CN110254430A - A kind of tendentious automobile of consideration driving forces lane-change decision safe early warning method - Google Patents
A kind of tendentious automobile of consideration driving forces lane-change decision safe early warning method Download PDFInfo
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- CN110254430A CN110254430A CN201910469520.XA CN201910469520A CN110254430A CN 110254430 A CN110254430 A CN 110254430A CN 201910469520 A CN201910469520 A CN 201910469520A CN 110254430 A CN110254430 A CN 110254430A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
Abstract
The present invention provides a kind of tendentious automobile of consideration driver driving and forces lane-change decision safe early warning method, and method includes: that evaluation and test driver drives tendentiousness；For different driving tendentiousness driver's selection target vehicles and at the latest distance between lane-change point；The prompt of voice lane-change is provided according to target carriage and at the latest different distance between lane-change point；Obtain target lane after with vehicle speed and with the fore-and-aft distance of target carriage；Judge whether to meet pressure lane-change condition according to tendentiousness is driven behind target lane with vehicle speed opposite with target carriage, with the fore-and-aft distance of target carriage and target carriage driver；Corresponding safe early warning is carried out to lane-change decision.The present invention gives automobile for the different tendentious drivers of driving and forces lane-change safe early warning method, and the driving safety of effective guarantee vehicle improves auxiliary driver comfort, has stronger practicability.
Description
Technical field
Driving tendentious automobile the present invention relates to automobile intelligent interaction field more particularly to a kind of consideration forces lane-change to be determined
Plan safe early warning method.
Background technique
With vehicle intellectualized development, people require to be continuously improved for road-ability, and DAS (Driver Assistant System) is answered
With more and more extensive.In some crossings for needing to force lane-change or high speed ring road mouth, driver has to by forcing lane-change
To achieve the purpose that oneself.The driving tendentiousness for considering driver drives tendentious driver's automobile pressure lane-change to different
Decision carries out safe early warning, and the safety comfort to automobile assistant driving is had extremely important effect.
Lane-change safe early warning at this stage, mostly towards all drivers, there is no consider driver personality's factor.Right
When driving behavior carries out safe early warning, often there is the problems such as prompting to shift to an earlier date, lag, experience sense is bad, not very practical.Consideration is driven
It sails tendentiousness and driver group is divided into three types, i.e., radical type, plain edition and conservative carry out forcing lane-change peace in automobile
Full warning aspect is more targeted.
Summary of the invention
In view of the above analysis, the present invention is intended to provide a kind of consideration driver, which drives tendentious automobile, forces lane-change decision
Safe early warning method, main application and the crossroad and expressway ramp mouth that need to force lane-change, to solve current skill
The not very practical problem of the early warning generated situations such as driver personality's factor is not considered in art.
Tendentious automobile is driven the present invention provides a kind of consideration and forces lane-change decision safe early warning method, including following
Step:
Detect the driving tendentiousness of driver；
For different driving tendentiousness driver's selection target vehicles between the point of lane-change at the latest at a distance from；
According to target carriage between the point of lane-change at the latest at a distance from voice prompting lane-change information；
Fore-and-aft distance and speed, acceleration behind acquisition target lane with vehicle and target carriage；
It drives the conditions such as tendentiousness with vehicle and the fore-and-aft distance of target carriage, opposite speed and driver according to behind target lane and sentences
It is disconnected whether to meet pressure lane-change condition；
Corresponding safe early warning is carried out to lane-change decision.
The driving tendentiousness for having the beneficial effect that identification driver of above-mentioned technical proposal, drives according to different drivers and inclines
Distance between tropism selection target vehicle and at the latest lane-change point gives the prompting of driver safety lane-change under suitable distance, obtains target
With vehicle and target carriage fore-and-aft distance and speed behind lane, consider that driving tendentiousness judges whether target carriage meets pressure lane-change item
Part carries out corresponding safe early warning to lane-change decision, and it is comfortable to improve automobile assistant driving for this pressure lane-change safe early warning method
Property, there is very strong environmental suitability.
Further, the static of driver is detected according to vehicle-mounted questionnaire survey system and drives tendentiousness.
Further, the different distance between lane-change point for different driving tendentiousness driver selection target vehicles and at the latest,
It specifically includes:
Tendentiousness and drive simulating experiment is carried out using selecting experimental subjects as much as possible to measure it and drive before this technology, according to
Difference drives tendentious driver driving behavior difference during lane-change, chooses representational driving index, such as direction
Disk corner (ɑ), target carriage between lane center at a distance from (l), operating range (m) etc., reflected using the above driving index
Automobile lane-change behavior；
Driving index is selected, drive simulating data are handled, is judged according to lane-change starting point in data and end point positional distance difference
Difference drives tendentious drivers and completes lane-change required distance length, with this determine between target carriage and at the latest lane-change point away from
From.
Further, different distance provides lane-change prompt between lane-change point according to target carriage and at the latest, specifically includes:
Target carriage and at the latest distance between lane-change point are measured using vehicle mounted GPS guidance system；
It is different according to different driving tendentiousness driver's lane-change required distances, when detecting that the distance meets driver's lane-change item
When part, the voice prompting forced lane-change and lane-change can be carried out is provided for driver.
Further, according to trailer-mounted radar test the speed with ranging technology obtain target lane after with vehicle speed (v) and and mesh
Mark longitudinal spacing (L) of vehicle.Using decision tree classification principle and big data digging technology is utilized, obtains mesh during pressure lane-change
Mark behind lane with vehicle speed, with the driving datas such as target carriage fore-and-aft distance, after with vehicle speed opposite with target carriage, longitudinally away from
From and target carriage driver to drive tendentiousness be that data sample feature divides data set, data, training by analysis
Algorithm, testing algorithm and using algorithm and etc. establish decision tree, obtain different condition combination under safe lane-change probability, when general
It, can safe lane-change when the big Mr. Yu's probability threshold value of rate value.
Further, corresponding safe early warning is carried out to pressure lane-change decision.It specifically includes:
Selected target lane, when driver opens left-hand rotation or right-hand rotation turn signal, if detection left or right side road and vehicle are believed
Breath meets lane-change condition, then can safe lane-change, otherwise vehicle-mounted alarm system is to driver's voice prompting and blinking light is pacified
Full early warning.
Above-mentioned technical proposal have the beneficial effect that different driving tendentiousness drivers select different safe lane-changes away from
From, and Probability estimate is carried out to the whether safe lane-changes of tendentiousness driver that drive different in the case of multiple combinations using big data,
Force lane-change behavior to carry out early warning driver using Probability estimate value, further improve the comfort of automobile assistant driving with
Safety.
Detailed description of the invention
Fig. 1 is step schematic diagram of the present invention；
Fig. 2 is the method for the invention flow diagram.
Specific embodiment
Specifically describe embodiments of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes a part of the invention, uses
It illustrates the principle of the present invention, is not intended to limit the scope of the present invention.
Tendentious automobile is driven the present invention provides a kind of consideration and forces lane-change safe early warning method, is mainly used for cross
Crossing and expressway ramp mouth etc., comprising the following steps:
Step 1, according to vehicle-mounted questionnaire survey system detect driver drive tendentiousness, by driver be divided into radical type, plain edition,
Conservative three classes；
Specifically, driver fills in using before the technology and drives tendentiousness questionnaire, vehicle-mounted questionnaire survey system is according to driving
The answer that member fills in, comprehensive analysis and judgement go out the driving tendentiousness of driver.
Step 2, selection target vehicle and at the latest distance between lane-change point；
Specifically, drive simulating experiment is not carried out by the several experimental subjects of external interference situation undertissue before this technology of application,
Tendentious driver driving behavior difference during lane-change is driven according to different, chooses representational driving index, such as
Steering wheel angle (ɑ), target carriage between lane center at a distance from (l), vehicle driving distance (m) etc., use the above index
React target carriage lane-change behavior；Driving index is selected, drive simulating data are handled, comprehensive descision difference drives tendentious driving
Member's lane-change required distance length, determine target carriage between the point of lane-change at the latest with this at a distance from.
Specifically, lane-change initial time is judged according to lane position where vehicle after obtaining drive simulating data, according to side
To disk corner and target carriage away from lane center Distance Judgment automobile lane-change starting point and terminating point, lane-change starting point and terminating point
Between distance be required.Comprehensive multiple identical driving tendentiousness sample datas obtain driving tendentiousness driver and complete safety
Lane-change required distance length drives target carriage and at the latest criterion distance between lane-change point in this, as different tendentiousness drivers.
Step 3, decision tree is established, obtains driver safety lane-change probability value in a variety of situations；
Specifically, according to, with vehicle speed, being surveyed according to trailer-mounted radar range unit behind trailer-mounted radar speed measuring device detection target lane
With vehicle and target carriage longitudinal direction spacing behind amount target lane.Using decision tree classification principle, according to behind target lane with vehicle and target
Vehicle drives tendentiousness with respect to speed, from target carriage fore-and-aft distance and driver and show that the different tendentious drivers of driving distinguish
Safe lane-change probability under the conditions of fore-and-aft distance threshold value and two vehicle relative velocity threshold values combine.
Wherein, according to part documents and materials and driving experience data, with vehicle longitudinal direction vehicle behind target carriage distance objective lane
When away from being more than or equal to 20 meters, driver can open turn signal and complete lane-change behavior, vertical with vehicle behind target carriage distance objective lane
When being less than or equal to 5 meters to spacing, most driver's selections continue waiting for lane-change opportunity, behind target carriage distance objective lane
When with vehicle longitudinal direction spacing between 5 meters to 20 meters, difference, which drives tendentiousness driver, different lane-change decisions, so this hair
Bright fore-and-aft distance threshold value selects 5 meters, 20 meters；Two vehicle relative velocity threshold reference BOCSH patents and iso standard rule, are selected respectively
Take 10m/s and 15m/s.
Specifically, using big data digging technology, obtain forcing during lane-change behind target lane with vehicle and target carriage phase
To driving datas such as speed and target carriage fore-and-aft distances, driven according to two vehicles with respect to speed, fore-and-aft distance and target carriage driver
Sailing tendentiousness is that data sample feature divides data set, determines which data sample feature does father's section by increasing Entropy principle
Point, the calculation formula of entropy are as follows:
Wherein, xiIndicate the i-th class, P (xi) indicate the i-th class quantity accounting, I (xi) indicate stochastic variable information.For one group
Driving data, entropy is bigger to illustrate that classifying quality is better.
Corresponding data collection x, entropy when data sample feature A being selected to judge node as decision tree, under feature A effect
Are as follows:
Information gain is the reduced value of comentropy under feature A effect, formula are as follows:
Gain (A)=H (x)-HA(x)
Two vehicles, which are calculated separately, according to formula drives tendentious information increasing with respect to speed, fore-and-aft distance and target carriage driver
Benefit, the maximum feature of information gain are the most suitable feature selecting of decision root vertex.By analysis data, training algorithm,
Testing algorithm and using algorithm and etc. establish use decision tree, obtain the safe lane-change probability under different condition, probability calculation
Formula is as follows:Wherein, P (n) indicates that different condition combines lower driver and carries out safe lane-change probability value, and D is indicated
Driver data's total sample number, D under certain conditional combinationnIndicate that driver completes lane-change number under certain conditional combination, when
It, can safe lane-change when probability value P (n) is greater than probability threshold value.Probability threshold value is shown that wherein m is all data by formula P=m/M
Driver safety lane-change number in sample, M indicate all sample summations in big data.
Step 4, lane-change safe early warning is forced；
Specifically, selected target lane, such as carries out pressure lane-change to the left, when driver opens left-hand rotation turn signal, target carriage is left
Rear is tested the speed measure left-hand lane simultaneously with range radar after with vehicle speed, spacing, if detection road and information of vehicles and carrying out
Meet lane-change condition after judgement, i.e., when forcing lane-change probability of success value to be greater than probability threshold value to the left, then can safe lane-change, otherwise vehicle
Blinking light carries out safe early warning to load alarm system to driver's voice prompting and in meter panel of motor vehicle；Similarly, as to the right into
Row forces lane-change, and when driver opens right-hand rotation turn signal, target carriage right back is tested the speed measures right side vehicle with range radar simultaneously
With vehicle speed, spacing behind road, if detecting road and information of vehicles and meeting lane-change condition after carrying out probabilistic determination, i.e., force to the right
Lane-change probability of success value be greater than probability threshold value when, then can safe lane-change, otherwise vehicle-mounted alarm system to driver's voice prompting simultaneously
Blinking light carries out safe early warning in automobile instrument panel；After the completion of lane-change, turn signal is closed, and early warning system is accordingly turned off.
Claims (8)
1. a kind of consideration drives tendentious automobile and forces lane-change decision safe early warning method, which is characterized in that including following step
It is rapid:
It evaluates and tests the static of driver and drives tendentiousness；
For different driving tendentiousness driver's selection target vehicles between the point of lane-change at the latest at a distance from；
According to target carriage between the point of lane-change at the latest at a distance from voice prompting lane-change information；
With vehicle speed and the fore-and-aft distance of itself and target carriage behind acquisition target lane；
It is driven according to behind target lane with vehicle speed opposite with target carriage, with the fore-and-aft distance of target carriage and target carriage driver
Whether tendentiousness comprehensive descision target carriage, which meets, is forced lane-change condition；
Corresponding safe early warning is carried out to driver's lane-change decision.
2. method according to claim 1, which is characterized in that driven using the static state of vehicle-mounted Questionnaire Survey System evaluation and test driver
Sail tendentiousness.
3. method according to claim 1, which is characterized in that for different driving tendentiousness driver's selection target vehicles and most
Distance between slow lane-change point, specifically includes:
Tendentiousness and drive simulating experiment is carried out using selecting experimental subjects as much as possible to measure it and drive before this technology, according to
Difference drives tendentious driver driving behavior difference during lane-change, chooses representational driving index, such as direction
Disk corner (ɑ), target carriage between lane center at a distance from (l), operating range (m) etc., reflected using the above driving index
Target carriage lane-change behavior；
Drive simulating data are acquired and handled, different driving are judged from end point positional distance difference according to lane-change starting point in data
Tendentious driver completes lane-change required distance length L, determine target carriage between the point of lane-change at the latest with this at a distance from.
4. method according to claim 1, which is characterized in that according to target carriage and at the latest between lane-change point, different distance provides language
The prompt of sound lane-change, specifically includes:
Target carriage and at the latest fore-and-aft distance between lane-change point are measured using vehicle mounted GPS guidance system；
It is different according to different driving tendentiousness driver's lane-change required distances, when detecting that the distance meets driver and force lane-change
When condition, the voice prompting forced lane-change and lane-change can be carried out is provided for driver.
5. method according to claim 1, which is characterized in that according to trailer-mounted radar velocity measuring technique measure target lane after with vehicle
Speed (v), according to trailer-mounted radar ranging technology measure target lane after with vehicle and target carriage longitudinal direction spacing (L).
6. method according to claim 1, which is characterized in that use decision tree classification principle, according to behind target lane with vehicle
Speed show that the different tendentious drivers of driving distinguish from target carriage fore-and-aft distance and target carriage driver driving tendentiousness
Safe lane-change probability under different fore-and-aft distance threshold values and relative velocity threshold condition.
7. method according to claim 6, using big data digging technology, obtain forcing during lane-change behind target lane with
The driving datas such as vehicle speed and target carriage fore-and-aft distance；
Driving tendentiousness with vehicle speed opposite with target carriage, fore-and-aft distance and target carriage driver after is that data sample is special
Sign divides data set, and root node and other characteristic nodes are determined by increasing Entropy principle, and data, training are calculated by analysis
Method, testing algorithm and etc. establish decision tree；
The safe lane-change probability under the conditions of various combination is obtained according to probability calculation formula, when probability value is greater than probability threshold value,
It can safe lane-change.
8. method according to claim 1, which is characterized in that carry out corresponding safe early warning to lane-change decision, specifically include:
Selected target lane, when driver opens left-hand rotation or right-hand rotation turn signal, if detection target three-lane road and information of vehicles
Meet lane-change condition, then can safe lane-change, otherwise instrument board flashes vehicle-mounted alarm system to driver's voice prompting and in the car
Light carries out safe early warning.
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