CN114475664B - Automatic driving vehicle lane-changing coordination control method for congested road section - Google Patents
Automatic driving vehicle lane-changing coordination control method for congested road section Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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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 application discloses a road-changing coordination control method for an automatic driving vehicle on a congested road section, and belongs to the technical field of automatic driving coordination control. The method for controlling the lane change coordination of the automatic driving vehicle in the congested road section is characterized by comprising the following steps: acquiring road section congestion state information, and activating a road planning and lane changing coordination request; executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state; the automatic driving mode is adopted to change the lane, the front and rear vehicle states are monitored, the lane approaching state and the rear vehicle state are identified, lane changing early warning is carried out, and the vehicle enters a pre-steering state; controlling the vehicle body to enter a preset lane.
Description
Technical Field
The application relates to the technical field of automatic driving coordination control, in particular to a lane change coordination control method for an automatic driving vehicle on a congested road section.
Background
Lane change is a very common situation in driving, for example, a need to change into a left fast lane or a right slow lane, and a need to overtake from the left; it is necessary to switch into a lane of a specific direction before the intersection. The automatic lane change is used as a basic function of the future unmanned automobile, and comprises a plurality of important links such as environment perception, lane change decision, track planning, track tracking and the like. When the automatic driving automobile changes lanes, surrounding vehicle information is identified and acquired, and safe lane changing is kept. However, when the road is changed temporarily by adopting an automatic driving mode in the case of a congested road section, the direction and speed change monitoring of surrounding vehicles is difficult to predict, and the road change is difficult and the road change efficiency is low.
Disclosure of Invention
The application aims to solve the problems in the prior art, and provides a road-changing coordination control method for an automatic driving vehicle on a congested road section.
In order to achieve the above purpose, the present application adopts the following technical scheme:
the method for controlling the lane change coordination of the automatic driving vehicle in the congested road section is characterized by comprising the following steps:
acquiring road section congestion state information, and activating a road planning and lane changing coordination request;
executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state;
the automatic driving mode is adopted to change the lane, the front and rear vehicle states are monitored, the lane approaching state and the rear vehicle state are identified, lane changing early warning is carried out, and the vehicle enters a pre-steering state;
controlling the vehicle body to enter a preset lane.
Preferably, the road section congestion state information is acquired by adopting communication data of a navigation system;
the navigation system gives an early warning on road congestion, the feedback comprises a congestion distance and a congestion estimated time length, road planning is activated in advance, and a request lane change instruction is sent when a congested road section is not entered.
Preferably, the road section congestion state information is acquired, a front-mounted control camera shooting and a front-side radar system are adopted to detect the speed of a front vehicle, the average speed of the front vehicle is less than or equal to 5km/h and braking occurs 2-3 times within 20s, and after the detection time is finished, the front vehicle is still in a variable road area, and then the vehicle is judged to enter a congestion road section;
the road section congestion state information is analyzed by an automatic driving auxiliary system of the vehicle and a request channel changing instruction is sent out.
Preferably, the automatic driving auxiliary system acquires and carries out the movement change of the approaching vehicle through the roll radar system and carries out the congestion analysis; and after the variable road data is acquired, the road is re-planned, and the road changing request is carried out.
Preferably, the radar system comprises millimeter wave radars and ultrasonic radars, wherein the millimeter wave radars are distributed and installed along four sides of the vehicle body, and the ultrasonic radars are installed at four corners of the vehicle body and in the middle of two sides of the vehicle body.
Preferably, after the lane change instruction is executed, the driving mode is automatically entered to switch the driving state, the driver is prompted to select, and after the driver does not select or selects automatic driving, the automatic driving lane change mode is adopted.
Preferably, the automatic driving lane changing mode adopts front and rear cameras and a radar system to acquire the front and rear vehicle states,
A. the distance from the front car exceeds 1.5m, and the front car turns on the steering lamp,
B. the distance from the front car exceeds 1.5m, and the front car does not turn on the steering lamp,
C. the distance from the tail car exceeds 1m, and the tail car does not turn on the turn signal lamp,
D. the distance from the tail car exceeds 1m, and the tail car turns on the turn signal lamp,
after meeting the B and C states, entering a pre-steering state;
after the A state is met, entering a waiting mode;
after the D state is met, whistling early warning is carried out, and then a pre-steering state is entered;
the pre-steering comprises the steps of deflecting the front head, locally pressing or pressing a dotted line, waiting and detecting the side coming vehicle.
Preferably, the automatic driving lane changing mode adopts a roll radar system to identify the information of the lane-approaching vehicle,
s1, no vehicles are used in the adjacent road,
s2, when the vehicle is in a lane and is in a moving state,
s3, when the vehicle is in a road and in a stationary state,
the recognition system acquires S1 status information, enters a predetermined lane,
the identification system acquires S2 state information, performs whistle early warning, enters a preset lane when the side back tail vehicle decelerates or stops,
and the recognition system acquires S3 state information, waits, and enters S2 state when the vehicle moves, and waits for entering a preset lane.
Preferably, the lane change coordination request activation includes, but is not limited to, a driver manually operating and activating a congestion lane change instruction, a driving auxiliary system acquiring road congestion information fed back by a navigation system and activating the congestion lane change instruction, a driving auxiliary system acquiring driving data and judging that the vehicle is in a congestion state and activating the congestion lane change instruction, and activating the congestion lane change instruction when a driver re-plans a road on a congested road section and needs lane change and steering;
after the congestion lane change instruction is in an activated state, the driving mode switching state is required to be entered, and after the automatic driving mode lane change is locked, lane change coordination control is performed.
Compared with the prior art, the application provides a road-changing coordination control method for an automatic driving vehicle in a congested road section, which has the following beneficial effects:
the application can provide a timely lane change plan by utilizing the navigation system to pre-judge road congestion, and can perform lane change analysis by utilizing the fusion technology of the front camera and the rear camera and the radar system when the road congestion is close to the congestion, thereby completing effective lane change in advance.
When the road is changed in a congested road section, the road changing conditions are obtained by analyzing the front and rear vehicles, the pre-steering is realized, the fusion algorithm is adopted to coordinate the ultrasonic radar and the millimeter wave radar, and the respectively different sensors are associated and adjusted in time and space, so that the data redundancy is avoided, the steering recognition accuracy is improved, and the safe and efficient steering is realized.
Drawings
FIG. 1 is a schematic flow chart of a lane change coordination method according to the present application;
FIG. 2 is a schematic diagram of a radar system and imaging system fusion technique concept of the present application;
fig. 3 is a schematic diagram of a coverage schematic of a radar system according to the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
Examples:
the application discloses a road-changing coordination control method for an automatic driving vehicle in a congested road section, which is applied to an automatic driving system and provides a manual driving switching mode in advance.
First, in the lane-change coordination control system for handling automatic driving of the present application, the automatic driving lane-change conditions include a non-congestion road-section lane-change and a congestion road-section lane-change, the non-congestion road-section lane-change being judged by the automatic driving assistance system and automatically performing an operation; the automatic driving auxiliary system sends out a congestion changing request and obtains instructions to enter a changing mode.
When the automatic driving vehicle enters the congested road section to change the road, the method is suitable for the road-changing coordination control method of the automatic driving vehicle of the congested road section.
The lane change request of the congested road section comprises, but is not limited to, a driver manual operation activation congestion change instruction, a driving auxiliary system obtains road congestion information fed back by a navigation system to activate the congestion change instruction, the driving auxiliary system obtains driving data to judge that the vehicle is in a congestion state and activates the congestion change instruction, and the driver congestion road section re-programs the road and activates the congestion change instruction when the road needs to change lane and turn.
The following provides a first embodiment of lane change coordination control according to a situation where a vehicle enters a congestion state, and specifically describes:
a method for controlling the lane change coordination of an automatic driving vehicle in a congested road section comprises the following steps of;
step one, acquiring road section congestion state information, and activating a road planning and lane changing coordination request;
in the embodiment of the application, the road section congestion state information is acquired through communication of a navigation system; the navigation system gives an early warning on road congestion, feeds back the congestion distance and the congestion estimated time length, activates road planning in advance, and starts to send out a request channel changing instruction when a vehicle does not enter a congested road section.
Step two, executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state;
in the embodiment of the application, after the lane change instruction is sent, the rotating lamp is automatically started, the driving mode switching state is started in the executing process, the manual driving standby state is carried out, and the driver is prompted to select.
Based on the severe road changing conditions of the crowded road section, recognition dead zones are likely to occur in the recognition of vehicles on the sides and the back sides, and the manual driving mode is preferably selected.
After the driver does not make a selection or selects automatic driving, an automatic driving lane change mode is adopted; otherwise, the lane change instruction is removed, the turn signal lamp is maintained to be in an on state, and the manual driving mode is entered.
Step three, adopting an automatic driving mode to change the lane, monitoring the front and rear vehicle states, identifying the lane approaching state and the rear vehicle state, carrying out lane changing early warning, and entering a pre-steering state;
in the embodiment of the application, after entering an automatic driving mode, surrounding vehicle information is analyzed, and front and rear cameras and a radar system are adopted to acquire front and rear vehicle states:
A. detecting the distance between the front vehicle and the vehicle, identifying that the front vehicle turns on a steering lamp or enters a steering state of the front vehicle,
B. detecting the distance from the front vehicle, identifying that the front vehicle does not start the steering lamp and does not enter the steering state of the front vehicle,
C. detecting the distance from the rear vehicle, identifying that the rear vehicle does not turn on the steering lamp and does not enter the steering state of the rear vehicle,
D. detecting the distance between the vehicle and the rear vehicle, identifying that the rear vehicle turns on a steering lamp or enters a steering state of the rear vehicle,
after the state B and the state C are identified, the vehicle deflects towards the adjacent road and is locally pressed or pressed with a dotted line to enter a pre-steering state; analyzing the vehicles coming from the side or the rear side;
after the state A is identified, keeping straight going, and entering a waiting mode;
after the D state is identified, whistling early warning is carried out, then the adjacent road is deflected and positioned, a dotted line is locally pressed or pressed, and the pre-steering state is entered; and analyzing the vehicles coming sideways or sideways and backward.
In the embodiment of the application, a rearview mirror and a radar system are adopted to acquire the states of the lateral vehicle and the lateral rear vehicle:
s1, no vehicles are used in the adjacent road,
s2, the vehicle is on the road,
after recognizing the acquisition S1 of the status information, driving into a predetermined lane,
and (3) when the S2 state information is identified and acquired, the vehicle is driven into a preset lane after passing through the lane, or the vehicle is subjected to whistle warning on the coming vehicle at the rear side of the lane, and the vehicle is driven into the preset lane when the vehicle is decelerated or exceeds the rear vehicle at the rear side of the lane.
And step four, controlling the vehicle body to enter a preset lane.
In the embodiment of the application, the automatic driving vehicle comprises an auxiliary driving system, and the radar system, the camera, the communication equipment and the like are matched to detect and identify the road unblocked information, the road environment and surrounding vehicles in the running process of the vehicle.
Therefore, in the embodiment of the present application, the front-rear vehicle information, the side-rear vehicle information, and the side-rear vehicle information are synchronously identified and analyzed, and the pre-steering state in the above is the assumed concept of the lane-change transition state. The front and rear vehicles are analyzed, and the side vehicles are also analyzed, and when the two conditions are satisfied and the vehicle is in the preliminary steering state, the preliminary steering state is generated.
The following provides a second embodiment of lane change coordination control based on a situation where the vehicle is in a crowded state:
a method for controlling the lane change coordination of an automatic driving vehicle in a congested road section comprises the following steps:
step one, acquiring road section congestion state information, and activating a road planning and lane changing coordination request;
in the embodiment of the application, the road section congestion state information is acquired, the front vehicle speed is detected by adopting a front control camera shooting and a radar system at the front side, the average vehicle speed is less than or equal to 5km/h within 20s, braking is carried out for 2-3 times, and the road section congestion state information is still in a variable road area after the detection time is finished, and then the road section congestion state information enters;
and the automatic driving auxiliary system performs acquisition and analysis and sends out a request lane change instruction.
Step two, executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state;
in the embodiment of the application, after the lane change instruction is sent, the rotating lamp is automatically started, the driving mode switching state is started in the executing process, the manual driving standby state is carried out, and the driver is prompted to select.
Based on the severe road changing conditions of the crowded road sections, blind areas are easy to appear in the recognition of vehicles on the sides and the back sides, and the manual driving mode is preferably selected.
After the driver does not select or selects automatic driving, an automatic driving lane change mode is adopted, otherwise, the lane change instruction is removed, the turning lamp is maintained to be in an on state, and the manual driving mode is entered.
Step three, adopting an automatic driving mode to change the lane, monitoring the front and rear vehicle states, identifying the lane approaching state and the rear vehicle state, carrying out lane changing early warning, and entering a pre-steering state;
in the embodiment of the application, after entering an automatic driving mode, surrounding vehicle information is analyzed, and front and rear cameras and a radar system are adopted to acquire front and rear vehicle states:
A. detecting that the distance between the front vehicle and the front vehicle exceeds 1.5m and turning on a steering lamp,
B. detecting that the distance between the front vehicle and the front vehicle exceeds 1.5m and the front vehicle does not turn on the steering lamp,
C. detecting that the distance from the tail car exceeds 1m and the tail car does not turn on a turn signal lamp,
D. detecting that the distance from the tail car exceeds 1m and the tail car starts a turn signal lamp,
after the state B and the state C are identified, the vehicle deflects towards the adjacent road and is locally pressed or pressed with a dotted line to enter a pre-steering state; analyzing the vehicles coming from the side or the rear side;
after the state A is identified, waiting for the front lane change;
after the D state is identified, whistling early warning is carried out, and when the vehicle deflects towards the adjacent road, a dotted line is locally pressed or pressed, and the vehicle enters a pre-steering state; and analyzing the vehicles coming sideways or sideways and backward.
In the embodiment of the application, a rearview mirror and a radar system are adopted to acquire the states of the lateral vehicle and the lateral rear vehicle:
s1, no vehicles are used in the adjacent road,
s2, when the vehicle is in a lane and is in a moving state,
s3, when the vehicle is in a road and in a stationary state,
the recognition system acquires S1 state information, enters a preset lane,
the recognition system acquires S2 state information, carries out whistle early warning, and enters a preset lane when the side back tail vehicle decelerates or stops,
and the recognition system acquires S3 state information, waits, and enters a preset lane after the vehicle moves and enters S2 state.
In the embodiment of the application, the vehicle is in a congestion state, a pre-steering state, a steering waiting state during lane changing, a static state or a low-speed moving state, and lane changing operation is performed after the lane meeting condition.
In the two embodiments, the radar system comprises millimeter wave radars and ultrasonic radars, the millimeter wave radars are distributed and installed along four sides of the vehicle body, and the ultrasonic radars are installed at four corners of the vehicle body and in the middle of two sides of the vehicle body. The ultrasonic radar performs long-distance detection and identification, and the millimeter wave radar performs short-distance sensing to acquire the state of surrounding vehicles.
In a first embodiment of the present application, a vehicle body steering state analysis is a lane change prediction in an unopened steering mode based on a preceding vehicle, comprising:
continuously approaching the adjacent road according to the front vehicle in the time of 5s-10s, and pressing down the broken line;
according to the front vehicle, in the time of 5s-10s, the large-angle steering occurs more than twice;
continuously pressing the broken line in 5s according to the front vehicle;
under any condition, stopping the steering operation, and restarting the steering operation when the preceding vehicle is successful in lane change or stable in 5s
Referring to fig. 3, in the first embodiment of the present application, when detecting a vehicle coming from the side and the rear side, the radar system coordinates the ultrasonic radar and the millimeter wave radar by adopting a fusion algorithm, and performs association adjustment on different sensors in time and space, so as to avoid data redundancy and improve recognition accuracy.
When a plurality of devices such as ultrasonic radars and millimeter wave radars are adopted for measuring the same incoming vehicle, the characteristics and the reliability of each device in measurement are set as corresponding weights, and after the weights are added and summed, the advantages of the radars are integrated to improve the sensing advantage and accuracy.
When N radar devices are used to observe one vehicle Y, the values measured by different radars are { Y } j Denoted by j=0, 1,2, l, n), then Y is derived from LMS (least mean square error estimation), i.e
Variance estimation is expressed as
In sigma j (j=0, 1,2, l, n) is the variance of the jth radar measurement sequence,
under the constraint condition in the formula (2), the variance in the formula (3) is minimized, and the optimal weight can be obtained, which is expressed as:
in the formula, only the sigma is determined j The value of (j=0, 1,2, l, n) allows the optimal weight in the data fusion process to be found. In the above, the radar detection is fused, so that the accuracy of the detection of the remote vehicle can be improved.
Referring to fig. 3, in a second embodiment of the present application, an imaging system is formed by front and rear cameras on a vehicle, and a radar system and imaging system fusion technology is used to detect the coming vehicles at the side and the rear sides, so as to identify and adjust the accuracy of the close-range vehicles.
Specifically, the millimeter wave radar and the imaging system are used for independent identification, respective identification results are respectively given, a target sequence is input, and the result is comprehensively judged by a fusion algorithm to obtain a final output result.
The millimeter wave radar provides position and speed information of the target vehicle, the vision algorithm of the imaging system can provide the position of the target vehicle, and the millimeter wave radar can identify the electromagnetic wave target which can be reflected, and the camera can only identify the trained target. After the sequences of the two targets are fused, accurate information such as the position, the width and the type of the vehicle is obtained.
The present application is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present application and the inventive concept thereof, can be replaced or changed within the scope of the present application.
Claims (6)
1. The method for controlling the lane change coordination of the automatic driving vehicle in the congested road section is characterized by comprising the following steps:
step one, acquiring road section congestion state information, and activating a road planning and lane changing coordination request;
the method comprises the steps that the road section congestion state information is obtained, a front-mounted control camera shooting and a front-side radar system are adopted to detect the speed of a front vehicle, the obtaining time is within 20 seconds, the average speed of the front vehicle is less than or equal to 5km/h, braking occurs 2-3 times, the front vehicle is still in a variable road area after the detecting time is finished, and then the front vehicle is judged to enter a congested road section;
the road section congestion state information is analyzed by an automatic driving auxiliary system of the vehicle and a request channel changing instruction is sent out;
the automatic driving auxiliary system acquires the movement change of the approaching vehicle through the roll radar system and performs congestion analysis; after variable road data are acquired, road planning is carried out again, and a road changing request is carried out;
the radar system comprises millimeter wave radars and ultrasonic radars, wherein the millimeter wave radars are distributed and installed along four sides of the vehicle body, and the ultrasonic radars are installed at four corners of the vehicle body and in the middle of two sides of the vehicle body;
step two, executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state;
step three, adopting an automatic driving lane changing mode to change lanes, monitoring front and rear vehicle states, identifying lane approaching and rear vehicle states, carrying out lane changing early warning, and entering a pre-steering state;
the automatic driving lane change mode adopts front and rear cameras and a radar system to acquire front and rear vehicle states through a fusion technology;
the automatic driving lane change mode adopts a roll radar system fusion algorithm for coordination, and the information of the lane-approaching vehicles is identified;
the fusion algorithm is that when a plurality of devices of an ultrasonic radar and a millimeter wave radar are adopted to measure the same incoming vehicle, the characteristics and the reliability of each device are set as corresponding weights in measurement, and after the plurality of weights are added and summed, the advantages of a plurality of radars are integrated to improve the sensing advantage and the accuracy;
when N radar devices are used to observe one vehicle Y, the values measured by different radars are { Y } j And j=0, 1,2,.. Y is obtained by LMS, i.e
Variance estimation is expressed as
In sigma j For the j-th radar measurement sequence variance, j=0, 1,2, N;
under the constraint condition in the formula 2, the variance in the formula 3 is minimized, and the optimal weight is obtained, which is expressed as:
in the formula, only the sigma is determined j The optimal weight in the data fusion process is obtained;
and step four, controlling the vehicle body to enter a preset lane.
2. The method for controlling lane-changing coordination of an automatically driven vehicle in a congested road according to claim 1, wherein: the road section congestion state information is acquired by adopting communication data of a navigation system;
the navigation system gives an early warning on road congestion, the feedback comprises a congestion distance and a congestion estimated time length, road planning is activated in advance, and a request lane change instruction is sent when a congested road section is not entered.
3. The method for controlling lane-changing coordination of an automatically driven vehicle in a congested road according to claim 2, wherein: and after the lane change instruction is executed, automatically entering a driving mode to switch driving states, prompting a driver to select, and after the driver does not select or selects automatic driving, adopting an automatic driving lane change mode.
4. A method for controlling lane-changing coordination of an automatically driven vehicle in a congested road according to claim 3, wherein: the automatic driving lane change mode adopts a front camera, a rear camera and a radar system to acquire front and rear vehicle states through a fusion technology, and comprises the following steps:
A. the distance from the front car exceeds 1.5m, and the front car turns on the steering lamp,
B. the distance from the front car exceeds 1.5m, and the front car does not turn on the steering lamp,
C. the distance from the rear vehicle exceeds 1m, the rear vehicle does not turn on the steering lamp,
D. the distance from the rear vehicle exceeds 1m, the rear vehicle turns on the steering lamp,
after meeting the B and C states, entering a pre-steering state;
after the A state is met, entering a waiting mode;
after the D state is met, whistling early warning is carried out, and then a pre-steering state is entered;
the pre-steering comprises the steps of deflecting the front head, locally pressing or pressing a dotted line, waiting and detecting the side coming vehicle.
5. The method for controlling lane-changing coordination of an automatically driven vehicle in a congested road according to claim 4, wherein: the automatic driving lane change mode adopts a roll radar system fusion algorithm for coordination, and the identification of the lane-facing vehicle information comprises the following steps:
s1, no vehicles are used in the adjacent road,
s2, when the vehicle is in a lane and is in a moving state,
s3, when the vehicle is in a road and in a stationary state,
the roll radar system recognizes and acquires S1 state information, enters a preset lane,
the roll radar system recognizes and acquires S2 state information, performs whistle warning, enters a preset lane when the vehicle is decelerated or stopped after the vehicle is sideways,
and the roll radar system recognizes and acquires S3 state information, waits, and enters S2 state when the vehicle moves, and waits for entering a preset lane.
6. The method for controlling lane-changing coordination of an automatically driven vehicle in a congested road according to claim 1, wherein: the lane change coordination request activation comprises a driver manual operation activation congestion lane change instruction, a driving auxiliary system acquires road congestion information fed back by a navigation system to activate the congestion lane change instruction, and the driving auxiliary system acquires driving data to judge that the vehicle is in a congestion state and activates the congestion lane change instruction, and activates the congestion lane change instruction when a driver is in a congestion road section to re-plan a road and needs lane change steering;
after the congestion lane change instruction is in an activated state, the driving mode switching state is required to be entered, and after the automatic driving mode lane change is locked, lane change coordination control is performed.
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