CN110834635A - Automatic driving method and control system for hydrogen energy automobile merging scene - Google Patents
Automatic driving method and control system for hydrogen energy automobile merging scene Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 229910052739 hydrogen Inorganic materials 0.000 title claims abstract description 26
- 239000001257 hydrogen Substances 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims description 33
- 230000008569 process Effects 0.000 claims description 10
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- 238000004891 communication Methods 0.000 description 1
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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
- 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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Abstract
The invention provides an automatic driving method and a control system for a hydrogen energy automobile merging scene, wherein the method comprises the following steps: s1, shooting an environment image in front of the automobile, and identifying the current driving lane and the lane line of the adjacent lane in the image; s2, judging whether the lane merging is needed in front of the current driving lane of the automobile; s3, judging whether the automobile enters a lane merging area or not; and S4, judging whether a safe area for merging exists in the adjacent lanes, and if so, merging the adjacent lanes in combination with the current driving road condition. The control system comprises a control unit, a detection unit, a judgment unit and an execution unit. The invention has the beneficial effects that: the method can acquire lane line information of a current driving lane and adjacent lanes of the hydrogen energy automobile, identify lane merging scenes, control the automobile to execute lane merging operation when safe lane merging conditions are met, perform decision planning on subdivided scenes of automatic driving, and improve the applicability and safety of the automatic driving.
Description
Technical Field
The invention relates to the field of automatic driving of automobiles, in particular to an automatic driving method and a control system for a hydrogen energy automobile merging scene.
Background
At present, an automatic automobile driving system supports simple straight-way driving, and when a large turn, a lane change or other complex road conditions occur, a driver is often required to take over control power to perform steering intervention on current automatic driving, so that the vehicle is ensured to run on a correct road, and then returns to an automatic driving mode. At present, although some researches plan the subdivision scenes of automatic driving, the emphasis is still on common scenes such as overtaking, lane changing and parking, and automatic driving is difficult to maintain under complex vehicle conditions.
Chinese patent No. CN201811279700 discloses an intelligent vehicle lane change control method, which predicts the time allowed to change lane by using the relative distance and relative speed between the vehicle in the adjacent lane and the current vehicle, and controls the lane change of the vehicle based on the time; chinese patent No. CN201711009839 discloses a method and a device for vehicle confluence, which realizes vehicle control in a confluence process by establishing communication between confluent vehicles; chinese patent No. CN201810902049 discloses a lane change control method, which monitors the actual road condition in real time, predicts the collision condition when finding that there is a vehicle in the adjacent lane trying to cut into the current lane, and controls the vehicle based on the prediction result. At present, research is often focused on scenes such as lane change and confluence of vehicles, but the above method is difficult to realize safety control when the number of lanes ahead is reduced.
Disclosure of Invention
In view of this, the present invention provides an automatic driving method for a merging scenario of a hydrogen energy vehicle, which performs control planning on a merging scenario that needs to be performed when the number of lanes is reduced, and includes the following steps:
s1, during automatic driving of the hydrogen energy automobile, a front camera is used for shooting an environmental image in front of the automobile, and the current driving lane and the lane line of the adjacent lane in the image are identified;
s2, judging whether merging is needed in front of the current driving lane of the automobile according to radian changes of lane lines and the number of lanes, and if merging is needed, determining the normal lane width of the current driving lane;
s3, carrying out lane merging preparation according to the distance from the radian change position on the lane line of the current driving lane to the automobile, and judging whether the automobile enters a lane merging area or not according to the width of the current lane and the width of the normal lane;
and S4, if the automobile enters the merging area, judging whether a safe area for merging exists in the adjacent lane, and if so, merging the adjacent lane according to the current driving road condition.
Further, the specific process of step S2 is as follows:
s201, judging whether the radian of the lane line of the current driving lane changes or not according to the lane line identified in the step S1, if so, executing the step S202, otherwise, returning to the step S1;
s202, judging whether the number of distant lanes is reduced or not according to the number of the current lane and the number of adjacent lanes in the image, if so, executing a step S203, otherwise, returning to the step S1;
s203, determining that the automobiles need to merge, calculating the lane width of the position of the automobile in the current driving lane by using the lane line obtained in the step S1, and determining the normal lane width of the current driving lane according to the calculated lane width and the standard lane width.
Further, the specific process of step S3 is as follows:
s301, continuing to advance along the current lane, shooting a front environment image by using a front camera and identifying a lane line in the image;
s302, calculating the distance from the position where the radian change occurs on the lane line of the current driving lane to the automobile;
s303, judging whether the distance detected in the step S302 is less than 75m, if so, performing lane merging preparation, executing a step S304, otherwise, returning to the step S301;
s304, determining adjacent lanes for merging, turning on a turn light on the side of the lanes and properly decelerating to move forward, and continuously shooting images in front of the automobile;
s305, calculating whether the lane width of the current position of the automobile is smaller than the normal lane width determined in the step S203 or not by using the image obtained in the step S304, if so, executing the step S306, otherwise, returning to the step S304;
s306, determining that the automobile enters the lane merging area.
Further, the specific process of step S4 is as follows:
s401, keeping a safe distance with a lane line on one side with a large radian change, and rotating a steering wheel to drive along the lane line;
s402, detecting the vehicle conditions of adjacent lanes for merging according to the angle radar sensor and the front radar sensor;
s403, judging whether a safety area exists in an adjacent lane, if so, executing a step S405, otherwise, executing a step S406;
s404, judging whether the end of the current driving lane is reached, if so, executing the step S405, otherwise, returning to the step S401;
s405, decelerating, stopping, waiting and executing the step S402;
and S406, accelerating to drive into the lane line on the merging side.
The invention also provides an automatic driving control system of the hydrogen energy automobile merging scene, which comprises a control unit, a detection unit, a judgment unit and an execution unit, wherein:
the control unit is used for controlling the execution unit according to the judgment result of the judgment unit and the detection result of the detection unit;
the detection unit comprises a front radar sensor, a front camera and an angle radar sensor, wherein the front radar sensor is used for detecting information of an obstacle target in front of the automobile during lane merging, the front camera is used for shooting a running road surface of the automobile so as to identify lane information and detect radian change of lane lines and quantity change of the lane lines, and the angle radar sensor is used for detecting obstacle information of an adjacent lane of the current running lane of the automobile during steering and lane merging;
the judging unit comprises a first judging unit, a second judging unit and a third judging unit, and the first judging unit is used for judging whether the lane merging is needed in front of the current driving lane; the second judging unit is used for judging whether the automobile is in a lane merging area or not when the judging result of the first judging unit is yes; the third judging unit is used for judging whether a safe area for merging exists in the adjacent lanes for merging when the judgment result of the second judging unit is yes;
the execution unit is used for automatic driving of the automobile and ensures that the automobile normally works under the control of the control unit; the execution unit further comprises a steering wheel which is controlled by the control unit to rotate to control the automobile to run into the lane line on the merging side when the judgment result of the third judgment unit is yes.
Further, the first judging unit further includes the following sub-units:
the first judging subunit judges whether the lane line of the current driving lane has radian change or not;
the second judging subunit is used for judging whether the number of the current driving lanes and the number of the lanes adjacent to the current driving lanes of the automobile far away are reduced or not when the judging result of the first judging subunit is yes;
a first determining subunit, configured to determine that the determination result of the first determining unit is yes when the determination result of the second determining subunit is yes.
Further, the second judging unit further includes the following sub-units:
the third judging subunit is used for judging whether the distance from the position where the radian change appears on the lane line of the current driving lane to the automobile is less than 75m or not when the judgment result of the first judging unit is yes;
the fourth judging subunit is used for judging whether the current lane width is smaller than the normal lane width or not when the judgment result of the third judging subunit is yes;
a second determining subunit, configured to determine that the determination result of the second determining unit is yes when the determination result of the fourth determining subunit is yes.
Further, the third judging unit further includes the following sub-units:
a fifth judging subunit, configured to, when a judgment result of the second judging unit is yes, judge whether a safe region for merging exists in an adjacent lane of a current driving lane;
the sixth judging subunit is used for judging whether the automobile reaches the end of the current driving lane or not when the judgment result of the fifth judging subunit is negative;
a third determining subunit, configured to determine that the determination result of the third determining unit is yes when the determination result of the fifth determining subunit is yes.
The technical scheme provided by the invention has the beneficial effects that: the method can acquire lane line information of a current driving lane and adjacent lanes of the hydrogen energy automobile, identify lane merging scenes, control the automobile to execute lane merging operation when safe lane merging conditions are met, perform decision planning on subdivided scenes of automatic driving, and improve the applicability and safety of the automatic driving.
Drawings
FIG. 1 is a flow chart of an automatic driving method for a hydrogen energy automobile merging scene according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a hydrogen energy automobile detection unit provided by an embodiment of the invention;
FIG. 3 is a flowchart of determining whether a merging of lanes is required for a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of determining whether a vehicle needs to merge into a lane according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of determining whether a vehicle enters a merge area according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the distance to the vehicle at which an arc change occurs in the lane line of the current driving lane, according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of determining whether there is a safe area for merging in an adjacent lane according to an embodiment of the present invention;
fig. 8 is a structural diagram of an automatic driving control system for a hydrogen energy automobile merging scene according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides an automatic driving method for a merging scene of a hydrogen energy automobile, including the following steps:
and S1, during automatic driving of the hydrogen energy automobile, the front camera is used for shooting an environment image in front of the automobile, and the lane lines of the current driving lane and the adjacent lanes in the image are identified.
Referring to fig. 2, the hydrogen energy automobile comprises a front radar sensor 21, a front camera 22 and an angle radar sensor 23, wherein the front radar sensor 21 detects an obstacle in a target area by transmitting and receiving millimeter wave information and using a doppler effect to detect the obstacle in front of a current driving lane, and preferably, the front radar sensor 21 is installed in the middle of a front bumper of the hydrogen energy automobile; the front camera 22 shoots the driving road surface of the automobile, is used for identifying lane lines and further judging whether to perform lane merging, and preferably, the front camera 22 is installed behind a front windshield of the hydrogen energy automobile and integrated on an inside rearview mirror; the angle radar sensors 23 detect the obstacle information of the merging side by transmitting and receiving the millimeter wave information and detecting the obstacle of the adjacent lane using the doppler effect, and preferably, the number of the angle radar sensors 23 is 4, and the angle radar sensors are respectively installed at both ends of the front and rear bumpers of the hydrogen powered vehicle and are located at four corners of the hydrogen powered vehicle. Specifically, when the hydrogen-powered automobile is automatically driven on a general lane, an environment image in front of the automobile is captured by using the front camera 22, and lane lines of the current driving lane and adjacent lanes of the automobile in the image are extracted according to an image recognition technology.
And S2, judging whether merging is needed in front of the current driving lane of the automobile according to the radian change of the lane line and the number of the lanes, and if so, determining the normal lane width of the current driving lane.
Referring to fig. 3, the specific process of step S2 is:
s201, judging whether the radian of the lane line of the current driving lane changes, if so, executing the step S202, otherwise, returning to the step S1; as shown in a1 and a2 in fig. 4, the vehicle runs on a normal lane, and it is recognized that two lane lines of the current running lane intersect at the end of the lane line (generally, near the image junction), and the lane line has no change in radian, and the vehicle continues to keep the current running state.
S202, judging whether the number of distant lanes is reduced or not, if so, executing a step S203, otherwise, returning to the step S1; it should be noted that, for the situation that the radian of the lane line changes due to the turning occurring in front of the automobile, if the radian of the lane line changes only, the lane line is easily determined as a merging scene by mistake, and therefore, whether the number of distant lanes is reduced needs to be further determined, and the misdetermination rate is reduced by two determinations; as shown in B1 and B2 in fig. 4, firstly, 2 lanes including the current driving lane and the adjacent lane are determined according to the lower half part of the image, and then, according to the identified end of the lane line, the number of distant lanes is still 2 when the vehicle makes a turn, which is not reduced, so that the misjudgment rate can be effectively reduced; in addition, when the number of lanes in front of the automobile is reduced but the current driving lane of the automobile does not need to be merged, the judgment of lane line arc degree change is carried out first, so that the misjudgment caused by the situation can be prevented; for the merging scenario shown in fig. 2, according to the above method, the number of lanes far away from the vehicle will be reduced, and step S203 is performed.
S203, determining that the automobile needs to be merged, detecting the lane width of the current driving lane, and determining the normal lane width; and calculating the lane width of the position of the automobile in the current driving lane according to the photogrammetric principle by using the lane line identified in the step S1, and determining the normal lane width of the current driving lane by comparing the calculated lane width with the standard lane width due to the existence of the measurement error.
S3, carrying out lane merging preparation according to the distance from the radian change position on the lane line of the current driving lane to the automobile, and judging whether the automobile enters a lane merging area or not according to the width of the current lane and the width of the normal lane.
Referring to fig. 5, the specific process of step S3 is:
s301, continuing to advance along the current lane, and shooting a front environment image by using a front camera;
s302, calculating the distance from the position where the radian change occurs on the lane line of the current driving lane to the automobile; recognizing the radian change position (black point in fig. 6) of the lane line in the image by using the image shot in the step S301, and calculating the distance from the radian change position to the automobile by using a photogrammetric principle;
s303, judging whether the distance detected in the step S302 is less than 75m, if so, executing a step S304, otherwise, returning to the step S301; it should be noted that when the number of lanes in a general lane decreases, a preparation area is provided before a road sign enters a broken line segment of a merging lane for decelerating the vehicle and observing the vehicle condition of the merging lane, and the purpose of step S303 is to determine whether the vehicle needs to perform merging lane preparation;
s304, determining adjacent lanes for merging, turning on a turn light on the side of the lanes and properly decelerating to move forward, and continuously shooting images in front of the automobile;
s305, judging whether the current lane width is smaller than the normal lane width, if so, executing a step S306, otherwise, returning to the step S304; calculating whether the lane width of the current position of the automobile is smaller than the normal lane width determined in the step S203 or not by using the image obtained in the step S304, and if so, indicating that the automobile enters a broken line segment of the merging lane;
s306, determining that the automobile enters the lane merging area.
And S4, if the automobile enters the merging area, judging whether a safe area for merging exists in the adjacent lane, and if so, merging the adjacent lane according to the current driving road condition.
Referring to fig. 7, the specific process of step S4 is:
s401, keeping a safe distance with a lane line on one side with a large radian change, and rotating a steering wheel to drive along the lane line;
s402, detecting the vehicle conditions of adjacent lanes for merging; detecting the vehicle conditions of the adjacent lanes according to the angle radar sensor 23 and the front radar sensor 21;
s403, judging whether a safety area exists in an adjacent lane, if so, executing a step S405, otherwise, executing a step S406; judging whether an adjacent lane has an obstacle vehicle according to the angle radar sensor 23 and the front radar sensor 21, determining the speed and the distance of the obstacle vehicle, and further judging whether a safety area exists for merging;
s404, judging whether the end of the current driving lane is reached, if so, executing the step S405, otherwise, returning to the step S401;
s405, decelerating, stopping, waiting and executing the step S402;
and S406, accelerating to drive into the lane line on the merging side.
Referring to fig. 3, an embodiment of the present invention further provides an automatic driving control system for a merging scene of a hydrogen energy vehicle, including a control unit 1, a detection unit 2, a determination unit 3, and an execution unit 4, wherein:
the control unit 1 is used for controlling the execution unit 4 according to the judgment result of the judgment unit 3 and the detection result of the detection unit 2;
the detection unit 2 comprises a front radar sensor 21, a front camera 22 and an angle radar sensor 23, wherein the front radar sensor 21 is used for detecting information of an obstacle target in front of the automobile during lane merging, the front camera 22 is used for shooting a running road surface of the automobile so as to identify lane information and detect radian change of lane lines and quantity change of the lane lines, and the angle radar sensor 23 is used for detecting obstacle information of an adjacent lane of the current running lane of the automobile during steering lane merging;
the judging unit 3 comprises a first judging unit 31, a second judging unit 32 and a third judging unit 33, wherein the first judging unit 31 is used for judging whether the lane merging is needed in front of the current driving lane; the second judging unit 32 is used for judging whether the automobile is in a lane merging area or not when the judgment result of the first judging unit 31 is yes; the third judging unit 33 is configured to judge whether a safe area for merging exists in an adjacent lane for merging when the judgment result of the second judging unit 32 is yes;
the execution unit 4 is used for automatic driving of the automobile and ensures that the automobile normally works under the control of the control unit 1; the execution unit 4 further includes a control unit 1 for controlling the vehicle to drive to the lane line on the merging side by rotating the steering wheel when the judgment result of the third judgment unit 33 is yes.
In this embodiment, the first determining unit 31 further includes the following sub-units:
the first judging subunit judges whether the lane line of the current driving lane has radian change or not;
the second judging subunit is used for judging whether the number of the current driving lanes and the number of the lanes adjacent to the current driving lanes of the automobile far away are reduced or not when the judging result of the first judging subunit is yes;
a first determining subunit, configured to determine that the determination result of the first determining unit 31 is yes when the determination result of the second determining subunit is yes.
In specific implementation, the second determining unit 32 further includes the following sub-units:
a third judging subunit, configured to, when the judgment result of the first judging unit 31 is yes, judge whether the distance from the vehicle to the position where the radian change occurs on the lane line of the current driving lane is less than 75 m;
the fourth judging subunit is used for judging whether the current lane width is smaller than the normal lane width or not when the judgment result of the third judging subunit is yes;
a second determining subunit configured to determine that the determination result of the second determining unit 32 is yes when the determination result of the fourth determining subunit is yes.
When implemented, the third determining unit 33 further includes the following sub-units:
a fifth judging subunit, configured to, when a judgment result of the second judging unit 32 is yes, judge whether a safe region for merging exists in an adjacent lane of the current driving lane;
the sixth judging subunit is used for judging whether the automobile reaches the end of the current driving lane or not when the judgment result of the fifth judging subunit is negative;
a third determining subunit, configured to determine that the determination result of the third determining unit 33 is yes, when the determination result of the fifth determining subunit is yes.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
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 (8)
1. An automatic driving method for a hydrogen energy automobile merging scene is characterized by comprising the following steps:
s1, during automatic driving of the hydrogen energy automobile, a front camera is used for shooting an environmental image in front of the automobile, and the current driving lane and the lane line of the adjacent lane in the image are identified;
s2, judging whether merging is needed in front of the current driving lane of the automobile according to radian changes of lane lines and the number of lanes, and if merging is needed, determining the normal lane width of the current driving lane;
s3, carrying out lane merging preparation according to the distance from the radian change position on the lane line of the current driving lane to the automobile, and judging whether the automobile enters a lane merging area or not according to the width of the current lane and the width of the normal lane;
and S4, if the automobile enters the merging area, judging whether a safe area for merging exists in the adjacent lane, and if so, merging the adjacent lane according to the current driving road condition.
2. The automatic driving method for the hydrogen energy automobile merging scene according to claim 1, wherein the specific process of the step S2 is as follows:
s201, judging whether the radian of the lane line of the current driving lane changes or not according to the lane line identified in the step S1, if so, executing the step S202, otherwise, returning to the step S1;
s202, judging whether the number of distant lanes is reduced or not according to the number of the current lane and the number of adjacent lanes in the image, if so, executing a step S203, otherwise, returning to the step S1;
s203, determining that the automobiles need to merge, calculating the lane width of the position of the automobile in the current driving lane by using the lane line obtained in the step S1, and determining the normal lane width of the current driving lane according to the calculated lane width and the standard lane width.
3. The automatic driving method for the hydrogen energy automobile merging scene according to claim 1 or 2, wherein the specific process of the step S3 is as follows:
s301, continuing to advance along the current lane, shooting a front environment image by using a front camera and identifying a lane line in the image;
s302, calculating the distance from the position where the radian change occurs on the lane line of the current driving lane to the automobile;
s303, judging whether the distance detected in the step S302 is less than 75m, if so, performing lane merging preparation, executing a step S304, otherwise, returning to the step S301;
s304, determining adjacent lanes for merging, turning on a turn light on the side of the lanes and properly decelerating to move forward, and continuously shooting images in front of the automobile;
s305, calculating whether the lane width of the current position of the automobile is smaller than the normal lane width determined in the step S203 or not by using the image obtained in the step S304, if so, executing the step S306, otherwise, returning to the step S304;
s306, determining that the automobile enters the lane merging area.
4. The automatic driving method for the hydrogen energy automobile merging scene according to claim 1, wherein the specific process of the step S4 is as follows:
s401, keeping a safe distance with a lane line on one side with a large radian change, and rotating a steering wheel to drive along the lane line;
s402, detecting the vehicle conditions of adjacent lanes for merging according to the angle radar sensor and the front radar sensor;
s403, judging whether a safety area exists in an adjacent lane, if so, executing a step S405, otherwise, executing a step S406;
s404, judging whether the end of the current driving lane is reached, if so, executing the step S405, otherwise, returning to the step S401;
s405, decelerating, stopping, waiting and executing the step S402;
and S406, accelerating to drive into the lane line on the merging side.
5. The automatic driving control system for the hydrogen energy automobile merging scene is characterized by comprising a control unit, a detection unit, a judgment unit and an execution unit, wherein:
the control unit is used for controlling the execution unit according to the judgment result of the judgment unit and the detection result of the detection unit;
the detection unit comprises a front radar sensor, a front camera and an angle radar sensor, wherein the front radar sensor is used for detecting information of an obstacle target in front of the automobile during lane merging, the front camera is used for shooting a running road surface of the automobile so as to identify lane information and detect radian change of lane lines and quantity change of the lane lines, and the angle radar sensor is used for detecting obstacle information of an adjacent lane of the current running lane of the automobile during steering and lane merging;
the judging unit comprises a first judging unit, a second judging unit and a third judging unit, and the first judging unit is used for judging whether the lane merging is needed in front of the current driving lane; the second judging unit is used for judging whether the automobile is in a lane merging area or not when the judging result of the first judging unit is yes; the third judging unit is used for judging whether a safe area for merging exists in the adjacent lanes for merging when the judgment result of the second judging unit is yes;
the execution unit is used for automatic driving of the automobile and ensures that the automobile normally works under the control of the control unit; the execution unit further comprises a steering wheel which is controlled by the control unit to rotate to control the automobile to run into the lane line on the merging side when the judgment result of the third judgment unit is yes.
6. The automatic driving control system for the merging scenario of the hydrogen-powered vehicle as claimed in claim 5, wherein the first determining unit further comprises the following sub-units:
the first judging subunit judges whether the lane line of the current driving lane has radian change or not;
the second judging subunit is used for judging whether the number of the current driving lanes and the number of the lanes adjacent to the current driving lanes of the automobile far away are reduced or not when the judging result of the first judging subunit is yes;
a first determining subunit, configured to determine that the determination result of the first determining unit is yes when the determination result of the second determining subunit is yes.
7. The automatic driving control system for a hydrogen-powered vehicle merging scenario according to claim 5, wherein the second determination unit further comprises the following sub-units:
the third judging subunit is used for judging whether the distance from the position where the radian change appears on the lane line of the current driving lane to the automobile is less than 75m or not when the judgment result of the first judging unit is yes;
the fourth judging subunit is used for judging whether the current lane width is smaller than the normal lane width or not when the judgment result of the third judging subunit is yes;
a second determining subunit, configured to determine that the determination result of the second determining unit is yes when the determination result of the fourth determining subunit is yes.
8. The automatic driving control system for the merging scenario of hydrogen-powered vehicles according to claim 5, wherein the third determination unit further comprises the following sub-units:
a fifth judging subunit, configured to, when a judgment result of the second judging unit is yes, judge whether a safe region for merging exists in an adjacent lane of a current driving lane;
the sixth judging subunit is used for judging whether the automobile reaches the end of the current driving lane or not when the judgment result of the fifth judging subunit is negative;
a third determining subunit, configured to determine that the determination result of the third determining unit is yes when the determination result of the fifth determining subunit is yes.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112634655A (en) * | 2020-12-15 | 2021-04-09 | 北京百度网讯科技有限公司 | Lane changing processing method and device based on lane line, electronic equipment and storage medium |
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| CN110834635B (en) | 2020-11-13 |
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