CN110675654A - 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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- CN110675654A CN110675654A CN201811643942.6A CN201811643942A CN110675654A CN 110675654 A CN110675654 A CN 110675654A CN 201811643942 A CN201811643942 A CN 201811643942A CN 110675654 A CN110675654 A CN 110675654A
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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
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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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-widened road or not according to the road information; if so, selecting a target lane from the ramp widening roads according to the driving rule before the vehicle drives into the ramp widening roads; 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 the ramp of the highway (such as the ramp is widened), 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 the ramp of the highway (such as the ramp is widened), 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 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-widened road or not according to the road information; if so, selecting a target lane from the ramp-widened road according to a driving rule before the vehicle drives into the ramp-widened road; and controlling the vehicle to change the lane to the target lane.
Further, the selecting a target lane from the ramp-wide road according to the driving rule includes: judging whether the rightmost lane in the ramp widened road is normal or not; and if so, taking the rightmost lane in the ramp-widening road as the target lane.
Further, the selecting a target lane from the ramp-wide road according to the driving rule further includes: if the rightmost lane in the ramp-widened road is abnormal; the normal lane adjacent to the rightmost lane is taken as the target lane.
Further, before selecting a target lane from the ramp-wide road according to a driving rule, the method further includes: judging the distance between the ramp-widened road and the vehicle; and when the distance is smaller than the preset distance, selecting a target lane from the ramp widened road according to a driving rule.
Further, the ramp-widening roads comprise a left-side ramp-widening road, a right-side ramp-widening road and two side ramp-widening roads.
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 the ramp of the highway (such as the ramp is widened), 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 target lane selection planning mode accords with 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 expressway ramps (such as the ramps are widened) of the automatic driving vehicle are driven, the danger that the automatic driving vehicle collides with other vehicles due to large transverse deviation caused by inaccurate map positioning when the automatic driving vehicle drives on the ramps is avoided, and the target lane selection planning mode accords with the driving habits 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-widened road or not according to the road information; and the control module is used for selecting a target lane from the ramp-widened roads according to a driving rule and controlling the vehicle to change the lane to the target lane before the vehicle enters the ramp-widened road when the identification module identifies that the road in front of the vehicle is the ramp-widened road.
Further, the control module is configured to: judging whether the rightmost lane in the ramp widened road is normal or not; and if so, taking the rightmost lane in the ramp-widening road as the target lane.
Further, the control module is further configured to: if the rightmost lane in the ramp-widened road 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 ramp-up road and the vehicle before selecting a target lane from the ramp-up road according to a driving rule, and select the target lane from the ramp-up road according to the 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.
The third purpose of the invention is to provide a lane selection method for an automatic driving vehicle, which can perform timely and reasonable lane changing measures when the main lane becomes wide when the automatic driving vehicle runs on the main lane of the highway, thereby improving the driving safety.
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 road with a widened main road or not according to the road information; if so, selecting a target lane according to the current driving lane, the widened main lanes and the abnormal condition of each main lane; and controlling the vehicle to change the lane to the target lane.
Further, when the number of the main lanes after the main lane is widened is 2, selecting a target lane according to the current driving lane, the number of the widened main lanes and the abnormal condition of each main lane includes: and when the second lane is normal, the second lane is used as the target lane, and when the second lane is abnormal and the first lane is normal, the first lane is used as the target lane.
Further, when the number of the main lanes after the main lane is widened to 3, selecting a target lane according to the current driving lane, the number of the widened main lanes and the abnormal condition of each main lane includes: when the second lane is normal, the second lane is taken as the target lane; when the second lane is abnormal, further judging whether a third lane is normal; if the lane is normal and the current driving lane of the vehicle is not the first lane, taking the third lane as the target lane, otherwise, taking the first lane as the target lane when the first lane is normal and the current driving lane of the vehicle is the first lane; and if the second lane and the third lane are both abnormal, taking the first lane as the target lane when the first lane is normal.
Further, when the number of the main lanes after the main lane is widened to 4, selecting a target lane according to the current driving lane, the number of the widened main lanes and the abnormal condition of each main lane includes: when the second lane is normal, the third lane is abnormal, the fourth lane is normal and the current driving lane is the fourth lane, taking the fourth lane as the target lane, otherwise, taking the second lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is abnormal and the first lane is normal, taking the first lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is normal, the first lane is normal, and the current driving lane is the second lane, the first lane is used as the target lane, otherwise, the fourth lane is used as the target lane; and when the second lane is abnormal, the third lane is normal, the first lane is normal and the current driving lane is the first lane, taking the first lane as the target lane, otherwise, taking the third lane as the target lane.
According to the lane selection method of the automatic driving vehicle, when the automatic driving vehicle runs on the main lane of the expressway, timely and reasonable lane changing measures can be carried out when the main lane becomes wide, and driving safety is improved.
A fourth object of the present invention is to propose a lane selection system for an autonomous vehicle. The system can carry out timely and reasonable lane changing measures when the automatic driving vehicle runs on the main lane of the highway and the main lane becomes wide, thereby improving the driving safety.
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 judging module is used for judging whether the road in front of the vehicle is a road with a widened main road or not according to the road information; and the first control module is used for selecting a target lane according to the current driving lane, the widened main lane number and the abnormal condition of each main lane and controlling the vehicle to change the lane to the target lane when the road in front of the vehicle is the road with the widened main lane.
Further, when the number of the main roads after the main road becomes wider is 2, the first control module is configured to: and when the second lane is normal, the second lane is used as the target lane, and when the second lane is abnormal and the first lane is normal, the first lane is used as the target lane.
Further, when the number of the main roads after the main road becomes wider is 3, the first control module is configured to: when the second lane is normal, the second lane is taken as the target lane; when the second lane is abnormal, further judging whether a third lane is normal; if the lane is normal and the current driving lane of the vehicle is not the first lane, taking the third lane as the target lane, otherwise, taking the first lane as the target lane when the first lane is normal and the current driving lane of the vehicle is the first lane; and if the second lane and the third lane are both abnormal, taking the first lane as the target lane when the first lane is normal.
Further, when the number of the main roads after the main road becomes wider is 4, the first control module is configured to: when the second lane is normal, the third lane is abnormal, the fourth lane is normal and the current driving lane is the fourth lane, taking the fourth lane as the target lane, otherwise, taking the second lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is abnormal and the first lane is normal, taking the first lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is normal, the first lane is normal, and the current driving lane is the second lane, the first lane is used as the target lane, otherwise, the fourth lane is used as the target lane; and when the second lane is abnormal, the third lane is normal, the first lane is normal and the current driving lane is the first lane, taking the first lane as the target lane, otherwise, taking the third lane 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 invention is to propose a vehicle which effectively improves safety and reliability in autonomous driving.
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 view illustrating ramp widening in a lane selection method of an autonomous vehicle according to an embodiment of the present invention;
3A-3C are flow charts of a lane selection method for an autonomous vehicle according to an embodiment of the invention in a second lane, a third lane, and a fourth lane, respectively;
FIG. 4 is a flow chart of a lane selection method for an autonomous vehicle according to another embodiment of the invention;
FIGS. 5A-5C are flow diagrams of a lane selection method for an autonomous vehicle according to another embodiment of the invention in a second lane, a third lane, and a fourth lane, respectively;
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-widened road or not according to the road information.
S103: if so, selecting a target lane from the ramp-up road according to a driving rule before the vehicle enters the ramp-up road.
S104: and controlling the vehicle to change the lane to the target lane.
Wherein, the ramp widen and to refer to that the autonomous vehicle goes on the ramp, and the road quantity in the front increases, and it includes three kinds of condition that left side widen, right side widen and both sides widen, promptly: the ramp widening road comprises a left ramp widening road, a right ramp widening road and two side ramp widening roads.
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 the ramp of the highway (such as the ramp is widened), 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 fast 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 ramp-wide road according to a driving rule includes: judging whether the rightmost lane in the ramp widened road is normal or not; and if so, taking the rightmost lane in the ramp-widening road as the target lane.
Further, the selecting a target lane from the ramp-wide road according to the driving rule further includes: if the rightmost lane in the ramp-widened road is abnormal; the normal lane adjacent to the rightmost lane is taken as the target lane.
Further, before selecting a target lane from the ramp-wide road according to a driving rule, the method further includes: judging the distance between the ramp-widened road and the vehicle; and when the distance is smaller than the preset distance, selecting a target lane from the ramp widened road according to a driving rule.
As shown in fig. 2, a schematic diagram of a left-side ramp-wide road is shown. The target lane selection principle of the widened 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, and it should be noted that 500 meters is only an example, and may be set to other distances such as 300 meters, 400 meters, and 600 meters.
As shown in fig. 3A, when the number of lanes is 2, the target lane is the rightmost lane, that is: and a second lane (i.e., 2 lanes), wherein the vehicle travels along the current road, wherein it is required to determine whether the second lane is normal, if so, the target lane is the second lane, and if not, the left lane is further determined, that is: whether the first lane (i.e., lane 1) is normal, and if the first lane is normal, the first lane is taken as the target lane.
Wherein, normal lane indicates: driveways that can be smoothly passed through, for example: obstacles-free, etc., as opposed to an abnormal lane, where an abnormality refers to a lane where the lane cannot pass due to the presence of a static object (e.g., a road block, a road cone, an immobile accident vehicle, etc.) in the target lane.
As shown in fig. 3B, when the number of lanes is 3, it is preferentially determined whether the third lane (i.e., the 3 lanes, in this example, the rightmost lane) is normal, if so, the third lane is taken as the target lane, otherwise, it is determined whether the second lane is normal, if so, the second lane is taken as the target lane, otherwise, it is further determined whether the first lane is normal, and if so, the first lane is taken as the target lane.
As shown in fig. 3C, when the number of lanes is 4, it is preferentially determined whether the fourth lane (i.e., 4 lanes, in this example, the rightmost lane) is normal, if so, the fourth lane is taken as the target lane, otherwise, it is determined whether the third lane is normal, if so, the third lane is taken as the target lane, otherwise, it is further determined whether the second lane is normal, if so, the second lane is taken as the target lane, otherwise, it is further determined whether the first lane is normal, and if so, the first lane is taken 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.
The above is a method of selecting a road when the ramp becomes wide, and the following describes a method of selecting a road when the main lane becomes wide. 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 road with a widened main road or not according to the road information;
s403: if so, selecting a target lane according to the current driving lane, the widened main lanes and the abnormal condition of each main lane;
s404: and controlling the vehicle to change the lane to the target lane.
According to the lane selection method of the automatic driving vehicle, when the automatic driving vehicle runs on the main lane of the expressway, timely and reasonable lane changing measures can be carried out when the main lane becomes wide, and driving safety is improved.
As a specific example, as shown in fig. 5A, taking the second lane as an example, that is: when the number of the widened main lanes of the main lane is 2, selecting a target lane according to the current driving lane, the number of the widened main lanes and the abnormal condition of each main lane, wherein the method comprises the following steps: and when the second lane is normal, the second lane is used as the target lane, and when the second lane is abnormal and the first lane is normal, the first lane is used as the target lane.
As shown in fig. 5B, taking the third lane as an example, namely: when the number of the widened main lanes of the main lane is 3, selecting a target lane according to the current driving lane, the number of the widened main lanes and the abnormal condition of each main lane, wherein the method comprises the following steps: when the second lane is normal, the second lane is taken as the target lane; when the second lane is abnormal, further judging whether a third lane is normal; if the lane is normal and the current driving lane of the vehicle is not the first lane, taking the third lane as the target lane, otherwise, taking the first lane as the target lane when the first lane is normal and the current driving lane of the vehicle is the first lane; and if the second lane and the third lane are both abnormal, taking the first lane as the target lane when the first lane is normal.
As shown in fig. 5C, taking the fourth lane as an example, that is: when the number of the widened main lanes of the main lane is 4, selecting a target lane according to the current driving lane, the number of the widened main lanes and the abnormal condition of each main lane, wherein the method comprises the following steps: when the second lane is normal, the third lane is abnormal, the fourth lane is normal and the current driving lane is the fourth lane, taking the fourth lane as the target lane, otherwise, taking the second lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is abnormal and the first lane is normal, taking the first lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is normal, the first lane is normal, and the current driving lane is the second lane, the first lane is used as the target lane, otherwise, the fourth lane is used as the target lane; and when the second lane is abnormal, the third lane is normal, the first lane is normal and the current driving lane is the first lane, taking the first lane as the target lane, otherwise, taking the third lane as the target lane.
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.
In the above description, the first lane to the fourth lane are lanes that are sequentially ordered from left to right.
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-widened road according to the road information; the control module 130 is configured to, when the identification module 120 identifies that the road ahead of the vehicle is a lane-widening road, select a target lane from the lane-widening roads according to a driving rule before the vehicle enters the lane-widening road, and control the vehicle to change the lane to the target lane.
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 the ramp of the highway (such as the ramp is widened), 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 fast 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 one embodiment of the present invention, the control module 130 is configured to: judging whether the rightmost lane in the ramp widened road is normal or not; and if so, taking the rightmost lane in the ramp-widening road 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 ramp-widened road 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 ramp-up road and the vehicle before selecting a target lane from the ramp-up road according to a driving rule, and select the target lane from the ramp-up road according to the 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 judging module is used for judging whether the road in front of the vehicle is a road with a widened main road or not according to the road information; and the first control module is used for selecting a target lane according to the current driving lane, the widened main lane number and the abnormal condition of each main lane and controlling the vehicle to change the lane to the target lane when the road in front of the vehicle is the road with the widened main lane.
In one embodiment of the present invention, when the number of main lanes after the main lane widening road is widened is 2, the first control module is configured to: and when the second lane is normal, the second lane is used as the target lane, and when the second lane is abnormal and the first lane is normal, the first lane is used as the target lane.
In one embodiment of the present invention, when the number of main lanes after the main lane-widening road is widened is 3, the first control module is configured to: when the second lane is normal, the second lane is taken as the target lane; when the second lane is abnormal, further judging whether a third lane is normal; if the lane is normal and the current driving lane of the vehicle is not the first lane, taking the third lane as the target lane, otherwise, taking the first lane as the target lane when the first lane is normal and the current driving lane of the vehicle is the first lane; and if the second lane and the third lane are both abnormal, taking the first lane as the target lane when the first lane is normal.
In one embodiment of the present invention, when the number of main lanes after the main lane-widening road is widened is 4, the first control module is configured to: when the second lane is normal, the third lane is abnormal, the fourth lane is normal and the current driving lane is the fourth lane, taking the fourth lane as the target lane, otherwise, taking the second lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is abnormal and the first lane is normal, taking the first lane as the target lane; when the second lane is abnormal, the third lane is abnormal, the fourth lane is normal, the first lane is normal, and the current driving lane is the second lane, the first lane is used as the target lane, otherwise, the fourth lane is used as the target lane; and when the second lane is abnormal, the third lane is normal, the first lane is normal and the current driving lane is the first lane, taking the first lane as the target lane, otherwise, taking the third lane as the target lane.
According to the lane selection system of the automatic driving vehicle, when the automatic driving vehicle runs on the main lane of the expressway, timely and reasonable lane changing measures can be carried out when the main lane becomes wide, and driving safety is improved.
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 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 ramp is widened), 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, ensures that the vehicle can run at a high speed on the premise of safety, and ensures that the target lane selection planning mode conforms to the driving habit of people. When the automatic driving vehicle runs on the road ahead, the lane is abnormal and cannot pass due to the working conditions of static object targets (such as roadblocks, road cones, vehicles incapable of moving accidents and the like) or red lights 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, so that the collision danger of the vehicle is avoided, and/or when the automatic driving vehicle runs on the main lane of the highway, timely and reliable lane changing measures can be carried out when the main lane becomes wide, so that the driving safety is improved.
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 (18)
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-widened road or not according to the road information;
if so, selecting a target lane from the ramp-widened road according to a driving rule before the vehicle drives into the ramp-widened road;
and controlling the vehicle to change the lane to the target lane.
2. The lane selection method of an autonomous vehicle according to claim 1, wherein said selecting a target lane from the lane-widening road according to a driving rule includes:
judging whether the rightmost lane in the ramp widened road is normal or not;
and if so, taking the rightmost lane in the ramp-widening road as the target lane.
3. The lane selection method of an autonomous vehicle according to claim 2, wherein said selecting a target lane from the lane-widening road according to a driving rule further comprises:
if the rightmost lane in the ramp-widened road 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 further comprising, before selecting a target lane from the ramp-wide road according to a driving rule:
judging the distance between the ramp-widened road and the vehicle;
and when the distance is smaller than the preset distance, selecting a target lane from the ramp widened road according to a driving rule.
5. The method of lane selection for an autonomous vehicle of claim 1, wherein the ramp-wide road includes a left-side ramp-wide road, a right-side ramp-wide road, and a two-side ramp-wide road.
6. 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 road with a widened main road or not according to the road information;
if so, selecting a target lane according to the current driving lane, the widened main lanes and the abnormal condition of each main lane;
and controlling the vehicle to change the lane to the target lane.
7. The lane selection method of an autonomous vehicle according to claim 6, wherein when the number of main lanes after the main lane widening road widening is 2, selecting a target lane according to a current driving lane, the number of main lanes after widening, and an abnormal situation of each main lane includes:
and when the second lane is normal, the second lane is used as the target lane, and when the second lane is abnormal and the first lane is normal, the first lane is used as the target lane.
8. The lane selection method of an autonomous vehicle according to claim 6, wherein when the number of widened main lanes of the main lane widening road is 3, selecting a target lane according to a current driving lane, the number of widened main lanes, and an abnormal situation of each main lane includes:
when the second lane is normal, the second lane is taken as the target lane;
when the second lane is abnormal, further judging whether a third lane is normal;
if the lane is normal and the current driving lane of the vehicle is not the first lane, taking the third lane as the target lane, otherwise, taking the first lane as the target lane when the first lane is normal and the current driving lane of the vehicle is the first lane;
and if the second lane and the third lane are both abnormal, taking the first lane as the target lane when the first lane is normal.
9. The lane selection method of an autonomous vehicle according to claim 6, wherein when the number of widened main lanes of the main lane widening road is 4, selecting a target lane according to a current driving lane, the number of widened main lanes, and an abnormal situation of each main lane includes:
when the second lane is normal, the third lane is abnormal, the fourth lane is normal and the current driving lane is the fourth lane, taking the fourth lane as the target lane, otherwise, taking the second lane as the target lane;
when the second lane is abnormal, the third lane is abnormal, the fourth lane is abnormal and the first lane is normal, taking the first lane as the target lane;
when the second lane is abnormal, the third lane is abnormal, the fourth lane is normal, the first lane is normal, and the current driving lane is the second lane, the first lane is used as the target lane, otherwise, the fourth lane is used as the target lane;
and when the second lane is abnormal, the third lane is normal, the first lane is normal and the current driving lane is the first lane, taking the first lane as the target lane, otherwise, taking the third lane as the target lane.
10. 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-widened road or not according to the road information;
and the control module is used for selecting a target lane from the ramp-widened roads according to a driving rule and controlling the vehicle to change the lane to the target lane before the vehicle enters the ramp-widened road when the identification module identifies that the road in front of the vehicle is the ramp-widened road.
11. The autonomous-vehicle lane selection system of claim 10, wherein the control module is configured to:
judging whether the rightmost lane in the ramp widened road is normal or not;
and if so, taking the rightmost lane in the ramp-widening road as the target lane.
12. The autonomous-vehicle lane selection system of claim 11, wherein the control module is further configured to:
if the rightmost lane in the ramp-widened road is abnormal;
the normal lane adjacent to the rightmost lane is taken as the target lane.
13. The system of any of claims 10-12, wherein the control module is further configured to determine a distance between the ramp-up road and the vehicle before selecting the target lane from the ramp-up road according to the driving rule, and select the target lane from the ramp-up road according to the driving rule when the distance is less than a preset distance.
14. 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 judging module is used for judging whether the road in front of the vehicle is a road with a widened main road or not according to the road information;
and the first control module is used for selecting a target lane according to the current driving lane, the widened main lane number and the abnormal condition of each main lane and controlling the vehicle to change the lane to the target lane when the road in front of the vehicle is the road with the widened main lane.
15. The lane selection system of an autonomous vehicle as claimed in claim 14, wherein when the number of main lanes after the main lane-widening road becomes wider is 2, the first control module is configured to:
and when the second lane is normal, the second lane is used as the target lane, and when the second lane is abnormal and the first lane is normal, the first lane is used as the target lane.
16. The lane selection system of an autonomous vehicle as claimed in claim 14, wherein when the number of main lanes after the main lane-widening road becomes wider is 3, the first control module is configured to:
when the second lane is normal, the second lane is taken as the target lane;
when the second lane is abnormal, further judging whether a third lane is normal;
if the lane is normal and the current driving lane of the vehicle is not the first lane, taking the third lane as the target lane, otherwise, taking the first lane as the target lane when the first lane is normal and the current driving lane of the vehicle is the first lane;
and if the second lane and the third lane are both abnormal, taking the first lane as the target lane when the first lane is normal.
17. The lane selection system of an autonomous vehicle as claimed in claim 14, wherein when the number of main lanes after the main lane-widening road becomes wider is 4, the first control module is configured to:
when the second lane is normal, the third lane is abnormal, the fourth lane is normal and the current driving lane is the fourth lane, taking the fourth lane as the target lane, otherwise, taking the second lane as the target lane;
when the second lane is abnormal, the third lane is abnormal, the fourth lane is abnormal and the first lane is normal, taking the first lane as the target lane;
when the second lane is abnormal, the third lane is abnormal, the fourth lane is normal, the first lane is normal, and the current driving lane is the second lane, the first lane is used as the target lane, otherwise, the fourth lane is used as the target lane;
and when the second lane is abnormal, the third lane is normal, the first lane is normal and the current driving lane is the first lane, taking the first lane as the target lane, otherwise, taking the third lane as the target lane.
18. A vehicle, characterized in that a lane selection system of an autonomous vehicle according to any of claims 10-13 and/or 14-17 is provided.
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| CN201811643942.6A CN110675654A (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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| CN201811643942.6A CN110675654A (en) | 2018-12-29 | 2018-12-29 | Lane selection method and system for automatic driving vehicle and vehicle |
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