CN114104003A - Vehicle control method - Google Patents

Vehicle control method Download PDF

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Publication number
CN114104003A
CN114104003A CN202111649472.6A CN202111649472A CN114104003A CN 114104003 A CN114104003 A CN 114104003A CN 202111649472 A CN202111649472 A CN 202111649472A CN 114104003 A CN114104003 A CN 114104003A
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CN
China
Prior art keywords
vehicle
lane
distance
changing
change
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Pending
Application number
CN202111649472.6A
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Chinese (zh)
Inventor
谢华
刘罗祥
尹陈志
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Dongfeng Nissan Passenger Vehicle Co
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Dongfeng Nissan Passenger Vehicle Co
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Priority to CN202111649472.6A priority Critical patent/CN114104003A/en
Publication of CN114104003A publication Critical patent/CN114104003A/en
Pending legal-status Critical Current

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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a vehicle control method, which comprises the following steps: when the automatic braking function is triggered and the adjacent lane has no potential lane change allowing the vehicle to change lane; controlling the vehicle to decelerate to zero speed, and enabling the distance between the vehicle and a front object after the vehicle speed is zero to be larger than or equal to a safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle; and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change. The invention solves the technical problem that in the prior art, emergency braking and automatic lane changing schemes mostly adopt a mode of directly changing lanes by combining a V2X technology in the motion process, and how to change lanes after automatic braking is not considered under the condition that the road conditions do not meet the lane changing requirement during automatic braking.

Description

Vehicle control method
Technical Field
The invention relates to the field of vehicles, in particular to a vehicle control method.
Background
The continuous rear-end collision accidents often occur on the expressway, which not only threatens the safety of drivers and passengers, but also causes the heavy traffic jam.
Currently, an automatic driving vehicle is usually configured with an AEB (automated automobile ignition braking) automatic braking system, but emergency braking and automatic lane changing schemes in the prior art mostly adopt a mode of directly changing lanes by combining a V2X technology in a moving process, and do not consider the technical problem of how to change lanes after automatic braking under the condition that the road conditions do not meet the lane changing requirement during automatic braking.
Disclosure of Invention
Based on the problems, the invention provides a vehicle control method, which solves the technical problem that in the prior art, emergency braking and automatic lane changing schemes mostly adopt a mode of directly changing lanes by combining a V2X technology in the motion process, and how to change lanes after automatic braking is not considered under the condition that the road conditions do not meet the lane changing requirement in the automatic braking process.
The invention provides a vehicle control method, which comprises the following steps:
when the automatic braking function is triggered and the adjacent lane has no potential lane change allowing the vehicle to change lane;
controlling the vehicle to decelerate to zero speed, and enabling the distance between the vehicle and a front object after the vehicle speed is zero to be larger than or equal to a safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change.
In addition, the conditions under which the automatic braking function is triggered are: the distance between the vehicle and the front object is smaller than a preset safe distance, and the speed of the front object is smaller than a preset safe speed.
Further, the process of controlling the host vehicle to decelerate to zero vehicle speed includes:
if the lanes exist on both sides of the lane where the vehicle is located, controlling the vehicle to be located at the center line of the lane after the vehicle is decelerated to zero;
if only one side of the lane where the vehicle is located has the lane, the vehicle is controlled to be located on one side of the lane close to the adjacent lane after being decelerated to zero.
Further, the determining that the adjacent lane has the potential lane change that allows the host vehicle to change the lane includes:
and detecting whether the actual distance between the vehicle and the front object is greater than the safe lane-changing distance or not, if not, turning on a vehicle double-flashing light, giving control right to a driver, and if so, further judging whether the lane-changing lane edge line is a solid line or not.
If the lane-changing lane edge line is judged not to be a solid line, whether an exposed obstacle exists in front of the lane is further judged, and if the lane-changing lane edge line is judged to be a solid line, the double-flashing light of the vehicle is turned on, and the control right is given to the driver.
In addition, if an exposed obstacle exists in the object in front of the lane and the height of the exposed obstacle is less than or equal to the vehicle height of the vehicle, the double flashing lamps of the vehicle are turned on, and the control right is given to the driver;
if the object in front of the lane has an exposed obstacle and the height of the exposed obstacle is greater than the vehicle height of the vehicle, or if the object in front of the lane has no exposed obstacle, further judging whether the obstacle is in front of the target lane.
In addition, if no obstacle exists in front of the target lane, lane changing time is calculated, anti-collision time between the lane changing time and a vehicle behind the target lane is calculated, and whether lane changing is performed or not is judged according to the lane changing time and the anti-collision time;
if there is an obstacle in front of the target lane, the vehicle double-flashing light is turned on, and the control right is given to the driver.
In addition, if lane changing is judged to be possible according to the lane changing time and the anti-collision time, and no rear vehicle exists in the target lane within the first safe distance and no vehicle lane changing action exists in the adjacent lane of the target lane, the host vehicle executes the lane changing action, and if the vehicle lane changing action exists in the adjacent lane of the target lane, the host vehicle moves to the area to be lane changed.
If the target lane has a rear vehicle between the first safety distance and the second safety distance, whether the speed of the rear vehicle is overspeed or accelerated is judged, and if the speed of the rear vehicle is not overspeed or accelerated and no vehicle lane changing action exists in the adjacent lane of the target lane, the vehicle executes the lane changing action.
In addition, if the lane change time is less than the anti-collision time, whether the anti-collision time between the vehicle behind the lane and the vehicle is less than a set value or not is judged, and if the anti-collision time is less than the set value, the vehicle moves forwards for a certain distance.
In addition, if the anti-collision time between the vehicle behind the vehicle lane and the vehicle is greater than a set value, whether the stop time is greater than the preset stop time is judged, if yes, the vehicle moves forwards for a certain distance, and if not, the double flashing lamps are turned on to wait.
In addition, when the vehicle is controlled to change lanes, the vehicle is controlled to enter an adjacent lane allowing potential lane change from the vehicle lane where the vehicle is located in a first arc-shaped path, the vehicle is controlled to adjust the direction of the vehicle body of the vehicle to be parallel to the direction of the adjacent lane in a second arc-shaped path, and the tail end of the first arc-shaped path is the same as the head end of the second arc-shaped path.
When the lane change starting point control is used for controlling the vehicle to move towards the adjacent lane allowing the potential lane change at a steering angle larger than or equal to a first preset angle, and after all wheels of the vehicle enter the adjacent lane, the vehicle is controlled to enable the vehicle body direction of the vehicle to be parallel to the trend direction of the adjacent lane at a turning angle larger than or equal to a second preset angle.
The invention provides a vehicle control method, which comprises the following steps:
detecting a front object of the vehicle, and acquiring the distance between the vehicle and the front object and the speed of the front object;
detecting adjacent objects in front of the vehicle on adjacent lanes of the vehicle, and acquiring the distance between the vehicle and the adjacent objects of the front vehicle and the speed of the adjacent objects;
judging whether the vehicle and the front object have collision risks or not according to the distance between the vehicle and the front object and the speed of the front object; and
judging whether the adjacent lanes have potential lane change allowing the vehicle according to the distance between the adjacent objects of the vehicle and the front vehicle and the speed of the adjacent objects;
controlling the vehicle to decelerate to zero speed, and enabling the distance between the vehicle and a front object to be larger than or equal to a safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change.
The invention also provides a vehicle control method, which comprises the following steps:
when the automatic braking function is triggered and the adjacent lane has no potential lane change allowing the vehicle to change lane;
calculating the lane changing distance of the vehicle, wherein the lane changing distance of the vehicle is the distance between the vehicle and the front object;
adjusting the braking force of automatic braking according to the lane changing distance and the safe lane changing distance of the vehicle, so that when the vehicle speed is zero, the lane changing distance of the vehicle is greater than or equal to the safe lane changing distance, and the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change.
The vehicle control method provided by the invention solves the technical problems that in the prior art, emergency braking and automatic lane changing schemes mostly adopt a mode of directly changing lanes by combining a V2X technology in the motion process, and how to change lanes after automatic braking is not considered under the condition that the road conditions do not meet the lane changing requirement during automatic braking. The vehicle control method provided by the invention provides a more comprehensive emergency risk avoiding method and a safer lane changing mode.
Drawings
FIG. 1 is a flow chart of a vehicle control method provided in one embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle control method provided by one embodiment of the present invention;
FIG. 3 is a flow chart of a vehicle control method provided by one embodiment of the present invention;
FIG. 4 is a schematic diagram of a lane change after an emergency risk avoidance of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle failing to meet lane changes after emergency avoidance according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a lane change after an emergency risk avoidance of a vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a lane-change route planning after an emergency risk avoidance of a vehicle according to an embodiment of the present invention;
FIG. 8 is a flowchart of a vehicle control method provided in one embodiment of the present invention;
fig. 9 is a flowchart of a vehicle control method according to an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to specific embodiments and the attached drawings. It is intended that the present invention not be limited to the particular embodiments disclosed, but that the present invention be limited only by the appended claims.
Referring to fig. 1, the present invention provides a vehicle control method including:
step S001, responding to the situation that the automatic braking function is triggered and the adjacent lane has no potential lane change allowing the lane change of the vehicle;
step S002, controlling the vehicle to decelerate to zero speed, and making the distance between the vehicle and the front object after the vehicle speed is zero be more than or equal to the safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and step S003, after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the lane change of the vehicle, controlling the vehicle to execute the lane change.
In step S001, the present invention detects that an automatic braking system of the vehicle is triggered, and detects that the current road condition does not satisfy the lane change condition through the radar and the vision sensor.
In step S002, the vehicle is controlled to decelerate to zero speed, and the distance between the vehicle and the object in front is made equal to or greater than the safe lane change distance d after the vehicle speed is zero, and the distance between the vehicle and the object in front is calculated while braking so as to satisfy the requirement equal to or greater than the safe lane change distance d.
After the vehicle stops by automatic braking, the distance between the vehicle and the vehicle in front of the lane or the object in front of the lane is larger than or equal to the safe lane changing distance, and in order to keep the safe distance and prevent the vehicle from colliding with the vehicle in front of the lane or the object in front of the lane, the distance between the vehicle and the vehicle in front of the lane or the object in front of the lane after the vehicle stops by automatic braking is larger than or equal to the safe lane changing distance. Optionally, the safe lane change distance is obtained by calculation or calibration.
The numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
as long as the relationship between several values satisfies d ═ h-e-x, there are various methods for satisfying the relationship, and no limitation is made herein.
Referring to fig. 2, in one embodiment, in the process of controlling the deceleration of the host vehicle, in order to make the vehicle speed of the host vehicle slow down to zero, the distance between the host vehicle and the preceding vehicle is such that the host vehicle can change lanes to the adjacent lanes, the safe lane change distance calculation method is as follows: d-h-e-x;
wherein d is a safe lane changing distance, h is a distance from the rear axle of the vehicle to the tail of the front vehicle, e is a distance from the front axle to the front bumper, and x is a wheelbase between the front axle and the rear axle of the vehicle; the origin of coordinates is the instantaneous steering center when the vehicle is stationary, and the x axis is a ray passing through the rear axle of the vehicle from the origin of coordinates;
wherein h is obtained by calculation, and the calculation formula is as follows:
(z+c)2+h2＝R2，
wherein z is the distance from the coordinate origin to the lane change line, and c is the distance from the front vehicle to the lane change line; r is the minimum turning radius of the left front wheel;
wherein R needs to be obtained by calculation, and the calculation formula is as follows:
r ═ x + e)/sin β, where β is approximately the maximum turning angle of the outboard wheel.
When calculating the safe lane change distance, the distance h from the rear axle of the vehicle to the tail of the vehicle ahead, the distance e from the front axle to the front bumper, and the axle distance x between the front axle and the rear axle of the vehicle, namely d is h-e-x, are needed.
Wherein e and x are data of the vehicle and can be directly obtained from the system. h needs to be obtained by calculation. According to the triangular characteristic formula (z + c)2+h2＝R2And h is calculated.
Wherein z, c are acquired by a vision sensor, and R needs to be calculated.
R＝(x+e)/sinβ，z＝R*cosβ-(W1+f)，
Where f is the distance from the vehicle to the lane change line, W1 is the vehicle width, and β is the maximum angle of rotation of the outboard wheels, by obtaining data from the system, for example 33.5.
The safe lane change distance is calculated by acquiring data from the system and acquiring the data through the visual sensor, so that the lane change is safe without scraping.
In step S003, after the vehicle speed of the host vehicle has decreased to zero, if it is determined that there is a potential lane change allowing lane change of the host vehicle in the adjacent lane, the host vehicle is controlled to execute the lane change.
Optionally, when determining that there is a potential lane change allowing the host vehicle to change lanes in the adjacent lane, the method includes: judging whether the lane-changing lane edge line is a solid line, judging whether a vehicle or an object in front of the lane exposes an obstacle, judging whether an obstacle exists in front of a target lane, judging whether the height of the exposed obstacle is less than or equal to the vehicle height of the vehicle, and the like.
The vehicle control method provided by the invention solves the technical problems that in the prior art, emergency braking and automatic lane changing schemes mostly adopt a mode of directly changing lanes by combining a V2X technology in the motion process, and how to change lanes after automatic braking is not considered under the condition that the road conditions do not meet the lane changing requirement during automatic braking. The vehicle control method provided by the invention provides a more comprehensive emergency risk avoiding method and a safer lane changing mode.
In one embodiment, the conditions under which the automatic braking function is triggered are: the distance between the vehicle and the front object is smaller than a preset safe distance, and the speed of the front object is smaller than a preset safe speed.
When the distance between the vehicle and the front object is smaller than the preset safe distance and the speed of the front object is smaller than the preset safe speed, the automatic braking function is triggered, otherwise, the automatic braking function is not triggered.
In one embodiment, the process of controlling the host vehicle to decelerate to zero speed comprises:
if the lanes exist on both sides of the lane where the vehicle is located, controlling the vehicle to be located at the center line of the lane after the vehicle is decelerated to zero;
if only one side of the lane where the vehicle is located has the lane, the vehicle is controlled to be located on one side of the lane close to the adjacent lane after being decelerated to zero.
If two adjacent lanes exist in the lane changing direction, the vehicle is stopped at the center of the lane of the vehicle, and at this time, the vehicle may enter the target lane in a lane changing manner, so that the vehicle stops at the center of the lane, and if two adjacent lanes exist in the lane changing direction, the vehicle stops at a lane line of the vehicle close to the adjacent lanes, and if the lane changing possibility is higher, the vehicle stops close to the lane changing line, so that the lane changing time is saved.
Specifically, whether a vehicle or an obstacle is stationary in front of the vehicle or not can be detected and judged by using a vehicle-mounted radar system and a vision sensor, the initial speed and the acceleration of the vehicle behind an adjacent lane and the initial speed and the acceleration of the vehicle and the distance between the vehicle and the object in front are acquired at the same time, and the collision-prevention time is judged to be smaller than a preset value and not meet lane change conditions according to the acquired speed information and distance information;
if the vehicle-mounted sensor such as a visual sensor or the GPS information of the vehicle is utilized to judge whether the lane where the vehicle is located has an adjacent lane, if the lane of the vehicle has two adjacent lanes, the vehicle is stopped at the center of the lane of the vehicle, and if the lane of the vehicle only has an adjacent lane on one side, the vehicle is deviated to the adjacent lane and does not exceed the lane line of the vehicle during braking. The distance between the vehicle and the front vehicle or the front obstacle of the lane after the vehicle is automatically braked and stopped is larger than or equal to the safe lane changing distance.
In one embodiment, the determining that the adjacent lane has the potential lane change allowing the host vehicle to change the lane comprises:
and detecting whether the actual distance between the vehicle and the front object is greater than the safe lane-changing distance or not, if not, turning on a vehicle double-flashing light, giving control right to a driver, and if so, further judging whether the lane-changing lane edge line is a solid line or not.
When the actual distance between the vehicle and the front vehicle or the front object is detected to be smaller than the safe lane changing distance, measures are not automatically taken at the moment, and the driver carries out processing according to the actual situation. And if the actual distance between the detected vehicle and the front vehicle or the front object is larger than the safe lane changing distance, considering whether the next lane changing condition is met.
In one embodiment, if the lane change lane edge line is determined not to be a solid line, whether an exposed obstacle exists in front of the lane is further determined, and if the lane change lane edge line is determined to be a solid line, a double-flashing light of the vehicle is turned on, and the control right is given to the driver.
When changing lanes, the rule that the edge line of the lane changing lane is not a solid line needs to be followed, if the rule is met, whether the vehicle in front of the lane or the object in front of the lane is exposed with obstacles is further judged, for example, trucks often have exposed obstacles, and if the obstacle is exposed, lane changing is affected, so that further judgment is needed.
In one embodiment, if an object in front of the lane has an exposed obstacle, and the height of the exposed obstacle is less than or equal to the vehicle height of the vehicle, the vehicle double-flashing light is turned on, and the control right is given to a driver;
if the object in front of the lane has an exposed obstacle and the height of the exposed obstacle is greater than the vehicle height of the vehicle, or if the object in front of the lane has no exposed obstacle, further judging whether the obstacle is in front of the target lane.
When the height of the exposed obstacle is less than or equal to the vehicle height of the vehicle, the lane change of the vehicle is influenced, so that the driver needs to judge according to the actual situation at the moment, the lane change cannot be automatically carried out, and when the height of the obstacle is higher than the vehicle height of the vehicle, the lane change of the vehicle is not influenced, and the road condition of a target lane can be further judged.
In one embodiment, if no obstacle exists in front of the target lane, lane changing time is calculated, anti-collision time between the lane changing time and vehicles behind the target lane is calculated, and whether lane changing is performed or not is judged according to the lane changing time and the anti-collision time;
if there is an obstacle in front of the target lane, the vehicle double-flashing light is turned on, and the control right is given to the driver.
If no obstacle exists in front of the target lane, lane changing can be considered at the moment, lane changing time is calculated, anti-collision time between the lane changing time and a vehicle behind the target lane is calculated, and whether lane changing is carried out or not is judged according to the lane changing time and the anti-collision time. If there is an obstacle, such as an object or vehicle, in front of the target lane, control is given to the driver, who decides whether to change lanes.
In one embodiment, if it is determined that lane change is possible according to the lane change time and the anti-collision time, and the target lane has no rear vehicle within the first safe distance and no vehicle lane change action exists in the adjacent lane of the target lane, the host vehicle performs the lane change action, and if there is a vehicle lane change action in the adjacent lane of the target lane, the host vehicle moves to the lane change area to be changed.
When the lane change can be judged according to the lane change time and the anti-collision time, and no rear vehicle exists in the target lane within the first safety distance and no vehicle lane change action exists in the adjacent lane of the target lane, the lane change safety is shown at the moment, and the vehicle executes the lane change action. If the adjacent lane of the destination lane has the vehicle lane changing action, the vehicle moves to the lane changing area, wherein the lane changing area is an area close to a lane changing line, for example, the vehicle head can be tentatively moved to a position 30cm away from the lane changing line, and the lane changing time is waited at. The first safety distance may be calibrated according to practical situations, for example, 300 m.
In one embodiment, if the target lane has a rear vehicle between the first safety distance and the second safety distance, it is determined whether the speed of the rear vehicle is over speed or accelerating, and if not, and no vehicle lane changing action exists in the adjacent lane of the target lane, the host vehicle executes a lane changing action.
Fig. 5 is a case where the lane change condition is not satisfied.
The second safety distance is calculated from the lane change time TK. For example, the second safety distance is TTC (1+ u), TTC is the collision avoidance time between the rear vehicle and the host vehicle, and u is the set safety threshold.
When the speed of the rear vehicle is judged to be overspeed or accelerated, lane changing can not be carried out at the moment, and only when the speed of the rear vehicle is judged not to be overspeed or accelerated and no vehicle lane changing action is carried out on the adjacent lane of the target lane, the lane changing action can be automatically executed.
In one embodiment, if the lane change time is less than the anti-collision time, it is determined whether the anti-collision time between the vehicle behind the own lane and the own vehicle is less than a set value, and if so, the own vehicle moves forward by a certain distance.
When the lane change time is less than the anti-collision time, the lane change is dangerous at this time, so the lane change is not changed temporarily, but for safety, it is necessary to determine whether the anti-collision time between the vehicle behind the lane and the vehicle is less than a set value, if so, there is a risk of being rear-ended, the vehicle needs to move forward a distance to avoid being collided by the rear vehicle, and the distance can obtain data through calibration, for example, the safe lane change distance is one third.
When the stop time is longer than the preset stop time, for example, the preset stop time is 2 minutes, the vehicle is considered to be in a traffic jam condition, and at this time, the vehicle is also moved forward by a distance, for example, a one-third safe lane change distance.
Referring to fig. 6, the lane change process is performed from a stationary state to a target lane and the speed is increased to the speed limit of the target lane, and the twin-flash cancellation normal driving (in the drawing, a right turn W1 is the own vehicle width, and a W2 is the front vehicle width) is performed.
1. The lane changing time Tk is the time when the vehicle just moves to a target lane from a static state and the posture of the vehicle body is adjusted, and the lane crossing distance Sx is W (lane width);
2. the rear vehicle speed V2k after the Tk moment is passed, and the vehicle speed is V1 k;
3. s1 is the longitudinal distance of the self vehicle moving at the lane changing time, and S2 is the moving distance of the lane changing time of the rear vehicle of the target lane; s3 is the distance between the self vehicle and the rear vehicle at the moment Tk, which is also called the safety distance;
4. the designed safe distance S3 ═ V2k-V1k ═ TTC (1+ u%), TTC time to collision, u being the designed safe threshold;
5. finally, controlling the lane change of the vehicle through the opening degree of an accelerator, and considering that the comfort acceleration does not exceed M, linearly accelerating to the maximum acceleration M to complete the lane change; tk time is basically constant for a fixed vehicle, the moving distance S2 of a rear vehicle is estimated through V20 detected at the time of T0, if the estimated distance S3 is calculated and does not meet the safety distance, lane changing is not started, and lane changing is performed otherwise.
In one embodiment, if the collision prevention time between the vehicle behind the own lane and the own vehicle is greater than a set value, it is determined whether the stop time is greater than a preset stop time, if so, the own vehicle moves forward for a certain distance, and if not, the double flashing lights are turned on to wait.
The preset stop time is, for example, 2 s.
Referring to fig. 7, in one embodiment, when the host vehicle is controlled to perform lane change, after the host vehicle is controlled to enter an adjacent lane allowing potential lane change from the host vehicle lane where the host vehicle is located in a first arc-shaped path, the host vehicle is controlled to adjust the vehicle body direction of the host vehicle to be parallel to the direction of the adjacent lane in a second arc-shaped path, and the tail end of the first arc-shaped path is the same as the head end of the second arc-shaped path.
In the prior art, a Bezier spline curve, a polynomial fitting curve and the like are generally adopted for lane changing of a moving vehicle, and the modes are complex in calculation.
The path planning in this embodiment adopts the simplest arc curve (arc + arc), which is easy to implement and can shorten the lane change time.
The specific principle is as follows: when the lane-changing vehicle is required to start, the vehicle turns to the target lane at the maximum turning angle, the turning to the right is illustrated in fig. 7, when the left rear wheel presses the nearest lane line and then moves for an L distance (which can be calibrated), the left rear wheel turns to the positive direction and turns to the reverse direction (the turning angle can be calibrated); when the vehicle runs to the state that the vehicle body is level with the lane line, the direction returns to the positive direction, the lane change is finished, the speed is increased continuously to the speed limiting of the lane, and the double-flash is removed.
In one embodiment, when the host vehicle is controlled to perform lane change, the host vehicle is controlled to move towards an adjacent lane allowing potential lane change at a lane change starting point at a steering angle greater than or equal to a first preset angle, and after all wheels of the host vehicle enter the adjacent lane, the host vehicle is controlled to make the body direction of the host vehicle parallel to the running direction of the adjacent lane at a turning angle greater than or equal to a second preset angle. This is easy to implement and can reduce the lane change time.
Specifically, a vehicle-mounted radar is used for obtaining the relative distance between a vehicle behind an adjacent lane and the vehicle at different moments, and the speed difference is calculated and used for lane change judgment; and moving the vehicle to the lane to be changed from the lane changing starting point by using the maximum steering angle of the vehicle, steering the vehicle back to the positive direction after the rear wheel at the farther distance of the vehicle crosses the lane line to be changed, and moving the vehicle to be parallel to the current lane line.
Referring to fig. 8, the present invention also proposes a vehicle control method including:
step S801, detecting a front object of the vehicle, and acquiring the distance between the vehicle and the front object and the speed of the front object;
step S802, detecting adjacent objects in front of the vehicle on adjacent lanes of the vehicle, and acquiring the distance between the vehicle and the adjacent objects of the front vehicle and the speed of the adjacent objects;
step S803, judging whether the vehicle and the front object have collision risk according to the distance between the vehicle and the front object and the speed of the front object; and
step S804, according to the distance between the vehicle and the adjacent object of the front vehicle and the speed of the adjacent object, judging whether the adjacent lane has no potential lane change allowing the vehicle;
step S805, controlling the vehicle to decelerate to zero speed, and enabling the distance between the vehicle and a front object to be larger than or equal to a safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
in step S806, after the speed of the host vehicle is reduced to zero, if it is determined that there is a potential lane change allowing lane change of the host vehicle in the adjacent lane, the host vehicle is controlled to perform lane change.
Referring to fig. 9, the present invention also proposes a vehicle control method including:
step S901, in response to the automatic braking function being triggered and the adjacent lane having no potential lane change allowing the host vehicle to change lanes;
step S902, calculating a lane change distance of the vehicle, wherein the lane change distance of the vehicle is the distance between the vehicle and a front object;
step S903, the braking force of the automatic brake is adjusted according to the lane changing distance and the safe lane changing distance of the vehicle, so that when the vehicle speed is zero, the lane changing distance of the vehicle is more than or equal to the safe lane changing distance, and the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
in step S904, after the speed of the vehicle is reduced to zero, if it is determined that there is a potential lane change allowing the vehicle to change lanes in the adjacent lane, the vehicle is controlled to perform the lane change.
Referring to fig. 2, the invention provides a lane changing method after vehicle emergency risk avoidance, comprising:
judging that the automatic braking system is triggered and the road condition does not meet the lane change condition;
if two adjacent lanes exist in the lane changing direction, stopping the vehicle at the center of the lane of the vehicle, and if two adjacent lanes do not exist in the lane changing direction, stopping the vehicle at a lane line of the vehicle, which is close to the adjacent lanes, and enabling the distance between the vehicle and a front vehicle or a front object of the vehicle after the vehicle is automatically braked and stopped to be larger than or equal to the safe lane changing distance;
the safe lane change distance calculation method comprises the following steps: d-h-e-x;
wherein d is a safe lane changing distance, h is a distance from the rear axle of the vehicle to the tail of the front vehicle, e is a distance from the front axle to the front bumper, and x is a wheelbase between the front axle and the rear axle of the vehicle; the origin of coordinates is the instantaneous steering center when the vehicle is stationary, and the x axis is a ray passing through the rear axle of the vehicle from the origin of coordinates;
wherein h is obtained by calculation, and the calculation formula is as follows:
(z+c)2+h2＝R2，
wherein z is the distance from the coordinate origin to the lane change line, and c is the distance from the front vehicle to the lane change line; r is the minimum turning radius of the left front wheel;
wherein R needs to be obtained by calculation, and the calculation formula is as follows:
R＝(x+e)/sinβ，z＝R*cosβ-(W1+f),
where β is approximately the maximum angle of rotation of the outboard wheel, W1 is the width of the vehicle, and f is the distance from the lane change line.
Judging that the road condition meets the lane change condition comprises the following steps:
and detecting whether the actual distance between the vehicle and a front vehicle or a front object is greater than the safe lane changing distance, if not, turning on a vehicle double-flashing light, giving control right to a driver, and if so, further judging whether the lane changing lane edge line is a solid line.
If the lane-changing lane edge line is judged not to be a solid line, whether a vehicle or an object in front of the lane exposes an obstacle or not is further judged, and if the lane-changing lane edge line is judged to be a solid line, the double-flashing light of the vehicle is turned on, and the control right is given to a driver.
If the front vehicle or the front object of the lane has an exposed obstacle, and the height of the exposed obstacle is less than or equal to the vehicle height of the vehicle, turning on the double-flashing lights of the vehicle, and giving control right to the driver;
if the front vehicle or the front object of the lane has an exposed obstacle, the height of the exposed obstacle is larger than the vehicle height of the lane, or if the front vehicle or the front object of the lane has no exposed obstacle, whether the front of the target lane has an obstacle is further judged.
If no obstacle exists in front of the target lane, lane changing time is calculated, anti-collision time between the lane changing time and a vehicle behind the target lane is calculated, and whether lane changing is performed or not is judged according to the lane changing time and the anti-collision time;
if there is an obstacle in front of the target lane, the vehicle double-flashing light is turned on, and the control right is given to the driver.
If lane changing can be judged according to the lane changing time and the anti-collision time, and no rear vehicle exists in the target lane within the first safety distance and no vehicle lane changing action exists in the adjacent lane of the target lane, the vehicle executes the lane changing action, and if the vehicle lane changing action exists in the adjacent lane of the target lane, the vehicle moves to the area to be lane changed.
If the target lane has a rear vehicle between the first safety distance and the second safety distance, judging whether the speed of the rear vehicle is overspeed or accelerated, and if not, executing lane changing action by the vehicle if no vehicle changing action exists in the adjacent lane of the target lane.
If the lane changing time is shorter than the anti-collision time, judging whether the anti-collision time between the vehicle behind the lane and the vehicle is shorter than a set value, and if so, moving the vehicle forwards for a certain distance.
If the anti-collision time between the vehicle behind the lane and the vehicle is greater than a set value, judging whether the stop time is greater than preset stop time, if so, moving the vehicle forward for a certain distance, and if not, turning on double flashing lights to wait.
When the lane changing action is executed, the lane changing is carried out by adopting a planning route of 'arc plus arc'.
The lane changing method after the vehicle emergency danger avoidance can enable lane changing judgment after the vehicle emergency danger avoidance to be more reasonable and safer.
Referring to fig. 3, after it is determined that lane change is possible, it is further necessary to determine a target lane, and the determining process is as follows:
s301, detecting the rear vehicle speed and position of a target lane in real time;
s302, estimating the acceleration of the rear vehicle according to the rear vehicle speeds at different moments;
s303, judging whether a vehicle is not in the rear part of the first safety distance L1, if so, jumping to S304, and if not, jumping to S305;
s304, whether there is no lane change operation in the adjacent lane of the target lane, if not, the lane change is performed, if so, the vehicle (own vehicle) moves to the lane change waiting area, and the process returns to S301.
S305, judging whether the distance between the rear vehicle and the vehicle (the self vehicle) is between a first safe distance L1 and a second safe distance L2, if so, jumping to S306, and if not, jumping to S307;
and S306, if the speed of the rear vehicle is less than or equal to the speed limit, the acceleration is less than 0, and the adjacent lane of the target lane has no lane changing action, changing the lane, otherwise, moving to a lane changing area.
And S307, if the speed of the vehicle behind the target lane is higher than the speed limit and is less than 120% of the speed limit, and the acceleration is greater than or equal to 0, the lane change cannot be performed, and if the acceleration is less than 0, the vehicle moves to a lane change area.
The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.

Claims (15)

1. A vehicle control method characterized by comprising:
when the automatic braking function is triggered and the adjacent lane has no potential lane change allowing the vehicle to change lane;
controlling the vehicle to decelerate to zero speed, and enabling the distance between the vehicle and a front object after the vehicle speed is zero to be larger than or equal to a safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change.
2. The vehicle control method according to claim 1, characterized in that:
the conditions under which the automatic braking function is triggered are: the distance between the vehicle and the front object is smaller than a preset safe distance, and the speed of the front object is smaller than a preset safe speed.
3. The vehicle control method according to claim 1,
the process of controlling the vehicle to decelerate to zero speed comprises the following steps:
if the lanes exist on both sides of the lane where the vehicle is located, controlling the vehicle to be located at the center line of the lane after the vehicle is decelerated to zero;
if only one side of the lane where the vehicle is located has the lane, the vehicle is controlled to be located on one side of the lane close to the adjacent lane after being decelerated to zero.
4. The vehicle control method according to claim 1,
the step of judging that the adjacent lanes have the potential lane change allowing the lane change of the vehicle comprises the following steps:
and detecting whether the actual distance between the vehicle and the front object is greater than the safe lane-changing distance or not, if not, turning on a vehicle double-flashing light, giving control right to a driver, and if so, further judging whether the lane-changing lane edge line is a solid line or not.
5. The vehicle control method according to claim 4,
if the lane-changing lane edge line is judged not to be a solid line, whether an exposed obstacle exists in the front object of the lane is further judged, and if the lane-changing lane edge line is judged to be a solid line, the double-flashing lamps of the vehicle are turned on, and the control right is given to the driver.
6. The vehicle control method according to claim 5,
if an exposed obstacle exists in the object in front of the lane and the height of the exposed obstacle is less than or equal to the vehicle height of the vehicle, turning on a double-flashing light of the vehicle and giving control right to a driver;
if the object in front of the lane has an exposed obstacle and the height of the exposed obstacle is greater than the vehicle height of the vehicle, or if the object in front of the lane has no exposed obstacle, further judging whether the obstacle is in front of the target lane.
7. The vehicle control method according to claim 6,
if no obstacle exists in front of the target lane, lane changing time is calculated, anti-collision time between the lane changing time and a vehicle behind the target lane is calculated, and whether lane changing is performed or not is judged according to the lane changing time and the anti-collision time;
if there is an obstacle in front of the target lane, the vehicle double-flashing light is turned on, and the control right is given to the driver.
8. The vehicle control method according to claim 7,
if lane changing can be judged according to the lane changing time and the anti-collision time, and no rear vehicle exists in the target lane within the first safety distance and no vehicle lane changing action exists in the adjacent lane of the target lane, the vehicle executes the lane changing action, and if the vehicle lane changing action exists in the adjacent lane of the target lane, the vehicle moves to the area to be lane changed.
9. The vehicle control method according to claim 8,
if the target lane has a rear vehicle between the first safety distance and the second safety distance, judging whether the speed of the rear vehicle is overspeed or accelerated, and if not, executing lane changing action by the vehicle if no vehicle changing action exists in the adjacent lane of the target lane.
10. The vehicle control method according to claim 7,
if the lane changing time is shorter than the anti-collision time, judging whether the anti-collision time between the vehicle behind the lane and the vehicle is shorter than a set value, and if so, moving the vehicle forwards for a certain distance.
11. The vehicle control method according to claim 10,
if the anti-collision time between the vehicle behind the lane and the vehicle is greater than a set value, judging whether the stop time is greater than preset stop time, if so, moving the vehicle forward for a certain distance, and if not, turning on double flashing lights to wait.
12. The vehicle control method according to claim 1,
when the vehicle is controlled to change lanes, the vehicle is controlled to enter an adjacent lane allowing potential lane change from the vehicle lane where the vehicle is located in a first arc-shaped path, the vehicle is controlled to adjust the direction of the vehicle body of the vehicle to be parallel to the direction of the adjacent lane in a second arc-shaped path, and the tail end of the first arc-shaped path is the same as the head end of the second arc-shaped path.
13. The vehicle control method according to any one of claims 1 to 12, characterized in that:
when the lane change is executed by controlling the vehicle, the vehicle is controlled to move to an adjacent lane allowing potential lane change at a lane change starting point by a steering angle which is larger than or equal to a first preset angle, and after all wheels of the vehicle enter the adjacent lane, the vehicle is controlled to make the vehicle body direction of the vehicle parallel to the trend direction of the adjacent lane by a turning angle which is larger than or equal to a second preset angle.
14. A vehicle control method characterized by comprising:
detecting a front object of the vehicle, and acquiring the distance between the vehicle and the front object and the speed of the front object;
detecting adjacent objects in front of the vehicle on adjacent lanes of the vehicle, and acquiring the distance between the vehicle and the adjacent objects of the front vehicle and the speed of the adjacent objects;
judging whether the vehicle and the front object have collision risks or not according to the distance between the vehicle and the front object and the speed of the front object; and
judging whether the adjacent lanes have potential lane change allowing the vehicle according to the distance between the adjacent objects of the vehicle and the front vehicle and the speed of the adjacent objects;
controlling the vehicle to decelerate to zero speed, and enabling the distance between the vehicle and a front object to be larger than or equal to a safe lane changing distance d, wherein the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change.
15. A vehicle control method characterized by comprising:
when the automatic braking function is triggered and the adjacent lane has no potential lane change allowing the vehicle to change lane;
calculating the lane changing distance of the vehicle, wherein the lane changing distance of the vehicle is the distance between the vehicle and the front object;
adjusting the braking force of automatic braking according to the lane changing distance and the safe lane changing distance of the vehicle, so that when the vehicle speed is zero, the lane changing distance of the vehicle is greater than or equal to the safe lane changing distance, and the front object comprises a front obstacle and/or a front vehicle;
the numerical relationship among the safe lane changing distance d, the distance h from the rear shaft of the vehicle to the front object, the distance e from the front shaft of the vehicle to the front bumper of the vehicle, and the wheelbase x between the front shaft of the vehicle and the rear shaft of the vehicle satisfies the following relational expression: d-h-e-x;
and after the speed of the vehicle is reduced to zero, if the adjacent lane is judged to have the potential lane change allowing the vehicle to change lanes, controlling the vehicle to execute the lane change.
CN202111649472.6A 2021-12-30 2021-12-30 Vehicle control method Pending CN114104003A (en)

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