CN108032859A - It is automatic to become channel control method, device and automobile - Google Patents
It is automatic to become channel control method, device and automobile Download PDFInfo
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- CN108032859A CN108032859A CN201711270266.8A CN201711270266A CN108032859A CN 108032859 A CN108032859 A CN 108032859A CN 201711270266 A CN201711270266 A CN 201711270266A CN 108032859 A CN108032859 A CN 108032859A
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- 230000008859 change Effects 0.000 claims abstract description 115
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- 230000004888 barrier function Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of automatic change channel control method, device and the automobile including the device, this becomes channel control method automatically includes：Determine target track, judge whether there is safe lane change space for target track current vehicle；Current vehicle is controlled to be deflected to target track, until the axis of current vehicle is relative to target trajectory deflecting object angle；Control current vehicle with present speed to target lanes, until the distance between the center of gravity of current vehicle and target trajectory are less than first threshold；Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with target trajectory.The present invention is simple and easy to implement, can realize that steady, accurate, safe lane change controls by existing equipment.
Description
Technical field
The present invention relates to intelligent automobile field, and in particular to a kind of to become channel control method, device automatically and including the device
Automobile.
Background technology
With the development of automatic Pilot technology, a basic function of the automatic lane change as automatic Pilot, increasingly shows
Go out its importance.Existing automatic lane change system generally carries out vehicle location by calculating automobile lateral velocity, due to vehicle structure
With the limitation of sensor, there are bigger error in terms of vehicle lateral speed measurement.Existing control method uses mostly
Control method based on vehicle dynamic model, algorithm realize that difficulty is larger.
Chinese patent CN205905977U discloses a kind of pilotless automobile and overtakes other vehicles in the same direction lane change control system, it is in vapour
Transmitter is installed on car, while the relative distance of running automobile on transceiver positioning road surface is installed on the ground with definite lane change
Security.Mounting and positioning device means to change public transit facility on road surface, this needs the planning of State-level, is not easy
Popularization, timeliness are bad.In addition, for cost consideration, some low level roads may not install identical positioner, this
Also it is unfavorable for the popularization of system.
Chinese patent CN106530833A discloses a kind of autonomous driving vehicle intelligence lane change system, by pacifying on automobile
Dress GPS and 4G communication modules position the relative position of this car and other vehicles.Common GPS does not reach lane width rank at present
Positioning, high-precision GPS needs to install many base stations around road, and high-precision GPS price is costly, it is difficult to all
Popularized on automobile.
The content of the invention
The object of the present invention is to provide a kind of automatic change channel control method, its is simple and easy to implement, by existing equipment
It can realize steady, accurate, safe lane change control.
One aspect of the present invention proposes a kind of automatic change channel control method, including：
Determine target track, judge whether there is safe lane change space for target track current vehicle；
Control current vehicle is deflected to the target track, until the axis of current vehicle is inclined relative to the target trajectory
Turn target angle α；
Control current vehicle with present speed to the target lanes, until center of gravity and the target of current vehicle
The distance between track is less than first threshold η；
Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with the target trajectory.
Preferably, the automatic channel control method that becomes further includes：
Judge whether current vehicle carries out lane change, it is described to judge whether current vehicle carries out lane change and include：
If the speed of front obstacle is less than predetermined speed, it is determined that current vehicle carries out lane change, otherwise, it determines currently
Vehicle is without lane change；Or
If the distance between current vehicle and front obstacle are less than preset distance, it is determined that current vehicle is become
Road, otherwise, it determines current vehicle is without lane change.
Preferably, judge whether there is safe lane change for target track current vehicle by relationship below (1)
Space：
If the relational expression (1) is set up, judge that there is safe lane change space for target track current vehicle；
Wherein, before V1 represents that the speed of current vehicle, V2 represent that the speed of the side front vehicle in target track, V3 represent
The speed of square barrier, V4 represent the speed of the side front vehicles in target track, and L2 represents current vehicle and the side rear
The distance between vehicle, L3 represent the distance between current vehicle and the front obstacle, L4 expression current vehicle with it is described
The distance between side front vehicles, T represent the lane change time, and S represents safety coefficient, and λ represents safe distance.
Preferably, the speed V1 is measured by the velocity sensor being arranged on current vehicle, it is current by being arranged at
Radar surveying distance L2, distance L3, distance L4 and relative velocity V2-V1, relative velocity V1-V3, relative velocity on vehicle
V1-V4。
Preferably, the target trajectory is the center line in the target track.
Preferably, the distance between the center of gravity of current vehicle and the target trajectory are D+W/2, and wherein D represents current vehicle
Center of gravity and current lane and target track between the distance between lane line, W represents the width in the target track.
It is preferably based on the weight that the track line image captured by the camera being arranged on current vehicle calculates current vehicle
The distance between the heart and the target trajectory.
Preferably, the automatic channel control method that becomes further includes：
The position of current vehicle is adjusted by lane keeping algorithm, makes the axis of current vehicle and the target trajectory weight
Close.
Another aspect of the present invention provides a kind of automatic lane change control system, the system comprises：
Memory, is stored with computer executable instructions；
Processor, the processor run the computer executable instructions in the memory, perform following steps：
Determine target track, judge whether there is safe lane change space for target track current vehicle；
Control current vehicle is deflected to the target track, until the axis of current vehicle is inclined relative to the target trajectory
Turn target angle；
Control current vehicle with present speed to the target lanes, until center of gravity and the target of current vehicle
The distance between track is less than first threshold；
Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with the target trajectory.
Preferably, the processor also performs following steps：
Judge whether current vehicle carries out lane change, it is described to judge whether current vehicle carries out lane change and include：
If the speed of front obstacle is less than predetermined speed, it is determined that current vehicle carries out lane change, otherwise, it determines currently
Vehicle is without lane change；Or
If the distance between current vehicle and front obstacle are less than preset distance, it is determined that current vehicle is become
Road, otherwise, it determines current vehicle is without lane change.
Preferably, judge whether there is safe lane change for target track current vehicle by relationship below (1)
Space：
If the relational expression (1) is set up, judge that there is safe lane change space for target track current vehicle；
Wherein, before V1 represents that the speed of current vehicle, V2 represent that the speed of the side front vehicle in target track, V3 represent
The speed of square barrier, V4 represent the speed of the side front vehicles in target track, and L2 represents current vehicle and the side rear
The distance between vehicle, L3 represent the distance between current vehicle and the front obstacle, L4 expression current vehicle with it is described
The distance between side front vehicles, T represent the lane change time, and S represents safety coefficient, and λ represents safe distance.
Preferably, the speed V1 is measured by the velocity sensor being arranged on current vehicle, it is current by being arranged at
Radar surveying distance L2, distance L3, distance L4 and relative velocity V2-V1, relative velocity V1-V3, relative velocity on vehicle
V1-V4。
Preferably, the target trajectory is the center line in the target track.
Preferably, the distance between the center of gravity of current vehicle and the target trajectory are D+W/2, and wherein D represents current vehicle
Center of gravity and current lane and target track between the distance between lane line, W represents the width in the target track.
It is preferably based on the weight that the track line image captured by the camera being arranged on current vehicle calculates current vehicle
The distance between the heart and the target trajectory.
Preferably, the processor also performs following steps：
The position of current vehicle is adjusted by lane keeping algorithm, makes the axis of current vehicle and the target trajectory weight
Close.
Further aspect of the present invention provides a kind of automobile, including the automatic lane change control system.
The beneficial effects of the present invention are：
1. using existing sensor on intelligent vehicle, including radar and camera, automatic lane change control is carried out, it is not necessary to
Extra vehicle-mounted device is set, it is not required that changes public transit facility, applied widely, cost is low；
2. safe lane change space is judged, to improve the security of lane change；
It is 3. simple and easy to implement, it is not necessary to which that the kinetic model for relying on vehicle structure parameter can be achieved steadily, accurately
Lane change control.
Brief description of the drawings
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein, in exemplary embodiments of the present invention, identical reference numeral is usual
Represent same parts.
Fig. 1 shows the automatic flow chart for becoming channel control method according to an exemplary embodiment of the present invention；
Fig. 2 shows the automatic vehicle location schematic diagram for becoming channel control method according to an exemplary embodiment of the present invention；
Fig. 3 shows the automatic deflection control schematic diagram for becoming channel control method according to an exemplary embodiment of the present invention；
Fig. 4 shows the traveling shape after the automatic lane changing for becoming channel control method according to an exemplary embodiment of the present invention
State schematic diagram.
Embodiment
The present invention is more fully described below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that the present invention is may be realized in various forms without should be limited by embodiments set forth here.Conversely, there is provided
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
In embodiments of the present invention, radar is installed at the front of current vehicle and four angles respectively, to detect current vehicle
The environmental information on periphery, includes the distance of the speed of surrounding objects (such as vehicle or barrier), surrounding objects and current vehicle
Deng.In addition, the front of current vehicle can also install camera, for shooting environmental image, lane line information is gathered.At present
Intelligent vehicle be equipped with above-mentioned radar and camera substantially, therefore vehicle existing equipment can be utilized to carry out automatic lane change
Control, it is not necessary to which extra vehicle-mounted device is set, it is not required that change public transit facility.
Fig. 1 shows the automatic flow chart for becoming channel control method according to an exemplary embodiment of the present invention, as shown in Figure 1, should
The automatic channel control method that becomes comprises the following steps：
Step 1：Judge whether current vehicle carries out lane change.
Before lane change is carried out, first determine whether current vehicle needs to carry out lane change.
Whether lane change can be carried out according to the velocity estimated current vehicle of front obstacle.Specifically, current vehicle travels
When, the vehicle there may be low running speed or static object in front of current lane, at this moment current vehicle need to carry out lane change,
To improve travel speed, accident is avoided the occurrence of.Especially, if the speed of front obstacle is less than predetermined speed, it is determined that when
Vehicle in front carries out lane change, otherwise, it determines current vehicle is without lane change.
Alternatively, it can also judge whether current vehicle is become according to the distance between current vehicle and front obstacle
Road.Specifically, if the distance between current vehicle and front obstacle are less than preset distance, it is determined that current vehicle is become
Road, otherwise, it determines current vehicle is without lane change.
In embodiments of the present invention, vehicle or object existing for current vehicle front in current lane are referred to as front
Barrier.
Step 2：Determine target track, judge whether there is safe lane change space for target track current vehicle.
After definite current vehicle carries out lane change, you can to determine target track, and judge current for target track
Whether vehicle has safe lane change space, scratches to avoid during lane change.
Target track can be on the left of current lane or the track on right side, in practical applications, it is possible to specify appoint
Side track anticipate as target track.
During current vehicle traveling, there are barrier in front of current lane, in the target positioned at current lane side
In track, there may be driving vehicle with side rear in front of side.In embodiments of the present invention, front on the inside of target track will be located at
Vehicle be known as side front vehicles, side front vehicle will be known as by the vehicle at rear on the inside of the target track.
Assuming that front obstacle, side front vehicles and side front vehicle will not occur in current vehicle lane change process medium velocity
Mutation, then can judge whether there is safe lane change space for target track current vehicle by relationship below (1)：
Wherein, V1 represents the speed of current vehicle, and V2 represents the speed of side front vehicle, and V3 represents the speed of front obstacle
Degree, V4 represent the speed of side front vehicles, and L2 represents the distance between current vehicle and side front vehicle, and L3 represents current vehicle
The distance between front obstacle, L4 represent the distance between current vehicle and side front vehicles, and T represents lane change time, S tables
Show safety coefficient, λ represents safe distance.
Wherein, the speed V1 of current vehicle can be obtained by vehicular speeds sensor measurement, distance L2, L3, L4 and opposite
Speed V2-V1, V1-V3, V1-V4 can calculate to obtain by the radar surveying arranged on current vehicle front and four angles.This is
What those skilled in the art were readily apparent that, details are not described herein.The lane change time, T was constant, can be preset, safety coefficient S
For default constant, safe distance λ is default constant.
If relational expression (1) is set up, judge that there is safe lane change space for target track current vehicle, can carry out
Lane change, otherwise, may can collide, it is impossible to carry out lane change in lane change process.
In addition, if for positioned at the target track of current lane side, judge that current vehicle is empty without safe lane change
Between, as target track, whether can also judge current vehicle as procedure described above using positioned at the track of current lane opposite side
With safe lane change space.
Step 3：Current vehicle is controlled to be deflected to target track, until the axis of current vehicle is deflected relative to target trajectory
Target angle α.
Determine for target track current vehicle with after safe lane change space, you can to control current vehicle to be become
Road.Specifically, by control direction disk current vehicle can be controlled to be deflected to target track, until the axis of current vehicle is opposite
In target trajectory deflecting object angle [alpha].
Under normal circumstances, target trajectory is between the center line in target track, i.e. target track and the center of gravity of current vehicle
Distance is D+W/2, and the lane line between target trajectory and current lane and target track is parallel, and wherein D represents current vehicle
The distance between with the lane line, when vehicle be located in current lane, D on the occasion of, when vehicle is located in target track, D
For negative value, W represents the width in target track.Under normal conditions, the width in each bar track is identical, i.e. target carriage on road
Road and current lane are of same size.The image that the distance between current vehicle and lane line D can be shot according to camera, passes through
Vision algorithm is calculated in real time.This is the state of the art, and the emphasis of non-invention, and details are not described herein.
Target angle α can be constant set in advance, generally 2-5 °, alternatively, target angle α can with speed and
Lane change time change, in such a case, it is possible to preset vehicle velocity V, the target angle α corresponding to lane change time T and carry out
Storage, in practical applications, corresponding target angle α is determined according to setting vehicle velocity V, lane change time T.
In addition, the image that the axis of current vehicle can be shot relative to the deflection angle of target trajectory according to camera, leads to
Vision algorithm is crossed to be calculated.This is the state of the art, and the emphasis of non-invention, and details are not described herein.
Step 4：Control current vehicle with present speed to target lanes, until the center of gravity and target track of current vehicle
The distance between mark is less than first threshold η.
Current vehicle axis relative to target trajectory deflecting object angle [alpha] after, you can with control current vehicle with
Present speed is to target lanes, until the distance between the center of gravity of current vehicle and target trajectory are less than first threshold η.This
When, the center of gravity of current vehicle is close to target trajectory.Can by adjusting first threshold η come set the center of gravity of the rear vehicle of lane change with
Deviation between target trajectory.
The distance between the center of gravity of current vehicle and target trajectory are W/2-D, and wherein D represents current vehicle and the track
The distance between line.
Step 5：Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with target trajectory.
In step 3, therefore the center of gravity of current vehicle, can be controlled by control direction disk and worked as close to target trajectory
Vehicle in front is deflected to former track direction, until the axis of current vehicle is parallel with target trajectory, i.e. the axis and mesh of current vehicle
It is 0 to mark the deflection angle between track, and vehicle completes lane change, can continue to sail in target track expert with present speed.
Step 6：The position of current vehicle is adjusted by lane keeping algorithm, makes the axis and target trajectory weight of current vehicle
Close.
After abovementioned steps, current vehicle success lane change to target track, if the axis of current vehicle not with
Target trajectory is completely superposed, and the position of current vehicle can be adjusted by lane keeping algorithm, makes the axis and mesh of current vehicle
Track is marked to overlap.
Existing a variety of ripe lane keeping algorithms at present, it is widely used in all kinds of automated driving systems.In this reality
Apply in example, can arbitrarily select a kind of lane keeping algorithm as needed.
The embodiment of the present invention also provides a kind of automatic lane change control system, the system comprises：
Memory, is stored with computer executable instructions；
Processor, the processor run the computer executable instructions in the memory, perform following steps：
Determine target track, judge whether there is safe lane change space for target track current vehicle；
Control current vehicle is deflected to the target track, until the axis of current vehicle is inclined relative to the target trajectory
Turn target angle α；
Control current vehicle with present speed to the target lanes, until center of gravity and the target of current vehicle
The distance between track is less than first threshold η；
Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with the target trajectory.
In one example, the processor also performs following steps：
Judge whether current vehicle carries out lane change, it is described to judge whether current vehicle carries out lane change and include：
If the speed of front obstacle is less than predetermined speed, it is determined that current vehicle carries out lane change, otherwise, it determines currently
Vehicle is without lane change；Or
If the distance between current vehicle and front obstacle are less than preset distance, it is determined that current vehicle is become
Road, otherwise, it determines current vehicle is without lane change.
In one example, judge whether there is peace for target track current vehicle by relationship below (1)
Full lane change space：
If the relational expression (1) is set up, judge that there is safe lane change space for target track current vehicle；
Wherein, before V1 represents that the speed of current vehicle, V2 represent that the speed of the side front vehicle in target track, V3 represent
The speed of square barrier, V4 represent the speed of the side front vehicles in target track, and L2 represents current vehicle and the side rear
The distance between vehicle, L3 represent the distance between current vehicle and the front obstacle, L4 expression current vehicle with it is described
The distance between side front vehicles, T represent the lane change time, and S represents safety coefficient, and λ represents safe distance.
In one example, the speed V1 is measured by the velocity sensor being arranged on current vehicle, passes through setting
In radar surveying distance L2, distance L3, distance L4 and the relative velocity V2-V1 on current vehicle, relative velocity V1-V3, phase
To speed V1-V4.
In one example, the target trajectory is the center line in the target track.
In one example, the distance between the center of gravity of current vehicle and the target trajectory are D+W/2, and wherein D is represented
The distance between lane line between the center of gravity and current lane of current vehicle and target track, W represent the target track
Width.
In one example, current vehicle is calculated based on the track line image captured by the camera being arranged on current vehicle
Center of gravity and the distance between the target trajectory.
In one example, the processor also performs following steps：
The position of current vehicle is adjusted by lane keeping algorithm, makes the axis of current vehicle and the target trajectory weight
Close.
The embodiment of the present invention also provides a kind of automobile, it includes above-mentioned automatic lane change control system.
Using example
In this example, 77GHz millimetre-wave radars are installed on the front front bumper of vehicle, its detection range is
150m, installs 24GHz millimetre-wave radars, to detect the environmental information on periphery, including surrounding objects respectively at four angles of vehicle
Distance of the speed of (such as vehicle or barrier), surrounding objects and current vehicle etc..In addition, monocular cam is installed on vehicle
Front windshield on, for gathering lane line information.Car is equipped with vehicular speeds sensor, for detecting this vehicle speed.Car
Steering wheel repacks the steering wheel with electric boosted (EPS) into.
Become channel control method automatically accoding to exemplary embodiment to comprise the following steps：
Step 1：Judge whether current vehicle carries out lane change.Specifically, if the speed of front obstacle is less than pre- constant speed
Degree, it is determined that current vehicle carries out lane change, otherwise, it determines current vehicle is without lane change.
Step 2：Determine target track, judge whether there is safe lane change space for target track current vehicle.Specifically
Ground, judges whether there is safe lane change space for target track current vehicle by relationship below (1)：
Wherein, V1 represents the speed of current vehicle, and V2 represents the speed of side front vehicle, and V3 represents the speed of front obstacle
Degree, V4 represent the speed of side front vehicles, and L2 represents the distance between current vehicle and side front vehicle, and L3 represents current vehicle
The distance between front obstacle, L4 represent the distance between current vehicle and side front vehicles (as shown in Figure 2), and T is represented
Lane change time, λ represent safe distance.
If relational expression (1) is set up, judge that there is safe lane change space for target track current vehicle, can carry out
Lane change, otherwise, may can collide, it is impossible to carry out lane change in lane change process.
In the present embodiment, safety coefficient S being set to 2/3 can ensure within the 2T/3 times, current vehicle and front car
It will not scratch in the horizontal.
Step 3：Control direction disk makes current vehicle be deflected to target track, until the axis of current vehicle is relative to target
Trajectory deflection target angle α.Specifically, target trajectory is the center line in target track, i.e. the center of gravity of target track and current vehicle
The distance between be D+W/2, and the lane line between target trajectory and current lane and target track is parallel, and wherein D is represented
The distance between current vehicle and lane line, W represent the width (as shown in Figure 3) in target track.
Step 4：Control current vehicle with present speed to target lanes, until the center of gravity and target track of current vehicle
The distance between mark is less than first threshold η.
Step 5：Control direction disk makes current vehicle be deflected to former track direction, until the axis and target track of current vehicle
Mark is parallel.The transport condition after lane changing is completed as shown in figure 4, at this time, between the axis and target trajectory of current vehicle
Distance (i.e. deviation) be E.
Step 6：The position of current vehicle is adjusted by lane keeping algorithm, makes the axis and target trajectory weight of current vehicle
Close.
Various embodiments of the present invention are described above, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (10)
- A kind of 1. automatic change channel control method, it is characterised in that including：Determine target track, judge whether there is safe lane change space for target track current vehicle；Control current vehicle is deflected to the target track, until the axis of current vehicle deflects mesh relative to the target trajectory Mark angle；Control current vehicle with present speed to the target lanes, until center of gravity and the target trajectory of current vehicle The distance between be less than first threshold；Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with the target trajectory.
- 2. automatic change channel control method according to claim 1, it is characterised in that further include：Judge whether current vehicle carries out lane change, it is described to judge whether current vehicle carries out lane change and include：If the speed of front obstacle is less than predetermined speed, it is determined that current vehicle carries out lane change, otherwise, it determines current vehicle Without lane change；OrIf the distance between current vehicle and front obstacle are less than preset distance, it is determined that current vehicle carries out lane change, no Then, determine current vehicle without lane change.
- 3. automatic change channel control method according to claim 1, it is characterised in that pin is judged by relationship below (1) Whether there is safe lane change space to target track current vehicle：(V2-V1)*T<L2+λ(V1-V4)*T<L4+λ (1)(V1-V3)*S*T<L3+λIf the relational expression (1) is set up, judge that there is safe lane change space for target track current vehicle；Wherein, V1 represents the speed of current vehicle, and V2 represents the speed of the side front vehicle in target track, and V3 represents front barrier Hinder the speed of thing, V4 represents the speed of the side front vehicles in target track, and L2 represents current vehicle and the side front vehicle The distance between, before L3 represents that the distance between current vehicle and the front obstacle, L4 represent current vehicle and the side The distance between square vehicle, T represent the lane change time, and S represents safety coefficient, and λ represents safe distance.
- 4. automatic change channel control method according to claim 3, it is characterised in that pass through the speed being arranged on current vehicle Spend sensor and measure the speed V1, by the radar surveying distance L2 that is arranged on current vehicle, distance L3, distance L4 and Relative velocity V2-V1, relative velocity V1-V3, relative velocity V1-V4.
- 5. automatic change channel control method according to claim 1, it is characterised in that the target trajectory is the target carriage The center line in road.
- 6. automatic change channel control method according to claim 5, it is characterised in that the center of gravity of current vehicle and the target The distance between track is D+W/2, and wherein D represents the lane line between the center of gravity of current vehicle and current lane and target track The distance between, W represents the width in the target track.
- Automatic become channel control method 7. according to claim 6, it is characterised in that based on being arranged at taking the photograph on current vehicle Track line image as captured by head calculates the distance between the center of gravity of current vehicle and described target trajectory.
- 8. automatic change channel control method according to claim 1, it is characterised in that further include：The position of current vehicle is adjusted by lane keeping algorithm, the axis of current vehicle is overlapped with the target trajectory.
- A kind of 9. automatic lane change control system, it is characterised in that the system comprises：Memory, is stored with computer executable instructions；Processor, the processor run the computer executable instructions in the memory, perform following steps：Determine target track, judge whether there is safe lane change space for target track current vehicle；Control current vehicle is deflected to the target track, until the axis of current vehicle deflects mesh relative to the target trajectory Mark angle；Control current vehicle with present speed to the target lanes, until center of gravity and the target trajectory of current vehicle The distance between be less than first threshold；Control current vehicle is deflected to former track direction, until the axis of current vehicle is parallel with the target trajectory.
- 10. automatic lane change control system according to claim 9, it is characterised in that the processor also performs following step Suddenly：Judge whether current vehicle carries out lane change, it is described to judge whether current vehicle carries out lane change and include：If the speed of front obstacle is less than predetermined speed, it is determined that current vehicle carries out lane change, otherwise, it determines current vehicle Without lane change；OrIf the distance between current vehicle and front obstacle are less than preset distance, it is determined that current vehicle carries out lane change, no Then, determine current vehicle without lane change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711270266.8A CN108032859B (en) | 2017-12-05 | 2017-12-05 | Automatic lane change control method and device and automobile |
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| CN109941275A (en) * | 2019-03-12 | 2019-06-28 | 杭州飞步科技有限公司 | Lane changing method, apparatus, electronic equipment and storage medium |
| CN110103969A (en) * | 2019-05-16 | 2019-08-09 | 广州小鹏汽车科技有限公司 | A kind of control method for vehicle, device, system and vehicle |
| CN110444037A (en) * | 2019-08-09 | 2019-11-12 | 深圳市元征科技股份有限公司 | Automobile navigation method and Related product |
| CN111591294A (en) * | 2020-05-29 | 2020-08-28 | 长安大学 | Early warning method for vehicle lane change in different traffic environments |
| CN111634293A (en) * | 2020-05-29 | 2020-09-08 | 苏州挚途科技有限公司 | Automatic lane changing method of automatic driving vehicle based on traffic clearance |
| CN112319365A (en) * | 2020-10-23 | 2021-02-05 | 浙江中车电车有限公司 | Lane change early warning auxiliary method and system |
| CN112829750A (en) * | 2021-02-19 | 2021-05-25 | 恒大新能源汽车投资控股集团有限公司 | Vehicle lane change control method, device and system |
| CN114945961A (en) * | 2020-11-12 | 2022-08-26 | 深圳元戎启行科技有限公司 | Lane-changing prediction regression model training method, lane-changing prediction method and device |
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| CN111634293A (en) * | 2020-05-29 | 2020-09-08 | 苏州挚途科技有限公司 | Automatic lane changing method of automatic driving vehicle based on traffic clearance |
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