The invention relates to an ice and snow covered pavement overtaking control method and system for an automatic driving vehicle and a vehicle. Firstly, whether surrounding vehicles have an overtaking intention or not is detected; detecting whether the vehicles at the front and rear positions on the borrowing lane are non-automatic driving vehicles or automatic driving vehicles, the positions of the non-automatic driving vehicles or the automatic driving vehicles on the overtaking route of the vehicle to be overtaken, and the safe distances between the positions of the front vehicle and the rear vehicle on the borrowing lane; after the vehicle to be overtaken changes the lane for the first time, whether the road surface is an ice film road surface is judged and detected, if not, the vehicle to be overtaken changes the lane for the second time to complete overtaking after the vehicle to be overtaken changes the speed and overtakes the vehicle in front of the original lane, an overtaking completion signal is sent to the surrounding vehicle, and the surrounding vehicle recovers the original driving state; according to the invention, by cooperatively controlling the autonomous vehicle and the surrounding autonomous vehicles, the uncertainty of the non-autonomous vehicle in the driving process is reduced, and the overtaking safety performance of the ice and snow covered pavement is improved.

    本发明涉及一种自动驾驶汽车冰雪路面超车控制方法、系统和车辆,首先检测周围车辆是否有超车意图;检测借用车道上的前后位置车辆为非自动驾驶车辆或是自动驾驶车辆,以及非自动驾驶车辆或是自动驾驶车辆在位于待执行超车车辆超车路线上所处位置,以及与借用车道上的前车位置和后车位置的安全距离,然后发出信号给周围车辆,待执行超车车辆第一次变道后,判断检测路面是否为冰膜路面,如果不是待执行超车车辆变速行驶超越原车道前车后进行第二次变道完成超车,发送完成超车信号给周围车辆,周围车辆恢复原行驶状态,本发明通过协同控制自动驾驶车辆及周围自动驾驶车辆,减小了非自动驾驶车辆在车过程中的不确定性,提高了冰雪路面的超车安全性能。


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    Title :

    Overtaking control method and system for self-driving automobile on ice and snow covered pavement and automobile


    Additional title:

    一种自动驾驶汽车冰雪路面超车控制方法、系统和车辆


    Contributors:
    ZHU HENG (author)

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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