US 11,691,626 B2
Estimation of a minimum overtaking speed of a vehicle
Junsheng Fu, Nödinge (SE); Marcus Olsson, Väröbacka (SE); Viktor Runemalm, Gothenburg (SE); and Rafael Valencia Carreño, Kållered (SE)
Assigned to Zenuity AB, Gothenburg (SE)
Filed by Zenuity AB, Gothenburg (SE)
Filed on Nov. 24, 2020, as Appl. No. 17/103,377.
Claims priority of application No. 19211322 (EP), filed on Nov. 25, 2019.
Prior Publication US 2021/0155247 A1, May 27, 2021
Int. Cl. B60W 30/18 (2012.01); G06N 3/02 (2006.01); B60W 40/105 (2012.01); B60W 40/12 (2012.01)
CPC B60W 30/18163 (2013.01) [B60W 40/105 (2013.01); B60W 40/12 (2013.01); G06N 3/02 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/802 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A method performed by an overtaking estimating system for estimation of a minimum overtaking speed of a host vehicle, the method comprising:
determining in view of a host vehicle a remaining distance (Dremaining) of a fixed distance overtaking lane contiguous to a driving lane of the host vehicle;
determining a delta distance (Ddelta) between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane;
determining a delta time for the host vehicle to reach the preceding vehicle;
determining based on the delta distance (Ddelta), the delta time and a determined host vehicle speed, a speed of the preceding vehicle;
determining based on the remaining distance (Dremaining), the delta distance (Ddelta), the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance (Dremaining) of the overtaking lane; and
communicating estimated overtaking speed data reflecting the minimum overtaking speed to an action-taking system on-board the host vehicle, the action-taking system including an Advanced Driver Assistance System (ADAS)/Automated Driving (AD) system configured to at least partly control overtaking maneuvers, the communicating causing the ADAS/AD to at least partly control an overtaking maneuver of the host vehicle;
the determining at least one of the delta distance (Ddelta) and the delta time including determining at least one of the delta distance (Ddelta) and the delta time based on image data derived from a mono camera configured to capture surroundings of the host vehicle; and
the determining the delta distance (Ddelta) including determining the delta distance (Ddelta) based on a monocular depth reconstruction model.