CN109035863B - Forced lane-changing driving method for vehicle - Google Patents
Forced lane-changing driving method for vehicle Download PDFInfo
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- CN109035863B CN109035863B CN201810902380.6A CN201810902380A CN109035863B CN 109035863 B CN109035863 B CN 109035863B CN 201810902380 A CN201810902380 A CN 201810902380A CN 109035863 B CN109035863 B CN 109035863B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
The invention relates to a vehicle forced lane change driving method, which comprises the following steps: the vehicle acquires a running path and a running speed, and runs according to the running path and the running speed; acquiring road condition information and road structure information of a driving path; judging whether lane changing driving is needed or not; if so, acquiring the position of the lane changing cut-in point, the speed of the vehicle in front of the lane changing cut-in point, the speed of the vehicle behind the lane changing cut-in point and the distances between the lane changing cut-in point and the front vehicle and the rear vehicle, and simultaneously judging whether the distances between the lane changing cut-in point and the front vehicle and the rear vehicle meet preset conditions or not; if not, generating a forced lane change prompting message and prompting the rearward vehicle; when the distance between the lane changing cut-in point and the front vehicle and the rear vehicle meets a preset condition, generating a transverse lane changing path and a longitudinal speed control instruction; determining a transverse corner control instruction according to the transverse road changing path; and running according to the transverse rotation angle control instruction and the longitudinal speed control instruction.
Description
Technical Field
The invention relates to the technical field of automobile safety, in particular to a forced lane changing driving method for a vehicle.
Background
The automatic driving automobile is also called unmanned automobile, and is one intelligent automobile with unmanned driving realized via computer system. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
Autonomous vehicles travel on the road and often require lane changes, e.g., a steering demand exists ahead. When a vehicle is driven on a lane, traffic safety problems may occur, and in order to avoid accidents and improve the driving safety of the vehicle, an effective forced lane changing driving method for the vehicle is needed.
Disclosure of Invention
The invention aims to provide a vehicle forced lane-changing running method aiming at the defects in the prior art.
In order to achieve the above object, the present invention provides a method for vehicle forced lane change, comprising:
the method comprises the steps that a vehicle obtains a running path and a running speed, and runs according to the running path and the running speed;
continuously acquiring road condition information of the driving path in the driving process of the vehicle;
acquiring road structure information of a current lane where the vehicle runs according to the road condition information;
judging whether lane changing driving is needed or not according to the road structure information and the driving path;
if so, acquiring the position of a lane changing cut-in point on the target lane, the speed of a vehicle in front of the lane changing cut-in point, the speed of a vehicle behind the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle in front of the lane changing cut-in point and the vehicle behind the lane changing cut-in point;
judging whether the distance between the lane changing cut-in point and a vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet preset conditions or not;
if not, generating forced lane change prompt information, and prompting the rear vehicle for the deceleration or braking of the rear vehicle of the access point according to the lane change prompt information;
when the distance between the lane changing cut-in point and a vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet preset conditions, generating a transverse lane changing path according to the position of the vehicle and the position of the cut-in point;
generating a longitudinal speed control instruction according to the speed of the vehicle in front of the lane changing entry point and the speed of the vehicle behind the lane changing entry point;
determining a transverse corner control instruction according to the transverse road changing path;
and carrying out lane changing driving according to the transverse lane changing path according to the transverse corner control instruction and the longitudinal speed control instruction.
Further, the acquiring of the driving path and the driving speed by the vehicle specifically includes:
the server receives vehicle reservation information sent by a user terminal, wherein the vehicle reservation information comprises a starting position, an end position and task time;
generating and acquiring the driving path according to the starting position, the end position and the map information;
calculating the driving speed according to the driving path and the task time;
and sending the running path and the running speed to the vehicle.
Further, the method further comprises:
acquiring the relative distance between the vehicle and a vehicle in front of the vehicle according to the road condition information;
when the relative distance reaches a preset distance threshold value, generating a braking control command;
and the vehicle stops according to the brake control instruction.
Further, the determining whether lane change driving is required according to the road structure information and the driving path specifically includes:
and judging whether the front of the driving road is a turning intersection or not according to the road structure information, and judging whether the vehicle needs to change a driving lane or not according to the driving path.
Further, the method further comprises:
acquiring the speed of a vehicle in front of the vehicle according to the road condition information;
generating a deceleration control instruction when a speed of a vehicle ahead of the vehicle is less than a running speed of the vehicle;
and the vehicle runs according to the deceleration control instruction.
Further, the longitudinal speed control command specifically includes:
an acceleration control command, a deceleration control command, a start control command, and a brake control command.
Further, the lateral-rotation-angle control command controls the yaw rate of the vehicle to be not greater than a preset first threshold value.
Further, the longitudinal speed control command controls the longitudinal acceleration of the vehicle not to exceed a preset range threshold; and the longitudinal speed control command controls the acceleration change rate of the vehicle not to exceed a preset second threshold value.
According to the forced lane changing driving method for the vehicle, the vehicle continuously acquires road condition information in the driving process; judging whether lane changing running conditions are met or not according to the lane changing cut-in point position on the target lane, the speed of the vehicle in front of the lane changing cut-in point, the speed of the vehicle behind the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle in front of the lane changing cut-in point and the vehicle behind the lane changing cut-in point in the road condition information, if so, acquiring a transverse corner control instruction and a longitudinal speed control instruction, and carrying out lane changing running according to the transverse corner control instruction and the longitudinal speed control instruction. The forced lane changing driving method for the vehicle provided by the invention can be used for carrying out accurate judgment according to the road condition information, so that the driving safety of the vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle system architecture provided by an embodiment of the present invention;
fig. 2 is a flowchart of a method for forced lane change of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The vehicle in the technical scheme of the invention is an automatic driving vehicle, the control of each module and the information interaction with other terminals are realized through the vehicle-mounted terminal, the surrounding environment can be sensed and automatic driving is realized, and the vehicle can drive to a specified place according to a preset driving map. The user terminal may specifically be a terminal device with processing capability, such as a desktop computer, a notebook computer, a tablet computer, a smart phone, and the like.
Fig. 1 is a schematic diagram of a vehicle system architecture according to an embodiment of the present invention. As shown in fig. 1, the system includes a server, a plurality of autonomous vehicles (vehicle 1, vehicle 2 …, vehicle n), and a plurality of user terminals (user terminal 1, user terminal 2 …, user terminal n).
The server is an automatic driving vehicle management server, can be a single server or a server cluster consisting of a plurality of servers, and if the server is the single server, the single server manages all automatic driving vehicles and can perform instruction sending and data interaction with all the vehicles; if the server cluster is formed by a plurality of servers, a plurality of sub-servers are managed through a main server, the main server sets authority for each sub-server, and each sub-server manages a corresponding number of vehicles according to the authority set by the main server and performs instruction and data interaction with the vehicles with management authority. The server sets management authority for each user terminal, each user terminal manages one or more vehicles according to the authority set by the server, and the user terminals send instructions and interact data with all vehicles through the server.
Fig. 2 is a flowchart of a method for forced lane change of a vehicle according to an embodiment of the present invention. As shown in fig. 2, the method specifically includes the following steps:
the method comprises the steps that a server receives vehicle reservation information sent by a user through an application program of a user terminal, wherein the vehicle reservation information comprises a starting position, an end position and task time of a vehicle running task; the server plans a driving path according to the starting position, the end position and the map information, wherein the map information comprises road identification information, speed limit information and the like; the driving path comprises a plurality of roads through which the vehicle driving task passes; and calculating the running speeds of the vehicles for different road sections when the vehicles perform running tasks according to the running paths and the task time, wherein the server transmits the running paths and the running speeds to the vehicle-mounted terminals of the vehicles, the server realizes the control of the vehicles through communication with the vehicle-mounted terminals of the vehicles, and the vehicles run on the running paths according to the running speeds transmitted by the server.
the vehicle-mounted terminal controls the vehicle to run according to the running path planned by the server and the running speeds corresponding to different road sections through the control module, and in the running process, the vehicle terminal obtains road condition information on the running path through the laser radar, the ultrasonic radar, the millimeter wave radar and the image acquisition module, wherein the road condition information comprises road information of other vehicles, pedestrians, obstacles and the like running on the current road, and the vehicle senses the surrounding environment through the data.
The image acquisition module can be specifically an image acquisition device such as a camera, and can acquire environment information of 360 degrees around the vehicle. The laser radar, the ultrasonic radar and the millimeter wave radar are arranged at the front and the back of the vehicle and at four corners of the vehicle and are used for acquiring distance information of objects around the vehicle.
analyzing the road condition information to obtain information of a moving object in front of a current road, which is driven by the vehicle, road structure information, and the position and speed of the vehicle on a target lane, wherein the moving object in front of the current road comprises the position, speed and the like of the vehicle and the pedestrian; the road structure information includes structure information that the road is a normal driving road, a crossroad, a T-junction, a road turn and the like.
and judging whether the front of the driving road is a turning intersection or not according to the road structure information, and judging whether the vehicle needs to change a driving lane or not according to the driving path. If the front of the road is a turning intersection and the vehicle has a steering demand in the front according to the planned driving path, the lane change driving is needed.
It should be noted that the technical solution of the present invention also includes other situations that the vehicle needs to change lanes to travel according to the road structure information and the travel route, and all of them are within the protection scope of the present invention.
the method comprises the steps of obtaining position information of a vehicle through a positioning module of the vehicle, determining a lane changing cut-in point position according to the position information of the vehicle and the running speed of the vehicle, and determining the distance between a lane changing cut-in point and a lane changing cut-in point front vehicle and the distance between a lane changing cut-in point rear vehicle and the distance between a lane changing cut-in point front vehicle and a lane changing cut-in point rear vehicle according to the lane changing cut-in point position, the running speed of the lane changing cut-in point front vehicle and the running speed of the lane changing cut-in point rear vehicle.
the preset condition is set according to the safety distance. The safe distance is the distance which can not be kept by collision between the vehicle and the vehicle in front of the lane changing entry point and between the vehicle and the vehicle behind the lane changing entry point after the vehicle changes the lane. When the lane change cut-in point is not smaller than the safe distance from the vehicle in front of the lane change cut-in point and the lane change cut-in point is not smaller than the safe distance from the vehicle behind the lane change cut-in point, the vehicle can safely carry out lane change driving by considering that the preset condition is met.
The purpose of judging whether the distance between the lane changing cut-in point and the vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet the preset conditions is to judge whether the driving condition of the vehicle in the target lane meets the lane changing conditions, and if the distance between the cut-in point and the vehicle in front of the lane changing cut-in point and the distance between the cut-in point and the vehicle behind the lane changing cut-in point meet the preset conditions, the lane changing conditions are met, and the vehicle can drive in lane changing.
when the distance between the lane change cut-in point and the vehicle in front of the lane change cut-in point and the distance between the vehicle behind the lane change cut-in point do not meet preset conditions, lane change driving cannot be safely carried out, forced lane change prompt information is generated by the vehicle, for example, a corresponding side steering lamp is turned on 1-2 seconds in advance, so that the vehicle behind the lane change cut-in point knows the driving direction of the vehicle according to the prompt information, and then the vehicle decelerates or brakes, and the distance between the vehicle in front of the lane change cut-in point and the vehicle behind the lane change cut-in point is increased, so that the requirement of vehicle lane change driving is met.
208, when the distance between the lane changing cut-in point and a vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet preset conditions, generating a transverse lane changing path according to the position of the vehicle and the position of the cut-in point;
when the distance between the lane changing cut-in point and the vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point are increased to the distance capable of meeting the lane changing requirement of the vehicle, the distance between the lane changing cut-in point and the vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet preset conditions, the vehicle can safely change lanes, and then a transverse lane changing path is determined according to the current position of the vehicle and the position of the cut-in point and is used for the vehicle to transversely drive to a target lane according to the transverse lane changing path.
If the distance between the lane change cut-in point and the vehicle in front of the lane change cut-in point and the distance between the vehicle behind the lane change cut-in point can not meet the lane change requirement all the time, the relative distance between the vehicle and the vehicle in front of the current lane and the speed of the vehicle in front are monitored, and in order to avoid collision and timely deceleration or parking, the specific realization process is as follows:
acquiring the relative distance between the vehicle and the vehicle in front of the vehicle according to the road condition information; when the relative distance reaches a preset distance threshold value, generating a brake control command; the vehicle is stopped according to the brake control instruction.
Since the vehicle cannot travel on the lane change in the current situation, if the distance between the vehicle and the vehicle ahead of the vehicle is reduced to a certain extent, the vehicle is required to be stopped in accordance with the generated braking instruction in order to avoid a collision.
Acquiring the speed of a vehicle in front of the vehicle according to the road condition information; generating a deceleration control instruction when a speed of a vehicle ahead of the vehicle is less than a running speed of the vehicle; the vehicle travels according to the deceleration control instruction.
When the speed of the vehicle ahead of the vehicle is lower than the traveling speed of the vehicle, the relative distance between the host vehicle and the vehicle ahead is continuously reduced, and the vehicle needs to travel in a decelerated manner according to a deceleration control command in order to avoid a collision.
in order to ensure the driving safety of the vehicle after lane changing and prevent the vehicle from colliding with the vehicle in front of and behind the lane changing entry point, the longitudinal speed of the vehicle needs to be controlled according to the speed of the vehicle in front of and behind the lane changing entry point, so that the distance between the vehicle and the vehicle in front of and behind the lane changing entry point is ensured after the vehicle is driven after lane changing. The longitudinal speed control command specifically includes: an acceleration control command, a deceleration control command, a start control command, and a brake control command.
the method comprises the steps of determining the current position of a vehicle according to a positioning module of the vehicle, determining the position of a lane changing cut-in point of the vehicle according to the current position of the vehicle and the driving speed of the vehicle, determining a transverse lane changing path according to the current position of the vehicle and the position of the cut-in point, generating a transverse corner control instruction according to the transverse lane changing path by a control module of the vehicle, wherein the transverse corner control instruction is used for controlling the transverse lane changing driving of the vehicle.
And step 211, performing lane changing driving according to the transverse lane changing path according to the transverse corner control command and the longitudinal speed control command.
The lateral-rotation-angle control command controls the yaw rate of the vehicle to be not greater than a preset first threshold value. The first threshold is set based on a yaw rate of the vehicle during a lane change for smooth travel, and in one particular embodiment, the yaw rate is no greater than 28/sec during a lane change.
The longitudinal speed control command controls the longitudinal acceleration of the vehicle not to exceed a preset range threshold; the longitudinal speed control command controls the acceleration change rate of the vehicle not to exceed a preset second threshold value. In one particular embodiment, the vehicle is accelerated longitudinally during a lane changeNot more than +/-1 m/s2(ii) a The acceleration change rate is not more than 1m/s3。
According to the forced lane changing driving method for the vehicle, the vehicle continuously acquires road condition information in the driving process; judging whether lane changing running conditions are met or not according to the lane changing cut-in point position on the target lane, the speed of the vehicle in front of the lane changing cut-in point, the speed of the vehicle behind the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle in front of the lane changing cut-in point and the vehicle behind the lane changing cut-in point in the road condition information, if so, acquiring a transverse corner control instruction and a longitudinal speed control instruction, and carrying out lane changing running according to the transverse corner control instruction and the longitudinal speed control instruction. The forced lane changing driving method for the vehicle provided by the invention can be used for carrying out accurate judgment according to the road condition information, so that the driving safety of the vehicle is improved.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A forced lane change traveling method for a vehicle, characterized by comprising:
the vehicle acquires a running path and a running speed from the server and runs according to the running path and the running speed; the vehicle is an autonomous vehicle;
continuously acquiring road condition information of the driving path in the driving process of the vehicle;
acquiring road structure information of a current road on which the vehicle runs according to the road condition information; the road structure information includes: the road is the structural information of a normal driving road, a crossroad, a T-shaped intersection and a road turning;
judging whether lane changing driving is needed or not according to the road structure information and the driving path;
if so, acquiring the position of a lane change cut-in point on the target lane, the speed of a vehicle in front of the lane change cut-in point, the speed of a vehicle behind the lane change cut-in point and the distances between the lane change cut-in point and the vehicle in front of the lane change cut-in point and the vehicle behind the lane change cut-in point;
judging whether the distance between the lane changing cut-in point and a vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet preset conditions or not;
if not, generating forced lane change prompt information, and prompting a vehicle behind the lane change entry point so that the vehicle behind the entry point decelerates or brakes according to the lane change prompt information;
when the distance between the lane changing cut-in point and a vehicle in front of the lane changing cut-in point and the distance between the lane changing cut-in point and the vehicle behind the lane changing cut-in point meet preset conditions, generating a transverse lane changing path according to the position of the vehicle and the position of the cut-in point;
generating a longitudinal speed control instruction according to the speed of the vehicle in front of the lane changing entry point and the speed of the vehicle behind the lane changing entry point;
determining a transverse corner control instruction according to the transverse road changing path;
according to the transverse corner control instruction and the longitudinal speed control instruction, lane changing driving is carried out according to the transverse lane changing path;
the step of judging whether lane change driving is required according to the road structure information and the driving path specifically comprises the following steps:
judging whether the front of a driving road is a turning intersection or not according to the road structure information, and judging whether a vehicle needs to change a driving lane or not according to the driving path; if the front of the road is a turning intersection and the vehicle has a steering demand in the front according to the planned driving path, the lane change driving is needed.
2. The method of claim 1, wherein the vehicle obtaining the travel path and the travel speed comprises:
the server receives vehicle reservation information sent by a user terminal, wherein the vehicle reservation information comprises a starting position, an end position and task time;
generating the driving path according to the starting point position, the end point position and map information;
calculating the driving speed according to the driving path and the task time;
and sending the running path and the running speed to the vehicle.
3. The method of claim 1, further comprising:
acquiring the relative distance between the vehicle and a vehicle in front of the vehicle according to the road condition information;
when the relative distance is reduced to a preset distance threshold value, generating a brake control command;
and the vehicle stops according to the brake control instruction.
4. The method of claim 1, further comprising:
acquiring the speed of a vehicle in front of the vehicle according to the road condition information;
generating a deceleration control instruction when a speed of a vehicle ahead of the vehicle is less than a running speed of the vehicle;
and the vehicle runs according to the deceleration control instruction.
5. The method according to claim 1, characterized in that the longitudinal speed control command comprises in particular:
an acceleration control command, a deceleration control command, a start control command, and a brake control command.
6. The method according to claim 1, characterized in that the lateral turn angle control command controls the yaw rate of the vehicle to be not more than a preset first threshold value.
7. The method of claim 1, wherein the longitudinal speed control command controls the longitudinal acceleration of the vehicle not to exceed a preset range threshold; and the longitudinal speed control command controls the acceleration change rate of the vehicle not to exceed a preset second threshold value.
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| CN109035863A (en) | 2018-12-18 |
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