CN111452789A - Automatic driving overtaking control method and system - Google Patents
Automatic driving overtaking control method and system Download PDFInfo
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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
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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Abstract
The invention provides an automatic driving overtaking control method and system, and relates to the technical field of automatic driving. The method comprises the following steps: receiving vehicle surrounding environment information acquired by a vehicle-mounted environment perception sensor; judging whether the distance between the automobile and the front automobile is smaller than a specified distance; if the distance is less than the specified distance, self-adaptive cruise is kept; if the distance is larger than or equal to the specified distance, the domain controller inputs the surrounding environment information of the vehicle and the running state information of the vehicle into a passing intention model for analysis and calculation; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the overtaking intention exists, judging whether the overtaking condition is met; if the overtaking condition is met, the domain controller signals to a vehicle actuating mechanism to enter an overtaking state; and after the overtaking is finished, ending the overtaking state. According to the invention, the problem that the automatic driving overtaking behavior is unsafe is solved, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving overtaking control method and system.
Background
Overtaking is a common driving behavior in the driving process of a vehicle, and in the overtaking process, a driver needs to observe the state of surrounding vehicles and the current road, make correct prejudgment in a short time, and realize overtaking of a front vehicle by adopting operations such as proper steering, acceleration and the like. Safe overtaking has high requirements on the driving skill and coordination capability of drivers, and for inexperienced drivers, overtaking failure is often caused by misjudgment, even traffic accidents are caused. The automatic driving vehicle acquires surrounding environment information through the vehicle-mounted environment sensing sensor, and the lane changing and overtaking are realized by automatically controlling the vehicle on the premise of ensuring the safety and the comfort of the vehicle.
Disclosure of Invention
The invention provides an automatic driving overtaking control method and system, which are used for solving the problem of dangerous driving caused by a prejudgment error in the overtaking process of a vehicle.
In order to solve the above problems, the present invention is realized by:
in a first aspect, an embodiment of the present invention provides an automatic driving overtaking control method, including:
receiving vehicle surrounding environment information acquired by a vehicle-mounted environment perception sensor;
judging whether the vehicle is positioned in a single lane or not according to the information of the surrounding environment of the vehicle; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state;
if the vehicle is positioned in a single lane, self-adaptive cruise is kept;
if the vehicle is not located in the single lane, whether the vehicle is located in the leftmost lane of the lanes in the same direction is further judged according to the surrounding environment information of the vehicle;
if the lane is located on the leftmost lane, self-adaptive cruise is kept;
if the vehicle is not located in the leftmost lane, whether the distance between the vehicle and the front vehicle is smaller than a specified distance is further judged according to the surrounding environment information of the vehicle;
if the distance is less than the specified distance, self-adaptive cruise is kept;
if the distance is larger than or equal to the specified distance, inputting the information of the surrounding environment of the vehicle and the information of the running state of the vehicle into a passing intention model, and judging whether passing intention exists or not; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state;
if the overtaking intention exists, judging whether the overtaking condition is met;
if the overtaking condition is met, a signal is sent to a vehicle actuating mechanism to enter an overtaking state;
and after the overtaking is finished, ending the overtaking state.
Optionally, the vehicle surrounding environment information includes static information and dynamic information; the static information includes: road speed limit information; the dynamic information includes: speed and position of the following vehicles: a front vehicle, a left front vehicle and a left rear vehicle.
Optionally, inputting the vehicle surrounding environment information and the vehicle driving state information into a passing intention model, and determining whether there is a passing intention includes:
screening and classifying the vehicle surrounding environment information and the vehicle running state information to obtain a data set S which is { x, y, v, y, v, x, y, v, speed limit, t };
the lane arrangement direction is used as the abscissa direction, the vehicle running direction is used as the ordinate direction, x, y and v represent the transverse coordinate, the longitudinal coordinate and the speed of the vehicle respectively, x front, y front and v front represent the transverse coordinate, the longitudinal coordinate and the speed of the front vehicle respectively, x front left, y front left and v front represent the transverse coordinate, the longitudinal coordinate and the speed of the front left vehicle respectively, x rear left, y rear left and v rear represent the transverse coordinate, the longitudinal coordinate and the speed of the front left vehicle respectively, v speed limit represents road speed limit, and t represents the current time;
selecting six features as input vectors of the overtaking intention model according to the data set, wherein a vector expression is as follows:
and the overtaking intention model judges whether the input vector meets a specified condition or not and outputs whether an overtaking intention exists or not.
Optionally, the overtaking condition includes:
safety constraint: when the first factor satisfies the condition, the security constraint is considered to be satisfied; the first factor includes: longitudinal position difference and speed difference between the vehicle and the front vehicle, between the vehicle and the left front vehicle and between the vehicle and the left rear vehicle;
sideslip prevention and restraint: when the second factor satisfies the condition, considering that the anti-sideslip constraint is satisfied; the second factor includes: the lane change method comprises the following steps of changing the lateral speed and the longitudinal speed of the vehicle, the friction coefficient of tires, the wheel base of the vehicle and a lane change driving track;
and (3) traffic efficiency constraint: when the third factor meets the condition, the passing efficiency constraint is considered to be met; the third factor includes: the passing speed of the vehicle in the main lane and the passing speed of the vehicle in the adjacent left lane are higher than that of the vehicle in the main lane;
restraint of passenger comfort: when the fourth factor satisfies the condition, the passenger comfort constraint is considered to be satisfied; the fourth factor includes: the lateral acceleration and the longitudinal acceleration of the vehicle itself during the lane change;
and (3) lane transverse position constraint: when the fifth factor meets the condition, considering that the lane transverse position constraint is met; the fifth factor includes: lane width, host vehicle width and length, and yaw angle of lane change trajectory.
Optionally, in the overtaking process, the human-computer operation interface is controlled to display the overtaking track, the voice prompt is carried out, and meanwhile, the signal is sent to the vehicle body controller to turn on the steering lamp.
Optionally, the overtaking ending state includes: the turn light is automatically turned off and the vehicle keeps cruising adaptively.
In a second aspect, an embodiment of the present invention provides an automatic driving overtaking control system, including:
the domain controller is used for receiving the vehicle surrounding environment information acquired by the vehicle-mounted environment perception sensor; judging whether the vehicle is positioned in a single lane or not according to the information of the surrounding environment of the vehicle; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the vehicle is positioned in a single lane, self-adaptive cruise is kept; if the vehicle is not located in the single lane, whether the vehicle is located in the leftmost lane of the lanes in the same direction is further judged according to the surrounding environment information of the vehicle; if the lane is located on the leftmost lane, self-adaptive cruise is kept; if the vehicle is not located in the leftmost lane, whether the distance between the vehicle and the front vehicle is smaller than a specified distance is further judged according to the surrounding environment information of the vehicle; if the distance is less than the specified distance, self-adaptive cruise is kept; if the distance is larger than or equal to the specified distance, inputting the information of the surrounding environment of the vehicle and the information of the running state of the vehicle into a passing intention model, and judging whether passing intention exists or not; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the overtaking intention exists, judging whether the overtaking condition is met; if the overtaking condition is met, a signal is sent to a vehicle actuating mechanism to enter an overtaking state; and after the overtaking is finished, ending the overtaking state.
Optionally, the environmental sensing sensor is connected to the domain controller, and is responsible for collecting vehicle surrounding environment information and communicating with the domain controller through a vehicle-mounted ethernet;
optionally, the vehicle-mounted environmental perception sensor is connected with the domain controller, is responsible for collecting vehicle surrounding environment information, and communicates with the domain controller through a vehicle-mounted ethernet, and includes: a vehicle-mounted camera and a vehicle-mounted radar; the vehicle-mounted radar comprises a laser radar, a millimeter wave radar and/or an ultrasonic radar.
Optionally, the vehicle actuator includes: the power system, the steering system, the braking system and the vehicle body control system are connected with the domain controller.
Optionally, the human-machine interface is connected with the domain controller, and displays the overtaking track in the overtaking process and prompts the overtaking track with sound, wherein the human-machine interface comprises: meters, car machines, and/or heads-up display devices.
In the embodiment of the invention, the influence of the front vehicle, the left front vehicle and the left rear vehicle in the overtaking process is considered, so that the problem of dangerous driving caused by the prejudgment error in the overtaking process of the vehicle is solved, and the driving experience of a driver is improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of an automatic driving overtaking control method provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a vehicle distribution around an autonomous vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the training and online generation of a passing intention model of an autonomous vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving system device 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 some, not all, of the embodiments of the present invention. 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.
Referring to fig. 1, an automatic driving overtaking control method according to an embodiment of the present invention includes the following steps:
step 11: receiving vehicle surrounding environment information acquired by a vehicle-mounted environment perception sensor; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state;
step 12: judging whether the vehicle is positioned in a single lane or not; if the vehicle is positioned in the single lane, entering step 13; if not, entering step 14;
step 13: maintaining adaptive cruise;
step 14: if the lane is not located in the single lane, further judging whether the lane is located in the leftmost lane of the lanes in the same direction; if the lane is located at the leftmost lane, the step 13 is carried out; if not, entering step 15;
step 15: if the vehicle is not located in the leftmost lane, whether the distance between the vehicle and the front vehicle is smaller than a specified distance is further judged according to the surrounding environment information of the vehicle; if the distance is less than the specified distance, entering step 13; if the distance is larger than or equal to the specified distance, entering step 16;
step 16: if the distance is larger than or equal to the specified distance, inputting the information of the surrounding environment of the vehicle and the information of the running state of the vehicle into a passing intention model; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state;
and step 17: judging whether the overtaking intention is met or not;
step 18: if the overtaking intention exists, judging whether the overtaking condition is met;
step 19: if the overtaking condition is met, a signal is sent to a vehicle actuating mechanism to enter an overtaking state;
step 20: and after the overtaking is finished, ending the overtaking state.
In the embodiment of the invention, the problem of dangerous driving caused by judgment errors in the automatic driving overtaking process is solved by considering the influences of the front vehicle, the left front vehicle and the left rear vehicle in the overtaking process.
In the embodiment of the present invention, optionally, the vehicle surrounding environment information includes static information and dynamic information;
wherein the static information comprises: road speed limit information; the dynamic information includes: speed and position of the following vehicles: a front vehicle, a left front vehicle and a left rear vehicle; the vehicle running state includes: the speed and position of the vehicle. The distribution of surrounding vehicles when the automatic driving overtaking car refers to fig. 2; and if the periphery of the vehicle is not provided with a front left vehicle and/or a rear left vehicle, the corresponding data is ignored.
In the embodiment of the invention, the selection of the surrounding environment information considers the road speed limit information and the relationship between the vehicle and the front vehicle, the left front vehicle and the left rear vehicle, avoids rear-end accidents in the lane changing process and improves the driving safety.
In this embodiment of the present invention, optionally, the inputting, by the domain controller, the data of the passing intention model includes: the road speed limit information; the speed and position of the following vehicles: the vehicle, the front vehicle, the left front vehicle and the left rear vehicle are subjected to screening and classification to obtain a data set S which is { x, y, v, x, y, v, x, y, v, speed limit, t };
the lane arrangement direction is used as the abscissa direction, the vehicle running direction is used as the ordinate direction, x, y and v represent the transverse coordinate, the longitudinal coordinate and the speed of the vehicle respectively, x front, y front and v front represent the transverse coordinate, the longitudinal coordinate and the speed of the front vehicle respectively, x front left, y front left and v front represent the transverse coordinate, the longitudinal coordinate and the speed of the front left vehicle respectively, x rear left, y rear left and v rear represent the transverse coordinate, the longitudinal coordinate and the speed of the front left vehicle respectively, v speed limit represents road speed limit, and t represents the current time;
the overtaking intention model selects six features as input vectors of the model, and the vector expression is as follows:
referring to fig. 3, the passing intention model is trained offline by the following method:
step 31: collecting data;
step 32: manually marking the collected data;
step 33: inputting the marked data into a training set and a test set;
step 34: selecting a characteristic value required by an RBF neural network algorithm;
step 35: carrying out model training by adopting the RBF neural network algorithm;
step 36: and predicting the overtaking intention model according to the simulation training result.
In the embodiment of the invention, the longitudinal position difference and the speed difference between the left rear vehicle and the host vehicle are considered, the rear-end collision accident in the lane changing process is avoided, the lane changing overtaking is realized under the condition that the rear vehicle does not obviously decelerate, and the driving safety is improved.
In the embodiment of the present invention, optionally, the overtaking condition includes:
safety constraint: when the first factor satisfies the condition, the security constraint is considered to be satisfied; the first factor includes: longitudinal position difference and speed difference between the vehicle and the front vehicle, between the vehicle and the left front vehicle and between the vehicle and the left rear vehicle;
sideslip prevention and restraint: when the second factor satisfies the condition, considering that the anti-sideslip constraint is satisfied; the second factor includes: the lateral speed and the longitudinal speed of the lane change of the vehicle, the friction coefficient of tires, the wheel base of the vehicle and the lane change running track;
and (3) traffic efficiency constraint: when the third factor meets the condition, the passing efficiency constraint is considered to be met; the third factor includes: the passing speed of the vehicle in the main lane and the passing speed of the vehicle in the adjacent left lane are higher than the vehicle in the main lane;
restraint of passenger comfort: when the fourth factor satisfies the condition, the passenger comfort constraint is considered to be satisfied; the fourth factor includes: the lateral acceleration and the longitudinal acceleration of the vehicle itself during the lane change;
and (3) lane transverse position constraint: when the fifth factor meets the condition, considering that the lane transverse position constraint is met; the fifth factor includes: lane width, host vehicle width and length, and yaw angle of lane change trajectory.
In the embodiment of the invention, various overtaking conditions are considered, and the safety of automatic driving overtaking control is improved.
In this embodiment, optionally, in the overtaking process, the human-computer operation interface is controlled to display the overtaking track, the voice prompt is performed, and meanwhile, the signal is sent to the vehicle body controller to turn on the turn signal lamp.
In this embodiment, optionally, the overtaking ending state includes: the turn light is automatically turned off and the vehicle keeps cruising adaptively.
The invention utilizes the domain controller to fuse the environment perception sensor, simulates human thinking to carry out logic calculation, greatly improves the reliability of the vehicle for monitoring the surrounding environment, ensures the real-time response to the surrounding environment, and improves the input information of the final overtaking decision by increasing the consideration to the vehicle at the left front and/or the left rear of the vehicle, thereby being more in line with the driving general knowledge and thinking habit of human; the generation of the overtaking intention has stronger subjectivity, and the indexes of overtaking efficiency, safety and the like have stronger objectivity, and the layered and comprehensive decision-making method increases the safety of the whole traffic operation by the automatic driving technology and is easier to accept and recognize by people.
Referring to fig. 4, an embodiment of the present invention provides an automatic driving and overtaking control system, including:
a domain controller 41 for receiving vehicle surrounding environment information collected by the vehicle-mounted environment sensing sensor 42; judging whether the vehicle is positioned in a single lane or not according to the information of the surrounding environment of the vehicle; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the vehicle is positioned in a single lane, self-adaptive cruise is kept; if the vehicle is not located in the single lane, whether the vehicle is located in the leftmost lane of the lanes in the same direction is further judged according to the surrounding environment information of the vehicle; if the lane is located on the leftmost lane, self-adaptive cruise is kept; if the vehicle is not located in the leftmost lane, whether the distance between the vehicle and the front vehicle is smaller than a specified distance is further judged according to the surrounding environment information of the vehicle; if the distance is less than the specified distance, self-adaptive cruise is kept; if the distance is larger than or equal to the specified distance, inputting the information of the surrounding environment of the vehicle and the information of the running state of the vehicle into a passing intention model, and judging whether passing intention exists or not; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the overtaking intention exists, judging whether the overtaking condition is met; if the overtaking condition is met, a signal is sent to the vehicle actuating mechanism 43 to enter an overtaking state; and after the overtaking is finished, ending the overtaking state.
In this embodiment of the present invention, optionally, the system further includes:
in-vehicle environment sensing sensor 42: the vehicle-mounted environment perception sensor is connected with the domain controller and is responsible for acquiring the surrounding environment information of the vehicle and communicating with the domain controller through a vehicle-mounted Ethernet; the environmental perception sensor includes: a vehicle-mounted camera and a vehicle-mounted radar; the vehicle-mounted radar comprises a laser radar, a millimeter wave radar and/or an ultrasonic radar;
vehicle actuator 43: the vehicle actuator interacts with a domain controller, the vehicle actuator comprising: the system comprises a power system, a steering system, a braking system and a vehicle body control system;
the human-machine operation interface 44 is connected with the domain controller, displays the overtaking track in the overtaking process and reminds the overtaking track with sound; the human-machine operation interface comprises: meters, car machines, and/or heads-up display devices.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An automatic driving overtaking control method is characterized by comprising the following steps:
receiving vehicle surrounding environment information acquired by a vehicle-mounted environment perception sensor;
judging whether the vehicle is positioned in a single lane or not according to the information of the surrounding environment of the vehicle; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state;
if the vehicle is positioned in a single lane, self-adaptive cruise is kept;
if the vehicle is not located in the single lane, whether the vehicle is located in the leftmost lane of the lanes in the same direction is further judged according to the surrounding environment information of the vehicle;
if the lane is located on the leftmost lane, self-adaptive cruise is kept;
if the vehicle is not located in the leftmost lane, whether the distance between the vehicle and the front vehicle is smaller than a specified distance is further judged according to the surrounding environment information of the vehicle;
if the distance is less than the specified distance, self-adaptive cruise is kept;
if the distance is larger than or equal to the specified distance, inputting the information of the surrounding environment of the vehicle and the information of the running state of the vehicle into a passing intention model, and judging whether passing intention exists or not; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state;
if the overtaking intention exists, judging whether the overtaking condition is met;
if the overtaking condition is met, a signal is sent to a vehicle actuating mechanism to enter an overtaking state;
and after the overtaking is finished, ending the overtaking state.
2. The automatic driving overtaking control method as recited in claim 1,
the vehicle surrounding environment information input to the passing intention model includes static information and dynamic information;
the static information includes: road speed limit information; the dynamic information includes: speed and position of the following vehicles: a front vehicle, a left front vehicle and a left rear vehicle;
the vehicle running state includes: the speed and position of the vehicle.
3. The automatic driving overtaking control method as recited in claim 2,
inputting the vehicle surrounding environment information and the vehicle running state information into a passing intention model, and judging whether passing intention exists or not comprises the following steps:
screening and classifying the vehicle surrounding environment information and the vehicle running state information to obtain a data set S which is { x, y, v, y, v, x, y, v, speed limit, t };
the lane arrangement direction is used as the abscissa direction, the vehicle running direction is used as the ordinate direction, x, y and v represent the transverse coordinate, the longitudinal coordinate and the speed of the vehicle respectively, x front, y front and v front represent the transverse coordinate, the longitudinal coordinate and the speed of the front vehicle respectively, x front left, y front left and v front represent the transverse coordinate, the longitudinal coordinate and the speed of the front left vehicle respectively, x rear left, y rear left and v rear represent the transverse coordinate, the longitudinal coordinate and the speed of the front left vehicle respectively, v speed limit represents road speed limit, and t represents the current time;
selecting six features as input vectors of the overtaking intention model according to the data set, wherein a vector expression is as follows:
and the overtaking intention model judges whether the input vector meets a specified condition or not and outputs whether an overtaking intention exists or not.
4. The automatic driving overtaking control method as recited in claim 1,
the overtaking condition includes:
safety constraint: when the first factor satisfies the condition, the security constraint is considered to be satisfied; the first factor includes: longitudinal position difference and speed difference between the vehicle and the front vehicle, between the vehicle and the left front vehicle and between the vehicle and the left rear vehicle;
sideslip prevention and restraint: when the second factor satisfies the condition, considering that the anti-sideslip constraint is satisfied; the second factor includes: the lane change method comprises the following steps of changing the lateral speed and the longitudinal speed of the vehicle, the friction coefficient of tires, the wheel base of the vehicle and a lane change driving track;
and (3) traffic efficiency constraint: when the third factor meets the condition, the passing efficiency constraint is considered to be met; the third factor includes: the passing speed of the vehicle in the main lane and the passing speed of the vehicle in the adjacent left lane are higher than that of the vehicle in the main lane;
restraint of passenger comfort: when the fourth factor satisfies the condition, the passenger comfort constraint is considered to be satisfied; the fourth factor includes: the lateral acceleration and the longitudinal acceleration of the vehicle itself during the lane change;
and (3) lane transverse position constraint: when the fifth factor meets the condition, considering that the lane transverse position constraint is met; the fifth factor includes: lane width, host vehicle width and length, and yaw angle of lane change trajectory.
5. The automatic driving overtaking control method as recited in claim 1, further comprising:
in the overtaking process, the man-machine operation interface is controlled to display the overtaking track, the voice prompt is carried out, and meanwhile, the signal is sent to the vehicle body controller to turn on the steering lamp.
6. The automatic driving overtaking control method as recited in claim 1,
the end overtaking state includes: the turn light is automatically turned off and the vehicle keeps cruising adaptively.
7. An automatic driving overtaking control system is characterized in that,
the domain controller is used for receiving the vehicle surrounding environment information acquired by the vehicle-mounted environment perception sensor; judging whether the vehicle is positioned in a single lane or not according to the information of the surrounding environment of the vehicle; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the vehicle is positioned in a single lane, self-adaptive cruise is kept; if the vehicle is not located in the single lane, whether the vehicle is located in the leftmost lane of the lanes in the same direction is further judged according to the surrounding environment information of the vehicle; if the lane is located on the leftmost lane, self-adaptive cruise is kept; if the vehicle is not located in the leftmost lane, whether the distance between the vehicle and the front vehicle is smaller than a specified distance is further judged according to the surrounding environment information of the vehicle; if the distance is less than the specified distance, self-adaptive cruise is kept; if the distance is larger than or equal to the specified distance, inputting the information of the surrounding environment of the vehicle and the information of the running state of the vehicle into a passing intention model, and judging whether passing intention exists or not; wherein the vehicle surrounding environment information includes: a front vehicle driving state, a left front vehicle driving state and a left rear vehicle driving state; if the overtaking intention exists, judging whether the overtaking condition is met; if the overtaking condition is met, a signal is sent to a vehicle actuating mechanism to enter an overtaking state; and after the overtaking is finished, ending the overtaking state.
8. The autonomous driving overtaking control system as recited in claim 7 further comprising:
vehicle-mounted environment perception sensor, vehicle-mounted environment perception sensor is connected with the domain controller, is responsible for gathering vehicle surrounding environment information, through vehicle-mounted ethernet and domain controller communication, includes: a vehicle-mounted camera and a vehicle-mounted radar;
the vehicle-mounted radar comprises a laser radar, a millimeter wave radar and/or an ultrasonic radar.
9. The autonomous driving overtaking control system as recited in claim 7 further comprising:
the vehicle actuator includes: the power system, the steering system, the braking system and the vehicle body control system are connected with the domain controller.
10. The autonomous driving overtaking control system as recited in claim 7 further comprising:
the man-machine operation interface is connected with the domain controller, displays the overtaking track in the overtaking process and reminds by sound, and comprises: meters, car machines, and/or heads-up display devices.
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