Methods and systems for controlling a vehicle being overtaken

A method is provided to control a first vehicle when the first vehicle is being overtaken. The method comprises determining whether a rear vehicle is overtaking; and controlling a speed of the first vehicle when it is determined that the rear vehicle is overtaking.

RELATED APPLICATION

This application claims the benefit of Chinese Patent Application No.: CN 201611118144.2 filed on Dec. 7, 2016, the entire contents thereof being incorporated herein by reference.

FIELD

The present disclosure relates generally to methods and systems for controlling a vehicle being overtaken, in particular, it relates to controlling the vehicle being overtaken by controlling its speed.

BACKGROUND

Overtaking often happens on the road. Sometimes, a vehicle being overtaken speeds up to match the overtaking vehicle or speeds up to a greater speed than the overtaking vehicle. A driver in the vehicle being overtaken may speed up on purpose as he or she does not want to be passed or the driver may not notice that a rear vehicle is performing an overtake. The increase in speed of the vehicle being overtaken is frustrating to a driver of the overtaking vehicle. Further, the increase in speed of the vehicle being overtaken can increase the time for completion of the overtaking maneuver and thus can cause danger to the overtaking vehicle when the overtaking vehicle is passing via a lane for oncoming traffic. Thus, there exists a need for controlling the speed of the vehicle being overtaken.

SUMMARY

According to one aspect, a method is provided to control a first vehicle when the first vehicle is being overtaken. The method comprises determining whether a rear vehicle is overtaking; and controlling a speed of the first vehicle when it is determined that the rear vehicle is overtaking.

In one embodiment, the method further comprises detecting a speed and a position of the rear vehicle and a speed of the first vehicle. Whether the rear vehicle is overtaking may be determined based on the speed and the position of the rear vehicle relative to the speed and the position of the first vehicle.

In another embodiment, whether the rear vehicle is overtaking may be determined according to a signal sent by the rear vehicle.

In another embodiment, controlling the speed of the first vehicle may include controlling the speed equal to or less than a current speed.

In another embodiment, the method further comprises determining when an overtaking is completed; and resuming a previous driving operation when the overtaking is completed.

In another embodiment, the overtaking may be determined to be completed when a predetermined distance between an overtaking vehicle and the first vehicle is established.

In another embodiment, the time when the overtaking is completed may be determined based on a relative speed of the first vehicle and the overtaking vehicle and a distance between the first vehicle and an overtaking vehicle when the overtaking is initiated.

In another embodiment, the time when the overtaking is completed may be determined according to a signal sent by the overtaking vehicle.

According to another aspect, a method is provided to control a first vehicle when the first vehicle is being overtaken. The method comprises determining whether a rear vehicle is overtaking; limiting a speed of the vehicle being overtaken to a current speed if it is determined that the rear vehicle is overtaking; determining when an overtake is completed; and resuming a previous driving operation when the overtake is completed.

In one embodiment, the method further comprises detecting a speed of the first vehicle, a speed of the rear vehicle, and a distance between the first vehicle and the rear vehicle. Whether the rear vehicle is overtaking may be determined based on the detected speeds of the first vehicle and the rear vehicle. The time when the overtaking is completed may be determined based on the detected speed of the first vehicle and the rear vehicle and the distance between the first vehicle and the rear vehicle when overtaking is initiated.

In another embodiment, whether the rear vehicle is overtaking and when the overtake is completed may be determined based on signals sent by the rear vehicle that performs the overtaking.

In another embodiment, the first vehicle may include an adaptive cruise control device and the speed of the first vehicle is controlled by an adaptive cruise control device

In another embodiment, the previous operation may be an operation in which a driver controls the speed of the vehicle.

In another embodiment, the previous operation may be an operation in which an adaptive cruise control is active.

According to another aspect, a vehicle control system in a first vehicle is provided to control a speed of the first vehicle when it is overtaken by a rear vehicle. The vehicle control system comprises a speed central unit; and an overtaken control unit to determine whether the rear vehicle is overtaking, instruct the speed control unit to limit a speed of the first vehicle when it is determined that the rear vehicle is an overtaking vehicle and resume a previous driving operation when overtaking is completed.

In one embodiment, the vehicle control system may further comprise an overtaking detection unit configured to detect a speed and a position of the rear vehicle, wherein the overtaken control unit determines an overtake based on a relative speed and a relative position between the first vehicle and the rear vehicle.

In another embodiment, the vehicle control system may further comprise a lane determination unit to determine a type of lanes in front of the first vehicle, wherein the overtaking is confirmed based on the types of lanes.

In another embodiment, the vehicle control system may further comprise a vehicle detection unit configured to measure a distance between the first vehicle and the overtaking vehicle. The overtaking may be determined to be completed when a predetermined distance is established between the first vehicle and the overtaking vehicle and the predetermined distance may be measured by the vehicle detection unit.

In another embodiment, the overtaken control unit may be configured to receive a signal from an overtaking vehicle to determine whether the rear vehicle is overtaking and when overtaking is completed.

In another embodiment, the speed control unit may be a cruise control device or an adaptive cruise control device.

The method and the system to control a vehicle being overtaken enable the overtaking by a rear vehicle to be completed smoothly without unnecessary delay.

It should be noted that these figures are intended to illustrate the general characteristics of methods, structure and/or materials utilized in certain example embodiments and to supplement the written description provided below. These drawings are not, however, to scale and may not precisely reflect the precise structural or performance characteristics of any given embodiment, and should not be interpreted as defining or limiting the range of values or properties encompassed by example embodiments. The use of similar or identical reference numbers in the various drawings is intended to indicate the presence of a similar or identical element or feature.

DETAILED DESCRIPTION

FIGS. 1A and 1Bshow vehicles2,4and6travelling in the same direction D.FIG. 1Ashows that vehicle4is travelling behind vehicle2on a lane3and vehicle6is travelling behind vehicle2on lane5. InFIG. 1B, vehicle4passes or overtakes vehicle2and travels at a distance d ahead of vehicle2. In the present application, vehicle2may be referred as a first vehicle and vehicles4and6may be referred as a rear vehicle. When vehicle4performs an overtake, it may be referred to as an overtaking vehicle and vehicle2may be referred to as a vehicle being overtaken. In some embodiments, vehicles2,4and6may communicate with each other via a dedicated short-range communication or any other suitable communication protocols.

FIG. 2shows a high-level flowchart to illustrate a method100for controlling a vehicle being overtaken. The method100may be executed by an overtaken control system in a vehicle being overtaken. At110, method100may determine whether a rear vehicle is overtaking. In some embodiments, the overtaken control system may determine whether the rear vehicle is overtaking by an overtaking detection unit provided in the vehicle being overtaken as described in detail inFIGS. 3 and 4. In some embodiments, the overtaken control system may determine whether the rear vehicle is overtaking by receiving an overtaking signal from the rear vehicle or the overtaking vehicle as described in detail inFIGS. 5-7.

If it is determined that the rear vehicle is overtaking, method100may limit a speed of the vehicle being overtaken at120. In some embodiments, method100may limit the speed of the vehicle being overtaken to a current speed. In some embodiments, method100may limit the speed of the vehicle being overtaken to a specific speed. The specific speed method be less or greater than the current speed and may be determined based on the speeds of the vehicle being overtaken, the overtaking vehicle and other vehicles on the road. The speed of the vehicle being overtaken may be controlled by a speed control unit such as a cruise control device or an adaptive cruise control (ACC) device.

At130, method100may determine when overtaking is completed. In some embodiments, the completion of the overtaking may be estimated by the overtaken control system based on a relative speed of the overtaking vehicle and the vehicle being overtaken and a distance between the two vehicles when the overtaking was initiated. In some embodiments, the overtaking vehicle may send a signal to inform the overtaken vehicle (e.g., vehicle2inFIG. 1) that the overtaking is completed. In some embodiments, the overtaking may be considered to be completed when the overtaking vehicle merges back into the lane of the vehicle being overtaken. The vehicle being overtaken may be provided with an ACC device and the ACC device is active when the overtaking is initiated. Once the overtaking vehicle drives into the lane of the vehicle being overtaken, ACC will control a safe distance between the two vehicles. In some embodiments, the overtaking may be considered to be completed when a predetermined distance or a safe distance is established between the overtaking vehicle and the vehicle being overtaken.

Next, at140, method100may resume a previous driving operation after the overtake is completed. In some embodiments, the speed of the vehicle being overtaken was under driver control before the overtaking maneuver. Once the safe distance between the two vehicles is established, the speed limitation is cancelled or overridden to enable the driver control. In some embodiments, the vehicle being overtaken is under cruise control before the overtaking maneuver. Once the safe distance between the two vehicles is established, the speed limitation is cancelled and the vehicle being overtaken returns to cruise control.

FIG. 3is a schematic block diagram of a system10for controlling a vehicle being overtaken (e.g., vehicle2inFIG. 1) according to one embodiment of the present disclosure and illustrates the communications between system10and some electronic devices of the vehicle being overtaken. System10may control a speed of the vehicle being overtaken so that a rear vehicle can complete the overtaking without unnecessary delay. System10may include an overtaken control unit12, an overtaking detection unit14to detect a speed of the rear vehicle and a position of the rear vehicle and a speed control unit16to control the speed of the vehicle being overtaken. In some embodiments, overtaken control unit12may communicate with overtaking detection unit14and speed control unit16directly as illustrated inFIG. 1. In some embodiments, overtaken control unit12may communicate with overtaking control unit14and speed control unit16via a communication bus or a CAN bus18of the vehicle. Further, system10may include a speed sensor22to measure a speed of the vehicle being overtaken (e.g., vehicle2). In some embodiments, system10may include a proximity sensor20to detect a distance between vehicle2and a vehicle in front of vehicle2. The overtaken control unit12may communicate with proximity sensor20and speed sensor22via the CAN bus18.

Overtaking detection unit14may include electronic detection devices to monitor the approaching vehicles (e.g., vehicle to the left, right and the same lane as vehicle2). In some embodiments, the electronic devices may include a radar sensor that uses radio waves to determine the vehicle's surroundings. In some embodiments, the electronic detection devices may include cameras to capture computer-processed images. The information provided by the electronic detection devices may include a presence of the approaching vehicle in the adjacent lanes and a lane behind, a distance between the vehicle and the approaching vehicles, and a speed of the approaching vehicles, for example.

In some embodiments, the vehicle may include a blind spot information system to detect other vehicles located to the driver's side and rear using electronic detection devices and warn the driver of the approaching vehicles. Overtaken control unit12may communicate with the blind spot information system to receive information on the rear vehicle. In this way, no additional detection devices are required to monitor the approaching vehicles other than the blind spot information system already installed in the vehicle. It should be appreciated that overtaking detection unit14may be any suitable detection unit that can monitor the rear vehicle and/or approaching vehicles.

Speed control unit16may be a conventional speed control device in the art. In some embodiments, speed control unit16may include a cruise control device to control the speed of the vehicle. In some embodiments, speed control unit16may include an adaptive cruise control (ACC) device. The ACC device can automatically adjust speed in order to maintain a proper distance between the vehicles in the same lane. The ACC device may include a forward-looking sensor system such as radar, lidar and/or vision sensors to continuously measure the current following distance. The current following distance is transmitted to an electronic control device which intervenes in the engine controller such that the following distance (or time interval) is kept substantially constant at desired value. When the actual following distance deviates from the desired distance, the electronic control device increases or decreases the speed of the vehicle to achieve the desired distance. It should be appreciated that the ACC device may be used in hybrid vehicles and electrical vehicles.

In some embodiments, system10may include a lane determination unit24which may be a lane recognition device conventionally used in art. For example, lane determination unit14may include a camera attached on front portions of a ceiling of a vehicle compartment and an image recognition device. The image recognition device may recognize front information such as a three-dimensional object and type/color of road lines in front of the vehicle and output the information on types of road lines, the number of the lanes and the vehicle position to the overtaken control unit12. Overtaken control unit12may determine whether the rear vehicle is travelling in an overtaking lane or the vehicles are travelling in a segment of road which allow the rear vehicle to overtake on a lane for oncoming traffic based on the information.

In some embodiments, the vehicle may include a lane keep assist system designed to alert the driver when the system detects that the vehicle is about to deviate from a traffic lane. A camera of the lane keep assist system can recognize the road structure such as white lines and yellow lines. The overtaken control unit12may communicate with the lane keep assist system, receive the information on the road structure, and determine the lane type that the vehicle is travelling and the adjacent line. In this configuration, no additional camera and image recognition device are required to determine the lane the vehicle is travelling other than the lane keep assist system already installed in the vehicle.

In some embodiments, system10may include a vehicle detection unit26to detect a presence of a vehicle in front and a speed and a distance of the vehicle in front (e.g., vehicle4when vehicle drives in front of vehicle2as illustrated inFIG. 1B). In some embodiments, vehicle detection unit26may include a radar, lidar or vision sensors.

Overtaken control unit12may include a processor that provides for computational resources and a memory. The overtaken control unit12may serve to execute instructions for software that may be loaded into the memory. The instructions may include program code, computer-usable program code, or computer-readable program code. The memory may be a storage device that is capable of storing information, such as, without limitation, data, program code in functional form, and/or other suitable information on either a temporary basis and/or a permanent basis. For example, the memory may include a random access memory or any other suitable volatile or non-volatile storage device and a persistent storage. The persistent storage may be one or more devices such as a hard drive, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination of the above.

Overtaken control unit12may determine whether the rear vehicle is overtaking based on the information from overtaking detection unit14and speed sensor22. For example, overtaken control unit12may calculate a relative speed of vehicles2and4based on the speed of vehicle2measured by speed sensor22and the speed of vehicle4measured by overtaking detection unit14. If the speed of vehicle4is greater than that of vehicle2, it is indicated that vehicle4intends to overtake. Overtaking detection unit14may provide further information such as a position of vehicle4for the determination of overtaking. In some embodiments, overtaking detection unit14includes a proximity sensor to detect the distance between vehicle2and a rear vehicle. Overtaking detection unit may detect that vehicle4moves towards to lane5or has moved to lane5according to information on changes on the speeds of vehicles2and4and the distance between vehicles2and4. In some embodiments, overtaking detection unit14includes a camera which can detect that vehicle4moves toward or has moved to lane5. Further, in some embodiments, the camera may recognize a turn signal from vehicle4. For example, a left turn signal from vehicle4may confirm that vehicle4will overtake. Similarly, overtaken control unit12may determine whether vehicle6in lane5(adjacent lane) is overtaking.

If it is determined that vehicle4is overtaking, overtaken control unit12may instruct speed control unit16to control a speed of vehicle2or the vehicle being overtaken. That is, the speed control of vehicle2is in an overtaken control mode. Overtaken control unit12may further determine when the overtaking is completed by estimating a time for vehicle4to overtake based on the relative speed between vehicles2and4and the positions between vehicles2and4. After the overtaking is completed, overtaken control unit12may cancel the overtaken control mode and speed control is resumed to a previous driving operation or mode.

Now referring toFIG. 4,FIG. 4shows a method200for controlling the vehicle being overtaken using the system10as illustrated inFIG. 3. At210, the method may determine a road type by a lane determination unit24. Determination of the road type may confirm that the vehicle intends to overtake. For example, if the lane which the rear vehicle drives toward is an overtaking lane or a temporary overtaking lane (e.g., a lane for oncoming traffic), it can be confirmed that the rear vehicle is overtaking. At220, method200may include monitoring a rear vehicle. The rear vehicle may be monitored by overtaking detection unit14. As described above, in some embodiments, overtaking detection unit14may detect a speed and a position of the rear vehicle. In some embodiments, overtaking detection unit14may capture an image of the rear vehicle to determine its speed and position and/or an image of turn signal.

At230, method200may determine whether the rear vehicle is overtaking or the overtaking maneuver is in progress. For example, overtaken control unit12may calculate a relative speed of vehicle2and vehicle4. A faster speed of vehicle4(i.e., the rear vehicle) may indicate an overtaking maneuver is in progress. A change of the relative positions of vehicles2and4along with the speed data of two vehicles can confirm overtaking. In some embodiments, a camera system in the overtaken control system may capture the movement of the vehicle4such as changing a lane and confirm the overtaking. If the answer at step230is no, method200returns to step220. If the answer at step230is yes, method200continues to240where method may control a speed of the vehicle being overtaken (i.e., vehicle2in the example ofFIG. 1). The speed of vehicle2may be controlled by a speed control device such as a cruise control device or an adaptive cruise control (ACC) device. That is, vehicle2is operated in an overtaken control mode. In some embodiments, the speed of vehicle2may be controlled to a current speed when the overtaking is detected. In some embodiments, the speed of vehicle2may be controlled to a specific speed which is determined based on the speeds of vehicles2and4as well as a distance between vehicles2and4when the overtaking is initiated. The specific speed may be less or greater than the current speed.

Next, at250, method200may include estimating time to complete overtaking or an overtaking event. In some embodiments, the estimation may be based on the controlled speed of vehicle2and a speed of vehicle4as well as a distance between vehicles2and4when the overtaking is initiated. In some embodiments, a camera in lane determination unit24in vehicle2(forward-looking camera) may capture an image of vehicle4(i.e., the overtaking vehicle). Overtaken control unit12may identify vehicle4by comparing with the image captured by a cameral in overtaking detection unit14(backward-look camera) and determine whether the overtaking is completed.

At260, method200may determine if the overtaking is completed based on the estimated time or the camera information. In some embodiments, the overtaking may be considered to be completed when the overtaking vehicle merges into the lane of the vehicle being overtaken. In some embodiments, the overtaking may be considered to be completed when a predetermined distance or a safe distance is established between the overtaking vehicle and the vehicle being overtaken. If the overtaking is not completed, method200returns to240. If the overtaking is completed, method200continues to270. At270, method200may resume a previous driving operation. That is, the overtaken speed control is cancelled. In some embodiments, the vehicle being overtaken includes an ACC device, the ACC device resumes its normal operation of varying the speed to maintain a predetermined distance when the ACC mode is active prior to the overtaking event. If the ACC mode is not active prior to the overtaking event, the speed control resumes the driving operation where the driver controls the speed.

FIG. 5is a schematic block diagram of an overtaking control system40for an overtaking vehicle and an overtaken control system60for controlling a vehicle being overtaken according to one embodiment of the present disclosure. The overtaking control vehicle may be vehicle4and the vehicle being overtaken may be vehicle2illustrated inFIGS. 1A and 1B. Overtaking control system40in vehicle4or a rear vehicle may include an overtaking control unit42and a plurality of sensors or detection units. Overtaking control unit42may determine whether vehicle4is overtaking or whether the overtaking is in progress based on information from one or more sensors. In some embodiments, overtaking control system40may include at least one of a turn signal device44, a steering wheel angle sensor46, a speed sensor48that measures a speed of vehicle4, a lane determination unit50and a vehicle detection unit52. Lane determination unit50may determine a road type and/or an overtaking lane. In some embodiments, lane determination unit50may be a forward-mounted camera to capture an image in front of vehicle4. Vehicle detection unit52may detect a presence of a vehicle in front and a speed and a distance of the vehicle in front (e.g., vehicle2inFIGS. 1A and 1B). In some embodiments, vehicle detection unit52may include a radar, lidar or vision sensors.

Overtaking control unit42may determine that vehicle4intends to overtake based on the relative speed between vehicle2and vehicle4and based on a lane type of the road. In one example, when the speed of vehicle4is greater than the speed of vehicle2and vehicle4is on the same lane as vehicle2, overtaking control unit42may confirm that vehicle4intends to perform the overtaking when turn signal device44or steering wheel angle sensor46is activated. After the confirmation, overtaking control unit42may send an overtaking signal to vehicle2. In another example, when the speed of vehicle4is greater than the speed of vehicle2and vehicle4is on an adjacent lane to vehicle2(e.g., on a multi-lane freeway), overtaking control unit42may determine that vehicle4intends to overtake vehicle2. In some embodiments, overtaking control unit42may send an overtaking signal to vehicle2after vehicle4has reached a minimum allowable distance to vehicle2. The minimum allowable distance may be a distance that an overtaking vehicle is close enough to initiate an overtake so that the disruption to the vehicle being overtaken is minimized.

Overtaking control unit42may estimate the time when the overtaking has been completed based on the speed of vehicles2and4and distance between vehicles2and4. Additionally or alternatively, completion of the overtaking may be determined based on the on/off status of a turn signal and/or a change in the steering wheel angle and or the images captured by the overtaking vehicle during the overtaking process.

Now, turning to overtaken control system60in the vehicle being overtaken (e.g., vehicle2), overtaken control system60may include an overtaken control unit62, a speed control unit64, a speed sensor66that measures the speed of vehicle2and a proximity sensor68that detects a distance between vehicle2and a vehicle that is overtaking (e.g., vehicle4inFIG. 1B). Speed control unit4may be a conventional speed control device in the art. Speed sensor66may provide information to the speed control unit64so that the speed can be adjusted based on the current speed. In some embodiments, proximity sensor68may provide information to speed control unit64so that a distance between vehicles may be maintained according to the information on the current speed and the current distance. In some embodiments, speed control unit64may include a cruise control device to control the speed of the vehicle. In some embodiments, speed control unit64may include an adaptive cruise control (ACC) device. Speed sensor66and proximity sensor68may be provided in the ACC device. In some embodiments, the proximity sensor68may be communicated with overtaking control unit62to further confirm completion of an overtaking event.

Vehicles2and4may communicate with each other via any suitable vehicle to vehicle communication mechanism or protocol. In some embodiments, vehicles2and4may communicate with each other via a dedicated short-range communication protocol. Overtaken control unit62may receive information or signal from overtaking control unit42of vehicle4notifying that overtaking is in process. Once the signal is received, overtaken control unit62may instruct speed control unit64to limit a speed to a specific value. Overtaken control unit62may further receive a signal from overtaking control unit42that the overtaking has completed. After being informed of the completion of the overtaking, overtaking control unit42may instruct speed control unit64to resume a previous driving operation.

It should be appreciated that a vehicle may include both the overtaking control system40and the overtaken control system60. The overtaking control system is activated when the vehicle performs the overtaking and communicates with a vehicle being overtaken. The overtaken control system is activated when the vehicle is being overtaken and controls the speed of the vehicle based on the status of overtaking according to a signal from the overtaking vehicle.

FIG. 6shows a method300for controlling the vehicle being overtaken, which is implemented by an overtaken control system illustrated inFIG. 5. The vehicle being overtaken may be vehicle2illustrated inFIGS. 1A and 1B. Vehicle2may communicate with a rear vehicle such as vehicles4and6via any suitable communication protocol. Method300may control a speed of vehicle being overtaken via based on the information on an overtaking event from the overtaking vehicle via the vehicle-vehicle communication. At310, method300may include receiving a signal that an overtake is in progress by an overtaken control system from a rear vehicle. The overtaken control system may be the overtaken control system60in vehicle2and the rear vehicle may be vehicle4. At320, method300may include limiting a speed of a vehicle being overtaken (e.g., vehicle2). That is, vehicle2is operated at an overtaken control mode. The speed of vehicle2may be limited by a speed control unit64. In some embodiments, the speed may be limited to a current speed, that is, the speed when vehicle2receives the overtaking signal. In some embodiments, the speed may be limited to a specific speed set up by the overtaken control unit based on a relative speed of vehicles2and4and a distance between vehicles2and4. The specific speed controlled during the overtaking process may be greater, less than or equal to the current speed of vehicle2.

At330, method300may include receiving a signal that the overtaking is completed from the overtaking vehicle (e.g., vehicle4). In some embodiments, the overtaking may be considered to be completed when the overtaking vehicle merges into the lane of the vehicle being overtaken. In some embodiments, the overtaking may be considered to be completed when a predetermined distance or a safe distance is established between the overtaking vehicle and the vehicle being overtaken. The distance between vehicle2and vehicle4may be measured by a proximity sensor68of vehicle2and the distance information is input to overtaken control unit62.

Next, at340, method300may resume a previous driving operation after the predetermined distance is established. In some embodiments, the vehicle speed was under driver control before the overtaking maneuver. Once the predetermined distance between the two vehicles is established, the speed limitation is cancelled or the overtaken control mode is stopped to return the speed to the driver control. In some embodiments, the vehicle is under cruise control before the overtaking maneuver. Once the safe distance between the two vehicles is established, the overtaken speed mode is switched to the previous cruise control.

FIG. 7shows a method400for an overtaking controlling method for vehicle4, which is implemented by an overtaking control system40of vehicle4illustrated inFIG. 5. Method400may communicate with a vehicle in front (e.g., vehicle2) and send the information on the overtaking to vehicle2. At410, method400may monitor the vehicle in front (e.g., vehicle2). Vehicle detection unit52may detect a presence and a speed of vehicle2and a distance between vehicles2and4. At420, method400may receive a signal from a turn signal device44and/or a steering wheel angle sensor46. At430, method400may determine whether overtaking is in progress. In some embodiments, method400may determine that vehicle4intends to overtake when it determines that a speed of vehicle4is greater than a speed of vehicle2and a turn signal or a steering wheel angle is directed towards an adjacent lane that allows overtaking. If not, method400returns to step410. If yes, method400continues to step440where method400includes sending an overtaking signal to a vehicle being overtaken (i.e., vehicle2). In some embodiments, an overtaking signal may be sent after vehicle4has reached a minimum allowable distance to the vehicle being overtaken. The minimum allowable distance may be a distance that an overtaking vehicle is close enough to initiate an overtake so that the disruption to the normal operation of the vehicle being overtaken is minimized. At450, method400may monitor a speed of the vehicle being overtaken (e.g., vehicle2) and the overtaking vehicle (e.g., vehicle4), turn signal and/or steering wheel angle.

Next, method400may determine whether the overtaking is completed at460. In some embodiments, overtaking control unit42may estimate a time to complete the overtaking based on speeds of vehicle2and vehicle4and a distance when the overtaking is initiated. In some embodiments, overtaking control unit42may determine the time when the overtaking is completed based on a turn signal switching on and off or a change in steering wheel angle. In some embodiments, overtaking control unit42may estimate the time to complete the overtaking and confirm the overtaking according to the turn signal and the steering wheel angle. Further, the overtaking control unit may receive information on the road from the vehicle detection unit and further confirm the completion of the overtaking. Once the overtaking is determined to be completed, method400may send a signal to vehicle2to notify the completion of the overtaking.

The system and method of the present application control a speed a vehicle being overtaken and thus enable an overtaking event to be completed without delay caused by the vehicle being overtaken. Further, the system and method allow a safe distance to be established before resuming to a previous driving operation.