CN110884493A - Behavior decision method and system for switching lanes of high-speed scene queue - Google Patents

Behavior decision method and system for switching lanes of high-speed scene queue Download PDF

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Publication number
CN110884493A
CN110884493A CN201911146701.5A CN201911146701A CN110884493A CN 110884493 A CN110884493 A CN 110884493A CN 201911146701 A CN201911146701 A CN 201911146701A CN 110884493 A CN110884493 A CN 110884493A
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queue
lane
vehicle
vehicles
speed
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CN201911146701.5A
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郝奕
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Dongfeng Commercial Vehicle Co Ltd
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Dongfeng Commercial Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Abstract

The invention discloses a behavior decision method and a system for switching lanes of a high-speed scene queue, wherein the decision method comprises the following steps: 1) according to the advancing direction of the fleet, the vehicles are numbered in sequence by P1、P2……PNThe queue running speed is V; 2) pNJudging whether a rear vehicle in a target lane meets a safety distance; 3) p1Judging whether the distance between the vehicle and the front vehicle in the target lane meets the safety distance; 4) confirming that no other vehicle exists in the target lane; 5) when the conditions of the step 2 to the step 4) are simultaneously met, the lane changing operation can be started until the conditions are metFinishing lane changing for all vehicles in the queue; 6) and performing feedback operation on the state of finishing the lane change. The decision method can keep the order of the vehicles in the queue, reduce the implementation difficulty of a software algorithm, shorten the lane changing time, realize quick and efficient process and improve the safety of the lane changing of the queue.

Description

Behavior decision method and system for switching lanes of high-speed scene queue
Technical Field
The invention belongs to the technical field of intelligent vehicles, and particularly relates to a behavior decision method and a behavior decision system for lane change in a high-speed scene queue.
Background
The vehicle queue running on the highway can save the labor cost, reduce the oil consumption and simultaneously ensure the safety to the maximum extent. And the queue vehicles can change lanes according to the planned route and the actual traffic condition in the process of traveling. Compared with the automatic driving lane changing of the single vehicle, the lane changing of the queue is difficult. Due to the fact that a large number of related vehicles exist, if no proper queue lane change behavior decision exists, situations such as overlong lane change time, non-queue vehicles driving into the queue and the like are easily caused, the queue is finally released passively, and traffic accidents are possibly caused.
The conventional method for deciding the vehicle queue lane change on the highway comprises the following steps: 1) the queue head car 1 firstly judges that the lane change condition is met and then performs lane change; 2) the following vehicle 2 behind the head vehicle accelerates to exceed the head vehicle, and the lane is changed to the front side of the No. 1 vehicle after the lane changing condition is judged to be met; 3) the distance between the No. 2 vehicle and the No. 1 vehicle is pulled open so as to facilitate the lane change of the following vehicles; 4) after the lane change condition is judged to be met by the No. 3 vehicle, the lane is changed to the middle of the No. 2 vehicle and the No. 1 vehicle; 5) and the rest vehicles repeat the step 4) until all the vehicles successfully change the lanes.
The method adopts a way of changing the head vehicle into the tail vehicle, changing the head vehicle along with the vehicle and changing the lane of other vehicles in sequence, and has the following risks: (1) the head cars of the queue change in the lane changing process, the communication strategy and the following strategy of the original queue need to be changed in real time, the requirement on an automatic driving controller is high, and the implementation difficulty is high; (2) after the lane change of the head vehicle is completed, the following vehicle can start the lane change only by completing the overtaking, which is influenced by the front vehicles of the two lanes, so that the lane change time is overlong, and the traffic jam is easy to occur even if the non-queue vehicles are ensured not to enter the queue.
Disclosure of Invention
The present invention aims to solve the above-mentioned shortcomings of the background art, and provides a method and a system for making a decision on a lane change behavior of a high-speed scene queue.
In order to achieve the purpose, the invention adopts the technical scheme that: a behavior decision-making method for switching lanes of a high-speed scene queue comprises the following steps:
1) according to the carThe forward direction of the team, and the vehicles are numbered in sequence P1、P2……PNThe queue running speed is V;
2)PNthe perception system confirms the speed V of the vehicle and the speed V of the vehicle behind the target lane2Distance L between the vehicle and the rear vehicle in the target lane2Judging whether a rear vehicle in a target lane meets a safety distance;
3)P1the perception system confirms the speed V of the vehicle and the speed V of the vehicle in front of the target lane1Distance L between the vehicle and the vehicle ahead in the target lane1Judging whether the distance between the vehicle and the front vehicle in the target lane meets the safety distance;
4) monitoring a target lane in a whole area by sensing fusion through sensing systems of all vehicles in the queue, and confirming that no other vehicle exists in the target lane;
5) when the conditions of the step 2-the step 4) are simultaneously met, reminding P through HMI1The driver on the queue displays that the lane changing operation can be started at present until all vehicles in the queue complete the lane changing;
6) and when all vehicles in the queue complete lane changing, performing feedback operation on the lane changing completion state.
In the above technical solution, in the step 2), if P is presentNThe sensing system judges that the rear vehicle in the target lane is within a safe distance, and feeds the result back to the head vehicle P1。
In the above technical solution, in the step 3), P1The perception system also needs to confirm the speed V of the front vehicle in the target lane1Greater than the queue vehicle speed V.
In the above technical solution, in the step 5), the lane changing operation specifically includes the following steps:
5.1) first vehicle P1The driver turns on the turn signal indicating that the lane is to be changed, and sends the state of the lane to be changed to the tail car PN；
5.2) trailer PNAfter receiving the information for preparing lane change, judging whether the rear vehicle of the target lane can drive the running track invading the tail vehicle or not, if not, turning on the double flashing lampsWarning the rear vehicle in the target lane to start lane changing;
5.3) trailer PnWhen executing a steering wheel operation instruction and starting lane changing, sending a steering wheel steering torque and a steering wheel corner instruction to other vehicles in the queue;
5.4) other vehicles in the queue receive the trailer PnAnd executing lane change control after the sent steering torque of the steering wheel and the steering wheel angle command, and starting lane change.
In the above technical solution, in the step 5), if any one of the conditions in the steps 2 to 4) is not satisfied, returning to the previous step to continue the detection until all the conditions are satisfied at the same time.
In the above technical solution, in the step 6), the feedback operation specifically includes the following steps:
6.1) finishing the lane change of the vehicles in the queue, and feeding the state of finishing the lane change back to the head vehicle P1；
6.2) first vehicle P1Receiving queue vehicle P2To PNFinishing lane changing state information, reminding a driver through an HMI (human machine interface) after confirming that all vehicles finish lane changing, displaying the completion of the lane changing of the queue, and sending an instruction of the completion of the lane changing of the queue to other vehicles P in the queue2To PN；
6.3)PNAnd after receiving an instruction of finishing the channel change of the queue, closing the double flashing lamps so as to finish the channel change of the whole queue.
The invention also provides a behavior decision-making system for the high-speed scene queue lane change, which comprises an intelligent sensing system, a V2V communication unit and an automatic driving controller; the intelligent sensing system is used for acquiring other related vehicle information and surrounding environment information; the V2V communication unit is used for sending or receiving corresponding data information among the queue vehicles for mutual communication; and the automatic driving controller executes lane changing or continues to move forwards according to the data information acquired by the intelligent sensing system.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the behavior decision method for changing lanes in the high-speed scene queue of the invention is characterized in that the queue vehicles jointly confirm whether lane changing conditions are met or not, the tail vehicle starts to change lanes after the conditions are met, meanwhile, steering torque of a steering wheel and steering wheel turning angle instructions are sent to other vehicles in the queue, the front vehicle starts to change lanes after receiving the instructions, the front vehicle sends a state to the head vehicle after lane changing is completed, the head vehicle sends a lane changing completion instruction after confirming the state, and the queue finishes lane changing.
Secondly, the invention confirms the lane changing condition through the mutual communication of the communication equipment V2V of the queue vehicles, and the sensing system and the controller of the queue vehicles jointly confirm the lane changing condition, and send steering wheel steering torque and steering wheel turning angle instructions to the front vehicle when the tail vehicle changes the lane, so that the queue vehicles basically change the lane at the same time, and the queue sequence also keeps the original state after the lane changing is finished.
Thirdly, in the lane changing process, after the head vehicle of the queue completes the lane changing, the following vehicle can start the lane changing without completing the overtaking first, the influence of the front vehicles of the two lanes is avoided, the lane changing time is shortened, the non-queue vehicles are ensured not to enter the queue, and the traffic jam is avoided.
Drawings
Fig. 1 is a schematic diagram of a behavior decision method for high-speed scene queue lane change according to this embodiment;
fig. 2 is a schematic structural diagram of a behavior decision system for high-speed scene queue lane change according to this embodiment;
fig. 3 is a flowchart illustrating a behavior decision method for high-speed scene queue lane change according to this embodiment.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
The behavior decision-making system for the high-speed scene queue lane change comprises an intelligent sensing system, a V2V communication unit and an automatic driving controller; the intelligent sensing system is used for collecting other related vehicle information and surrounding environment information, and can adopt a radar and a camera. The V2V communication unit is used for sending or receiving corresponding data information among the queue vehicles for mutual communication; and the automatic driving controller executes lane changing or continues to move forwards according to the data information acquired by the intelligent sensing system.
The behavior decision method for switching the lanes of the high-speed scene queue in the embodiment comprises the following steps:
1) according to the advancing direction of the fleet, the vehicles are numbered in sequence by P1、P2……PNThe queue running speed is V;
2)PNthe perception system confirms the speed V of the vehicle and the speed V of the vehicle behind the target lane2Distance L between the vehicle and the rear vehicle in the target lane2Judging the safe distance between the vehicle and the rear vehicle in the target lane, and if the vehicle is within the safe distance, sending the result to the head vehicle P1；
3)P1The perception system confirms the speed V of the vehicle and the speed V of the vehicle in front of the target lane1Distance L between the vehicle and the vehicle ahead in the target lane1Determining the safe distance to the front vehicle in the target lane and confirming the speed V of the front vehicle in the target lane1Greater than the queue speed V;
4) sensing fusion is carried out through a sensing system of the queue vehicles, full-area monitoring is carried out on a target lane, and no other vehicle is confirmed in the target lane;
5) reminding P through HMI when the conditions of the steps 1) -4) are simultaneously met1The driver on the vehicle displays that the lane changing operation can be carried out currently;
6) head vehicle P1The driver turns on the turn signal indicating that the lane is to be changed, and sends the state of the lane to be changed to the tail car PN；
7) Tail vehicle PNAfter receiving the information for preparing lane change, judging whether a rear vehicle of the target lane can drive the running track invading the tail vehicle or not, if not, turning on the double flashing lamps, warning the rear vehicle in the target lane, and starting lane change;
8) tail vehicle PnExecuting the steering wheel operation command to start lane change and simultaneously turning the steering wheelThe moment and steering wheel angle commands are sent to other vehicles in the queue;
9) other vehicles in the queue receive the trailer PnExecuting lane change control after the sent steering wheel steering torque and steering wheel turning angle instruction, and starting lane change;
10) finishing lane changing of the vehicles in the queue and feeding back the state of finishing lane changing to the head vehicle P1；
11) Head vehicle receiving queue vehicle P2To PNFinishing lane changing state information, reminding a driver through an HMI (human machine interface) after confirming that all vehicles finish lane changing, displaying the completion of the lane changing of the queue, and sending an instruction of the completion of the lane changing of the queue to other vehicles P in the queue2To PN；
12)PNAnd after receiving an instruction of finishing the channel change of the queue, closing the double flashing lamps so as to finish the channel change of the whole queue.
The above description is only for the specific embodiments of the present invention, and it should be noted that the remaining detailed descriptions are related to the prior art, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims (7)

1. A behavior decision-making method for switching lanes of a high-speed scene queue is characterized by comprising the following steps: the method comprises the following steps:
1) according to the advancing direction of the fleet, the vehicles are numbered in sequence by P1、P2……PNThe queue running speed is V;
2)PNthe perception system confirms the speed V of the vehicle and the speed V of the vehicle behind the target lane2Distance L between the vehicle and the rear vehicle in the target lane2Judging whether a rear vehicle in a target lane meets a safety distance;
3)P1the perception system confirms the speed V of the vehicle and the speed V of the vehicle in front of the target lane1Distance L between the vehicle and the vehicle ahead in the target lane1Judging whether the distance between the vehicle and the front vehicle in the target lane meets the safety distance;
4) monitoring a target lane in a whole area by sensing fusion through sensing systems of all vehicles in the queue, and confirming that no other vehicle exists in the target lane;
5) when the conditions of the step 2-the step 4) are simultaneously met, reminding P through HMI1The driver on the queue displays that the lane changing operation can be started at present until all vehicles in the queue complete the lane changing;
6) and when all vehicles in the queue complete lane changing, performing feedback operation on the lane changing completion state.
2. The method for behavioral decision making for queue lane change in high speed scenario according to claim 1, characterized in that: in said step 2), if PNThe sensing system judges that the rear vehicle in the target lane is within a safe distance, and feeds the result back to the head vehicle P1。
3. The method for behavioral decision making for queue lane change in high speed scenario according to claim 1, characterized in that: in said step 3), P1The perception system also needs to confirm the speed V of the front vehicle in the target lane1Greater than the queue vehicle speed V.
4. The method for behavioral decision making for queue lane change in high speed scenario according to claim 1, characterized in that: in the step 5), the lane changing operation specifically includes the following steps:
5.1) first vehicle P1The driver turns on the turn signal indicating that the lane is to be changed, and sends the state of the lane to be changed to the tail car PN；
5.2) trailer PNAfter receiving the information for preparing lane change, judging whether a rear vehicle of the target lane can drive the running track invading the tail vehicle or not, if not, turning on the double flashing lamps, warning the rear vehicle in the target lane, and starting lane change;
5.3) trailer PnWhen executing a steering wheel operation instruction and starting lane changing, sending a steering wheel steering torque and a steering wheel corner instruction to other vehicles in the queue;
5.4) other vehicles in the queue receive the trailer PnSendingAnd executing lane change control after the steering wheel steering torque and the steering wheel angle instruction, and starting lane change.
5. The method for behavioral decision making for queue lane change in high speed scenario according to claim 1, characterized in that: in the step 5), if any one of the conditions in the steps 2-4) is not satisfied, returning to the previous step to continue the detection until all the conditions are satisfied simultaneously.
6. The method for behavioral decision making for queue lane change in high speed scenario according to claim 1, characterized in that: in the step 6), the feedback operation specifically includes the following steps:
6.1) finishing the lane change of the vehicles in the queue, and feeding the state of finishing the lane change back to the head vehicle P1；
6.2) first vehicle P1Receiving queue vehicle P2To PNFinishing lane changing state information, reminding a driver through an HMI (human machine interface) after confirming that all vehicles finish lane changing, displaying the completion of the lane changing of the queue, and sending an instruction of the completion of the lane changing of the queue to other vehicles P in the queue2To PN；
6.3)PNAnd after receiving an instruction of finishing the channel change of the queue, closing the double flashing lamps so as to finish the channel change of the whole queue.
7. A behavior decision-making system for switching lanes in a high-speed scene queue comprises an intelligent sensing system, a V2V communication unit and an automatic driving controller;
the intelligent sensing system is used for acquiring other related vehicle information and surrounding environment information;
the V2V communication unit is used for sending or receiving corresponding data information among the queue vehicles for mutual communication;
and the automatic driving controller executes lane changing or continues to move forwards according to the data information acquired by the intelligent sensing system.
CN201911146701.5A 2019-11-21 2019-11-21 Behavior decision method and system for switching lanes of high-speed scene queue Pending CN110884493A (en)

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CN112242071A (en) * 2020-10-16 2021-01-19 山东摩西网络科技有限公司 Road automatic driving vehicle cooperative obstacle avoidance method based on dynamic grouping reconstruction
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CN114863668A (en) * 2022-04-29 2022-08-05 北京主线科技有限公司 Vehicle formation driving control method and device and electronic equipment
CN114863668B (en) * 2022-04-29 2024-03-26 北京主线科技有限公司 Vehicle formation running control method and device and electronic equipment
CN117465451A (en) * 2023-12-28 2024-01-30 安徽中科星驰自动驾驶技术有限公司 Automatic driving lane change decision method and system
CN117465451B (en) * 2023-12-28 2024-04-02 安徽中科星驰自动驾驶技术有限公司 Automatic driving lane change decision method and system

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Application publication date: 20200317