CN110103969A - A kind of control method for vehicle, device, system and vehicle - Google Patents

A kind of control method for vehicle, device, system and vehicle Download PDF

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Publication number
CN110103969A
CN110103969A CN201910416257.8A CN201910416257A CN110103969A CN 110103969 A CN110103969 A CN 110103969A CN 201910416257 A CN201910416257 A CN 201910416257A CN 110103969 A CN110103969 A CN 110103969A
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China
Prior art keywords
lane
vehicle
information
lane change
target
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Granted
Application number
CN201910416257.8A
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Chinese (zh)
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CN110103969B (en
Inventor
谢兆夫
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to CN201910416257.8A priority Critical patent/CN110103969B/en
Publication of CN110103969A publication Critical patent/CN110103969A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The embodiment of the invention discloses a kind of control method for vehicle, device, system and vehicles, applied to vehicle drive technical field, it can solve the problem of that there are security risks during lane change caused by can not accurately judging due to driver vehicle-surroundings environment.This method comprises: following the second vehicle during travelling on first lane in the first vehicle, if the first traveling duration of the first vehicle is greater than or equal to preset duration, the traffic information of target lane line information and second lane is obtained；In the case where meeting lane change condition according to the traffic information of target lane line information and second lane is determining, the first vehicle of control is travelled from first lane to second lane lane change；Wherein, the first traveling duration is that the travel speed of the first vehicle is consistently less than the duration of threshold speed, first lane and second lane adjacent lane each other, the information of lane line of the target lane line information between first lane and second lane.This method is applied in the scene of vehicle control.

Description

A kind of control method for vehicle, device, system and vehicle
Technical field
The present embodiments relate to technical field of vehicle more particularly to a kind of control method for vehicle, device, system and vehicles ?.
Background technique
As more and more people's selection drives to go on a journey, the situation of traffic congestion is got worse, traffic accident It is more frequent.Vehicle is during road driving, it will usually and there is driver to drive vehicle and surmounts the slow vehicle that front travels, Overtaking process can be completed by generally going through the traveling of lane change twice.But driver is during lane change often by vision coverage area Interior observation judges road conditions to complete lane change process, due to the limitation of driver's seat, driver may be made to vehicle Surrounding enviroment can not accurately be judged, therefore there are security risks during lane change.
Summary of the invention
The embodiment of the present invention provides a kind of control method for vehicle, device, system and vehicle, deposits in the prior art to solve Vehicle-surroundings environment can not accurately be judged due to driver, caused by there are security risks during lane change The problem of.In order to solve the above-mentioned technical problem, the embodiments of the present invention are implemented as follows:
In a first aspect, providing a kind of control method for vehicle, it is applied to terminal device, this method comprises:
Follow the second vehicle during travelling on first lane in the first vehicle, if the first row of first vehicle Duration is sailed more than or equal to preset duration, then obtains the traffic information of target lane line information and second lane；
The feelings for meeting lane change condition are being determined according to the traffic information of the target lane line information and the second lane Under condition, controls first vehicle and travelled from the first lane to the second lane lane change；
Wherein, the first traveling duration is that the travel speed of first vehicle is consistently less than the duration of threshold speed, The first lane and the second lane adjacent lane each other, the target lane line information be the first lane with it is described The information of lane line between second lane.
As an alternative embodiment, in the first aspect of the embodiment of the present invention,
It is described that lane change condition is met according to the determination of the traffic information of the target lane line information and the second lane, it wraps It includes:
Lane change is determined whether according to the target lane line information；
In the case where the target lane line information indicates to allow lane change, the traffic information according to the second lane is true It whether there is lane change space in the fixed second lane；
There are in the case where lane change space in the second lane, determination meets lane change condition.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
After the control first vehicle is from the first lane to second lane lane change traveling, described the One vehicle is travelled from the first lane lane change to before the second lane, the method also includes:
Obtain the traffic information in the lane change space；
Determined according to the traffic information in the lane change space there is barrier in the lane change space in the case where, control It makes first vehicle to stop travelling to the second lane lane change, and controls first vehicle driving and return first vehicle Road.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
Control first vehicle is travelled from the first lane to the second lane lane change, comprising:
Plan the first expectation route of first vehicle；
First vehicle is controlled according to the first expectation route running, from the first lane to second vehicle Road lane change traveling.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
First expectation route of planning first vehicle, comprising:
Obtain first location information and lane dimension information；The first location information is the upper base of second vehicle The information of position on schedule, the lane dimension information are the letter of the lane width of the first lane and the second lane Breath；
According to the first location information and the lane information, the first object position in second lane is calculated Information；
Plan the first expectation route between the first vehicle present position and the first object position；
The control first vehicle is according to the first expectation route running, from the first lane to described the Two lane highways lane change traveling, comprising:
First vehicle is controlled according to the first expectation route running, from the first position to first mesh Cursor position traveling.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
After from the first position to first object position traveling, the method also includes:
Obtain the length of wagon of second vehicle；
According to the length of wagon of the first location information and second vehicle, the letter of the second target position is calculated Breath；
First vehicle is controlled to give it the gun from the first object position to second target with aimed acceleration Position.
As an alternative embodiment, in first aspect of the embodiment of the present invention,
It is given it the gun from the first object position to second mesh controlling first vehicle with aimed acceleration After cursor position, the method also includes:
Obtain the traffic information of the target lane line information and the first lane；
The feelings for meeting lane change condition are being determined according to the traffic information of the target lane line information and the first lane Under condition, controls first vehicle and travelled from the second lane to the first lane lane change.
Second aspect provides a kind of controller of vehicle, which includes:
Obtain module, determining module and control module；
The acquisition module, for following the second vehicle during travelling on first lane in the first vehicle, if institute The the first traveling duration for stating the first vehicle is greater than or equal to preset duration, then obtains the road of target lane line information and second lane Condition information；
Target lane line information and the second lane of the determining module for being obtained according to the acquisition module Traffic information determines whether to meet lane change condition；
The control module, in the determining module according to the target lane line information and the second lane Traffic information determines meet lane change condition in the case where, control first vehicle from the first lane to the second lane Lane change traveling；
Wherein, the first traveling duration is that the travel speed of first vehicle is consistently less than the duration of threshold speed, The first lane and the second lane adjacent lane each other, the target lane line information be the first lane with it is described The information of lane line between second lane.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The determining module, specifically for determining whether lane change according to the target lane line information；In the mesh In the case where marking the instruction permission lane change of lane line information, determined in the second lane according to the traffic information of the second lane With the presence or absence of lane change space；There are in the case where lane change space in the second lane, determination meets lane change condition.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The acquisition module is also used to control first vehicle from the first lane to described in the control module After second lane lane change traveling, travelled from the first lane lane change to before the second lane in first vehicle, Obtain the traffic information in the lane change space；
The determining module, be also used to be determined according to the traffic information in the lane change space in the lane change space whether There is barrier；
The control module is also used in the determining module according to the traffic information determination in the lane change space In the case where there is barrier in lane change space, controls first vehicle and stop travelling to the second lane lane change, and control It makes first vehicle driving and returns the first lane.
As an alternative embodiment, the control module includes planning in second aspect of the embodiment of the present invention Submodule and control submodule；
The planning submodule, for planning the first expectation route of first vehicle；
The control submodule, for controlling first vehicle according to the first expectation route running, with from described First lane is travelled to the second lane lane change.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The planning submodule is specifically used for obtaining first location information and lane dimension information；The first position letter Breath is the information of the upper datum mark position of second vehicle, and the lane dimension information is the first lane and institute State the information of the lane width of second lane；According to the first location information and the lane dimension information, it is calculated The information of first object position in two lane highways；Plan the first expectation between the first position and the first object position Route；
The control module submodule is specifically used for control first vehicle according to described first and it is expected route running, To be travelled from the first position to the first object position.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The acquisition module is also used to after from the first position to first object position traveling, obtains institute State the length of wagon of the second vehicle；According to the length of wagon of the first location information and second vehicle, it is calculated The information of two target positions；
The control module is also used to control first vehicle and is accelerated with aimed acceleration from the first object position It travels to second target position.
As an alternative embodiment, in second aspect of the embodiment of the present invention,
The acquisition module is also used to add with aimed acceleration from the first object position in control first vehicle After speed traveling to second target position, the traffic information of the target lane line information and the first lane is obtained；
The control module is also used to true in the traffic information according to the target lane line information and the first lane Surely it in the case where meeting lane change condition, controls first vehicle and is travelled from the second lane to the first lane lane change.
The third aspect provides a kind of controller of vehicle, which includes: processor, memory and be stored in the storage On device and the computer program that can run on the processor, such as first party is realized when which is executed by the processor The step of control method for vehicle described in face.
Fourth aspect provides a kind of vehicle control system, which includes: image collecting device, turns to regulating device, vehicle Velocity modulation regulating device, positioning device and the controller of vehicle as described in second aspect；
Wherein, the controller of vehicle respectively with described image acquisition device, the steering regulating device, the speed Regulating device is connected with the positioning device.
As an alternative embodiment, the vehicle control system may be used also in fourth aspect of the embodiment of the present invention To include radar installations；
Wherein, the controller of vehicle is connect with the radar installations.
5th aspect, provides a kind of computer readable storage medium, stores computer on the computer readable storage medium Program, the step of control method for vehicle as described in relation to the first aspect is realized when which is executed by processor
6th aspect, provides a kind of computer program product, when the computer program product is run on computers, So that the computer executes the step of control method for vehicle as described in relation to the first aspect
7th aspect, provides a kind of using distribution platform, and the application distribution platform is used to issue computer program product, Wherein, when the computer program product is run on computers, so that the computer executes as described in relation to the first aspect Some or all of control method for vehicle step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, follow the second vehicle during travelling on first lane in the first vehicle, if first First traveling duration of vehicle is greater than or equal to preset duration, then obtains the road conditions letter of target lane line information and second lane Breath；In the case where meeting lane change condition according to the traffic information of target lane line information and second lane is determining, control first Vehicle is travelled from first lane to second lane lane change；Wherein, the first traveling duration is that the travel speed of the first vehicle is lasting low In the duration of threshold speed, first lane and second lane adjacent lane each other, target lane line information are first lane and the The information of lane line between two lane highways.As it can be seen that implementing the embodiment of the present invention, can be greater than in the first traveling duration of the first vehicle Or in the case where being equal to preset duration, determine that the first vehicle has a lane change demand, and can by obtain target lane line information and The traffic information of second lane controls the first vehicle to determine whether to meet lane change condition, and in the case where meeting lane change condition Lane change, can so judge lane change opportunity, and can control the first vehicle by the traffic information of the second lane of acquisition In the automatic lane change of suitable opportunity, so as to avoid because driver can not accurately sentence the first vehicle-surroundings environment It is disconnected, caused by security risk, and then improve the safety during lane change.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.
Fig. 1 is a kind of flow diagram one of control method for vehicle disclosed by the embodiments of the present invention；
Fig. 2 is the schematic diagram of the safe space of the first vehicle disclosed by the embodiments of the present invention；
Fig. 3 is a kind of flow diagram two of control method for vehicle disclosed by the embodiments of the present invention；
Fig. 4 is a kind of flow diagram three of control method for vehicle disclosed by the embodiments of the present invention；
Fig. 5 is the driving path schematic diagram of the first vehicle disclosed by the embodiments of the present invention；
Fig. 6 is a kind of flow diagram four of control method for vehicle disclosed by the embodiments of the present invention；
Fig. 7 is a kind of flow diagram five of control method for vehicle disclosed by the embodiments of the present invention；
Fig. 8 is a kind of structural schematic diagram one of controller of vehicle disclosed by the embodiments of the present invention；
Fig. 9 is a kind of structural schematic diagram two of controller of vehicle disclosed by the embodiments of the present invention；
Figure 10 is a kind of structural schematic diagram three of controller of vehicle disclosed by the embodiments of the present invention；
Figure 11 is a kind of schematic diagram of vehicle disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.
Term " first " and " second " in description and claims of this specification etc. are for distinguishing different pairs As, rather than it is used for the particular order of description object.For example, the first vehicle and the second vehicle etc. are for distinguishing different vehicles , rather than the particular order for describing vehicle.
The term " includes " of the embodiment of the present invention and " having " and their any deformation, it is intended that covering is non-exclusive Include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly arrange Those of out step or unit, but may include be not clearly listed or it is solid for these process, methods, product or equipment The other step or units having.
It should be noted that in the embodiment of the present invention, " illustrative " or " such as " etc. words make example, example for indicating Card or explanation.Be described as in the embodiment of the present invention " illustrative " or " such as " any embodiment or design scheme do not answer It is interpreted than other embodiments or design scheme more preferably or more advantage.Specifically, " illustrative " or " example are used Such as " word is intended to that related notion is presented in specific ways.
The embodiment of the present invention provides a kind of control method for vehicle, device, system and vehicle, can be to avoid driving because of driver First vehicle-surroundings environment can not accurately be judged, caused by security risk, and then improve lane change during peace Quan Xing.
The executing subject of method provided in an embodiment of the present invention can also be with for controller of vehicle, vehicle control system For vehicle (being in the embodiment of the present invention can be the first vehicle), can specifically be determined according to actual use demand, the present invention Embodiment is not construed as limiting.The following examples are by taking executing subject is controller of vehicle as an example, to provided in an embodiment of the present invention Control method for vehicle is illustratively illustrated.
As shown in Figure 1, the embodiment of the present invention provides a kind of control method for vehicle, this method may include following step S101 And S102.
S101, follow the second vehicle during travelling on first lane in the first vehicle, if the first of the first vehicle Long when driving to be greater than or equal to preset duration, controller of vehicle then obtains the road conditions letter of target lane line information and second lane Breath.
Wherein, the first traveling duration is that the travel speed of the first vehicle is consistently less than the duration of threshold speed, above-mentioned first Lane and above-mentioned second lane adjacent lane each other, lane line of the target lane line information between first lane and second lane Information.
In the embodiment of the present invention, above-mentioned controller of vehicle be can be set on first vehicle.
Optionally, the controller of vehicle can in first vehicle electronic control unit (full name in English: Electronic control unit, english abbreviation: ECU).
Optionally, above-mentioned preset duration can be default setting (for example, being arranged when above-mentioned controller of vehicle dispatches from the factory at this In controller of vehicle) duration, be also possible to the duration of the customized setting of user, the embodiment of the present invention is not construed as limiting.
Optionally, above-mentioned threshold speed can be a specific velocity amplitude, which can be the speed of default setting Angle value, is also possible to the velocity amplitude of the customized setting of user, and the embodiment of the present invention is not construed as limiting.
Optionally, in the embodiment of the present invention, when the first vehicle follows the second vehicle driving, it can be to use and adaptively patrol The follow the bus logic of boat (full name in English: adaptive cruise control, english abbreviation: ACC) makes the first vehicle follow second Vehicle driving.
Optionally, when the first vehicle follows the second vehicle driving, controller of vehicle can also obtain first lane The location information of lane line, and keep the first vehicle in lane center row according to the location information of the lane line of first lane It sails.
In the embodiment of the present invention, follow the second vehicle during travelling on first lane in the first vehicle, first In the case that first traveling duration of vehicle is greater than or equal to preset duration, illustrate that the first vehicle may be due to the second vehicle at this time Speed it is relatively slow and be forced that lower speed is kept to travel, then the first vehicle may determine that as with the demand of overtaking other vehicles at this time, because This controller of vehicle can be by the traffic information of acquisition target lane line information and second lane, to further determine whether It can satisfy the condition of overtaking other vehicles.
Correspondingly, illustrating that the first vehicle may in the case where the first traveling duration of the first vehicle is less than preset duration It does not overtake other vehicles demand, can still keep the first vehicle to follow the second vehicle driving at this time.
In the embodiment of the present invention, the traffic information of above-mentioned target lane line information and second lane all can be from image It obtains.
Controller of vehicle can connect image collecting device in the embodiment of the present invention, and image collecting device can will then be adopted The image of the image including second lane of collection, and the figure of the image including the lane line between first lane and second lane As being sent to controller of vehicle, so that controller of vehicle can get target lane line information and the from these images The traffic information of two lane highways.
Optionally, the map of the first vehicle current driving road can also be obtained, and therefrom obtains target lane line information, And the target lane line information obtained from image is compared according to the target lane line information that will be obtained in map and Calibration, to avoid (such as the first vehicle and the second vehicle distances are excessively closely or negotiation of bends, or vaporous on rainy day in some cases Under condition) image collecting device visual field limitation leads to not the image for taking target lane line, or shoots obtained target carriage The more fuzzy situation of the image of diatom improves the accuracy for obtaining lane line information.
In general, when the lane line between two lanes is dotted line, being characterized as allowing lane change in practical application；Two vehicles When lane line between road is other lane lines such as solid line, double amber lines, it is characterized as not allowing lane change.
Optionally, in the embodiment of the present invention, target lane line information can refer to first lane and the second lane it Between lane line mark form (for example, dotted line) or the meaning (for example, allow lane change) indicated by it.
Optionally, in the embodiment of the present invention, the traffic information of second lane specifically can refer in second lane whether have Vehicle, pedestrian and other objects.
Optionally, the traffic information of second lane can also include vehicle in second lane, pedestrian and other objects The information of motion profile.
S102, controller of vehicle are meeting lane change according to the determination of the traffic information of target lane line information and second lane In the case where condition, the first vehicle of control is travelled from first lane to second lane lane change.
Optionally, controller of vehicle can judge whether according to the traffic information of target lane line information and second lane Meet lane change condition.
Wherein, controller of vehicle judges whether to meet and become according to the traffic information of first lane line information and second lane The method of road condition may include following step a, b and c.
A, controller of vehicle determines whether lane change according to target lane line information.
For example, determining that the lane line between first lane and second lane is the feelings of dotted line according to target lane line information Under condition, it can be determined that allow lane change, determining the lane between first lane and second lane according to target lane line information In the case that line is solid line, it can be determined that not allow lane change.
B, in the case where target lane line information indicates to allow lane change, controller of vehicle is according to the road conditions of second lane Information determines in second lane with the presence or absence of lane change space.
Optionally, controller of vehicle can first calculate process of first vehicle from first lane lane change to second lane In, it can guarantee the safe space of the first vehicle safety lane change in second lane, then be believed again by the road conditions of second lane Breath judges that whether there are obstacles in the safe space.In the case where barrier is not present in the safe space, it can determine There are lane change spaces in the second lane, there are in the case where barrier in the safe space, can determine the second lane In be not present lane change space.
Illustratively, as shown in Fig. 2, safe space is the region B in Fig. 2, the method for calculating the safe space specifically may be used To include:
Firstly, rear car needs to keep with the first vehicle when calculating the progress lane change of the first vehicle according to formula 1 shown below Fore-and-aft distance Sr, (using the first vehicle rear axle central point as coordinate origin), formula 1 is as follows:
Wherein, v in formula 1rIndicate first lane front vehicle speed, v0Indicate the first vehicle current vehicle speed, arIndicate the One lane front vehicle acceleration, tBIndicate time of driver's reaction, tGIndicate vehicle stabilization follow the bus duration.
Secondly, second vehicle needs and the first vehicle when calculating the progress lane change of the first vehicle according to formula 2 shown below Keep fore-and-aft distance Sf, (using vehicle rear axle central point as coordinate origin), formula 2 is as follows:
Wherein, v in formula 2fIndicate first lane front vehicles speed, a0Indicate the first vehicle acceleration, SdefaultIt indicates Default security distance, the value be the first vehicle length and safe distance and.The safe distance can be 1 meter, 2 meters or 3 meters, It can be arranged according to actual needs.
First vehicle plus-minus or deceleration have a comfortable acceleration range value, i.e., | a0|≤|acom|, rule of thumb one As | acom| value be [- 2,2].
It is consequently possible to calculate vehicle needs the region B length S of lane change outbAre as follows: Sb=Sf+Sr。
Controller of vehicle can improve really after the length for determining region B in conjunction with the width of second lane Make the magnitude range of region B.
It can be according to different situations of first vehicle the lane change during and area based on above method controller of vehicle Different traffic informations in the B of domain formulate different lane change strategies.
C, there are in the case where lane change space in second lane, controller of vehicle determination meets lane change condition.
In the embodiment of the present invention, controller of vehicle determine meet lane change condition after, can control the first vehicle from First lane is travelled to second lane lane change.
The embodiment of the present invention provides a kind of control method for vehicle, follows the second vehicle in first lane uplink in the first vehicle During sailing, if the first traveling duration of the first vehicle is greater than or equal to preset duration, controller of vehicle is available The traffic information of target lane line information and second lane, and in the traffic information according to target lane line information and second lane Determine that in the case where meeting lane change condition, the first vehicle of control is travelled from first lane to second lane lane change.Wherein, the first row The travel speed of a length of first vehicle is consistently less than the duration of threshold speed when sailing, first lane and second lane adjacent vehicle each other Road, the information of lane line of the target lane line information between first lane and second lane.Implement as it can be seen that implementing the present invention Example can determine that the first vehicle has lane change to need in the case where the first traveling duration of the first vehicle is greater than or equal to preset duration Ask, and can by obtain target lane line information and second lane traffic information, to determine whether to meet lane change condition, and In the case where meeting lane change condition, the first vehicle lane change is controlled, the traffic information of the second lane of acquisition can be so passed through Judge lane change opportunity, and can control the first vehicle in suitable opportunity automatic lane change, so as to avoid because of driver First vehicle-surroundings environment can not accurately be judged, caused by security risk, and then improve lane change during peace Quan Xing, and then improve the safety during lane change.
Further, due to practical at present during driver drives vehicle, lane change is operated for driver Complicated operation, and in the embodiment of the present invention, the mode that controller of vehicle control vehicle carries out lane change may not need driver Operation, improve drive during comfort.
Optionally, after the S102 in above-mentioned Fig. 1, the first vehicle from first lane lane change travel to second lane it Before, method provided in an embodiment of the present invention further include: the traffic information in the available above-mentioned lane change space of controller of vehicle, And determined according to the traffic information in lane change space there is barrier in lane change space in the case where, control the first vehicle stop It is travelled to second lane lane change, and controls the first vehicle driving and return first lane.
Optionally, in conjunction with Fig. 1, as shown in figure 3, above-mentioned S102 could alternatively be following S102a and S102b.
S102a, controller of vehicle are determining that satisfaction becomes according to the traffic information of target lane line information and second lane In the case where road condition, the first expectation route of the first vehicle of planning.
S102b, controller of vehicle control the first vehicle according to the first expectation route running, from first lane to second Lane traveling.
Optionally, in conjunction with Fig. 3, as shown in figure 4, above-mentioned S102a could alternatively be following S102c, S102d and S102e.
S102c, controller of vehicle obtain first location information and lane dimension information.
Wherein, first location information is the information of the upper datum mark position of the second vehicle.Above-mentioned lane size letter Breath is the information of the lane width of first lane and second lane.
Optionally, the datum mark on second vehicle can be some point on the second vehicle of default, such as can be The central point of the rear axle of second vehicle.
S102d, controller of vehicle are calculated in second lane according to first location information and lane dimension information The information of first object position.
S102e, controller of vehicle plan between the first vehicle present position and first object position One expectation route.
Optionally, the first vehicle present position can be by the coordinate of rear shaft center's point of the first vehicle come really It is fixed, it can for the P in Fig. 50。
During the first vehicle lane change, controller of vehicle can by the lane line information that is obtained in map, and The information that image acquisition device arrives carries out path planning to the driving trace of the first vehicle.
As shown in figure 5, wherein P0To P1Between path can be the first vehicle lane change path.The tool of the driving trace Body planing method is as follows:
With the first vehicle rear axle central point P0(X0, Y0) it is coordinate origin, the end point of the lane change process is P1(X1, Y1) i.e. First object location information in the embodiment of the present invention.
Wherein, P1Abscissa positions Y1For the abscissa of the center line in target lane.In view of the first vehicle lane change process In, since the appearance of other barriers causes lane change to fail in possible lane change space, the first vehicle returns to former lane (i.e. the first vehicle Road), therefore the first vehicle allows the first vehicle to keep current vehicle speed, and end point Y during this lane change1It needs and front row The second vehicle sailed maintains a certain distance.Appropriately distance S should be kept with the second vehicle at this timesr, end point P at this time1's Ordinate X1It can be determined according to following formula 3, formula 3 is as follows:
X′0-Ssr=X1
Wherein, SsrIt can be a preset distance value, X '0For the ordinate of the second vehicle rear axle central point.
Further, can root first lane and second lane lane width information, determine end point P1Cross Ordinate Y1.It may thereby determine that out end point P1Coordinate information (namely first object location information) P is being determined0And P1 After, it can plan P0And P1Between path.
Optionally, in planning P0And P1Between path when, can establish Three Degree Of Freedom vehicle single track model, using model Predictive controller algorithm controls the first vehicle front wheel slip angle, then converses steering wheel end by transmission ratio and needs to control The angular dimension of system, and steering wheel is controlled by controller of vehicle and is adjusted with the angle calculated, thus the first vehicle of control According to the path planned from P0To P1Traveling.
Further, as shown in figure 4, above-mentioned S102b could alternatively be following S102f.
S102f, controller of vehicle control the first vehicle according to the first expectation route running, with from the current institute of the first vehicle It is travelled in position to first object position.
Optionally, in conjunction with Fig. 4, as shown in fig. 6, after above-mentioned S102f, can also include following S102g, S102h and S102j。
S102g, controller of vehicle obtain the length of wagon of first location information and the second vehicle, and first location information is The information of second vehicle present position.
The second mesh is calculated according to the length of wagon of first location information and the second vehicle in S102h, controller of vehicle The information of cursor position.
If the first vehicle is after lane change to second lane, the second vehicle of Yao Chaoyue, then the speed limit of second lane is combined Information, to avoid vehicle from occupying the second lane for a long time, and reduce the second vehicle in overtaking process movement it is uncertain because Element influences.First vehicle reaches P1Point can comfortably accelerate using the maximum speed limit that present road allows as target vehicle speed It gives it the gun in degree range to P2(X2, Y2) point.
Wherein, P2The horizontal axis coordinate and P of point1Point is identical, in order to guarantee safety when second of lane change, the first vehicle with It is needed to keep appropriate safe distance S by the second vehiclesf, therefore accelerating sections end point P2Ordinate X2It can be according to following formula 4 are calculated, and formula 4 is as follows:
X′0+l0+Ssf=X2
In formula 4, l0For the vehicle commander for being exceeded vehicle.X′0For the ordinate of the second vehicle rear axle central point, SsfFor can be with It is a preset distance value.
It in the embodiment of the present invention, has travelled in the first vehicle to first object position, controller of vehicle can be with Execute following S102j.
S102j, controller of vehicle are controlled the first vehicle and are given it the gun from first object position to the with aimed acceleration Two target positions.
Optionally, above-mentioned aimed acceleration can according to the Maximum speed limit of second lane (i.e. will the lane of lane change extremely), And first vehicle current speed determine that the value embodiment of the present invention of specific aimed acceleration is without limitation.
For the comfort level by bus of passenger, aimed acceleration can be arranged in comfortable acceleration range, lead to The value range of this normal acceleration value can be in [- 2,2].
Illustratively, first object position to the second target position is P in Fig. 51To P2Section, the section can be using conventional Proportional-integral derivative controller (often referred to simply as PID) control, i.e., using present road Maximum speed limit as target vehicle speed, to work as Preceding speed and target vehicle speed are departure, and torque is perhaps accelerated to turn round in comfortable acceleration or acceleration as control amount using acceleration Acceleration control is carried out within the scope of square.If the first vehicle reaches P2Point but travel speed does not reach road maximum speed limit, at this time first Vehicle does not further accelerate.It maintains current vehicle speed to carry out lane change or is continually maintained in traveling among lane.
Optionally, in conjunction with Fig. 5, as shown in fig. 6, after above-mentioned S102j, can also include the following steps S102k and S102l。
S102k, controller of vehicle obtain the traffic information of target lane line information and first lane.
S102l, controller of vehicle are determining that satisfaction becomes according to the traffic information of target lane line information and first lane In the case where road condition, the first vehicle of control is travelled from second lane to first lane lane change.
Above-mentioned S102K and S102l is a lane change process, with lane change process class described in above-mentioned S101 and S102 Seemingly, specifically some descriptions of S102K and S102l are referred to the associated description in above-mentioned S101 and S102, herein not It repeats again.
The traffic information of above-mentioned first lane is similar with the traffic information of above-mentioned second lane, and details are not described herein again.
As shown in connection with fig. 5, the second target position, i.e. P are reached in the first vehicle2After point, to available first lane Traffic information.If at this time former lane (first lane) exist can lane change space, second of lane change end point is P at this time3(X3, Y3)。
Optionally, vehicle can keep P2The speed of point completes lane change.
Wherein, P3Abscissa it is identical as former lane lane center, ordinate is then to be completed with present speed second The coordinate value of lane change.Knowing P in this way2And P3After the coordinate of point, it is referred to P1And P2Path planning between point Method, to P2And P3Path planning is carried out between point, so that the first vehicle can be according to the route planned to P3Point, To complete the process that the first vehicle surmounts the second vehicle.
If controller of vehicle determination is unsatisfactory for lane change condition, the first vehicle can maintain P2The speed of point is maintained at the It is travelled on two lane highways, is more than that after a certain period of time, controller of vehicle can make the first vehicle maintain second lane traveling, abandons Surmount the second vehicle.
As shown in fig. 7, below in an illustrative manner, providing in control method for vehicle the embodiment of the present invention, a kind of possibility The processes of control vehicle cut-ins illustratively illustrated that the process may include following S1 to S14.
S1, the first vehicle are maintained at first lane traveling.
Wherein, the model information of the available current first lane of controller of vehicle, and in current first lane On the basis of heart line, the first vehicle of control travels among first lane.
S2, the second vehicle force the first low vehicle speeds for a period of time.
Using front millimeter wave radar to the speed detection of road ahead traveling object, using ACC's (adaptive cruise) Follow the bus logic makes the first vehicle that front truck be followed to travel, when vehicle follows front truck to be more than certain time lower than current setting speed Afterwards, determination judges that the first vehicle may carry out traveling of overtaking other vehicles.
S3, the first vehicle-surroundings environment of detection.
In the case where the first vehicle overtake other vehicles traveling, judges the type of target lane line, judges second lane With the presence or absence of lane change space and the trajectory predictions of other objects etc..
S4, judge whether to meet lane change condition.
Target lane line is dotted line, it is determined whether there are lane change spaces, and if it exists, then determination meets lane change condition, to the The lane change track of one vehicle is planned, that is, plans P0To P1Path between point, and according to the route of planning to P1。
If it is determined that being unsatisfactory for lane change condition, then it can return and execute above-mentioned S1.
S5, the first vehicle lane change are travelled to up to first object position (i.e. P in Fig. 51Point).
Illustratively, the first vehicle reaches the P of second lane shown in Fig. 5 according to planned trajectory1Point after, can determine whether for First time lane change is completed, and the steering for no longer carrying out lane change to vehicle at this time is requested.
S6, the first vehicle travel between two parties in second lane.
Vehicle reaches P shown in Fig. 51After point, the lane line detection of road or map are sent out using front camera The model information of the current lane sent, on the basis of road axis, control vehicle travels among second lane.
S7, the first vehicle give it the gun to the second target position (i.e. P in Fig. 52Point).
First lateral direction of car is maintained at traveling among second lane, it is longitudinal then using current second lane maximum speed limit as target Speed makes vehicle give it the gun to P shown in Fig. 5 in comfortable acceleration range using PID control2Point.
S8, the first vehicle-surroundings environment of detection.
The first vehicle-surroundings environment is detected again, provides information for second of lane change decision, it is similar with S3 no longer superfluous herein It states.
S9, judge whether to meet lane change condition.
Similar with S4, details are not described herein again.
S10, the first vehicle lane change are travelled to third target position (i.e. P of the traveling into Fig. 53Point).
If meeting lane change condition, the first vehicle, from P as shown in Figure 52Point is travelled to P3Point, to complete secondary lane change Operation.
S11, end of overtaking other vehicles.
Vehicle reaches P3 point, then second of lane change is completed, and terminates entire overtaking process.Vehicle can be continually maintained in first Traveling among vehicle road.In conjunction with P2The speed of point and the speed-limiting messages of current lane, with the speed and P of current lane2The vehicle of point Minimum value travels between speed.
S12, it is maintained at second lane traveling.
If being unsatisfactory for condition, the first vehicle maintains P shown in Fig. 52The speed of point, is maintained at second lane row It sails.
S13, lane change condition is unsatisfactory for more than certain time length.
Lane change condition is unsatisfactory for more than after certain time length, vehicle is no longer attempt to carry out second of lane change, that is, maintains second Lane center is with P shown in Fig. 52Current vehicle speed traveling.
S14, it abandons overtaking other vehicles, is maintained at second lane traveling.
It is no longer attempt to second of lane change, is continually maintained in second lane traveling.
It should be noted that above-mentioned each control method for vehicle shown in the drawings is to combine in the embodiment of the present invention The explanation of exemplary for an attached drawing in the embodiment of the present invention.When specific implementation, above-mentioned each vehicle shown in the drawings Other combinable any attached drawings that control method can be combined with illustrating in above-described embodiment realize that details are not described herein again.
As shown in figure 8, the embodiment of the present invention provides a kind of controller of vehicle 130, which includes obtaining Modulus block 131, determining module 132 and control module 133.
Wherein, module 131 is obtained, for following the second vehicle during travelling on first lane in the first vehicle, If the first traveling duration of the first vehicle is greater than or equal to preset duration, the road of target lane line information and second lane is obtained Condition information.
Determining module 132 is used to be believed according to the road conditions for obtaining target lane line information and second lane that module 131 obtains Breath determines whether to meet lane change condition.
Control module 133, for true according to the traffic information of target lane line information and second lane in determining module 132 Surely in the case where meeting lane change condition, the first vehicle of control is travelled from first lane to second lane lane change.
Wherein, the first traveling duration is that the travel speed of the first vehicle is consistently less than the duration of threshold speed, first lane With second lane adjacent lane each other, the information of lane line of the target lane line information between first lane and second lane.
Optionally, determining module 132, specifically for determining whether lane change according to target lane line information；In target In the case that the instruction of lane line information allows lane change, determined in second lane according to the traffic information of second lane with the presence or absence of change Road space；There are in the case where lane change space in second lane, determination meets lane change condition.
Optionally, module 131 is obtained, is also used to control the first vehicle from first lane to the second vehicle in control module 133 It after road lane change traveling, is travelled from first lane lane change to before second lane in the first vehicle, obtains the road in lane change space Condition information；Determining module 132 is also used to determine in lane change space whether obstacle occur according to the traffic information in lane change space Object；Control module 133 is also used to determine in lane change space occur according to the traffic information in lane change space in determining module 132 In the case where barrier, the first vehicle of control stops travelling to second lane lane change, and controls the first vehicle driving and return the first vehicle Road.
Optionally, in conjunction with Fig. 8, as shown in figure 9, above-mentioned control module 133 includes planning submodule 133a and control submodule Block 133b.
Wherein, submodule 133a is planned, for planning the first expectation route of the first vehicle；Control submodule 133b is used Route running it is expected according to first in controlling the first vehicle, to travel from first lane to second lane lane change.
Optionally, it plans submodule 133a, is specifically used for obtaining first location information and lane dimension information；First position Information is the information of the upper datum mark position of the second vehicle, and lane dimension information is the vehicle of first lane and second lane The information of road width；According to first location information and lane dimension information, the first object position in second lane is calculated Information；Plan the first expectation route between first position and first object position；Control submodule 133b is specifically used for control The first vehicle is made according to the first expectation route running, to travel from the first vehicle present position to first object position.
Optionally, module 131 is obtained, is also used to travelling it from the first vehicle present position to first object position Afterwards, the length of wagon of first location information and the second vehicle is obtained；According to the length of wagon of first location information and the second vehicle, The information of the second target position is calculated；Control module 133 is also used to control the first vehicle with aimed acceleration from the first mesh Cursor position is given it the gun to the second target position.
Optionally, module 131 is obtained, is also used to accelerate with aimed acceleration from first object position in the first vehicle of control After traveling to the second target position, the traffic information of target lane line information and first lane is obtained；Control module 133, also For controlling first in the case where meeting lane change condition according to the traffic information of target lane line information and first lane is determining Vehicle is travelled from second lane to first lane lane change.
As shown in Figure 10, the embodiment of the present invention also provides a kind of controller of vehicle 140, the controller of vehicle 140 packet It includes: processor 141, memory 142 and being stored in the computer journey that can be run on the memory 142 and on the processor 141 Sequence, the computer program by the processor 141 execute when realize above method embodiment in control method for vehicle the step of.
Controller of vehicle provided in an embodiment of the present invention can be realized each process shown in above method embodiment, To avoid repeating, details are not described herein again.
The embodiment of the present invention provides a kind of controller of vehicle, follows the second vehicle in first lane uplink in the first vehicle During sailing, if the first vehicle first traveling duration be greater than or equal to preset duration, obtain target lane line information and The traffic information of second lane；Meeting lane change condition according to the determination of the traffic information of target lane line information and second lane In the case of, the first vehicle of control is travelled from first lane to second lane lane change；Wherein, the first traveling duration is the first vehicle Travel speed is consistently less than the duration of threshold speed, first lane and second lane adjacent lane each other, target lane line information The information of lane line between first lane and second lane.As it can be seen that implement the embodiment of the present invention, it can be the of the first vehicle In the case that one traveling duration is greater than or equal to preset duration, determine that the first vehicle has lane change demand, and can be by obtaining mesh The traffic information for marking lane line information and second lane, to determine whether to meet lane change condition, and in the feelings for meeting lane change condition Under condition, the first vehicle lane change is controlled, lane change opportunity can be so judged by the traffic information of the second lane of acquisition, and The first vehicle be can control in the automatic lane change of suitable opportunity, so that because driver can not be accurate to the first vehicle-surroundings environment Judged, caused by security risk, and then improve lane change during safety.
The embodiment of the present invention provides a kind of vehicle control system, this is stated vehicle control system and includes: image collecting device, turns To regulating device, speed regulating device, map and location information acquisition device and above-mentioned controller of vehicle (such as Fig. 8 Fig. 9 and Any one controller of vehicle shown in the drawings in Figure 10).
Wherein, controller of vehicle is filled with image collecting device, steering regulating device, speed regulating device and positioning respectively Set connection.
The embodiment of the present invention provides a kind of vehicle control system, which can also include radar installations.
Wherein, above-mentioned controller of vehicle is connect with the radar installations.
Optionally, the embodiment of the present invention provides a kind of vehicle, which is characterized in that the vehicle includes involved in above-described embodiment Vehicle control system or the vehicle include controller of vehicle in above-described embodiment.
It illustratively, is as shown in figure 11 a kind of schematic diagram of possible vehicle provided in an embodiment of the present invention, the vehicle On mainly may include having following device: forward sight camera 1, front millimeter wave radar 2, angle millimetre-wave radar 3, master control ECU is (i.e. Above-mentioned controller of vehicle) 4, side preceding camera 5, side rear camera 6, steering system and turn signal (turn to and adjust dress Set) 7, braking system and Brake lamp (i.e. speed regulating device) 8 and map and location information acquisition device 9.
Wherein, forward sight camera 1, can be by visual identity and image processing techniques to from the every frame image taken It extracts area-of-interest (full name in English: region of interest, english abbreviation: ROI) and carries out picture element interpolation calculating or side Edge detects and is that the lane line detected establishes lane line cubic equation using Clothoid model modeling, constructs with vehicle rear axle For the lane line position information of coordinate origin.Make vehicle be not carried out overtake other vehicles or lane change movement before, can be with lane center Control track is maintained at traveling among road, and overtake other vehicles or lane change after make vehicle maintain overtake other vehicles or lane change road among travel. Forward sight camera can also be to the profile to travel the object within the scope of road ahead 100m~200m from vehicle, kinematic parameter etc. simultaneously Information is detected, and is overtaken other vehicles for vehicle or lane change decision provides auxiliary information.
Front millimeter wave radar 2 can be visited by emitting and receiving high frequency millimeter wave forwards with Doppler effect Survey the certain object information within the vision in front, including overtake other vehicles or lane change before front obstacle information, overtake other vehicles or lane change It overtakes other vehicles in the process or the obstacle information in lane change road, is overtaken other vehicles for master control ECU or lane change decision provides auxiliary information.
Angle millimetre-wave radar 3, it is similar with the working principle of front millimeter wave radar, by emitting high frequency to vehicle-surroundings Millimeter wave, using, with the speed of side rear object, acceleration and overtaking other vehicles or become in front of Doppler effect detection target lane side Road is returned from the speed in front of the side of lane stage lane with side rear object, and the information such as acceleration are sent to master control ECU, based on Control ECU judge when vehicle cut-ins or lane change can lane change space be barrier.
Master control ECU4 is then to receive forward sight camera 1, front millimeter wave radar 2, angle millimetre-wave radar 3 and following Side preceding camera 5, side rear camera 6 and map and the information collected of location information acquisition device 9, and according to these information, Following steering systems and turn signal 7 and speed controller 8 are controlled to realize vehicle control side provided in an embodiment of the present invention Method.
Side preceding camera 5 is mounted on position of rear view mirror by visual identity and image processing techniques to area in front of vehicle side The object in domain is detected, for master control ECU calculate can lane change space carry out Decision-making for overtaking accurate object of which movement and profile are provided Information.
Side rear camera 6 is mounted on B pillar position by visual identity and image processing techniques to area in front of vehicle side The object in domain is detected, for master control ECU calculate can lane change space carry out Decision-making for overtaking accurate object of which movement and profile are provided Information.
Steering system and turn signal 7, master control ECU can pass through steering angle needed for calculating control when carrying out trajectory track Degree is turned by controller local area network's (full name in English: controller area network, english abbreviation: CAN) bus transfer To request to steering system and turn signal, steering system, which executes, to be turned to request while lighting turn signal.
Speed controller 8, master control ECU by speed needed for calculating control and can pass through CAN when carrying out trajectory track The instruction of bus transfer regulation speed is to speed controller.
Map and location information acquisition device 9, available high-precision map is to provide fining lane level information Including lane curvature, the gradient, course, the information such as minimum speed limit of highest can assist sensory perceptual system, make up sensor and (such as image Head, radar etc.) deficiency.Meanwhile available high-precision location information and the cooperation of high-precision map are that master control ECU is carried out Accurate vehicle control provides guarantee.
The embodiment of the present invention provides a kind of computer readable storage medium, stores and calculates on the computer readable storage medium Machine program is realized when the computer program is executed by processor such as the step of control method for vehicle in above method embodiment.
The embodiment of the present invention provides a kind of computer program product, when the computer program product is run on computers When, so that the step of computer executes the control method for vehicle in above method embodiment.
The embodiment of the present invention provides a kind of using distribution platform, and the application distribution platform is produced for issuing computer program Product, wherein when the computer program product is run on computers, so that the computer executes above method embodiment In some or all of control method for vehicle step.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention Implementation process constitutes any restriction.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product, It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products It embodies, which is stored in a memory, including several requests are with so that a computer is set Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes Some or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One- Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can For carrying or any other computer-readable medium of storing data.

Claims (16)

1. a kind of control method for vehicle, which is characterized in that the described method includes:
Follow the second vehicle during travelling on first lane in the first vehicle, if the first of first vehicle when driving It is long to be greater than or equal to preset duration, then obtain the traffic information of target lane line information and second lane；
In the case where meeting lane change condition according to the traffic information of the target lane line information and the second lane is determining, First vehicle is controlled to travel from the first lane to the second lane lane change；
Wherein, the first traveling duration is that the travel speed of first vehicle is consistently less than the duration of threshold speed, described Adjacent lane, the target lane line information are the first lane and described second each other for first lane and the second lane The information of lane line between lane.
2. the method according to claim 1, wherein described according to the target lane line information and described second The traffic information determination in lane meets lane change condition, comprising:
Lane change is determined whether according to the target lane line information；
In the case where the target lane line information indicates to allow lane change, institute is determined according to the traffic information of the second lane It states in second lane with the presence or absence of lane change space；
There are in the case where lane change space in the second lane, determination meets lane change condition.
3. according to the method described in claim 2, it is characterized in that, the control first vehicle from the first lane to After second lane lane change traveling, first vehicle from the first lane lane change travel to the second lane it Before, the method also includes:
Obtain the traffic information in the lane change space；
Determined according to the traffic information in the lane change space there is barrier in the lane change space in the case where, control institute It states the first vehicle to stop travelling to the second lane lane change, and controls first vehicle driving and return the first lane.
4. the method according to claim 1, wherein the control first vehicle from the first lane to The second lane lane change traveling, comprising:
Plan the first expectation route of first vehicle；
First vehicle is controlled according to the first expectation route running, to become from the first lane to the second lane Road traveling.
5. according to the method described in claim 4, it is characterized in that, the first expectation route of the planning first vehicle, Include:
Obtain first location information and lane dimension information；The first location information is the upper datum mark of second vehicle The information of position, the lane dimension information are the information of the lane width of the first lane and the second lane；
According to the first location information and the lane information, the letter of the first object position in second lane is calculated Breath；
Plan the first expectation route between the first vehicle present position and the first object position；
The control first vehicle is according to the first expectation route running, from the first lane to second vehicle Road lane change traveling, comprising:
First vehicle is controlled according to the first expectation route running, from the first position to the first object position Set traveling.
6. according to the method described in claim 5, it is characterized in that, from the first position to the first object position row After sailing, the method also includes:
Obtain the length of wagon of second vehicle；
According to the length of wagon of the first location information and second vehicle, the information of the second target position is calculated；
First vehicle is controlled to give it the gun from the first object position to second target position with aimed acceleration.
7. according to the method described in claim 6, it is characterized in that, controlling first vehicle with aimed acceleration from described First object position is given it the gun to second target position, the method also includes:
Obtain the traffic information of the target lane line information and the first lane；
In the case where meeting lane change condition according to the traffic information of the target lane line information and the first lane is determining, First vehicle is controlled to travel from the second lane to the first lane lane change.
8. a kind of controller of vehicle characterized by comprising obtain module, determining module and control module；
The acquisition module, for following the second vehicle during travelling on first lane in the first vehicle, if described the First traveling duration of one vehicle is greater than or equal to preset duration, then obtains the road conditions letter of target lane line information and second lane Breath；
The determining module, the road conditions of target lane line information and the second lane for being obtained according to the acquisition module Information determines whether to meet lane change condition；
The control module, for the road conditions in the determining module according to the target lane line information and the second lane Information determines meet lane change condition in the case where, control first vehicle from the first lane to the second lane lane change Traveling；
Wherein, the first traveling duration is that the travel speed of first vehicle is consistently less than the duration of threshold speed, described Adjacent lane, the target lane line information are the first lane and described second each other for first lane and the second lane The information of lane line between lane.
9. device according to claim 8, which is characterized in that
The determining module, specifically for determining whether lane change according to the target lane line information；In the target carriage In the case that the instruction of diatom information allows lane change, according to the traffic information of the second lane determine in the second lane whether There are lane change spaces；There are in the case where lane change space in the second lane, determination meets lane change condition.
10. device according to claim 9, which is characterized in that
The acquisition module is also used to control first vehicle from the first lane to described second in the control module It after lane traveling, travels from the first lane lane change to before the second lane, obtains in first vehicle Traffic information in the lane change space；
The determining module is also used to determine in the lane change space whether occur according to the traffic information in the lane change space Barrier；
The control module is also used to determine the lane change according to the traffic information in the lane change space in the determining module In the case where there is barrier in space, controls first vehicle and stop travelling to the second lane lane change, and control institute It states the first vehicle driving and returns the first lane.
11. device according to claim 8, which is characterized in that the control module includes planning submodule and control Module；
The planning submodule, for planning the first expectation route of first vehicle；
The control submodule, for controlling first vehicle according to the first expectation route running, with from described first Lane is travelled to the second lane lane change.
12. device according to claim 11, which is characterized in that
The planning submodule is specifically used for obtaining first location information and lane dimension information；The first location information is The information of the upper datum mark position of second vehicle, the lane dimension information are the first lane and described the The information of the lane width of two lane highways；According to the first location information and the lane dimension information, the second vehicle is calculated The information of first object position in road；Plan the first expectation road between the first position and the first object position Line；
The control module submodule, is specifically used for controlling first vehicle according to the first expectation route running, with from The first position is travelled to the first object position.
13. device according to claim 12, which is characterized in that
The acquisition module is also used to after from the first position to first object position traveling, obtains described the The length of wagon of two vehicles；According to the length of wagon of the first location information and second vehicle, the second mesh is calculated The information of cursor position；
The control module is also used to control first vehicle and is given it the gun with aimed acceleration from the first object position To second target position.
14. device according to claim 13, which is characterized in that
The acquisition module is also used to accelerate to go from the first object position with aimed acceleration in control first vehicle It sails to second target position, obtains the traffic information of the target lane line information and the first lane；
The control module is also used to determine completely according to the traffic information of the target lane line information and the first lane In the case where sufficient lane change condition, controls first vehicle and travelled from the second lane to the first lane lane change.
15. a kind of vehicle control system characterized by comprising image collecting device turns to regulating device, speed adjusting dress It sets, map and location information acquisition device and such as the described in any item controller of vehicle of claim 8-14；
Wherein, the controller of vehicle is adjusted with described image acquisition device, the steering regulating device, the speed respectively Device and the map are connect with location information acquisition device.
16. a kind of vehicle, which is characterized in that the vehicle includes vehicle control system as claimed in claim 15, Huo Zhesuo Stating vehicle includes such as the described in any item controller of vehicle of claim 8 to 14.
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