CN108983771A - Vehicle lane-changing decision-making technique and device - Google Patents
Vehicle lane-changing decision-making technique and device Download PDFInfo
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- CN108983771A CN108983771A CN201810722075.9A CN201810722075A CN108983771A CN 108983771 A CN108983771 A CN 108983771A CN 201810722075 A CN201810722075 A CN 201810722075A CN 108983771 A CN108983771 A CN 108983771A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012423 maintenance Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 230000006399 behavior Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of vehicle lane-changing decision-making technique and devices, to provide decision-making foundation when intelligent vehicle lane-change.The complexity and dynamic for fully considering urban road, the influence for lane-change behavior decision are based on rational decision making, construction driving revenue function and loss function, comprehensive lane-change income calculation is carried out, driver's lane-change thinking processes are imitated, completes class people's decision during intelligent vehicle lane-change.
Description
Technical field
The present invention relates to field of intelligent control technology, in particular to a kind of vehicle lane-changing decision-making technique and device.
Background technique
Intelligent vehicle automatic Pilot technology includes the crucial skills such as environment sensing, intelligent decision and the control of vehicle basic motion
Art.Wherein the behaviour decision making level of vehicle is to measure one of the key index of Vehicular intelligent level, the development of intelligent Decision Technology
It can be improved the ability of vehicle reply vehicles in complex traffic scene, vehicle lane-changing is a kind of more complicated driving in driving behavior
Behavior needs driver to observe front and back traffic condition, and judged according to real-time traffic condition during lane-change
Complete lane-change behavior.During lane-change, since driver's sensing capability limits, it is easier to that traffic accident occurs, according to correlative study
Show that the lane-change accident rate as caused by driver's incorrect decision is more than 70%.
Existing intelligent vehicle lane-change behavior decision-making technique, is broadly divided into two kinds, and one is the judgements of logic-based rule to determine
Plan method understands simple traffic scene, judges and export corresponding driving behavior, patrol by combining sensor information
Volume regular method real-time is preferable, work that can be stable, but environment is complicated, loss of learning and it is fuzzy in the case where, decision
Ability sharply declines, poor to the adaptability of environment；One is the machine learning methods based on Driver data, analyze by ring
The data such as relative distance, relative velocity and the angle that border sensory perceptual system is collected extract the crucial factor for influencing lane-change, probe into lane-change
Decision rule, learner driver is to the processing method of corresponding traffic scene, in learning process, the redundancy and contradiction of multi-source information
The phenomenon that impacting to learning effect, and having overfitting due to algorithm limitation in learning process or owe study, is to calculation
Method real-time is impacted with decision performance.
Summary of the invention
For above-mentioned problems of the prior art, the present invention provides a kind of vehicle lane-changing decision-making techniques.
In a first aspect, the embodiment of the invention provides a kind of vehicle lane-changing decision-making techniques, which comprises
Obtain ambient condition information and surrounding vehicles information；
According to ambient condition information and surrounding vehicles information, judge whether to need to force lane-change；
If it is, control vehicle carries out lane-change.
Further, the method also includes:
According to ambient condition information and surrounding vehicles information, judge whether to need to force lane-change；
If it is not, then control vehicle carries out lane-change when the lane-change income of vehicle is greater than maintenance existing lane income.
Further, the lane-change income is equal to lane-change acquisition income and loses plus lane-change.
The lane-change obtains income=1 × lane-change of weight speed prospective earnings+2 × lane-change of weight traffic space income+power
Weigh 3 × lane-change train operation performance income；
The lane-change loss=weight 1 × lane-change risk field variation loss+weight 1 × potential burst can the loss of energy+weight 3
× lane-change road-ability changes loss+influence on traffic flow loss.
Further, maintain existing lane income=1 × current driving of weight rate income+2 × current driving of weight empty
Between income+weight 3 × train operation performance income.
Second aspect, the embodiment of the invention also provides a kind of vehicle lane-changing decision making device, described device includes:
Module is obtained, for obtaining ambient condition information and surrounding vehicles information；
Judgment module, for judging whether to need to force lane-change according to ambient condition information and surrounding vehicles information；
First lane-change module is used for if it is, control vehicle carries out lane-change.
Further, described device further include:
Second lane-change module, for if it is not, then being controlled when the lane-change income of vehicle is greater than the existing lane income of maintenance
Vehicle carries out lane-change.
Further, the lane-change income is equal to lane-change acquisition income and loses plus lane-change.
Further, it is empty to obtain income=1 × lane-change of weight speed prospective earnings+2 × lane-change of weight driving for the lane-change
Between income+weight 3 × lane-change train operation performance income；
The lane-change loss=weight 1 × lane-change risk field variation loss+weight 1 × potential burst can the loss of energy+weight 3
× lane-change road-ability changes loss+influence on traffic flow loss.
The third aspect, the embodiment of the invention provides a kind of computer storage mediums, for being stored as described in second aspect
Device used in computer software instructions.
The embodiment of the present invention bring it is following the utility model has the advantages that
The embodiment of the invention provides a kind of vehicle lane-changing decision-making technique and device, for provided when intelligent vehicle lane-change decision according to
According to.The complexity and dynamic for fully considering urban road, the influence for lane-change behavior decision are based on rational decision making, construction
Driving revenue function and loss function carry out comprehensive lane-change income calculation, imitate driver's lane-change thinking processes, complete intelligent vehicle
Class people's decision during lane-change.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages in specification, claim
Specifically noted structure is achieved and obtained in book and attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of vehicle lane-changing decision-making technique provided by first embodiment of the invention；
Fig. 2 is a kind of structural block diagram of the device of vehicle lane-changing decision provided by second embodiment of the invention.
Specific embodiment
To keep destination, technical solution and the advantage of the embodiment of the present invention clearer, below in conjunction with attached drawing to this hair
Bright technical solution is clearly and completely described, it is clear that and described embodiments are some of the embodiments of the present invention, without
It is whole embodiments.The component of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings can be with a variety of different
Configuration is to arrange and design.Therefore, below the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit
The range of claimed invention processed, but it is merely representative of selected embodiment of the invention.Based on the embodiments of the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this hair
The range of bright protection.
Embodiment one
A kind of flow chart of vehicle lane-changing decision-making technique shown in FIG. 1 is participated in, this method is applied to specifically include following step
It is rapid:
S101. ambient condition information and surrounding vehicles information are obtained；
S102. according to ambient condition information and surrounding vehicles information, judge whether to need to force lane-change；
If so, thening follow the steps S103.
S103. control vehicle carries out lane-change.
If not, thening follow the steps S104
S104. when the lane-change income of vehicle, which is greater than, maintains existing lane income, control vehicle carries out lane-change.
Wherein, the lane-change income is equal to lane-change acquisition income and loses plus lane-change.
The lane-change obtains income=1 × lane-change of weight speed prospective earnings+2 × lane-change of weight traffic space income+power
Weigh 3 × lane-change train operation performance income；
The lane-change loss=weight 1 × lane-change risk field variation loss+weight 1 × potential burst can the loss of energy+weight 3
× lane-change road-ability changes loss+influence on traffic flow loss.
Maintain existing lane income=1 × current driving of weight rate income+2 × current driving of weight space income+power
Weigh 3 × train operation performance income.
Real-time traffic multidate information is obtained using sensor, surrounding enviroment are perceived, traffic scene is identified.
Vehicle when driving, needs the scene of lane-change that can be divided into two kinds of lane-change of free lane-change and pressure.Force lane-change usually by handing over
Drift then with road conditions generate, vehicle according to traffic rules have to execute lane-change and lane-change avoid-obstacle behavior.Such as work as biography
If sensor monitors that accident occurs in front, then lane-change must be forced.Free lane-change be vehicle when driving, can independently select
It selects lane and keeps or convert runway.And there are many kinds of the foundations of lane change, it is extracted human driver and thinks when driving
The key factor that can be had an impact to vehicle lane change behavior obtains sensor as the value assessment factor of rational decision making
Information is converted into the numerical value of assessment factor according to the rule pre-established, and numerical value is combined with weight carries out overall income calculating.
Wherein positive income principal element includes lane-change speed prospective earnings, lane-change traffic space income and lane-change train operation performance income,
Faster driving speed and openr traveling space, higher driving speed can bring better row in regulation allowed band
Car body, which is tested, influences the train operation performances such as fuel consumption there is also certain, and driving speed and driving are pacified in openr traveling space
Full property has positive influences.According to the damage evaluation of rational decision making, loss function is proposed, the principal element to cause damages is then
It is that the driving risk variation of changing Lane bring changes with train operation performance.Each factor is also different for the weighing factor of decision, according to
AHP analytic approach is used according to its significance level, artificially distributes appropriate weight, carries out the calculating of lane-change overall income, and and current line
Vehicle income is compared, and according to comparison result, exports driving behavior appropriate.
Embodiment two
For vehicle lane-changing decision-making technique provided by previous embodiment, the embodiment of the invention provides a kind of vehicle lane-changings
The device of decision, a kind of structural block diagram of the device of vehicle lane-changing decision shown in Figure 2, which includes following part:
Module 21 is obtained, for obtaining ambient condition information and surrounding vehicles information；
Judgment module 22, for judging whether to need to force lane-change according to ambient condition information and surrounding vehicles information；
First lane-change module 23 is used for if it is, control vehicle carries out lane-change.
Further, described device further include:
Second lane-change module 24, for if it is not, then being controlled when the lane-change income of vehicle is greater than the existing lane income of maintenance
Vehicle processed carries out lane-change.
Further, the lane-change income is equal to lane-change acquisition income and loses plus lane-change.
Further, it is empty to obtain income=1 × lane-change of weight speed prospective earnings+2 × lane-change of weight driving for the lane-change
Between income+weight 3 × lane-change train operation performance income；
The lane-change loss=weight 1 × lane-change risk field variation loss+weight 1 × potential burst can the loss of energy+weight 3
× lane-change road-ability changes loss+influence on traffic flow loss.
The embodiment of the invention also provides a kind of computer storage mediums, for being stored as device provided by the above embodiment
Computer software instructions used.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
It should be noted that in embodiment provided by the present invention, it should be understood that disclosed system and method, it can
To realize by another way.The apparatus embodiments described above are merely exemplary, for example, the unit is drawn
Point, only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.It is described to be used as separation unit
The unit that part illustrates may or may not be physically separated, and component shown as a unit can be or can also
Not to be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Needs some or all of the units may be selected to achieve the purpose of the solution of this embodiment ground.
In addition, each functional unit in embodiment provided by the invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of vehicle lane-changing decision-making technique, which is characterized in that the described method includes:
Obtain ambient condition information and surrounding vehicles information；
According to ambient condition information and surrounding vehicles information, judge whether to need to force lane-change；
If it is, control vehicle carries out lane-change.
2. the method according to claim 1, wherein the method also includes:
According to ambient condition information and surrounding vehicles information, judge whether to need to force lane-change；
If it is not, then control vehicle carries out lane-change when the lane-change income of vehicle is greater than maintenance existing lane income.
3. according to the method described in claim 2, it is characterized in that, the lane-change income, which is equal to lane-change, obtains income plus lane-change
Loss.
4. according to the method described in claim 3, it is characterized in that,
Lane-change acquisition income=1 × lane-change of weight speed prospective earnings+2 × lane-change of the weight traffic space income+weight 3 ×
Lane-change train operation performance income；
The lane-change loss=weight 1 × lane-change risk field variation loss+weight 1 × potential burst can the loss of energy+weight 3 × change
Road road-ability changes loss+influence on traffic flow loss.
5. according to the method described in claim 2, it is characterized in that,
Maintain existing lane income=1 × current driving of weight rate income+2 × current driving of weight space income+weight 3 ×
Train operation performance income.
6. a kind of vehicle lane-changing decision making device, which is characterized in that described device includes:
Module is obtained, for obtaining ambient condition information and surrounding vehicles information；
Judgment module, for judging whether to need to force lane-change according to ambient condition information and surrounding vehicles information；
First lane-change module is used for if it is, control vehicle carries out lane-change.
7. device according to claim 6, which is characterized in that described device further include:
Second lane-change module, for if it is not, then controlling vehicle when the lane-change income of vehicle is greater than the existing lane income of maintenance
Carry out lane-change.
8. device according to claim 7, which is characterized in that the lane-change income is equal to lane-change and obtains income plus lane-change
Loss.
9. device according to claim 8, which is characterized in that
Lane-change acquisition income=1 × lane-change of weight speed prospective earnings+2 × lane-change of the weight traffic space income+weight 3 ×
Lane-change train operation performance income；
The lane-change loss=weight 1 × lane-change risk field variation loss+weight 1 × potential burst can the loss of energy+weight 3 × change
Road road-ability changes loss+influence on traffic flow loss.
10. a kind of computer storage medium, which is characterized in that for being stored as device described in claim 6 to 9 any one
Computer software instructions used.
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| CN201810722075.9A CN108983771A (en) | 2018-07-03 | 2018-07-03 | Vehicle lane-changing decision-making technique and device |
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Cited By (8)
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| CN109839937A (en) * | 2019-03-12 | 2019-06-04 | 百度在线网络技术（北京）有限公司 | Determine method, apparatus, the computer equipment of Vehicular automatic driving planning strategy |
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| CN110723146A (en) * | 2019-10-31 | 2020-01-24 | 哈尔滨工业大学 | Multi-vehicle exchange lane decision method considering driving benefit increment |
| CN110956851A (en) * | 2019-12-02 | 2020-04-03 | 清华大学 | Intelligent networking automobile cooperative scheduling lane changing method |
| CN112416004A (en) * | 2020-11-19 | 2021-02-26 | 腾讯科技（深圳）有限公司 | Control method and device based on automatic driving, vehicle and related equipment |
| CN112829750A (en) * | 2021-02-19 | 2021-05-25 | 恒大新能源汽车投资控股集团有限公司 | Vehicle lane change control method, device and system |
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| CN112416004A (en) * | 2020-11-19 | 2021-02-26 | 腾讯科技（深圳）有限公司 | Control method and device based on automatic driving, vehicle and related equipment |
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| US12122383B2 (en) | 2020-11-19 | 2024-10-22 | Tencent Technology (Shenzhen) Company Limited | Autonomous-driving-based control method and apparatus, vehicle, and related device |
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