CN107323450B - 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 PDF

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Publication number
CN107323450B
CN107323450B CN201710427650.8A CN201710427650A CN107323450B CN 107323450 B CN107323450 B CN 107323450B CN 201710427650 A CN201710427650 A CN 201710427650A CN 107323450 B CN107323450 B CN 107323450B
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lane
advance
aim
line
vehicle
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CN107323450A (en
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甘新华
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/10Estimation 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
    • B60W40/105Speed

Abstract

A kind of control method of vehicle lane change, device and computer storage medium, the method for one embodiment include: selection target lane, obtain the lane middle line in target lane;Preview distance is determined according to current vehicle speed and takes aim at angle in advance, according to preview distance and is taken aim at angle determination in advance and is currently taken aim in advance a little;Lateral deviation and heading angle deviation a little are determined with current vehicle course according to described currently take aim in advance;It is requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner;Meet take aim at update condition in advance when, return it is described preview distance determined according to current vehicle speed and takes aim at angle in advance, according to preview distance and angle is taken aim in advance and determines the step of currently taking aim in advance, until what is determined current pre- takes aim at a little in the predetermined distance range of the lane middle line in the target lane.This embodiment scheme improves safety of the vehicles such as automobile during automatic lane change.

Description

The control method and device of vehicle lane change, storage medium
Technical field
The present invention relates to pilotless automobile technical field, in particular to a kind of control method of vehicle lane change, Yi Zhongche The control device of lane change and a kind of computer storage medium.
Background technique
Pilotless automobile is an important research direction in current technical field of vehicle, wherein unmanned vapour The lane change control of vehicle is also as an important content in the intelligent control of pilotless automobile.Current existing unmanned vapour Vehicle automatic lane change control be not it is very perfect, all more or less there are some serious security risks, for example, some very appearances Easily cause crosswise joint overshoot and occur it is out of control, some need pre-decelerating and be easy to be 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 is that intelligent vehicle sets a time-based transverse movement geometric locus in advance, is only considering that speed and steering wheel are practical It goes to follow vehicle lateral acceleration under the influence of corner factor.However, this scheme is difficult in view of specific road conditions and lateral The influence of the factors such as acceleration transducer measurement error and control error, and the transverse movement geometric locus set once terminates And the headstock identification that will seriously affect lane information after lane change process not concordant with lane, so that there are more serious Security risk.
Summary of the invention
Based on this, the control method for being designed to provide a kind of vehicle lane change, a kind of vehicle lane change of the embodiment of the present invention Control device and a kind of computer storage medium, to improve safety of the vehicles such as automobile during automatic lane change.
In order to achieve the above objectives, the embodiment of the present invention uses following technical scheme:
A kind of control method of vehicle lane change, comprising steps of
Selection target lane obtains the lane middle line in target lane;
Preview distance is determined according to current vehicle speed and takes aim at angle in advance, according to preview distance and is taken aim at angle determination in advance and is currently taken aim in advance Point;
Lateral deviation and heading angle deviation a little are determined with current vehicle course according to described currently take aim in advance;
It is requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner;
Meet take aim at update condition in advance when, return and described preview distance is determined according to current vehicle speed and takes aim at angle, root in advance It according to preview distance and takes aim at angle in advance and determines the step of currently taking aim in advance, until what is determined current pre- takes aim at a little in the target lane In the predetermined distance range of lane middle line.
A kind of control device of vehicle lane change, comprising:
Target lane determining module is used for selection target lane, obtains the lane middle line in target lane;
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 taking aim in advance Distance and take aim at angle determination in advance and currently take aim in advance a little, be also used to meet it is pre- take aim at update condition when, it is again true according to current vehicle speed Determine preview distance and take aim at angle in advance, according to preview distance and take aim at angle determination in advance and currently take aim in advance a little, current pre- is taken aim at until determining Point is in the predetermined distance range of the lane middle line in the target lane;
Course changing control module, for a little determining lateral deviation and course angle with current vehicle course according to described currently take aim in advance Deviation, and requested 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, realizes when which is executed by processor as described above The control method of vehicle lane change.
Based on the scheme of embodiment as described above, after determining target lane, the lane middle line in target lane is obtained, And determine currently to take aim at a little in advance based on current vehicle speed, to currently be taken aim in advance a little and current vehicle course is determining lateral inclined according to described Difference and heading angle deviation are requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner, control The steering of vehicle processed, and meet take aim at update condition in advance when, redefine and currently take aim in advance a little, repeat the above process, until true It is fixed it is current it is pre- take aim at a little in the predetermined distance range of the lane middle line in the target lane, so that taking aim in advance a little is not directly to set It is scheduled on the lane middle line in target lane, but is set during lane change and multiple pre- take aim at a little vehicle gradually to approach target lane Road middle line improves vehicle during automatic lane change to effectively prevent the crosswise joint overshoot during automatic lane change Safety.
Detailed description of the invention
Fig. 1 is the flow diagram of the control method of the vehicle lane change in one embodiment;
Fig. 2 is the flow diagram of the control method of the vehicle lane change in a specific example;
Fig. 3 is the schematic illustration of a lane middle line using the lane that sets the goal really in example;
Fig. 4 is the pre- schematic diagram taken aim at a little determined during vehicle lane change in an application example;
Fig. 5 is the schematic illustration of the lateral preview control in an application example during vehicle lane change;
Fig. 6 is that there is the schematic illustration for determining and being taken aim in advance a little when vehicle in front in an application example;
Fig. 7 is the flow diagram of the control method of the vehicle lane change in another specific example;
Fig. 8 is to determine the schematic illustration taken aim in advance a little when vehicle on the outside of target lane in an application example;
Fig. 9 is the structural schematic diagram of the control device of the vehicle lane change in one embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein Described embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more saturating It is thorough comprehensive.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention 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 " it include one or more phases Any and all combinations of the listed item of pass.
The flow diagram of the control method of the 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 lane obtains the lane middle line in target lane;
Step S102: determining preview distance according to current vehicle speed and in advance take aim at angle, and according to preview distance and pre- to take aim at angle true It is 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 described currently take aim in advance;
Step S104: it is requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner;
Step S105: meet take aim at update condition in advance when, return and described preview distance and pre- determined according to current vehicle speed Angle is taken aim at, according to preview distance and angle is taken aim in advance and determines the step of currently taking aim in advance, until what is determined current pre- takes aim at a little described In the predetermined distance range of the lane middle line in target lane.
Based on the scheme of embodiment as described above, after determining target lane, the lane middle line in target lane is obtained, And determine currently to take aim at a little in advance based on current vehicle speed, to currently be taken aim in advance a little and current vehicle course is determining lateral inclined according to described Difference and heading angle deviation are requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner, control The steering of vehicle processed, and meet take aim at update condition in advance when, redefine and currently take aim in advance a little, repeat the above process, until true It is fixed it is current it is pre- take aim at a little in the predetermined distance range of the lane middle line in the target lane, so that taking aim in advance a little is not directly to set It is scheduled on the lane middle line in target lane, but is set during lane change and multiple pre- take aim at a little vehicle gradually to approach target lane Road middle line improves the vehicles such as automobile in automatic lane change to effectively prevent the crosswise joint overshoot during automatic lane change Safety in the process.
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, heading angle deviation can refer to the extension line in current vehicle course and currently take aim in advance at target trajectory tangent line Between angle.
In the lane middle line in above-mentioned determining target lane, can be by by the vehicle of current lane locating for current vehicle Road middle line translates a lane width to target lane, obtains the lane middle line in target lane.
During vehicle lane change, some special situations may be faced, such as current locating for current vehicle There is vehicle in front of lane, there is vehicle in target lane far from the kerb lane of current lane, in these cases, therefore is also required to Consider to avoid the crosswise joint overshoot in the case of these.It is illustrated respectively below in conjunction with both of these case.
Fig. 2 shows the flow diagram of the control method of the vehicle lane change in a specific example, in the specific example It is illustrated for being the process of the lane change control in the case where having vehicle in front of the current lane locating for the current vehicle.Its The process of lane change control includes the following steps S201 to step S209.
Step S201: selection target lane obtains the lane middle line in target lane.
At selection target lane, can be determined in conjunction with map datum and current road traffic environment, it is selected Target can be the lane positioned at the left side of current vehicle driving direction, be also possible to positioned at the right of current vehicle driving direction Lane.
When obtaining the lane middle line in target lane, as shown in connection with fig. 3, the lane middle line in target lane and current lane The distance of lane middle line is therefore a lane width directly puts down the lane middle line of current lane to the direction in target lane A lane width is moved, can be obtained the lane middle line in target lane.It specifically can be based on working as front truck locating for current vehicle The lane middle line and pre-set lane width in road, by by the lane middle line of current lane locating for current vehicle The mode for translating a lane width to target lane obtains.It wherein, is usually all to use during road construction planning The lane width of mark carries out road construction, therefore lane width is usually a fixed value.
Step S202: a little more new strategy, current vehicle speed are taken aim in advance according to first and determines preview distance and takes aim at angle in advance, according to pre- It takes aim at distance and takes aim at angle determination in advance and currently take aim in advance a little.
Here first takes aim at a little more new strategy in advance, it is only for needs to consider to work as front truck locating for current vehicle with following There is the otherness for taking aim at a setting means when vehicle in advance mutually to distinguish in front of road, the mode that setting is taken aim at a little in advance at this time is named as first A little more new strategy is taken aim in advance, it in this example, can be with the mode phase currently taken aim in advance a little determining in above-mentioned embodiment shown in FIG. 1 Together.It is appreciated that in the scheme of the present embodiment, the first target for taking aim at a little more new strategy in advance is that gradually set each is currently taken aim in advance Point can gradually approach the lane middle line in target lane.
In the various embodiments of the invention, in order to avoid crosswise joint over control, lane change occurs in the process in automatic lane change The pre- selection taken aim at a little in the process is to take asymptotic expression numerical procedure, i.e., takes aim at the vehicle for being a little not directly set at target lane in advance On road middle line, but gradually approach target lane middle line.Determining that can be using speed is the factor determination when currently taking aim in advance Preview distance and angle is taken aim in advance, determines so as to taking aim at angle according to preview distance and in advance 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, Gradually set it is each it is pre- take aim at the lane middle line that target lane is a little gradually approached by asymptotic mode, constitute and pre- take aim at an arrowhead.
Based on speed setting preview distance and in advance take aim at angle when, can be set by calibration experiment speed and in advance take aim at away from From with take aim at angle in advance corresponding relationship after, which can store, during practical lane change, looked into based on speed It finds corresponding preview distance and takes aim at angle in advance.It is understood that speed and preview distance and the corresponding relationship of angle is taken aim in advance, The value and a specific value for taking aim at angle in advance that can be the corresponding specific preview distance of a specific speed, 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 System, is also possible to corresponding functional relation, i.e., in corresponding relationship, preview distance corresponding with specific speed and pre- folder of taking aim at Angle, not specific preview distance and the value for taking aim at angle in advance are able to obtain the functional relation of the value of preview distance With the functional relation that can obtain the pre- value for taking aim at angle, during practical lane change, after finding the number relational expression, then base Specific preview distance is determined in each functional relation and takes aim at the value of angle in advance.It, can be with base specific corresponding to the form of relationship It is determined in calibration experiment result.
Step S203: lateral deviation and heading angle deviation are a little determined with current vehicle course according to described currently 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 Deviation eaAngle at being defined as the extension line in current vehicle course and currently taking aim in advance between target trajectory tangent line.It calculates public Formula can be with are as follows:
E=d sin θ
ea=alpha-beta
Wherein, d is that the mass center of current vehicle is taken aim at a distance from a little in advance with currently, and θ is the mass center of current vehicle and currently takes aim in advance Angle between the line and vehicle course of point, α, β the cutting at currently taking aim in advance that be vehicle course angle and target trajectory respectively Line angle.
Step S204: it is requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner.
It, can be according to lateral deviation and heading angle deviation to steering controller after obtaining lateral deviation and heading angle deviation Lateral preview control is realized in the request of outbound course disk corner.The schematic illustration of lateral preview control in one application example As shown in figure 5, it uses two Discrete PI D (ratio, integral, differential), respectively using lateral deviation and heading angle deviation as defeated Enter, then gives the sum of two PID output results to EPS (electronic power assist steering) course changing control as steering wheel angle request output Device.
Step S205: judge whether to meet and take aim at a update condition in advance.If satisfied, then entering step S206.If not satisfied, then It continues waiting for taking aim at a update condition in advance until meeting, or when having completed lane change process (such as the current of determination pre- is taken aim at a little In the predetermined distance range of the lane middle line in target lane) when, terminate current lane change process.
Wherein, here pre- takes aim at a update condition, can be set in conjunction with actual techniques.For example, having at one In body application example, here pre- takes aim at a update condition, can be set as a predetermined amount of time, which can be with Millisecond is that unit is set.In the case where not yet completing lane change process, then it can have updated from the last time and currently take aim in advance a little When, it is spaced this after a predetermined period of time, it is believed that meet and pre- take aim at a update condition.
Step S206: judge whether the front of current lane locating for current vehicle has vehicle.If no, returning above-mentioned Step S202 takes aim at a little more new strategy in advance using conventional first and redefines and currently takes aim in advance a little.If so, then entering step S207.
Wherein, when whether thering is vehicle to determine in the front of current lane locating for current vehicle, can have at present Carried out using any possible mode.
Step S207: the first distance for judging that current vehicle is presently between position and the lane middle line in target lane is It is no to be greater than first distance threshold value, if it is not, then return to above-mentioned steps S202, take aim at a little that more new strategy is again true in advance using conventional first It is taken aim at a little in advance before settled, if so, entering step S208.
Step S208: judge the first horizontal spacing subtract the body width of half current vehicle difference whether be greater than or Equal to the first length, if so, returning to above-mentioned steps S202, a little more new strategy is taken aim in advance using conventional first and is redefined currently It takes 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 distance of line extended line, and line extends Line is current vehicle and currently takes aim at the extended line of line a little in advance.
Step S209: a little more new strategy, current vehicle speed are taken aim in advance according to second and determines preview distance and takes aim at angle in advance, according to pre- It takes aim at distance and takes aim at angle determination in advance and currently take aim in advance a little.Then, return step S703.
As it can be seen that second takes aim at the target of a little more new strategy in advance in the scheme of the present embodiment, it is each current what is gradually set When taking aim at the lane middle line for a little gradually approaching target lane in advance, the first horizontal spacing is enabled to subtract the vehicle of half current vehicle The difference of body width is more than or equal to the first length, can be avoided the need of crosswise joint overshoot when having vehicle to meet front It asks.
It can be seen that one as shown in connection with fig. 6 has the determining principle taken aim at a little in advance when vehicle to show using the front in example It is intended to, in the scheme of the present embodiment, when having vehicle in front of current lane locating for current vehicle before lane change, in lane change (current vehicle is presently in the first distance between position and the lane middle line in target lane greater than first distance threshold to front half section Value) setting asymptotic expression is when taking aim in advance, it is contemplated that the horizontal spacing that safe enough is kept with front truck is had to when surmounting front truck, because This is taken aim at a little in advance by translating gradually to target lane side, until the front vehicles of current lane are taken aim at current vehicle (this vehicle) and in advance Half-breadth first length of first horizontal spacing of point line extended line than body width.First length can combine practical skill Art needs are configured, such as 50 centimetres, naturally it is also possible to be set as other values based on lane width.
It on the other hand, in the examples described above, is in the lane for meeting current vehicle and being presently in position Yu target lane When first distance between middle line is less than first distance threshold value 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 step S202 takes aim at a little that more new strategy redefines in advance using first It is illustrated for currently taking aim in advance a little, in actual techniques application, is also possible to continue to take aim at a little more new strategy weight in advance using second New determination is currently taken aim at a little in advance, can be set in conjunction with actual techniques.
Fig. 7 shows the flow diagram of the control method of the vehicle lane change in another specific example, the specific example In be by the case that there is vehicle in target lane far from the kerb lane of current lane lane change control process for said It is bright.The process of its lane change control includes the following steps S701 to step S709.Wherein, following step S701-S705's is processed Journey is identical as the treatment process of above-mentioned steps S201-S205, therefore not reinflated narration in the following example.
Step S701: selection target lane obtains the lane middle line in target lane.
Step S702: a little more new strategy, current vehicle speed are taken aim in advance according to first and determines preview distance and takes aim at angle in advance, according to pre- It takes aim at distance and takes aim at angle determination in advance and currently take aim in advance a little.
Step S703: lateral deviation and heading angle deviation are a little determined with current vehicle course according to described currently take aim in advance.
Step S704: it is requested 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 satisfied, then entering step S706.If not satisfied, then It continues waiting for taking aim at a update condition in advance until meeting, or when having completed lane change process (such as the current of determination pre- is taken aim at a little In the predetermined distance range of the lane middle line in target lane) when, terminate current lane change process.
Step S706: whether kerb lane of the target lane far from current lane has vehicle crimping traveling.If no, returning Above-mentioned steps S702 is returned, if so, then entering step S707.
It wherein, can when whether the kerb lane to target lane far from current lane has vehicle crimping traveling to determine By at present it is existing using it is any it is possible in a manner of carry out.
Step S707: the second distance for judging that current vehicle is presently between position and the lane middle line in target lane 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, entering step S708.
Step S708: judge the second horizontal spacing subtract the body width of half current vehicle difference whether be greater than or Equal to the second length, if so, above-mentioned steps S702 is returned to, if it is not, then entering step S709.
Wherein, the second horizontal spacing be currently take aim in advance a little kerb lane with target lane far from current lane vehicle it Between lateral distance.
Step S709: a little more new strategy, current vehicle speed are taken aim in advance according to third and determines preview distance and takes aim at angle in advance, according to pre- It takes aim at distance and takes aim at angle determination in advance and currently take aim in advance a little.Then, return step S703.
As it can be seen that third takes aim at the target of a little more new strategy in advance in the scheme of the present embodiment, it is each current what is gradually set When taking aim at the lane middle line for a little gradually approaching target lane in advance, the second horizontal spacing is enabled to subtract the vehicle of half current vehicle The difference of body width is more than or equal to the second length, has vehicle pressure to meet target lane far from the kerb lane of current lane Line can be avoided the demand of crosswise joint overshoot when driving.
It can be seen that a kerb lane of the target lane far from current lane applied in example as shown in connection with fig. 8 There is vehicle crimping to determine the schematic illustration taken aim in advance a little, the outside vehicle in the scheme of the present embodiment, in target lane when driving There is vehicle crimping in road when driving, lane change second half section (current vehicle be presently in position and target lane lane middle line it Between second distance be less than second distance threshold value) for setting asymptotic expression when taking aim in advance, consideration will be with the kerb lane in lane to be become Vehicle keeps the horizontal spacing of safe enough therefore to take aim at a little in advance by translate gradually to target lane side, until it is pre- take aim at a little and to Become half-breadth second length of the horizontal spacing between the kerb lane vehicle in lane than body width.Second length can be tied It closes 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.
It on the other hand, in the examples described above, is in the lane for meeting current vehicle and being presently in position Yu target lane When second distance between middle line is greater 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 step S702 takes aim at a little that more new strategy redefines in advance using first It is illustrated for currently taking aim in advance a little, in actual techniques are applied, is also possible to directly adopt third and takes aim at a little more new strategy weight in advance New determination is currently taken aim at a little in advance, can be set in conjunction with actual techniques.
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 schematic diagram of the control device of the vehicle lane change in one embodiment.As shown in figure 9, the device packet of the embodiment It includes:
Target lane determining module 901 is used for selection target lane, obtains the lane middle line in target lane;
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 take aim at angle determination in advance and currently take aim in advance a little, be also used to meet it is pre- take aim at update condition when, again according to current vehicle speed It determines preview distance and takes aim at angle in advance, according to preview distance and take aim at angle determination in advance and currently take aim in advance a little, until determining is current pre- It takes aim at a little in the predetermined distance range of the lane middle line in the target lane;
Course changing control module 903, for a little determining lateral deviation and boat with current vehicle course according to described currently take aim in advance It is requested 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, after determining target lane, the lane middle line in target lane is obtained, And determine currently to take aim at a little in advance based on current vehicle speed, to currently be taken aim in advance a little and current vehicle course is determining lateral inclined according to described Difference and heading angle deviation are requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner, control The steering of vehicle processed, and meet take aim at update condition in advance when, redefine and currently take aim in advance a little, repeat the above process, until true It is fixed it is current it is pre- take aim at a little in the predetermined distance range of the lane middle line in the target lane, so that taking aim in advance a little is not directly to set It is scheduled on the lane middle line in target lane, but is set during lane change and multiple pre- take aim at a little vehicle gradually to approach target lane Road middle line improves the vehicles such as automobile in automatic lane change to effectively prevent the crosswise joint overshoot during automatic lane change Safety in the process.
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, heading angle deviation can refer to the extension line in current vehicle course and currently take aim in advance at target trajectory tangent line Between angle.
Target lane determining module 901 can be in the lane middle line for determining target lane by by current vehicle institute The lane middle line of the current lane at place translates a lane width to target lane, obtains the lane middle line in target lane.
During vehicle lane change, some special situations may be faced, such as current locating for current vehicle There is vehicle in front of lane, therefore is 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, before the device of the embodiment can also include: Square vehicle detection module 904, first distance detecting module 905.
Wherein, whether front vehicles detecting module 904, the front for detecting current lane locating for current vehicle have vehicle.
First distance detecting module 905 determines that current vehicle is presently between position and the lane middle line in target lane First distance, and determine whether the first distance is greater than first distance threshold value;
At this point, above-mentioned currently take aim at a determining module 902 in advance, also meet take aim at update condition in advance when, if front vehicles are visited Survey module 904 detection result be it is yes, and the detection result of first distance detecting module 905 be it is yes, again according to current vehicle speed It determines preview distance and takes aim at angle in advance, according to preview distance and take aim at angle determination in advance and currently take aim in advance a little, up to 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 lane and the lateral distance of line extended line, line extended line are current vehicle and currently take aim at line a little in advance Extended line.
During vehicle lane change, it is also possible to which can face target carriage road far from the kerb lane of 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 lane far from current lane have vehicle Crimping traveling.
Second distance detecting module 907 determines that current vehicle is presently between position and the lane middle line in target lane Second distance, and determine whether the second distance is less than second distance threshold value.
At this point, currently take aim at a determining module 902 in advance, also meet take aim at update condition in advance when, if outside vehicle detection mould The detection result of block be it is yes, and the detection result of second distance detecting module be it is yes, again according to current vehicle speed determine in advance take aim at away from From with take aim at angle in advance, according to preview distance and take aim at angle determination in advance and currently take aim in advance a little, up to the second horizontal spacing subtracts half and works as The difference of the body width of vehicle in front is more than or equal to the second length and what is determined current pre- takes aim at a little in the target lane In the predetermined distance range of lane middle line.Wherein, the second horizontal spacing is currently to take aim in advance a little with target lane far from current lane Kerb lane vehicle between lateral distance.
Other technical characteristics in the control device of the vehicle lane change of the present embodiment, can be with the control of 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, is stored thereon with computer journey Sequence, the computer program realize the control method of vehicle lane change as described above when being executed by processor.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with Relevant hardware is instructed to complete by computer program, it is non-volatile computer-readable that the program can be stored in one It takes in storage medium, in the embodiment of the present invention, which be can be stored in the storage medium of computer system, and by the calculating At least one processor in machine system executes, and includes the process such as the embodiment of above-mentioned each method with realization.Wherein, described Storage medium can be magnetic disk, 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, for simplicity of description, not to above-mentioned reality It applies 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (10)

1. a kind of control method of vehicle lane change, which is characterized in that comprising steps of
Selection target lane obtains the lane middle line in target lane;
Preview distance is determined according to current vehicle speed and takes aim at angle in advance, according to preview distance and is taken aim at angle determination in advance and is currently taken aim in advance a little;
Lateral deviation and heading angle deviation a little are determined with current vehicle course according to described currently take aim in advance;
It is requested according to the lateral deviation and heading angle deviation to steering controller outbound course disk corner;
Meet take aim at update condition in advance when, return and described preview distance is determined according to current vehicle speed and takes aim at angle in advance, according to pre- It takes aim at distance and takes aim at angle in advance and determine the step of currently taking aim in advance, until what is determined current pre- takes aim at a little in the lane in the target lane In the predetermined distance range of middle line;Described currently take aim in advance is a little not directly set on the lane middle line in the target lane, is becoming The multiple of determination currently take aim at the lane middle line for a little gradually approaching the target lane in advance during road.
2. the control method of vehicle lane change according to claim 1, which is characterized in that lateral deviation is currently to take aim at a little to arrive in advance The vertical range of the extension line in current vehicle course, at heading angle deviation is the extension line in current vehicle course and currently takes aim in advance Angle between target trajectory tangent line.
3. the control method of vehicle lane change according to claim 1, which is characterized in that by will work as locating for current vehicle The lane middle line in preceding lane translates a lane width to target lane, obtains the lane middle line in target lane.
4. according to claim 1 to the control method of vehicle lane change described in 3 any one, it is characterised in that:
Meet take aim at update condition in advance when, if having vehicle in front of current lane locating for current vehicle, and current vehicle is worked as First distance between preceding present position and the lane middle line in target lane is greater than first distance threshold value, and it is current to return to the basis Speed determines preview distance and takes aim at angle in advance, according to preview distance and takes aim at angle in advance and determines the step of currently taking 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 distance of line extended line, and line extended line is to work as front truck With the extended line of currently taking aim at line a little in advance.
5. according to claim 1 to the control method of vehicle lane change described in 3 any one, it is characterised in that:
Meet take aim at update condition in advance when, if there is vehicle crimping traveling in target lane far from the kerb lane of current lane, and Current vehicle is presently in the second distance between position and the lane middle line in target lane less than second distance threshold value, then returns It is described that preview distance determined according to current vehicle speed and takes aim at angle in advance, according to preview distance and angle determination is taken aim in advance and currently takes aim in advance a little Step, until the second horizontal spacing subtract half current vehicle body width difference be more than or equal to the second length and It is determining current pre- to take aim at a little in the predetermined distance range of the lane middle line in the target lane;
Second horizontal spacing is currently to take aim at a little transverse direction between vehicle of the target lane far from the kerb lane of current lane in advance Distance.
6. a kind of control device of vehicle lane change characterized by comprising
Target lane determining module is used for selection target lane, obtains the lane middle line in target lane;
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 Currently taken aim in advance a little with angle determination is taken aim in advance, be also used to meet take aim at update condition in advance when, determined in advance according to current vehicle speed again It takes aim at distance and takes aim at angle in advance, according to preview distance and take aim at angle determination in advance and currently take aim in advance a little, until determining current pre- take aim at a little exists In the predetermined distance range of the lane middle line in the target lane;Described currently take aim in advance is a little not directly set in the target lane Lane middle line on, what is determined during lane change multiple currently takes aim at the lane middle line for a little gradually approaching the target lane in advance;
Course changing control module, for a little determining that lateral deviation and course angle are inclined with current vehicle course according to described currently take aim in advance Difference, and requested 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, which is characterized in that including at least one in following two :
Target lane determining module is by translating the lane middle line of current lane locating for current vehicle to target lane One lane width obtains the lane middle line in target lane;
Lateral deviation is currently to take aim at the vertical range for the extension line for a little arriving current vehicle course in advance, and heading angle deviation is current vehicle The extension line in course and the angle at currently taking aim in advance between target trajectory tangent line.
8. the control device of vehicle lane change according to claim 6 or 7, which is characterized in that further include front vehicles detection Module, first distance detecting module:
Whether the front vehicles detecting module, the front for detecting current lane locating for current vehicle have vehicle;
The first distance detecting module determines that current vehicle is presently between position and the lane middle line in target lane One distance, and determine whether the first distance is greater than first distance threshold value;
It is described currently to take aim at a determining module in advance, meet take aim at update condition in advance when, if the detection knot of front vehicles detecting module Fruit be it is yes, and the detection result of first distance detecting module be it is yes, preview distance is determined according to current vehicle speed again and takes aim at folder in advance Angle according to preview distance and is taken aim at angle determination in advance and currently is taken aim in advance a little, up to the first horizontal spacing subtracts the vehicle 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 distance of line extended line, and line extended line is to work as front truck With the extended line of currently taking aim at line a little in advance.
9. the control device of vehicle lane change according to claim 6 or 7, which is characterized in that further include outside vehicle detection Module, second distance detecting module:
Whether the outside vehicle detection module, detection kerb lane of the target lane far from current lane have vehicle crimping row It sails;
The second distance detecting module determines that current vehicle is presently between position and the lane middle line in target lane Two distances, and determine 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 take aim at update condition in advance when, if the detection knot of outside vehicle detection module Fruit be it is yes, and the detection result of second distance detecting module be it is yes, preview distance is determined according to current vehicle speed again and takes aim at folder in advance Angle according to preview distance and is taken aim at angle determination in advance and currently is taken aim in advance a little, up to the second horizontal spacing subtracts the vehicle of half current vehicle The difference of body width is more than or equal to the second length and what is determined current pre- takes aim at a little lane middle line in the target lane In predetermined distance range;
Second horizontal spacing is currently to take aim at a little transverse direction between vehicle of the target lane far from the kerb lane of current lane in advance Distance.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor The control method of vehicle lane change as described in claim 1 to 5 any one.
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