Systems and methods for controlling overtake maneuver in vehicles
A system for controlling an overtake maneuver of a control vehicle includes a controller. The controller is structured to: receive at least one overtake parameter associated with a control vehicle for overtaking a front vehicle in a vehicle lane; receive an indication of a direction of traffic in an overtake lane that is adjacent to the vehicle lane; receive an indication that the at least one overtake parameter satisfies at least one condition according to the direction of the traffic in the overtake lane; and in response to the at least one overtake parameter satisfying the at least one condition according to the direction of traffic in the overtake lane, execute an overtake maneuver by adjusting at least one parameter of the control vehicle or providing a command to an operator of the control vehicle to execute the overtake maneuver.
1. A system comprising:
a controller structured to:
receive at least one overtake parameter associated with a control vehicle for overtaking a front vehicle in a vehicle lane, the at least one overtake parameter comprising a number of rear vehicles traveling in an overtake lane behind the control vehicle within a rear distance horizon;
receive an indication of a direction of traffic in the overtake lane that is adjacent to the vehicle lane;
receive an indication that the at least one overtake parameter satisfies at least one condition according to the direction of the traffic in the overtake lane, the at least one overtake parameter comprising the number of rear vehicles traveling in the overtake lane behind the control vehicle within the rear distance horizon, and the at least one condition comprising a predefined threshold number of rear vehicles; and
in response to the number of rear vehicles being less than the predefined threshold number of rear vehicles, execute an overtake maneuver by adjusting at least one parameter of the control vehicle or providing a command to an operator of the control vehicle to execute the overtake maneuver.
2. The system of claim 1 , wherein the at least one overtake parameter further comprises an overtake velocity for the control vehicle to overtake the front vehicle traveling ahead of the control vehicle in the vehicle lane and the at least one condition further comprises a predefined allowed velocity, and wherein the controller is further structured to execute the overtake maneuver in response to the overtake velocity being less than the predefined allowed velocity.
3. The system of claim 1 , wherein the direction of traffic in the overtake lane is the same as in the vehicle lane.
4. The system of claim 1 , wherein the at least one condition further comprises a predefined allowed velocity, and wherein the controller is further structured to:
in response to the direction of traffic in the overtake lane being the same as the direction of traffic in the vehicle lane, receive an indication that an overtake velocity for the control vehicle is less than or equal to the predefined allowed velocity and execute the overtake maneuver based on the overtake velocity for the control vehicle being less than or equal to the predefined allowed velocity.
5. The system of claim 4 , wherein the predefined allowed velocity corresponds to a speed limit associated with a route of the control vehicle.
6. The system of claim 1 , wherein executing the overtake maneuver comprises adjusting at least one vehicle parameter, and wherein the at least one vehicle parameter comprises a parameter of at least one of an engine or a transmission of the control vehicle.
7. The system of claim 1 , wherein the controller is further structured to:
receive an available peak engine power of an engine of the control vehicle, and
execute the overtake maneuver in response to an overtake velocity being achievable based on the available peak engine power.
8. The system of claim 7 , wherein the available peak engine power of the engine is based on a control vehicle parameter of the control vehicle, and wherein the control vehicle parameter comprises at least one of a control vehicle weight, a control vehicle aerodynamic resistance, a control vehicle rolling resistance, or a control vehicle transmission loss.
9. The system of claim 8 , wherein the controller is structured to:
receive an upcoming terrain profile to be encountered by the control vehicle during the overtake maneuver, and wherein the available peak engine power is also based on the upcoming terrain profile.
10. The system of claim 1 , wherein the direction of traffic in the overtake lane is opposite to a direction of traffic in the vehicle lane;
wherein the at least one overtake parameter comprises at least one of: a velocity of at least one oncoming vehicle approaching the control vehicle in the overtake lane, a distance between the control vehicle and the at least one oncoming vehicle, or an encounter time to encounter the at least one oncoming vehicle at an overtake velocity; and
wherein the at least one condition comprises a respective threshold corresponding to at least one of the at least one overtake parameter.
11. The system of claim 1 , wherein the at least one overtake parameter comprises at least one of: a control vehicle length, a front vehicle length, an initial distance between the control vehicle and the front vehicle before overtaking, a final distance between the control vehicle and the front vehicle after overtaking, an initial velocity of the control vehicle before overtaking, or a front vehicle velocity.
12. A method, comprising:
receiving, by a controller, at least one overtake parameter associated with a control vehicle for overtaking a front vehicle in a vehicle lane, the at least one overtake parameter comprising a number of rear vehicles traveling in an overtake lane behind the control vehicle within a rear distance horizon;
receiving, by the controller, an indication of a direction of traffic in the overtake lane that is adjacent to the vehicle lane;
receiving, by the controller, an indication that the at least one overtake parameter satisfies at least one condition according to the direction of the traffic in the overtake lane, the at least one overtake parameter comprising the number of rear vehicles traveling in the overtake lane behind the control vehicle within the rear distance horizon, and the at least one condition comprising a predefined threshold number of rear vehicles; and
in response to the number of rear vehicles being less than the predefined threshold number of rear vehicles, executing, by the controller, an overtake maneuver by adjusting at least one parameter of the control vehicle or providing a command to an operator of the control vehicle to execute the overtake maneuver.
13. The method of claim 12 , wherein the at least one overtake parameter further comprises an overtake velocity for the control vehicle to overtake the front vehicle traveling ahead of the control vehicle in the vehicle lane and the at least one condition further comprises a predefined allowed velocity, and wherein the method further comprises:
executing, by the controller, the overtake maneuver in response to the overtake velocity being less than the predefined allowed velocity.
14. The method of claim 12 , wherein the direction of traffic in the overtake lane is the same as in the vehicle lane.
15. The method of claim 12 , wherein the at least one condition comprises a predefined allowed velocity, and wherein the method further comprises:
in response to the direction of traffic in the overtake lane being the same as the direction of traffic in the vehicle lane, receiving, by the controller, an indication that an overtake velocity for the control vehicle to overtake the front vehicle is less than or equal to the predefined allowed velocity.
16. A non-transitory computer-readable storage medium storing instructions therein that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving at least one overtake parameter associated with a control vehicle for overtaking a front vehicle in a vehicle lane, the at least one overtake parameter comprising a number of rear vehicles traveling in an overtake lane behind the control vehicle within a rear distance horizon;
receiving an indication of a direction of traffic in the overtake lane that is adjacent to the vehicle lane;
receiving an indication that the at least one overtake parameter satisfies at least one condition according to the direction of the traffic in the overtake lane, the at least one overtake parameter comprising the number of rear vehicles traveling in the overtake lane behind the control vehicle within the rear distance horizon, and the at least one condition comprising a predefined threshold number of rear vehicles; and
in response to the number of rear vehicles being less than the predefined threshold number of rear vehicles, executing an overtake maneuver by adjusting at least one parameter of the control vehicle or providing a command to an operator of the control vehicle to execute the overtake maneuver.
17. The non-transitory computer-readable storage medium of claim 16 , wherein the at least one parameter comprises a parameter of at least one of an engine or a transmission of the control vehicle.
18. The non-transitory computer-readable storage medium of claim 16 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to perform further operations comprising:
receiving an available peak engine power of an engine of the control vehicle; and
executing the overtake maneuver in response to an overtake velocity being achievable based on the available peak engine power.
19. The non-transitory computer-readable storage medium of claim 18 , wherein the available peak engine power of the engine is based on a control vehicle parameter of the control vehicle, and wherein the control vehicle parameter comprises at least one of a control vehicle weight, a control vehicle aerodynamic resistance, a control vehicle rolling resistance, or a control vehicle transmission loss.
20. The method of claim 15 , wherein the predefined allowed velocity corresponds to a speed limit associated with a route of the control vehicle.