CN110949391B - Vehicle lane change control method and system, vehicle and storage medium - Google Patents
Vehicle lane change control method and system, vehicle and storage medium Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 13
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- 238000004364 calculation method Methods 0.000 claims 1
- 238000004891 communication Methods 0.000 description 6
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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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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The embodiment of the invention provides a vehicle lane change control method and system, a vehicle and a storage medium, wherein the vehicle lane change control method comprises the following steps: acquiring road condition information; judging whether a lane change condition is met or not according to the road condition information; if the lane change condition is met, determining the lane change grade according to the road condition information; and determining the lane change operation corresponding to the lane change level according to the lane change level. By the vehicle lane change control method provided by the embodiment of the invention, the vehicle can automatically judge whether lane change is needed according to road conditions, and in addition, different lane change modes can be determined according to different road conditions, so that safety and comfort are both considered.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle lane change control method and system, a vehicle and a storage medium.
Background
The supplementary lane change system that the motorcycle type carried on in the market at present can realize the automatic lane change of vehicle, this very big promotion driver's autopilot experience enjoyment, and then promoted the market competitiveness of the car product that carries on supplementary lane change system.
However, the automatic lane changing process of the auxiliary lane changing system still needs the participation of the driver to complete, and when the driver judges that the lane changing is needed or the driver subjectively wants to change the lane, a lane changing instruction is input to start the lane changing system. The intelligent degree of the automatic lane changing system is reduced to a certain degree, and when a driver normally drives a vehicle to change lanes, the lane changing system cannot be preferentially used to complete lane changing at great will.
Disclosure of Invention
The embodiment of the invention discloses a vehicle lane change control method and system, a vehicle and a storage medium, which can automatically judge lane change conditions and improve the automatic driving degree of the vehicle.
The embodiment of the invention discloses a vehicle lane change control method in a first aspect, which comprises the following steps:
acquiring road condition information;
judging whether a lane change condition is met or not according to the road condition information;
if the lane change condition is met, determining the lane change grade according to the road condition information;
and determining the lane change operation corresponding to the lane change level according to the lane change level.
A second aspect of the embodiments of the present invention discloses a vehicle lane change control system, including:
the environment information acquisition device is used for acquiring road environment information;
the environment safety judgment module is used for acquiring the environment information acquired by the environment information acquisition device and judging whether the environment of the vehicle meets the environment safety condition;
the road condition information acquiring device is used for acquiring at least one of the following information: vehicle bump information, inevitable lane change point information;
the lane changing condition judging module is used for judging whether the lane changing condition is met or not according to the road condition information;
the lane change grade determining module is used for determining a lane change grade according to the road condition information after meeting a lane change condition;
and the lane change control execution module is used for executing lane change operation according to the lane change control instruction corresponding to the lane change level.
The third aspect of the embodiment of the invention discloses a vehicle which comprises the vehicle lane change control system disclosed by the second aspect of the embodiment of the invention.
A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the vehicle lane change control method disclosed in the first aspect of the embodiments of the present invention.
A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention at least has the following beneficial effects: the steps of obtaining the road condition information, judging whether the road changing condition is met or not according to the road condition information, further determining different road changing grades according to the road condition information, and further determining different road changing operations can enable the vehicle to automatically judge whether the road changing needs to be carried out or not according to the road condition, and can also determine different road changing modes according to different road conditions, so that the safety and the comfort are both considered;
furthermore, vehicle bump information and inevitable lane change point information are used as specific road condition information, and a specific solution for dividing lane change grades is provided, so that the practical problem can be solved in a targeted manner, and better lane change performance can be obtained;
furthermore, after the lane change level is determined, a proper lane change control parameter is flexibly selected according to the road condition, so that the safe lane change is ensured, and the comfort degree of a user is enhanced;
and further, whether the environment where the vehicle is located meets the environment safety condition is judged before lane changing, and lane changing is not carried out when the environment does not meet the environment safety condition, so that the safety is enhanced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for controlling lane change of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle lane change control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third" and "fourth" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a vehicle lane change control method and system, a vehicle and a storage medium, which are described in detail in the following with reference to the accompanying drawings.
As shown in fig. 1, which is a schematic flow chart of an embodiment of a lane change control method for a vehicle according to the present invention, the method includes:
101. and acquiring environment information, and judging whether the environment of the vehicle meets the environment safety condition or not according to the environment information.
In the embodiment of the present invention, the environment information is acquired by at least one of the following devices including but not limited to: millimeter wave radar, laser radar, ultrasonic radar and camera, on-vehicle communication equipment, on-vehicle map and positioning equipment etc..
There are circumstances where lane changes are not appropriate, such as: in tunnels, pre-turn lanes in navigation routes, heavy traffic congestion conditions, etc., when in these environments, the vehicle is preferentially controlled to keep driving in its own lane. The above three environments are only examples, and there are other unfavorable environments such as dangerous roads, finding of lane change prohibition signs, and the like, which are not listed here.
And when the environmental safety condition is not met, controlling the vehicle to keep running in the lane without performing lane change operation.
102. And if the environmental safety condition is met, acquiring the road condition information.
In the embodiment of the present invention, the road condition information is obtained by at least one of the following devices: millimeter wave radar, laser radar, ultrasonic radar and camera, on-vehicle communication equipment, on-vehicle map and positioning equipment etc..
The obtained traffic information includes, but is not limited to, at least one of the following information: vehicle bump information, inevitable lane change point information.
The vehicle bump information is used for representing the degree of the vehicle running stably on the original lane, and the vehicle bump information obtaining method may be: obtaining the roll angle phi x and the roll angle speed of the vehicle in the time period t
Pitch angle Φ y, pitch angular velocity
Yaw angle Φ z, yaw angular velocity
And calculating a pitch coefficient D ═ f (phi x, phi y, phi z, t), wherein the pitch coefficient represents the pitch information of the vehicle, and is acquired in a time period t. A larger value of the pitch coefficient D indicates a larger degree of pitch.
The inevitable lane change point is a point at which the vehicle must change lanes before reaching the point, and for example, the inevitable lane change point may be specifically at least one of the following points: when the front lane is about to disappear at a vanishing point, a turning point at a turning intersection is reached, a road-impassable point and the like, the inevitable lane-changing point may be obtained in a manner including, but not limited to, at least one of the following manners: acquiring vehicle position information through a vehicle-mounted map and positioning equipment and/or vehicle-mounted communication equipment, acquiring front lane information through the vehicle position information, and acquiring inevitable lane change points such as the vanishing point and the turning point according to the front lane information; and acquiring road sign information through a radar and/or a camera, and acquiring inevitable lane change point information according to the road sign information.
103. And judging whether the lane change condition is met according to the road condition information.
Specifically, whether the lane change condition is satisfied is judged according to different traffic information types and specific traffic information conditions.
When the road condition information is vehicle bump information, whether a lane change condition is met is judged according to the bump coefficient D obtained by measurement, for example, the lane change condition can be compared with a preset threshold D0, and if D > D0, the lane change condition is met.
When the road condition information is specifically inevitable lane change point information, whether a lane change condition is met is judged according to a distance E between a vehicle and the inevitable lane change point, for example, the distance E may be compared with a preset threshold E0, and if E < E0, the lane change condition is met.
104. And when the lane change condition is met, determining the lane change grade according to the road condition information.
Specifically, the lane change level is determined according to different traffic information types and specific traffic information conditions.
When the road condition information is vehicle bump information, determining a lane change level according to a bump coefficient D obtained by measurement, and the following description is given by an embodiment of dividing three lane change levels, for example, a first bump coefficient threshold value D1, a second threshold value D2, and a third threshold value D3 are preset, where D1 < D2 < D3, and the larger the bump coefficient value D is, the larger the bump degree is, and the lane change level may be set as the first bump and lane change level when D1 < D2 is; when the bumping coefficient D2 is more than D and less than D3, the lane change grade is a second bumping lane change grade; and when the bump coefficient D3 is less than D, the lane change grade is a third bump lane change grade. In fact, besides dividing the lane change level into three levels, the number of lane change levels may be reduced or increased according to the actual situation, and will not be described herein again.
After the lane change grade is obtained according to the bumping coefficient D, preferably, whether the number of times of lane change of the vehicle due to bumping reaches a preset value within a preset time T can be judged, if the number of times of lane change of the vehicle due to bumping reaches the preset value, it is indicated that all lanes bump, lane change is meaningless, and at the moment, lane change is not performed temporarily.
When the road condition information is the inevitable lane change point information, the lane change level is determined according to the distance E between the vehicle and the inevitable lane change point, and the following description is made by using three lane change levels, for example, a first distance threshold E1, a second distance threshold E2, and a third distance threshold E3 are preset, where E1 < E2 < E3, it may be set that when E2 < E3, the lane change level is the first distance lane change level, when E1 < E2, the lane change level is the second distance lane change level, and when E < E1, the lane change level is the third distance lane change level. In fact, besides dividing the lane change level into three levels, the number of lane change levels may be reduced or increased according to the actual situation, and will not be described herein again.
In some embodiments, the road condition information includes both vehicle jounce information and inevitable lane change point information, at this time, a jounce lane change level obtained according to the vehicle jounce information and a distance lane change level obtained according to a distance between inevitable lane change points are obtained, then the priority of the jounce lane change level and the priority of the distance lane change level are compared according to a preset lane change level priority, and the lane change level with a high priority is used as a basis for subsequent operations, that is, as an actual lane change level. For example, the bumpy lane change level may include a first bumpy lane change level, a second bumpy lane change level, and a third bumpy lane change level, the distance lane change level may include a first distance lane change level, a second distance lane change level, and a third distance lane change level, and the preset lane change level priority may be: the third distance lane change level > the third bump lane change level > the second distance lane change level > the second bump lane change level > the first distance lane change level > the first bump lane change level.
105. And obtaining a lane change safety space according to the lane change grade.
In the embodiment of the present invention, the specific lane change path planning includes at least one of the following three actions: determining lane change path grade, determining lane change space and determining whether a lane change safety space exists; wherein the lane change path grade represents an upper limit of a set control parameter when the vehicle changes lanes; the lane change space represents a physical space occupied by the lane and/or the target lane when the vehicle changes lanes; the lane change safety space represents that the time interval corresponding to the lane change space in the lane change process has no possibility of collision. The control parameters typically include curvature and may include at least one of a rate of change of curvature, velocity, and rate of change of velocity.
In one embodiment of the present invention, the lane change path level (which may be referred to as P for simplicity in embodiments of the present invention) may be characterized by a function of the maximum curvature C and the maximum curvature change rate Cr of the path, i.e. as follows: p (C, Cr), the lane change space may be characterized by a function of the curvature of the path at lane change and the vehicle speed V, and according to the description of the lane change path level, there may be a plurality of lane change spaces after determining the lane change path level, and the set of these lane change spaces is expressed as a lane change space level associated with the lane change path level, that is, as follows: m (P, V). Different lane change grades correspond to different C and Cr, further correspond to different lane change path grades P, and further correspond to different lane change space grades M, and the description through a chart specifically comprises the following steps:
after obtaining the grade of the lane changing space, selecting part of the lane changing space according to a preset rule, then obtaining the driving conditions of the vehicles within and outside the range of the lane changing space, judging whether a vehicle collision risk exists, if so, judging that the lane changing is feasible, and the lane changing space is the lane changing safety space. In an embodiment of the present invention, it may be determined that the plurality of lane change spaces are lane change safe spaces.
106. And generating a lane change control command according to the obtained lane change safety space.
In this embodiment of the present invention, the lane change level corresponds to different lane change control instruction levels (abbreviated as L), and specifically, the lane change control instruction level L may include an upper limit value of a lane change control parameter, and for example, may specifically include: the maximum acceleration a, the maximum steering angle θ, and the maximum steering angle change rate ζ when the vehicle changes lane may be represented by a lane change control command level L as L (a, θ, ζ), and the following example is illustrated:
| grade of lane change | Lane change control instruction |
| First level of jounce and lane change | L1(a1,θ1,ζ1) |
| Second grade of jounce change | L2(a2,θ2,ζ2) |
| Third grade of jounce lane change | L3(a3,θ3,ζ3) |
| First distance lane change grade | L4(a4,θ4,ζ4) |
| Second distance lane change grade | L5(a5,θ5,ζ5) |
| Third distance lane change grade | L6(a6,θ6,ζ6) |
When a plurality of lane change safety spaces are determined, a control parameter corresponding to one of the lane change safety spaces needs to be automatically screened for lane change, and during automatic screening, the control parameter should be within a parameter range corresponding to a lane change control instruction level on one hand, and on the other hand, the control parameter should be as small as possible so as to ensure that a lane change process is smooth and lane change is safer.
Taking the lane change control instruction corresponding to the control parameter corresponding to the lane change safe space obtained by automatic screening as the lane change control instruction for executing lane change
107. And executing lane change operation according to the lane change control command.
In the above embodiment, after determining the lane change level, the lane change level is not in one-to-one correspondence with the lane change parameter, but the lane change control parameter is limited to a certain range, so steps such as acquiring the lane change space and generating the lane change control command are performed. In some other embodiments, the set lane change level may be associated with a series of lane change control parameters, and after the lane change level is determined, the lane change safety space is determined and the lane change operation is performed by using the corresponding lane change parameter.
As can be seen from the above description of the embodiments of the present invention, through the steps of obtaining the road condition information, determining whether the lane change condition is met according to the road condition information, further determining different lane change levels according to the road condition information, and further determining different lane change operations, the vehicle can automatically determine whether the lane change is needed according to the road condition, and in addition, different lane change modes can be determined according to different road conditions, so that safety and comfort are both considered;
furthermore, vehicle bump information and inevitable lane change point information are used as specific road condition information, and a specific solution for dividing lane change grades is provided, so that the practical problem can be solved in a targeted manner, and better lane change performance can be obtained;
furthermore, after the lane change level is determined, a proper lane change control parameter is flexibly selected according to the road condition, so that the safe lane change is ensured, and the comfort degree of a user is enhanced;
and further, whether the environment where the vehicle is located meets the environment safety condition is judged before lane changing, and lane changing is not carried out when the environment does not meet the environment safety condition, so that the safety is enhanced.
As shown in fig. 2, which is a schematic structural diagram of an embodiment of a lane change control system of a vehicle according to the present invention, the lane change control system of the vehicle includes: the system comprises an environment detection device, an automatic lane change control module, a vehicle driving parameter acquisition module, a map and positioning module and a lane change execution module.
The following are described separately.
The environment information acquiring device 201 specifically includes, but is not limited to, at least one of the following devices: the system comprises a millimeter wave radar, a laser radar, an ultrasonic radar, a camera, vehicle-mounted communication equipment, a vehicle-mounted map, positioning equipment and the like, and is mainly used for acquiring road environment information; wherein the road environment information includes, but is not limited to, at least one of the following information: pre-steering lanes in tunnels, navigation paths, severe traffic congestion conditions, etc.
An environmental safety judgment module 202, configured to acquire the environmental information obtained by the environmental information acquisition device 101, and judge whether the environment where the vehicle is located meets an environmental safety condition. Specifically, when the environment is judged to be in a tunnel, a pre-steering lane in a navigation path, a serious traffic jam condition and the like, the environment is considered unsafe, and the lane change is not required.
The traffic information acquiring device 203, including but not limited to at least one of the following devices: millimeter wave radar, laser radar, ultrasonic radar and camera, on-vehicle communication equipment, on-vehicle map and positioning equipment etc..
The obtained traffic information includes, but is not limited to, at least one of the following information: vehicle bump information, inevitable lane change point information.
The vehicle bump information is used for representing the degree of the vehicle running stably on the original lane, and the vehicle bump information obtaining method may be: obtaining the roll angle phi x and the roll angle speed of the vehicle in the time period t
Pitch angle Φ y, pitch angular velocity
Yaw angle Φ z, yaw angular velocity
And calculating a pitch coefficient D ═ f (phi x, phi y, phi z, t), wherein the pitch coefficient represents the pitch information of the vehicle, and is acquired in a time period t. A larger value of the pitch coefficient D indicates a larger degree of pitch.
The inevitable lane change point is a point at which the vehicle must change lanes before reaching the point, and for example, the inevitable lane change point may be specifically at least one of the following points: when the front lane is about to disappear at a vanishing point, a turning point at a turning intersection is reached, a road-impassable point and the like, the inevitable lane-changing point may be obtained in a manner including, but not limited to, at least one of the following manners: acquiring vehicle position information through a vehicle-mounted map and positioning equipment and/or vehicle-mounted communication equipment, acquiring front lane information through the vehicle position information, and acquiring inevitable lane change points such as the vanishing point and the turning point according to the front lane information; and acquiring road sign information through a radar and/or a camera, and acquiring inevitable lane change point information according to the road sign information.
And the lane changing condition judging module 204 is configured to judge whether a lane changing condition is met according to the road condition information.
Specifically, whether the lane change condition is satisfied is judged according to different traffic information types and specific traffic information conditions.
When the road condition information is vehicle bump information, whether a lane change condition is met is judged according to the bump coefficient D obtained by measurement, for example, the lane change condition can be compared with a preset threshold D0, and if D > D0, the lane change condition is met.
When the road condition information is specifically inevitable lane change point information, whether a lane change condition is met is judged according to a distance E between a vehicle and the inevitable lane change point, for example, the distance E may be compared with a preset threshold E0, and if E < E0, the lane change condition is met.
And the lane change grade determining module 205 is configured to determine a lane change grade according to the road condition information when the lane change condition is met.
Specifically, the lane change level is determined according to different traffic information types and specific traffic information conditions.
When the road condition information is vehicle bump information, determining a lane change level according to a bump coefficient D obtained by measurement, and the following description is given by an embodiment of dividing three lane change levels, for example, a first bump coefficient threshold value D1, a second threshold value D2, and a third threshold value D3 are preset, where D1 < D2 < D3, and the larger the bump coefficient value D is, the larger the bump degree is, and the lane change level may be set as the first bump and lane change level when D1 < D2 is; when the bumping coefficient D2 is more than D and less than D3, the lane change grade is a second bumping lane change grade; and when the bump coefficient D3 is less than D, the lane change grade is a third bump lane change grade. In fact, besides dividing the lane change level into three levels, the number of lane change levels may be reduced or increased according to the actual situation, and will not be described herein again.
After the lane change grade is obtained according to the bumping coefficient D, preferably, whether the number of times of lane change of the vehicle due to bumping reaches a preset value within a preset time T can be judged, if the number of times of lane change of the vehicle due to bumping reaches the preset value, it is indicated that all lanes bump, lane change is meaningless, and at the moment, lane change is not performed temporarily.
When the road condition information is the inevitable lane change point information, the lane change level is determined according to the distance E between the vehicle and the inevitable lane change point, and the following description is made by using three lane change levels, for example, a first distance threshold E1, a second distance threshold E2, and a third distance threshold E3 are preset, where E1 < E2 < E3, it may be set that when E2 < E3, the lane change level is the first distance lane change level, when E1 < E2, the lane change level is the second distance lane change level, and when E < E1, the lane change level is the third distance lane change level. In fact, besides dividing the lane change level into three levels, the number of lane change levels may be reduced or increased according to the actual situation, and will not be described herein again.
In some embodiments, the road condition information includes both vehicle jounce information and inevitable lane change point information, at this time, a jounce lane change level obtained according to the vehicle jounce information and a distance lane change level obtained according to a distance between inevitable lane change points are obtained, then the priority of the jounce lane change level and the priority of the distance lane change level are compared according to a preset lane change level priority, and the lane change level with a high priority is used as a basis for subsequent operations, that is, as an actual lane change level. For example, the bumpy lane change level may include a first bumpy lane change level, a second bumpy lane change level, and a third bumpy lane change level, the distance lane change level may include a first distance lane change level, a second distance lane change level, and a third distance lane change level, and the preset lane change level priority may be: the third distance lane change level > the third bump lane change level > the second distance lane change level > the second bump lane change level > the first distance lane change level > the first bump lane change level.
And a lane change safe space obtaining module 206, configured to obtain a lane change safe space according to the lane change level.
In the embodiment of the present invention, the specific lane change path planning includes at least one of the following three actions: determining lane change path grade, determining lane change space and determining whether a lane change safety space exists; wherein the lane change path grade represents an upper limit of a set control parameter when the vehicle changes lanes; the lane change space represents a physical space occupied by the lane and/or the target lane when the vehicle changes lanes; whether the lane change safety space exists or not represents whether the possibility of collision exists in the time interval corresponding to the lane change space or not. The control parameters typically include curvature and may include at least one of a rate of change of curvature, velocity, and rate of change of velocity.
In one embodiment of the present invention, the lane change path level (which may be referred to as P for simplicity in embodiments of the present invention) may be characterized by a function of the maximum curvature C and the maximum curvature change rate Cr of the path, i.e. as follows: p (C, Cr), the lane change space may be calculated as a function of the curvature of the path at the time of lane change and the vehicle speed V, and a plurality of lane change spaces may be present after the lane change path level is determined according to the description of the lane change path level, and a set of these lane change spaces may be expressed as a lane change space level associated with the lane change path level, that is, as follows: m (P, V). Different lane change grades correspond to different C and Cr, further correspond to different lane change path grades P, and further correspond to different lane change space grades M, and the description through a chart specifically comprises the following steps:
| grade of lane change | C | Cr | P | M |
| First level of jounce and lane change | C1 | Cr1 | P1(C1,Cr1) | M(P1,V1) |
| Second grade of jounce change | C2 | Cr2 | P2(C2,Cr2) | M(P2,V2) |
| Third grade of jounce lane change | C3 | Cr3 | P3(C3,Cr3) | M(P3,V3) |
| First distance lane change grade | C4 | Cr4 | P4(C4,Cr4) | M(P4,V4) |
| Second distance lane change grade | C5 | Cr5 | P5(C5,Cr5) | M(P5,V5) |
| Third distance lane change grade | C6 | Cr6 | P6(C6,Cr6) | M(P6,V6) |
After obtaining the grade of the lane changing space, selecting part of the lane changing space according to a preset rule, then obtaining the driving conditions of the vehicles within and outside the range of the lane changing space, judging whether a vehicle collision risk exists, if so, judging that the lane changing is feasible, and the lane changing space is the lane changing safety space. In an embodiment of the present invention, it may be determined that the plurality of lane change spaces are lane change safe spaces.
And a lane change control instruction generating module 207, configured to generate a lane change control instruction according to the obtained lane change safe space.
In this embodiment of the present invention, the lane change level corresponds to different lane change control instruction levels (abbreviated as L), and specifically, the lane change control instruction level L may include an upper limit value of a lane change control parameter, and for example, may specifically include: the maximum acceleration a, the maximum steering angle θ, and the maximum steering angle change rate ζ when the vehicle changes lane may be represented by a lane change control command level L as L (a, θ, ζ), and the following example is illustrated:
| grade of lane change | Lane change control instruction |
| First level of jounce and lane change | L1(a1,θ1,ζ1) |
| Second grade of jounce change | L2(a2,θ2,ζ2) |
| Third grade of jounce lane change | L3(a3,θ3,ζ3) |
| First distance lane change grade | L4(a4,θ4,ζ4) |
| Second distance lane change grade | L5(a5,θ5,ζ5) |
| Third distance lane change grade | L6(a6,θ6,ζ6) |
When a plurality of lane change safety spaces are determined, a control parameter corresponding to one of the lane change safety spaces needs to be automatically screened for lane change, and during automatic screening, the control parameter should be within a parameter range corresponding to a lane change control instruction level on one hand, and on the other hand, the control parameter should be as small as possible so as to ensure that a lane change process is smooth and lane change is safer.
And taking the lane change control instruction corresponding to the control parameter corresponding to the lane change safe space obtained by automatic screening as a lane change control instruction for executing lane change.
And a lane change executing module 208, configured to execute a lane change operation according to the lane change control instruction.
The embodiment of the invention discloses a vehicle which comprises a vehicle lane change control system.
The embodiment of the invention also discloses a computer readable storage medium which stores a computer program, wherein the computer program enables a computer to execute the vehicle lane change control method in the embodiment of the invention.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
The embodiment of the present invention also discloses an application publishing platform, which is used for publishing a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The vehicle lane change control method and system, the vehicle and the storage medium disclosed in the embodiments of the present invention are described in detail above, and a specific example is applied in the present disclosure to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A vehicle lane change control method characterized by comprising:
acquiring road condition information;
judging whether a lane change condition is met or not according to the road condition information;
if the lane change condition is met, determining the lane change grade according to the road condition information;
determining lane changing operation corresponding to the lane changing grade according to the lane changing grade;
wherein,
according to the lane change level, the step of determining the lane change operation corresponding to the lane change level comprises the following steps:
determining a lane change path grade according to the lane change grade, wherein different lane change path grades have different lane change control parameter upper limits;
determining a lane changing space according to the lane changing path grade;
determining whether the lane changing space is a safe lane changing space;
automatically screening one of the safe lane-changing spaces as a selected safe lane-changing space, and taking a lane-changing control parameter corresponding to the selected safe lane-changing space as a selected lane-changing control parameter; and the selected lane change control parameter is lower than the upper limit of the lane change control parameter corresponding to the lane change level and is not greater than the lane change control parameters corresponding to other safe lane change spaces.
2. The vehicle lane change control method according to claim 1, characterized in that:
the traffic information includes at least one of the following information: vehicle bump information, inevitable lane change point information.
3. The vehicle lane change control method according to claim 2, characterized in that:
the vehicle bump information is specifically a bump coefficient, and the bump coefficient is specifically:
D=f (Φx，Φy，Φz，t)；
wherein D is a bump coefficient and is obtained by calculation according to the following parameters in the time period t: the vehicle comprises a vehicle body;
or,
the inevitable lane change point information specifically includes at least one of: a vanishing point when the front lane is about to disappear, a turning point when the front lane reaches a turning intersection, and an impassable road point.
4. The vehicle lane change control method according to claim 3, characterized in that:
when the road condition information is vehicle bump information, the step of judging whether the lane change condition is met according to the road condition information specifically comprises the following steps:
obtaining a bump coefficient D, comparing the bump coefficient D with a preset threshold value D0, and if D is more than D0, determining that a lane change condition is met;
or,
when the traffic information is inevitable lane change point information, the step of judging whether the lane change condition is met according to the traffic information specifically comprises the following steps:
and obtaining the distance E between the vehicle and the inevitable lane changing point, comparing the distance E with a preset threshold value E0, and if E < E0, determining that the lane changing condition is met.
5. The vehicle lane change control method according to claim 3, characterized in that:
if the lane change condition is met, the step of determining the lane change grade according to the road condition information comprises the following steps:
if the lane change condition is met and the road condition information is vehicle bump information, comparing the bump coefficient D with a preset bump coefficient first threshold value D1, a preset bump coefficient second threshold value D2 and a preset bump coefficient third threshold value D3, wherein D1 is more than D2 and more than D3, and if D1 is more than D2, the lane change grade is a first bump lane change grade; if D2 is more than D and less than D3, the lane change grade is a second bumping lane change grade; if D3 is less than D, the lane change grade is a third bumping lane change grade;
or,
if lane change conditions are met and the road condition information is inevitable lane change point information, comparing the distance E between the vehicle and the inevitable lane change point with a preset first distance threshold value E1, a second distance threshold value E2 and a third distance threshold value E3, wherein E1 is more than E2 and less than E3, if E2 is more than E3, the lane change grade is a first distance lane change grade, if E1 is more than E2, the lane change grade is a second distance lane change grade, and if E is more than E1, the lane change grade is a third distance lane change grade;
or,
if the lane change condition is met and the road condition information simultaneously comprises vehicle bump information and inevitable lane change point information, comparing a bump coefficient D with a preset bump coefficient first threshold value D1, a preset bump coefficient second threshold value D2 and a preset bump coefficient third threshold value D3, wherein D1 is more than D2 and more than D3, and if D1 is more than D2, the lane change grade is a first bump lane change grade; if D2 is more than D and less than D3, the lane change grade is a second bumping lane change grade; if D3 is less than D, the lane change grade is a third bumping lane change grade; simultaneously comparing the distance E between the vehicle and the inevitable lane changing point with a preset first distance threshold value E1, a second distance threshold value E2 and a third distance threshold value E3, wherein E1 is more than E2 and less than E3, if E2 is more than E3, the lane changing grade is a first distance lane changing grade, if E1 is more than E2, the lane changing grade is a second distance lane changing grade, and if E is more than E1, the lane changing grade is a third distance lane changing grade;
and according to the preset priority sequence of each bumpy lane changing grade and each distance lane changing grade, taking the lane changing grade with higher priority in the bumpy lane changing grade and the distance lane changing grade obtained by comparison in the step as the lane changing grade.
6. The vehicle lane-change control method according to claim 1, further comprising:
acquiring environmental information, and judging whether the environment of the vehicle meets the environmental safety condition or not according to the environmental information;
and if the environment does not meet the environmental safety condition, controlling the vehicle to keep running in the lane.
7. A vehicle lane change control system, comprising:
the environment information acquisition device is used for acquiring road environment information;
the environment safety judgment module is used for acquiring the environment information acquired by the environment information acquisition device and judging whether the environment of the vehicle meets the environment safety condition;
the road condition information acquiring device is used for acquiring at least one of the following information: vehicle bump information, inevitable lane change point information;
the lane changing condition judging module is used for judging whether the lane changing condition is met or not according to the road condition information;
the lane change grade determining module is used for determining a lane change grade according to the road condition information after meeting a lane change condition;
the lane change safety space acquisition module is used for acquiring a lane change safety space according to the lane change grade;
the lane change safety acquisition module specifically executes the following steps:
determining a lane change path grade according to the lane change grade, wherein different lane change path grades have different lane change control parameter upper limits;
determining a lane changing space according to the lane changing path grade;
determining whether the lane changing space is a safe lane changing space;
the lane change control instruction generation module is used for generating a lane change control instruction according to the obtained lane change safe space;
the step specifically executed by the lane change control instruction generation module comprises the following steps:
automatically screening one of the safe lane-changing spaces as a selected safe lane-changing space;
taking the lane change control parameter corresponding to the selected safe lane change space as the selected lane change control parameter; the selected lane change control parameter is lower than the upper limit of the lane change control parameter corresponding to the lane change level and is not greater than the lane change control parameters corresponding to other safe lane change spaces;
taking a lane change control instruction corresponding to the control parameter corresponding to the lane change safe space obtained by automatic screening as a lane change control instruction for executing lane change;
and the lane changing execution module is used for executing lane changing operation according to the lane changing control instruction.
8. A vehicle characterized by comprising the vehicle lane-change control system according to claim 7.
9. A computer-readable storage medium characterized in that the computer-readable storage medium stores a computer program, wherein the computer program causes a computer to execute the vehicle lane change control method according to any one of claims 1 to 6.
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| CN114852099B (en) * | 2021-02-03 | 2024-08-02 | 宇通客车股份有限公司 | Method for predicting lane changing behavior of motor vehicle |
| CN113375689B (en) * | 2021-08-16 | 2021-11-05 | 腾讯科技（深圳）有限公司 | Navigation method, navigation device, terminal and storage medium |
| CN113753055B (en) * | 2021-10-15 | 2023-08-22 | 东风汽车集团股份有限公司 | Method for judging congestion lane based on radar detection and electronic equipment |
| CN114379576B (en) * | 2021-12-15 | 2022-11-11 | 禾多科技（北京）有限公司 | Lane change information prompting method and device, electronic equipment and computer readable medium |
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