Estimation of a minimum overtaking speed of a vehicle

An overtaking estimating system for estimation of a minimum overtaking speed of a host vehicle, the overtaking estimating system comprising:

• a remaining distance determining unit for 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;
• a delta distance determining unit for determining a delta distance (Ddelta) between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane;
• a delta time determining unit for determining a delta time for the host vehicle to reach the preceding vehicle;
• a preceding vehicle speed determining unit for determining based on the delta distance (Ddelta), the delta time and a determined host vehicle speed, a speed of the preceding vehicle;
• an overtaking speed determining unit for 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
• communicate 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 determination of 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 determination of the delta distance (Ddelta) including determining the delta distance (Ddelta) based on a monocular depth reconstruction model.

A computer storage medium storing an executable computer program that, when executed, causes one of a computer and a processor to perform a 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;
• 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.