CN110614999B - Automatic lane-changing overtaking control method and system for vehicle - Google Patents
Automatic lane-changing overtaking control method and system for vehicle Download PDFInfo
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- CN110614999B CN110614999B CN201910913027.2A CN201910913027A CN110614999B CN 110614999 B CN110614999 B CN 110614999B CN 201910913027 A CN201910913027 A CN 201910913027A CN 110614999 B CN110614999 B CN 110614999B
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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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Abstract
The invention provides an automatic lane-changing overtaking control method and system for a vehicle, and relates to the field of vehicle electronic appliances. The control method of the invention comprises the following steps: the method comprises the steps of collecting speed information, position information and driving direction information of a self vehicle, barrier information in a front first threshold range and a left and right second threshold range, speed information, position information and driving direction information of other vehicles in the front and back first threshold range and the left and right second threshold range, and lane line information and traffic identification information in a front third threshold range. When the running speed of the self-vehicle is smaller than a fourth threshold value, no barrier exists, no other vehicle exists in a first threshold value range in the front and the back and a second threshold value range in the left and the right, a left lane line in a third threshold value range is a dotted line, and the length of the left lane in the front of the self-vehicle can finish overtaking, the self-vehicle is controlled to automatically change lane and overtake. The scheme of the invention can improve the safety of automatic lane changing and overtaking.
Description
Technical Field
The invention relates to the field of vehicle electronic appliances, in particular to an automatic lane changing and overtaking control method and system for a vehicle.
Background
The existing automatic lane-changing overtaking control method needs to be executed according to overtaking intentions of a driver, such as stepping on a brake or shifting a turn signal lamp, and the like.
Secondly, the existing control method does not detect information of the front and rear sides of the left side of the self-vehicle, a road intersection and the like, lane changing inevitably brings traffic accidents when obstacles exist at the front and rear sides of the left side of the self-vehicle, lane changing is forced to be light when lane changing is not allowed under the condition that lane changing is not allowed due to the fact that lane lines on the left side of the self-vehicle are solid lines or double solid lines, traffic accidents are brought when illegal traffic rules of the self-vehicle are heavy, lane changing is not finished when the self-vehicle reaches the intersection when the lane changing is close to the road intersection, and potential safety hazards also exist at the moment. In addition, the prior art does not allow the vehicle to change lane at overspeed, but the prior art cannot meet the use requirement when the vehicle must be overspeed to avoid collision under special conditions.
Disclosure of Invention
One object of the present invention is to improve the safety of automatic lane change overtaking.
A further object of the invention is to solve the problem of how to safely pass a lane change in special situations.
In particular, the present invention provides an automatic lane-changing overtaking control method for a vehicle,
acquiring state information of a self vehicle, barrier information and state information of other vehicles in a first threshold range and a second threshold range on the left and right sides of the front and the rear of the self vehicle, and a hand moment value of a steering wheel of the self vehicle;
when the situation that the running speed of the self-vehicle is smaller than a fourth threshold value, the situation that no obstacle or other vehicles exist in a first threshold value range of the front rear side of the self-vehicle and a second threshold value range of the left side and the right side of the self-vehicle or the situation that the running speed of the self-vehicle is larger than the fourth threshold value, the hand moment value is larger than the third threshold value, the situation that the obstacle or the other vehicles do not exist in the first threshold value range of the front rear side of the self-vehicle and the second threshold value ranges of the left side and the right side of the self-vehicle is judged, the self-vehicle is controlled to.
Optionally, before determining that the other vehicle is not present in the first threshold value in front of and behind the own vehicle and in the second threshold value range on the left and right sides, the method further includes:
and estimating the overtaking time of the self-vehicle according to the position information and the driving direction information of the self-vehicle, the speed information, the position information and the driving direction information of other vehicles in the first threshold range in the front and the rear of the self-vehicle and the second threshold ranges on the left and the right, and judging whether other vehicles exist in the first threshold range in the front and the rear of the self-vehicle and the second threshold ranges on the left and the right at the overtaking time.
Optionally, controlling the automatic lane changing overtaking of the self-vehicle comprises:
judging whether the lane line meets the condition of starting a lane keeping auxiliary system of the self-vehicle or not according to the lane line information;
the lane keeping assist system is turned on when it is determined that a condition for turning on the lane keeping assist system is satisfied.
Optionally, controlling the automatic lane changing overtaking of the self-vehicle comprises:
and starting the self-adaptive cruise system when the running speed of the self-vehicle is judged to be less than a fifth threshold value.
Optionally, after controlling the automatic lane changing and overtaking of the self-vehicle, the method further includes:
and controlling the self-vehicle to exit from the automatic lane changing overtaking when the left-side barrier of the self-vehicle and the left-side lane line of the self-vehicle are fuzzy or the automatic lane changing overtaking exiting operation is obtained.
In particular, the present invention also provides an automatic lane change overtaking control system for a vehicle, the control system comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring state information of a self vehicle, barrier information and state information of other vehicles in a first threshold range in front and rear of the self vehicle and a second threshold range on the left and right sides of the self vehicle, and a hand moment value of a steering wheel of the self vehicle;
the judging unit is used for judging whether the running speed of the self-vehicle is smaller than a fourth threshold value according to the state information of the self-vehicle; judging whether the obstacles and the other vehicles exist in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right sides of the vehicle according to the state information of the vehicle, the obstacle information in the first threshold range in the front and the rear of the vehicle and the state information of the other vehicles; judging whether the hand moment value is larger than a third threshold value or not according to the hand moment value; and
and the control unit is used for controlling the automatic lane changing and overtaking of the self vehicle when judging that the running speed of the self vehicle is simultaneously met, the obstacle and the other vehicles do not exist in the first threshold range of the front and the rear of the self vehicle and the second threshold ranges of the left and the right sides, or the running speed of the self vehicle is simultaneously met, the moment value of the steering wheel hand is greater than the third threshold value, the obstacle and the other vehicles do not exist in the first threshold range of the front and the rear of the self vehicle and the second threshold ranges of the left and the right sides.
Optionally, the determining unit is further configured to:
and estimating the overtaking time of the vehicle according to the state information of the vehicle, the state information of other vehicles in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right, and judging whether other vehicles exist in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right at the overtaking time.
Optionally, the determining unit is further configured to determine whether a lane line meets a condition for turning on a lane keeping assist system of the host vehicle according to lane line information;
the control unit is further configured to:
controlling the lane keeping assist system to be turned on when it is determined that a condition for turning on the lane keeping assist system is satisfied; and controlling the self-vehicle adaptive cruise system to be started when the running speed of the self-vehicle is determined to be less than a fifth threshold value.
Optionally, the judging unit is further configured to judge whether the self-vehicle meets a condition for exiting the control system according to whether an obstacle exists on the left side of the self-vehicle, whether a lane line on the left side of the self-vehicle is clear, and whether an automatic lane changing and overtaking operation is acquired;
the control unit is also used for quitting the control system when a road shoulder or an obstacle exists on the left side of the self-vehicle, the lane line on the left side of the self-vehicle is fuzzy or the automatic lane-changing overtaking operation is obtained.
Optionally, the control unit is further configured to control the lane keeping assist system and the adaptive cruise system to be turned on to control the self-vehicle to automatically change lane and overtake the vehicle.
According to the scheme of the invention, whether the running speed of the vehicle is smaller than a fourth threshold value, whether obstacles and other vehicles exist in a first threshold value range in the front and back of the vehicle and a second threshold value range on the left and right sides of the vehicle and whether a hand moment value is larger than a third threshold value are judged according to the collected related information, when the conditions that the running speed of the vehicle is smaller than the fourth threshold value, and obstacles and other vehicles do not exist in the first threshold value range in the front and back of the vehicle and the second threshold value range on the left and right sides are simultaneously met are judged, the automatic lane change overtaking can be realized under the condition that the two hands of a driver are completely separated from a steering wheel in an intelligent driving mode, and the safety during the automatic lane change overtaking can be improved due to the information collection and judgment in the plurality of aspects.
Further, when the running speed of the self-vehicle exceeds a fourth threshold value, whether the hands of the driver are separated from the steering wheel or not is judged according to whether the hand torque value of the steering wheel is larger than a third threshold value or not, when the hand torque value is not larger than the third threshold value, the driver is judged that the hands are separated from the steering wheel, automatic lane changing overtaking is not carried out, when the hand torque value is larger than the third threshold value, the driver is judged that the hands are not separated from the steering wheel, automatic lane changing overtaking is carried out, and therefore lane changing overtaking can be carried out under special conditions to avoid traffic accidents.
And finally, in the process of controlling the automatic lane changing and overtaking of the self-vehicle, when an obstacle appears on the left side of the self-vehicle, or a lane line on the left side disappears, or the operation of quitting the automatic lane changing and overtaking is obtained, the self-vehicle is controlled to quit the automatic lane changing and overtaking.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a block flow diagram of an automatic lane change and cut-in control method for a vehicle according to one embodiment of the invention;
FIG. 2 is a block flow diagram of an automatic lane change and cut-in control method for a vehicle according to another embodiment of the invention;
FIG. 3 is a schematic diagram of an automatic lane change overtaking control system for a vehicle according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of an automatic lane change and cut-in control system for a vehicle according to another embodiment of the present invention.
Detailed Description
Fig. 1 is a block flow diagram of an automatic lane change and overtaking control method for a vehicle according to one embodiment of the present invention. As shown in fig. 1, the present invention provides an automatic lane change overtaking control method for a vehicle, generally comprising the steps of:
s10: the method comprises the steps of collecting state information of a self vehicle, obstacle information and state information of other vehicles in a first threshold range and a second threshold range on the left and right sides of the front and the rear of the self vehicle, and hand moment values of a steering wheel of the self vehicle.
S11: and judging whether the running speed of the vehicle is less than a fourth threshold value according to the state information of the vehicle, if so, executing S12, and if not, executing S16. The fourth threshold may be a speed limit value of the current road.
S12: and judging whether obstacles exist in the first threshold range in front and back of the vehicle and the second threshold ranges on the left and right sides or not according to the state information of the vehicle and the obstacle information in the first threshold range in front and back of the vehicle and the second threshold ranges on the left and right sides, if so, executing S10, and if not, executing S13. And when obstacles exist in the first threshold range in front and at the back of the bicycle and the second threshold ranges on the left and right sides, the information is collected again.
S13: and judging whether other vehicles exist in the first threshold range in front and back of the vehicle and the second threshold ranges on left and right sides or not according to the state information of the vehicle and the states of the other vehicles in the first threshold range in front and back of the vehicle and the second threshold ranges on left and right sides, if so, executing S10, and if not, executing S20.
S16: and judging whether the two hands of the driver are separated from the steering wheel according to the hand moment value, executing S12 when judging that the two hands of the driver are not separated from the steering wheel, and executing S10 when judging that the two hands of the driver are separated from the steering wheel.
S20: and when the conditions that the running speed of the vehicle is smaller than a fourth threshold value, no obstacle and other vehicles exist in the first threshold value range in front and rear of the vehicle and the second threshold value ranges on the left and right sides are simultaneously met or the conditions that the running speed of the vehicle is larger than the fourth threshold value, the hand moment value of a steering wheel is larger than the third threshold value, no obstacle and other vehicles exist in the first threshold value range in front and rear of the vehicle and the second threshold value ranges on the left and right sides are simultaneously met are judged, the vehicle is controlled to automatically change lane and overtake.
When the driver places both hands on the steering wheel, namely, the driver is in a vehicle taking-over state and meets the requirement of active lane change and overtaking, the self-adaptive cruise system of the front radar can be adopted to control the longitudinal motion. Therefore, the active lane-changing overtaking function can be executed no matter whether the set vehicle speed exceeds the highest speed limit of the current road section or not.
When the two hands of the driver are separated from the steering wheel, the active lane-changing overtaking function is completely judged by the automatic lane-changing overtaking system, and the highest speed limit of the current road section is considered so as to avoid the dangerous hidden trouble and the overspeed driving brought to the driver by the overspeed. The highest speed limit of the current road section can be realized by an SLIF function (speed limit signboard identification) function.
Alternatively, the state information of the own vehicle and the state information of the other vehicle include traveling speed information, direction information, and position information.
Optionally, S10 further includes collecting high-precision map positioning information, lane line information within a sixth threshold range from the front of the vehicle, and traffic identification information.
In a preferred embodiment, after S13, the method further includes: and judging whether a lane exists on the left side of the self-vehicle and whether the lane line on the left side of the self-vehicle is a broken line according to the lane line information, if so, executing S20, and if not, executing S10. And the lane changing overtaking can be executed only when the lane line on the left side of the self-vehicle is a dotted line, otherwise, the information is collected again.
In a preferred embodiment, after S13, the method further includes: and judging whether the left road length in front of the vehicle can finish lane changing and overtaking according to the lane line information and the traffic identification information, if so, executing S20, and if not, executing S10. And the lane change overtaking can be executed only when the left road length in the front can complete the lane change overtaking.
Preferably, in one embodiment, before determining that there are no other vehicles within the first threshold value from the front and the rear of the vehicle and within the second threshold value from the left and the right, the method further includes:
and estimating the overtaking time of the vehicle according to the state information of the vehicle and the state information of other vehicles in the first threshold range in front and back of the vehicle and the second threshold ranges on the left and right sides of the vehicle, and judging whether other vehicles exist in the first threshold range in front and back of the vehicle and the second threshold ranges on the left and right sides of the vehicle at the overtaking time.
Fig. 2 is a block flow diagram of an automatic lane change and overtaking control method for a vehicle according to another embodiment of the present invention. As shown in fig. 2, before controlling the automatic lane change and overtaking of the host vehicle, the method further comprises:
s14: and judging whether the lane line meets the condition of starting the lane keeping auxiliary system of the own vehicle or not according to the lane line information, and starting the lane keeping auxiliary system when the condition of starting the lane keeping auxiliary system is judged to be met.
S15: and starting the self-adaptive cruise system when the running speed of the self-vehicle is judged to be less than the fifth threshold value.
The automatic lane changing overtaking is realized based on the transverse and longitudinal control of detector hardware such as radar, a camera and the like. The system can only work under the control of the transverse direction and the longitudinal direction, so that the activation state of the transverse direction and the longitudinal direction functions needs to be confirmed firstly. The transverse and longitudinal functions can be realized by the existing adaptive cruise system and the lane keeping auxiliary system, so that whether the driving speed of the self-vehicle is smaller than a fifth threshold value (namely the driving speed value of the adaptive cruise system can be executed) is detected, whether the adaptive cruise system can be started is judged according to the driving speed of the self-vehicle, and lane line information is detected and whether the lane keeping auxiliary system can be started is judged according to the lane line information.
Preferably, when the automatic lane change overtaking is carried out, the lane keeping auxiliary system sends a torque request to the EPS electronic power assisting system through an FCS front camera, and the EPS executes input torque to steer.
Preferably, in one embodiment, after controlling the automatic lane change and overtaking of the self-vehicle, the method further comprises:
and controlling the self-vehicle to exit from the automatic lane changing overtaking when the left-side barrier of the self-vehicle and the left-side lane line of the self-vehicle are fuzzy or the automatic lane changing overtaking operation is obtained.
Preferably, any one of the following conditions is satisfied, namely that the automatic lane change overtaking operation is acquired: 1. the hand moment value of the driver to the steering wheel exceeds a preset value, which means that the driver actively controls steering and needs to cancel the active lane-changing overtaking function. 2. The driver depresses the brake pedal. 3. The driver actively switches off the lane keeping assist system or the adaptive cruise system.
And after the automatic lane changing overtaking process is finished, continuously returning to the S10 for information acquisition, and warning the driver by sound or characters after the automatic lane changing overtaking process is finished and when the automatic lane changing overtaking process is quitted.
FIG. 3 is a schematic diagram of an automatic lane change and cut-in control system for a vehicle according to one embodiment of the present invention. As shown in fig. 3, the present invention further provides an automatic lane-changing and overtaking control system for a vehicle, which comprises a collecting unit 1, a judging unit 2 and a control unit 3.
The acquisition unit 1 is used for acquiring state information of a vehicle, obstacle information and state information of other vehicles in a first threshold range in front and rear of the vehicle and a second threshold range on the left and right sides of the vehicle, and a hand moment value of a steering wheel of the vehicle.
The judging unit 2 is used for judging whether the running speed of the vehicle is smaller than a fourth threshold value according to the state information of the vehicle, and judging whether obstacles and other vehicles exist in the first threshold value range of the front and the rear of the vehicle and the second threshold value ranges of the left and the right according to the state information of the vehicle, the obstacle information in the first threshold value range of the front and the rear of the vehicle and the obstacle information in the second threshold value ranges of the left and the right and the state information of other vehicles; and judging whether the hand moment value is greater than a third threshold value or not according to the hand moment value.
The control unit 3 is configured to control the vehicle to automatically change lane and overtake when it is determined that the traveling speed of the vehicle is smaller than the fourth threshold, the vehicle is free of obstacles and other vehicles within the first threshold range in front and rear of the vehicle and the second threshold ranges on the left and right sides, or the traveling speed of the vehicle is larger than the fourth threshold, the steering wheel hand moment value is larger than the third threshold, and the vehicle is free of obstacles and other vehicles within the first threshold range in front and rear of the vehicle and the second threshold ranges on the left and right sides.
When the driver places both hands on the steering wheel, namely, the driver is in a vehicle taking-over state and meets the requirement of active lane change and overtaking, the self-adaptive cruise system of the front radar can be adopted to control the longitudinal motion. Therefore, the active lane-changing overtaking function can be executed no matter whether the set vehicle speed exceeds the highest speed limit of the current road section or not.
When the two hands of the driver are separated from the steering wheel, the active lane-changing overtaking function is completely judged by the automatic lane-changing overtaking system, and the highest speed limit of the current road section is considered so as to avoid the dangerous hidden trouble and the overspeed driving brought to the driver by the overspeed. The highest speed limit of the current road section can be realized by an SLIF function (speed limit signboard identification) function.
Fig. 4 is a schematic diagram of an automatic lane-changing and overtaking control system for a vehicle according to another embodiment of the present invention, as shown in fig. 4, the pickup unit further includes a radar 11, a camera 12, and a torque sensor 13. In a preferred embodiment, the radar 11 is a detection unit composed of a plurality of radars including a front radar, a rear-corner radar, and a front-rear ultrasonic radar, and the radar 11 is configured to collect speed information and traveling direction information of the vehicle, obstacle information within a first threshold range and a second threshold range on the left and right sides of the vehicle, and speed information and traveling direction information of other vehicles within the first threshold range and the second threshold range on the left and right sides of the vehicle. The camera 12 is arranged in front of the vehicle and used for collecting lane line information and traffic identification information in a sixth threshold range in front of the vehicle. The torque sensor 13 is arranged on a steering wheel of the bicycle and used for collecting a hand torque value of the steering wheel of the bicycle. Preferably, the acquisition unit further comprises high-precision map positioning for acquiring position information of the vehicle and other vehicles, and the lane change overtaking is not executed when the vehicle is close to the front intersection.
Preferably, the judging unit is further configured to:
and estimating the overtaking time of the vehicle according to the state information of the vehicle and the state information of other vehicles in the first threshold range in front and back of the vehicle and the second threshold ranges on the left and right sides of the vehicle, and judging whether other vehicles exist in the first threshold range in front and back of the vehicle and the second threshold ranges on the left and right sides of the vehicle at the overtaking time.
Preferably, in one embodiment, the determination unit is further configured to determine whether the lane line satisfies a condition for turning on the lane keeping assist system of the host vehicle according to the lane line information.
The control unit is further configured to:
controlling the lane keeping assist system to be turned on when it is determined that the condition for turning on the lane keeping assist system is satisfied; and controlling the self-adaptive cruise system to be started when the running speed of the self-vehicle is judged to be less than the fifth threshold value.
Preferably, in an embodiment, the determining unit is further configured to determine whether the own vehicle meets the condition of the exit control system according to whether an obstacle exists on the left side of the own vehicle, whether a lane line on the left side of the own vehicle is clear, and whether the exit automatic lane changing and overtaking operation is acquired.
The control unit is also used for exiting the control system when a road shoulder or an obstacle exists on the left side of the self-vehicle, the lane line on the left side of the self-vehicle is fuzzy or whether the automatic lane-changing overtaking operation is obtained.
Preferably, whether the exit automatic lane change overtaking operation is acquired or not can be judged by hand torque applied to a steering wheel by a driver or a brake pedal signal.
Preferably, the control unit is further configured to control the lane keeping assist system and the adaptive cruise system to be turned on to control the vehicle to automatically change lanes and overtake the vehicle.
Preferably, any one of the following conditions is satisfied, namely that the automatic lane change overtaking operation is acquired: 1. the hand moment value of the driver to the steering wheel exceeds a preset value, which means that the driver actively controls steering and needs to cancel the active lane-changing overtaking function. 2. The driver depresses the brake pedal. 3. The driver actively switches off the lane keeping assist system or the adaptive cruise system.
After an automatic lane changing overtaking process is completed, information collection is continuously carried out by returning, and the driver can be reminded by sound or character alarm after the automatic lane changing overtaking process is completed and when the automatic lane changing overtaking process is quitted.
According to the scheme provided by the embodiment, on the basis of hardware conditions and functions in the intelligent driving 2.0 stage, the functions such as intelligent driving 3.0 stage TJP and HWA can be integrated, and the functions of products in the higher-level intelligent driving stage are extended. The product experience of the user on intelligent driving is improved on the basis of ensuring the driving safety of the vehicle, and the product has a better application prospect in future products.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (9)
1. An automatic lane-changing overtaking control method for a vehicle is characterized in that,
acquiring state information of a self vehicle, barrier information and state information of other vehicles in a first threshold range and a second threshold range on the left and right sides of the front and the rear of the self vehicle, and a hand moment value of a steering wheel of the self vehicle;
when the situation that the running speed of the self-vehicle is smaller than a fourth threshold value, no obstacle and other vehicles exist in a first threshold value range in front and rear of the self-vehicle and a second threshold value range on the left and right sides or the situation that the running speed of the self-vehicle is larger than the fourth threshold value, the hand moment value is larger than a third threshold value, and the obstacle and the other vehicles do not exist in the first threshold value range in front and rear of the self-vehicle and the second threshold value range on the left and right sides is judged to be met at the same time, the self-vehicle is controlled to automatically change lane and overtake;
before determining that the other vehicle is not present within the first threshold value in the front and rear of the vehicle and within the second threshold value range on the left and right sides, the method further includes:
and estimating the overtaking time of the vehicle according to the state information of the vehicle, the state information of other vehicles in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right, and judging whether other vehicles exist in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right at the overtaking time.
2. The control method according to claim 1, wherein controlling the automatic lane change overtaking of the own vehicle includes:
judging whether the lane line meets the condition of starting a lane keeping auxiliary system of the self-vehicle or not according to the lane line information;
the lane keeping assist system is turned on when it is determined that a condition for turning on the lane keeping assist system is satisfied.
3. The control method according to claim 2, wherein controlling the automatic lane change overtaking of the own vehicle includes:
and starting the self-adaptive cruise system when the running speed of the self-vehicle is judged to be less than a fifth threshold value.
4. The control method according to claim 1, further comprising, after controlling the automatic lane change overtaking of the own vehicle:
and controlling the self-vehicle to exit from the automatic lane changing overtaking when the left-side barrier of the self-vehicle and the left-side lane line of the self-vehicle are fuzzy or the automatic lane changing overtaking exiting operation is obtained.
5. An automatic lane change overtaking control system for a vehicle, the control system comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring state information of a self vehicle, barrier information and state information of other vehicles in a first threshold range in front and rear of the self vehicle and a second threshold range on the left and right sides of the self vehicle, and a hand moment value of a steering wheel of the self vehicle;
the judging unit is used for judging whether the running speed of the self-vehicle is smaller than a fourth threshold value according to the state information of the self-vehicle; judging whether the obstacles and the other vehicles exist in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right sides of the vehicle according to the state information of the vehicle, the obstacle information in the first threshold range in the front and the rear of the vehicle and the state information of the other vehicles; judging whether the hand moment value is larger than a third threshold value or not according to the hand moment value; and
and the control unit is used for controlling the automatic lane changing and overtaking of the self vehicle when judging that the running speed of the self vehicle is simultaneously met, the obstacle and the other vehicles do not exist in the first threshold range of the front and the rear of the self vehicle and the second threshold ranges of the left and the right sides, or the running speed of the self vehicle is simultaneously met, the moment value of the steering wheel hand is greater than the third threshold value, the obstacle and the other vehicles do not exist in the first threshold range of the front and the rear of the self vehicle and the second threshold ranges of the left and the right sides.
6. The control system according to claim 5, wherein the determination unit is further configured to:
and estimating the overtaking time of the vehicle according to the state information of the vehicle, the state information of other vehicles in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right, and judging whether other vehicles exist in the first threshold range in the front and the rear of the vehicle and the second threshold range on the left and the right at the overtaking time.
7. The control system according to claim 5 or 6, wherein the determination unit is further configured to determine whether a lane line satisfies a condition for turning on the own lane keeping assist system based on lane line information;
the control unit is further configured to:
controlling the lane keeping assist system to be turned on when it is determined that a condition for turning on the lane keeping assist system is satisfied; and controlling the self-vehicle adaptive cruise system to be started when the running speed of the self-vehicle is determined to be less than a fifth threshold value.
8. The control system according to claim 5, wherein the judging unit is further configured to judge whether the self-vehicle meets a condition for exiting the control system according to whether an obstacle exists on the left side of the self-vehicle, whether a lane line on the left side of the self-vehicle is clear, and whether an automatic lane-changing and overtaking operation is acquired;
the control unit is also used for quitting the control system when a road shoulder or an obstacle exists on the left side of the self-vehicle, the lane line on the left side of the self-vehicle is fuzzy or the automatic lane-changing overtaking operation is obtained.
9. The control system of claim 5, wherein the control unit is further configured to control activation of a lane keeping assist system and an adaptive cruise system to control the automatic lane change overtaking of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910913027.2A CN110614999B (en) | 2019-09-25 | 2019-09-25 | Automatic lane-changing overtaking control method and system for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910913027.2A CN110614999B (en) | 2019-09-25 | 2019-09-25 | Automatic lane-changing overtaking control method and system for vehicle |
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