CN111580524A - Vehicle lane changing method, device and equipment based on path planning and storage medium - Google Patents
Vehicle lane changing method, device and equipment based on path planning and storage medium Download PDFInfo
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- 230000008859 change Effects 0.000 claims description 143
- 230000008569 process Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a vehicle lane changing method, device and equipment based on path planning and a storage medium, and belongs to the technical field of automatic driving. The method and the device have the advantages that the current position information is obtained, the driving road section corresponding to the current position information is determined based on the pre-constructed target driving path, the multiple lane changing areas and the target lane are determined according to the driving road section, the lane changing of the vehicle is completed according to the lane changing areas and the target lane, the lane changing areas are arranged on the lanes and sequentially pass through the lane changing areas to the target lane, the number of times of vehicle changing is reduced, and the safety of automatic driving of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle lane changing method, device, equipment and storage medium based on path planning.
Background
At present, when an automatic driving vehicle automatically drives from a departure point to a destination point, firstly, an optimal global route is planned based on an existing map, the process is called as path planning, then, the vehicle automatically drives from the departure point to the destination point along the route, in the process, the vehicle automatically follows the vehicle or changes the lane to overtake, changes the lane to avoid obstacles and drives and the like under the corresponding traffic conditions according to the external traffic conditions detected by various sensors by combining a behavior decision logic algorithm, and how to ensure the safety of the vehicle when changing the lane to overtake or changing the lane to avoid obstacles is the key point. The existing method is that after a vehicle changes lane to overtake or changes lane to avoid an obstacle, the vehicle is changed to a next lane, and then immediately returns to the original lane.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle lane changing method, a vehicle lane changing device, vehicle lane changing equipment and a storage medium based on path planning, and aims to solve the technical problem that the automatic driving safety is influenced by more vehicle lane changing times.
In order to achieve the aim, the invention provides a vehicle lane changing method based on path planning, which comprises the following steps:
acquiring current position information;
determining a driving road section corresponding to the current position information based on a pre-constructed target driving path;
determining a plurality of lane changing areas and target lanes according to the driving road section;
and finishing vehicle lane changing according to the lane changing area and the target lane.
Preferably, before the step of determining the travel section corresponding to the current position information based on the pre-constructed target travel path, the method further includes:
acquiring initial position information and target position information;
and constructing a target driving path according to the initial position information and the target position information.
Preferably, the step of constructing a target travel path according to the initial position information and the target position information includes:
acquiring an initial position point corresponding to the initial position information and a target position point corresponding to the target position information;
determining a plurality of driving paths according to the initial position points and the target position points;
calculating the corresponding mobile cost value of each driving path;
and comparing the magnitude of each mobile cost value, and taking the driving path corresponding to the minimum mobile cost value as a target driving path according to the comparison result.
Preferably, the step of determining a plurality of lane change regions according to the travel section, and the target lane comprises:
determining a lane changing direction according to the driving road section;
obtaining a map element corresponding to the driving road section;
and determining a plurality of lane changing areas and target lanes according to the lane changing direction and the map elements.
Preferably, the step of determining a plurality of lane change areas and target lanes according to the lane change direction and the map element comprises:
extracting lane information and intersection double-solid-line information of a plurality of lanes from the map element;
acquiring a lane change lane corresponding to the lane change direction from the lanes according to the lane information, taking the lane change lane as a target lane, and taking the rest lanes as reference lanes;
determining the relative distance between the road intersection and the intersection according to the intersection double-solid-line information;
and sequentially establishing lane changing areas with preset lengths on each reference lane according to the relative distance.
Preferably, the step of completing the lane change of the vehicle according to the lane change region and the target lane comprises:
detecting obstacles in the current lane in real time;
and when no obstacle exists in the current lane, the vehicle runs to the lane change area corresponding to the current lane, and sequentially runs to the target lane through the lane change areas of the adjacent lanes to complete the lane change of the vehicle.
Preferably, after the step of completing the lane change of the vehicle according to the lane change region and the target lane, the method further comprises the following steps:
when an obstacle exists in the target lane, changing lanes to an adjacent lane;
and detecting the target lane in real time, and if no obstacle exists in the target lane within preset time, changing the lane from the adjacent lane to the target lane so as to finish the lane change of the vehicle.
In addition, in order to achieve the above object, the present invention further provides a lane changing device for vehicles based on path planning, the device comprising:
the acquisition module is used for acquiring current position information;
the determining module is used for determining a driving road section corresponding to the current position information based on a pre-constructed target driving path;
the dividing module is used for determining a plurality of lane changing areas and target lanes according to the driving road section;
and the control module is used for finishing vehicle lane changing according to the lane changing area and the target lane.
In addition, in order to achieve the above object, the present invention further provides a lane changing device for vehicles based on path planning, the device comprising: the system comprises a memory, a processor and a vehicle lane-changing program based on path planning, wherein the vehicle lane-changing program based on path planning is stored on the memory and can run on the processor, and is configured to realize the steps of the vehicle lane-changing method based on path planning.
In addition, to achieve the above object, the present invention further provides a storage medium, where a vehicle lane change program based on path planning is stored, and the vehicle lane change program based on path planning, when executed by a processor, implements the steps of the vehicle lane change method based on path planning as described above.
The method and the device have the advantages that the current position information is obtained, the driving road section corresponding to the current position information is determined based on the pre-constructed target driving path, the multiple lane changing areas and the target lane are determined according to the driving road section, the lane changing of the vehicle is completed according to the lane changing areas and the target lane, the lane changing areas are arranged on the lanes and sequentially pass through the lane changing areas to the target lane, the number of times of vehicle changing is reduced, and the safety of automatic driving of the vehicle is improved.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle lane-changing device based on path planning in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a lane changing method for vehicles based on path planning according to the present invention;
FIG. 3 is a schematic diagram of a vehicle path planning in a first embodiment of a vehicle lane change method based on path planning according to the present invention;
FIG. 4 is a schematic diagram illustrating construction of a lane change area of a driving road segment in a first embodiment of a lane change method for a vehicle based on path planning according to the present invention;
FIG. 5 is a schematic flow chart of a second embodiment of a lane-changing method for vehicles based on path planning according to the present invention;
fig. 6 is a block diagram of a first embodiment of a lane changing device for a vehicle based on path planning.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle lane changing device based on path planning in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the lane-changing equipment for vehicles based on path planning may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of a vehicle lane-changing apparatus based on path planning, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle lane change program based on path planning.
In the vehicle lane-changing device based on path planning shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle lane change device based on the path planning can be arranged in the vehicle lane change device based on the path planning, and the vehicle lane change device based on the path planning calls a vehicle lane change program based on the path planning, which is stored in the memory 1005, through the processor 1001 and executes the vehicle lane change method based on the path planning provided by the embodiment of the invention.
The embodiment of the invention provides a vehicle lane changing method based on path planning, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle lane changing method based on path planning.
In this embodiment, the vehicle lane change method based on the path planning includes the following steps:
step S10: and acquiring current position information.
In this embodiment, the execution main part of this embodiment is the automatic driving vehicle, is equipped with global positioning system GPS, all kinds of vehicle communication sensors, on-vehicle controller and sixty four-wire laser radar etc. on the automatic driving vehicle, the automatic driving vehicle can obtain the positional information of vehicle in the driving process through GPS, can also detect surrounding road traffic environment through sixty four-wire laser radar, and on-vehicle controller is the industrial computer in this embodiment for control automatic driving vehicle carries out the vehicle lane change.
It should be noted that the current location information is vehicle location information of the autonomous vehicle during driving, and is obtained in real time by a GPS.
Step S20: and determining a driving road section corresponding to the current position information based on a target driving path constructed in advance.
In this embodiment, after the current position information is obtained, a driving link corresponding to the current position information may be determined based on a target driving path constructed in advance, the present embodiment is described by taking a path planning diagram shown in fig. 3 as an example, a point a in fig. 3 is a departure point of an autonomous vehicle, a point B is a destination point of the autonomous vehicle, a target driving path from a to B may be constructed according to the point a and the point B, the target driving path shown in fig. 3 is divided into three driving links, which are Lead1, Lead2, and Lead3, and if a current position of the autonomous vehicle obtained according to the current position information is at a point C shown in fig. 3, it may be determined that the point C is on the driving link Lead3 based on the target driving path constructed in advance, and the driving link corresponding to the point C is Lead 3.
It is easy to understand that determining the driving road section corresponding to the current position information based on the pre-constructed target driving path requires constructing the target driving path first, and specifically, before the step of determining the driving road section corresponding to the current position information based on the pre-constructed target driving path requires constructing the target driving path first, the method further includes: acquiring initial position information and target position information; and constructing a target driving path according to the initial position information and the target position information.
It should be noted that the initial position information may be understood as departure point position information of the autonomous vehicle, such as position information of the autonomous vehicle at a point a shown in fig. 3, and the target position information may be understood as destination point position information of the autonomous vehicle, such as position information of the autonomous vehicle at B point shown in fig. 3, and the destination point may be arbitrarily set, and the target travel path between the departure point and the destination point may be constructed according to the initial position information and the target position information.
In a specific implementation, the step of constructing the target travel path according to the initial position information and the target position information specifically includes: acquiring an initial position point corresponding to the initial position information and a target position point corresponding to the target position information; determining a plurality of driving paths according to the initial position points and the target position points; calculating the corresponding mobile cost value of each driving path; and comparing the magnitude of each mobile cost value, and taking the driving path corresponding to the minimum mobile cost value as a target driving path according to the comparison result.
In this embodiment, the initial position point and the target position point of the autonomous vehicle may be determined according to the initial position information and the target position information, it is easily understood that the path planning is similar to a navigation route in vehicle driving navigation, generally, there are a plurality of driving paths from the initial position point to the target position point, a distance of each driving path is also generally different, and the target driving path constructed by the path planning is a driving path with a shortest distance among all driving paths from the initial position point to the target position point.
In a specific implementation, the moving cost value corresponding to each driving route is calculated according to the moving cost and the estimated cost corresponding to each driving route, the moving cost is determined according to the actual distance of the driving route acquired by the GPS, the estimated cost is related to the situation of the obstacle in the driving route, the detection can be performed by the laser radar, the moving cost value corresponding to each route can be calculated after the moving cost and the estimated cost of each driving route are obtained, and if the moving cost value of the driving route L is Z, the moving cost corresponding to the driving route L is X, and the estimated cost is Y, the moving cost value Z is X + Y.
Step S30: and determining a plurality of lane changing areas and a target lane according to the driving road section.
It is easy to understand that each driving section has a corresponding number of lanes, traffic conditions, and the like, so that the lane change area and the target lane need to be determined according to the corresponding driving section, specifically, multiple lane change areas are determined according to the driving section, and the step of determining the target lane includes: determining a lane changing direction according to the driving road section; obtaining a map element corresponding to the driving road section; and determining a plurality of lane changing areas and target lanes according to the lane changing direction and the map elements.
In the present embodiment, a lane change direction of the autonomous vehicle may be determined according to the travel section, as shown in fig. 3, the lane change direction of the autonomous vehicle is a left lane change when the autonomous vehicle is on the travel section Lead1, the lane change direction of the autonomous vehicle is a right lane change when the autonomous vehicle is on the travel section Lead2, the map elements corresponding to the travel section include the number of lanes, double-solid line information, intersection guide line information, and the like, and a plurality of lane change areas and target lanes may be determined according to the lane change direction and the map elements.
In a specific implementation, the step of determining a plurality of lane change areas and target lanes according to the lane change direction and the map element specifically includes: extracting lane information and intersection double-solid-line information of a plurality of lanes from the map element; acquiring a lane change lane corresponding to the lane change direction from the lanes according to the lane information, taking the lane change lane as a target lane, and taking the rest lanes as reference lanes; determining the relative distance between the road intersection and the intersection according to the intersection double-solid-line information; and sequentially establishing lane changing areas with preset lengths on each reference lane according to the relative distance.
In the present embodiment, lane information of a plurality of lanes and intersection double-solid information may be extracted from the map element, where the lane information includes the number of lanes and the driving directions of the respective lanes, for example, as shown in fig. 4, assuming that the driving link shown in fig. 4 is the driving link Lead1 in fig. 3, it can be obtained from fig. 4 that the driving link Lead1 has four lanes L1、L2、L3And L4Wherein the lane L1Is left-hand driving, lane L2Is driven to the right, and the other two lanes L3And L4The driving direction of (1) is a straight driving, the lane change lane corresponding to the lane change direction is obtained from the plurality of lanes and is substantially the lane change lane of which the driving direction is consistent with the lane change direction, the lane change direction is determined as a left lane change according to the driving road section Lead1, and the L can be determined according to the driving direction of each lane1For the target lane, in determining L1After the target lane, the lane L2、L3And L4As a reference lane, further, a relative distance between the vehicle and the road intersection is determined according to the intersection double-solid-line information, and lane change areas with preset lengths are sequentially established on each reference lane according to the relative distance, for convenience of understanding, as shown in fig. 4, for example, if it is assumed that the obtained relative distance between the autonomous vehicle and the road intersection is 100 meters, a lane change area 1 is set to be 50 meters from the intersection, a lane change area 2 is 30 meters from the intersection, a lane change area 3 is 10 meters from the intersection, lengths of the lane change areas 1, 2, and 3 are preset, and may be 20 meters or 10 meters, in this embodiment, a distance between each lane change area and the road intersection and a preset length of each lane change area may be automatically set according to an actual situation, and this embodiment is not limited.
Step S40: and finishing vehicle lane changing according to the lane changing area and the target lane.
In this embodiment, the lane change area is a safe area for lane change of the autonomous vehicle, there is no risk of lane change when lane change of the autonomous vehicle is performed in this area, and in the process of driving the autonomous vehicle to the lane change area, there may be accidents such as traffic accidents or construction sites, and therefore it is necessary to detect obstacles in the current lane in real time, and when an obstacle is detected in the current lane, the autonomous vehicle drives to the lane change area corresponding to the current lane, and then sequentially passes through each lane change area to the target lane, and then the lane change of the autonomous vehicle is completed, as shown in fig. 4, assuming that the autonomous vehicle is currently located in the lane L4In the determination of lane change regions 1, 2 and 3 and target lane L, the autonomous vehicle is currently at point S1Thereafter, the lane L is driven while the autonomous vehicle travels from the point S into the lane change area 14Is detected in real time in the lane L4When no obstacle exists, the lane changing process is that the automatic driving vehicle firstly safely drives from the S point to the lane changing area 1, then changes the lane from the lane changing area 1 to the lane changing area 2, then changes the lane from the lane changing area 2 to the lane changing area 3, and finally changes the lane from the lane changing area 3 to the target lane L1I.e. completing the lane change of the vehicle, if the lane L is found during the process of the autonomous vehicle driving from the point S into the lane change area 14If there is an obstacle, the lane is changed to the lane L3Suppose that the autonomous vehicle changes lane to lane L3At point Q, the lane change process is automatically assumed to be that the vehicle safely drives from point Q into lane change area 2, then changes lanes from lane change area 2 to lane change area 3, and then changes lanes from lane change area 3 to target lane L1And finishing the lane change of the vehicle.
The method comprises the steps of obtaining current position information, determining a driving road section corresponding to the current position information based on a target driving path which is constructed in advance, determining a plurality of lane changing areas and a target lane according to the driving road section, finishing vehicle lane changing according to the lane changing areas and the target lane, setting the lane changing areas on each lane, and sequentially passing through each lane changing area to the target lane, so that the number of vehicle lane changing times is reduced, and the lane changing safety of automatic driving of vehicles is improved.
Referring to fig. 5, fig. 5 is a schematic flow chart of a vehicle lane change method based on path planning according to a second embodiment of the present invention.
Based on the first embodiment, after step S40, the present embodiment further includes:
and S501, when the obstacle exists in the target lane, changing the lane to an adjacent lane.
Step S502: and detecting the target lane in real time, and if no obstacle exists in the target lane within preset time, changing the lane from the adjacent lane to the target lane so as to finish the lane change of the vehicle.
It is easily understood that, after the autonomous vehicle changes its lane to the target lane, instead of immediately performing the switch from the current driving road to the next driving road, the autonomous vehicle needs to perform the switch of the next driving road at the road intersection of the target lane, but in the actual situation, the autonomous vehicle may also have an unexpected situation such as traffic accident during the driving to the road intersection of the target lane, so that it needs to perform real-time detection on the obstacle of the target lane, and when the obstacle exists in the target lane, the autonomous vehicle changes its lane to the adjacent lane, as shown in fig. 4, when the target lane L is detected1When there is an obstacle, the lane is changed to the adjacent lane L2When the autonomous vehicle is running in the lane L2In time, the target lane L is aimed at in real time through a laser radar1The obstacle detection is performed, in this embodiment, when the target lane L is detected1When no obstacle exists, the autonomous vehicle does not immediately return to the target lane L1In general, a fault vehicle caused by a traffic accident may cause a traffic accident that cannot pass through a long distance in a lane, and there may be a plurality of concurrent traffic accidents in the same lane if the target lane L is detected1When no obstacle exists in the lane, the lane is changed to the target lane L immediately1Then a return from the target lane L may occur1Lane change to adjacent lane L2To avoid the risk of multiple lane changes,in the embodiment, the risk of multiple lane changing is reduced by setting a preset time, and the target lane L is detected within the preset time1When no obstacle exists in the lane, the lane is changed from the adjacent lane2To target lane L1Thus greatly reducing the load on the target lane L of the autonomous vehicle1With adjacent lane L2The possibility of changing lanes for multiple times is reduced, and the risk of changing lanes for multiple vehicles is reduced.
In the embodiment, when the obstacle exists in the target lane, the lane is changed to the adjacent lane, the target lane is detected in real time, and if the obstacle does not exist in the target lane within the preset time, the lane is changed from the adjacent lane to the target lane so as to finish the lane change of the vehicle, so that the risk of the vehicle caused by multiple lane changes is reduced, and the lane change safety of the automatic driving vehicle is improved.
Referring to fig. 6, fig. 6 is a block diagram of a first embodiment of a lane changing device for a vehicle based on path planning.
As shown in fig. 6, the lane changing device for vehicles based on path planning according to the embodiment of the present invention includes:
an obtaining module 10, configured to obtain current location information.
In this embodiment, the executing subject of this embodiment is a vehicle lane changing device based on path planning, the vehicle lane changing device based on path planning may acquire position information of a vehicle in a driving process through a GPS, may detect a surrounding road traffic environment through a sixty-four-wire laser radar, and may also control an autonomous vehicle to perform vehicle lane changing.
It should be noted that the current location information is vehicle location information of the autonomous vehicle during driving, and is obtained in real time by a GPS.
And the determining module 20 is configured to determine a driving road segment corresponding to the current position information based on a pre-constructed target driving path.
In this embodiment, after the current position information is obtained, a driving link corresponding to the current position information may be determined based on a target driving path constructed in advance, the present embodiment is described by taking a path planning diagram shown in fig. 3 as an example, a point a in fig. 3 is a departure point of an autonomous vehicle, a point B is a destination point of the autonomous vehicle, a target driving path from a to B may be constructed according to the point a and the point B, the target driving path shown in fig. 3 is divided into three driving links, which are Lead1, Lead2, and Lead3, and if a current position of the autonomous vehicle obtained according to the current position information is at a point C shown in fig. 3, it may be determined that the point C is on the driving link Lead3 based on the target driving path constructed in advance, and the driving link corresponding to the point C is Lead 3.
It is easy to understand that determining the driving road section corresponding to the current position information based on the pre-constructed target driving path requires constructing the target driving path first, and specifically, before the step of determining the driving road section corresponding to the current position information based on the pre-constructed target driving path requires constructing the target driving path first, the method further includes: acquiring initial position information and target position information; and constructing a target driving path according to the initial position information and the target position information.
It should be noted that the initial position information may be understood as departure point position information of the autonomous vehicle, such as position information of the autonomous vehicle at a point a shown in fig. 3, and the target position information may be understood as destination point position information of the autonomous vehicle, such as position information of the autonomous vehicle at B point shown in fig. 3, and the destination point may be arbitrarily set, and the target travel path between the departure point and the destination point may be constructed according to the initial position information and the target position information.
In a specific implementation, the step of constructing the target travel path according to the initial position information and the target position information specifically includes: acquiring an initial position point corresponding to the initial position information and a target position point corresponding to the target position information; determining a plurality of driving paths according to the initial position points and the target position points; calculating the corresponding mobile cost value of each driving path; and comparing the magnitude of each mobile cost value, and taking the driving path corresponding to the minimum mobile cost value as a target driving path according to the comparison result.
In this embodiment, the initial position point and the target position point of the autonomous vehicle may be determined according to the initial position information and the target position information, it is easily understood that the path planning is similar to a navigation route in vehicle driving navigation, generally, there are a plurality of driving paths from the initial position point to the target position point, a distance of each driving path is also generally different, and the target driving path constructed by the path planning is a driving path with a shortest distance among all driving paths from the initial position point to the target position point.
In a specific implementation, the moving cost value corresponding to each driving route is calculated according to the moving cost and the estimated cost corresponding to each driving route, the moving cost is determined according to the actual distance of the driving route acquired by the GPS, the estimated cost is related to the situation of the obstacle in the driving route, the detection can be performed by the laser radar, the moving cost value corresponding to each route can be calculated after the moving cost and the estimated cost of each driving route are obtained, and if the moving cost value of the driving route L is Z, the moving cost corresponding to the driving route L is X, and the estimated cost is Y, the moving cost value Z is X + Y.
And the dividing module 30 is used for determining a plurality of lane changing areas and target lanes according to the driving road section.
It is easy to understand that each driving section has a corresponding number of lanes, traffic conditions, and the like, so that the lane change area and the target lane need to be determined according to the corresponding driving section, specifically, multiple lane change areas are determined according to the driving section, and the step of determining the target lane includes: determining a lane changing direction according to the driving road section; obtaining a map element corresponding to the driving road section; and determining a plurality of lane changing areas and target lanes according to the lane changing direction and the map elements.
In the present embodiment, a lane change direction of the autonomous vehicle may be determined according to the travel section, as shown in fig. 3, the lane change direction of the autonomous vehicle is a left lane change when the autonomous vehicle is on the travel section Lead1, the lane change direction of the autonomous vehicle is a right lane change when the autonomous vehicle is on the travel section Lead2, the map elements corresponding to the travel section include the number of lanes, double-solid line information, intersection guide line information, and the like, and a plurality of lane change areas and target lanes may be determined according to the lane change direction and the map elements.
In a specific implementation, the step of determining a plurality of lane change areas and target lanes according to the lane change direction and the map element specifically includes: extracting lane information and intersection double-solid-line information of a plurality of lanes from the map element; acquiring a lane change lane corresponding to the lane change direction from the lanes according to the lane information, taking the lane change lane as a target lane, and taking the rest lanes as reference lanes; determining the relative distance between the road intersection and the intersection according to the intersection double-solid-line information; and sequentially establishing lane changing areas with preset lengths on each reference lane according to the relative distance.
In the present embodiment, lane information of a plurality of lanes and intersection double-solid information may be extracted from the map element, where the lane information includes the number of lanes and the driving directions of the respective lanes, for example, as shown in fig. 4, assuming that the driving link shown in fig. 4 is the driving link Lead1 in fig. 3, it can be obtained from fig. 4 that the driving link Lead1 has four lanes L1、L2、L3And L4Wherein the lane L1Is left-hand driving, lane L2Is driven to the right, and the other two lanes L3And L4The driving direction of (1) is a straight driving, the lane change lane corresponding to the lane change direction is obtained from the plurality of lanes and is substantially the lane change lane of which the driving direction is consistent with the lane change direction, the lane change direction is determined as a left lane change according to the driving road section Lead1, and the L can be determined according to the driving direction of each lane1For the target lane, in determining L1After the target lane, the lane L2、L3And L4As reference lane, further, according to the roadThe relative distance between the intersection and the road intersection is determined by the mouth-double solid line information, and lane change areas with preset lengths are sequentially established on each reference lane according to the relative distance, for convenience of understanding, as shown in fig. 4 by way of example, if the obtained relative distance between the autonomous vehicle and the road intersection is 100 meters, a lane change area 1 is set to be 50 meters from the road intersection, a lane change area 2 is set to be 30 meters from the road intersection, a lane change area 3 is set to be 10 meters from the road intersection, and the lengths of the lane change areas 1, 2, and 3 are preset, and may be 20 meters or 10 meters.
And the control module 40 is used for finishing vehicle lane changing according to the lane changing area and the target lane.
In this embodiment, the lane change area is a safe area for lane change of the autonomous vehicle, there is no risk of lane change when lane change of the autonomous vehicle is performed in this area, and in the process of driving the autonomous vehicle to the lane change area, there may be accidents such as traffic accidents or construction sites, and therefore it is necessary to detect obstacles in the current lane in real time, and when an obstacle is detected in the current lane, the autonomous vehicle drives to the lane change area corresponding to the current lane, and then sequentially passes through each lane change area to the target lane, and then the lane change of the autonomous vehicle is completed, as shown in fig. 4, assuming that the autonomous vehicle is currently located in the lane L4In the determination of lane change regions 1, 2 and 3 and target lane L, the autonomous vehicle is currently at point S1Thereafter, the lane L is driven while the autonomous vehicle travels from the point S into the lane change area 14Is detected in real time in the lane L4When no obstacle exists, the lane changing process is that the automatic driving vehicle firstly safely drives from the S point to the lane changing area 1, then changes the lane from the lane changing area 1 to the lane changing area 2, then changes the lane from the lane changing area 2 to the lane changing area 3, and finally changes the lane from the lane changing area 3 to the target lane L1I.e. completing the lane change of the vehicle, if the lane L is found during the process of the autonomous vehicle driving from the point S into the lane change area 14If there is an obstacle, the lane is changed to the lane L3Suppose that the autonomous vehicle changes lane to lane L3At point Q, the lane change process is automatically assumed to be that the vehicle safely drives from point Q into lane change area 2, then changes lanes from lane change area 2 to lane change area 3, and then changes lanes from lane change area 3 to target lane L1And finishing the lane change of the vehicle.
The method comprises the steps of obtaining current position information, determining a driving road section corresponding to the current position information based on a target driving path which is constructed in advance, determining a plurality of lane changing areas and a target lane according to the driving road section, finishing vehicle lane changing according to the lane changing areas and the target lane, setting the lane changing areas on each lane, and sequentially passing through each lane changing area to the target lane, so that the number of vehicle lane changing times is reduced, and the lane changing safety of automatic driving of vehicles is improved.
In an embodiment, the system further comprises a construction module, configured to obtain initial position information and target position information; and constructing a target driving path according to the initial position information and the target position information.
In an embodiment, the building module is further configured to obtain an initial position point corresponding to the initial position information and a target position point corresponding to the target position information; determining a plurality of driving paths according to the initial position points and the target position points; calculating the corresponding mobile cost value of each driving path; and comparing the magnitude of each mobile cost value, and taking the driving path corresponding to the minimum mobile cost value as a target driving path according to the comparison result.
In an embodiment, the dividing module 30 is further configured to determine a lane change direction according to the travel road segment; obtaining a map element corresponding to the driving road section; and determining a plurality of lane changing areas and target lanes according to the lane changing direction and the map elements.
In an embodiment, the dividing module 30 is further configured to extract lane information of a plurality of lanes and intersection dual-solid-line information from the map element; acquiring a lane change lane corresponding to the lane change direction from the lanes according to the lane information, taking the lane change lane as a target lane, and taking the rest lanes as reference lanes; determining the relative distance between the road intersection and the intersection according to the intersection double-solid-line information; and sequentially establishing lane changing areas with preset lengths on each reference lane according to the relative distance.
In an embodiment, the control module 40 is further configured to detect an obstacle in a current lane in real time; and when no obstacle exists in the current lane, the vehicle runs to the lane change area corresponding to the current lane, and sequentially runs to the target lane through the lane change areas of the adjacent lanes to complete the lane change of the vehicle.
In one embodiment, the lane changing system further comprises a judging module, configured to change lanes to adjacent lanes when an obstacle exists in the target lane; and detecting the target lane in real time, and if no obstacle exists in the target lane within preset time, changing the lane from the adjacent lane to the target lane so as to finish the lane change of the vehicle.
In addition, an embodiment of the present invention further provides a storage medium, where a vehicle lane change program based on path planning is stored on the storage medium, and when executed by a processor, the vehicle lane change program based on path planning implements the steps of the vehicle lane change method based on path planning as described above.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the vehicle lane change method based on the path planning provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle lane changing method based on path planning is characterized by comprising the following steps:
acquiring current position information;
determining a driving road section corresponding to the current position information based on a pre-constructed target driving path;
determining a plurality of lane changing areas and target lanes according to the driving road section;
and finishing vehicle lane changing according to the lane changing area and the target lane.
2. The method for changing lanes of a vehicle based on path planning as claimed in claim 1, wherein before the step of determining the driving section corresponding to the current location information based on the pre-constructed target driving path, further comprising:
acquiring initial position information and target position information;
and constructing a target driving path according to the initial position information and the target position information.
3. The route planning-based vehicle lane change method according to claim 2, wherein the step of constructing the target driving path according to the initial position information and the target position information comprises:
acquiring an initial position point corresponding to the initial position information and a target position point corresponding to the target position information;
determining a plurality of driving paths according to the initial position points and the target position points;
calculating the corresponding mobile cost value of each driving path;
and comparing the magnitude of each mobile cost value, and taking the driving path corresponding to the minimum mobile cost value as a target driving path according to the comparison result.
4. The path-planning-based vehicle lane-changing method according to claim 1, wherein the determining a plurality of lane-changing regions according to the travel section, and the target lane comprises:
determining a lane changing direction according to the driving road section;
obtaining a map element corresponding to the driving road section;
and determining a plurality of lane changing areas and target lanes according to the lane changing direction and the map elements.
5. The path-planning-based vehicle lane-changing method according to claim 4, wherein the step of determining a plurality of lane-changing areas and target lanes according to the lane-changing direction and the map elements comprises:
extracting lane information and intersection double-solid-line information of a plurality of lanes from the map element;
acquiring a lane change lane corresponding to the lane change direction from the lanes according to the lane information, taking the lane change lane as a target lane, and taking the rest lanes as reference lanes;
determining the relative distance between the road intersection and the intersection according to the intersection double-solid-line information;
and sequentially establishing lane changing areas with preset lengths on each reference lane according to the relative distance.
6. The path-planning-based vehicle lane-changing method according to claim 1, wherein the step of completing the vehicle lane change according to the lane-changing region and the target lane comprises:
detecting obstacles in the current lane in real time;
and when no obstacle exists in the current lane, the vehicle runs to the lane change area corresponding to the current lane, and sequentially runs to the target lane through the lane change areas of the adjacent lanes to complete the lane change of the vehicle.
7. The path-planning-based vehicle lane-changing method according to any one of claims 1 to 6, wherein after the step of completing the vehicle lane changing according to the lane-changing region and the target lane, the method further comprises:
when an obstacle exists in the target lane, changing lanes to an adjacent lane;
and detecting the target lane in real time, and if no obstacle exists in the target lane within preset time, changing the lane from the adjacent lane to the target lane so as to finish the lane change of the vehicle.
8. A vehicle lane-changing device based on path planning, the device comprising:
the acquisition module is used for acquiring current position information;
the determining module is used for determining a driving road section corresponding to the current position information based on a pre-constructed target driving path;
the dividing module is used for determining a plurality of lane changing areas and target lanes according to the driving road section;
and the control module is used for finishing vehicle lane changing according to the lane changing area and the target lane.
9. A vehicle lane-changing device based on path planning, the device comprising: a memory, a processor and a path-planning based vehicle lane-change program stored on the memory and executable on the processor, the path-planning based vehicle lane-change program configured to implement the steps of the path-planning based vehicle lane-change method according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium stores a vehicle lane-changing program based on path planning, and the vehicle lane-changing program based on path planning is executed by a processor to realize the steps of the vehicle lane-changing method based on path planning according to any one of claims 1 to 7.
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