CN105730443B - Vehicle lane change control method and system - Google Patents
Vehicle lane change control method and system Download PDFInfo
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- CN105730443B CN105730443B CN201610214103.7A CN201610214103A CN105730443B CN 105730443 B CN105730443 B CN 105730443B CN 201610214103 A CN201610214103 A CN 201610214103A CN 105730443 B CN105730443 B CN 105730443B
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000004888 barrier function Effects 0.000 claims abstract description 23
- 230000003447 ipsilateral effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 description 14
- 230000008901 benefit Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/205—Steering speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of vehicle lane change control method and systems, belong to field of vehicle safety.This method comprises: obtain to lane change vehicle range data, the range data be the vehicle and positioned at itself rear and with itself distance between nearest barrier, the barrier be located at wait enter lane in；Judge whether the range data is less than collision distance threshold value；If the range data is less than the collision distance threshold value, judge whether the vehicle is located at danger zone, which is the region being currently located at a distance from the middle line in lane more than pre-determined distance threshold value with the vehicle；If the vehicle is located at the danger zone, the vehicle is controlled to far from the direction running being somebody's turn to do wait enter lane.The vehicle that vehicle lane change control system provided by the invention is used to treat lane change is controlled, so that vehicle can exclude dangerous situation with itself, to eliminate security risk of vehicle during lane change when the vehicle of lane change collides danger during lane change.
Description
Technical field
The present invention relates to field of vehicle safety, in particular to a kind of vehicle lane change control method and system.
Background technique
In recent years, as science and technology and expanding economy, vehicle population are also grown simultaneously.With driving vehicle on highway
Increase, traffic accident is increasingly common in people's daily life.In traffic accident, many accidents are by driving
Caused by member is knocked into the back, is scraped with rear side vehicle in lane change.Therefore, how to guarantee vehicle safety lane change, reduce lane change
Traffic accident in journey is increasingly valued by people.
In the prior art, vehicle can monitor front vehicle at a distance from itself during lane change, and be fed back to
Driver, front vehicle and itself when being closer, vehicle can sound an alarm, to remind driver.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems:
In the prior art, although vehicle can remind driver during lane change, finally danger is arranged
The people or driver removed.In the actual environment, alarm is sounded, and driver generally requires certain reaction time, causes to drive
Member can not exclude lane change dangerous situation in first time, and therefore, there are still some potential safety problemss for this method.
Summary of the invention
In order to solve problems in the prior art, the embodiment of the invention provides a kind of vehicle lane change control method and systems.
The technical solution is as follows:
On the one hand, a kind of vehicle lane change control method is provided, which comprises
Obtain to lane change vehicle range data, the range data be the vehicle be located at itself rear and with from
Distance of the body between nearest barrier, the barrier are located at wait enter in lane；
Judge whether the range data is less than collision distance threshold value；
If the range data is less than the collision distance threshold value, judge whether the vehicle is located at danger zone, institute
Stating danger zone is the region at a distance from the middle line that the vehicle is currently located lane more than pre-determined distance threshold value；
If the vehicle is located at the danger zone, the vehicle is controlled to far from the direction row wait enter lane
It sails.
Optionally, the vehicle includes at least two radars for being located at the left and right vehicle wheel two sides, and the acquisition is to lane change
The range data of vehicle include:
The range data that specified radar measures is obtained, the specified radar is opened during lane change with the vehicle
Turn signal to be located at the vehicle ipsilateral.
Optionally, it is described judge the vehicle whether positioned at danger zone include:
First distance and second distance are obtained, the first distance is that the designated position of the vehicle is currently located away from itself
The distance of the left-hand lane line in lane, the second distance are the designated position of the vehicle away from the right side for itself being currently located lane
The distance of side lane line；
Judge whether the difference of the first distance and the second distance is greater than preset threshold；
If the first distance and the difference of the second distance are greater than the preset threshold, it is determined that the vehicle is located at
The danger zone.
Optionally, the control vehicle, which drive according to preset rules, includes:
The steering wheel for controlling the vehicle rotates specified angle to assigned direction, and the assigned direction is to keep the vehicle remote
From the direction wait enter lane, the specified angle is obtained according to first angle calculation formula, and the first angle calculates
Formula are as follows:
Wherein, θ is the specified angle, and when ε is 1 ° of wheel going direction changing of the vehicle, the steering wheel needs
The degree of rotation,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle.
Optionally, the wheel direction of advance adjustment angle is obtained according to second angle calculation formula, the second angle
Calculation formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is the current direction of travel and the vehicle of the vehicle
It is currently located the degree of the angle of the middle line in lane, D1For the vehicle designated position away from the left side for itself being currently located lane
The distance value of lane line, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v
For the current travel speed of the vehicle, t is the system update primary required time of the vehicle loading.
On the other hand, a kind of vehicle lane change control system is provided, the system comprises: apart from acquisition device and drive control
Device processed；
It is described apart from acquisition device, for obtaining the range data to lane change vehicle, the range data is the vehicle
Be located at itself rear and with itself distance between nearest barrier, the barrier be located at wait enter lane in；
The steering control device, for judging whether the range data is less than collision distance threshold value；
The steering control device is also used to when the range data is less than the collision distance threshold value, described in judgement
Whether vehicle is located at danger zone, and the danger zone is to be currently located at a distance from the middle line in lane with the vehicle more than default
The region of distance threshold；
The steering control device is also used to when the vehicle is located at the danger zone, controls the vehicle to remote
From the direction running wait enter lane.
Optionally, the distance detector includes at least two radars and data acquisition component, at least two thunder
Up to be located at the left and right vehicle wheel two sides, and, be located at the rear of vehicle, for measure between the vehicle and rear obstacle away from
From；
The data acquisition component, for obtaining the range data for specifying radar to measure at least two radar, institute
Stating specified radar is to be located at the ipsilateral radar of the vehicle with the turn signal that the vehicle is opened during lane change.
Optionally, at least two radar is millimetre-wave radar.
Optionally, the steering control device includes camera and processing component；
The camera is located at the front end of the vehicle, the lane line for being currently located lane for shooting the vehicle；
The processing component, the vehicle for being shot according to the camera are currently located the lane line in lane, benefit
With image processing techniques, first distance and second distance are obtained, the first distance is the designated position of the vehicle away from itself
It is currently located the distance of the left-hand lane line in lane, the second distance is that the designated position of the vehicle is currently located away from itself
The distance of the right-hand lane line in lane；
The processing component, is also used to judge whether the difference of the first distance and the second distance is greater than default threshold
Value；
The processing component is also used to be greater than the preset threshold in the first distance and the difference of the second distance
When, determine that the vehicle is located at the danger zone.
Optionally, the designated position is the position where the camera.
Optionally, the steering control device includes automatic Pilot component；
The automatic Pilot component, the steering wheel for controlling the vehicle rotates specified angle to assigned direction, described
Assigned direction is to make the vehicle far from the direction wait enter lane, and the specified angle is according to first angle calculation formula
It obtains, the first angle calculation formula are as follows:
Wherein, θ is the specified angle, and when ε is 1 ° of wheel going direction changing of the vehicle, the steering wheel needs
The degree of rotation,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle.
Optionally, the wheel direction of advance adjustment angle is obtained according to second angle calculation formula, the second angle
Calculation formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is the current direction of travel and the vehicle of the vehicle
It is currently located the degree of the angle of the middle line in lane, D1For the vehicle designated position away from the left side for itself being currently located lane
The distance value of lane line, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v
For the current travel speed of the vehicle, t is the system update primary required time of the vehicle loading.
Technical solution provided in an embodiment of the present invention has the benefit that
By showing that the vehicle has the danger collided by rear car in the range data of the vehicle to lane change, and, in the vehicle
When deviateing the distance for being currently located lane middle line more than pre-determined distance threshold value, the vehicle is controlled to far from the direction wait enter lane
Traveling, so that vehicle can exclude dangerous situation automatically when the vehicle of lane change collides danger during lane change, thus
Eliminate security risk of vehicle during lane change.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of vehicle lane change control method provided in an embodiment of the present invention.
Fig. 2 is the flow chart of vehicle lane change control method provided in an embodiment of the present invention.
Fig. 3 is the structural schematic diagram of vehicle lane change control system 300 provided in an embodiment of the present invention.
Fig. 4 is the structural schematic diagram of distance detector 310 provided in an embodiment of the present invention.
Fig. 5 is the structural schematic diagram of steering control device 320 provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Referring to FIG. 1, it illustrates the flow charts of vehicle lane change control method provided by one embodiment of the present invention.Such as figure
Shown in 1, which can include but is not limited to following steps:
Step 110, the range data that itself is obtained to the vehicle of lane change, the range data are the vehicle and are located at behind
Side and with itself distance between nearest barrier, the barrier be located at wait enter lane in.
Step 120, the vehicle judge whether the range data is less than collision distance threshold value.
If step 130, the range data are less than the collision distance threshold value, which judges whether itself is located at danger area
Domain, the danger zone are the region being currently located at a distance from the middle line in lane more than pre-determined distance threshold value with the vehicle.
If step 140, the vehicle are located at the danger zone, the vehicle control itself is to far from the side being somebody's turn to do wait enter lane
To traveling.
In conclusion vehicle lane change control method provided in this embodiment, passes through the range data in the vehicle to lane change
Show that the vehicle has the danger collided by rear car, and, the vehicle deviate be currently located lane middle line distance be more than it is default away from
When from threshold value, the vehicle is controlled to the separate direction running wait enter lane, so that when the vehicle to lane change is in the process of lane change
In collide danger when, vehicle can exclude dangerous situation automatically, to eliminate security risk of vehicle during lane change.
In the first possible embodiment, which includes at least two radars for being located at the left and right vehicle wheel two sides,
The acquisition includes: to the range data of the vehicle of lane change
The range data that specified radar measures is obtained, the steering which opens during lane change
Lamp position is ipsilateral in the vehicle.
In second of possible embodiment, this judge the vehicle whether positioned at danger zone include:
First distance and second distance are obtained, which is that the designated position of the vehicle is currently located lane away from itself
Left-hand lane line distance, the second distance be the vehicle designated position away from the right-hand lane line for itself being currently located lane
Distance；
Judge whether the first distance and the difference of the second distance are greater than preset threshold；
If the first distance and the difference of the second distance are greater than the preset threshold, it is determined that the vehicle is located at the danger area
Domain.
In the third possible embodiment, the control vehicle, which drive according to preset rules, includes:
It controls the steering wheel of the vehicle and rotates specified angle to assigned direction, which is to make the vehicle far from should be to
Into the direction in lane, which obtains according to first angle calculation formula, the first angle calculation formula are as follows:
Wherein, θ is the specified angle, when ε is 1 ° of wheel going direction changing of the vehicle, what direction disk needed to rotate
Degree,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle.
In the 4th kind of possible embodiment, wheel direction of advance adjustment angle is obtained according to second angle calculation formula
It arrives, the second angle calculation formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is the current direction of travel of the vehicle and the current institute of the vehicle
In the degree of the angle of the middle line in lane, D1For the vehicle designated position away from the left-hand lane line for itself being currently located lane
Distance value, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v is that the vehicle is worked as
Preceding travel speed, t are the system update primary required time of the vehicle loading.
All the above alternatives can form alternative embodiment of the invention using any combination, herein no longer
It repeats one by one.
Referring to FIG. 2, it illustrates the flow charts of vehicle lane change control method provided by one embodiment of the present invention.Such as figure
Shown in 2, which can include but is not limited to following steps:
Step 210 obtains the range data that specified radar measures to the vehicle of lane change, the specified radar with should be to lane change
The turn signal opened during lane change of vehicle be located at that the vehicle is ipsilateral, which is that this waits for the vehicle of lane change and is located at
Itself rear and with itself distance between nearest barrier, the barrier be located at wait enter lane in.
Vehicle lane change control method provided by the invention can have the danger collided by rear car in the vehicle to lane change,
And the vehicle for waiting for lane change should be controlled to far from the direction running wait enter lane when the vehicle of lane change is in danger zone.
In order to realize technical solution of the present invention, it is necessary first to judge that this waits for that the vehicle of lane change whether there is the danger collided by rear car,
Wherein, step 210 and step 220 are to judge that this waits for that the vehicle of lane change whether there is the danger collided by rear car, for letter
Change explanation, hereinafter, " vehicle to lane change " is referred to as " vehicle " by the present invention.
In the present invention, which can be by measuring itself and being located at itself rear and with itself apart from nearest obstacle
Distance between object whether there is the danger collided by rear car to judge itself, wherein and the barrier is located at wait enter in lane,
And the barrier is generally motor vehicles, specifically:
In practical applications, when the vehicle is ready for lane change, the turn signal of the vehicle will be opened, at this point, the vehicle
Execute obtain range data operation.According to the difference in the vehicle lane change direction, the technical process of above-mentioned acquisition range data
Also slightly has difference, in the following, the present invention will be from the vehicle lane change and two kinds of situations of lane change to the left to the right, to acquisition distance
The particular technique process of data is illustrated.
One, vehicle lane change to the right.In one embodiment of the invention, which can include at least two and be located at
Radar at left and right sides of itself, if the vehicle to the right lane change when, that is to say, when which is prepared to enter into right-hand lane, the vehicle
Right turn lamp open, after detecting that right turn lamp is opened, which, which obtains, is located at the radar of the vehicle right side and measures
Range data.
Two, vehicle lane change to the left.If the vehicle to the left lane change when, that is to say, the vehicle be prepared to enter into left side vehicle
When road, then the left steering lamp of the vehicle is opened, and after detecting that left steering lamp is opened, which, which obtains, is located at the vehicle left side
The range data that radar measures.
Since the investigative range of radar is a sector, the steering lamp position opened during lane change with the vehicle
Distance of the barrier away from the vehicle being located at wait enter in lane can be measured in the ipsilateral radar of the vehicle.
It should be noted that "left", "right" described above of the invention is for the vehicle forward direction.
It should also be noted that, above-described two kinds of of the present invention obtain range data technical process be the vehicle extremely
It is carried out under the premise of the radars being located at left and right sides of itself including two less.In practical applications, which can only include
One radar, alternatively, the vehicle may include multiple radars, but multiple radar can be ipsilateral etc. positioned at the vehicle, the present invention
This is not especially limited.In these cases, the present invention in step 210, the distance that an available radar measures
Data, alternatively, the range data that any of available multiple radar or any number of radars measure, the present invention is to this
Also it is not specifically limited.
It should also be noted that, in practical applications, other than using radar surveying range data, other can also be used
Mode measures range data, such as uses infrared distance measurement equipment, and the present invention is also not specifically limited this.
Step 220, the vehicle judge whether the range data is less than collision distance threshold value, if the range data is less than collision
Distance threshold thens follow the steps 230, if the range data is not less than collision distance threshold value, terminates process.
In practical application, if the vehicle away from be located at itself rear and with itself distance between nearest barrier compared with
Closely, it that is to say, which is less than collision distance threshold value, then illustrates that the vehicle has the danger collided by the barrier, then
The vehicle, which carries out lane change, at this time will have risk, and in this case, the present invention needs to be implemented step 230.
If the vehicle, should away from farther out, that is to say positioned at itself rear and with itself distance between nearest barrier
Range data is not less than collision distance threshold value, then illustrates that the danger collided by the barrier is not present in the vehicle, then the vehicle at this time
Process can be terminated in this case there is no risk by carrying out lane change, still be controlled by driver the vehicle.
It should be noted that above-mentioned collision distance threshold value can be carried out by technical staff according to history lane change casualty data etc.
Setting, can also be set by driver according to the driving experience of oneself, for example, in one embodiment of the invention, it should
Collision distance threshold value can be 7 meters, and the present invention is not specifically limited in this embodiment.
Step 230, the vehicle obtain first distance and second distance, which is the designated position of the vehicle away from certainly
Body is currently located the distance of the left-hand lane line in lane, which is that the designated position of the vehicle is currently located vehicle away from itself
The distance of the right-hand lane line in road.
It is collided as described above, vehicle lane change control method provided by the invention needs to exist in the vehicle to lane change by rear car
Danger, and, should just control the vehicle for waiting for lane change to far to entrance lane when the vehicle of lane change be in danger zone
Direction running.Wherein, in the present invention, if range data is less than collision distance threshold value, illustrate that the vehicle exists and touched by rear car
The danger hit, in this case, the present invention also needs to judge whether the vehicle is located in danger zone, step 230 and step
240 be to judge whether the vehicle is located at the particular technique process of danger zone, wherein the danger zone is current with the vehicle
The distance of the middle line in place lane is more than the region of pre-determined distance threshold value, which is the designated position of the vehicle away from itself
It is currently located the distance of the left-hand lane line inside edge in lane, which is that the designated position of the vehicle is current away from itself
The distance of the right-hand lane line inside edge in place lane.
As noted previously, as the danger zone is to be currently located at a distance from the middle line in lane with the vehicle more than pre-determined distance
Therefore the region of threshold value can be currently located the distance value of the middle line in lane by vehicle deviation whether to judge the vehicle
Positioned at danger zone, further, the present invention can calculate the vehicle by above-mentioned first distance and second distance and deviate currently
The distance value of the middle line in place lane.Therefore, in order to judge whether the vehicle is in danger zone, the present invention needs to obtain above-mentioned
First distance and second distance.
In the following, the present invention will be briefly described the technical process for obtaining first distance and second distance: in reality
In, which can be set camera, and the lane line which can be currently located lane to the vehicle is clapped
It takes the photograph, obtains lane line picture, then, which can be used image enhancement technique enhancing lane line edge, and then, utilization is adaptive
It answers Binarization methods to extract lane line edge, then, becomes according to lane line feature extraction lane line inside edge, then by Hough
It changes and fits until line, finally obtain stable lane line using lane line tracer technique, according to the calibration result of camera, i.e.,
It can measure and obtain first distance and second distance, wherein designated position described above is the position of the camera.
Certainly, in practical applications, there is also the method for other measurement first distances and second distance, the present invention is herein
No longer repeat one by one, and, the mode of above-mentioned acquisition first distance and second distance is only exemplary, and cannot limit this hair
It is bright.
Step 240, the vehicle judge whether the difference of the first distance and the second distance is greater than preset threshold, if this
The difference of one distance and the second distance is greater than preset threshold, then the vehicle is located at danger zone, execution step 250, if this
One distance and the difference of the second distance are not more than preset threshold, then terminate process.
As described above, the present invention can calculate vehicle deviation by above-mentioned first distance and second distance and be currently located
The distance value of the middle line in lane, the calculation formula can be with are as follows:
Wherein, Δ x is that the vehicle deviates the distance value for being currently located the middle line in lane, D1For first distance, D2For second away from
From.By above-mentioned calculation formula it is found that first distance and the difference of second distance are 2 Δ x, by judging it is default whether 2 Δ x are greater than
Threshold value can judge whether the distance value for the middle line that vehicle deviation is currently located lane reaches the vehicle and be in danger area indirectly
The standard in domain.For example, D1It is 1 meter, D2It is 1.5 meters, and pre-determined distance threshold value can be 0.2 meter, then first distance and second at this time
The difference of distance is greater than pre-determined distance threshold value, illustrates that the vehicle is in danger zone.
Certainly, in practical applications, can also be that is to say by judging Δ x, the difference of first distance and second distance
Whether half is greater than threshold value to judge whether the vehicle is located at danger zone, alternatively, judging the vehicle with other modes
Whether danger zone is located at, the present invention is not especially limited this.It should be noted that the preset threshold can be by technical staff
It is set, the present invention is not specifically limited preset threshold.
As described above, illustrating that the vehicle is located at danger if first distance and the difference of second distance are greater than preset threshold
Not only there is the danger collided by rear car in region, in this case, the vehicle, but also be located at danger zone, then the present invention needs at this time
Execute step 250.If first distance and the difference of second distance are not more than preset threshold, illustrate that the vehicle is not located at danger area
Domain, although the vehicle has the danger collided by rear car at this time, since the vehicle is not located at danger zone, then driver is complete
Therefore complete capable vehicle that excludes in this case, can terminate process by the danger that rear car is collided during lane change,
Still the vehicle is controlled by driver.
Step 250, vehicle control itself are to far from the direction running being somebody's turn to do wait enter lane.
If not only there is danger collide by rear car in the vehicle, but also positioned at danger zone, then at this point, driver be likely to can not
The danger that may be collided by rear car during first time excluding lane change, therefore, which can open automatic control mode,
And itself is controlled to far from the direction running being somebody's turn to do wait enter lane.
Specifically, the steering wheel which can control itself rotates specified angle to assigned direction, which is
Make the vehicle far from the direction being somebody's turn to do wait enter lane, which obtain according to first angle calculation formula, the first angle
Calculation formula are as follows:
Wherein, θ is the specified angle, when ε is 1 ° of wheel going direction changing of the vehicle, what direction disk needed to rotate
Degree,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle.
For example, if the vehicle there is currently the danger collided by rear car, and, which is located in danger zone, then the vehicle
It needs to open automatic control mode, makes the vehicle abandon continuing lane change, that is to say, control the vehicle to far from wait enter lane
Direction running, at this point, the vehicle can control steering wheel to make the vehicle far from wait enter lane direction rotate θ, wherein
ε can be 15,It can be 30 °, then θ is 450 ° at this time, hereValue can be calculated by following second angle calculation formula
It arrives, the second angle calculation formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is the current direction of travel of the vehicle and the current institute of the vehicle
In the degree of the angle of the middle line in lane, D1For the vehicle designated position away from the left-hand lane line for itself being currently located lane
Distance value, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v is that the vehicle is worked as
Preceding travel speed, t are the system update primary required time of the vehicle loading.
It should be noted that above-mentioned β can be by the vehicle when measuring first distance and second distance, by imaging leader
Determine result while measurement obtains.
It should also be noted that, in practical application, due to D1、D2Unit be generally rice, the unit of v is generally km/small
When, and the unit of t is generally second or millisecond, therefore, is calculated by above-mentioned second angle calculation formulaWhen be also contemplated that unit
Conversion.
For example, if β is 10 °, D1It is 1 meter, D2It is 1.5 meters, v is 20,000 ms/h, and t is 50 milliseconds, then at this time first to upper
It states parameter value and carries out unit conversion, then be calculated by above-mentioned second angle calculation formulaIt is 10.73 °
It should be noted that the sequencing of vehicle lane change control method step provided in an embodiment of the present invention can carry out
Appropriate adjustment, step according to circumstances can also accordingly be increased and decreased, and anyone skilled in the art is in the present invention
In the technical scope of exposure, the method that can readily occur in variation be should be covered by the protection scope of the present invention, therefore no longer
It repeats.
In conclusion vehicle lane change control method provided in this embodiment, passes through the range data in the vehicle to lane change
Show that the vehicle has the danger collided by rear car, and, the vehicle deviate be currently located lane middle line distance be more than it is default away from
When from threshold value, the vehicle is controlled to the separate direction running wait enter lane, so that when the vehicle to lane change is in the process of lane change
In collide danger when, vehicle can exclude dangerous situation automatically, to eliminate security risk of vehicle during lane change.
Referring to FIG. 3, it illustrates the structural representations of vehicle lane change control system 300 provided by one embodiment of the present invention
Figure.As shown in figure 3, the vehicle lane change control system 300 may include apart from acquisition device 310 and steering control device 320:
This is apart from acquisition device 310, and for obtaining the range data to lane change vehicle, which is the vehicle and position
In itself rear and with itself distance between nearest barrier, the barrier be located at wait enter lane in.
The steering control device 320, for judging whether the range data is less than collision distance threshold value.
The steering control device 320 is also used to judge that the vehicle is when the range data is less than the collision distance threshold value
No to be located at danger zone, which is to be currently located at a distance from the middle line in lane with the vehicle more than pre-determined distance threshold value
Region.
The steering control device 320 is also used to when the vehicle is located at the danger zone, controls the vehicle to far from should be to
Into the direction running in lane.
Referring to FIG. 4, in one embodiment of the invention, above-mentioned distance detector 310 may include: at least two
Radar 311 and data acquisition component 312:
At least two radar 311 is located at the left and right vehicle wheel two sides, and, it is located at the rear of vehicle, for measuring the vehicle
At a distance between rear obstacle.
The data acquisition component 312, for obtaining the range data for specifying radar to measure at least two radar 311,
The specified radar is to be located at the ipsilateral radar of the vehicle with the turn signal that the vehicle is opened during lane change.
In one embodiment of the invention, which is millimetre-wave radar.
Referring to FIG. 5, in one embodiment of the invention, above-mentioned steering control device 320 may include: camera
321, processing component 322 and automatic Pilot component 323:
The camera 321 is located at the front end of the vehicle, the lane line for being currently located lane for shooting the vehicle.
The processing component 322, the vehicle for being shot according to the camera 321 are currently located the lane line in lane, benefit
With image processing techniques, first distance and second distance are obtained, which is that the designated position of the vehicle is current away from itself
The distance of the left-hand lane line in place lane, the second distance are the designated position of the vehicle away from the right side for itself being currently located lane
The distance of side lane line.
The processing component 322, is also used to judge whether the first distance and the difference of the second distance are greater than preset threshold.
The processing component 322 is also used to when the first distance and the difference of the second distance are greater than the preset threshold, really
The fixed vehicle is located at the danger zone.
In one embodiment of the invention, which is the position where the camera 321.
The automatic Pilot component 323, the steering wheel for controlling the vehicle rotate specified angle to assigned direction, this is specified
Direction is to make the vehicle specified angle obtain according to first angle calculation formula far from should be wait enter the direction in lane, this
One angle calculation formula are as follows:
Wherein, θ is the specified angle, when ε is 1 ° of wheel going direction changing of the vehicle, what direction disk needed to rotate
Degree,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle.
Wherein, wheel direction of advance adjustment angle is obtained according to second angle calculation formula, which calculates public
Formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is the current direction of travel of the vehicle and the current institute of the vehicle
In the degree of the angle of the middle line in lane, D1For the vehicle designated position away from the left-hand lane line for itself being currently located lane
Distance value, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v is that the vehicle is worked as
Preceding travel speed, t are the system update primary required time of the vehicle loading.
In conclusion vehicle lane change control system provided in this embodiment, passes through the range data in the vehicle to lane change
Show that the vehicle has the danger collided by rear car, and, the vehicle deviate be currently located lane middle line distance be more than it is default away from
When from threshold value, the vehicle is controlled to the separate direction running wait enter lane, so that when the vehicle to lane change is in the process of lane change
In collide danger when, vehicle can exclude dangerous situation automatically, to eliminate security risk of vehicle during lane change.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of vehicle lane change control method, which is characterized in that the described method includes:
Obtain to lane change vehicle range data, the range data be the vehicle be located at itself rear and and itself away from
With a distance between nearest barrier, the barrier is located at wait enter in lane；
Judge whether the range data is less than collision distance threshold value；
If the range data is less than the collision distance threshold value, judge whether the vehicle is located at danger zone, the danger
Danger zone domain is the region being currently located at a distance from the middle line in lane more than pre-determined distance threshold value with the vehicle；
If the vehicle is located at the danger zone, the vehicle is controlled to far from the direction running wait enter lane,
The control vehicle includes: to far from the direction running wait enter lane
It controls the steering wheel of the vehicle and rotates specified angle to assigned direction, the assigned direction is makes the vehicle far from institute
The direction wait enter lane is stated, the specified angle is obtained according to first angle calculation formula, the first angle calculation formula
Are as follows:
Wherein, θ is the specified angle, and when ε is 1 ° of wheel going direction changing of the vehicle, the steering wheel needs to rotate
Degree,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle,
The wheel direction of advance adjustment angle is obtained according to second angle calculation formula, the second angle calculation formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is that the current direction of travel of the vehicle and the vehicle are current
The degree of the angle of the middle line in place lane, D1For the vehicle designated position away from the left-hand lane for itself being currently located lane
The distance value of line, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v is institute
The current travel speed of vehicle is stated, t is the system update primary required time of the vehicle loading.
2. the method according to claim 1, wherein the vehicle, which includes at least two, is located at the left and right vehicle wheel
The radar of two sides, described obtain include: to the range data of the vehicle of lane change
The range data that specified radar measures is obtained, what the specified radar and the vehicle were opened during lane change turns
It is ipsilateral in the vehicle to lamp position.
3. judging whether the vehicle is located at danger zone packet the method according to claim 1, wherein described
It includes:
First distance and second distance are obtained, the first distance is that the designated position of the vehicle is currently located lane away from itself
Left-hand lane line distance, the second distance be the vehicle designated position away from the right side vehicle for itself being currently located lane
The distance of diatom；
Judge whether the difference of the first distance and the second distance is greater than preset threshold；
If the first distance and the difference of the second distance are greater than the preset threshold, it is determined that the vehicle is located at described
Danger zone.
4. a kind of vehicle lane change control system, which is characterized in that the system comprises apart from acquisition device and steering control device；
It is described apart from acquisition device, for obtaining the range data to lane change vehicle, the range data is the vehicle and position
In itself rear and with itself distance between nearest barrier, the barrier be located at wait enter lane in；
The steering control device, for judging whether the range data is less than collision distance threshold value；
The steering control device is also used to judge the vehicle when the range data is less than the collision distance threshold value
Whether danger zone is located at, and the danger zone is to be currently located at a distance from the middle line in lane with the vehicle more than pre-determined distance
The region of threshold value；
The steering control device is also used to when the vehicle is located at the danger zone, controls the vehicle to far from institute
The direction running wait enter lane is stated,
The steering control device includes automatic Pilot component；
The automatic Pilot component, the steering wheel for controlling the vehicle rotates specified angle to assigned direction, described specified
Direction is to make the vehicle far from the direction wait enter lane, and the specified angle is obtained according to first angle calculation formula
It arrives, the first angle calculation formula are as follows:
Wherein, θ is the specified angle, and when ε is 1 ° of wheel going direction changing of the vehicle, the steering wheel needs to rotate
Degree,The wheel direction of advance being currently located needed for lane is advanced to be maintained at the vehicle adjusts the angle,
The wheel direction of advance adjustment angle is obtained according to second angle calculation formula, the second angle calculation formula are as follows:
Wherein,For wheel direction of advance adjustment angle, β is that the current direction of travel of the vehicle and the vehicle are current
The degree of the angle of the middle line in place lane, D1For the vehicle designated position away from the left-hand lane for itself being currently located lane
The distance value of line, D2For the vehicle designated position away from the distance value for the right-hand lane line for itself being currently located lane, v is institute
The current travel speed of vehicle is stated, t is the system update primary required time of the vehicle loading.
5. vehicle lane change control system according to claim 4, which is characterized in that it is described apart from acquisition device include at least
Two radars and data acquisition component, at least two radar are located at the left and right vehicle wheel two sides, and, after being located at the vehicle
Side, for measure the vehicle between rear obstacle at a distance from；
The data acquisition component, for obtaining the range data for specifying radar to measure at least two radar, the finger
Determining radar is to be located at the ipsilateral radar of the vehicle with the turn signal that the vehicle is opened during lane change.
6. vehicle lane change control system according to claim 5, which is characterized in that at least two radar is millimeter wave
Radar.
7. vehicle lane change control system according to claim 4, which is characterized in that the steering control device includes camera shooting
Head and processing component；
The camera is located at the front end of the vehicle, the lane line for being currently located lane for shooting the vehicle；
The processing component, the vehicle for being shot according to the camera are currently located the lane line in lane, utilize figure
As processing technique, first distance and second distance are obtained, the first distance is that the designated position of the vehicle is current away from itself
The distance of the left-hand lane line in place lane, the second distance are that the designated position of the vehicle is currently located lane away from itself
Right-hand lane line distance；
The processing component, is also used to judge whether the difference of the first distance and the second distance is greater than preset threshold；
The processing component is also used to when the first distance and the difference of the second distance are greater than the preset threshold,
Determine that the vehicle is located at the danger zone.
8. vehicle lane change control system according to claim 7, which is characterized in that the designated position is the camera
The position at place.
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