CN110619757A - Lane selection method and system for automatic driving vehicle and vehicle - Google Patents
Lane selection method and system for automatic driving vehicle and vehicle Download PDFInfo
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- CN110619757A CN110619757A CN201811635557.7A CN201811635557A CN110619757A CN 110619757 A CN110619757 A CN 110619757A CN 201811635557 A CN201811635557 A CN 201811635557A CN 110619757 A CN110619757 A CN 110619757A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The invention provides a lane selection method and system for an automatic driving vehicle and the vehicle. The lane selection method of the automatic driving vehicle comprises the following steps: acquiring road information in front of the vehicle in running; judging whether the road in front of the vehicle is a ramp bifurcation road according to the road information; if so, selecting a target branch from the ramp bifurcation road according to the navigation information, and selecting a target lane from the target branch according to a driving rule before the vehicle drives into the target branch; and controlling the vehicle to change the lane to the target lane. The lane selection method of the automatic driving vehicle can plan the target lane which is preferentially driven by the automatic driving vehicle when the automatic driving vehicle runs on a ramp (such as a bifurcation of the ramp), avoids the danger of collision between the automatic driving vehicle and other vehicles caused by large transverse deviation when the automatic driving vehicle runs on the ramp due to inaccurate map positioning, and the selection and planning mode of the target lane conforms to the driving habit of people.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a lane selection method and system for an automatic driving vehicle and the vehicle.
Background
The automatic driving automobile indicates: the device comprises a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar, a monitoring device, a positioning system and the like, wherein the vision sensor, the laser radar, the millimeter wave radar, the ultrasonic radar, the monitoring device, the positioning system and the like are cooperated with one another, so that the driver is relieved from heavy vehicle operation by automatically operating the vehicle under the condition that no human active operation is available. The system and the method intensively use the technologies of a computer, a sensor, information fusion, communication, artificial intelligence, automatic control and the like, plan the vehicle travel route in real time and reach a preset place.
In the related art, whether lane change is possible is judged according to the speed, distance and other conditions of surrounding vehicles or obstacles, however, due to road change, if the driving path is not reasonably planned, frequent lane change driving is possibly caused, and higher potential safety hazards exist.
Disclosure of Invention
In view of the above, the present invention is directed to a lane selection method for an autonomous vehicle. The lane selection method of the automatic driving vehicle can plan the prior driving target lane of the automatic driving vehicle when the automatic driving vehicle runs on a ramp (such as a ramp fork) of a highway, avoids the danger of collision with other vehicles caused by large transverse deviation when the automatic driving vehicle runs on the ramp due to inaccurate map positioning, and the selection and planning mode of the target lane conforms to the driving habit of people.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane selection method for an autonomous vehicle, comprising the steps of: acquiring road information in front of the vehicle in running; judging whether the road in front of the vehicle is a ramp bifurcation road according to the road information; if yes, selecting a target branch from the ramp bifurcation road according to navigation information, and selecting a target lane from the target branch according to a driving rule before the vehicle drives into the target branch; and controlling the vehicle to change the lane to the target lane.
Further, the selecting a target lane from the target branch according to the driving rule includes: judging whether the rightmost lane in the target branch is normal or not; and if so, taking the rightmost lane in the target branch as the target lane.
Further, the selecting a target lane from the target branch according to the driving rule further includes: if the rightmost lane in the target branch is abnormal; the normal lane adjacent to the rightmost lane is taken as the target lane.
Further, before selecting a target lane from the target branch according to a driving rule, the method further includes: determining a distance between the target branch and the vehicle; and when the distance is smaller than the preset distance, selecting a target lane from the target branch according to a driving rule.
Further, the preset distance is 300-600 meters.
The lane selection method of the automatic driving vehicle can plan the target lane which is preferentially driven by the automatic driving vehicle when the automatic driving vehicle runs on a ramp of a highway (such as a bifurcation of the ramp), avoids the danger of collision between the automatic driving vehicle and other vehicles caused by large transverse deviation when the automatic driving vehicle runs on the ramp due to inaccurate map positioning, and the selection and planning mode of the target lane conforms to the driving habit of people.
A second object of the present invention is to propose a lane selection system for an autonomous vehicle. The system can plan the target lane which is preferentially driven by the automatic driving vehicle when the automatic driving vehicle runs on the ramp of the highway (such as the bifurcation of the ramp), avoids the danger of collision between the automatic driving vehicle and other vehicles caused by large transverse deviation when the automatic driving vehicle runs on the ramp due to inaccurate map positioning, and the selection and planning mode of the target lane conforms to the driving habit of people.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane selection system for an autonomous vehicle, comprising: the acquisition module is used for acquiring road information in front of the running of the vehicle; the identification module is used for judging whether the road in front of the vehicle is a ramp bifurcation road according to the road information; and the control module is used for selecting a target branch from the ramp bifurcation road according to navigation information when the identification module identifies that the road in front of the vehicle is the ramp bifurcation road, and selecting a target lane from the target branch according to a driving rule before the vehicle enters the target branch.
Further, the control module is configured to: judging whether the rightmost lane in the target branch is normal or not; and if so, taking the rightmost lane in the target branch as the target lane.
Further, the control module is further configured to: if the rightmost lane in the target branch is abnormal; the normal lane adjacent to the rightmost lane is taken as the target lane.
Further, the control module is further configured to determine a distance between the target branch and the vehicle before selecting a target lane from the target branch according to a driving rule, and select a target lane from the target branch according to a driving rule when the distance is smaller than a preset distance.
The lane selection system of the autonomous vehicle has the same advantages as the lane selection system of the autonomous vehicle compared with the prior art, and is not described again here.
A third object of the present invention is to propose a lane selection method for an autonomous vehicle. The method can plan the prior driving target lane of the automatic driving vehicle when the automatic driving vehicle runs on the main road (such as the bifurcation of the main road), avoid the overlarge lane change of the vehicle and improve the driving safety and reliability of the automatic driving vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane selection method for an autonomous vehicle, comprising the steps of: acquiring road information in front of the vehicle in running; judging whether the road in front of the vehicle is a main road bifurcation road or not according to the road information; if yes, selecting a target branch from the main road bifurcation road further according to navigation information; selecting a target lane according to the number of main lanes in the target branch and the abnormal condition of each main lane; and controlling the vehicle to change the lane to the target lane.
Further, the selecting a target lane according to the number of main lanes in the target branch and the abnormal condition of each main lane includes: when the number of main lanes in the target branch is 1 lane and a first lane is normal, taking the first lane as the target lane; when the number of main lanes in the target branch is 2 lanes and a second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane; and when the number of main lanes in the target branch is 3 and the second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a third lane is normal, and when the third lane is normal, taking the third lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane.
Further, the method also comprises the following steps: and when the target branch is a right branch and lanes in the target branch are abnormal, taking a normal lane closest to the right branch in the left branch as the target lane.
Further, the method also comprises the following steps: and when the target branch is a left branch and the lanes in the target branch are abnormal, taking the central normal lane in the right branch as the target lane.
The lane selection method of the automatic driving vehicle can plan the prior driving target lane of the automatic driving vehicle when the automatic driving vehicle runs on the main road (such as the bifurcation of the main road) of the highway, avoid the overlarge lane change of the vehicle and improve the driving safety and reliability of the automatic driving vehicle.
A fourth object of the present invention is to propose a lane selection system for an autonomous vehicle. The system can plan the prior driving target lane of the automatic driving vehicle when the automatic driving vehicle runs on the main road (such as the bifurcation of the main road), thereby avoiding the overlarge lane change of the vehicle and improving the driving safety and reliability of the automatic driving vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane selection system for an autonomous vehicle, comprising: the first acquisition module is used for acquiring road information in front of the running vehicle; the first identification module is used for judging whether a road in front of the running vehicle is a main road bifurcation road according to the road information; the first control module is used for selecting a target branch from the main road bifurcation road according to navigation information when the road in front of the vehicle is the main road bifurcation road, selecting a target lane according to the number of the main roads in the target branch and the abnormal condition of each main road, and controlling the vehicle to change the lane of the target lane.
Further, the first control module is configured to: when the number of main lanes in the target branch is 1 lane and a first lane is normal, taking the first lane as the target lane; when the number of main lanes in the target branch is 2 lanes and a second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane; and when the number of main lanes in the target branch is 3 and the second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a third lane is normal, and when the third lane is normal, taking the third lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane.
Further, the first control module is further configured to: and when the target branch is a right branch and lanes in the target branch are abnormal, taking a normal lane closest to the right branch in the left branch as the target lane.
Further, the first control module is further configured to: and when the target branch is a left branch and the lanes in the target branch are abnormal, taking the central normal lane in the right branch as the target lane.
The lane selection system of the autonomous vehicle has the same advantages as the lane selection system of the autonomous vehicle compared with the prior art, and is not described again here.
A fifth object of the present invention is to provide a vehicle, which can avoid the vehicle changing lane too much when encountering lane divergence, thereby automatically driving the vehicle with safety and reliability.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle provided with a lane selection system of an autonomous vehicle as described in any one of the above embodiments.
The vehicle and the lane selection system of the automatic driving vehicle have the same advantages compared with the prior art, and are not described again.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a lane selection method for an autonomous vehicle according to one embodiment of the invention;
FIG. 2 is a schematic diagram of a ramp bifurcation in a lane selection method for an autonomous vehicle according to an embodiment of the present invention;
3A-3C are flowcharts for selecting a target lane by applying the lane selection method of an autonomous vehicle according to the embodiment of the present invention to different branched ramp numbers, respectively;
FIG. 4 is a flow chart of a lane selection method for an autonomous vehicle according to another embodiment of the invention;
5A-5C are flow charts illustrating target lane selection using the lane selection method of an autonomous vehicle according to an embodiment of the present invention for different branched main lanes;
fig. 6 is a block diagram of a lane selection system of an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
FIG. 1 is a flow chart of a lane selection method of an autonomous vehicle according to one embodiment of the invention.
As shown in fig. 1, a lane selection method of an autonomous vehicle according to one embodiment of the present invention includes the steps of:
s101: road information in front of the vehicle is acquired.
S102: and judging whether the road in front of the vehicle is a ramp bifurcation road according to the road information.
S103: if yes, selecting a target branch from the ramp bifurcation road according to navigation information, and selecting a target lane from the target branch according to a driving rule before the vehicle enters the target branch.
S104: and controlling the vehicle to change the lane to the target lane.
The lane selection method of the automatic driving vehicle can plan the target lane which is preferentially driven by the automatic driving vehicle when the automatic driving vehicle runs on a ramp of a highway (such as a bifurcation of the ramp), avoids the danger of collision between the automatic driving vehicle and other vehicles caused by large transverse deviation when the automatic driving vehicle runs on the ramp due to inaccurate map positioning, ensures that the vehicle can run at a higher speed on the premise of safety, and the target lane selection planning mode conforms to the driving habits of people. When the automatic driving vehicle cannot pass through the lane due to the fact that the road ahead of the automatic driving vehicle runs and the lane is abnormal and cannot pass caused by the working conditions of static object targets (such as roadblocks, road cones, vehicles which cannot move accidents and the like) or the red light at the entrance of a tunnel and the like, the automatic driving vehicle can be actively guided to gradually approach to an emergency lane or drive away from a highway in advance, and the collision danger of the vehicle is avoided.
In a specific example, the selecting a target lane from the target branches according to a driving rule includes: judging whether the rightmost lane in the target branch is normal or not; and if so, taking the rightmost lane in the target branch as the target lane.
Further, the selecting a target lane from the target branch according to a driving rule further includes: if the rightmost lane in the target branch is abnormal; the normal lane adjacent to the rightmost lane is taken as the target lane.
In a specific example, before selecting a target lane from the target branches according to a driving rule, the method further comprises: determining a distance between the target branch and the vehicle; and when the distance is smaller than the preset distance, selecting a target lane from the target branch according to a driving rule.
As shown in fig. 2, a schematic view of a ramp bifurcation road is shown. The target lane selection principle of the branch ramp is as follows:
the lane change may be performed in advance by a preset distance, where the preset distance is, for example, 500 meters, it should be noted that 500 meters is only an example, and in other examples, other distances such as 300 meters, 400 meters, and 600 meters may also be set.
As a specific example, assume that the original ramp is 4 ramps, i.e.: a first lane (i.e., lane 1), a second lane (i.e., lane 2), a third lane (i.e., lane 3), and a fourth lane (i.e., lane 4), as shown in fig. 3A, when driving to the right after branching, the rightmost normal lane is the target lane regardless of the number of lanes in the right branch, for example: the right branch has 1 lane, namely: and a fourth lane, firstly judging whether the fourth lane is normal, if so, taking the fourth lane as a target lane, otherwise, sequentially judging whether the third lane, the second lane and the first lane are normal, wherein if the third lane is normal, the third lane is taken as the target lane, if the third lane is abnormal and the second lane is normal, the second lane is taken as the target lane, and if the second lane is abnormal and the first lane is normal, the first lane is taken as the target lane.
As shown in fig. 3B, when driving to the left after branching and when there are 1 lane in the left branch: and the first lane firstly judges whether the first lane is normal, if so, the first lane is taken as a target lane, otherwise, the second lane, the third lane and the fourth lane are sequentially judged whether the second lane, the third lane and the fourth lane are normal, wherein if the second lane is normal, the second lane is taken as the target lane, if the second lane is abnormal and the third lane is normal, the third lane is taken as the target lane, and if the third lane is abnormal and the fourth lane is normal, the fourth lane is taken as the target lane.
As shown in fig. 3C, when driving to the left after branching and when there are 2 lanes in the left branch: and the first lane and the second lane firstly judge whether the second lane is normal, if so, the second lane is taken as a target lane, otherwise, judge whether the first lane is normal, if so, the first lane is taken as the target lane, otherwise, the third lane and the fourth lane are sequentially judged, wherein if the third lane is normal, the third lane is taken as the target lane, and if the third lane is abnormal and the fourth lane is normal, the fourth lane is taken as the target lane.
Again, in connection with fig. 3C, when driving to the left after forking and when there are 3 lanes in the left branch: the first lane, the second lane and the third lane are firstly judged whether the third lane is normal or not, if the third lane is normal, the third lane is used as a target lane, otherwise, the second lane is judged whether the second lane is normal or not, if the second lane is normal, the second lane is used as the target lane, otherwise, the first lane is judged whether the first lane is normal or not, if the first lane is normal, the first lane is used as the target lane, otherwise, if the fourth lane is normal, the fourth lane is used as the target lane.
In fig. 3A to 3C, setting lane 0 indicates that all lanes are abnormal, and the target lane selection is disabled, and at this time, the vehicle may be handed to a person to control the vehicle.
In the above description, the normal lane means: driveways that can be smoothly passed through, for example: obstacles are not present, and the like, the opposite is performed by using an abnormal lane, wherein the abnormality refers to the lane of the condition that the lane cannot pass due to the existence of static object targets (such as roadblocks, road cones, vehicles which cannot move accidents, and the like) in the target lane.
The lane selection method of the automatic driving vehicle can reasonably change lanes when encountering ramp bifurcation, thereby improving the driving safety and the driving reliability.
The above is a method of selecting a road when a ramp diverges, and the following describes a method of selecting a road when a main road diverges. The main road is, for example, a main road of an expressway.
As shown in fig. 4, an embodiment of the present invention discloses a lane selection method for an autonomous vehicle, comprising the steps of:
s401: acquiring road information in front of the vehicle in running;
s402: judging whether the road in front of the vehicle is a main road bifurcation road or not according to the road information;
s403: if yes, selecting a target branch from the main road bifurcation road further according to navigation information;
s404: selecting a target lane according to the number of main lanes in the target branch and the abnormal condition of each main lane;
s405: and controlling the vehicle to change the lane to the target lane.
Specifically, as shown in fig. 5A to 5C, selecting a target lane according to the number of main lanes in the target branch and the abnormal condition of each main lane includes: when the number of main lanes in the target branch is 1 lane and a first lane is normal, taking the first lane as the target lane; when the number of main lanes in the target branch is 2 lanes and a second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane; and when the number of main lanes in the target branch is 3 and the second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a third lane is normal, and when the third lane is normal, taking the third lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane.
Further, as shown in FIG. 5A, when the target branch is a right branch (i.e., to the right) and the lanes in the target branch are all abnormal, the normal lane in the left branch that is closest to the right branch is used as the target lane.
As shown in fig. 5B and 5C, the method further includes: and when the target branch is a left branch (namely, leftwards) and the lanes in the target branch are abnormal, taking the central normal lane in the right branch as the target lane.
Wherein the centering principle is, for example: when 1 lane exists in the right branch, the lane is a center lane, when 2 lanes exist in the right branch, the right lane is preferentially used as the center lane, when 3 lanes exist in the right branch, if the center lane is normal, the center lane is used as a target lane, otherwise, whether the rightmost lane in the right branch is normal or not is judged, if the rightmost lane in the right branch is normal, the rightmost lane is used as the target lane, otherwise, the leftmost lane is used as the target lane if the leftmost lane in the right branch is normal.
For example: the left branch has two lanes, namely: and the first lane and the second lane firstly judge whether the second lane is normal, if so, the second lane is taken as a target lane, otherwise, the first lane is further judged whether the first lane is normal, if so, the first lane is taken as the target lane, otherwise, the fourth lane is judged whether the fourth lane is normal, if so, the fourth lane is taken as the target lane, if not, the third lane is judged whether the third lane is normal, and if so, the third lane is taken as the target lane. Namely: in this case, namely: if two lanes are arranged in the right branch, whether the right lane (namely, the fourth lane) in the right branch is normal or not is judged preferentially, and whether the left lane (namely, the third lane) in the right branch is normal or not is judged again when the right branch is abnormal.
The following steps are repeated: the left branch has 1 lane, namely: the first lane firstly judges whether the first lane is normal, if so, the first lane is taken as a target lane, otherwise, the third lane (namely, a middle lane in the right branch) is further judged whether to be normal, if so, the third lane is taken as the target lane, otherwise, the fourth lane (namely, the rightmost lane in the right branch) is judged whether to be normal, if so, the fourth lane is taken as the target lane, otherwise, the second lane (namely, the leftmost lane in the right branch) is judged whether to be normal, and if not, the fourth lane is taken as the target lane.
In addition, the left branch has 3 lanes, namely: the first lane, the second lane and the third lane are firstly judged whether the second lane is normal or not, if the second lane is normal, the second lane is taken as a target lane, otherwise, whether the third lane is normal or not is further judged, if the third lane is normal, the third lane is taken as the target lane, if the third lane is not normal, the first lane is judged whether the first lane is normal or not, if the third lane is normal, the third lane is taken as the target lane, if the third lane is not normal, the fourth lane is taken as the target lane.
In the above description, the first lane to the fourth lane are lanes sequentially ordered from left to right.
In fig. 5A to 5C, setting lane 0 indicates that all lanes are abnormal, and the target lane selection is disabled, and at this time, the vehicle may be handed to a person to control the vehicle.
The lane selection method of the automatic driving vehicle can reasonably change lanes when the main lane is branched, thereby improving the driving safety and the driving reliability.
FIG. 6 is a block diagram of a lane selection system for an autonomous vehicle in accordance with one embodiment of the present invention. As shown in fig. 6, a lane selection system 100 of an autonomous vehicle according to one embodiment of the present invention includes: an acquisition module 110, a recognition module 120, and a control module 130.
The obtaining module 110 is configured to obtain road information ahead of the vehicle; the identification module 120 is configured to determine whether a road ahead of the vehicle is a ramp bifurcation road according to the road information; the control module 130 is configured to, when the identification module identifies that the road in front of the vehicle is a lane-branching road, further select a target branch from the lane-branching road according to the navigation information, and select a target lane from the target branch according to the driving rule before the vehicle enters the target branch.
The lane selection system of the automatic driving vehicle can plan the target lane which is preferentially driven by the automatic driving vehicle when the automatic driving vehicle runs on a ramp (such as a bifurcation of the ramp), avoids the danger of collision between the automatic driving vehicle and other vehicles caused by large transverse deviation when the automatic driving vehicle runs on the ramp due to inaccurate map positioning, ensures that the vehicle can run at a higher speed on the premise of safety, and ensures that the target lane selection planning mode conforms to the driving habits of people. When the automatic driving vehicle cannot pass through the lane due to the fact that the road ahead of the automatic driving vehicle runs and the lane is abnormal and cannot pass caused by the working conditions of static object targets (such as roadblocks, road cones, vehicles which cannot move accidents and the like) or the red light at the entrance of a tunnel and the like, the automatic driving vehicle can be actively guided to gradually approach to an emergency lane or drive away from a highway in advance, and the collision danger of the vehicle is avoided.
In one embodiment of the present invention, the control module 130 is configured to: judging whether the rightmost lane in the target branch is normal or not; and if so, taking the rightmost lane in the target branch as the target lane.
In an embodiment of the present invention, the control module 130 is further configured to: if the rightmost lane in the target branch is abnormal; the normal lane adjacent to the rightmost lane is taken as the target lane.
In an embodiment of the present invention, the control module 130 is further configured to determine a distance between the target branch and the vehicle before selecting a target lane from the target branch according to a driving rule, and select a target lane from the target branch according to a driving rule when the distance is less than a preset distance.
It should be noted that a specific implementation manner of the lane selection system of the autonomous vehicle according to the embodiment of the present invention is similar to a specific implementation manner of the lane selection method of the autonomous vehicle according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here in order to reduce redundancy.
Further, an embodiment of the present invention discloses another lane selection system of an autonomous vehicle, including: the first acquisition module is used for acquiring road information in front of the running vehicle; the first identification module is used for judging whether a road in front of the running vehicle is a main road bifurcation road according to the road information; the first control module is used for selecting a target branch from the main road bifurcation road according to navigation information when the road in front of the vehicle is the main road bifurcation road, selecting a target lane according to the number of the main roads in the target branch and the abnormal condition of each main road, and controlling the vehicle to change the lane of the target lane.
In one embodiment of the invention, the first control module is configured to: when the number of main lanes in the target branch is 1 lane and a first lane is normal, taking the first lane as the target lane; when the number of main lanes in the target branch is 2 lanes and a second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane; and when the number of main lanes in the target branch is 3 and the second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a third lane is normal, and when the third lane is normal, taking the third lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane.
In one embodiment of the present invention, the first control module is further configured to: and when the target branch is a right branch and lanes in the target branch are abnormal, taking a normal lane closest to the right branch in the left branch as the target lane.
In one embodiment of the present invention, the first control module is further configured to: when the target branch is a left branch and lanes in the target branch are abnormal, taking a central normal lane in the right branch as the target lane; and when the target branch is a left branch, the lanes in the target branch are abnormal, and the number of the lanes in the left branch is 2, taking the normal lane in the right branch which is farthest away from the left branch as the target lane.
The lane selection method of the automatic driving vehicle can reasonably change lanes when the main lane is branched, thereby improving the driving safety and the driving reliability.
It should be noted that a specific implementation manner of the lane selection system of the autonomous vehicle according to the embodiment of the present invention is similar to a specific implementation manner of the lane selection method of the autonomous vehicle according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here in order to reduce redundancy.
Further, an embodiment of the present invention discloses a vehicle provided with the lane selection system of the autonomous vehicle as in any one of the embodiments described above. The vehicle can reasonably change lanes when encountering road bifurcation (such as main road bifurcation and/or ramp bifurcation), thereby improving the driving safety and the driving reliability.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (17)
1. A lane selection method for an autonomous vehicle, comprising the steps of:
acquiring road information in front of the vehicle in running;
judging whether the road in front of the vehicle is a ramp bifurcation road according to the road information;
if yes, selecting a target branch from the ramp bifurcation road according to navigation information, and selecting a target lane from the target branch according to a driving rule before the vehicle drives into the target branch;
and controlling the vehicle to change the lane to the target lane.
2. The method of lane selection for an autonomous vehicle of claim 1 wherein said selecting a target lane from said target branch according to driving rules comprises:
judging whether the rightmost lane in the target branch is normal or not;
and if so, taking the rightmost lane in the target branch as the target lane.
3. The method of lane selection for an autonomous vehicle of claim 2 wherein said selecting a target lane from said target branch according to a driving rule further comprises:
if the rightmost lane in the target branch is abnormal;
the normal lane adjacent to the rightmost lane is taken as the target lane.
4. The lane selection method of an autonomous vehicle according to any of claims 1-3, characterized by, before selecting a target lane from the target branch according to a driving rule, further comprising:
determining a distance between the target branch and the vehicle;
and when the distance is smaller than the preset distance, selecting a target lane from the target branch according to a driving rule.
5. A lane selection method for an autonomous vehicle, comprising the steps of:
acquiring road information in front of the vehicle in running;
judging whether the road in front of the vehicle is a main road bifurcation road or not according to the road information;
if yes, selecting a target branch from the main road bifurcation road further according to navigation information;
selecting a target lane according to the number of main lanes in the target branch and the abnormal condition of each main lane;
and controlling the vehicle to change the lane to the target lane.
6. The method of selecting a lane of an autonomous vehicle of claim 5 wherein said selecting a target lane according to the number of main lanes in the target branch and the abnormal condition of each main lane comprises:
when the number of main lanes in the target branch is 1 lane and a first lane is normal, taking the first lane as the target lane;
when the number of main lanes in the target branch is 2 lanes and a second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane;
and when the number of main lanes in the target branch is 3 and the second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a third lane is normal, and when the third lane is normal, taking the third lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane.
7. The lane selection method of an autonomous vehicle as claimed in claim 5 or 6, further comprising:
and when the target branch is a right branch and lanes in the target branch are abnormal, taking a normal lane closest to the right branch in the left branch as the target lane.
8. The lane selection method of an autonomous vehicle as claimed in claim 5 or 6, further comprising:
and when the target branch is a left branch and the lanes in the target branch are abnormal, taking the central normal lane in the right branch as the target lane.
9. A lane selection system for an autonomous vehicle, comprising:
the acquisition module is used for acquiring road information in front of the running of the vehicle;
the identification module is used for judging whether the road in front of the vehicle is a ramp bifurcation road according to the road information;
and the control module is used for selecting a target branch from the ramp bifurcation road according to navigation information when the identification module identifies that the road in front of the vehicle is the ramp bifurcation road, and selecting a target lane from the target branch according to a driving rule before the vehicle enters the target branch.
10. The autonomous-vehicle lane selection system of claim 9, wherein the control module is configured to:
judging whether the rightmost lane in the target branch is normal or not;
and if so, taking the rightmost lane in the target branch as the target lane.
11. The autonomous-vehicle lane selection system of claim 10, wherein the control module is further configured to:
if the rightmost lane in the target branch is abnormal;
the normal lane adjacent to the rightmost lane is taken as the target lane.
12. The system of any of claims 9-11, wherein the control module is further configured to determine a distance between the target branch and the vehicle before selecting a target lane from the target branch according to a driving rule, and select a target lane from the target branch according to a driving rule when the distance is less than a preset distance.
13. A lane selection system for an autonomous vehicle, comprising:
the first acquisition module is used for acquiring road information in front of the running vehicle;
the first identification module is used for judging whether a road in front of the running vehicle is a main road bifurcation road according to the road information;
the first control module is used for selecting a target branch from the main road bifurcation road according to navigation information when the road in front of the vehicle is the main road bifurcation road, selecting a target lane according to the number of the main roads in the target branch and the abnormal condition of each main road, and controlling the vehicle to change the lane of the target lane.
14. The autonomous-vehicle lane selection system of claim 13, wherein the first control module is to:
when the number of main lanes in the target branch is 1 lane and a first lane is normal, taking the first lane as the target lane;
when the number of main lanes in the target branch is 2 lanes and a second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane;
and when the number of main lanes in the target branch is 3 and the second lane is normal, taking the second lane as the target lane, otherwise, further judging whether a third lane is normal, and when the third lane is normal, taking the third lane as the target lane, otherwise, further judging whether a first lane is normal, and when the first lane is normal, taking the first lane as the target lane.
15. The lane selection system of an autonomous vehicle of claim 13 or 14, wherein the first control module is further configured to:
and when the target branch is a right branch and lanes in the target branch are abnormal, taking a normal lane closest to the right branch in the left branch as the target lane.
16. The lane selection system of an autonomous vehicle of claim 13 or 14, wherein the first control module is further configured to:
when the target branch is a left branch and lanes in the target branch are abnormal, taking a central normal lane in the right branch as the target lane;
and when the target branch is a left branch, the lanes in the target branch are abnormal, and the number of the lanes in the left branch is 2, taking the normal lane in the right branch which is farthest away from the left branch as the target lane.
17. A vehicle, characterized in that a lane selection system of an autonomous vehicle according to any of claims 9-12 and/or 13-16 is provided.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811635557.7A CN110619757A (en) | 2018-12-29 | 2018-12-29 | Lane selection method and system for automatic driving vehicle and vehicle |
| PCT/CN2019/130061 WO2020135881A1 (en) | 2018-12-29 | 2019-12-30 | Lane selecting method and system for self-driving vehicle, and vehicle |
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| CN201811635557.7A CN110619757A (en) | 2018-12-29 | 2018-12-29 | Lane selection method and system for automatic driving vehicle and vehicle |
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