CN110481551A - A kind of control method, device and the vehicle of automatic lane-change - Google Patents
A kind of control method, device and the vehicle of automatic lane-change Download PDFInfo
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- CN110481551A CN110481551A CN201910757839.2A CN201910757839A CN110481551A CN 110481551 A CN110481551 A CN 110481551A CN 201910757839 A CN201910757839 A CN 201910757839A CN 110481551 A CN110481551 A CN 110481551A
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- lane
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- corner
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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
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The embodiment of the invention discloses control method, device and the vehicles of a kind of automatic lane-change.This method comprises: being requested according to the lane change of acquisition, determine current vehicle target lane to be transformed, obtain the lane line information in the target lane that vehicle-mounted camera exports on the current vehicle, according to the lane line information, determine the corner of steering wheel on the current vehicle, according to the corner, the steering wheel is controlled, the current vehicle is made to drive into the target lane.Compared with prior art, the embodiment of the present invention determines the corner of steering wheel according to the lane line information in target lane, and then controls steering wheel according to the corner, current vehicle is set to drive into target lane, automatic lane-change is realized, manual control is not necessarily to, meets automatic Pilot demand.
Description
Technical field
The present embodiments relate to automatic Pilot technical field more particularly to a kind of control methods of automatic lane-change, device
And vehicle.
Background technique
In recent years, automatic Pilot technology receives significant attention, and it is certainly that automatic lane-change, which is a kind of more complicated driving behavior,
Dynamic one of the key problem driven.Major part producer focuses on automatic driving vehicle in the automatic Pilot row of this lane follow the bus at present
For the research for automatic lane-change is relatively fewer.When needing lane change when driving, it is still necessary to manual control.
Even if automatic lane-change may be implemented in some producers, but in the lane-change initial stage since there are larger prominent for lateral deviation
Become, so that current vehicle can not effectively be converted into target lane, or even there are security risks.
Summary of the invention
The embodiment of the present invention provides control method, device and the vehicle of a kind of automatic lane-change, with effectively realize vehicle from
Move, meets automatic Pilot demand.
In a first aspect, the embodiment of the present invention provides a kind of control method of automatic lane-change, comprising:
It is requested according to the lane change of acquisition, determines current vehicle target lane to be transformed；
Obtain the lane line information that vehicle-mounted camera exports on the current vehicle；
According to the lane line information, the corner of steering wheel on the current vehicle is determined；
According to the corner, the steering wheel is controlled, the current vehicle is made to drive into the target lane.
Second aspect, the embodiment of the present invention also provide a kind of control device of automatic lane-change, comprising:
Target lane determining module determines current vehicle target lane to be transformed for requesting according to the lane change of acquisition；
Data obtaining module, for obtaining the lane line information that vehicle-mounted camera exports on the current vehicle；
Corner determining module, for determining the corner of steering wheel on the current vehicle according to the lane line information；
Control module, for controlling the steering wheel, the current vehicle being made to drive into the target carriage according to the corner
Road.
The third aspect, the embodiment of the present invention also provide a kind of vehicle, comprising:
Vehicle-mounted camera exports lane line information for acquiring lane line image, and according to the lane line image；
Steering wheel, for controlling the steering of vehicle；
Vehicle speed sensor, for measuring the speed of the vehicle；
Automated driving system, for controlling the Vehicular automatic driving；
One or more controllers；
Processor, for storing one or more programs；
When one or more of programs are executed by the controller, so that the controller is realized such as first aspect institute
The control method for the automatic lane-change stated.
The embodiment of the present invention provides control method, device and the vehicle of a kind of automatic lane-change, is requested according to the lane change of acquisition,
It determines current vehicle target lane to be transformed, obtains the target lane that vehicle-mounted camera exports on the current vehicle
Lane line information determines the corner of steering wheel on the current vehicle according to the lane line information, according to the corner, control
The steering wheel is made, the current vehicle is made to drive into the target lane.Compared with prior art, the embodiment of the present invention is according to mesh
The lane line information in mark lane determines the corner of steering wheel, and then controls steering wheel according to the corner, and current vehicle is made to drive into mesh
Lane is marked, automatic lane-change is realized, manual control is not necessarily to, meets automatic Pilot demand.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method for automatic lane-change that the embodiment of the present invention one provides；
Fig. 2 is the relation schematic diagram of a kind of current vehicle and lane line that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow chart of the control method of automatic lane-change provided by Embodiment 2 of the present invention；
Fig. 4 is a kind of schematic diagram of target point provided by Embodiment 2 of the present invention；
Fig. 5 is that the position of current vehicle and target point is illustrated under a kind of vehicle axis system provided by Embodiment 2 of the present invention
Figure；
Fig. 6 is a kind of schematic diagram for lane-change track that embodiment two of the present invention provides；
Fig. 7 is a kind of implementation flow chart of automatic lane-change provided by Embodiment 2 of the present invention；
Fig. 8 is a kind of structure chart of the control device for automatic lane-change that the embodiment of the present invention three provides；
Fig. 9 is a kind of structure chart for vehicle that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.In addition, in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.
Embodiment one
Fig. 1 is a kind of flow chart of the control method for automatic lane-change that the embodiment of the present invention one provides, and the present embodiment can fit
Needing lane-change when driving for automatic driving vehicle, can automatic lane-change the case where, this method can be by the control of automatic lane-change
Device processed executes, which can be realized by way of software and/or hardware, and can integrate in the car.Specifically,
This method comprises the following steps:
S110, it is requested according to the lane change of acquisition, determines current vehicle target lane to be transformed.
Lane change request is the request for making the leftward or rightward lane change of current vehicle, can be determined according to the state of turn signal current
It is requested with the presence or absence of lane change, for example, indicating lane change demand when turn signal is bright, that is, there is lane change request, if left steering lamp
It is bright, it indicates to need lane change to the left, if right turn lamp is bright, indicates to need lane change to the right, when turn signal is not bright, expression is currently not necessarily to
Lane change keeps travelling in this lane.Target lane is the lane that current vehicle needs to convert, it should be noted that this reality
The target lane for applying example is the adjacent lane in lane where with current vehicle, in practical application, if vehicle needs multiple lane,
Subsequent lane change process is similar with the process for being converted into adjacent lane.It should also be noted that, current vehicle is that have to drive automatically
Sail the vehicle of function.
S120, the lane line information for obtaining the target lane of vehicle-mounted camera output on the current vehicle.
Vehicle-mounted camera is mounted on current vehicle, and the forward sight for acquiring the road image in front of current vehicle images
Head when vehicle driving, can acquire road image in real time, include other vehicles, lane quantity and lane line in road image
Etc. information.Embodiment to the type of forward sight camera and model without limiting, such as can be using conventional camera, can also
The intelligent video camera head of the functions such as identification and calculating is integrated with to use.Embodiment is by taking intelligent video camera head as an example, i.e., according to acquisition
Road image can directly determine the lane line information in target lane.
Lane line information is the location information of two lane lines in current vehicle and target lane, including current vehicle and two
The lateral deviation of lane line and course angle etc. with two lane lines, wherein lateral deviation is current vehicle to lane line
Distance, this is vertical with the direction of advance of current vehicle apart from corresponding straight line, course angle be current vehicle direction of advance with
Angle between lane line.Illustratively, with reference to Fig. 2, Fig. 2 is a kind of current vehicle and lane that the embodiment of the present invention one provides
The relation schematic diagram of line.The lane that current vehicle is currently located is this lane, and the lane on the left of current vehicle direction of advance is a left side
Lane, the lane on the right side of current vehicle direction of advance are right lane, and first lane line and second lane line are that left-lane is corresponding
Two lane lines, third lane line and Four-Lane Road line are the corresponding two articles of lane lines of right lane, and the dotted line in Fig. 2 indicates current
The direction of advance of vehicle.
It is assumed that target lane is left-lane, distance e of the current vehicle away from first lane line0For current vehicle and first lane
The lateral deviation of line is denoted as the first lateral deviation, distance e of the current vehicle away from second lane line2For current vehicle and the second vehicle
The lateral deviation of diatom is denoted as the second lateral deviation.The direction of advance of current vehicle and the angle theta of first lane line0It is current
The course angle of vehicle and first lane line is denoted as the first course angle, the direction of advance of current vehicle and the angle of second lane line
θ2For the course angle of current vehicle and second lane line, it is denoted as the second course angle.If target lane is right lane, according to third vehicle
Diatom and Four-Lane Road line can determine the lateral deviation and course angle of current vehicle and two articles of lane lines, process and left-lane class
Seemingly.The vehicle-mounted camera that the present embodiment uses can directly export the cross of two lane lines corresponding to current vehicle and target lane
To the information such as deviation and course angle, foundation is provided for subsequent lane change.It certainly, can also be by thunder if using regular camera
It is determined up to equal devices by entire car controller, specific determination process embodiment is without limiting.
S130, according to the lane line information, determine the corner of steering wheel on the current vehicle.
Steering wheel is used to control the driving direction of current vehicle, when needing from this lane changing to target lane, needs
The corner of specific direction disk, controlling the corresponding angle of direction disc spins according to the corner of steering wheel sails current vehicle from this lane
Enter target lane, wherein the corner of steering wheel can be determined according to lane line information.It illustratively, can be on target lane
A target point is selected, the location information of target point is determined according to lane line information, according to the location information determination side of target point
To the corner of disk.Wherein, target point is a bit on lane-change reference line in target lane, and lane-change reference line is two, target lane
Straight line between lane line, such as can be using the middle line in target lane as lane-change reference line, it can also be with certain lane
On the basis of line, the distance of lane-change reference line to this lane line is the setting ratio of target lane width, lane-change reference line and two
The positional relationship of lane line can determine according to actual needs, and embodiment is without limiting.
After lane-change reference line determines, it can be selected on lane-change reference line a little as target point, embodiment is to target point
Selection criteria without limiting, such as the incidence relation of speed and aiming spot can be predefined, when needing lane-change,
Searching the incidence relation i.e. according to speed can determine the position of target point.It should be noted that the incidence relation is with current
Vehicle is origin, and the direction that current vehicle advances is that Y-axis is positive, the direction towards the right hand meaning in front of current vehicle for X-axis just
It is determined under to the coordinate system of foundation.Wherein, the form of the incidence relation can be speed and the position of target point corresponds,
Being also possible to the position of speed and target point, there are certain mathematical relationships, determine target point using the mathematical relationship combination speed
Position, embodiment to this without limit.
S140, according to the corner, control the steering wheel, the current vehicle made to drive into the target lane.
After the corner of steering wheel determines, direction disc spins are automatically controlled according to the corner, become current vehicle from this lane
Target lane is shifted to, manual control is not necessarily to, realizes automatic lane-change, meet automatic Pilot demand.
The embodiment of the present invention one provides a kind of control method of automatic lane-change, is requested according to the lane change of acquisition, determines current
Vehicle target lane to be transformed obtains the lane line letter in the target lane that vehicle-mounted camera exports on the current vehicle
Breath, according to the lane line information, determines the corner of steering wheel on the current vehicle, according to the corner, controls the side
To disk, the current vehicle is made to drive into the target lane.Compared with prior art, the embodiment of the present invention is according to target lane
Lane line information determines the corner of steering wheel, and then controls steering wheel according to the corner, and current vehicle is made to drive into target lane, real
Automatic lane-change is showed, has been not necessarily to manual control, meets automatic Pilot demand.
Embodiment two
Fig. 3 be a kind of flow chart of the control method of automatic lane-change provided by Embodiment 2 of the present invention, the present embodiment be
It is embodied on the basis of above-described embodiment, specifically, this method comprises the following steps:
S210, it is requested according to the lane change of acquisition, determines current vehicle target lane to be transformed.
S220, the lane line information for obtaining the target lane of vehicle-mounted camera output on the current vehicle.
S230, according to the lane line information, determine the parameter information of target point on the target lane.
Optionally, lane line information includes: under vehicle axis system the corresponding to the current vehicle and the target lane
First lateral deviation of one lane line and the first course angle and with it is second of second lane line corresponding to the target lane horizontal
To deviation and the second course angle.Vehicle axis system is using current vehicle as coordinate origin, and Y-axis is in the direction advanced using current vehicle
Forward direction, the direction towards right hand meaning in front of current vehicle are the coordinate system that X-axis forward direction is established.First lateral deviation, the first boat
It is value determining in this coordinate system to angle, the second lateral deviation and the second course angle, wherein the first course angle and the second boat
It is respectively the angle of first lane line and second lane line and Y-axis to angle.It illustratively, is that the present invention is implemented with reference to Fig. 4, Fig. 4
A kind of schematic diagram for target point that example two provides.Target lane is with left-lane, for lane-change reference line 2 is the middle line of left-lane,
Target point 1 is a bit on lane-change reference line 2.The parameter information of target point 1 is the information for representing 1 specific location of target point, example
It such as can be coordinate of the target point 1 under the vehicle axis system and the angle with Y-axis, wherein the angle of target point 1 and Y-axis
For the angle of lane-change reference line and Y-axis.Optionally, the parameter information of target point 1 can be determined as follows:
According to lateral coordinates calculation formula and first lateral deviation, the first course angle, the second lateral deviation, second
The longitudinal coordinate of course angle and the target point determines lateral coordinates of the target point under the vehicle axis system；
According to course angle calculation formula and first course angle and the second course angle, determine the target point described
Course angle under vehicle axis system；
Wherein, the longitudinal coordinate of the target point according to the current vehicle the vehicle axis system origin position pair
The speed answered is searched first information contingency table and is obtained.
Illustratively, with reference to Fig. 5, Fig. 5 be under a kind of vehicle axis system provided by Embodiment 2 of the present invention current vehicle with
The position view of target point, Fig. 5 are that origin establishes coordinate system with current vehicle 3, and front truck is worked as by taking left-lane as an example in target lane
3 with the first lateral deviation e of first lane line0With the second lateral deviation e with second lane line2, first lane line and Y-axis
The first course angle θ0And the second course angle θ of second lane line and Y-axis2It is as shown in Figure 5 respectively.E is the transverse direction of target point 1
Coordinate is negative when target point 1 is located at the negative direction of X-axis, is positive when target point 1 is located at the positive direction of X-axis, and l is target point 1
Longitudinal coordinate, the ordinate of target point 1 can search first information contingency table according to the speed of current vehicle and obtain, the first letter
Breath contingency table is used to store the incidence relation of 1 ordinate of speed and target point, embodiment to the concrete form of the incidence relation not
It is defined.The speed of current vehicle is speed of the current vehicle in origin.The angle theta of lane-change reference line 2 and Y-axis is target
The course angle of point 1.Optionally, the lateral coordinates calculation formula of the present embodiment are as follows:
Wherein, e is lateral coordinates of the target point 1 under vehicle axis system, e0For the first lateral deviation, e2Laterally for second
Deviation, l are longitudinal coordinate of the target point 1 under vehicle axis system, θ0For the first course angle, θ2For the second course angle.According to formula
(1) lateral coordinates for the target point 1 that can be obtained.The positive and negative position depending on target point 1 and X-axis of 1 lateral coordinates of target point
Relationship, for example, third lane line, Four-Lane Road line and target point 1 are respectively positioned on the pros of X-axis when current vehicle lane change to the right
To lateral coordinates are positive, and formula (1) can be expressed as form:
When current vehicle lane change to the left, first lane line, second lane line and target point 1 are respectively positioned on the negative direction of X-axis,
Lateral coordinates are negative, and formula (1) can be expressed as form:
When actual travel, the first course angle θ0With the second course angle θ2Smaller, therefore, formula (1) can be with equivalence are as follows:
The course angle of target point 1 is the angle of lane-change reference line 2 and Y-axis, according to course angle calculation formula, the first row to angle
The course angle of target point 1 can be determined with the second course angle.Optionally, course angle calculation formula are as follows:
Wherein, θ is course angle of the target point 1 under vehicle axis system.
S240, according to the parameter information of the target point, determine that the current vehicle is converted into changing for the target lane
Road track.
Lane-change track is current vehicle from this lane changing to the running track in target lane, is believed according to the position of target point
Breath and course angle determine lane-change track.Such as it can be selected between origin and target point according to the speed of current vehicle limited
Then a coordinate points are fitted to obtain lane-change track and lane-change track correspondence according to origin, limited coordinate points and target point
Equation of locus.Lane-change track can also be determined stage by stage, it is to be understood that if during lane-change, the lateral of vehicle adds
Speed mutates, and lateral deviation is easy to cause to occur compared with macromutation, so that vehicle can not accurately be converted into target lane, very
It is extremely dangerous.For this purpose, determining lane-change track can be segmented, specific number of segment can determine according to actual needs, such as can be incited somebody to action
Lane-change track is divided into two sections, first keeps certain side acceleration to travel the regular hour in the lane-change initial stage, then basis
The terminal and target point of first orbit segment determine the second orbit segment and the corresponding equation of locus of the second orbit segment.With two-part
For method determines lane-change track, optionally, S240 includes:
S2401, the current vehicle is obtained in the corresponding speed of origin position of the vehicle axis system.
Specifically, current vehicle can be obtained in coordinate origin by the vehicle speed sensor being mounted on current vehicle
Speed.
S2402, according to the speed, search the second information association table, obtain the side acceleration of the current vehicle.
Side acceleration be current vehicle acceleration X-axis component, the second information association table for store speed and
The incidence relation of side acceleration searches the second information relationship table, corresponding side can be obtained after the speed of current vehicle determines
To acceleration.Embodiment is to the determination process and concrete form of the incidence relation of speed and side acceleration without limiting.For
Guarantee that the stability laterally travelled, embodiment carry out limit value processing to side acceleration, optionally, side acceleration between-
0.4m/s2To+0.4m/s2Between, wherein "-" indicates that negative direction of the direction along X-axis of side acceleration, "+" indicate lateral and add
Positive direction of the direction of speed along X-axis.
S2403, according to the speed, side acceleration and setting running time, determine first rail of current vehicle
The coordinate and the corresponding third course angle of the terminal of the terminal of first equation of locus of mark section and first orbit segment.
Third course angle is the first orbit segment in the tangent line of terminal and the angle of Y-axis.Setting running time can be according to reality
Border needs to set, and since lane-change distance is shorter, setting running time is smaller, and optionally, embodiment is set as 0.5s.It is exemplary
, with reference to Fig. 6, Fig. 6 is a kind of schematic diagram for lane-change track that embodiment two of the present invention provides.Wherein, O is the original of coordinate system
Point, the i.e. position of current vehicle.A point is the terminal of the first orbit segment, and the track of O point to A point is the first orbit segment, α the
Three course angles.
Current vehicle is travelled to A point from O point and is given it the gun to be even, keeps side acceleration constant, it is possible thereby to determine A point
Abscissa beWherein, v is speed of the current vehicle in origin O, axLaterally add to be corresponding with the speed
Speed, t is setting running time, due to t and axSmaller, then α is smaller, and the abscissa of A point can be approximated to beWherein,
V and axIt is vector.Similar, the ordinate of A point isSince α is smaller and current vehicle is mainly side
To traveling, i.e. longitudinal acceleration is very small, can be approximated to be 0, therefore the ordinate of A point can be approximated to be vt.It is possible thereby to
Coordinate to A point isThird course angleDue to the lateral traveling of the even acceleration of current vehicle, and go
It is shorter to sail the time, therefore the first orbit segment OA can be approximated to be line processing, the first orbit segment can determine according to the coordinate of A point
The equation of locus of OA, i.e. the first equation of locus.
S2404, according to the corresponding third course angle of coordinate, the terminal of the terminal and the parameter of the target point
Information determines that the second equation of locus of second orbit segment of current vehicle, second orbit segment are first orbit segment
Terminal to the corresponding orbit segment of the target point.
Second orbit segment is the terminal of the first orbit segment to the orbit segment of target point, i.e. A point is to the corresponding rail of B point in Fig. 6
Mark section.In order to guarantee the smooth of the second orbit segment, make vehicle to change to process smooth, optionally, Bezier can be combined
Characteristic determine A point to the track between B point.Bezier, also known as Bezier curve or Bezier surface are to be applied to two dimension
The curve of graphics application program.The curve is the curve that the coordinate based on known point is formed, such as known point is two, formation
Bezier is the straight line between two o'clock, it is known that it o'clock is three, the Bezier of formation is quadratic power Bezier curve,
Known point is four, and the Bezier of formation is cube Bezier curve, and so on.Illustratively, to combine Bezier
For curve determines the second orbit segment and corresponding second equation of locus, S2404 includes:
It is true in conjunction with the second track according to the parameter information of the coordinate of the terminal, third course angle and the target point
Set pattern then, determines the coordinate at the first control point and the second control point respectively；
According to the parameter information of the terminal, the coordinate at the first control point and the second control point and the target point, really
Determine the second equation of locus of the terminal to corresponding second orbit segment of the target point.
For the present embodiment by taking cube Bezier curve as an example, which needs the coordinate of four known points, the seat of A point and B point
Mark is it has been determined that A point and B point are respectively the beginning and end of the curve, it is also necessary to determine the coordinate of other two point, then root
Corresponding second equation of locus of the second orbit segment is determined according to the parameter expression of the coordinate combination cube Bezier curve of four points,
Other two point to be determined is referred to as the first control point and the second control point, the first control point and the second control by embodiment
Point can control the shape of the second orbit segment, and the first control point is different with the position at the second control point, the shape of the second orbit segment
It is different.
Second track determines rule to determine the first control point and the second control point rules according to which, in order to make the second rail
Mark section it is smooth, guarantee that the lane-change process of vehicle is more smooth, embodiment set the second track determine rule be A point and first control
The line of point is the second orbit segment in the tangent line of A point, the i.e. angle of the line and Y-axis at A point and the first control point and the course of A point
Angle is identical, and the line of the second tracing point and B point is the second orbit segment in the tangent line of B point, i.e. the line at B point and the second control point with
The angle of Y-axis is identical as the course angle of B point.Rule is determined according to the second track, it can in conjunction with A point, the coordinate of B point and course angle
To determine the coordinate at the first control point and the second control point.
After the coordinate at the first control point and the second control point determines, according to A point, the first control point, the second control point and B
The coordinate of point and the course angle of A point and B point can determine the second orbit segment in conjunction with the parameter expression of cube Bezier curve
Shape and corresponding second equation of locus.Illustratively, the parameter expression of cube Bezier curve are as follows:
P (t)=P0(1-t)3+3P1(1-t)2t+P2(1-t)t2+P3t3 (6)
Wherein, [0,1] t ∈, P0For the starting point of the second orbit segment, P1For the first control point, P2For the second control point, P3For
The terminal namely target point of second orbit segment.The state of arbitrary origin isThe state of target point isThen P0=[x0,y0], P3=[xT,yT], wherein d1=k1(yT-y0), d2=k2(yT-y0), this implementation
In example, x0For the abscissa of A point, y0For the ordinate of A point,For the course angle of A point, xTFor the lateral coordinates of target point, yTFor
The longitudinal coordinate of target point,For the course angle of target point.k1And k2For adjusting the shape of the second orbit segment, size can be with
It sets according to actual needs, optionally, the k in the present embodiment1=0.3, k2=0.3, by P0、P1、P2And P3Coordinate substitute into it is public
Corresponding second equation of locus of the second orbit segment can be obtained in formula (6).
S250, according to the lane-change track, determine the corner of steering wheel on the current vehicle.
It, can be with according to the speed of current vehicle and corresponding equation of locus after the corresponding equation of locus in lane-change track determines
Determine the corner of steering wheel.Specifically, the corner of steering wheel can be determined as follows:
S2501, according to the current vehicle in the corresponding speed of the origin position, search third information association table, obtain
Obtain preview distance.
Preview distance is the pre- fore-and-aft distance taken aim at a little on lane-change track, i.e. the ordinate under the vehicle axis system, in advance
It is related with the speed of current vehicle to take aim at distance, searching third information association table according to speed can be obtained pre- take aim at corresponding with speed
Distance takes aim at ordinate a little in advance, wherein third information association table is used to store the incidence relation of speed and preview distance, real
Example is applied to the concrete form of the incidence relation without limiting.
S2502, according to the preview distance, in conjunction with the corresponding equation of locus in the lane-change track, determine it is described it is pre- take aim at away from
From corresponding third lateral deviation.
The value of the corresponding ordinate of preview distance, which is substituted into the corresponding equation of locus in lane-change track, can be obtained pre- take aim at a little
Abscissa, the absolute value of abscissa are third lateral deviation.Thus the pre- preview distance taken aim at a little can be obtained and third is lateral
Deviation provides foundation for the determination of corner.
S2503, according to corner calculation formula and the preview distance and third lateral deviation, determine the steering wheel
Corner.
Preview distance and third lateral deviation, which are substituted into corner calculation formula, can be obtained corresponding corner, optionally, this
The corner calculation formula that embodiment provides are as follows:
Wherein, δ is the corner of steering wheel, epredFor third lateral deviation, lpredFor preview distance, L is the axis of current vehicle
Away from when vehicle determines, corresponding wheelbase L is also determined.After corner determines, steering wheel rotation is controlled according to the corner, can make to work as
Vehicle in front is by this lane changing to target lane.
S260, according to the corner, control the steering wheel, the current vehicle made to drive into the target lane.
The process of automatic lane-change is briefly described below, illustratively, with reference to Fig. 7, Fig. 7 is that the embodiment of the present invention two mentions
A kind of implementation flow chart of the automatic lane-change supplied, after automatic Pilot starts, vehicle is first in this lane automatic Pilot, driving procedure
Determine whether that lane change is requested, if so, requesting to determine target lane and the corresponding target point in target lane according to lane change, so
Lane-change track is determined according to the parameter information of target point afterwards, determined according to lane-change track and speed take aim in advance preview distance a little with
And third lateral deviation, preview distance and third lateral deviation are substituted into the corner that corner calculation formula determines steering wheel, according to
Corner controls vehicle by this lane changing to target lane.If not receiving lane change request in driving procedure, it is continually maintained in
This lanes.
Second embodiment of the present invention provides a kind of control methods of automatic lane-change to utilize vehicle on the basis of the above embodiments
Diatom information determines the parameter information of target, is then divided to two sections of determining lane-change tracks, avoids the lane-change initial stage because laterally inclined
Difference there is a situation where compared with macromutation and can not accurate lane change generation, ensure that the smooth of lane-change process, meet automatic Pilot
Demand.
Embodiment three
Fig. 8 is a kind of structure chart of the control device for automatic lane-change that the embodiment of the present invention three provides, which can hold
The control method of automatic lane-change described in row above-described embodiment, specifically, the device includes:
Target lane determining module 310 determines current vehicle target carriage to be transformed for requesting according to the lane change of acquisition
Road；
Data obtaining module 320, for obtaining the target lane of vehicle-mounted camera output on the current vehicle
Lane line information；
Corner determining module 330, for according to the lane line information, determining turn of steering wheel on the current vehicle
Angle；
Control module 340, for controlling the steering wheel, the current vehicle being made to drive into the mesh according to the corner
Mark lane.
The embodiment of the present invention three provides a kind of control device of automatic lane-change, is requested according to the lane change of acquisition, determines current
Vehicle target lane to be transformed obtains the lane line letter in the target lane that vehicle-mounted camera exports on the current vehicle
Breath, according to the lane line information, determines the corner of steering wheel on the current vehicle, according to the corner, controls the side
To disk, the current vehicle is made to drive into the target lane.Compared with prior art, the embodiment of the present invention is according to target lane
Lane line information determines the corner of steering wheel, and then controls steering wheel according to the corner, and current vehicle is made to drive into target lane, real
Automatic lane-change is showed, has been not necessarily to manual control, meets automatic Pilot demand.
On the basis of the above embodiments, corner determining module 330, comprising:
Parameter information determination unit, for determining the ginseng of target point on the target lane according to the lane line information
Number information；
Lane-change track determination unit determines that the current vehicle is converted into for the parameter information according to the target point
The lane-change track in the target lane；
Corner determination unit, for determining the corner of steering wheel on the current vehicle according to the lane-change track.
On the basis of the above embodiments, the lane line information includes: the current vehicle and institute under vehicle axis system
State first lane line corresponding to target lane the first lateral deviation and the first course angle and with corresponding to the target lane
The second lateral deviation and the second course angle of second lane line；
Parameter information determination unit is specifically used for according to lateral coordinates calculation formula and first lateral deviation, the
One course angle, the second lateral deviation, the second course angle and the target point longitudinal coordinate, determine the target point in the vehicle
Lateral coordinates under coordinate system；
According to course angle calculation formula and first course angle and the second course angle, determine the target point described
Course angle under vehicle axis system；
Wherein, the longitudinal coordinate of the target point according to the current vehicle the vehicle axis system origin position pair
The speed answered is searched first information contingency table and is obtained.
On the basis of the above embodiments, the lateral coordinates calculation formula are as follows:
Wherein, e is lateral coordinates of the target point under the vehicle axis system, e0For the first lateral deviation, e2It is
Two lateral deviations, l are longitudinal coordinate of the target point under the vehicle axis system, θ0For the first course angle, θ2For the second boat
To angle；
The course angle calculation formula are as follows:
Wherein, θ is course angle of the target point under the vehicle axis system.
On the basis of the above embodiments, lane-change track determination unit, comprising:
Speed obtains subelement, for obtaining the current vehicle in the corresponding vehicle of origin position of the vehicle axis system
Speed；
Side acceleration obtains subelement, for searching the second information association table according to the speed, obtains described current
The side acceleration of vehicle；
First equation of locus determines subelement, is used for according to the speed, side acceleration and setting running time, really
The coordinate of the terminal of the first equation of locus and first orbit segment of fixed first orbit segment of current vehicle and the end
The corresponding third course angle of point；
Second equation of locus determines subelement, for the corresponding third course of coordinate, the terminal according to the terminal
The parameter information of angle and the target point, determines the second equation of locus of second orbit segment of current vehicle, described second
Orbit segment is the terminal of first orbit segment to the corresponding orbit segment of the target point.
On the basis of the above embodiments, the second equation of locus determines subelement, specifically for the seat according to the terminal
The parameter information of mark, third course angle and the target point determines rule in conjunction with the second track, determines the first control point respectively
With the coordinate at the second control point；
According to the parameter information of the terminal, the coordinate at the first control point and the second control point and the target point, really
Determine the second equation of locus of the terminal to corresponding second orbit segment of the target point.
On the basis of the above embodiments, corner determination unit is specifically used for according to the current vehicle in the origin
The corresponding speed in position searches third information association table, obtains preview distance；
According to the preview distance, in conjunction with the corresponding equation of locus in the lane-change track, determine that the preview distance is corresponding
Third lateral deviation；
According to corner calculation formula and the preview distance and third lateral deviation, the corner of the steering wheel is determined.
On the basis of the above embodiments, the corner calculation formula are as follows:
Wherein, δ is the corner of the steering wheel, epredFor third lateral deviation, lpredFor preview distance, L is described current
The wheelbase of vehicle.
The control device for the automatic lane-change that the embodiment of the present invention three provides can execute to be moved certainly described in above-described embodiment
The control method in road has corresponding function and beneficial effect.
Example IV
Fig. 9 is a kind of structure chart for vehicle that the embodiment of the present invention four provides, specifically, with reference to Fig. 9, which includes:
Controller 410, vehicle-mounted camera 420, steering wheel 430, vehicle speed sensor 440, automated driving system 450 and memory 460, this
The controller 410 of embodiment is for being integrated in automated driving system 450, controller 410, vehicle-mounted camera 420, side in vehicle
It can be connected, be schemed by bus or other modes to disk 430, vehicle speed sensor 440, automated driving system 450 and memory 460
In 9 for being connected by bus.
Vehicle-mounted camera 420 exports lane line information for acquiring lane line image, and according to the lane line image.
Steering wheel 430, for controlling the steering of vehicle.Vehicle speed sensor 440, for measuring the speed of the vehicle.Automatic Pilot system
System 450, for controlling the Vehicular automatic driving.
Memory 460 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, such as the corresponding program instruction/module of the control method of the automatic lane-change in the embodiment of the present invention.Controller 410
By running the software program, instruction and the module that are stored in memory 460, thereby executing vehicle various function application with
And data processing, that is, realize the control method of the automatic lane-change of above-described embodiment.
Memory 460 mainly includes storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 460 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 460 can be into one
Step includes the memory remotely located relative to controller 410, these remote memories can pass through network connection to vehicle.On
The example for stating network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
The control method of vehicle and automatic lane-change provided by the above embodiment that the embodiment of the present invention four provides belongs to same
Inventive concept, the technical detail of detailed description not can be found in above-described embodiment in the present embodiment, and the present embodiment has and holds
The identical beneficial effect of control method of the automatic lane-change of row.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium, is stored thereon with computer program, and the program is by controller
The control method of automatic lane-change as described in the above embodiment the present invention is realized when execution.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
Any implementation of the invention can also be performed in operation in the control method for the automatic lane-change that executable instruction is not limited to the described above
Relevant operation in the control method of automatic lane-change provided by example, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes described in each embodiment of the present invention certainly
The control method moved.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of control method of automatic lane-change characterized by comprising
It is requested according to the lane change of acquisition, determines current vehicle target lane to be transformed；
Obtain the lane line information in the target lane that vehicle-mounted camera exports on the current vehicle；
According to the lane line information, the corner of steering wheel on the current vehicle is determined；
According to the corner, the steering wheel is controlled, the current vehicle is made to drive into the target lane.
2. determining described current the method according to claim 1, wherein described according to the lane line information
Corner of the vehicle up direction to disk, comprising:
According to the lane line information, the parameter information of target point on the target lane is determined；
According to the parameter information of the target point, determine that the current vehicle is converted into the lane-change track in the target lane；
According to the lane-change track, the corner of steering wheel on the current vehicle is determined.
3. according to the method described in claim 2, it is characterized in that,
The lane line information includes: the current vehicle and first lane line corresponding to the target lane under vehicle axis system
The first lateral deviation and the first course angle and with the second lateral deviation of second lane line corresponding to the target lane and
Second course angle；
It is described according to the lane line information, determine the parameter information of target point on the target lane, comprising:
According to lateral coordinates calculation formula and first lateral deviation, the first course angle, the second lateral deviation, the second course
The longitudinal coordinate at angle and the target point determines lateral coordinates of the target point under the vehicle axis system；
According to course angle calculation formula and first course angle and the second course angle, determine the target point in the vehicle
Course angle under coordinate system；
Wherein, the longitudinal coordinate of the target point is corresponding in the origin position of the vehicle axis system according to the current vehicle
Speed is searched first information contingency table and is obtained.
4. according to the method described in claim 3, it is characterized in that, the lateral coordinates calculation formula are as follows:
Wherein, e is lateral coordinates of the target point under the vehicle axis system, e0For the first lateral deviation, e2For the second cross
To deviation, l is longitudinal coordinate of the target point under the vehicle axis system, θ0For the first course angle, θ2For the second course
Angle；
The course angle calculation formula are as follows:
Wherein, θ is course angle of the target point under the vehicle axis system.
5. according to the method described in claim 2, it is characterized in that, the parameter information according to the target point, determines institute
State the lane-change track that current vehicle is converted into the target lane, comprising:
The current vehicle is obtained in the corresponding speed of origin position of the vehicle axis system；
According to the speed, the second information association table is searched, the side acceleration of the current vehicle is obtained；
According to the speed, side acceleration and setting running time, the first of first orbit segment of current vehicle is determined
The coordinate and the corresponding third course angle of the terminal of the terminal of equation of locus and first orbit segment；
According to the parameter information of the coordinate of the terminal, the corresponding third course angle of the terminal and the target point, determine
Second equation of locus of second orbit segment of current vehicle, second orbit segment for first orbit segment terminal to institute
State the corresponding orbit segment of target point.
6. according to the method described in claim 5, it is characterized in that, described corresponding according to coordinate, the terminal of the terminal
Third course angle and the target point parameter information, determine the second track side of second orbit segment of current vehicle
Journey, comprising:
According to the parameter information of the coordinate of the terminal, third course angle and the target point, determines and advise in conjunction with the second track
Then, the coordinate at the first control point and the second control point is determined respectively；
According to the parameter information of the terminal, the coordinate at the first control point and the second control point and the target point, institute is determined
State the second equation of locus of terminal to corresponding second orbit segment of the target point.
7. according to the method described in claim 6, determination is described to work as front truck it is characterized in that, described according to the lane-change track
The corner of steering wheel on, comprising:
According to the current vehicle in the corresponding speed of the origin position, third information association table is searched, obtains preview distance；
The preview distance corresponding is determined in conjunction with the corresponding equation of locus in the lane-change track according to the preview distance
Three lateral deviations；
According to corner calculation formula and the preview distance and third lateral deviation, the corner of the steering wheel is determined.
8. the method according to the description of claim 7 is characterized in that the corner calculation formula are as follows:
Wherein, δ is the corner of the steering wheel, epredFor third lateral deviation, lpredFor preview distance, L is the current vehicle
Wheelbase.
9. a kind of control device of automatic lane-change characterized by comprising
Target lane determining module determines current vehicle target lane to be transformed for requesting according to the lane change of acquisition；
Data obtaining module, for obtaining the lane line letter in the target lane that vehicle-mounted camera exports on the current vehicle
Breath；
Corner determining module, for determining the corner of steering wheel on the current vehicle according to the lane line information；
Control module, for controlling the steering wheel, the current vehicle being made to drive into the target lane according to the corner.
10. a kind of vehicle characterized by comprising
Vehicle-mounted camera exports lane line information for acquiring lane line image, and according to the lane line image；
Steering wheel, for controlling the steering of vehicle；
Vehicle speed sensor, for measuring the speed of the vehicle；
Automated driving system, for controlling the Vehicular automatic driving；
One or more controllers；
Processor, for storing one or more programs；
When one or more of programs are executed by the controller, so that the controller is realized as in claim 1-8
The control method of described in any item automatic lane-changes.
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| CN112874536B (en) * | 2021-01-19 | 2023-09-12 | 英博超算(南京)科技有限公司 | Intelligent vehicle deflector rod track changing method |
| CN112874536A (en) * | 2021-01-19 | 2021-06-01 | 英博超算(南京)科技有限公司 | Intelligent vehicle deflector rod lane changing method |
| CN113264050A (en) * | 2021-06-24 | 2021-08-17 | 三一专用汽车有限责任公司 | Vehicle control method, lane switching system and vehicle |
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| CN114312552A (en) * | 2022-01-19 | 2022-04-12 | 岚图汽车科技有限公司 | Steering lamp control method and device, terminal equipment and medium |
| CN114312552B (en) * | 2022-01-19 | 2024-01-09 | 岚图汽车科技有限公司 | Steering lamp control method, device, terminal equipment and medium |
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