CN113799774B - Lane changing auxiliary method and lane changing auxiliary system - Google Patents
Lane changing auxiliary method and lane changing auxiliary system Download PDFInfo
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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
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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Abstract
The lane changing auxiliary method comprises the steps of firstly obtaining target vehicle information in front of a motor vehicle in the driving direction, then judging whether a target vehicle exists in front of the motor vehicle or not according to a target vehicle existence identification, judging whether a safe lane changing space exists or not when the target vehicle does not exist in front of the motor vehicle, determining a current target movement working condition according to the target vehicle information when the target vehicle exists in front of the motor vehicle, determining a deceleration index corresponding to the current target movement working condition according to the current target movement working condition, and finally judging whether the safe lane changing space exists in front of the driving direction of the motor vehicle or not according to a deceleration activation threshold value corresponding to the deceleration index and the target movement working condition, so that a reliable judgment basis is provided for a lane changing process.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a lane change assisting method and a lane change assisting system.
Background
With the continuous development of motor vehicles, various driving auxiliary systems emerge, and the comfort and safety of users for the driving of the motor vehicles are greatly improved.
The driving assistance system generally reduces or avoids the occurrence of an accident by means of a preliminary warning, an auxiliary brake, an auxiliary steering, or the like. In order to improve driving safety and driver comfort, active safety technologies have been rapidly developed over the past few decades. The fact shows that driving assistance systems such as Adaptive Cruise Control (ACC) and Automatic Emergency Braking (AEB) play a significant role in improving traffic safety.
Lane changing and overtaking of vehicles are common operations in the driving process of motor vehicles, and are comprehensive behavior processes of adjusting and finishing driving targets of drivers according to information such as distances and speeds of surrounding vehicles. During such complex driving, the driver may make a false decision on the feasibility of a safe lane change and overtaking, placing the vehicle in potential collision danger. Therefore, it is one of the research directions of those skilled in the art how to provide the driver with a safe space in front of the driving direction in which the lane change can be made.
Disclosure of Invention
In order to solve the technical problems, the application provides a lane change assisting method and a lane change assisting system, so as to achieve the purpose of judging whether a safe lane change space exists in front of a motor vehicle, and provide a reliable judgment basis for a driver in a lane change process.
In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:
a lane change assist method comprising:
acquiring target vehicle information ahead of a driving direction of a motor vehicle, the target vehicle information including: a target vehicle presence identification, a longitudinal distance of a target vehicle relative to the motor vehicle, a longitudinal velocity of a target vehicle relative to the motor vehicle, a longitudinal acceleration of a target vehicle relative to the motor vehicle;
judging whether a target vehicle exists in front of the motor vehicle or not according to the target vehicle existence identification, if not, judging that a safe lane-changing space exists, and if so, judging the safe space according to the target vehicle information;
the judging the safety space according to the target vehicle information comprises the following steps:
determining the current target motion condition according to the target vehicle information;
determining a deceleration index corresponding to the current target motion working condition according to the current target motion working condition, wherein the motor vehicle can keep a preset safe distance with the target vehicle when being decelerated by the deceleration index;
and judging whether the deceleration index is greater than or equal to a deceleration activation threshold corresponding to the current target motion condition, if so, judging that a safe lane changing space exists, and if not, judging that the safe lane changing space does not exist.
Optionally, the determining, according to the target vehicle information, a current target motion condition includes:
determining the absolute acceleration of the target vehicle, the deceleration stop time of the target vehicle and the common speed time of the target vehicle and the motor vehicle in the process of deceleration according to the target vehicle information and the running information of the motor vehicle;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a first working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0, determining the current target motion working condition as a second working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a third working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration stop time of the target vehicle is greater than the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fourth working condition;
and when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration-to-stop time of the target vehicle is less than or equal to the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fifth working condition.
Optionally, when the current target motion condition is the first condition, the determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the first working condition, substituting the target vehicle information into a first preset formula to calculate a deceleration index corresponding to the first working condition;
the first preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration, t, of the target vehicle st And representing a safe time interval, wherein the safe time interval is the time interval of the motor vehicle and the target vehicle, which is larger than or equal to a preset value.
Optionally, when the current target motion condition is the second condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the second working condition, substituting the target vehicle information into a second preset formula to calculate a deceleration index corresponding to the second working condition;
the second preset formula includes:
wherein, a DST Representing said deceleration index, d const Represents an inter-vehicle distance, v, at which both the target vehicle and the motor vehicle decelerate to a stop ego Representing the current speed of the motor vehicle, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration of the target vehicle.
Optionally, when the current target motion condition is the third condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the third working condition, substituting the target vehicle information into a third preset formula to calculate a deceleration index corresponding to the third working condition;
the third preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration of the target vehicle.
Optionally, when the current target motion condition is the fourth condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the fourth working condition, substituting the target vehicle information into a fourth preset formula to calculate a deceleration index corresponding to the fourth working condition;
the fourth preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle.
Optionally, when the current target motion condition is the fifth condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the fifth working condition, substituting the target vehicle information into a fifth preset formula to calculate a deceleration index corresponding to the fifth working condition;
the fifth preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle ego Representing the current speed, v, of the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle.
A lane-change assist system comprising:
the information acquisition module is used for acquiring target vehicle information in front of the driving direction of the motor vehicle, and the target vehicle information comprises: a target vehicle presence identification, a longitudinal distance of a target vehicle relative to the motor vehicle, a longitudinal velocity of a target vehicle relative to the motor vehicle, a longitudinal acceleration of a target vehicle relative to the motor vehicle;
the vehicle judgment module is used for judging whether a target vehicle exists in front of the motor vehicle or not according to the target vehicle existence identification, if not, judging that a safe lane-changing space exists, and if so, entering the safe space judgment module;
the safety space judgment module comprises:
the working condition determining unit is used for determining the current target motion working condition according to the target vehicle information;
the index determining unit is used for determining a deceleration index corresponding to the current target motion working condition according to the current target motion working condition, and the motor vehicle can keep a preset safe distance with the target vehicle by decelerating according to the deceleration index;
and the threshold value judging unit is used for judging whether the deceleration index is greater than or equal to a deceleration activation threshold value corresponding to the current target movement working condition, if so, judging that a safe lane-changing space exists, and if not, judging that the safe lane-changing space does not exist.
Optionally, the operating condition determining unit is specifically configured to determine, according to the target vehicle information and the driving information of the motor vehicle, an absolute acceleration of the target vehicle, a deceleration stop time of the target vehicle, and a common speed time of the target vehicle and the motor vehicle during a deceleration process;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a first working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0, determining the current target motion working condition as a second working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a third working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is smaller than 0, the absolute acceleration of the target vehicle is smaller than 0, and the deceleration stop time of the target vehicle is longer than the speed sharing time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fourth working condition;
and when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration-to-stop time of the target vehicle is less than or equal to the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fifth working condition.
Optionally, the index determining unit is specifically configured to, when the current target motion condition is the first condition, substitute the target vehicle information into a first preset formula to calculate a deceleration index corresponding to the first condition;
when the current target motion working condition is the second working condition, substituting the target vehicle information into a second preset formula to calculate a deceleration index corresponding to the second working condition;
when the current target motion working condition is the third working condition, substituting the target vehicle information into a third preset formula to calculate a deceleration index corresponding to the third working condition;
when the current target motion working condition is the fourth working condition, substituting the target vehicle information into a fourth preset formula to calculate a deceleration index corresponding to the fourth working condition;
when the current target motion working condition is the fifth working condition, substituting the target vehicle information into a fifth preset formula to calculate a deceleration index corresponding to the fifth working condition;
the first preset formula includes:
the second preset formula includes:
the third preset formula includes:
the fourth preset formula includes:
the fifth preset formula includes:
wherein, a DST Representing said deceleration index, d const Representing the inter-vehicle distance at which both the target vehicle and the motor vehicle decelerate to a stop, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle ego Representing the current speed, v, of the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj L represents an absolute value of the absolute acceleration of the target vehicle, t st And representing a safe time interval, wherein the safe time interval is the time interval of the motor vehicle and the target vehicle, which is larger than or equal to a preset value.
It can be seen from the foregoing technical solutions that, in the lane change assisting method, first, information of a target vehicle ahead of a driving direction of a motor vehicle is obtained, then, according to a target vehicle presence flag, it is determined whether the target vehicle is present ahead of the motor vehicle, when the target vehicle is not present ahead of the motor vehicle, it is determined that a safe lane change space is present, when the target vehicle is present ahead of the motor vehicle, according to the target vehicle information, a current target movement condition is determined, according to the current target movement condition, a deceleration index corresponding to the current target movement condition is determined, and finally, according to a deceleration activation threshold corresponding to the deceleration index and the target movement condition, it is determined whether the safe lane change space is present ahead of the driving direction of the motor vehicle, so as to provide a reliable basis for determining a lane change process.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the positional relationship of a motor vehicle to other transportation vehicle participants;
FIG. 2 is a schematic view of a motor vehicle colliding with a target vehicle ahead of the host vehicle;
FIG. 3 is a schematic illustration of a motor vehicle transmitting a collision with a target vehicle in front of the vehicle's side;
fig. 4 is a flowchart illustrating a lane change assisting method according to an embodiment of the present application.
Detailed Description
As described in the background art, the automatic lane change assist system has not been systematically and intensively studied domestically because of the complexity in the lane change process, which involves longitudinal control and lateral control of the vehicle. Whether a safe space exists in lane changing is a precondition for triggering lane changing behaviors of a driver and ensuring safety in the lane changing process. However, in the lane change process, the judgment of the safety space needs to be performed by combining peripheral environment information such as motion information of other vehicles around the motor vehicle and the like for analysis and decision-making, and the existing research is not complete and needs to be deeply researched.
As shown in fig. 1, when there are other transportation vehicle participants in front of the own lane of the motor vehicle, as shown in fig. 2, the motor vehicle may make a rear-end collision or an angular collision with the target vehicle right in front during the lane change, and as shown in fig. 3, when there is a target vehicle in the lane-change direction side-front lane of the motor vehicle, the motor vehicle may make a rear-end collision, a lateral friction or an angular collision with the target vehicle in side-front during the lane change. In addition, even if collision does not occur during lane changing, if the distance between the motor vehicle and the target vehicle is small during lane changing, subjective unsafe feeling can be brought to the driver. Therefore, it is necessary to provide a driving assistance method for determining whether a safe lane change space exists ahead of the driving direction of the motor vehicle, so as to provide a reliable determination basis for the lane change process. In FIGS. 1-3, O d Indicating a laterally preceding target vehicle, E indicating a self vehicle, O e Representing the target vehicle directly in front of the own vehicle.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and 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 application.
The embodiment of the application provides a lane change assisting method, as shown in fig. 4, including:
s101: acquiring target vehicle information ahead of a driving direction of a motor vehicle, the target vehicle information including: a target vehicle presence identification, a longitudinal distance of a target vehicle relative to the motor vehicle, a longitudinal velocity of a target vehicle relative to the motor vehicle, a longitudinal acceleration of a target vehicle relative to the motor vehicle;
s102: judging whether a target vehicle exists in front of the motor vehicle or not according to the target vehicle existence identification, if not, judging that a safe lane-changing space exists, and if so, judging the safe space according to the target vehicle information;
the judging the safety space according to the target vehicle information comprises the following steps:
s1021: determining the current target movement working condition according to the target vehicle information;
s1022: determining a deceleration index corresponding to the current target motion condition according to the current target motion condition, wherein the motor vehicle can keep a preset safe distance with the target vehicle when decelerating according to the deceleration index;
s1023: and judging whether the deceleration index is greater than or equal to a deceleration activation threshold corresponding to the current target motion condition, if so, judging that a safe lane changing space exists, and if not, judging that the safe lane changing space does not exist.
In the present application, the target vehicle refers to another vehicle located directly in front of (i.e., in front of the same lane) or laterally in front of (i.e., in front of an adjacent lane) the motor vehicle (own vehicle).
The deceleration indexes under the working conditions of the target motion in the steps are result values with signs.
In this embodiment, the lane-change assisting method first obtains target vehicle information in front of a driving direction of a motor vehicle, then determines whether a target vehicle exists in front of the motor vehicle according to a target vehicle existence identifier, determines that a safe lane-change space exists when the target vehicle does not exist in front of the motor vehicle, determines a current target movement condition according to the target vehicle information when the target vehicle exists in front of the motor vehicle, determines a deceleration index corresponding to the current target movement condition according to the current target movement condition, and finally determines whether the safe lane-change space exists in front of the driving direction of the motor vehicle according to a deceleration activation threshold value corresponding to the deceleration index and the target movement condition, so as to provide a reliable basis for determining a lane-change process.
A description is given below of a possible implementation of the steps provided in the embodiments of the present application.
Optionally, the determining, according to the target vehicle information, a current target motion condition includes:
determining the absolute acceleration of the target vehicle, the deceleration stop time of the target vehicle and the common speed time of the target vehicle and the motor vehicle in the process of deceleration according to the target vehicle information and the running information of the motor vehicle;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a first working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0, determining the current target motion working condition as a second working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a third working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is smaller than 0, the absolute acceleration of the target vehicle is smaller than 0, and the deceleration stop time of the target vehicle is longer than the speed sharing time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fourth working condition;
and when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration-to-stop time of the target vehicle is less than or equal to the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fifth working condition.
Optionally, when the current target motion condition is the first condition, the determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the first working condition, substituting the target vehicle information into a first preset formula to calculate a deceleration index corresponding to the first working condition;
the first preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration, t, of the target vehicle st And representing a safe time interval, wherein the safe time interval is the time interval of the motor vehicle and the target vehicle, which is larger than or equal to a preset value.
Optionally, when the current target motion condition is the second condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the second working condition, substituting the target vehicle information into a second preset formula to calculate a deceleration index corresponding to the second working condition;
the second preset formula includes:
wherein, a DST Representing said deceleration index, d const Representing the inter-vehicle distance, v, at which both the target vehicle and the motor vehicle decelerate to a stop ego Representing the current speed of the motor vehicle, d rel Indicating the target vehicle relative positionLongitudinal distance of the motor vehicle, v obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration of the target vehicle.
Optionally, when the current target motion condition is the third condition, the determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the third working condition, substituting the target vehicle information into a third preset formula to calculate a deceleration index corresponding to the third working condition;
the third preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration of the target vehicle.
Optionally, when the current target motion condition is the fourth condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the fourth working condition, substituting the target vehicle information into a fourth preset formula to calculate a deceleration index corresponding to the fourth working condition;
the fourth preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle obj Represents the aboveAbsolute speed of target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle.
Optionally, when the current target motion condition is the fifth condition, determining, according to the current target motion condition, a deceleration index corresponding to the current target motion condition includes:
when the current target motion working condition is the fifth working condition, substituting the target vehicle information into a fifth preset formula to calculate a deceleration index corresponding to the fifth working condition;
the fifth preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle ego Representing the current speed, v, of the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle.
The deceleration activation threshold value characterizes a desired deceleration at which the motor vehicle and the target vehicle are at the same speed and which does not collide with the target vehicle with a margin of safe distance, which typically does not exceed the maximum deceleration (absolute value) of a longitudinal control function, such as an adaptive cruise ACC, calculated from the relative motion relationships of the motor vehicle and the target vehicle (current speed of the motor vehicle, relative distance of the target vehicle and the motor vehicle, relative speed and relative acceleration).
In one embodiment of the present application, the deceleration activation threshold for each operating condition may be set to a maximum value of the longitudinal deceleration interface of the adaptive cruise system, such as-3.5 m/s 2 。
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A lane change assist method, comprising:
acquiring target vehicle information ahead of a driving direction of a motor vehicle, the target vehicle information including: a target vehicle presence identification, a longitudinal distance of a target vehicle relative to the motor vehicle, a longitudinal velocity of a target vehicle relative to the motor vehicle, a longitudinal acceleration of a target vehicle relative to the motor vehicle;
judging whether a target vehicle exists in front of the motor vehicle or not according to the target vehicle existence identification, if not, judging that a safe lane-changing space exists, and if so, judging the safe space according to the target vehicle information;
the judging the safety space according to the target vehicle information comprises the following steps:
determining the current target motion condition according to the target vehicle information;
determining a deceleration index corresponding to the current target motion condition according to the current target motion condition, wherein the motor vehicle can keep a preset safe distance with the target vehicle when decelerating according to the deceleration index;
judging whether the deceleration index is greater than or equal to a deceleration activation threshold corresponding to the current target motion condition, if so, judging that a safe lane changing space exists, and if not, judging that the safe lane changing space does not exist;
when the current target motion working condition is a second working condition, determining a deceleration index corresponding to the current target motion working condition according to the current target motion working condition comprises:
when the current target motion working condition is the second working condition, substituting the target vehicle information into a second preset formula to calculate a deceleration index corresponding to the second working condition, wherein the second working condition is the target motion working condition when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0;
the second preset formula includes:
wherein, a DST Representing said deceleration index, d const Representing the inter-vehicle distance, v, at which both the target vehicle and the motor vehicle decelerate to a stop ego Representing the current speed of the motor vehicle, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration of the target vehicle.
2. The lane-change assisting method according to claim 1, wherein the determining a current target motion condition according to the target vehicle information includes:
determining the absolute acceleration of the target vehicle, the deceleration stop time of the target vehicle and the common speed time of the target vehicle and the motor vehicle in the process of deceleration according to the target vehicle information and the running information of the motor vehicle;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a first working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0, determining the current target motion working condition as a second working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a third working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration stop time of the target vehicle is greater than the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fourth working condition;
and when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration-to-stop time of the target vehicle is less than or equal to the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fifth working condition.
3. The lane change assist method according to claim 2, wherein when the current target movement condition is the first condition, the determining a deceleration index corresponding to the current target movement condition according to the current target movement condition includes:
when the current target motion working condition is the first working condition, substituting the target vehicle information into a first preset formula to calculate a deceleration index corresponding to the first working condition;
the first preset formula includes:
wherein v is rel Representing the longitudinal speed of the target vehicle relative to the motor vehicle, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration, t, of the target vehicle st And representing a safe time interval, wherein the safe time interval is the time interval of the motor vehicle and the target vehicle, which is larger than or equal to a preset value.
4. The lane change assist method according to claim 2, wherein when the current target movement condition is the third condition, the determining a deceleration index corresponding to the current target movement condition according to the current target movement condition includes:
when the current target motion working condition is the third working condition, substituting the target vehicle information into a third preset formula to calculate a deceleration index corresponding to the third working condition;
the third preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed, a, of the target vehicle obj Representing the absolute acceleration of the target vehicle.
5. The lane-change assist method according to claim 2, wherein when the current target movement condition is the fourth condition, the determining a deceleration index corresponding to the current target movement condition according to the current target movement condition includes:
when the current target motion working condition is the fourth working condition, substituting the target vehicle information into a fourth preset formula to calculate a deceleration index corresponding to the fourth working condition;
the fourth preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle.
6. The lane change assist method according to claim 2, wherein when the current target movement condition is the fifth condition, the determining a deceleration index corresponding to the current target movement condition according to the current target movement condition includes:
when the current target motion working condition is the fifth working condition, substituting the target vehicle information into a fifth preset formula to calculate a deceleration index corresponding to the fifth working condition;
the fifth preset formula includes:
wherein, a DST Representing said deceleration index, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle ego Representing the current speed, v, of the motor vehicle obj Representing the absolute speed of the target vehicle, a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle.
7. A lane change assist system, comprising:
the information acquisition module is used for acquiring target vehicle information in front of the driving direction of the motor vehicle, and the target vehicle information comprises: a target vehicle presence identification, a longitudinal distance of a target vehicle relative to the motor vehicle, a longitudinal velocity of a target vehicle relative to the motor vehicle, a longitudinal acceleration of a target vehicle relative to the motor vehicle;
the vehicle judgment module is used for judging whether a target vehicle exists in front of the motor vehicle or not according to the target vehicle existence identification, if not, judging that a safe lane-changing space exists, and if so, entering the safe space judgment module;
the safety space judgment module comprises:
the working condition determining unit is used for determining the current target motion working condition according to the target vehicle information;
the index determining unit is used for determining a deceleration index corresponding to the current target motion working condition according to the current target motion working condition, and the motor vehicle can keep a preset safe distance with the target vehicle by decelerating according to the deceleration index;
the threshold value judging unit is used for judging whether the deceleration index is larger than or equal to a deceleration activation threshold value corresponding to the current target motion condition, if so, the safe lane changing space is judged to exist, and if not, the safe lane changing space is judged not to exist;
when the current target motion working condition is a second working condition, determining a deceleration index corresponding to the current target motion working condition according to the current target motion working condition comprises:
when the current target motion working condition is the second working condition, substituting the target vehicle information into a second preset formula to calculate a deceleration index corresponding to the second working condition, wherein the second working condition is the target motion working condition when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0;
the second preset formula includes:
wherein, a DST Representing said deceleration index, d const Representing the inter-vehicle distance, v, at which both the target vehicle and the motor vehicle decelerate to a stop ego Representing the current speed of the motor vehicle, d rel Representing the target vehicle relativeLongitudinal distance of the motor vehicle, v obj Representing the absolute speed of the target vehicle, a obj Representing the absolute acceleration of the target vehicle.
8. The system according to claim 7, wherein the operating condition determining unit is specifically configured to determine, based on the target vehicle information and the driving information of the motor vehicle, an absolute acceleration of the target vehicle, a deceleration stop time of the target vehicle, and a common speed time of the target vehicle and the motor vehicle during deceleration;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a first working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is greater than or equal to 0 and the absolute acceleration of the target vehicle is less than 0, determining the current target motion working condition as a second working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0 and the absolute acceleration of the target vehicle is greater than or equal to 0, determining the current target motion working condition as a third working condition;
when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration stop time of the target vehicle is greater than the common speed time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fourth working condition;
and when the longitudinal speed of the target vehicle relative to the motor vehicle is less than 0, the absolute acceleration of the target vehicle is less than 0, and the deceleration-to-stop time of the target vehicle is less than or equal to the speed sharing time of the target vehicle and the motor vehicle in the deceleration process, determining the current target motion working condition as a fifth working condition.
9. The system according to claim 8, wherein the index determining unit is specifically configured to, when the current target motion condition is the first condition, substitute the target vehicle information into a first preset formula to calculate a deceleration index corresponding to the first condition;
when the current target motion working condition is the third working condition, substituting the target vehicle information into a third preset formula to calculate a deceleration index corresponding to the third working condition;
when the current target motion working condition is the fourth working condition, substituting the target vehicle information into a fourth preset formula to calculate a deceleration index corresponding to the fourth working condition;
when the current target motion working condition is the fifth working condition, substituting the target vehicle information into a fifth preset formula to calculate a deceleration index corresponding to the fifth working condition;
the first preset formula includes:
the third preset formula includes:
the fourth preset formula includes:
the fifth preset formula includes:
wherein, a DST Representing said deceleration index, d const Representing the inter-vehicle distance at which both the target vehicle and the motor vehicle decelerate to a stop, d rel Representing the longitudinal distance, v, of the target vehicle relative to the motor vehicle rel Representing the longitudinal speed, v, of the target vehicle relative to the motor vehicle ego Representing the current speed, v, of the motor vehicle obj Representing the absolute speed of the target vehicleDegree of a obj Represents the absolute acceleration, | a, of the target vehicle obj | represents an absolute value of the absolute acceleration of the target vehicle, t st And representing a safe time interval, wherein the safe time interval is the time interval of the motor vehicle and the target vehicle, which is larger than or equal to a preset value.
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| FR2821799B1 (en) * | 2001-03-06 | 2003-06-20 | Renault | ASSISTED BRAKING METHOD OF A MOTOR VEHICLE |
| JP4466571B2 (en) * | 2005-05-12 | 2010-05-26 | 株式会社デンソー | Driver status detection device, in-vehicle alarm device, driving support system |
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| CN110962848B (en) * | 2019-07-31 | 2021-08-06 | 重庆长安汽车股份有限公司 | Method and system for controlling automatic driving longitudinal motion |
| CN110466522B (en) * | 2019-08-07 | 2020-12-15 | 广州小鹏汽车科技有限公司 | Automatic lane changing method, system, vehicle-mounted computer and storage medium |
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