CN107323450A - The control method and device of vehicle lane change, storage medium - Google Patents
The control method and device of vehicle lane change, storage medium Download PDFInfo
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- CN107323450A CN107323450A CN201710427650.8A CN201710427650A CN107323450A CN 107323450 A CN107323450 A CN 107323450A CN 201710427650 A CN201710427650 A CN 201710427650A CN 107323450 A CN107323450 A CN 107323450A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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Abstract
A kind of control method of vehicle lane change, device and computer-readable storage medium, the method for one embodiment include：Selection target track, obtains the track center line in target track；Preview distance is determined according to current vehicle speed and angle is taken aim in advance, determines currently to take aim in advance a little according to preview distance and pre- angle of taking aim at；Lateral deviation and heading angle deviation are a little determined with Current vehicle course according to current take aim in advance；Asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner；Meet it is pre- take aim at update condition when, return it is described according to current vehicle speed determine preview distance and it is pre- take aim at angle, according to preview distance and it is pre- take aim at the step of angle determines current take aim in advance, until what is determined current pre- takes aim at a little in the predetermined distance range of the track center line in the target track.This embodiment scheme improves security of the vehicles such as automobile during automatic lane change.
Description
Technical field
The present invention relates to pilotless automobile technical field, more particularly to a kind of control method of vehicle lane change, Yi Zhongche
The control device and a kind of computer-readable storage medium of lane change.
Background technology
Pilotless automobile is an important research direction in current technical field of vehicle, wherein, unmanned vapour
The lane change control of car also turns into an important content in the intelligent control of pilotless automobile.Current existing unmanned vapour
The automatic lane change control of car is not very perfect, all more or less there are some serious potential safety hazards, for example, the very appearance having
Easily cause crosswise joint overshoot and occur it is out of control, pre-decelerating the need for having and easily knocked into the back by back car.
For example, a kind of current existing automatic lane change controlling party followed based on the virtual ideal trajectory of trapezoidal side acceleration
Method, it sets a time-based transverse movement geometric locus for intelligent vehicle in advance, is only considering that speed and steering wheel are actual
Following vehicle side acceleration is gone under the influence of corner factor.However, this scheme is difficult to consider specific road conditions and lateral
The influence of acceleration transducer measurement error and the control factor such as error, and the transverse movement geometric locus of setting once terminates
And the headstock identification that will have a strong impact on lane change process and terminate rear lane information not concordant with track, so that in the presence of more serious
Potential safety hazard.
The content of the invention
Based on this, the purpose of the embodiment of the present invention is to provide a kind of control method of vehicle lane change, a kind of vehicle lane change
Control device and a kind of computer-readable storage medium, to improve security of the vehicles such as automobile during automatic lane change.
To reach above-mentioned purpose, the embodiment of the present invention uses following technical scheme：
A kind of control method of vehicle lane change, including step：
Selection target track, obtains the track center line in target track；
Preview distance is determined according to current vehicle speed and angle is taken aim in advance, determines currently to take aim in advance according to preview distance and pre- angle of taking aim at
Point；
Lateral deviation and heading angle deviation are a little determined with Current vehicle course according to current take aim in advance；
Asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner；
Meet it is pre- take aim at update condition when, return and described preview distance is determined according to current vehicle speed and angle, root is taken aim in advance
According to preview distance and it is pre- take aim at the step of angle determines current take aim in advance, until what is determined current pre- takes aim at a little in the target track
In the predetermined distance range of track center line.
A kind of control device of vehicle lane change, including：
Target track determining module, for selection target track, obtains the track center line in target track；
Currently take aim at a determining module in advance, for according to current vehicle speed determine preview distance and it is pre- take aim at angle, and according to taking aim in advance
Distance and pre- angle of taking aim at determine currently to take aim in advance a little, be additionally operable to meet take aim at update condition in advance when, it is again true according to current vehicle speed
Determine preview distance and it is pre- take aim at angle, determine currently to take aim in advance a little according to preview distance and pre- angle of taking aim at, until the current of determination pre- is taken aim at
Point is in the predetermined distance range of the track center line in the target track；
Course changing control module, for a little determining lateral deviation and course angle with Current vehicle course according to current take aim in advance
Deviation, and asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner.
A kind of storage medium, is stored thereon with computer program, is realized when the program is executed by processor as described above
The control method of vehicle lane change.
Based on the scheme of embodiment as described above, its it is determined that behind target track, obtain the track center line in target track,
And determined and currently take aim at a little in advance based on current vehicle speed, so as to current be taken aim in advance a little and Current vehicle course determines that transverse direction is inclined according to described
Difference and heading angle deviation, are asked, control according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner
The steering of vehicle processed, and meet it is pre- take aim at update condition when, redefine it is current take aim in advance a little, said process is repeated, until true
It is fixed it is current it is pre- take aim at a little in the predetermined distance range of the track center line in the target track so that it is not a little directly to set to take aim in advance
It is scheduled on the track center line in target track, but multiple pre- cars taken aim at a little gradually to approach target track is set during lane change
Road center line, so as to effectively prevent the crosswise joint overshoot during automatic lane change, improves vehicle during automatic lane change
Security.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the control method of the vehicle lane change in one embodiment；
Fig. 2 is the schematic flow sheet of the control method of the vehicle lane change in a specific example；
Fig. 3 is the principle schematic of a track center line using the track that set the goal really in example；
Fig. 4 is one using the pre- schematic diagram taken aim at a little determined during vehicle lane change in example；
Fig. 5 is a principle schematic using the horizontal preview control during vehicle lane change in example；
Fig. 6 is one has the determination pre- principle schematic taken aim at a little during vehicle using front in example；
Fig. 7 is the schematic flow sheet of the control method of the vehicle lane change in another specific example；
Fig. 8 is to determine the pre- principle schematic taken aim at a little on the outside of target track during vehicle in an application example；
Fig. 9 is the structural representation of the control device of the vehicle lane change in one embodiment.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But, the present invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more saturating
It is thorough comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
The schematic flow sheet of the control method of vehicle lane change in one embodiment is shown in Fig. 1.As shown in figure 1, should
Method in embodiment includes：
Step S101：Selection target track, obtains the track center line in target track；
Step S102：Preview distance is determined according to current vehicle speed and in advance angle is taken aim at, it is true to take aim at angle according to preview distance and in advance
Taken aim at a little in advance before settled；
Step S103：Lateral deviation and heading angle deviation are a little determined with Current vehicle course according to current take aim in advance；
Step S104：Asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner；
Step S105：Meet it is pre- take aim at update condition when, return and described preview distance determined and pre- according to current vehicle speed
Take aim at angle, according to preview distance and it is pre- take aim at the step of angle determines current take aim in advance, until what is determined current pre- takes aim at a little described
In the predetermined distance range of the track center line in target track.
Based on the scheme of embodiment as described above, its it is determined that behind target track, obtain the track center line in target track,
And determined and currently take aim at a little in advance based on current vehicle speed, so as to current be taken aim in advance a little and Current vehicle course determines that transverse direction is inclined according to described
Difference and heading angle deviation, are asked, control according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner
The steering of vehicle processed, and meet it is pre- take aim at update condition when, redefine it is current take aim in advance a little, said process is repeated, until true
It is fixed it is current it is pre- take aim at a little in the predetermined distance range of the track center line in the target track so that it is not a little directly to set to take aim in advance
It is scheduled on the track center line in target track, but multiple pre- cars taken aim at a little gradually to approach target track is set during lane change
Road center line, so as to effectively prevent the crosswise joint overshoot during automatic lane change, improves the vehicles such as automobile in automatic lane change
During security.
Wherein, in a specific example, above-mentioned lateral deviation can refer to currently takes aim at a little prolonging to Current vehicle course in advance
Stretch the vertical range of line, course angle error can refer to the extension line in Current vehicle course and target trajectory tangent line at current take aim in advance
Between angle.
Can be by by the car of the current lane residing for Current vehicle in the track center line in above-mentioned determination target track
Road center line translates a lane width to target track, obtains the track center line in target track.
During vehicle lane change, some special situations may be faced, such as current residing for Current vehicle
There is vehicle in front of track, kerb lane of the target track away from current lane has vehicle, in these cases, therefore be also required to
Consider to avoid the crosswise joint overshoot in the case of these.Illustrated respectively below in conjunction with both of these case.
Fig. 2 shows the schematic flow sheet of the control method of the vehicle lane change in a specific example, in the specific example
It is to be illustrated by taking the process of the lane change control in the case of having vehicle in front of the current lane residing for Current vehicle as an example.Its
The process of lane change control comprises the steps S201 to step S209.
Step S201：Selection target track, obtains the track center line in target track.
At selection target track, map datum and current road traffic environment can be combined to determine, it is selected
Target can be positioned at the track or the right positioned at Current vehicle travel direction on the left side of Current vehicle travel direction
Track.
When obtaining the track center line in target track, with reference to shown in Fig. 3, the track center line in target track and current lane
The distance of track center line is a lane width, therefore, is directly put down the track center line of current lane to the direction in target track
Move a lane width, you can obtain the track center line in target track.Can be specifically based on the current vehicle residing for Current vehicle
The track center line in road, and pre-set lane width, by by the track center line of the current lane residing for Current vehicle
The mode for translating a lane width to target track is obtained.Wherein, generally all it is to use during road construction planning
The lane width of mark carries out road construction, therefore lane width is typically a fixed value.
Step S202：Determine preview distance according to the first pre- a little more new strategy, current vehicle speed taken aim at and take aim at angle in advance, according to pre-
Take aim at distance and pre- angle of taking aim at determines currently to take aim in advance a little.
Here first takes aim at a little more new strategy in advance, it is only for need to consider the current vehicle residing for Current vehicle with following
There is the pre- otherness for taking aim at setting means during vehicle mutually to distinguish in front of road, will now set the pre- mode taken aim at a little and be named as first
A little more new strategy is taken aim in advance, in this example, can be with determining the current mode phase taken aim in advance a little in the embodiment shown in above-mentioned Fig. 1
Together.It is appreciated that in the scheme of the present embodiment, the first pre- target for taking aim at a little more new strategy is that progressively set each is currently taken aim in advance
Point can gradually approach the track center line in target track.
In the various embodiments of the invention, in order to avoid there is crosswise joint over control, lane change during automatic lane change
During the pre- selection taken aim at a little be to take asymptotic expression numerical procedure, i.e., take aim at the car for being a little not directly set at target track in advance
On road center line, but little by little approach target track center line.It is determined that it is current take aim in advance when, can be determination by the factor of speed
Preview distance and angle is taken aim in advance, so as to according to preview distance and pre- take aim at angle determination and currently take aim in advance a little.Fig. 4 shows one
Using each pre- schematic diagram taken aim at a little of gradual setting during vehicle lane change in example, as shown in figure 4, during lane change,
Progressively set it is each it is pre- take aim at the track center line that target track is a little gradually approached by asymptotic mode, constitute and pre- take aim at an arrowhead.
Based on speed setting preview distance and it is pre- take aim at angle when, can be set by calibration experiment speed with it is pre- take aim at away from
From with take aim in advance after the corresponding relation of angle, the corresponding relation can be stored, during actual lane change, looked into based on speed
Find corresponding preview distance and take aim at angle in advance.It is understood that speed and preview distance and the corresponding relation of angle is taken aim in advance,
Can be the value and a specific value for taking aim at angle in advance of one specific preview distance of a specific speed correspondence, in reality
During lane change, corresponding value is directly found.On the other hand, speed takes aim at the corresponding pass of angle with preview distance and in advance
In system or corresponding functional relation, i.e. corresponding relation, preview distance corresponding with specific speed and folder is taken aim in advance
Angle, is not specific preview distance and takes aim at the value of angle in advance, but be able to obtain the functional relation of the value of preview distance
With can obtain the functional relation of the pre- value for taking aim at angle, during actual lane change, after the number relational expression is found, then base
Specific preview distance is determined in each functional relation and takes aim at the value of angle in advance.The form of specific corresponding to relation, can be with base
Determined in calibration experiment result.
Step S203：Lateral deviation and heading angle deviation are a little determined with Current vehicle course according to current take aim in advance.
Lateral deviation e is defined as currently taking aim in advance a little to the vertical range between the extension line in Current vehicle course, course angle
Error eaBe defined as the extension line in Current vehicle course and it is current take aim in advance at angle between target trajectory tangent line.It calculates public
Formula can be：
E=d sin θs
ea=alpha-beta
Wherein, d is the barycenter and the current distance taken aim in advance a little of Current vehicle, and θ is the barycenter of Current vehicle and currently taken aim in advance
Angle between the line of point and vehicle course, α, β the cutting at currently taking aim in advance that be vehicle course angle and target trajectory respectively
Line angle.
Step S204：Asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner.
After lateral deviation and heading angle deviation is obtained, you can according to lateral deviation and heading angle deviation to steering controller
Outbound course disk corner is asked, and realizes horizontal preview control.The principle schematic of horizontal preview control in one application example
As shown in figure 5, it uses two Discrete PI D (ratio, integration, differential), respectively using lateral deviation and heading angle deviation as defeated
Enter, then give EPS (electronic power assist steering) course changing control using two PID output results sums as steering wheel angle request output
Device.
Step S205：Judge whether to meet and take aim at a update condition in advance.If meeting, into step S206.If it is not satisfied, then
Continue waiting for until meet it is pre- take aim at a update condition, or (the current of such as determination pre- is taken aim at a little when having completed lane change process
In the predetermined distance range of the track center line in target track) when, terminate current lane change process.
Wherein, here pre- takes aim at a update condition, and can combine actual techniques need to be set.For example, in a tool
In body application example, here pre- takes aim at a update condition, can be set as a predetermined amount of time, and the predetermined amount of time can be with
Millisecond is set for unit.In the case where not yet completing lane change process, then it can have updated and currently take aim in advance a little from the last time
When, it is spaced after the predetermined amount of time, it is believed that meet and pre- take aim at a update condition.
Step S206：Whether judge the front of the current lane residing for Current vehicle has vehicle.If no, returning above-mentioned
Step S202, using conventional first it is pre- take aim at a little more new strategy and redefine currently take aim in advance a little.If so, then entering step S207.
Wherein, when whether thering is the vehicle to judge to the front of the current lane residing for Current vehicle, it can have at present
Any possible mode of use carry out.
Step S207：Judging the first distance that Current vehicle is presently between position and the track center line in target track is
No to be more than the first distance threshold, if it is not, then returning to above-mentioned steps S202, it is again true to take aim at a little more new strategy in advance using conventional first
Taken aim at a little in advance before settled, if so, then entering step S208.
Step S208：Judge the first horizontal spacing subtract the body width of half Current vehicle difference whether be more than or
Equal to the first length, if so, then return to above-mentioned steps S202, pre- take aim at a little that more new strategy is redefined currently using conventional first
Take aim at a little in advance, if it is not, then entering step S209.
Wherein, the first horizontal spacing is the front vehicles of current lane and the lateral separation of line extended line, line extension
Line is Current vehicle and the current extended line for taking aim at line a little in advance.
Step S209：Determine preview distance according to the second pre- a little more new strategy, current vehicle speed taken aim at and take aim at angle in advance, according to pre-
Take aim at distance and pre- angle of taking aim at determines currently to take aim in advance a little.Then, return to step S703.
It can be seen that, in the scheme of the present embodiment, the second pre- target for taking aim at a little more new strategy is each current what is progressively set
When taking aim at the track center line for a little little by little approaching target track in advance, the first horizontal spacing is enabled to subtract the car of half Current vehicle
The difference of body width is more than or equal to the first length, and the need of crosswise joint overshoot can be avoided during vehicle to have in front of meeting
Ask.
As can be seen here, the front in an application example with reference to shown in Fig. 6, which has, determines that the pre- principle taken aim at a little is shown during vehicle
It is intended to, in the scheme of the present embodiment, when having vehicle in front of the current lane before lane change residing for Current vehicle, in lane change
(the first distance that Current vehicle is presently between position and the track center line in target track is more than first apart from threshold to front half section
Value) setting asymptotic expression is when taking aim in advance, it is contemplated that have to keep the horizontal spacing of safe enough when surmounting front truck with front truck, because
This by target track side translate gradually it is pre- take aim at a little, until the front vehicles of current lane are taken aim at Current vehicle (this car) and in advance
Half-breadth first length of first horizontal spacing than body width of point line extended line.First length can combine actual skill
Art needs to be configured, such as 50 centimetres, naturally it is also possible to be set as other values based on lane width.
On the other hand, in the examples described above, it is in the track for meeting Current vehicle and being presently in position and target track
Between center line first distance be less than the first distance threshold when, and the first horizontal spacing subtract half Current vehicle vehicle body it is wide
When the difference of degree is more than or equal to the first length, direct return to step S202 pre- takes aim at a little that more new strategy is redefined using first
It is current take aim in advance a little exemplified by illustrate, in actual techniques application or continuation takes aim at a little more new strategy weight in advance using second
New to determine currently to take aim in advance a little, can combine actual techniques needs to be set.
Fig. 7 shows the schematic flow sheet of the control method of the vehicle lane change in another specific example, the specific example
In be by the case that kerb lane of the target track away from current lane has vehicle lane change control process exemplified by said
It is bright.The process of its lane change control comprises the steps S701 to step S709.Wherein, following step S701-S705's is treated
Journey is identical with above-mentioned steps S201-S205 processing procedure, therefore the not reinflated narration in following examples.
Step S701：Selection target track, obtains the track center line in target track.
Step S702：Determine preview distance according to the first pre- a little more new strategy, current vehicle speed taken aim at and take aim at angle in advance, according to pre-
Take aim at distance and pre- angle of taking aim at determines currently to take aim in advance a little.
Step S703：Lateral deviation and heading angle deviation are a little determined with Current vehicle course according to current take aim in advance.
Step S704：Asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner.
Step S705：Judge whether to meet and take aim at a update condition in advance.If meeting, into step S706.If it is not satisfied, then
Continue waiting for until meet it is pre- take aim at a update condition, or (the current of such as determination pre- is taken aim at a little when having completed lane change process
In the predetermined distance range of the track center line in target track) when, terminate current lane change process.
Step S706：Whether kerb lane of the target track away from current lane has vehicle line ball traveling.If no, returning
Above-mentioned steps S702 is returned, if so, then entering step S707.
Wherein, whether there is vehicle line ball traveling to kerb lane of the target track away from current lane when judging, can
Carried out with existing at present using any possible mode.
Step S707：Judging the second distance that Current vehicle is presently between position and the track center line in target track is
It is no to be less than second distance threshold value, if it is not, above-mentioned steps S702 is then returned to, if so, then entering step S708.
Step S708：Judge the second horizontal spacing subtract the body width of half Current vehicle difference whether be more than or
Equal to the second length, if so, above-mentioned steps S702 is then returned to, if it is not, then entering step S709.
Wherein, the second horizontal spacing for it is current take aim in advance a little with the vehicle of kerb lane of the target track away from current lane it
Between lateral separation.
Step S709：Determine preview distance according to the 3rd pre- a little more new strategy, the current vehicle speed taken aim at and take aim at angle in advance, according to pre-
Take aim at distance and pre- angle of taking aim at determines currently to take aim in advance a little.Then, return to step S703.
It can be seen that, in the scheme of the present embodiment, the 3rd pre- target for taking aim at a little more new strategy is each current what is progressively set
When taking aim at the track center line for a little little by little approaching target track in advance, the second horizontal spacing is enabled to subtract the car of half Current vehicle
The difference of body width is more than or equal to the second length, has vehicle pressure to meet kerb lane of the target track away from current lane
Line can avoid the demand of crosswise joint overshoot when travelling.
As can be seen here, kerb lane of the target track away from current lane in an application example with reference to shown in Fig. 8
The pre- principle schematic taken aim at a little, in the scheme of the present embodiment, the outside car in target track are determined when having vehicle line ball traveling
When there is vehicle line ball traveling in road, lane change second half section (Current vehicle be presently in position and target track track center line it
Between second distance be less than second distance threshold value) setting asymptotic expression is when taking aim in advance, it is considered to be with the kerb lane in track to be become
Vehicle keeps the horizontal spacing of safe enough, therefore, by target track side translate gradually it is pre- take aim at a little, until take aim at a little with treating in advance
Half-breadth second length of the horizontal spacing than body width become between the kerb lane vehicle in track.Second length can be tied
Closing actual techniques needs to be configured, such as 50 centimetres, naturally it is also possible to be set as other values based on lane width.
On the other hand, in the examples described above, it is in the track for meeting Current vehicle and being presently in position and target track
When second distance between center line is more than second distance threshold value, and the second horizontal spacing subtract half Current vehicle vehicle body it is wide
When the difference of degree is more than or equal to the second length, direct return to step S702 pre- takes aim at a little that more new strategy is redefined using first
It is current take aim in advance a little exemplified by illustrate, in actual techniques application or directly use the 3rd takes aim at a little more new strategy weight in advance
New to determine currently to take aim in advance a little, can combine actual techniques needs to be set.
Based on thought same as mentioned above, the embodiment of the present invention also provides a kind of control device of vehicle lane change.Fig. 9
Show the structural representation of the control device of vehicle lane change in one embodiment.As shown in figure 9, the device bag of the embodiment
Include：
Target track determining module 901, for selection target track, obtains the track center line in target track；
A determining module 902 is currently taken aim in advance, for determining preview distance according to current vehicle speed and taking aim at angle in advance, and according to pre-
Take aim at distance and pre- angle of taking aim at determine currently to take aim in advance a little, be additionally operable to meet take aim at update condition in advance when, again according to current vehicle speed
Determine preview distance and take aim at angle in advance, determine currently to take aim in advance a little according to preview distance and pre- angle of taking aim at, until what is determined is current pre-
Take aim at a little in the predetermined distance range of the track center line in the target track；
Course changing control module 903, for a little determining lateral deviation and boat with Current vehicle course according to current take aim in advance
Asked to angular displacement, and according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner.
Based on the scheme of embodiment as described above, its it is determined that behind target track, obtain the track center line in target track,
And determined and currently take aim at a little in advance based on current vehicle speed, so as to current be taken aim in advance a little and Current vehicle course determines that transverse direction is inclined according to described
Difference and heading angle deviation, are asked, control according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner
The steering of vehicle processed, and meet it is pre- take aim at update condition when, redefine it is current take aim in advance a little, said process is repeated, until true
It is fixed it is current it is pre- take aim at a little in the predetermined distance range of the track center line in the target track so that it is not a little directly to set to take aim in advance
It is scheduled on the track center line in target track, but multiple pre- cars taken aim at a little gradually to approach target track is set during lane change
Road center line, so as to effectively prevent the crosswise joint overshoot during automatic lane change, improves the vehicles such as automobile in automatic lane change
During security.
Wherein, in a specific example, above-mentioned lateral deviation can refer to currently takes aim at a little prolonging to Current vehicle course in advance
Stretch the vertical range of line, course angle error can refer to the extension line in Current vehicle course and target trajectory tangent line at current take aim in advance
Between angle.
Target track determining module 901 it is determined that target track track center line when, can be by by Current vehicle institute
The track center line of the current lane at place translates a lane width to target track, obtains the track center line in target track.
During vehicle lane change, some special situations may be faced, such as current residing for Current vehicle
There is vehicle in front of track, therefore be also required to consider to avoid the crosswise joint overshoot in the case of these.
Therefore, in a specific example of the embodiment, as shown in figure 9, the device of the embodiment can also include：Before
Square vehicle detection module 904, the first distance measurement module 905.
Wherein, whether front vehicles detecting module 904, the front of the current lane residing for detection Current vehicle has vehicle.
First distance measurement module 905, determines that Current vehicle is presently between position and the track center line in target track
The first distance, and judge this first distance whether be more than the first distance threshold；
Now, it is above-mentioned currently to take aim at a determining module 902 in advance, also meet it is pre- take aim at update condition when, if front vehicles are visited
It is yes to survey the result of detection of module 904, and the result of detection of the first distance measurement module 905 is yes, again according to current vehicle speed
Determine preview distance and take aim at angle in advance, determine currently to take aim in advance a little according to preview distance and pre- angle of taking aim at, until the first horizontal spacing
The difference for subtracting the body width of half Current vehicle is more than or equal to the first length.Wherein, the first horizontal spacing is current
The front vehicles in track and the lateral separation of line extended line, line extended line are Current vehicle and the current line taken aim in advance a little
Extended line.
During vehicle lane change, it is also possible to which can face kerb lane of the target carriage road away from current lane has vehicle
Special circumstances, therefore be also required to consider to avoid the crosswise joint overshoot in the case of these.
Therefore, in another specific example of the embodiment, as shown in figure 9, the device of the embodiment can also include：
Outside vehicle detection module 906, second distance detecting module 907.
Wherein, whether outside vehicle detection module 906, detection kerb lane of the target track away from current lane has vehicle
Line ball is travelled.
Second distance detecting module 907, determines that Current vehicle is presently between position and the track center line in target track
Second distance, and judge the second distance whether be less than second distance threshold value.
Now, a determining module 902 is currently taken aim in advance, also meet it is pre- take aim at update condition when, if outside vehicle detection mould
The result of detection of block be it is yes, and second distance detecting module result of detection be it is yes, again according to current vehicle speed determine it is pre- take aim at away from
Take aim at angle from pre-, determine currently to take aim in advance a little according to preview distance and pre- angle of taking aim at, until the second horizontal spacing subtract half ought
What the difference of the body width of vehicle in front was more than or equal to the second length and determined current pre- takes aim at a little in the target track
In the predetermined distance range of track center line.Wherein, the second horizontal spacing is taken aim at a little with target track away from current lane in advance to be current
Kerb lane vehicle between lateral separation.
Other technical characteristics in the control device of the vehicle lane change of the present embodiment, control that can be with above-mentioned vehicle lane change
It is identical in embodiment of the method.
Based on example as described above, a kind of storage medium is also provided in one embodiment, computer journey is stored thereon with
Sequence, the computer program realizes the control method of vehicle lane change as described above when being executed by processor.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, it is non-volatile computer-readable that described program can be stored in one
Take in storage medium, in such as embodiment of the present invention, the program can be stored in the storage medium of computer system, and is calculated by this
At least one computing device in machine system, to realize the flow for including the embodiment such as above-mentioned each method.Wherein, it is described
Storage medium can be magnetic disc, CD, read-only memory (Read-Only Memory, ROM) or random access memory
(Random Access Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method of vehicle lane change, it is characterised in that including step：
Selection target track, obtains the track center line in target track；
Preview distance is determined according to current vehicle speed and angle is taken aim in advance, determines currently to take aim in advance a little according to preview distance and pre- angle of taking aim at；
Lateral deviation and heading angle deviation are a little determined with Current vehicle course according to current take aim in advance；
Asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner；
Meet it is pre- take aim at update condition when, return and described preview distance is determined according to current vehicle speed and pre- angle is taken aim at, according to pre-
Take aim at distance and it is pre- take aim at the step of angle determines current take aim in advance, until the current pre- track taken aim at a little in the target track determined
In the predetermined distance range of center line.
2. the control method of vehicle lane change according to claim 1, it is characterised in that lateral deviation is a little arrived for current take aim in advance
The vertical range of the extension line in Current vehicle course, course angle error for Current vehicle course extension line with current take aim in advance
Angle between target trajectory tangent line.
3. the control method of vehicle lane change according to claim 1, it is characterised in that by by working as residing for Current vehicle
The track center line in preceding track translates a lane width to target track, obtains the track center line in target track.
4. the control method of the vehicle lane change according to claims 1 to 3 any one, it is characterised in that：
Meet it is pre- take aim at update condition when, if having vehicle in front of current lane residing for Current vehicle, and Current vehicle is worked as
The first distance between preceding present position and the track center line in target track is more than the first distance threshold, returns to the basis current
Speed determine preview distance and it is pre- take aim at angle, according to preview distance and it is pre- take aim at the step of angle determines current take aim in advance, until the
The difference that one horizontal spacing subtracts the body width of half Current vehicle is more than or equal to the first length；
First horizontal spacing is the front vehicles of current lane and the lateral separation of line extended line, and line extended line is current vehicle
With the current extended line for taking aim at line a little in advance.
5. the control method of the vehicle lane change according to claims 1 to 3 any one, it is characterised in that：
Meet it is pre- take aim at update condition when, if kerb lane of the target track away from current lane has vehicle line ball traveling, and
The second distance that Current vehicle is presently between position and the track center line in target track is less than second distance threshold value, then returns
It is described that preview distance is determined according to current vehicle speed and angle is taken aim in advance, determines currently to take aim in advance a little according to preview distance and pre- angle of taking aim at
Step, until the second horizontal spacing subtract half Current vehicle body width difference be more than or equal to the second length and
What is determined current pre- takes aim at a little in the predetermined distance range of the track center line in the target track；
Second horizontal spacing is the current transverse direction taken aim in advance a little between the vehicle of kerb lane of the target track away from current lane
Distance.
6. a kind of control device of vehicle lane change, it is characterised in that including：
Target track determining module, for selection target track, obtains the track center line in target track；
A determining module is currently taken aim in advance, for determining preview distance according to current vehicle speed and taking aim at angle in advance, and according to preview distance
Determine currently to take aim in advance a little with pre- angle of taking aim at, be additionally operable to meet it is pre- take aim at update condition when, determined in advance according to current vehicle speed again
Take aim at distance and take aim at angle in advance, determine currently to take aim in advance a little according to preview distance and pre- angle of taking aim at, until current pre- take aim at determined a little exists
In the predetermined distance range of the track center line in the target track；
Course changing control module, for a little determining that lateral deviation and course angle are inclined with Current vehicle course according to current take aim in advance
Difference, and asked according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner.
7. the control device of vehicle lane change according to claim 6, it is characterised in that including at least one in following two
：
Target track determining module is by the way that the track center line of the current lane residing for Current vehicle is translated to target track
One lane width, obtains the track center line in target track；
Lateral deviation is the current vertical range for taking aim at the extension line for a little arriving Current vehicle course in advance, and course angle error is Current vehicle
The extension line in course and it is current take aim in advance at angle between target trajectory tangent line.
8. the control device of the vehicle lane change according to claim 6 or 7, it is characterised in that also detected including front vehicles
Module, the first distance measurement module：
Whether the front vehicles detecting module, the front of the current lane residing for detection Current vehicle has vehicle；
The first distance measurement module, determines that Current vehicle is presently between position and the track center line in target track
One distance, and judge whether first distance is more than the first distance threshold；
It is described currently to take aim at a determining module in advance, meet it is pre- take aim at update condition when, if the detection knot of front vehicles detecting module
Fruit is yes, and the result of detection of the first distance measurement module is yes, determines preview distance according to current vehicle speed again and takes aim at folder in advance
Angle, according to preview distance and pre- angle of taking aim at determine currently to take aim in advance a little, up to the first horizontal spacing subtracts the car of half Current vehicle
The difference of body width is more than or equal to the first length；
First horizontal spacing is the front vehicles of current lane and the lateral separation of line extended line, and line extended line is current vehicle
With the current extended line for taking aim at line a little in advance.
9. the control device of the vehicle lane change according to claim 6 or 7, it is characterised in that also including outside vehicle detection
Module, second distance detecting module：
Whether the outside vehicle detection module, detection kerb lane of the target track away from current lane has vehicle line ball row
Sail；
The second distance detecting module, determines that Current vehicle is presently between position and the track center line in target track
Two distances, and judge whether the second distance is less than second distance threshold value；
It is described currently to take aim at a determining module in advance, meet it is pre- take aim at update condition when, if the detection knot of outside vehicle detection module
Fruit is yes, and the result of detection of second distance detecting module is yes, determines preview distance according to current vehicle speed again and takes aim at folder in advance
Angle, according to preview distance and pre- angle of taking aim at determine currently to take aim in advance a little, up to the second horizontal spacing subtracts the car of half Current vehicle
The current pre- track center line taken aim at a little in the target track that the difference of body width is more than or equal to the second length and determined
In predetermined distance range；
Second horizontal spacing is the current transverse direction taken aim in advance a little between the vehicle of kerb lane of the target track away from current lane
Distance.
10. a kind of storage medium, is stored thereon with computer program, it is characterised in that the program is realized when being executed by processor
The control method of vehicle lane change as described in claim 1 to 5 any one.
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| CN201710427650.8A CN107323450B (en) | 2017-06-08 | 2017-06-08 | The control method and device of vehicle lane change, storage medium |
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| CN201710427650.8A CN107323450B (en) | 2017-06-08 | 2017-06-08 | The control method and device of vehicle lane change, storage medium |
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