CN107792068A - 自动化车辆车道变换控制系统 - Google Patents

自动化车辆车道变换控制系统 Download PDF

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CN107792068A
CN107792068A CN201710790208.1A CN201710790208A CN107792068A CN 107792068 A CN107792068 A CN 107792068A CN 201710790208 A CN201710790208 A CN 201710790208A CN 107792068 A CN107792068 A CN 107792068A
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lane
main vehicle
lane changing
controller
vehicles
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CN107792068B (zh
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普拉萨德 P·克里希那
M·I·贾
E·萨米埃
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Aptiv Technologies Ltd
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Delphi Automotive Systems LLC
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Abstract

本发明提供了一种适于在自动化车辆上使用的车道变换系统(10)，包括摄像头(20)、测距装置(30)和控制器(46)。摄像头(20)用于检测主车辆(12)所行驶的道路(26)上的车道标志(24)的图像(22)。测距装置(30)用于确定主车辆(12)到主车辆(12)附近的其他车辆(18)的距离(32)和方向(34)。控制器(46)与摄像头(20)和测距装置(24)通信。控制器(46)被配置成当车道标志(24)可以被检测时根据图像(22)来控制主车辆(12)的车道变换(50)，当车道标志(24)不能被检测时根据同其他车辆(18)间的距离(32)和方向(34)来控制车道变换(50)。

Description

自动化车辆车道变换控制系统
技术领域
本公开总体上涉及适用于自动化车辆的车道变换系统，更具体地涉及这样一种系统，当摄像头检测到车道标志时根据来自摄像头的图像来控制主车辆，并且当没有检测到车道标志时，根据由测距装置指示的与其他车辆之间的方向和距离来控制主车辆。
背景技术
已知一种配置(例如进行装备和编程)自动化车辆，使它在车道变换期间使用摄像头探测到的用于进行引导的车道标志来控制或操控车辆。但是，可以预计，可能会发生车道标志的意外消失或/和灰尘或积雪遮挡摄像头视野导致的摄像头功能意外丧失，或设备故障。
发明内容
在自动驾驶车辆控制的范畴内，包括有众多子功能，其中一个就是自动车道变换(ALC)。在ALC技术领域中，正在开发控制算法以根据驾驶员命令变换车道或自动变换车道。在任一实施方式中，这一任务有赖于来自传感器(包括摄像头)的车道数据，以启动车道变换以及完成车道变换机动。该车道数据优选地来自摄像头。但是，如果当完成车道变换机动时，控制主车辆的系统因为例如糟糕的车道标志数据或不存在车道标志数据等原因失去该车道信息，则主车辆会沿着不确定的路径进行操控。在此描述的系统可以避免这样的情况。
为了成功地变换车道，主车辆需要当前的或出发的车道和目的车道的车道信息。该车道信息是从一个向前的摄像头获得的图像中测量的。主车辆还装配着例如用于检测环绕(即360度)物体的侧面雷达和/或激光雷达。在一个场景中，主车辆在其他车辆的后面，主车辆为了超过该其他车辆而变换车道，但是目的车道变换终点区域没有准确或充分地指示车道标志。该场景常见于各种有左转车道或右转车道、交叉路口的马路，以及总体品质不好或涂漆不清楚的车道标志的所有马路。在这样的场景中，如果用现有的系统，车道变换机动一旦开始后，将不能正确地完成，因为无法获取终点车道中的车道信息。在此描述的系统在车道变换机动开始前使用来自“360传感器”(侧面雷达、激光雷达或任何测距传感器)的环绕传感器信息来跟踪其他车辆物体。如果主车辆在车道变换期间失去车道信息，来自其他车辆的相对位置、方向和速度数据可以被用来完成安全的车道变换机动。从360传感器获得的检测信息可以包括其他车辆的速度、方向、加速度，这些检测信息可以被主车辆用来维持与相邻车辆物体间的安全距离，直到再次获得视觉数据。与一个或多个其他车辆的实例保持平行地操控方向给主车辆提供了一种维持稳定的方法，并且在因为持续的车道标志缺失等需要的情况下，可以将控制权温和地移交或切换给主车辆的驾驶员。作为示例，这个技术可以被等同地视为保持具有偏移或偏差的操控轨迹。
根据一个实施例，提供了一种适于在自动化车辆上使用的车道变换系统。该系统包括摄像头、测距装置和控制器。摄像头用于检测主车辆所行驶的道路上的车道标志的图像。测距装置用于确定主车辆到主车辆附近的车辆的距离和方向。控制器与摄像头以及测距装置通信。控制器被配置成当车道标志可以被检测时根据图像来控制主车辆的车道变换，当车道标志不能被检测时根据同其他车辆间的距离和方向来控制变道。
在阅读优选实施例的下列详细描述并参考各个附图，进一步的特征和优点将更加显而易见，优选实施例只是作为非限制性示例给出的。
附图说明
现在将参考各个附图，作为示例，来描述本发明，其中：
图1是根据一个实施例的车道变换系统的示图；以及
图2是根据一个实施例的图1的系统所遇到的交通场景。
具体实施方式
图1示出了适合于自动化车辆(例如主车辆12)使用的车道变换系统10(以下称为系统10)的非限制性示例。本文中提供的示例通常涉及当主车辆12以自动模式14操作(即，完全自主的模式)时的实例，其中主车辆12的人类操作者(未示出)除了指定目的地外几乎不做主车辆12的操作。然而，可以预料当主车辆12以手动模式16操作时本文中提供的教导是有用的，在手动模式下，自动化程度或等级略高于向人类操作者提供驾驶建议，而人类操作者则总体上控制着主车辆12的转向、油门和刹车。例如，系统10可能仅仅在需要时帮助人类操作者变道和/或避免与例如其他车辆18相互干扰和/或碰撞。
系统10包括摄像头20(例如视频摄像头)，被用来探测主车辆12行驶的道路26上的车道标志24(另如图2)的图像22。如本领域技术人员所理解的，有非常多的市售相机例子适合用在主车辆12上来检测车道标志24。摄像头20可以被安装在例如主车辆12的挡风玻璃28后面使挡风玻璃刮水器可以用来保持摄像头20的视野是清晰的。或者，摄像头20可以是安装在主车辆12的各种重要位置(例如车身的角落、或者在主车辆12的侧视镜上)的众多摄像头之一。在主车辆12的多个重要位置上的摄像头20的多个实例可以提供车道标记24的更好的图像和/或在主车辆12紧跟其他车辆18时提供主车辆12附近的其他物体的更好的图像。
系统10还包括测距装置30用来确定从主车辆12到例如其他车辆18、护栏36或主车辆12附近其他物体的距离32和/或方向34。适合确定到一个物体的距离32和或方向34从而形成测距装置30的非限制性装置例子包括超声换能器40、雷达单元42、和/或激光雷达单元44中的一个或多个实例，以及它们的任何组合。如上建议，形成测距装置30的装置和一个或多个摄像头20的实例可以合作用于提供主车辆12周围360度(即环绕)检测的手段。
系统10还包括与摄像头20和测距装置30通信的控制器46。控制器46可包括诸如微处理器的处理器(未具体示出)或其它控制电路，诸如模拟和/或数字控制电路，包括本领域技术人员熟知的用于处理数据的专用集成电路(ASIC)。控制器46可包括用以存储一个或多个例程、阈值和所捕捉的数据的存储器(未具体示出)，包括非易失性存储器，诸如电可擦除可编程只读存储器(EEPROM)。处理器可以执行一个或多个例程，以根据控制器24从摄像头20和测距装置30接收的信号来执行用于确定其他车辆18和车道标志24的相对位置的步骤，下文还将详细描述。
控制器46与主车辆12的车辆控制48通信，所以控制器可以操作或者辅助操作主车辆12的转向、油门(油门踏板)和/或刹车(刹车踏板)。该通信可能是通过车内网络的有线方式、无线通信方式或其他已知手段的方式。为了启用系统10的特定方面，控制器46被编程或配置成当车道标志24被检测到时根据图像22控制主车辆12的车道变换50，并当车道标志24没有被检测到时根据与其他车辆18间的距离32和/或方向34来控制车道变换50。例如，如果在车道变换50被启动以后车道标志从图像22中意外消失了，控制器46依靠来自测距装置30的信息来操作(例如操控)主车辆12。或者，如果来自测距装置的信息不足，控制器46可选择切换成手动模式16使主车辆12的操作者(未示出)控制主车辆12，直到车道标志24再一次被检测到。当车道标志没有被检测到时控制器46如何控制车道变换50的更多的细节如下所述。
然而，防止或避免这种不得不依靠测距装置30来操作主车辆12的第一步应该是当道路标志24在启动车道变换50时不能被检测到时防止车道变换50的启动。即便如此，如果车道变换50已经启动了，例如主车辆12正在跨越道路26的虚线52(图2)，就在这时道路标志24意外消失，但是仍有足够的来自测距装置30的信息，例如在至少几秒内很好地跟踪了其他车辆18，那么当车道变换50被启动后车道标志24消失时，控制器46可被配置成根据与其他车俩18的距离32和方向34来完成车道变换50。
图2说明了主车辆12可能遇到的一个交通场景54的非限制性例子，主车辆12紧跟其他车辆18后面行驶，主车辆12准备使用道路26的相邻车道56超越其他车辆18。作为示例并且不限于此，为了执行一个超车机动，控制器46可被配置成基于与其他车辆18间的距离32和方向34来预计或确定其他车辆18的行驶路径58。控制器46也可根据使用测距装置30检测到的距离变化率和主车辆12的当前速度来确定或估算其他车辆18的当前速度。
在这个例子中，预计行驶路径58为直线，因为其他车辆18已经沿直线行驶了相当长一段时间，例如超过25秒(25s)。作为替换方式或者补充方式，控制器46可装配定位装置62，例如全球定位系统(GPS)接收器，然后接入数字地图64，使得可以更可靠地预计其他车辆18接下来的直线行驶。当车道变换50被启动后车道标志24消失时，控制器46然后可在道路变换50期间将主车辆12控制入一个与行驶路径58平行的平行路径。
在这个例子中平行路径60可以被描述成相对于行驶路径58并排或平移，并大致与行驶路径58平行。这个系统10，或更具体而言控制器46，在道路标志24不能提供使用时，使用其他车辆18作为引导或参考，通过维持同其他车辆18和/或行驶路径58之间的偏移距离66，来使主车辆12沿着平行路径60行驶。偏移距离66可以在道路标志24消失前从图像22中计算得出，图像22表明行道路26的车道宽度68，例如相邻车道56和/或其他车辆18行驶的车道的车道宽度68。然后平行路径60与行驶路径58之间相互错开的偏移距离66可基于车道宽度68计算。或者，车道宽度68可基于来自数字地图64的数据。可以预料如果道路26是弯曲的，行驶路径58将会是弯曲的，因为其他车辆18沿着弯道行驶，平行路径60就会为了维持整个曲线的偏移距离66而适当地弯曲。
进一步设想，平行路径60可能与行驶路径58一致即相同。例如，如果车道变换50被启动，但是在主车辆12越过虚线52之前车道标志24消失了，控制器46就会被配置或被编程成退出车道变换50，返回紧跟其他车链18的位置，并因此沿着行驶路径58行驶而不是驶向相邻车道56。
在系统10的其他实施例中，测距装置30可被用来或被进一步配置成检测与道路26相邻的护栏36，控制器46可被配置成避免主车辆12在车道变换50期间与护栏36碰撞的情况。例如，如果护栏36离虚线52(或相同位置的实线)太近，例如小于3米，这可能代表着显示是虚线56但实际上是道路26的路肩。这样的话控制器46将不会启动车道变换50。
因此，提供了车道变换系统(系统10)、用于系统10的控制器46以及操作系统10的方法。系统10克服了因为例如施工或车道标志24的老化而导致车道标志24意外消失时引发的问题。
尽管已经根据本发明的优选实施例描述了本发明，但是并不限制于此，而是仅在所附的权利要求书所阐述的范围内为限。

Claims (6)

1.一种适于在自动化车辆上使用的车道变换系统(10)，所述系统(10)包括：
摄像头(20)，用于检测主车辆(12)所行驶的道路(26)上的车道标志(24)的图像(22)；
测距装置(30)，用于确定主车辆(12)到主车辆(12)附近的其他车辆(18)的距离(32)和方向(34)；
控制器(46)与摄像头(20)和测距装置(30)通信，所述控制器(46)被配置成当车道标志(24)被检测到时根据图像(22)来控制主车辆(12)的车道变换(50)，当车道标志(24)没有被检测到时根据同其他车辆(18)间的距离(32)和方向(34)来控制车道变换(50)。
2.如权利要求1所述的系统(10)，其特征在于，测距装置(30)是超声换能器(40)、雷达单元(42)和激光雷达单元(44)中的一个或多个。
3.如权利要求1所述的系统(10)，其特征在于，控制器(46)被配置成当车道标志(24)没有被检测到时避免车道变换(50)的启动，并且当车道变换(50)已经被启动后车道标志(24)消失时根据同其他车辆(18)间的距离(32)和方向(34)来完成车道变换(50)。
4.如权利要求1所述的系统(10)，其特征在于，控制器(46)被配置成基于同其他车辆(18)间的距离(32)和方向(34)来确定其他车辆(18)的行驶路径(58)，当车道变换(50)已经被启动后车道标志(24)消失时在车道变换(50)期间控制主车辆(12)进入平行于行驶路径(58)的平行路径(60)。
5.如权利要求4所述的系统(10)，其特征在于，图像(22)表明道路(26)的车道宽度(68)，并且平行路径(60)相对于行驶路径(58)偏移所述车道宽度(68)。
6.如权利要求1所述的系统(10)，其特征在于，测距装置(30)被配置成检测与道路(26)相邻的护栏(36)，控制器(46)被配置成避免主车辆(12)在车道变换(50)期间与护栏(36)碰撞。
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CN110865374A (zh) * 2018-08-10 2020-03-06 德尔福技术有限公司 定位系统
CN111137292A (zh) * 2018-11-01 2020-05-12 通用汽车环球科技运作有限责任公司 用于控制自主车辆的分层车道变换策略的基于空间和时间注意力的深度强化学习
CN111137292B (zh) * 2018-11-01 2023-08-08 通用汽车环球科技运作有限责任公司 经执行器-评价网络架构学习车道变换策略的方法和系统
CN112078582A (zh) * 2019-06-14 2020-12-15 通用汽车环球科技运作有限责任公司 控制车辆速度至车道改变间隙的中心的方法
CN110969900A (zh) * 2019-11-21 2020-04-07 中国航空工业集团公司西安飞行自动控制研究所 一种基于航线管理的全航线水平偏置算法

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