CN115892009A - Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method - Google Patents

Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method Download PDF

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Publication number
CN115892009A
CN115892009A CN202211465673.5A CN202211465673A CN115892009A CN 115892009 A CN115892009 A CN 115892009A CN 202211465673 A CN202211465673 A CN 202211465673A CN 115892009 A CN115892009 A CN 115892009A
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China
Prior art keywords
vehicle
vehicles
platoon
fleet
lane
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CN202211465673.5A
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Chinese (zh)
Inventor
张雅纯
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Mercedes Benz Group AG
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Mercedes Benz Group AG
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Priority to CN202211465673.5A priority Critical patent/CN115892009A/en
Publication of CN115892009A publication Critical patent/CN115892009A/en
Priority to PCT/EP2023/025471 priority patent/WO2024110060A1/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for assisting a rear vehicle in a vehicle platoon comprising at least two vehicles, said vehicle platoon travelling on a same path. The method comprises at least the following steps: -activating an overtaking mode of said at least two vehicles, -detecting at least a distance between two vehicles of said platoon and a number of vehicles in a opposite lane, -assisting a following vehicle of said two vehicles of said platoon with the detected result in an overtaking. The method according to the invention is particularly carried out on bidirectional two-lane roads, i.e. vehicles in a vehicle fleet, in particular, need to use opposite lanes if overtaking is to be carried out. The invention also relates to a vehicle for carrying out the method.

Description

Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method
Technical Field
The invention relates to a method for assisting a rear vehicle in a vehicle platoon comprising at least two vehicles, said vehicle platoon travelling on a same path. The method according to the invention is particularly carried out on bidirectional two-lane roads, i.e. vehicles in a vehicle fleet, in particular, need to use opposite lanes if overtaking is to be carried out. The invention also relates to a vehicle for carrying out the method.
Background
When driving a fleet of vehicles on a two-way two-lane road, particularly a multi-turn road, such as in a mountain area, the vehicles in the fleet are sometimes spaced apart by trucks or other lower speed vehicles, causing the rear vehicles to be farther and farther from the front vehicles. However, due to the blind area of the curve, if vehicles traveling in opposite directions exist in opposite lanes in the blind area, the decelerated rear vehicle dares not to overtake, and therefore overtake is difficult particularly on mountainous roads. Thus, the running speed of the whole fleet is reduced, and the fleet vehicles are separated.
Prior art solutions for assisting overtaking generally relate to the situation in urban traffic, relying on the construction of road infrastructure, whereas in areas where the infrastructure is relatively scarce, devices or methods for assisting overtaking are not common.
Disclosure of Invention
The invention relates to a method for assisting a rear vehicle in a vehicle fleet in overtaking, in particular on a bidirectional two-lane road. In road driving, the vehicles of a fleet of vehicles are often required to overtake a vehicle by means of an oncoming lane, which is dangerous and has a low chance of overtaking, especially in the case of multiple curves.
The method according to the invention thus enables overtaking for a following vehicle in a vehicle platoon running in particular on a two-way two-lane road, in particular a slow vehicle passing over a non-vehicle platoon sandwiched between the vehicle platoon. Within the framework of the invention, the vehicle fleet comprises at least two vehicles, the vehicle fleet driving on the same path, in particular on two bidirectional lanes, wherein the method comprises at least the following steps:
-activating the overtaking mode of said at least two vehicles,
-detecting at least a distance between two vehicles of a platoon and a number of vehicles in a counter-lane, in particular a distance between two adjacent vehicles of said platoon and a number of vehicles in a counter-lane between said two adjacent vehicles,
-assisting a rear vehicle of said two vehicles of the platoon with the detected result in overtaking.
Within the framework of the invention, a fleet of vehicles can consist of vehicles which can all carry out the method according to the invention, and not necessarily a plurality of vehicles with a common destination. For example, a first vehicle capable of implementing the method of the invention travels on two lanes in both directions with at least one, in particular slower traveling, in front of it, and then the first vehicle can establish a direct or indirect connection with a second vehicle (capable of implementing the method of the invention) further in front of it, thereby constituting a fleet of vehicles to implement the method according to the invention to assist the first vehicle in passing the vehicle in front of it. The second vehicle is preferably a vehicle of the platoon which is adjacent in front of the first vehicle, however a third vehicle of the platoon may also be present between the second vehicle and the first vehicle. In particular, the overtaking vehicle does not belong to the fleet. The fleet may be temporarily assembled during road travel, i.e. vehicles which are capable of carrying out the method according to the invention are traveling on the road, if other vehicles which are also capable of carrying out the method according to the invention are encountered, the temporary fleet may be assembled to carry out the method according to the invention. However, it is also conceivable that the individual vehicles of the vehicle fleet already establish the vehicle fleet at the departure time and in particular have the same destination.
After establishing the platoon, the respective vehicle of the platoon first activates an overtaking mode, in which a distance between a first vehicle and a second vehicle, which are preferably adjacent in the platoon, and a number of vehicles of a counter-lane between the two vehicles are found, and a rear vehicle of the two vehicles of the platoon is assisted in overtaking, in particular in overtaking a vehicle not belonging to the platoon, depending on the detected result.
However, it is also conceivable to determine the distance between a first vehicle and a second vehicle which are not adjacent in the vehicle train and the number of vehicles in the opposite lane between the two vehicles, and to assist the following vehicle of the two vehicles in overtaking, depending on the detection result, wherein the overtaken vehicle may be in particular the third vehicle of the vehicle train.
According to a preferred embodiment of the invention the method determines a leading vehicle and a trailing vehicle, respectively, by means of position sensors of two vehicles of the platoon and determines the distance between the leading vehicle and the trailing vehicle. The position sensor is preferably a satellite positioning system, such as a GPS positioning system, a beidou positioning system, a glonass positioning system and/or a galileo positioning system.
Within the framework of the invention, vehicles passing the opposite lane are detected by their respective sensors in the fleet, in particular the direction of travel of the vehicles passing the opposite lane is determined from the sensing sequence of the front and rear sensors of the vehicles. For example, in a right-side driving road, if a front left radar and a rear left radar of a vehicle in a vehicle fleet detect that a vehicle passes through an opposite lane successively, it indicates that the vehicle in the opposite lane passes through the vehicle in the vehicle fleet oppositely; and the left rear radar and the left front radar of the vehicles in the platoon successively detect that the vehicles pass through the opposite lane, so that the fact that the vehicles in the opposite lane travel through the vehicles in the platoon in the same direction is indicated, namely the vehicles in the platoon are overtaken.
According to a preferred embodiment of the invention, the sensors used by the vehicles of the platoon to detect the vehicles passing by the oncoming traffic lane are for example radars and/or cameras, in particular side radars and/or front cameras of the vehicles. For example, in a road on which a vehicle travels on the right side, whether the vehicle travels in the opposite direction is comprehensively sensed by the front camera and the left front radar, and/or whether the vehicle traveling in the opposite direction travels away after passing is sensed by the left rear radar.
According to a preferred embodiment of the present invention, the counter is increased by 1 when the oncoming lane next to the preceding vehicle passes an oncoming vehicle, and/or the counter is decreased by 1 when the oncoming lane next to the following vehicle passes an oncoming vehicle. When the vehicles on the opposite lane run in the same direction to pass through the front vehicle or the rear vehicle, namely the front vehicle or the rear vehicle is overtaken, the counter is preferably not incremented or decremented.
Within the framework of the invention, the counter may be provided on a vehicle of the fleet of vehicles, for example, may be a program for counting in a vehicle control system of the individual vehicles of the fleet of vehicles, or may also be a device on a vehicle dedicated to counting. The vehicle control system can be configured to perform at least a portion of the method according to the present invention, including, for example, an application specific integrated circuit, one or more processors, non-transitory memory having instructions stored therein. The vehicle control system is, for example, an Electronic Control Unit (ECU), which is also commonly referred to as a "traveling computer", a "vehicle-mounted computer", or the like. Alternatively, the counter may also be provided not on the vehicles of the platoon, but in a central server. Within the framework of the invention, the central server may be a central server provided by the vehicle manufacturer or a universal platform that is universally used for vehicles of various brands.
According to a preferred embodiment of the present invention, when the count of the counter is 0, a prompt that overtaking is possible is output in the following vehicle. When the counter is 0, it means that there is no vehicle traveling in the opposite direction on the opposite lane between the front vehicle and the rear vehicle of the platoon, in particular.
According to a preferred embodiment of the invention, the driver of the following vehicle and/or the onboard control system of the following vehicle decide whether to overtake or not at least on the basis of the prompt. Within the framework of the invention, the "prompt" can be, for example, a voice prompt, a text shown on the vehicle display or a message output to the vehicle control system. In particular, the voice message and the displayed text are used to alert the driver that a passing can take place, while the information output to the vehicle control system provides decision-making basis, in particular to the vehicle control system. The vehicle control system can alternatively or additionally automatically decide whether to carry out a cut-in or not at least as a function of the prompt. Within the framework of the invention, the driver or the vehicle control system automatically decides whether to overtake or not, if necessary also further information being required, such as the relative speed of the rear vehicle and the vehicle to be overtaken immediately in front of it, the distance of the rear vehicle from the particularly adjacent front vehicle of the platoon, the absolute speed of the rear vehicle, the road conditions (e.g. whether there is a sharp turn), the weather conditions (e.g. whether the road surface is slippery) etc.
Within the framework of the invention, the road conditions can be determined, for example, by means of map data stored in advance in the vehicle control system in conjunction with the position information of the vehicle, and the weather conditions can be acquired, for example, by establishing a real-time connection to the internet via the on-board control system from a weather service website. Those skilled in the art can also use other ways to obtain information such as road conditions and weather conditions to provide decision-making basis for the driver or the vehicle control system.
According to a preferred embodiment of the invention, the various sensor data of the individual vehicles in the fleet can be transmitted to a central server, by means of which processed information and/or instructions are returned to the individual vehicles. The transmission to the central server can be effected in various ways known to the person skilled in the art, preferably by establishing a connection with the radio communication base station via the vehicle control system of the vehicle (in particular via the on-board communication device) and then with the central server via the radio communication base station; or the vehicle control system establishes connection with the mobile terminal of the driver (especially through the vehicle-mounted communication device) and then establishes connection with the central server through the mobile terminal. Here, the mobile terminal may refer to a terminal device such as a mobile phone, a tablet computer, or a notebook computer having a network connection, and particularly, to a mobile phone having an application connected to a center server.
Within the framework of the invention, for example, the central server receives information such as the position and speed of a first vehicle and a second vehicle of a fleet of vehicles, determines from these information that the first vehicle and the second vehicle are respectively a rear vehicle and a front vehicle and determines the distance between these two vehicles, and further determines from sensor signals, preferably radar and camera signals, on the rear vehicle and the front vehicle that there is a corresponding passing of a vehicle traveling in opposite directions in the opposite lane, and adds 1 to the counter of the central server when the opposite lane of the front vehicle passes one of the vehicles traveling in opposite directions, and subtracts 1 from the counter of the central server when the opposite lane of the rear vehicle passes one of the vehicles traveling in opposite directions. The central server transmits the processed information to corresponding vehicles in the motorcade, and particularly transmits the information of the distance between the central server and the front vehicle of the motorcade, the information of which the counter is 0 and the like to the rear vehicle. Here, another third vehicle that also belongs to the vehicle group may be present between the rear vehicle and the front vehicle, and the rear vehicle may overtake the third vehicle that also belongs to the vehicle group. Alternatively, the rear vehicle and the front vehicle may also be two adjacent vehicles in the platoon, i.e. there are other vehicles between the rear vehicle and the front vehicle that do not belong to the platoon.
Alternatively or additionally, the central server may also transmit information such as road conditions and weather conditions that are in accordance with the position information to each vehicle in combination with the position information uploaded by each vehicle of the fleet.
According to a preferred embodiment of the invention, the sensor data of all vehicles of the platoon are transmitted to an on-board control system of a lead vehicle of the platoon, by means of which processed information and/or instructions are returned to the individual vehicles. The lead vehicle may be any vehicle in a fleet of vehicles. In this case, the individual vehicles of the platoon are able to establish a direct connection by wireless communication, after which, for example, a following first vehicle receives sensor data of an adjacent preceding vehicle (second vehicle) in front of it in the platoon, in which case the first vehicle is in particular a lead vehicle which, by means of the received sensor data, compares with the data measured by the sensor carried by itself to find at least the distance to the preceding vehicle (second vehicle) in the platoon and the number of vehicles in the opposite lane to this preceding vehicle. The vehicle of the lead team outputs a prompt capable of overtaking by means of the processed information, and under the condition that the vehicle of the lead team is a rear vehicle, the vehicle of the lead team sends the prompt capable of overtaking to a driver, and/or a vehicle control system of the vehicle of the lead team automatically decides whether to overtake or not by combining with other information (as provided in the above).
It should be noted here that within the framework of the invention, the vehicle control system automatically decides whether a cut-in is to be made, in particular in the context of automatic driving. For example, after a following vehicle driver initiates automatic driving of a following vehicle, the vehicle control system can automatically decide whether to overtake the vehicle based on the obtained processed information. Here, the "processed information" refers to, for example, the relative speed of the following vehicle and the vehicle to be overtaken immediately in front of the following vehicle, the distance between the following vehicle and the particularly adjacent preceding vehicle of the vehicle group, the absolute speed of the following vehicle, the road condition (e.g., whether there is a sharp turn), the weather condition (e.g., whether the road surface is wet or slippery), and the like. The processed information may be information received from a central server and/or processed information of data sensed by the received individual vehicle sensors.
According to a preferred embodiment of the invention, the fleet of vehicles travels on a bidirectional two-lane road. This is because, on a two-way two-lane road, each vehicle in the platoon is a oncoming lane next to it, and each vehicle must pass through the oncoming lane in order to overtake it. The method according to the invention is particularly advantageous for overtaking a following vehicle in a platoon driving on two-way lanes.
Another aspect of the invention proposes a vehicle which is capable of overtaking by means of the method described above. In particular, the vehicle according to the invention has a vehicle control system which is able to carry out the method according to the invention. For example, when the overtaking mode is enabled, the vehicle control system can receive sensor data from other vehicles of the platoon (that enable the overtaking mode), process the received sensor data, and issue an indication to the driver that overtaking is enabled, at least after obtaining information that the counter is 0, that the host vehicle is a following vehicle of the platoon, and a distance to a preferred adjacent preceding vehicle of the platoon. Alternatively, the vehicle control system may send information collected by the sensor of the host vehicle to the center server when the overtaking mode is turned on, and issue an overtaking-enabled prompt to the driver when receiving at least information that the host vehicle is a following vehicle, a distance to a preferred adjacent preceding vehicle of the platoon, and a counter is 0 from the center server. Alternatively or additionally, the vehicle control system can automatically decide whether to overtake based on the resulting prompt to overtake in combination with other sensor data.
Drawings
The method according to the invention for assisting a rear vehicle of a vehicle platoon to overtake is schematically illustrated in the following by means of an example.
Fig. 1 shows a preferred embodiment of the present application, wherein a platoon with two vehicles preferably travels in the same direction in two lanes in both directions of a multi-turn.
Detailed Description
In the exemplary embodiment, it can be seen that a vehicle platoon with two vehicles is traveling in the same direction in two lanes in both directions in a multi-turn, in this embodiment the vehicles are traveling to the right, wherein the first vehicle 1 and the second vehicle 2 form the vehicle platoon, the first vehicle 1 being the rear vehicle and the second vehicle 2 being the front vehicle. Between the first vehicle 1 and the second vehicle 2 there are a plurality of other vehicles 11, 12 which do not belong to the platoon.
As can be seen from fig. 1, both the first vehicle 1 and the second vehicle 2 have side sensors and a front camera, in the figure the side triangular areas and the front triangular areas of the two vehicles being the schematic sensing areas of the side sensors 3, 4 and the front camera 5, respectively, here the side sensors, in particular the side radars, in the figure the left front radar 3 and the left rear radar 4, respectively.
In the embodiment according to the present invention, the traveling direction of the vehicle passing through the oncoming lane is determined in conjunction with the front camera 5 according to the sensing order of the vehicle left front radar 3 and the left rear radar 4. For example, if the front left radar 3 and the rear left radar 4 of the second vehicle 2 detect that the vehicles 13 pass through the opposite lanes successively, and the front camera 5 senses that the vehicles 13 approach the front lane, it indicates that the vehicles 13 in the opposite lanes pass through the second vehicle 2 oppositely. In contrast, it is not shown in the figure that, for example, the left rear radar 4 and the left front radar 3 of the first vehicle 1 detect that vehicles pass through the opposite lane in sequence, which means that the vehicles in the opposite lane pass through the first vehicle 1 in the same direction, i.e., the first vehicle 1 is overtaken.
In the embodiment shown in fig. 1, when the front left radar 3 and the rear left radar 4 of the first vehicle 1 detect that the vehicles 14 pass through the opposite lane successively, and the front camera 5 senses that the vehicles 14 approach in front, it is indicated that the vehicles 14 in the opposite lane pass through the first vehicle 1 oppositely.
In the embodiment of fig. 1, the vehicles 13, 14 of the oncoming lane travel in the oncoming lane along the dashed arrows.
The vehicle control systems of the second vehicle 2 and the first vehicle 1 then transmit information about the detected vehicles traveling in opposite directions in the oncoming lane directly to the center server 30 via the base station 20, respectively. The center server 30 includes a counter, and the counter is incremented by 1 when the opposite lane of the second vehicle 2 passes through an opposite vehicle, and decremented by 1 when the opposite lane of the first vehicle 1 passes through an opposite vehicle. Further, the counter of the center server preferably does not perform addition and subtraction when the first vehicle 1 or the second vehicle 2 detects that it is overtaking. The central server 30 also receives information of the position, speed, etc. of the first vehicle 1 and the second vehicle 2 of the platoon, and determines the distance between the two vehicles by determining that the first vehicle 1 and the second vehicle 2 are the rear vehicle and the front vehicle, respectively. The central server 30 may also combine the position information uploaded by each vehicle of the fleet to transmit information such as road conditions and weather conditions that are in accordance with the position information to each vehicle.
Alternatively, in a manner not shown in fig. 1, the vehicle control system establishes a connection with the mobile terminal of the driver, in particular via the on-board communication device, and then with the central server 30 via this mobile terminal. Here, the mobile terminal may refer to a terminal device such as a mobile phone, a tablet computer, or a notebook computer having a network connection, and particularly, to a mobile phone having an application connected to a center server.
In addition to the embodiments shown in the figures, the counter may also be arranged on a vehicle in the platoon, for example as a program for counting in a vehicle control system of the individual vehicles of the platoon, or may be a device on the vehicle dedicated to counting.
When the count of the counter is 0, the center server 30 outputs a notice that overtaking is possible to the following vehicle (i.e., the first vehicle 1) through the base station 20. When the counter is 0, it means that there is no vehicle traveling in the opposite direction on the opposite direction lane between the second vehicle 2 and the first vehicle 1 of the platoon.
At this time, the driver of the rear vehicle (first vehicle 1) and/or the in-vehicle control system of the rear vehicle determines whether to overtake the vehicle based on at least the prompt. The "prompt" may be, for example, a voice prompt, text shown on an in-vehicle display, or information output to a vehicle control system.
In this case, the driver or the vehicle control system of the first vehicle 1 automatically decides whether to overtake the vehicle, if necessary further information is required, for example the relative speed of the first vehicle 1 and the vehicle 11 to be overtaken immediately in front of it, the distance of the first vehicle 1 from the second vehicle 2, the absolute speed of the first vehicle 1, the road condition (for example whether there is a sharp turn), the weather condition (for example whether the road surface is slippery), etc.
In this embodiment, the road condition may be obtained by combining the map data pre-stored in the vehicle control system with the position information of the vehicle, and the weather condition may be obtained from a weather service website by establishing a real-time connection with the internet through the vehicle control system. The information required by the driver or the vehicle control system for deciding whether to overtake or not can be at least partially transmitted by the central server 30 to the respective vehicle via the base station 20.
In addition to the situation shown in fig. 1, there may also be other third vehicles also belonging to the vehicle group between the rear vehicle and the front vehicle, in which case the rear vehicle may overtake the third vehicle also belonging to the vehicle group.
According to the embodiment shown in fig. 1, the driver of the first vehicle 1 or the vehicle control system, upon receiving a prompt with a counter of 0, preferably in combination with the distance between the first vehicle 1 and the second vehicle 2 (e.g. 500 meters apart), road conditions (e.g. with several curves but no sharp turns), and weather conditions (clear days, dry roads), makes a decision to overtake the other vehicle 11, 12. Alternatively, the driver of the first vehicle 1 or the vehicle control system, after receiving the indication that the counter is 0, preferably makes a decision not to overtake in conjunction with the distance between the first vehicle 1 and the second vehicle 2 (e.g. 100 meters apart, too short distance), road conditions (sharp turns) and weather conditions (rainy days, slippery roads).
Within the framework of the present invention, the terms "first", "second" \8230;, are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
It should be understood that the above-described embodiments of the present invention are intended to be illustrative, but not limiting, of exemplary implementations of a method for assisting a rear vehicle of a fleet of vehicles to overtake in accordance with the present invention. Rather, in addition to the embodiments described above, a large number of variants which are obvious to the person skilled in the art and which are produced by combining the individual features of the invention are likewise possible.

Claims (10)

1. A method for assisting a following vehicle in overtaking a platoon comprising at least two vehicles, said platoon travelling on the same path, wherein the method comprises at least the following steps:
-activating the overtaking mode of said at least two vehicles,
-detecting at least a distance between two vehicles of the platoon and a number of vehicles in a counter lane,
-assisting a following vehicle of said two vehicles of said platoon with said detected result in overtaking.
2. Method according to claim 1, wherein the front and rear vehicles are determined by means of position sensors of the two vehicles, respectively, and the distance between the front and rear vehicles is determined.
3. The method of claim 1, wherein the passing vehicles of the oncoming lane are detected by respective sensors of the vehicles in the fleet, and the direction of travel of the passing vehicles of the oncoming lane is determined based on the sensing sequence of the front and rear sensors of the vehicles.
4. The method of claim 3, wherein,
when the opposite lane beside the front vehicle passes through a vehicle which runs in opposite directions, the counter is increased by 1, and/or
And when the opposite lane beside the rear vehicle passes through a vehicle running in the opposite direction, the counter is decreased by 1.
5. The method according to claim 4, wherein when the count of the counter is 0, a prompt that a passing can be made is output in the following vehicle.
6. A method according to claim 5, wherein the driver of the rear vehicle makes a decision to overtake at least in dependence on the prompt and/or the on-board control system of the rear vehicle makes a decision to overtake automatically at least in dependence on the prompt.
7. The method of any one of claims 1 to 6,
transmitting sensor data of all vehicles of the fleet to a central server, returning processed information and/or instructions to the individual vehicles via the central server, or
And transmitting the sensor data of all the vehicles of the fleet to a vehicle-mounted control system of a leading vehicle of the fleet, and returning the processed information and/or instructions to each vehicle through the vehicle-mounted control system of the leading vehicle.
8. The method according to any one of claims 1 to 6, wherein the two vehicles are two adjacent vehicles in the platoon.
9. The method of any of claims 1 to 6, wherein the fleet of vehicles travels on a bidirectional two-lane road.
10. A vehicle capable of overtaking by means of the method of any one of claims 1 to 9.
CN202211465673.5A 2022-11-22 2022-11-22 Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method Pending CN115892009A (en)

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CN202211465673.5A CN115892009A (en) 2022-11-22 2022-11-22 Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method
PCT/EP2023/025471 WO2024110060A1 (en) 2022-11-22 2023-11-09 Method for assisting rear vehicle in vehicle procession in overtaking and vehicle for performing said method

Applications Claiming Priority (1)

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CN202211465673.5A CN115892009A (en) 2022-11-22 2022-11-22 Method for assisting a rear vehicle of a vehicle fleet to overtake and vehicle for carrying out the method

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KR102004818B1 (en) * 2015-10-29 2019-10-01 자동차부품연구원 Device For Warning Driver Of Vehicle Against Danger Of Overtaking
SE540620C2 (en) * 2016-04-22 2018-10-02 Scania Cv Ab Method and system for determining risks for vehicles about leaving a platoon
EP3923259A1 (en) * 2020-06-12 2021-12-15 Ningbo Geely Automobile Research & Development Co. Ltd. A vehicle control system and method for providing information to support an overtaking maneuver
US20220105941A1 (en) * 2020-10-02 2022-04-07 Magna Electronics Inc. Vehicular contol system with enhanced vehicle passing maneuvering

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