CN109878523A - A kind of automatic driving vehicle lane changing control method and device - Google Patents
A kind of automatic driving vehicle lane changing control method and device Download PDFInfo
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Abstract
The invention discloses a kind of automatic driving vehicle lane changing control method and device, and wherein method includes: the lane-change requirement command for obtaining user, and the lane-change requirement command, which is used to indicate, to be needed vehicle switching lane to the left from current lane or switch lane to the right；According to the lane-change requirement command, the first current traffic state data of the vehicle is obtained；According to the current traffic road condition data of the vehicle, judge to switch the safety condition whether lane meets switching lane according to the lane-change requirement command；The safety condition for switching lane as described in meeting then controls the vehicle according to the lane-change requirement command and carries out lane switching；The safety condition for switching lane as described in being unsatisfactory for, then control the vehicle and do not execute the lane-change requirement command currently.Present invention introduces the judgements of the people-car interaction of user, are judged by user and judge automatically the accuracy and safety that improve lane-change decision each time, expand the suitable environment of automatic Pilot lane change decision.
Description
Technical field
The present invention relates to artificial intelligence and automatic Pilot fields more particularly to a kind of automatic driving vehicle lane changing to control
Method and device.
Background technique
In recent years, automatic Pilot is increasingly becoming the focus in the fields such as automobile, IT and artificial intelligence.It can from current development trend
With, it is envisioned that automatic Pilot technology will make significant contribution to improve traffic congestion, improving traffic safety and reducing air pollution etc.,
It is the inexorable trend of the following intelligent transportation.
Automatic driving vehicle is a complicated software and hardware combining system, and safe and reliable operation needs vehicle-mounted hardware, biography
The coordinated work of multiple modules such as sensor is integrated, perception is predicted, decision rule control.Its main operational principle is by certainly
Dynamic " the eyes "-onboard sensor for driving vehicle, to perceive vehicle-surroundings traffic information, including surrounding other vehicles, pedestrian
The information such as position, speed, size, type；Then " brain "-decision rule system of automatic driving vehicle, according to sensing results
It carries out decision rule and sends result to control system.Lane decision and action planning are the main contents of decision rule, vehicle
Road decision refers to automatic driving vehicle by perception periphery traffic condition, in conjunction with current vehicle position, surface conditions and navigation rule
It draws, selects most suitable lanes, be one of behaviour decision making of automatic driving vehicle.Action planning is according to lane decision knot
Fruit calculates the target trajectory that will be travelled.In auxiliary driving technology more mature at present, only simple lane is kept with before
Vehicle follows function, these are not related to autonomous lane decision.
For at present, the accurate vehicle periphery traffic information that perceives is that decision rule system carries out security decision to lane
Work premise.But due to complex road condition factor, such as block, illumination, weather and sensor technology limitation, it is single to change
Road decision, which is difficult to accurately identify barrier, causes safety lower, and the probability of lane-change erroneous judgement is higher, dangerous.
Summary of the invention
In view of the above problems, the invention proposes a kind of automatic driving vehicle lane changing control method and device, introduce
The people-car interaction of user judges, is judged by user and judges automatically the accuracy and safety that improve lane-change decision each time
Property, expand the suitable environment of automatic Pilot lane change decision.
In a first aspect, the application is provided the following technical solutions by an embodiment:
A kind of automatic driving vehicle lane changing control method, comprising:
Obtain user lane-change requirement command, the lane-change requirement command be used to indicate need by vehicle from current lane to
Left cut is changed trains or switches to the right lane；According to the lane-change requirement command, the first current traffic condition of the vehicle is obtained
Data；According to the current traffic road condition data of the vehicle, judge to switch whether lane meets according to the lane-change requirement command
Switch the safety condition in lane；The safety condition for switching lane as described in meeting, then control the vehicle needs according to the lane-change
Instruction is asked to carry out lane switching；The safety condition for switching lane as described in being unsatisfactory for, then control the vehicle and do not execute institute currently
State lane-change requirement command.
Preferably, the lane-change requirement command for obtaining user, comprising:
Obtain the first lane-change requirement command that user directly indicates.
Preferably, the lane-change requirement command for obtaining user, comprising:
The second current traffic state data of the vehicle is obtained, is judged whether with lane-change motivation；If the vehicle tool
There is lane-change motivation, then generate lane-change solicited message and be shown to user, the lane-change solicited message is for requesting vehicle
Switch lane to the left from current lane or switches lane to the right；User is obtained to be changed according to second that the lane-change solicited message is fed back
Road requirement command, the second lane-change requirement command is for agreeing the lane-change solicited message.
Preferably, it if the vehicle has lane-change motivation, generates lane-change solicited message and is shown to user,
Include:
When the vehicle has lane-change motivation, whether judgement is current within the punishment stage, wherein the vehicle is described
Lane-change solicited message is not generated in the punishment stage；If being not in the punishment stage, generate lane-change solicited message and to user into
Row is shown.
Preferably, the second lane-change requirement command for obtaining user and being fed back according to the lane-change solicited message, comprising:
The lane-change solicited message is shown within preset first period to user；
The second lane-change requirement command of user's input is received within the preset third period.
Preferably, it if the vehicle has lane-change motivation, generates lane-change solicited message and is shown to user
Later, further includes:
It obtains user to be instructed according to the refusal that the lane-change solicited message is fed back, the refusal instruction is for indicating refusal institute
State lane-change solicited message；It is instructed according to the refusal, starting duration is the punishment stage of the second period, wherein the vehicle exists
Lane-change solicited message is not generated in the punishment stage.
Preferably, the second lane-change requirement command for obtaining user and being fed back according to the lane-change solicited message, comprising:
The lane-change solicited message is shown within preset first period to user；When in the preset third period
When not receiving the instruction of user's triggering inside, the second lane-change requirement command is generated.
Second aspect, based on the same inventive concept, the application are provided the following technical solutions by an embodiment:
A kind of automatic driving vehicle lane changing control device, comprising:
Command reception module, for obtaining the lane-change requirement command of user, the lane-change requirement command is used to indicate needs
Vehicle is switched into lane from current lane to the left or switches lane to the right；Traffic state data obtains module, for according to
Lane-change requirement command obtains the first current traffic state data of the vehicle；Analysis module, for according to the vehicle
Current traffic road condition data judges to switch the safe item whether lane meets switching lane according to the lane-change requirement command
Part；First lane-change control module then controls the vehicle and changes according to described for switching the safety condition in lane as described in meeting
Road requirement command carries out lane switching；Second lane-change control module, for switching the safety condition in lane as described in being unsatisfactory for, then
It controls the vehicle and does not execute the lane-change requirement command currently.
Preferably, described instruction receiving module is also used to:
Obtain the first lane-change requirement command that user directly indicates.
Preferably, described instruction receiving module is also used to:
The second current traffic state data of the vehicle is obtained, is judged whether with lane-change motivation；If the vehicle tool
There is lane-change motivation, then generate lane-change solicited message and be shown to user, the lane-change solicited message is for requesting vehicle
Switch lane to the left from current lane or switches lane to the right；User is obtained to be changed according to second that the lane-change solicited message is fed back
Road requirement command, the second lane-change requirement command is for agreeing the lane-change solicited message.
Preferably, described instruction receiving module is also used to:
When the vehicle has lane-change motivation, whether judgement is current within the punishment stage, wherein the vehicle is described
Lane-change solicited message is not generated in the punishment stage；If being not in the punishment stage, generate lane-change solicited message and to user into
Row is shown.
Preferably, described instruction receiving module is also used to:
The lane-change solicited message is shown within preset first period to user, within the preset third period
Receive the second lane-change requirement command of user's input.
Preferably, further include punishment module, the punishment module is used for:
If there is lane-change motivation in the vehicle, after generating lane-change solicited message and being shown to user,
It obtains user to be instructed according to the refusal that the lane-change solicited message is fed back, the refusal instruction is for indicating that refusing the lane-change asks
Seek information；It is instructed according to the refusal, starting duration is the punishment stage of the second period, wherein the vehicle is in the punishment
Lane-change solicited message is not generated in stage.
Preferably, described instruction receiving module is also used to:
The lane-change solicited message is shown within preset first period to user；When in the preset third period
When not receiving the instruction of user's triggering inside, the second lane-change requirement command is generated.
The third aspect, based on the same inventive concept, the application are provided the following technical solutions by an embodiment:
A kind of automatic driving vehicle lane changing control device, including processor and memory, the memory are couple to
The processor, the memory store instruction make the automatic driving vehicle when executed by the processor
Lane changing control device executes the step of any one of first aspect the method.
Fourth aspect, based on the same inventive concept, the application are provided the following technical solutions by an embodiment:
A kind of computer readable storage medium, is stored thereon with computer program, realization when which is executed by processor
The step of any one of first aspect the method.
A kind of automatic driving vehicle lane changing control method and device provided in an embodiment of the present invention, wherein method packet
It includes: obtaining the lane-change requirement command of user, the lane-change requirement command, which is used to indicate, to be needed vehicle from current lane to left cut
It changes trains or switches lane to the right；According to the lane-change requirement command, the first current traffic state data of the vehicle is obtained；
According to the current traffic road condition data of the vehicle, judge to switch whether lane meets switching vehicle according to the lane-change requirement command
The safety condition in road；The safety condition for switching lane as described in meeting, then control the vehicle according to the lane-change requirement command
Carry out lane switching；The safety condition for switching lane as described in being unsatisfactory for, then control the vehicle and do not execute the lane-change currently
Requirement command.This method actively intervenes automated driving system by user, feeds back corresponding lane-change requirement command, i.e., necessary
When can by user actively judgement currently whether carry out lane-change, then vehicle combines the safety condition of current driving to carry out automatically
Secondary judgement finally controls vehicle and carries out lane switching or switch without lane, improves the reliability and peace of vehicle switching
Quan Xing reduces False Rate.Therefore, the method and device provided through the invention improves vehicle lane change decision each time
Accuracy and safety expand the suitable environment of automatic Pilot lane change decision.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of process of automatic driving vehicle lane changing control method of first embodiment of the invention offer
Figure；
Fig. 2 shows the sub-step flow charts of step S10 in Fig. 1；
Fig. 3 shows a kind of structural schematic diagram of Human-computer Interactive Design of first embodiment of the invention offer；
Fig. 4 shows the structural schematic diagram of another Human-computer Interactive Design of first embodiment of the invention offer；
Fig. 5 show first embodiment of the invention offer using the automatic of automatic driving vehicle lane changing control method
The work flow diagram of control loop；
Fig. 6 shows a kind of function of automatic driving vehicle lane changing control device of second embodiment of the invention offer
Module frame chart；
Fig. 7 shows a kind of illustrative automatic driving vehicle lane changing control dress of third embodiment of the invention offer
The structural block diagram set.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The development of automatic Pilot technology is closely related to the cognition of its " safety " with masses with universal.Here safety
Property, on the one hand refer to the safety of automatic Pilot technology；On the other hand refer to that masses think that automatic Pilot technology is " safety ".
The main direction of development of automatic Pilot technology is the accuracy and decision rule system for improving onboard sensor to environment sensing at present
The intelligence of system guarantees the safety of automatic Pilot technology.According to the also non-full maturity of current automatic Pilot technology, fail to cover
The fact that cover all traffic conditions, the invention proposes a kind of automatic driving vehicle lane changing controlling parties based on people-car interaction
This method or device can be integrated in car running computer, automated driving system etc. by method and device.Using this method or device, favorably
People-car interaction operation is carried out in user and vehicle, automated driving system is intervened by user and feeds back corresponding lane-change requirement command,
Manual intervention lane-change decision is actively carried out, judges automatically lane-change safety in conjunction with vehicle, to obtain eventually for control vehicle row
Sail the final decision result of state.A kind of new solution is provided for the lane-change decision in automatic driving vehicle.
Referring to Fig. 1, providing a kind of automatic driving vehicle lane changing control method in the present embodiment, during Fig. 1 is shown
Step flow chart of the invention.This method comprises:
Step S10: obtaining the lane-change requirement command of user, and the lane-change requirement command, which is used to indicate, to be needed vehicle from working as
Preceding lane switches lane to the left or switches lane to the right.
Step S20: according to the lane-change requirement command, the first current traffic state data of the vehicle is obtained.
Step S30: according to the current traffic road condition data of the vehicle, judge to switch vehicle according to the lane-change requirement command
Whether road meets the safety condition in switching lane.
Step S40: switch the safety condition in lane as described in meeting, then control the vehicle and refer to according to the lane-change demand
It enables and carries out lane switching.
Step S50: switching the safety condition in lane as described in being unsatisfactory for, then controls the vehicle and do not execute described change currently
Road requirement command.
In step slo, in the present embodiment, the lane-change requirement command for obtaining user includes two ways.
It is specific:
Mode one: the first lane-change requirement command that user directly indicates is obtained.I.e. user can be by way of people-car interaction
The first lane-change requirement command is directly inputted, which can indicate lane-change to the left or to the right lane-change.At this point, indicating
The lane-change request that user actively issues.
Mode two obtains the second lane-change requirement command that user feeds back according to lane-change solicited message.
Vehicle is switched lane from current lane to the left or switches lane to the right by lane-change solicited message for requesting, and second changes
Road requirement command agrees lane-change solicited message.
Referring to Fig. 2, specifically, in this mode, the acquisition of the second lane-change requirement command may include following steps:
Step S11: the second current traffic state data of the vehicle is obtained, is judged whether with lane-change motivation.
Step S12: it if the vehicle has lane-change motivation, generates lane-change solicited message and is shown to user.
Step S13: the second lane-change requirement command that user feeds back according to the lane-change solicited message is obtained.
In step s 11, the second traffic state data can be obtained by onboard sensor, including but not limited to, vehicle week
Enclose the parameters such as obstacle information, traffic information, map route planning, vehicle position.Specifically, the vehicle being arranged on vehicle
Set sensor such as, radar, infrared sensor, gyroscope etc.；It is also possible to provide having positioning system, camera, human-computer interaction
The hardware such as interface, central computation unit, and carrying image identifying system, speech recognition system etc., based on above-mentioned hardware and soft
The monitoring and acquisition of part basis completion Current traffic data.Sentencing for lane-change motivation is achieved that using collected traffic data
It is disconnected.Such as:
In vehicle travel process, self-position is obtained using positioning system, is examined using the sensor of vehicle's surroundings setting
Survey the obstacle informations such as type, position, speed and the direction of motion of periphery barrier；Detect traffic lights, road traffic
The traffic informations such as line, road speed limit and road sign.Abstract treated that information is transferred to automatically by sensing results for central computation unit
The decision rule system using the present embodiment method in control loop.When current traffic information meets change lane condition, just
It can obtain indicating leftward or rightward lane-change lane-change motivation.
In the present embodiment, a kind of following embodiment for generating lane-change motivation is provided:
(1) it using automatic driving vehicle left-hand lane, place lane and right-hand lane as to decision lane, is led in determining
On the line of air route, according to the position of automatic driving vehicle, inscribed at this, acquisition every to can continue on decision lane traveling away from
From and speed-limiting messages, every is quantified to decision lane information, obtains every evaluation information to decision lane；
(2) every barrier to front and rear sides nearest with respect to automatic driving vehicle fore-and-aft distance on decision lane is acquired
Information acquires current location and the velocity information of former and later two barriers, and the location information after one section of setting time,
And calculate current time and former and later two barriers obtain respectively with respect to the relative distance of automatic driving vehicle when to setting time
Take the information of every four relative distance to decision lane；
(3) by information obtained above, i.e., the every overall merit information SL to decision lane, when front obstacle is current
Relative distance Sfn, the relative distance at rear obstacle current time after the relative distance Sf at quarter, front obstacle setting time
Relative distance Sbn after Sb, rear obstacle setting time, arrangement obtain decision matrix；It specifically can be as follows:
Table 1
(4) decision matrix is handled, it is integrated ordered to the progress of decision lane to every by decision-making technique.Wherein,
Decision-making technique includes but is not limited to two decision information weight calculation, Analysis of Policy Making processes, to realize automatic driving vehicle
Autonomous lane decision in real time, so judge that current time should select to decision lane, specific calculating process is the prior art, no
It repeats again.If be automatic driving vehicle left-hand lane or right-hand lane with decision lane, there is lane-change motivation.
It should be noted that the method that judges of lane-change motivation is the prior art, including but not limited to mentioned in the present embodiment
The mode arrived.
Step S12: it if the vehicle has lane-change motivation, generates lane-change solicited message and is shown to user.
In step s 12, it in order to further improve the reliability of the automatic driving vehicle lane changing control method, keeps away
Exempt to generate identical change in the short time again after the second lane-change requirement command of upper primary user feedback is requested for refusal lane-change
Road solicited message.The punishment stage can be introduced in the method, specifically include following two step:
1, when the vehicle has lane-change motivation, whether judgement is current within the punishment stage, wherein the vehicle is in institute
It states and does not generate lane-change solicited message in the punishment stage.
If 2, being not in the punishment stage, generates lane-change solicited message and be shown to user.
It is that the lane-change solicited message obtained at this time is automatically generated as a result, can be shown to lane-change solicited message, introduce
User carries out people-car interaction and carries out secondary audit and judgement to lane-change solicited message, with confirm lane-change solicited message validity and
Safety.Step S13 is executed, as follows:
In step s 12, when being shown to lane-change solicited message, the display of the human-computer interaction interface on vehicle can be passed through
Device is shown, language casting and phonetic incepting etc. can also be carried out by speech recognition system, with no restriction.
Step S13: the second lane-change requirement command that user feeds back according to the lane-change solicited message is obtained.
The the second lane-change requirement command for obtaining user feedback can are as follows: active feedback can also be passive feedback, with no restrictions.
Active feedback indicates that user has selected to agree to or refuse change included in lane-change solicited message by people-car interaction
Road request, i.e., user can directly input the second lane-change requirement command by human-computer interaction.
Further, in order to avoid the people-car interaction operating time is too long, lane-change opportunity is missed.Response timing can be carried out,
Lane-change solicited message is shown within preset first period to user.The length of first period can be according to road conditions or vehicle
The parameters such as travel speed carry out automatic or manual adjustment, such as the size of the first period can are as follows: 2 seconds, 3 seconds, 4 seconds etc., do not limit
System.
Likewise, can also refuse after the step 12 lane-change solicited message, refusal instruction can be obtained.Into one
Step, according to refusal instruct, can starting duration be the second period the punishment stage, wherein the vehicle is in the punishment stage
In do not generate lane-change solicited message.
Such as:
Lane change to the left and/or lane change to the right can be shown on the human-computer interaction interface of vehicle and cancel lane change three virtually
Button (display carrier of lane-change solicited message, form are with no restriction), wherein user by human-computer interaction interface directly issue to
Left and/or lane change to the right is the first lane-change requirement command, is shown lane-change solicited message to request user to be confirmed whether
Carry out lane change.User can carry out one of three buttons of selection within the first period, obtain corresponding second lane-change demand
Instruction or refusal instruction.When showing if voice, user can reply corresponding identification information within the first period.In the first period
Interior, before user does not make a choice to initial decision result, vehicle can continue to keep straight trip.
It is shown by the lane-change solicited message of step S13 and people-car interaction is fed back to obtain the second lane-change requirement command, realized
Secondary judgement can further improve the accuracy and reliability for the lane-change decision that vehicle automatic decision obtains, and avoid single determine
The insecurity for the result that plan generates.
It should be noted that providing the mode that is implemented as follows in the present embodiment to enter the punishment stage:
If the second lane-change requirement command indicates to refuse the request of lane-change represented by the lane-change solicited message, start
The punishment stage of second period of Shi Changwei, wherein the vehicle does not generate lane-change solicited message in the punishment stage.Specifically
, the expression of the second lane-change requirement command has rejected lane-change request, and showing the automatic decision of vehicle, there may be certain errors, short
The lane-change solicited message that identical lane-change request should not be generated in time again, avoids causing danger.Specifically, a timing can be passed through
Device carries out timing, the punishment stage when a length of second period, the size of the second period can be according to road conditions or Vehicle Speed
Etc. parameters carry out automatic or manually adjusted by people-car interaction.After terminating in the punishment stage, generation lane-change can be restarted and asked
Information is sought to show user.
Passive feedback indicates that user does not do any operation to the displaying of lane-change solicited message, is represented by default and agrees to change
The lane-change request for including in road solicited message.It is specific:
1, the lane-change solicited message is shown within preset first period to user；
2, when not receiving the instruction of user's triggering within the preset third period, the second lane-change requirement command is generated,
Wherein, the second lane-change requirement command agrees the lane-change solicited message.
The instruction of user's triggering including but not limited to operates the feedback signal that the mechanical mechanism on vehicle generates, operation row
Virtual push button on vehicle computer display screen, input voice content etc..I.e. user does not carry out man-machine interactive operation directly, has defaulted vehicle
The lane-change solicited message that automatic decision obtains.
It should be noted that the size of third period can be identical as the size of the first period, also greater than or less than first
Period.
Step S20: according to the lane-change requirement command, the first current traffic state data of the vehicle is obtained.
First traffic state data includes but is not limited to the vehicle speed information in lane to be changed to, signalling light for vehicle information,
Information etc. that whether there are obstacles in the front in lane to be changed to, vehicle can be (thunderous with the onboard sensor on vehicle by being arranged
Up to), camera cooperation image recognition, speed identification etc..First traffic state data can be quantified, such as can determine whether out to be intended to
Become the present speed (or accelerating, slowing down) of the forward and backward vehicle into lane, and be intended to become the forward and backward distance etc. into lane.
Step S30: according to the current traffic road condition data of the vehicle, judge to switch vehicle according to the lane-change requirement command
Whether road meets the safety condition in switching lane.
In step s 30, safety condition is for example: the velocity magnitude of current vehicle and being intended to become the forward and backward vehicle into lane
Whether velocity magnitude meets the requirements (speed of three vehicles), and being intended to become the spacing of the forward and backward vehicle into lane, whether to be greater than one default
The size of threshold value, the preset threshold can be related to the speed of three vehicles.Judge whether the safety condition for meeting switching lane
Concrete mode can be to be judged using the safe submodule of lane-change in the decision rule module in existing automated driving system
Whether lane-change is feasible, i.e., existing solution can be used in the judgement for whether meeting safety condition, repeats no more.
Step S40: switch the safety condition in lane as described in meeting, then control the vehicle and refer to according to the lane-change demand
It enables and carries out lane switching.It in step s 40, can be by car running computer directly according to the safe item of lane-change requirement command and current lane-change
The steering mechanism that part controls current vehicle carries out corresponding lane-change to the left, to the right lane-change.
Step S50: switching the safety condition in lane as described in being unsatisfactory for, then controls the vehicle and do not execute described change currently
Road requirement command.It can keep keeping straight on, ensure that vehicle safety.
The judgement for whether meeting current lane-change safety condition by step S30 to step S50 can further improve final
The safety and reliability of the result of decision.
In the various embodiments of the invention, it carries out manual intervention or carries out the specific implementation of people-car interaction using man-machine
When interactive interface decision information can be shown by various ways such as text, image, sound.
Example one:
Referring to Fig. 3, the human-computer interaction interface can include:
First display panel 11 can be used for showing the response waiting time of countdown mode.
Second display panel 12 can carry out the text importing of initial decision result.
It, can be to by the key when driver/passenger needs to carry out manual intervention to " left side " lane-change key 13
Corresponding system (such as lane-change decision system) sends the first lane-change requirement command to " left side " lane-change on vehicle；It is not carrying out manually
When intervention, generate waiting confirmation stage when operation (people-car interaction) within the first period of lane-change solicited message, if request to
" left side " lane-change 13, which will highlight request content by " flashing " effect, and driver/passenger can be somebody's turn to do by clicking
Key sends " confirmation " information, shows to accept initial decision result；To during " left side " lane-change, which will be displayed as " green "
To show just in lane-change.
It can refer to the explanation to " left side " lane-change key 13 to the function of " right side " lane-change key 14.
Straight trip decision display unit 15, when vehicle keeps keeping straight on, which can be shown by modes such as animation or colors
Automobile is being kept straight on；When not carrying out manual intervention, the waiting confirmation stage of lane-change solicited message is generated, driver/passenger can
To send " cancellation " information to decision rule system by the component, show the lane-change motivation for not accepting decision rule module；?
During lane-change, which will not be activated.
Voice prompt button 16 can be used for playing initial decision result, it can also be used to just in the voice prompting of lane-change, can lead to
The button is crossed to be switched.
The Interactive interface designing is compact, each functions of modules clear and definite, built-in to show equipment in automotive front end, can also be interior
It is placed in automated driving system control page end or application program.
Example two:
It realizes people-car interaction operation or carries out manual intervention, existing automobile component can be based on, by key needed for interaction mechanism
Combined design is carried out with information and steering wheel and turn signal stacked switch, is conducive to driver/passenger and keeps preferable vigilant,
Prompt information is paid attention in time.
Referring to Fig. 4, can be arranged on steering wheel 101, left-hand key 102, dextrad key 103 and straight trip key 104 can
Lane-change selection or lane-change manual intervention function are integrated in turn signal stacked switch 105；
Specifically, left-hand key 102 is mainly used for feeding back the second lane-change requirement command to " left side " lane-change, send to " left side "
The display of first lane-change requirement command and lane-change process of lane-change.If requesting to " left side " lane-change, which will be imitated by " flashing "
Fruit highlights request content；To during " left side " lane-change, which will be displayed as " green " to show just in lane-change.
The function of dextrad key 103 can refer to the explanation and illustration of left-hand key 102, the function for key 104 of keeping straight on
Effect can refer to the explanation and illustration of above-mentioned straight trip decision display unit 15.
Turn signal stacked switch 105 can be to combination in order to merge human-computer interaction mechanism interface with turn signal stacked switch
The function of switch is redesigned.When carrying out manual intervention, stacked switch is stirred to "lower", is produced to " left side " lane-change
First lane-change requirement command or the corresponding second lane-change requirement command of feedback；Stacked switch is stirred to "upper", produce to
The initial decision result of " right side " lane-change.When not carrying out manual intervention, the waiting confirmation stage of initial decision result, if request is
To " left side " lane-change, stacked switch is stirred to "lower", " confirmation " information can be transmitted, shows that the lane-change for accepting decision rule module is dynamic
Machine；If request can be transmitted " confirmation " information, show to accept decision rule for " right side " lane-change, stacked switch is stirred to "upper"
The lane-change motivation of module.
The steering wheel 101 of the interactive interface and vehicle turns to 105 depth integration of stacked switch, is conducive to be promoted and drive automatically
The sense of security and acceptance level of technology are sailed, provides solution for the universal of automatic Pilot technology.
Method in the present embodiment can be operated by people-car interaction to the autonomous lane decision of the vehicle of automatic Pilot
Initial decision result is intervened and is corrected, and makes decisions on one's own end by system and people-car interaction end forms, and carries out people-car interaction operation
When, there are waiting confirmation stage (the first period), punishment stage (the second period), response timeout (third period) and manual intervention
The main features such as decision.When waiting confirmation stage, driver/passenger can by human-computer interaction interface to initial decision result into
Row confirmation is cancelled or is ignored.
In addition, vehicle driver/passenger can actively propose manually to change to automated driving system in embodiments of the present invention
Road request (issues the first lane-change requirement command), and automated driving system is executed in the case where judging non-hazardous situation.
Method provided in an embodiment of the present invention can design human-computer interaction end based on electronic touch screen, and text can be used
The various ways such as word, image and sound prompt initial decision result or final decision result, carry out to interactive mode
Clearly, compact design；It is set in addition, also having carried out height using the steering wheel of existing automobile and steering stacked switch etc. and having merged
Meter.Both human-computer interaction mechanism design schemes are used equally for realizing that manual intervention and people-car interaction in the embodiment of the present invention are grasped
Make.But man-machine interaction mode in the present invention is not limited to both the above scheme, can be based on interaction mechanism of the present invention or use
Similar scheme belongs to the variant or extension of the method for the present invention.
In addition, provide an example in the present invention, referring to Fig. 5, Fig. 5 show it is a kind of using the automatic of the method for the present invention
The specific workflow figure of control loop.Fig. 5 is explained and illustrated below:
In Fig. 5, first choice carries out the update of parameter when which works, including but not limited to acquisition traffic data, system
Upgrading, map data update etc..
Manual intervention indicates whether to receive the first lane-change requirement command that user directly issues, if so, can directly lead to
The safety condition (the safe submodule of lane-change) for crossing lane-change judges whether lane-change is feasible, and the final vehicle that controls carries out lane-change or keeps straight
Row.
If manual intervention is no, and there are in the case where lane-change motivation, judge whether current system is in the punishment stage,
If then keeping keeping straight on；If it is not, then starting to show lane-change solicited message, and response timer is opened (when timing is first
Section).When being to agree to wrap in lane-change solicited message in response timeout or respond request (the corresponding second lane-change requirement command of feedback)
When the lane-change request contained, judge whether lane-change is feasible, finally controls vehicle by the safety condition (the safe submodule of lane-change) of lane-change
Carry out lane-change or keep straight trip.If open punishment timer when respond request is refusal, when entrance a length of second duration
The punishment stage.
In summary: a kind of automatic driving vehicle lane changing control method and device provided in an embodiment of the present invention,
Middle method includes: the lane-change requirement command for obtaining user, and the lane-change requirement command, which is used to indicate, to be needed vehicle from working as front truck
Road switches lane to the left or switches lane to the right；According to the lane-change requirement command, the first current traffic of the vehicle is obtained
Status data；According to the current traffic road condition data of the vehicle, judge whether switch lane according to the lane-change requirement command
Meet the safety condition in switching lane；The safety condition for switching lane as described in meeting, then control the vehicle and change according to described
Road requirement command carries out lane switching；The safety condition for switching lane as described in being unsatisfactory for, then control the vehicle and do not hold currently
The row lane-change requirement command.This method actively intervenes automated driving system by user, feeds back corresponding lane-change requirement command,
Actively can judge currently whether carry out lane switching by user when necessary, then vehicle combines current driving automatically
Safety condition carry out secondary judgement, finally control vehicle and carry out lane switching or switch without lane, improve replacing vehicle
The reliability and safety in road, reduce False Rate.Therefore, the method and device provided through the invention, it is every to improve vehicle
The accuracy and safety of lane change decision, expand the suitable environment of automatic Pilot lane change decision.
Referring to Fig. 6, based on the same inventive concept, also providing a kind of automatic driving vehicle in one embodiment of this invention
Lane changing control device 400, the device 400 include:
Command reception module 401, for obtaining the lane-change requirement command of user, the lane-change requirement command, which is used to indicate, to be needed
Vehicle is switched into lane from current lane to the left or switches lane to the right.
Traffic state data obtains module 402, for according to the lane-change requirement command, obtain the vehicle it is current the
One traffic state data.
Analysis module 403 judges to need according to the lane-change for the traffic road condition data current according to the vehicle
Ask whether instruction switching lane meets the safety condition in switching lane.
First lane-change control module 404 then controls the vehicle and presses for switching the safety condition in lane as described in meeting
Lane switching is carried out according to the lane-change requirement command.
Second lane-change control module 405 then controls the vehicle for switching the safety condition in lane as described in being unsatisfactory for
The lane-change requirement command is not executed currently.
As an alternative embodiment, described instruction receiving module, is also used to:
Obtain the first lane-change requirement command that user directly indicates.
As an alternative embodiment, described instruction receiving module, is also used to:
The second current traffic state data of the vehicle is obtained, is judged whether with lane-change motivation；If the vehicle tool
There is lane-change motivation, then generate lane-change solicited message and be shown to user, the lane-change solicited message is for requesting vehicle
Switch lane to the left from current lane or switches lane to the right；User is obtained to be changed according to second that the lane-change solicited message is fed back
Road requirement command, the second lane-change requirement command is for agreeing the lane-change solicited message.
As an alternative embodiment, described instruction receiving module, is also used to:
When the vehicle has lane-change motivation, whether judgement is current within the punishment stage, wherein the vehicle is described
Lane-change solicited message is not generated in the punishment stage；If being not in the punishment stage, generate lane-change solicited message and to user into
Row is shown.
As an alternative embodiment, described instruction receiving module, is also used to:
The lane-change solicited message is shown within preset first period to user；
The second lane-change requirement command of user's input is received within first period.
As an alternative embodiment, further including punishment module, the punishment module is used for:
If there is lane-change motivation in the vehicle, after generating lane-change solicited message and being shown to user,
It obtains user to be instructed according to the refusal that the lane-change solicited message is fed back, the refusal instruction is for indicating that refusing the lane-change asks
Seek information；It is instructed according to the refusal, starting duration is the punishment stage of the second period, wherein the vehicle is in the punishment
Lane-change solicited message is not generated in stage.
As an alternative embodiment, described instruction receiving module, is also used to:
The lane-change solicited message is shown within preset first period to user；When in the preset third period
When not receiving the instruction of user's triggering inside, the second lane-change requirement command is generated.
It should be noted that a kind of automatic driving vehicle lane changing control device 400 provided by the embodiment of the present invention,
The technical effect that it implements and generates is identical with preceding method embodiment, and to briefly describe, Installation practice part is not mentioned
And place, it can refer to corresponding contents in preceding method embodiment.
In addition, based on the same inventive concept, one embodiment of the invention additionally provides a kind of automatic driving vehicle lane change
Changing control device, including processor and memory, the memory is couple to the processor, the memory store instruction,
The automatic driving vehicle lane changing control device is set to execute following operation when executed by the processor:
Obtain user lane-change requirement command, the lane-change requirement command be used to indicate need by vehicle from current lane to
Left cut is changed trains or switches to the right lane；According to the lane-change requirement command, the first current traffic condition of the vehicle is obtained
Data；According to the current traffic road condition data of the vehicle, judge to switch whether lane meets according to the lane-change requirement command
Switch the safety condition in lane；The safety condition for switching lane as described in meeting, then control the vehicle needs according to the lane-change
Instruction is asked to carry out lane switching；The safety condition for switching lane as described in being unsatisfactory for, then control the vehicle and do not execute institute currently
State lane-change requirement command.
It should be noted that in automatic driving vehicle lane changing control device provided by the embodiment of the present invention, it is above-mentioned
The technical effect of specific implementation and the generation of each step is identical with preceding method embodiment, and to briefly describe, the present embodiment is not
Refer to that place can refer to corresponding contents in preceding method embodiment.
In the embodiment of the present invention, operating system and third are installed in automatic driving vehicle lane changing control device
Square application program.Automatic driving vehicle lane changing control device can be tablet computer, mobile phone, laptop, PC
(personal computer, personal computer), wearable device, car-mounted terminal, car running computer etc..
Fig. 7 shows a kind of module frame chart of exemplary automatic driving vehicle lane changing control device 500.Such as Fig. 7 institute
Show, automatic driving vehicle lane changing control device 500 includes memory 502, storage control 504, and one or more is (in figure
Only show one) processor 506, Peripheral Interface 508, network module 510, input/output module 512, display module 514 etc..This
A little components are mutually communicated by one or more communication bus/signal wire 516.
Memory 502 can be used for storing software program and module, such as the automatic driving vehicle vehicle in the embodiment of the present invention
Road conversion control apparatus method and the corresponding program instruction/module of device, processor 506 are stored in memory by operation
Software program and module in 502, it is such as provided in an embodiment of the present invention thereby executing various function application and data processing
Automatic driving vehicle lane changing control device method.
Memory 502 may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic
Property storage device, flash memory or other non-volatile solid state memories.Processor 506 and other possible components are to storage
The access of device 502 can carry out under the control of storage control 504.
Various input/output devices are couple processor 506 and memory 502 by Peripheral Interface 508.In some implementations
In example, Peripheral Interface 508, processor 506 and storage control 504 can be realized in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
Network module 510 is for receiving and transmitting network signal.Above-mentioned network signal may include wireless signal or have
Line signal.
Input/output module 512 realizes user and the control of automatic driving vehicle lane changing for being supplied to user input data
The interaction of device processed.The input/output module 512 may be, but not limited to, mouse, keyboard and Touch Screen etc..
Display module 514 provides one between automatic driving vehicle lane changing control device 500 and user and interacts boundary
Face (such as user interface) is referred to for display image data to user.In the present embodiment, the display module 514
It can be liquid crystal display or touch control display.It can be the electricity of support single-point and multi-point touch operation if touch control display
Appearance formula touch screen or resistance type touch control screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense to come from and be somebody's turn to do
The touch control operation that one or more positions generate simultaneously on touch control display, and the touch control operation that this is sensed is transferred to handle
Device is calculated and is handled.
It is appreciated that structure shown in Fig. 7 is only to illustrate, automatic driving vehicle lane changing control device 500 can also be wrapped
Include than shown in Fig. 7 more perhaps less component or with the configuration different from shown in Fig. 7.Each component shown in fig. 7
It can be realized using hardware, software, or its combination.
One embodiment of the invention additionally provides a kind of computer storage medium, driving in the above embodiment of the present invention automatically
If sailing the integrated functional module of vehicle lane conversion control apparatus to realize in the form of software function module and as independent
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, the present invention is real
All or part of the process in the automatic driving vehicle lane changing control method of existing above-mentioned first embodiment, can also pass through meter
Calculation machine program is completed to instruct relevant hardware, and the computer program can be stored in a computer readable storage medium
In, the computer program is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the calculating
Machine program includes computer program code, and the computer program code can be source code form, object identification code form, can hold
Style of writing part or certain intermediate forms etc..The computer-readable medium may include: that can carry the computer program code
Any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunications letter
Number and software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be managed according to the administration of justice
Local legislation and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent
Practice, computer-readable medium does not include electric carrier signal and telecommunication signal.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize automatic driving vehicle lane changing control according to an embodiment of the present invention
The some or all functions of some or all components in method, apparatus processed.The present invention is also implemented as executing
Some or all device or device programs of method as described herein are (for example, computer program and computer journey
Sequence product).It is such to realize that program of the invention can store on a computer-readable medium, either can have one or
The form of multiple signals.Such signal can be downloaded from an internet website to obtain, be perhaps provided on the carrier signal or
It is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (16)
1. a kind of automatic driving vehicle lane changing control method characterized by comprising
The lane-change requirement command of user is obtained, the lane-change requirement command, which is used to indicate, to be needed vehicle from current lane to left cut
It changes trains or switches lane to the right；
According to the lane-change requirement command, the first current traffic state data of the vehicle is obtained；
According to the current traffic road condition data of the vehicle, judge cut according to whether lane-change requirement command switching lane meets
The safety condition changed trains；
The safety condition for switching lane as described in meeting then controls the vehicle and cuts according to lane-change requirement command progress lane
It changes；
The safety condition for switching lane as described in being unsatisfactory for, then control the vehicle and do not execute the lane-change requirement command currently.
2. the method according to claim 1, wherein the lane-change requirement command for obtaining user, comprising:
Obtain the first lane-change requirement command that user directly indicates.
3. the method according to claim 1, wherein the lane-change requirement command for obtaining user, comprising:
The second current traffic state data of the vehicle is obtained, is judged whether with lane-change motivation；
If the vehicle has lane-change motivation, generates lane-change solicited message and be shown to user, the lane-change request letter
Vehicle is switched lane from current lane to the left or switches lane to the right by breath for requesting；
The second lane-change requirement command that user feeds back according to the lane-change solicited message is obtained, the second lane-change requirement command is used
In agreeing the lane-change solicited message.
4. if according to the method described in claim 3, generation is changed it is characterized in that, the vehicle has lane-change motivation
Road solicited message is simultaneously shown to user, comprising:
When the vehicle has lane-change motivation, whether judgement is current within the punishment stage, wherein the vehicle is in the punishment
Lane-change solicited message is not generated in stage；
If being not in the punishment stage, generates lane-change solicited message and be shown to user.
5. according to the method described in claim 3, it is characterized in that, the acquisition user feeds back according to the lane-change solicited message
The second lane-change requirement command, comprising:
The lane-change solicited message is shown within preset first period to user；
The second lane-change requirement command of user's input is received within the preset third period.
6. according to method as claimed in claim 3 to 5, which is characterized in that if the vehicle has lane-change motivation,
After generating lane-change solicited message and being shown to user, further includes:
It obtains user to be instructed according to the refusal that the lane-change solicited message is fed back, the refusal instruction is changed described in refusal for indicating
Road solicited message；
It is instructed according to the refusal, starting duration is the punishment stage of the second period, wherein the vehicle is in the punishment stage
In do not generate lane-change solicited message.
7. according to the method described in claim 3, it is characterized in that, the acquisition user feeds back according to the lane-change solicited message
The second lane-change requirement command, comprising:
The lane-change solicited message is shown within preset first period to user；
When not receiving the instruction of user's triggering within the preset third period, the second lane-change requirement command is generated.
8. a kind of automatic driving vehicle lane changing control device characterized by comprising
Command reception module, for obtaining the lane-change requirement command of user, the lane-change requirement command, which is used to indicate, to be needed vehicle
Switches lane to the left from current lane or switch lane to the right；
Traffic state data obtains module, for obtaining the first current traffic of the vehicle according to the lane-change requirement command
Status data；
Analysis module judges for the traffic road condition data current according to the vehicle according to the lane-change requirement command
Whether switching lane meets the safety condition in switching lane；
First lane-change control module then controls the vehicle according to described for switching the safety condition in lane as described in meeting
Lane-change requirement command carries out lane switching；
Second lane-change control module then controls the vehicle currently not for switching the safety condition in lane as described in being unsatisfactory for
Execute the lane-change requirement command.
9. device according to claim 8, which is characterized in that described instruction receiving module is also used to:
Obtain the first lane-change requirement command that user directly indicates.
10. device according to claim 8, which is characterized in that described instruction receiving module is also used to:
The second current traffic state data of the vehicle is obtained, is judged whether with lane-change motivation；
If the vehicle has lane-change motivation, generates lane-change solicited message and be shown to user, the lane-change request letter
Vehicle is switched lane from current lane to the left or switches lane to the right by breath for requesting；
The second lane-change requirement command that user feeds back according to the lane-change solicited message is obtained, the second lane-change requirement command is used
In agreeing the lane-change solicited message.
11. device according to claim 10, which is characterized in that described instruction receiving module is also used to:
When the vehicle has lane-change motivation, whether judgement is current within the punishment stage, wherein the vehicle is in the punishment
Lane-change solicited message is not generated in stage；
If being not in the punishment stage, generates lane-change solicited message and be shown to user.
12. device according to claim 10, which is characterized in that described instruction receiving module is also used to:
The lane-change solicited message is shown within preset first period to user；
The second lane-change requirement command of user's input is received within the preset third period.
13. any device of 0-12 according to claim 1, which is characterized in that further include punishment module, the punishment module
For:
If there is lane-change motivation in the vehicle, after generating lane-change solicited message and being shown to user,
It obtains user to be instructed according to the refusal that the lane-change solicited message is fed back, the refusal instruction is changed described in refusal for indicating
Road solicited message；
It is instructed according to the refusal, starting duration is the punishment stage of the second period, wherein the vehicle is in the punishment stage
In do not generate lane-change solicited message.
14. device according to claim 10, which is characterized in that described instruction receiving module is also used to:
The lane-change solicited message is shown within preset first period to user；
When not receiving the instruction of user's triggering within the preset third period, the second lane-change requirement command is generated.
15. a kind of automatic driving vehicle lane changing control device, which is characterized in that described to deposit including processor and memory
Reservoir is couple to the processor, the memory store instruction, make when executed by the processor it is described from
It is dynamic to drive the step of vehicle lane conversion control apparatus perform claim requires any one of 1-8 the method.
16. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claim 1-8 the method is realized when execution.
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| CN201910174850.6A CN109878523A (en) | 2019-03-08 | 2019-03-08 | A kind of automatic driving vehicle lane changing control method and device |
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| CN201910174850.6A CN109878523A (en) | 2019-03-08 | 2019-03-08 | A kind of automatic driving vehicle lane changing control method and device |
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| CN114728658A (en) * | 2021-04-14 | 2022-07-08 | 华为技术有限公司 | Vehicle control method and device and vehicle |
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Application publication date: 20190614 |