CN111016902B - Vehicle speed auxiliary control method and system during lane changing of vehicle and vehicle - Google Patents

Vehicle speed auxiliary control method and system during lane changing of vehicle and vehicle Download PDF

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Publication number
CN111016902B
CN111016902B CN201911393206.4A CN201911393206A CN111016902B CN 111016902 B CN111016902 B CN 111016902B CN 201911393206 A CN201911393206 A CN 201911393206A CN 111016902 B CN111016902 B CN 111016902B
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vehicle
speed
acceleration
lane
moving object
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CN111016902A (en
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杨大谦
卢斌
任传兵
孟璋劼
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile 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
    • 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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a vehicle speed auxiliary control method and system during vehicle lane changing and an automobile, which are used for realizing vehicle speed auxiliary control during vehicle lane changing and realizing rapid lane changing and safe lane changing of the vehicle. The vehicle speed auxiliary control method during lane changing of the vehicle comprises the following steps: judging whether the vehicle meets the condition of activating a lane-changing vehicle speed auxiliary control function or not aiming at the vehicle which is provided with a cruising driving function and starts the cruising driving function; if yes, judging whether the current environment of the vehicle meets the lane changing condition; if so, carrying out situation evaluation on the vehicle and a moving target which is possibly collided with the vehicle when the vehicle changes lanes so as to determine whether the vehicle meets the condition of entering vehicle speed auxiliary control; and if so, performing auxiliary vehicle speed control on the vehicle according to the relative motion parameter between the vehicle and the first motion target in front of the track.

Description

Vehicle speed auxiliary control method and system during lane changing of vehicle and vehicle
Technical Field
The invention relates to the field of automobile speed control, in particular to an auxiliary control method and system for the speed of a vehicle during lane changing and the automobile.
Background
In the driving process, lane changing and overtaking are common driving behaviors. Most drivers start to accelerate and overtake after turning on the turn lights, and the judgment on the surrounding traffic conditions is lacked, so that the safety risk exists, and the driving comfort is also influenced.
At present, in the field of intelligent driving, longitudinal vehicle distance is controlled according to set time distance. When the self-vehicle is fast approaching the front vehicle, the self-vehicle can decelerate too early, and most drivers can change lanes when approaching the front vehicle, when the self-vehicle stably follows the low-speed front vehicle to run and the drivers turn on the steering lamps, the current cruise system can control the speed of the self-vehicle not to exceed the front vehicle, and the drivers can select accelerating to change lanes and overtake. In the past literature, when an author designs an overtaking auxiliary system, the system is only limited to detecting a front vehicle, and a rear vehicle and a third lane vehicle are not identified, and meanwhile, the designed speed auxiliary triggering and control logic is simple, and the safety and experience feeling are to be improved.
Disclosure of Invention
The invention aims to provide a vehicle speed auxiliary control method and system during vehicle lane changing and an automobile, so as to realize vehicle speed auxiliary control during vehicle lane changing and realize rapid lane changing and safe lane changing of the vehicle.
The technical scheme of the invention is as follows:
the embodiment of the invention provides a vehicle speed auxiliary control method during lane changing of a vehicle, which comprises the following steps:
judging whether the vehicle meets the condition of activating a lane-changing vehicle speed auxiliary control function or not aiming at the vehicle which is provided with a cruising driving function and starts the cruising driving function;
if yes, judging whether the current environment of the vehicle meets the lane changing condition;
if so, carrying out situation evaluation on the vehicle and a moving target which is possibly collided with the vehicle when the vehicle changes lanes so as to determine whether the vehicle meets the condition of entering vehicle speed auxiliary control;
and if so, performing auxiliary vehicle speed control on the vehicle according to the relative motion parameter between the vehicle and the first motion target in front of the track.
Preferably, the step of judging whether the current environment of the vehicle meets the lane change condition comprises:
judging whether the position of the vehicle is a position allowing lane changing;
if so, further judging whether the lane to be changed of the vehicle meets the lane changing condition;
if yes, further judging whether the speed of the vehicle meets the lane changing condition.
Preferably, the vehicle is located at a position allowing lane changing, specifically:
the vehicle is in the tunnel, and the distance between the vehicle and the tunnel outlet is less than a first distance threshold value L1；
The vehicle is not in the tunnel, and the curvature of the lane corresponding to the direction of the turned-on side of the vehicle steering lamp is smaller than a set curvature threshold value p; or the like, or, alternatively,
the vehicle is not in the tunnel and is in front of the current position of the vehicle by a second distance threshold value L2In the range, the adjacent lanes corresponding to the direction of one side where the vehicle steering lamp is turned on stably exist;
the condition that the lane to be changed of the vehicle meets the lane change is as follows:
no lane line exists between the lane to be changed and the current lane of the vehicle; or
And a lane line between the lane to be reversed and the lane where the vehicle is located at present is a broken line, and the width of the lane to be reversed is greater than the first lane width threshold D1.
If the vehicle starts the cruising driving function, the vehicle speed meeting the lane changing requirement is as follows: actual vehicle speed V of vehicleEgoRealSpeedGreater than a first speed threshold V1And the actual vehicle speed V of the vehicleEgoRealSpeedLess than the target cruising speed V set by the driverEgoSetSpeedMinus a first speed difference threshold Δ V1The difference obtained thereafter.
Preferably, the moving object that may collide with the host vehicle when the host vehicle changes lanes includes at least: the first moving target located in front of the vehicle running track, and the condition that the vehicle meets the auxiliary control of entering the vehicle speed specifically comprises the following steps:
the longitudinal distance between the first moving object and the vehicle is greater than a third distance threshold L3；
Actual vehicle speed V of first moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtainedxHostGreater than a second speed difference threshold Δ V2；
Longitudinal acceleration a of a first moving objectxHostTargetGreater than a first acceleration threshold a1；
Lateral relative velocity Δ V between first moving object and vehicleyHostSatisfies the following conditions: third speed difference threshold Δ V3<ΔVyHost<Fourth speed difference threshold Δ V4；
First moving object and vehicleTransverse relative acceleration delta a betweenyHostSatisfies the following conditions: first acceleration difference threshold value Deltaa1<ΔayHost<Second acceleration difference threshold value Deltaa2。
Preferably, the moving target capable of colliding with the host vehicle when the host vehicle changes lanes further includes: the second moving target is positioned in the lane to be reversed and positioned in front of the vehicle, and the third moving target is positioned in the lane to be reversed and positioned behind the vehicle; the condition that the second moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the second moving object and the vehicle is greater than a fourth distance threshold L4；
Actual vehicle speed V of second moving objectxAdjFTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjFSatisfies the following conditions: Δ VxAdjF＞ΔVxHostAnd Δ VxAdjFFifth speed difference threshold Δ V5，ΔVxHostActual vehicle speed V of the first moving objectxHostTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedThe difference between them;
longitudinal acceleration a of the second moving objectxAdjFTargettGreater than a second acceleration threshold a2(ii) a Or
The condition that the second moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the second moving object and the vehicle is greater than a fourth distance threshold L4；
Actual vehicle speed V of second moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjFSatisfies the following conditions: Δ VxAdjF＜ΔVxHost，ΔVxHostActual vehicle speed V of the first moving objectxHostTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedThe difference between them;
transverse velocity V of second moving objectyAdjFTargetIs greater than a second speed threshold V2；
The second movementLateral acceleration a of the targetyAdjFTargetIs greater than a third acceleration threshold a3；
The condition that the third moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the third moving object and the vehicle is greater than a fifth distance threshold L5；
Actual vehicle speed V of third moving objectxAdjFTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjSRSatisfies the following conditions: Δ VxAdjSR＜ΔVxAdjFAnd Δ VxAdjSR< sixth speed difference threshold Δ V6，ΔVxAdjFIs the actual vehicle speed V of the second moving objectxAdjFTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedA difference of (d);
longitudinal acceleration a of the third moving objectxAdjSRTargetLess than a fourth acceleration threshold a4(ii) a Or
The condition that the third moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the third moving object and the vehicle is greater than a fifth distance threshold L5；
Actual vehicle speed V of third moving objectxAdjSRTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedIs absolute value of the difference Δ VxAdjSRSatisfies the following conditions: Δ VxAdjSR＜ΔVxAdjF，ΔVxAdjFIs the actual vehicle speed V of the second moving objectxAdjFTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedDifference value Δ V ofxAdjF ；
Transverse velocity V of third moving objectyAdjSRTargetIs greater than a third speed threshold V3；
Transverse addition velocity a of the third moving objectyAdjSRTargetIs greater than the fifth speed threshold a5。
Preferably, if the vehicle starts the cruise driving function, the step of controlling the vehicle speed in an auxiliary manner according to the relative motion parameter between the vehicle and the first moving object in front of the track includes:
if the actual speed V of the vehicleEgoRealSpeed >Actual vehicle speed V of first moving objectxHostTargetCalling a first acceleration coefficient corresponding to the current time interval of the vehicle from a first relation table which is calibrated in advance and represents the corresponding relation between the time interval and the acceleration coefficient;
multiplying the first acceleration coefficient by the acceleration value at each moment in an acceleration curve prestored in the cruise system to obtain a first target acceleration value for controlling the acceleration or deceleration of the vehicle, and controlling the speed of the vehicle according to the first target acceleration value;
if the actual speed V of the vehicleEgoRealSpeedActual vehicle speed V less than or equal to first moving targetxHostTargetMax [ Min (V) ]EgoSetSpeed+ΔV7，VEgoRealSpeed+ΔV8，VxAdjFTarget)，VxAdjSRTarget]As a target vehicle speed;
calling a second acceleration coefficient corresponding to the current time interval of the vehicle from a second relation table which is calibrated in advance and represents the corresponding relation between the time interval and the acceleration coefficient;
multiplying the second acceleration coefficient by the acceleration value at each moment in the acceleration curve prestored in the cruise system to obtain a second target acceleration value for controlling the acceleration or deceleration of the vehicle, and controlling the speed of the vehicle according to the second target acceleration value to change the speed of the vehicle from the current speed to the target speed;
wherein the first acceleration coefficient and the second acceleration coefficient are both coefficients in the range of 0 to 1.
Preferably, if the condition of lane-changing vehicle speed auxiliary control is not met, exiting the lane-changing vehicle speed auxiliary control function; wherein the condition that the lane-changing vehicle speed auxiliary control is not satisfied comprises:
when a driver tramples a brake, the master cylinder pressure is greater than a first pressure threshold value P;
when the driver does not step on the brake and steps on the accelerator, the required acceleration calculated according to the accelerator stepped on by the driver is larger than the target acceleration calculated according to the relative motion parameters of the vehicle and the first motion target;
when the driver does not tread on the accelerator and the brake, the automatic emergency braking auxiliary function of the vehicle is triggered;
when the driver does not step on the brake and the accelerator and does not trigger the automatic emergency braking auxiliary function, the vehicle body stabilizing function is triggered and the continuous triggering time exceeds a first time threshold T1；
When the driver does not tread the accelerator and brake, and the automatic emergency braking auxiliary function and the vehicle body stabilizing function are not triggered, the longitudinal distance between the first moving target and the vehicle reaches the minimum safety distance preset by the system, and the duration time exceeds a second time threshold T2。
The embodiment of the invention also provides a vehicle speed auxiliary control system during lane changing of the vehicle, which comprises the following steps:
and the entry judging module is used for judging whether the vehicle meets the condition of activating the lane-changing vehicle speed auxiliary control function or not aiming at the vehicle which is provided with the cruise driving function and starts the cruise driving function:
the target processing module is used for judging whether the current environment of the vehicle meets the lane changing condition or not if the current environment of the vehicle meets the lane changing condition; if so, carrying out situation evaluation on the vehicle and a moving target which is possibly collided with the vehicle when the vehicle changes lanes so as to determine whether the vehicle meets the condition of entering vehicle speed auxiliary control;
and the motion planning module is used for performing auxiliary vehicle speed control on the vehicle according to the relative motion parameter between the vehicle and the first motion target in front of the track if the vehicle meets the requirement.
The embodiment of the invention also provides an automobile which comprises the auxiliary control system for the speed of the automobile when the automobile changes lanes.
The invention has the beneficial effects that:
when the vehicle changes lanes, the sensing device on the vehicle can realize full-coverage detection of the vehicle, and after a driver turns on a steering lamp, the system automatically controls acceleration or deceleration according to the conditions of a front vehicle and traffic flow, assists the driver to carry out overtaking judgment and vehicle speed control, ensures safety and improves driving comfort. .
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic flow diagram of the process of the present invention;
fig. 3 is a detailed flow chart of the system of the present invention during operation.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, for the vehicle in the present embodiment, the vehicle includes: the sensing module 6 is used for detecting the front vehicle and the surrounding traffic flow, and mainly comprises a front radar, a side radar, a foresight camera, a look-around camera and a map, wherein the radars are mainly divided into a millimeter wave radar, a laser radar and an ultrasonic radar, the millimeter wave radar and the laser radar have long detection distance and high longitudinal identification precision and can be used for detecting the distance, the speed and the acceleration of a target in a certain area, the ultrasonic radar can be used for identifying a near-end target, the foresight camera fuses target signals in the area in front of the radar and increases the transverse distance, the speed and the acceleration of a moving target and the identification of the target posture, the look-around camera fuses the ultrasonic radar and can enhance the identification accuracy and the precision of the near-end target, the look-around camera fuses the foresight camera to identify a lane line and road speed limit information, and further, when the map is configured, the road type, the look-, The curvature of the current lane and the tunnel information can be transmitted out and used as the basis of fusion control. Specifically, as shown in fig. 1, the sensing module 6 includes: a map 1 for acquiring information such as curvature of a road on which a vehicle is located, a tunnel, and the like; the front-view camera 2 is used for acquiring the type, the transverse distance, the transverse speed and the acceleration of a moving target in front, lane line information and other traffic information; the front radar 3 is used for acquiring or fusing the front-view camera 2 to enhance and identify the transverse and longitudinal distance, the speed and the acceleration of a front target; the side radar 4 is used for acquiring the transverse and longitudinal distances, the speed and the acceleration of targets on two sides and behind the vehicle; a look-around camera 5 for fusing the forward-looking camera 2 to enhance the recognition of the lane line and the fusion-side radar 4 to enhance the recognition of the peripheral target; the sensors can realize the identification and screening of targets in the lanes of 200m in front of the vehicle, 150m behind the vehicle and two sides of the vehicle, the configuration of the sensors in the sensing system is different according to the vehicle type, and the front-view camera 2 or the front radar 3 for detecting the targets in front is the basic configuration for realizing the functional method. The vehicle body sensing module 7 is used for detecting the speed, the acceleration, the attitude, the stability signal and the human-computer interaction signal of the vehicle as the driver demand and the input quantity of the dynamic model of the vehicle, and the vehicle body sensing module 7 is specifically used for acquiring the vehicle state signals including the transverse and longitudinal speed and acceleration of the vehicle, the opening degree of an accelerator request, the pressure of a main cylinder, the vehicle body stability control and other vehicle real-time motion state information. The central control module 8 is used for fusing all information of the sensing module 6 and the vehicle body sensing module 7 and sending a decision and control signal, the central control module 8 can fuse received real-time signals according to the actual configuration of the sensing module, and the central control module 8 can also be integrated into a detection module, namely, a sensor and a controller are used as a complete hardware; and the control execution module 11 mainly comprises a power system 9 and a brake system 10 and is used for converting the decision and control signals of the central control module 8 into control over acceleration and deceleration of the bicycle.
As shown in fig. 2, the embodiment specifically provides a vehicle speed auxiliary control method during lane changing of a vehicle, which includes:
in step S1, it is determined whether the vehicle satisfies a condition for activating the lane change vehicle speed assist control function for a vehicle in which the cruise drive function is provided and the cruise drive function is activated.
For a vehicle equipped with a cruise drive function, a driver needs to set a time zone of the vehicle in advance. An initial time interval value is preset in the cruise system before the driver sets the time interval of the vehicle.
The lane-change vehicle speed assist control function is a function that is mounted on the vehicle and assists the vehicle speed acceleration or deceleration control when the vehicle intends to change lanes.
The conditions for activating the function include: the driver dials the steering lamp dial rod, and a sensing system of the vehicle senses the moving target in front of the running track of the vehicle. After the driver dials the steering lamp deflector rod, the steering lamp deflector rod reaches the mechanical position, and continuously sends a request of steering leftwards or rightwards, namely, the driver is judged to have the intention of lane changing. Further, when it is determined that there is an intention to change lanes, the vehicle does not need to accelerate the lane change, considering that in some cases, the driver does not have moving objects around the driver that may collide with the driver when changing lanes. Therefore, in this embodiment, the moving object is detected within a specific distance range (e.g. 200m ahead and 150m behind) in front of the driving track of the vehicle by the sensing element, where the specific distance range represents a sensing range that can be sensed by the sensing system of the vehicle, and the distance that can be sensed by different vehicles is different according to the performance of the specific sensing device collocated on different vehicle types. The sensing element mainly depends on the millimeter wave radar and the laser radar which have long detection distances to carry out distance detection, the longitudinal recognition accuracy of the millimeter wave radar and the laser radar is high, and the speed and the acceleration of a moving target in the detection range of the sensing element and the distance between a vehicle and the moving target can be detected. In this embodiment, it is determined whether or not a moving object exists in the detection range thereof by using the detection results of the millimeter wave radar and the laser radar.
Specifically, step S1 includes:
the step of judging whether the vehicle meets the vehicle speed auxiliary control function activation condition comprises the following steps:
detecting the switch position of a deflector rod of the steering lamp;
judging whether the driver has a lane changing intention according to the position of a switch of a deflector rod of a steering lamp;
if yes, judging whether a moving target exists in a perception range in front of a vehicle running track;
and if so, determining that the vehicle meets the condition of activating the lane-changing vehicle speed auxiliary control function.
And step S2, if yes, judging whether the current environment of the vehicle meets the lane changing condition.
The method comprises the steps of sequentially processing road information, lane line information and vehicle speed information, and determining whether the current environment of the vehicle meets the lane changing condition. Specifically, the step is performed by: judging whether the position of the vehicle is a position allowing lane changing; if so, further judging whether the lane to be changed of the vehicle meets the lane changing condition; if so, further judging whether the speed of the vehicle meets the lane changing condition or not to confirm whether the environment of the vehicle meets the lane changing condition or not. The method for judging whether the position of the vehicle is the position allowing lane changing is mainly used for judging: whether the vehicle is in a tunnel; whether the distance between the vehicle and the tunnel exit is less than a first distance threshold value L1(ii) a When the vehicle is not in the tunnel, whether the curvature of the lane corresponding to the direction of the turned-on side of the vehicle steering lamp is smaller than a set curvature threshold value p or not is judged; or when the vehicle is not in the tunnel, the second distance threshold value L is in front of the current position of the vehicle2Within the range, whether the adjacent lane corresponding to the direction of one side of the turn signal of the vehicle is turned on stably exists. When the following conditions are met: the vehicle is not in the tunnel; the distance between the vehicle and the tunnel exit is less than a first distance threshold value L1(ii) a The vehicle is not in the tunnel, and the curvature of the lane corresponding to the direction of the turned-on side of the vehicle steering lamp is smaller than a set curvature threshold value p; or the vehicle is not in the tunnel and is in front of the current position of the vehicle by a second distance threshold value L2Within the range, the adjacent lane corresponding to the direction of one side of the turn signal of the vehicle is stably present. The current position of the vehicle is indicated to be not located in a road section where accidents easily occur during road changing, and dangerous road sections are eliminated. First distance threshold L1May be within 50 meters from the tunnel exit.
Further, after the current position of the vehicle is determined to meet the lane change condition, whether the lane with the reversing of the vehicle meets the lane change condition or not is further judgedThe lane to be reversed is a lane corresponding to the turning-on side of the turn signal, the vehicle is a lane to be reversed, for example, if the turn signal of the vehicle points to the left side, the lane to be reversed is a lane on the left side of the vehicle, and if the turn signal points to the right side, the lane to be reversed is a lane on the right side of the vehicle. The method comprises the following steps of judging whether a lane to be reversed meets the lane changing condition, wherein the step of judging whether the lane to be reversed meets the lane changing condition is mainly to confirm the width of the lane to be reversed so as to judge whether the width of the lane to be reversed can meet the driving condition of a vehicle, and the step of judging whether the lane to be reversed of the vehicle meets the lane changing condition is specifically as follows: no lane line exists between the lane to be changed and the current lane of the vehicle; or the lane line between the lane to be reversed and the current lane of the vehicle is a broken line, and the width of the lane to be reversed is greater than the first lane width threshold D1. First track width threshold D1Greater than the width of the vehicle. When it is determined that the lane to be reversed meets the lane changing requirement of the vehicle, the vehicle speed of the vehicle is further determined, wherein the vehicle speed determination is performed to prevent the vehicle from starting the reversing vehicle speed auxiliary control function under any condition, for example, when the vehicle runs on an urban road and is in a traffic jam condition, the vehicle speed of the vehicle is slow, and the reversing vehicle speed auxiliary control is performed, which may cause poor user experience, therefore, in the embodiment, the condition for entering the reversing auxiliary control function is limited to a higher vehicle speed, wherein the vehicle speed of the vehicle meets the lane changing requirement specifically: actual vehicle speed V of vehicleEgoRealSpeedGreater than a first speed threshold V1And the actual vehicle speed V of the vehicleEgoRealSpeedLess than the target cruising speed V set by the driverEgoSetSpeedMinus a first speed difference threshold Δ V1When the difference between the actual vehicle speed of the vehicle and the target cruising vehicle speed set by the driver is too large for the vehicle with the cruising driving function being started, the vehicle should be driven with the target cruising vehicle speed as the target first, and in this state, the reversing vehicle speed assist control is not performed.
In step S3, if yes, a situation evaluation is performed on the vehicle and a moving target that may collide with the host vehicle when the host vehicle changes lanes, to determine whether the vehicle satisfies a condition for entering the vehicle speed assist control.
Wherein the moving target which is possibly collided with the vehicle when the vehicle changes lanes comprises: the vehicle driving system comprises a first running target in front of a vehicle track, a second moving target on a lane to be reversed and positioned in front of the vehicle, and a third moving target on the lane to be reversed and positioned behind the vehicle. However, it is not always necessary for the host vehicle to have a second moving object on the lane to be reversed and located in front of the host vehicle, and a third moving object on the lane to be reversed and located behind the host vehicle.
The situation assessment is mainly used for comparing relative motion parameters between a vehicle and a moving target detected by a sensing device of the vehicle and judging whether the lane change requirement is met. Specifically, the moving object that may collide with the host vehicle when the host vehicle changes lanes includes at least: for a first moving target located in front of a vehicle running track, specifically, the condition that the vehicle meets the auxiliary control of entering the vehicle speed is as follows: the longitudinal distance between the first moving object and the vehicle is greater than a third distance threshold L3Wherein the third distance threshold value L3= Min（Lmin，LTTC），LminIndicating the minimum longitudinal distance, L, between the vehicle itself and the first moving object set in the systemTTCRepresents a minimum collision distance calculated based on a minimum time to collision TTC (a ratio of a relative distance between the vehicle and the first moving target to a relative speed) between the vehicle itself and the first moving target; actual vehicle speed V of first moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtainedxHostGreater than a second speed difference threshold Δ V2(ii) a Longitudinal acceleration a of a first moving objectxHostTargetGreater than a first acceleration threshold a1(ii) a Lateral relative velocity Δ V between first moving object and vehicleyHostSatisfies the following conditions: third speed difference threshold Δ V3<ΔVyHost<Fourth speed difference threshold Δ V4(ii) a Lateral relative acceleration Δ a between the first moving object and the vehicleyHostSatisfies the following conditions: first, theAn acceleration difference threshold value Deltaa1<ΔayHost<Second acceleration difference threshold value Deltaa2. And judging whether the vehicle is possibly collided with the first moving target in the transverse and longitudinal directions by judging the longitudinal distance, the vehicle speed, the longitudinal acceleration and the transverse relative speed between the vehicle and the first moving target. After the relative motion parameters between the vehicle and the first moving target meet the conditions, the surface vehicle does not collide with the first moving target when changing lanes.
The moving object which can collide with the host vehicle when the host vehicle changes lanes further includes: the second moving target is positioned in the lane to be reversed and positioned in front of the vehicle, and the third moving target is positioned in the lane to be reversed and positioned behind the vehicle; the condition that the second moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the second moving object and the vehicle is greater than a fourth distance threshold L4Wherein the fourth distance threshold value L4= Min（Lmin，LTTC），LminIndicating the minimum longitudinal distance, L, between the vehicle itself and the second moving object set in the systemTTCRepresents the minimum collision distance calculated on the basis of the minimum time to collision TTC (the ratio of the relative distance between the vehicle and the first moving target to the relative speed) between the vehicle itself and the second moving target;
actual vehicle speed V of second moving objectxAdjFTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjFSatisfies the following conditions: Δ VxAdjF＞ΔVxHostAnd Δ VxAdjFFifth speed difference threshold Δ V5，ΔVxHostActual vehicle speed V of the first moving objectxHostTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedThe difference between them;
longitudinal acceleration a of the second moving objectxAdjFTargettGreater than a second acceleration threshold a2(ii) a Or
The condition that the second moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the second moving object and the vehicle is greater than a fourth distance thresholdL4；
Actual vehicle speed V of second moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjFSatisfies the following conditions: Δ VxAdjF＜ΔVxHost，ΔVxHostActual vehicle speed V of the first moving objectxHostTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedThe difference between them;
transverse velocity V of second moving objectyAdjFTargetIs greater than a second speed threshold V2；
Lateral acceleration a of the second moving objectyAdjFTargetIs greater than a third acceleration threshold a3；
The condition that the third moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the third moving object and the vehicle is greater than a fifth distance threshold L5Wherein the fifth distance threshold value L5= Min（Lmin，LTTC），LminIndicating the minimum longitudinal distance, L, between the vehicle itself and the third moving object set in the systemTTCRepresents a minimum collision distance calculated based on a minimum time to collision TTC (a ratio of a relative distance between the vehicle and the first moving target to a relative speed) between the vehicle itself and the third moving target;
actual vehicle speed V of third moving objectxAdjFTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjSRSatisfies the following conditions: Δ VxAdjSR＜ΔVxAdjFAnd Δ VxAdjSR< sixth speed difference threshold Δ V6，ΔVxAdjFIs the actual vehicle speed V of the second moving objectxAdjFTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedA difference of (d);
longitudinal acceleration a of the third moving objectxAdjSRTargetLess than a fourth acceleration threshold a4(ii) a Or
The condition that the third moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the third moving object and the vehicle is greater than a fifth distance threshold L5；
Actual vehicle speed V of third moving objectxAdjSRTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjSRSatisfies the following conditions: Δ VxAdjSR＜ΔVxAdjF，ΔVxAdjFIs the actual vehicle speed V of the second moving objectxAdjFTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedA difference of (d);
transverse velocity V of third moving objectyAdjSRTargetIs greater than a third speed threshold V3；
Transverse addition velocity a of the third moving objectyAdjSRTargetIs greater than the fifth speed threshold a5。
Similarly, whether the vehicle is possibly collided with the first moving target in the transverse direction and the longitudinal direction is judged by judging the longitudinal distance, the vehicle speed, the longitudinal acceleration and the transverse relative speed between the vehicle and the second moving target and between the vehicle and the third moving target. After the relative motion parameters between the vehicle and the second moving object and between the vehicle and the third moving object meet the conditions, the surface vehicle does not collide with the second moving object and the third moving object when changing lanes.
In step S4, if the vehicle speed is satisfied, the vehicle speed is controlled in accordance with the relative motion parameter between the vehicle and the first moving object in front of the trajectory.
If the vehicle starts the cruising driving function, the step of controlling the auxiliary speed of the vehicle according to the relative motion parameter between the vehicle and the first moving object in front of the track comprises the following steps:
if the actual speed V of the vehicleEgoRealSpeed >Actual vehicle speed V of first moving objectxHostTargetThen, the current time distance to the vehicle is called from a first relation table which is calibrated in advance and represents the corresponding relation between the time distance and the acceleration coefficientA corresponding first acceleration coefficient;
and multiplying the first acceleration coefficient by the acceleration value at each moment in the acceleration curve prestored in the cruise system to obtain a first target acceleration value for controlling the acceleration or deceleration of the vehicle, and controlling the speed of the vehicle according to the first target acceleration value.
In the first relational table, acceleration coefficients corresponding to different time intervals are described, and for example, when the time interval is 0.6T/s, the corresponding acceleration coefficient is f1 (T)1) When the time interval is 0.8T/s, the corresponding acceleration coefficient is f1 (T)2). The current time interval of the vehicle is a numerical value preset by a driver or a time interval value preset in a cruise system.
If the actual speed V of the vehicleEgoRealSpeed< actual vehicle speed V of first moving objectxHostTargetMax [ Min (V) ]EgoSetSpeed+ΔV7，VEgoRealSpeed+ΔV8， VyAdjFTarget)， VyAdjSRTarget]As a target vehicle speed; wherein, is Δ V7And Δ V8Is a calibration value;
calling a second acceleration coefficient corresponding to the current time interval of the vehicle from a second relation table which is calibrated in advance and represents the corresponding relation between the time interval and the acceleration coefficient;
multiplying the second acceleration coefficient by the acceleration value at each moment in the acceleration curve prestored in the cruise system to obtain a second target acceleration value for controlling the acceleration or deceleration of the vehicle, and controlling the speed of the vehicle according to the second target acceleration value to change the speed of the vehicle from the current speed to the target speed;
wherein the first acceleration coefficient and the second acceleration coefficient are both coefficients in the range of 0 to 1.
Similarly, the second relational table describes acceleration coefficients corresponding to different time intervals, and when the time interval is 0.6T/s, for example, the corresponding acceleration coefficient is f2 (T)1) When the time interval is 0.8T/s, the corresponding acceleration coefficient is f2 (T)2). Wherein the current time interval of the vehicle is drivingThe staff preset the values.
Further, in the present embodiment, in order to ensure safe driving of the vehicle, if it is detected that the condition of the lane change vehicle speed assist control is not satisfied, the lane change vehicle speed assist control function is exited; wherein the condition that the lane-changing vehicle speed auxiliary control is not satisfied comprises:
when a driver tramples a brake, the master cylinder pressure is greater than a first pressure threshold value P;
when the driver does not step on the brake and steps on the accelerator, the required acceleration calculated according to the accelerator stepped on by the driver is larger than the target acceleration calculated according to the relative motion parameters of the vehicle and the first motion target;
when the driver does not tread on the accelerator and the brake, the automatic emergency braking auxiliary function of the vehicle is triggered;
when the driver does not step on the brake and the accelerator and does not trigger the automatic emergency braking auxiliary function, the vehicle body stabilization function (such as ESP, TCS, ABS, HDC and the like) is triggered and the duration of the trigger exceeds a first time threshold T1；
When the driver does not tread the accelerator and brake, and the automatic emergency braking auxiliary function and the vehicle body stabilizing function are not triggered, the longitudinal distance between the first moving target and the vehicle reaches the minimum safety distance preset by the system, and the duration time exceeds a second time threshold T2。
According to the method, when the vehicle changes lanes, the full-coverage detection of the vehicle can be realized through the sensing device on the vehicle, after the steering lamp is turned on by a driver, the system automatically controls acceleration or deceleration according to the conditions of a front vehicle and traffic flow, the overtaking judgment and the vehicle speed control of the driver are assisted, the safety is ensured, and the driving comfort is improved.
As shown in fig. 3, in particular, the method of the present invention is specifically executed according to the following steps:
1011, firstly, the vehicle judges whether a lane changing request is made by a driver through the position of a switch of a steering lamp deflector rod;
1012, if the driver presses the steering lamp deflector rod, judging whether a moving target exists in front of the track of the vehicle;
1013, if the driver does not press the steering lamp deflector rod or there is no moving target in front of the track of the vehicle, the system continues to detect;
if a moving target is in front of the track of the vehicle, entering a judging module 101 to be established;
after the entering judgment module 101 is established, the system enters the target processing module 102;
in the target processing module 102, the system sequentially steps 1021: process the road information, step 1022: processing lane line information-18, step 1023: processing the vehicle speed information of the vehicle, and entering step 1024: judging whether the speed of the vehicle meets a set requirement or not;
if the speed of the vehicle does not meet the set requirement, the system returns to the entering judgment module 101;
if the target information is satisfied, entering a situation evaluation module 103;
in the situation evaluation module 103, by evaluating a first moving target in front of the vehicle trajectory (step 1031), a second moving target in front of the turn lamp side lane (step 1032), a third moving target in rear of the turn lamp side lane (step 1033), and whether the first moving target, the second moving target, and the third moving target satisfy a parameter threshold (step 1034);
if the parameter threshold value is not met, the system returns to the entering judging module 101;
if the parameter threshold is met, the system enters the motion planning module 104 and runs in real time to exit the judging module 105;
if the exit determination condition is not satisfied, the motion planning module 104 performs acceleration/deceleration control (step 1041);
in the process of executing acceleration and deceleration control, the system monitors whether a driver steps on a brake pedal and whether the master cylinder pressure exceeds a threshold value (step 1051);
if the master cylinder pressure does not exceed the threshold, the system monitors whether the throttle is overridden (step 1052);
if not, the system monitors whether automatic emergency braking is triggered (step 1053);
if the brake emergency brake function is not activated, the system monitors that the body stability function is activated (step 1054);
if the body stability control function is not triggered, the system monitors whether the duration of the minimum safe distance between the vehicle and the preceding vehicle exceeds a threshold (step 1055);
if the minimum safe distance duration does not exceed the threshold, the system resumes determining if the driver brake pedal and master cylinder pressures exceed the threshold (step 1051);
if the exit determination condition is satisfied, an exit control step 1042 in the motion planning module 104 is activated, and the system exits lane-change vehicle speed auxiliary control.
As shown in fig. 3, in the present embodiment, there is further provided a vehicle speed auxiliary control system when a vehicle changes lanes, including:
the entry determination module 101 is configured to, for a vehicle configured with a cruise driving function and having the cruise driving function turned on, determine whether the vehicle satisfies a condition for activating a lane change vehicle speed assist control function:
the target processing module 102 is configured to, if yes, determine whether the current environment of the vehicle meets a lane change condition;
if the vehicle speed is 103, performing situation evaluation on the vehicle and a moving target which is possibly collided with the vehicle when the vehicle changes lanes to determine whether the vehicle meets the condition of entering the vehicle speed auxiliary control;
and the motion planning module 104 is configured to, if the vehicle speed is met, perform auxiliary vehicle speed control on the vehicle according to a relative motion parameter between the vehicle and a first motion target in front of the trajectory.
According to the system, the first acceleration coefficient is multiplied by the acceleration value at each moment in the acceleration curve prestored in the cruise system to obtain the first target acceleration value for controlling the acceleration or deceleration of the vehicle, and the vehicle is subjected to speed control according to the first target acceleration value, so that the speed of the vehicle is changed from the current speed to the target speed.
The embodiment of the invention also provides an automobile which comprises the auxiliary control system for the speed of the automobile when the automobile changes lanes. The embodiments described above describe only some of the one or more embodiments of the present invention, but those skilled in the art will recognize that the invention can be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims (9)

1. A vehicle speed auxiliary control method during lane changing of a vehicle is characterized by comprising the following steps:
judging whether the vehicle meets the condition of activating a lane-changing vehicle speed auxiliary control function or not aiming at the vehicle which is provided with a cruising driving function and starts the cruising driving function;
if yes, judging whether the current environment of the vehicle meets the lane changing condition;
if so, carrying out situation evaluation on the vehicle and a moving target which is possibly collided with the vehicle when the vehicle changes lanes so as to determine whether the vehicle meets the condition of entering vehicle speed auxiliary control;
if so, performing auxiliary speed control on the vehicle according to the relative motion parameter between the vehicle and a first motion target in front of the track;
the moving object which is likely to collide with the host vehicle when the host vehicle changes lanes at least includes: the first moving target located in front of the vehicle running track, and the condition that the vehicle meets the auxiliary control of entering the vehicle speed specifically comprises the following steps:
the longitudinal distance between the first moving object and the vehicle is greater than a third distance threshold L3；
Actual vehicle speed V of first moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtainedxHostGreater than a second speed difference threshold Δ V2；
Longitudinal acceleration a of a first moving objectxHostTargetGreater than a first acceleration threshold a1；
Lateral relative velocity Δ V between first moving object and vehicleyHostSatisfies the following conditions: third speed difference threshold Δ V3<ΔVyHost<Fourth speed difference threshold Δ V4；
Lateral relative acceleration Δ a between the first moving object and the vehicleyHostSatisfies the following conditions: first acceleration difference threshold value Deltaa1<ΔayHost<Second acceleration difference threshold value Deltaa2。
2. The method of claim 1, wherein the step of determining whether the current environment of the vehicle satisfies the lane-change condition comprises:
judging whether the position of the vehicle is a position allowing lane changing;
if so, further judging whether the lane to be changed of the vehicle meets the lane changing condition;
if yes, further judging whether the speed of the vehicle meets the lane changing condition.
3. Method according to claim 2, characterized in that the vehicle is located in a position allowing lane change, in particular:
the vehicle is in the tunnel, and the distance between the vehicle and the tunnel outlet is less than a first distance threshold value L1；
The vehicle is not in the tunnel, and the curvature of the lane corresponding to the direction of the turned-on side of the vehicle steering lamp is smaller than a set curvature threshold value p; or the like, or, alternatively,
the vehicle is not in the tunnel and is in front of the current position of the vehicle by a second distance threshold value L2In the range, the adjacent lanes corresponding to the direction of one side where the vehicle steering lamp is turned on stably exist;
the condition that the lane to be changed of the vehicle meets the lane change is as follows:
no lane line exists between the lane to be changed and the current lane of the vehicle; or
And a lane line between the lane to be reversed and the lane where the vehicle is located at present is a broken line, and the width of the lane to be reversed is greater than the first lane width threshold D1.
4. The method according to claim 2 or 3,
the vehicle speed meeting the lane change requirement specifically comprises the following steps: actual vehicle speed V of vehicleEgoRealSpeedGreater than a first speed threshold V1And the actual vehicle speed V of the vehicleEgoRealSpeedLess than the target cruising speed V set by the driverEgoSetSpeedMinus a first speed difference threshold Δ V1The difference obtained thereafter.
5. The method of claim 1, wherein the moving object that can collide with the host vehicle when the host vehicle changes lanes further comprises: the second moving target is positioned in the lane to be reversed and positioned in front of the vehicle, and the third moving target is positioned in the lane to be reversed and positioned behind the vehicle; the condition that the second moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the second moving object and the vehicle is greater than a fourth distance threshold L4；
Actual vehicle speed V of second moving objectxAdjFTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjFSatisfies the following conditions: Δ VxAdjF＞ΔVxHostAnd Δ VxAdjFFifth speed difference threshold Δ V5，ΔVxHostActual vehicle speed V of the first moving objectxHostTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedThe difference between them;
longitudinal acceleration a of the second moving objectxAdjFTargettGreater than a second acceleration threshold a2(ii) a Or
The condition that the second moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the second moving object and the vehicle is greater than a fourth distance threshold L4；
Actual vehicle speed V of second moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeeThe difference Δ V obtained thereafterxAdjFSatisfies the following conditions: deltaVxAdjF＜ΔVxHost，ΔVxHostActual vehicle speed V of the first moving objectxHostTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedThe difference between them;
transverse velocity V of second moving objectyAdjFTargetIs greater than a second speed threshold V2；
Lateral acceleration a of the second moving objectyAdjFTargetIs greater than a third acceleration threshold a3；
The condition that the third moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the third moving object and the vehicle is greater than a fifth distance threshold L5；
Actual vehicle speed V of third moving objectxAdjFTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtained thereafterxAdjSRSatisfies the following conditions: Δ VxAdjSR＜ΔVxAdjFAnd Δ VxAdjSR< sixth speed difference threshold Δ V6，ΔVxAdjFIs the actual vehicle speed V of the second moving objectxAdjFTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedA difference of (d);
longitudinal acceleration a of the third moving objectxAdjSRTargetLess than a fourth acceleration threshold a4(ii) a Or
The condition that the third moving target and the vehicle meet the auxiliary control of the entering vehicle speed is as follows:
the longitudinal distance between the third moving object and the vehicle is greater than a fifth distance threshold L5；
Actual vehicle speed V of third moving objectxAdjSRTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedIs absolute value of the difference Δ VxAdjSRSatisfies the following conditions: Δ VxAdjSR＜ΔVxAdjF，ΔVxAdjFIs the actual vehicle speed V of the second moving objectxAdjFTargetAnd the actual vehicle speed V of the vehicleEgoRealSpeedDifference value Δ V ofxAdjF ；
Transverse velocity V of third moving objectyAdjSRTargetIs large in absolute valueAt a third speed threshold V3；
Transverse addition velocity a of the third moving objectyAdjSRTargetIs greater than the fifth speed threshold a5。
6. The method according to claim 1, wherein the step of performing auxiliary vehicle speed control on the host vehicle according to the relative motion parameter between the host vehicle and the first moving object in front of the trajectory when the vehicle starts the cruise driving function comprises:
if the actual speed V of the vehicleEgoRealSpeedActual vehicle speed V of first moving objectxHostTargetCalling a first acceleration coefficient corresponding to the current time interval of the vehicle from a first relation table which is calibrated in advance and represents the corresponding relation between the time interval and the acceleration coefficient;
multiplying the first acceleration coefficient by the acceleration value at each moment in an acceleration curve prestored in the cruise system to obtain a first target acceleration value for controlling the acceleration or deceleration of the vehicle, and controlling the speed of the vehicle according to the first target acceleration value;
if the actual speed V of the vehicleEgoRealSpeedActual vehicle speed V less than or equal to first moving targetxHostTargetMax [ Min (V) ]EgoSetSpeed+ΔV7，VEgoRealSpeed+ΔV8，VxAdjFTarget)，VxAdjSRTarget]As a target vehicle speed;
calling a second acceleration coefficient corresponding to the current time interval of the vehicle from a second relation table which is calibrated in advance and represents the corresponding relation between the time interval and the acceleration coefficient;
multiplying the second acceleration coefficient by the acceleration value at each moment in the acceleration curve prestored in the cruise system to obtain a second target acceleration value for controlling the acceleration or deceleration of the vehicle, and controlling the speed of the vehicle according to the second target acceleration value to change the speed of the vehicle from the current speed to the target speed;
wherein the first acceleration coefficient and the second acceleration coefficient are both coefficients in the range of 0 to 1.
7. The method of claim 1, wherein if it is detected that the condition for lane change vehicle speed assist control is not satisfied, exiting the lane change vehicle speed assist control function; wherein the condition that the lane-changing vehicle speed auxiliary control is not satisfied comprises:
when a driver tramples a brake, the master cylinder pressure is greater than a first pressure threshold value P;
when the driver does not step on the brake and steps on the accelerator, the required acceleration calculated according to the accelerator stepped on by the driver is larger than the target acceleration calculated according to the relative motion parameters of the vehicle and the first motion target;
when the driver does not tread on the accelerator and the brake, the automatic emergency braking auxiliary function of the vehicle is triggered;
when the driver does not step on the brake and the accelerator and does not trigger the automatic emergency braking auxiliary function, the vehicle body stabilizing function is triggered and the continuous triggering time exceeds a first time threshold T1；
When the driver does not tread the accelerator and brake, and the automatic emergency braking auxiliary function and the vehicle body stabilizing function are not triggered, the longitudinal distance between the first moving target and the vehicle reaches the minimum safety distance preset by the system, and the duration time exceeds a second time threshold T2。
8. A vehicle speed auxiliary control system when a vehicle changes lanes, characterized by comprising:
and the entry judging module is used for judging whether the vehicle meets the condition of activating the lane-changing vehicle speed auxiliary control function or not aiming at the vehicle which is provided with the cruise driving function and starts the cruise driving function:
the target processing module is used for judging whether the current environment of the vehicle meets the lane changing condition or not if the current environment of the vehicle meets the lane changing condition; if so, carrying out situation evaluation on the vehicle and a moving target which is possibly collided with the vehicle when the vehicle changes lanes so as to determine whether the vehicle meets the condition of entering vehicle speed auxiliary control;
the motion planning module is used for performing auxiliary speed control on the vehicle according to relative motion parameters between the vehicle and a first motion target in front of the track if the vehicle meets the requirement;
the moving object which is likely to collide with the host vehicle when the host vehicle changes lanes at least includes: the first moving target located in front of the vehicle running track, and the condition that the vehicle meets the auxiliary control of entering the vehicle speed specifically comprises the following steps:
the longitudinal distance between the first moving object and the vehicle is greater than a third distance threshold L3；
Actual vehicle speed V of first moving objectxHostTargetMinus the actual speed V of the vehicleEgoRealSpeedThe difference Δ V obtainedxHostGreater than a second speed difference threshold Δ V2；
Longitudinal acceleration a of a first moving objectxHostTargetGreater than a first acceleration threshold a1；
Lateral relative velocity Δ V between first moving object and vehicleyHostSatisfies the following conditions: third speed difference threshold Δ V3<ΔVyHost<Fourth speed difference threshold Δ V4；
Lateral relative acceleration Δ a between the first moving object and the vehicleyHostSatisfies the following conditions: first acceleration difference threshold value Deltaa1<ΔayHost<Second acceleration difference threshold value Deltaa2。
9. An automobile comprising the vehicle speed assist control system at a time of lane change of the vehicle according to claim 8.
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