CN111483464B

CN111483464B - Dynamic automatic driving lane changing method, equipment and storage medium based on road side unit

Info

Publication number: CN111483464B
Application number: CN202010128708.0A
Authority: CN
Inventors: 杨敬锋; 王立; 蓝飞腾; 刘晓松; 魏忠伟; 杨峰
Original assignee: Guangdong Zhongke Zhenheng Information Technology Co ltd
Current assignee: Guangdong Zhongke Zhenheng Information Technology Co ltd
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2021-06-04
Anticipated expiration: 2040-02-28
Also published as: CN111483464A

Abstract

The invention relates to a method, equipment and a storage medium for dynamic automatic driving lane changing based on a road side unit, which comprises the following steps: obtaining vehicle condition information of the vehicle through satellite positioning, wherein the vehicle condition information comprises the position, the speed and the lane of the vehicle; taking the position of the vehicle as a starting point, and seeking vehicle condition information of each vehicle on a road in front of the vehicle through a road side unit; determining a left vehicle adjacent to the vehicle on a left adjacent lane and a right vehicle adjacent to the vehicle on a right adjacent lane based on the vehicle condition information; respectively comparing the distance and the speed difference between the vehicle and the vehicles on the left and the right sides, and controlling the vehicle to select one of the adjacent lanes according to the difference result. The invention accurately obtains the vehicle condition information of the vehicle through satellite positioning, and uses the position of the vehicle as a starting point to utilize the road side unit to solicit the vehicle condition information from each vehicle on the road in front of the vehicle, thereby realizing large-range high-precision collection of data and ensuring accurate and reliable lane change decision based on the data.

Description

Dynamic automatic driving lane changing method, equipment and storage medium based on road side unit

Technical Field

The invention relates to the field of automatic driving, in particular to a dynamic automatic driving lane changing method, equipment and a storage medium based on a road side unit.

Background

When the existing automatic driving technology implements lane change control, a global positioning system on an automatic driving vehicle is mainly used for positioning vehicle condition information such as the position, the speed and the lane of the vehicle, the position and the speed of the surrounding vehicles are detected by combining technologies such as visual calculation and radar detection, and then lane change control is executed based on the difference between the position and the speed. In the method, the positions and the speeds of the surrounding vehicles depend on technologies such as visual calculation, radar detection and the like for detection, the detection range is small, and the detection precision gradually decreases outwards by taking the vehicle as the center, so that the precision error exists in the constructed surrounding vehicle map model, and the actual effect of lane change control is influenced.

Disclosure of Invention

The invention provides a dynamic automatic driving lane changing method and a storage medium based on a road side unit to overcome the defects in the prior art.

The road side unit refers to a plurality of internet communication devices which are arranged beside a road at equal intervals, the internet communication devices are communicated with each other and are respectively networked with vehicles in the communication range of the internet communication devices, and the dynamic automatic driving lane changing track planning method comprises the following steps:

s1, obtaining vehicle condition information of a vehicle through satellite positioning, wherein the vehicle condition information comprises the position, the speed and a lane where the vehicle is located;

s2, taking the position of the vehicle as a starting point, and seeking vehicle condition information of each vehicle on a road in front of the vehicle through a road side unit;

s3, determining a left vehicle close to the vehicle on a left adjacent lane and a right vehicle close to the vehicle on a right adjacent lane based on the vehicle condition information;

and S4, respectively comparing the distance and the speed difference between the vehicle and the vehicles on the left side and the right side, and controlling the vehicle to select one vehicle to change to an adjacent lane according to the difference result.

Preferably, the step S4 of selecting a lane change to an adjacent lane according to the difference further includes:

s41, if the distance difference a1 between the left vehicle and the distance difference a2 between the right vehicle and the vehicle are both smaller than the set safe distance, stopping lane changing, otherwise, executing S42;

step S42, if only one of the distance difference a1 and the distance difference a2 is larger than the safety distance, controlling the vehicle to drive to the lane corresponding to the larger one of the distance difference a1 and the distance difference a2, otherwise, executing the step S43;

and S43, if the speeds of the left vehicle and the right vehicle are both smaller than the speed of the vehicle, controlling the vehicle to drive to the lane corresponding to the larger one of the distance difference a1 and the distance difference a2, and otherwise, controlling the vehicle to drive to the lane corresponding to the faster one of the left vehicle and the right vehicle.

Preferably, before the lane changing step, a speed setting step is further performed: the speed of the vehicle is set according to the historical driving habits of the vehicle.

Preferably, the method of setting the vehicle speed further includes:

acquiring a plurality of historical driving speeds of the vehicle;

sorting the historical driving speeds according to the magnitude, and acquiring data intensive sections from the sequence to obtain a speed average value;

and setting the speed average value as the speed of the vehicle to run.

Preferably, a detection step is further executed before the lane changing step:

periodically detecting the distance L between the vehicle and a front vehicle in the same lane;

and executing the lane changing step only when the distance L is detected to be smaller than the set safe distance.

Preferably, the detection cycle of the distance L is dynamically adjusted according to the vehicle speed.

Preferably, the vehicle speed and the detection period have a negative correlation.

Preferably, the detecting step further comprises:

and after the distance L is detected to be smaller than the set safe distance until the lane changing step is completed, controlling the speed of the vehicle to be approximately synchronous with the speed of the vehicle in front of the same lane.

A computer-readable storage medium is also provided, wherein the computer-readable storage medium stores one or more programs which, when executed by a controller, implement the above-described method.

There is also provided an apparatus, wherein the apparatus comprises:

a controller; and the number of the first and second groups,

a memory arranged to store computer executable instructions which, when executed, cause the controller to implement the method described above.

Has the advantages that:

the method of the invention accurately obtains the vehicle condition information of the vehicle through satellite positioning, and utilizes the road side unit to solicit the vehicle condition information from each vehicle on the road in front of the vehicle by taking the position of the vehicle as a starting point, thereby realizing large-range high-precision collection of data.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

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 illustrating the implementation of a method according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an electronic device according to the present invention;

fig. 3 is a schematic structural diagram of a computer-readable storage medium according to the present invention.

Detailed Description

The vehicle of this embodiment is an automatic driving vehicle, and is provided with an automatic driving system that is composed of a conventional laser sensor (Ibeo), a vision sensor (binocular vision camera), a position sensor (GPS), a front and rear radar, and a main control computer (Nuvo-5095GC industrial personal computer), and can implement conventional sensing detection and driving control required by automatic driving.

In this embodiment, the roadside unit refers to a plurality of internet communication devices arranged at equal intervals beside the road, and the internet communication devices communicate with each other and are respectively networked with each vehicle in the communication range thereof, so that each internet communication device and each vehicle on the road form a local area communication network.

As shown in fig. 1, the dynamic automatic driving lane change trajectory planning method of this embodiment is executed based on the road side unit, and specifically includes the following lane change steps executed in sequence:

s1, obtaining and storing vehicle condition information of the vehicle through GPS satellite positioning, wherein the vehicle condition information comprises the position, the speed and the lane of the vehicle.

specifically, the main control computer sends a request for acquiring the front vehicle condition to the adjacent road side units by taking the position of the vehicle as a starting point, and requests the road side units to transmit one by one to the subsequent road side units arranged along the driving direction until the transmission is carried out for a set number of times. After the request is obtained, the road side unit broadcasts the request to each vehicle networked with the road side unit, and each vehicle reversely returns the vehicle condition information to the master control computer according to the original path, so that the vehicle condition information collection of each vehicle on the road in front of the vehicle is realized.

And S3, determining a left vehicle close to the vehicle on the left adjacent lane and a right vehicle close to the vehicle on the right adjacent lane based on the vehicle condition information.

Specifically, the master control computer constructs a simulation map based on the collected vehicle condition information to calibrate the relative positions of the vehicles on the current road, then queries the lane of the vehicle, selects the lanes on the left and right sides of the lane of the vehicle as the center, screens out the vehicles on the lanes on the left and right sides, respectively calculates the distance between the vehicles and the vehicle, selects the vehicle with the shortest distance to the vehicle on the adjacent lane on the left side as the vehicle on the left side, and selects the vehicle with the shortest distance to the vehicle on the adjacent lane on the right side as the vehicle on the right side.

Specifically, the distance difference a1 in the traveling direction between the left vehicle and the host vehicle is acquired, the distance difference a2 in the traveling direction between the right vehicle and the host vehicle is acquired, and then the following determination steps are performed:

s41, if the distance difference a1 and the distance difference a2 are both smaller than the set safety distance, stopping lane changing to avoid sending collision, otherwise, executing the step S42;

step S42, if only one of the distance difference a1 and the distance difference a2 is larger than the safe distance, controlling the vehicle to drive to a lane corresponding to the larger one of the distance difference a1 and the distance difference a2 based on the better benefit angle, otherwise, executing step S43 to further judge the speed in real time;

and S43, if the speeds of the left vehicle and the right vehicle are both smaller than the speed of the vehicle, similarly controlling the vehicle to run to the lane corresponding to the larger one of the distance difference a1 and the distance difference a2, otherwise, controlling the vehicle to run to the lane corresponding to the faster one of the left vehicle and the right vehicle so as to enable the following distance to be separated from the front vehicle.

In the embodiment, the vehicle condition information of the vehicle is accurately acquired through satellite positioning, the position of the vehicle is taken as a starting point, the road side unit is used for seeking the vehicle condition information from each vehicle on the road in front of the vehicle, and large-range high-precision collection of data is realized.

Further, the method of this embodiment further performs a detection step before the lane changing step:

detecting the distance L between the vehicle and a front vehicle in the same lane by radar;

By setting the detection step, the information collection times of the master control computer are effectively controlled, and the communication data of the local area communication network are prevented from being occupied by high frequency.

Preferably, in order to realize the adaptive change of the detection period according to the vehicle speed and ensure the detection accuracy during high-speed driving, in the present embodiment, the detection period is controlled to be dynamically adjusted according to the vehicle speed, specifically, the detection period is shortened when the vehicle speed increases, and conversely, the detection period is lengthened when the vehicle speed decreases, so that the vehicle speed and the detection period are in a negative correlation relationship.

Preferably, after the distance L is detected to be smaller than the set safe distance until the lane changing step is completed, the speed of the vehicle and the speed of the vehicle in front of the same lane are controlled to be approximately synchronous, so that enough time duration gathering data exist before lane changing is guaranteed, and corresponding calculation is carried out.

Further, in order to approach the driving habits of the vehicle owners, the method of the embodiment further executes a speed setting step before the detecting step, wherein the speed setting step is mainly used for setting the speed of the vehicle according to the historical driving habits of the vehicle, specifically, a plurality of historical driving speeds of the vehicle are obtained, then the historical driving speeds are sorted from small to large to form a sequence, then a data section in which data are densely gathered together in distribution is taken as a data dense section from the sequence, each data in the data dense section is subjected to an averaging operation to obtain a speed average value, the speed average value can approach the speeds customary or preferred by the daily driving of the vehicle owners approximately, and the speed average value is set as the speed of the vehicle to drive after the speed average value is obtained.

It should be noted that:

the method of the present embodiment may be implemented by a method that is converted into program steps and apparatuses that can be stored in a computer storage medium and invoked and executed by a controller.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for detecting a wearing state of an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

For example, fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 21 and a memory 22 arranged to store computer-executable instructions (program code). The memory 22 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 22 has a storage space 23 storing program code 24 for performing any of the method steps in the embodiments. For example, the storage space 23 for the program code may comprise respective program codes 24 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 3. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 22 in the electronic device of fig. 2. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 31 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 21, which when run by an electronic device causes the electronic device to perform the individual steps of the method described above.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. The method for dynamically and automatically driving and changing the lane based on the road side unit is characterized by comprising the following lane changing steps which are sequentially executed:

s4, respectively comparing the distance and the speed difference between the vehicle and the vehicles on the left side and the right side, and controlling the vehicle to select one vehicle to change to an adjacent lane according to the difference result;

the step S4 of selecting a method for changing to an adjacent lane according to the difference result further includes:

2. The method of claim 1, wherein a speed setting step is further performed prior to the lane changing step: the speed of the vehicle is set according to the historical driving habits of the vehicle.

3. The method of claim 2, wherein the manner of setting the speed of the host vehicle further comprises:

acquiring a plurality of historical driving speeds of the vehicle;

and setting the speed average value as the speed of the vehicle to run.

4. The method of claim 1, wherein before the step of changing lanes, a step of detecting is further performed:

5. The method of claim 4, wherein: and dynamically adjusting the detection period of the distance L according to the speed of the vehicle.

6. The method according to claim 5, characterized in that: the speed of the vehicle and the detection period are in a negative correlation relationship.

7. The method of claim 4, wherein the detecting step further comprises:

8. Storage medium storing a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

9. An apparatus, wherein the apparatus comprises:

a controller; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the controller to implement the method of any one of claims 1-7.