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 PDFInfo
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- 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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- 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 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
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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