vehicle 1 overtakes a second vehicle 2, wherein a third vehicle 3 is running in the right adjacent lane. The lanes have the same direction. The first vehicle 1 is installed with an overtaking assisting device according to this invention. In Fig.2, the velocities of the first vehicle 1, the second vehicle 2, the third vehicle 3 are vl, v2 and v3 respectively. Generally we assume vl > v2. If the first vehicle 1 hopes to overtake the second vehicle 2, it will have to first change into the adjacent lane before it catches up with the second vehicle 2. For safety, before starting an overtaking, a driver of the first vehicle 1 first checks if there is another vehicle running in the adjacent lane. The radars of the first vehicle 1 transmit a detecting waveform toward one side of itself, and checks if another vehicle exists there by detecting the reflected waveform. Alternatively, cameras can be installed in one side or both sides of the first vehicle 1 and the cameras are used to monitor if there is a vehicle running in the adjacent lane and monitor current positions of the vehicles relative to the traffic marking on the road. After confirmation that a third vehicle 3 is running in the adjacent lane, the radars are used to detect distance d| 3 and relative velocity v[3 of the third vehicle 3 relative to the first vehicle 1.
/
Fig. 3 shows a schematic diagram for calculating the gap between the second vehicle 2 and the third vehicle 3, wherein the third vehicle 3 is lagged behind the first vehicle 1. PI, P2 and P3 represent the first vehicle 1, the second vehicle 2 and the third vehicle 3 respectively. The distance di2 and relative velocity V12 of the second vehicle 2 relative to the first vehicle 1 are also detected by the radars. The angle Θ between the radar detecting waveform and the second radar detecting waveform can be known based on the installation conditions of the radars. Then the gap d23>between the second vehicle 2 and the third vehicle 3 can be evaluated by the following formula: d„,=d„*sin0 (1)
Figure imgf000006_0001
Fig. 4 shows another schematic diagram for calculating the gap between the second vehicle 2 and the third vehicle 3, wherein the third vehicle 3 is in front of the first vehicle 1 laterally. The gap d23 between the second vehicle 2 and the third vehicle 3 can be evaluated by the following formula: d2H =d12*sin# (5)
d1H=d12* cos 0 (6)
Figure imgf000007_0001
In the formula, dl2, d)3 can be detected by the radars. By the radars, the relative velocity of the first vehicle 1 relative to the third vehicle 3 also can be detected. Thus the calculating and judging means 300 calculates if the gap is larger than the size of the first vehicle 1 by a suitable margin, and how long it will take for the first vehicle 1 to change into the adjacent lane in front of the third vehicle 3. If the margin is very small but the driver of the first vehicle 1 has an intention to overtake, that possibly means that an overtaking cannot be completed, the warning means of the overtaking assisting device may give a warning signal to the indicating system of the first vehicle 1 , for example, a warning to the driver of the first vehicle 1 by a lamp indicator, ring sound or a text message displayed in the dashboard panel. A driver of the first vehicle 1 is judged as with an intention to overtake when the rotation angle of the steering wheel of the first vehicle 1 is greater than 0 degree and/or the acceleration is greater than 0.
At the same time, the calculating and judging means 300 judges that an overtaking cannot be completed. If the margin is suitably great, none of a warning signal is given so as not to bother the normal driving. At the same time, the calculating and judging means 300 judges that an overtaking can be completed. The warning means can give multiple level warnings so that the driver can adjust the sensitivity of warning according to his preference.
The relative velocity v)2, Vi 3 detected by the radars can help evaluate the time for completing an overtaking.
In this way, an objective measurement in combination with subjective experience and observation of a driver can help the driver to determine the possibility of completing an overtaking.
Fig. 5 shows the situation where a first vehicle 1 overtakes a second vehicle 2, wherein a third vehicle 3 is running in the left adjacent lane. The lanes have the same direction. The first vehicle 1 is installed with an overtaking assisting device according to this invention. In this situation, the first vehicle 1 will overtake the second vehicle 2 from the left side. Fig. 6 shows the situation where a first vehicle 1 overtakes a second vehicle 2 by an opposite adjacent lane, wherein a third vehicle 3 is running in the opposite adjacent lane. The first vehicle 1 is installed with an overtaking assisting device according to this invention. In fig. 6, the first vehicle 1 will overtake the second vehicle 2 from the right side.
In Fig.6, the velocities of the first vehicle 1, the second vehicle 2, the third vehicle 3 are vl, v2 and v3 respectively. Generally we assume vl > v2. The radars of the first vehicle 1 transmit a detecting waveform toward one side, including front of it and checks if another vehicle exists there by detecting the reflected waveform. Alternatively, cameras installed in one side or both sides of the first vehicle 1 also can monitor if there is a vehicle running in the adjacent lane. After confirmation that a third vehicle 3 is running in the opposite adjacent lane, the radars are used to detect distance dn and relative velocity v13 of the third vehicle 3 relative to the first vehicle 1.
Fig. 7 shows a schematic diagram for calculating the gap between the second vehicle 2 and the third vehicle 3. The distance dt2 and relative velocity v)2 of the second vehicle 2 relatiye to the first vehicle 1 are also detected by the radars. The angle Θ between the radar detecting waveform and the second radar detecting waveform can be known based on the installation conditions of the radars. Then the gap d23 between the second vehicle 2 and the third vehicle 3 can be evaluated by a formula: d2H =d12*sin0 (9)
Figure imgf000008_0001
Fig. 8 shows the situation where a first vehicle 1 overtakes a second vehicle 2 by an opposite adjacent lane, wherein a third vehicle 3 is running in the opposite adjacent lane and the first vehicle 1 will overtake the second vehicle 2 from the left side. The technical solution for this situation is similar to the situation in Fig. 7.
In this way, even if a third vehicle in the opposite adjacent lane is out of view of the driver of the first vehicle 1 , the radars can find it and calculate the distance and relative velocity between the second vehicle 2 and the third vehicle, and provide information.
While the present invention has been described in connection with what is considered the most practical and preferred embodiment, it is understood by those skilled in the art that various part, component, implementing unit and subsystems in the embodiments can be reused, replaced with their equivalent counterparts or recombined, and this invention is not limited to the disclosed embodiment but is intended to cover various arrangements included within the spirit and scope of the broadest interpretation so as to encompass all such modifications and equivalent arrangements.

Claims

What we claim is:
1. An overtaking assisting method, comprising:
step 1 : checking by a first vehicle if a third vehicle is running in an adjacent lane before the first vehicle overtakes a second vehicle which is in a same lane and in a same direction with the first vehicle;
step 2: detecting current positions and movement parameters of the second vehicle and the third vehicle by the first vehicle if check result of step 1 is true;
step 3: judging by the first vehicle if an overtaking can be completed.
2. The overtaking assisting method according to claim 1, wherein,
the movement parameters in step 2 include velocity and acceleration.
3. The overtaking assisting method according to claim 1, wherein,
step 1 includes checking if the third vehicle is running in the same direction with the first vehicle.
4. The overtaking assisting method according to claim 3, wherein,
step 3 includes judging by the first vehicle if an overtaking can^be completed by calculating a first gap between the first vehicle and the second vehicle, a second gap between the second vehicle and the third vehicle.
5. The overtaking assisting method according to claim 4, wherein,
the first gap is determined based on the distance detected between the first vehicle and the second vehicle; the second gap is calculated based on the first gap, the distance between the first vehicle and the third vehicle, and the angle formed by the second vehicle and the third vehicle around the first vehicle.
6. The overtaking assisting method according to claim 1 , wherein,
step 1 includes checking if the third vehicle is running in the opposite direction to the first vehicle.
7. The overtaking assisting method according to claim 6, wherein, step 3 includes judging by the first vehicle if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a third gap between the first vehicle and the third vehicle.
8. The overtaking assisting method according to claim 1, further comprises:
sending ut a warning to a driver of the first vehicle if an overtaking cannot be completed and the driver of the first vehicle has an intention to overtake.
9. The overtaking assisting method according to claim 8, further comprises:
sending out multiple level warnings to the driver of the first vehicle.
10. The overtaking assisting method according to claim 1, wherein, a driver of the first vehicle is judged as with an intention to overtake when a rotation angle of a steering wheel of the first vehicle is greater than 0 degree and/or a acceleration is greater than 0.
11. An overtaking assisting device, which is in a first vehicle, comprising:
checking means adapted to check if a third vehicle is running in a adjacent lane before the first vehicle overtakes a second vehicle which is in the same lane and in the same direction;
detecting means adapted to detect the current positions and movement parameters of the second vehicle and the third vehicle if check result of checking means is true;
judging means adapted to judge if an overtaking can be completed.
12. The overtaking assisting device according to claim 11, wherein,
the movement parameters include velocity and acceleration.
13. The overtaking assisting device according to claim 11, wherein,
checking means is further adapted to check if the third vehicle is running in the same direction.
14. The overtaking assisting device according to claim 13, wherein,
the judging means is further adapted to judge if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a second gap between the second vehicle and the third vehicle.
15. The overtaking assisting device according to claim 14, wherein,
the first gap is determined based on the distance detected between the first vehicle and the second vehicle; the second gap is calculated based on the first gap, the distance between the first vehicle and the third vehicle, and the angle formed by the second vehicle and the third vehicle around the first vehicle.
16. The overtaking assisting device according to claim 11 , wherein, .
the checking means is further adapted to check if the third vehicle is running in the opposite direction.
17. The overtaking assisting device according to claim 16, wherein,
the calculating and judging means is further adapted to judge if an overtaking can be completed by calculating a first gap between the first vehicle and the second vehicle, a third gap between the first vehicle and the third vehicle.
18. The overtaking assisting device according to claim 1 1, further comprises:
a warning means adapted to give but a warning the driver of the first vehicle if an overtaking cannot be completed and the driver of the first vehicle has an intention to overtake.
19. The overtaking assisting device according to claim 18, wherein:
the warning means is adapted to give out multiple level warnings to the driver of the first vehicle.
20. The overtaking assisting device according to claim 11, wherein, the driver of the first vehicle is judged as with an intention to overtake when the rotation angle of the steering wheel of the first vehicle is greater than 0 degree and/or the acceleration is greater than 0.
PCT/EP2017/000724 2016-06-22 2017-06-22 Overtaking assisting method and device WO2017220203A1 (en)

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