CN112693465B - Method and device for controlling lane change of vehicle and unmanned vehicle - Google Patents
Method and device for controlling lane change of vehicle and unmanned vehicle 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
- B60W30/18—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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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Abstract
The embodiment of the invention discloses a method for controlling a vehicle to change lanes, which comprises the steps of obtaining a driving route and a driving lane; acquiring a traffic light closest to the unmanned vehicle and a driving direction; acquiring a traffic lane corresponding to a driving direction; judging whether the passing lane is the same as the driving lane or not; if not, determining that the unmanned vehicle has a lane change requirement; acquiring a non-merging road section; acquiring the distance from the non-merged road section; judging whether the distance is smaller than or equal to a preset threshold value; if not, entering a step of acquiring the distance from the non-merged road section; if yes, detecting whether the condition of merging into the passing lane is met; if yes, detecting whether a front vehicle exists on the passing lane; if the front vehicle exists, detecting the running speed of the front vehicle; the unmanned vehicle is controlled to be merged into the passing lane, so that merging can be performed on the road section capable of merging in time when lane changing is needed in front of the traffic lights.
Description
Technical Field
The embodiment of the invention relates to the field of daily necessities, in particular to a method and a device for controlling a vehicle to change lanes and an unmanned vehicle.
Background
Artificial intelligence is a future development trend, and unmanned vehicles closely related to artificial intelligence will be a hot field of future development. The unmanned vehicle mainly depends on high-precision maps, positioning, perception and the like to obtain the conditions near the vehicle, and is very intelligent and advanced. The appearance of the unmanned vehicle undoubtedly brings unprecedented experience to the traveling of people.
However, in the process of implementing the present invention, the inventors of the present invention found that: the existing unmanned vehicle runs on a running lane, and can be located on a non-merging road section when lane changing is needed in front of a traffic light, so that the unmanned vehicle cannot be merged into the running lane.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method, an apparatus and an unmanned vehicle for controlling a lane change of a vehicle, which overcome or at least partially solve the above problems.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling a lane change of a vehicle, the method including: acquiring a driving route and a current driving lane of the unmanned vehicle; according to the driving route, obtaining a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light; acquiring a traffic lane corresponding to the driving direction; judging whether the passing lane is the same as the driving lane or not; if not, determining that the unmanned vehicle has a lane change requirement; obtaining a non-merge leg that is continuous from the traffic light and that is not merge into the traffic lane; acquiring the distance from the unmanned vehicle to the non-merging road section; judging whether the distance is smaller than or equal to a preset threshold value; if the distance is greater than the preset threshold value, the step of obtaining the distance from the unmanned vehicle to the non-merging road section is executed after preset time; if the distance is smaller than or equal to the preset threshold value, detecting whether the unmanned vehicle meets the condition of merging into the passing lane; if yes, detecting whether a front vehicle exists in a preset distance in front of the unmanned vehicle on the passing lane; detecting the running speed of the front vehicle if the front vehicle exists; and controlling the unmanned vehicle to be merged into the passing lane according to the running speed of the front vehicle.
In an alternative mode, the step of acquiring a non-merge section that is continuous from the traffic light and is not able to merge into the traffic lane further includes: identifying whether the traffic lane is in a congestion state; if so, acquiring a continuous jammed road section of the passing lane from the traffic light, and taking the continuous jammed road section as a non-merging road section.
In an alternative mode, the step of acquiring a non-merge section that is continuous from the traffic light and is not able to merge into the traffic lane further includes: and if the passing lane is not in a congestion state, acquiring a continuous solid line section from the traffic light, and taking the continuous solid line section as a non-merging section.
In an alternative form, the step of detecting whether the unmanned vehicle satisfies a condition for merging into the traffic lane further includes: identifying whether the unmanned vehicle is located on a lane adjacent to the traffic lane; if so, detecting whether a parallel vehicle which is parallel to the unmanned vehicle exists on the lane; if the side-by-side vehicles exist, determining that the unmanned vehicle does not meet the condition of merging into the traffic lane; if the parallel vehicles do not exist, detecting whether a rear vehicle behind the unmanned vehicle exists on the passing lane; if the rear vehicle does not exist, determining that the unmanned vehicle meets the condition of merging into the passing lane; if the rear vehicle exists, acquiring the distance between the rear vehicle and the unmanned vehicle; judging whether the distance is greater than or equal to a preset merging safety distance; if so, determining that the condition of merging into the passing lane is met; if not, determining that the condition of merging into the traffic lane is not met.
According to an aspect of an embodiment of the present invention, there is provided an apparatus for controlling a lane change of a vehicle, the apparatus including: the first acquisition module is used for acquiring a driving route and a current driving lane of the unmanned vehicle; the second acquisition module is used for acquiring a traffic light closest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light according to the driving route; the third acquisition module is used for acquiring a traffic lane corresponding to the driving direction; the first judgment module is used for judging whether the passing lane is the same as the driving lane or not; the determining module is used for determining that the unmanned vehicle has a lane change requirement if the passing lane is different from the driving lane; a fourth acquisition module for acquiring a non-merge section which is continuous from the traffic light and can not merge into the traffic lane; the fifth acquisition module is used for acquiring the distance between the unmanned vehicle and the non-merging road section; the second judgment module is used for judging whether the distance is smaller than or equal to a preset threshold value, if the distance is larger than the preset threshold value, the fifth acquisition module is executed after preset time, and if the distance is smaller than or equal to the preset threshold value, the first detection module is executed; a first detection module for detecting whether the unmanned vehicle satisfies a condition for merging into the traffic lane; the second detection module is used for detecting whether a front vehicle exists in the passing lane at a preset distance in front of the unmanned vehicle if the unmanned vehicle meets the condition of merging into the passing lane; the third detection module is used for detecting the running speed of the front vehicle if the front vehicle exists; the first control module is used for controlling the unmanned vehicle to merge into the passing lane according to the running speed of the front vehicle; the fourth obtaining module includes: a first identification unit for identifying whether the passing lane is in a congestion state; a fifth obtaining unit, configured to obtain a continuously congested road segment of the traffic lane from the traffic light if the traffic lane is in a congested state, and use the continuously congested road segment as a non-merge road segment; the fourth obtaining module further comprises: a sixth acquiring unit, configured to acquire a continuous solid link from the traffic light if the traffic lane is not in a congested state, and regard the continuous solid link as a non-merge link.
According to an aspect of an embodiment of the present invention, there is provided an unmanned vehicle including: at least one processor, and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.
The embodiment of the invention has the beneficial effects that: the method for controlling the lane change of the vehicle in the embodiment of the invention can be used for merging the lanes on the road sections which can be merged in time when the lane change is needed in front of the traffic lights, thereby ensuring the normal running of the unmanned vehicle. According to the method for controlling the lane change of the vehicle, when the front vehicle exists in the preset distance in front of the passing lane to be merged, the unmanned vehicle can be controlled to be merged into the passing lane according to the running speed of the front vehicle, so that the unmanned vehicle is prevented from colliding with the front vehicle, and the influence of the unmanned vehicle on the normal running of the rear vehicle is avoided.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic flow chart of a method for controlling a lane change of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of one possible method of obtaining non-merge sections of continuous and non-merge-able traffic lanes from traffic lights, provided by an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram of one possible method for detecting whether an unmanned vehicle meets conditions for merging into a traffic lane, provided by embodiments of the present invention;
FIG. 4 is a schematic flow chart diagram illustrating another method for controlling a lane change of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an apparatus for controlling a lane change of a vehicle according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, but not all, embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
Referring to fig. 1, fig. 1 is a schematic flowchart of a method for controlling a lane change of a vehicle according to an embodiment of the present invention, where the method includes the following steps:
and step S101, acquiring a driving route and a current driving lane of the unmanned vehicle.
The driving route is preset from a starting point to a terminal point of the unmanned vehicle.
For example, a driving route includes going straight on a road a, going straight to a B turn intersection, then turning right into going straight on a road C, going straight to a D turn intersection, then turning left into an E road … …
The driving lane is a lane in a route currently being driven by the unmanned vehicle. The driving lane may be a straight lane, a turning lane turning to the left, or a turning lane turning to the right.
Step S102, obtaining a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light according to the driving route.
The driving direction is a preset driving direction in the driving route, and comprises a straight direction, a left turning direction and a right turning direction.
And step S103, acquiring a traffic lane corresponding to the driving direction.
And if the driving direction is a straight-going direction, the passing lane is a straight-going lane.
And if the driving direction is a left-turning direction, the passing lane is a left-turning lane.
And if the driving direction is a turning direction to the right, the passing lane is a turning lane turning to the right.
And step S104, judging whether the passing lane is the same as the driving lane, and if not, executing step S105.
And if the passing lane is the same as the driving lane, determining that the unmanned vehicle has no lane change requirement.
For example, if the driving lane of the unmanned vehicle is a straight lane and the traffic lane is a straight lane, the traffic lane is the same as the driving lane, and it is determined that the unmanned vehicle does not have a lane change requirement.
For example, if the driving lane of the unmanned vehicle is a straight lane and the passing lane is a turning lane turning to the left, the passing lane is different from the driving lane, and it is determined that the unmanned vehicle has a lane change requirement.
For example, if the driving lane of the unmanned vehicle is a turning lane turning to the left and the traffic lane is a turning lane turning to the right, the traffic lane is different from the driving lane, and it is determined that the unmanned vehicle has a lane change requirement.
And step S105, determining that the unmanned vehicle has a lane change requirement.
Step S106, acquiring a non-merging road section which is continuous from the traffic light and can not be merged into the traffic lane.
The non-merging sections may be continuous congestion sections or continuous solid routes.
In some embodiments, when there are a first non-merge-road zone, a first feasible zone, a second non-merge-road zone, a second feasible zone and a third non-merge-road zone from the traffic light, where the first non-merge-road zone, the second non-merge-road zone and the third non-merge-road zone refer to a solid line route, or an area where a vehicle is next to the vehicle, and is an area where a distance between a vehicle and a tail of a preceding vehicle and a head of a following vehicle is less than a parking safety distance, for example, an area where a distance between a tail of a preceding vehicle and a head of a following vehicle is less than 3 meters. The method of acquiring a non-merge road segment that is continuous from the traffic light and that cannot merge into the traffic lane comprises:
acquiring the length of the first feasible region and the length of the second feasible region;
respectively comparing the length of the first feasible region, the length of the second feasible region and the size of a first preset threshold value;
and when the length of the first feasible region, the length of the second feasible region and the length of the third feasible region are all smaller than the first preset threshold value, taking the road section comprising the first incorporable road region, the first feasible region, the second incorporable road region, the second feasible region and the third incorporable road region as the non-merged road section.
Wherein the first preset distance is a merging safety distance, for example, 50 meters.
By the method, the first feasible region and the second feasible region which are shorter than the first preset threshold value can be prevented from being mistaken for the road sections which can be merged, the first incoherence road section which is positioned in front of the first feasible region is mistaken for the non-incoherence road sections which are continuous from the traffic light and can not be merged into the traffic lane, and the situation that the unmanned vehicle can not be merged into the traffic lane is avoided.
Referring to fig. 2, step S106 specifically includes:
and step S1061, identifying whether the traffic lane is in a congestion state, if so, executing step S1062, and if not, executing step S1063.
When the traffic lane is in a congestion state, the traffic lane needs to be merged into in advance, so that the traffic lane cannot be merged into.
When the traffic lane is not in a congestion state, but a continuous solid line section exists, the continuous solid line section needs to be avoided, and the traffic lane is merged into a broken line section.
One possible way to identify whether a traffic lane is in a congested state is to preset the number of vehicles passing a certain test point of the traffic lane at a time. For example, if the number of vehicles passing through the test point in an average 1 minute is less than 1, the traffic lane is defined as being in a congested state, and if the number of vehicles passing through the test point in an average 1 minute is less than 1, the traffic lane is considered as being in a congested state.
Another possible way to identify whether a traffic lane is congested is the speed of travel of the vehicle in the traffic lane. For example, if the running speed of the vehicle in the traffic lane is less than 30 kilometers per hour is defined as the congestion state, the traffic lane is considered to be in the congestion state when the acquired average running speed of the vehicle in the traffic lane is less than 30 kilometers per hour.
Yet another possible way to identify whether a traffic lane is in a congested state is to receive official reports about the road conditions in the city where the unmanned vehicle is located, and then for a particular traffic lane, the congestion state can be obtained.
Step S1062, acquiring a continuous congested road section of the passing lane from the traffic light, and taking the continuous congested road section as a non-merging road section.
It is understood that the continuous congested road segment is a continuous road segment from the traffic light.
Step S1063, acquiring a continuous solid link from the traffic light, and taking the continuous solid link as a non-merging link.
And step S107, acquiring the distance between the unmanned vehicle and the non-merging road section.
One feasible method for obtaining the distance between the unmanned vehicle and the non-merging road section is to mount a binocular camera in front of the unmanned vehicle, photograph the non-merging road section by using the binocular camera, and finally calculate the distance according to a base line, a focal length and a parallax of the binocular camera.
In some embodiments, the non-merge sections include a continuous congestion section and a continuous solid section, and after acquiring a non-merge section that is continuous from the trigger target and that is not able to merge into the traffic lane, before acquiring the distance from the unmanned vehicle to the non-merge section, that is, after step S106 and before step S107, the method further includes:
judging whether the non-merging road section comprises a congestion road section, wherein the congestion road section is a road section in which the distance between the tail of a front vehicle and the head of a rear vehicle is less than the parking safety distance;
if not, the non-merged road segment is determined to be a continuous solid road segment and the step S107 is performed.
In some embodiments, the trigger target has a target point in front of it, and after step S106 and before step S107, the method further comprises:
step S301, detecting whether the unmanned vehicle has an optional route from the target point, if the unmanned vehicle has no optional route from the target point, executing step S107, and if the unmanned vehicle has an optional route from the target point, executing step S302.
For example, the driving route is to go straight on the b road at the a turning intersection, and go straight to reach the target point c turning intersection after the triggering target turns, and the selectable route may be to go straight on the d road at the a turning intersection, and go straight to reach the target point c turning intersection after the e turning intersection.
The target point is a position point in front of the trigger target, for example, the target point may be a turning intersection in front of the trigger target, which needs to turn.
Step S302, predicting a first driving time of the unmanned vehicle to reach the target point through the driving route, and predicting a second driving time of the unmanned vehicle to reach the target point through the selectable route.
The first driving time and the second driving time may refer to historical data of the vehicle at the current time.
Step S303, determining whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, executing step S107.
And when the first driving time is less than or equal to the second driving time, namely the time for the unmanned vehicle to reach the target point through the driving route is less than or equal to the time for the unmanned vehicle to reach the target point through the selectable route, the unmanned vehicle still selects to drive according to the driving route.
And when the first driving time is longer than the second driving time, the unmanned vehicle can be selected to drive according to an optional route so as to guarantee the driving time of the unmanned vehicle.
Step S108, determining whether the distance is smaller than or equal to a preset threshold, if the distance is greater than the preset threshold, executing step S107 after a preset time, and if the distance is smaller than or equal to the preset threshold, executing step S109.
If the distance is larger than the preset threshold value, the unmanned vehicle is controlled to change the lane to run on the current running lane
And after a preset time, executing step S107, and executing step S109 until the distance is less than or equal to the preset threshold.
By the control method for lane changing of the unmanned vehicle, the unmanned vehicle is prevented from being prematurely merged into the traffic lane, so that the free running of the unmanned vehicle is influenced, the unmanned vehicle cannot be merged into the traffic lane or cannot be easily merged into the traffic lane when approaching a traffic light, and the unmanned vehicle cannot run normally.
It should be noted that, in some embodiments, the preset time is a variable, and the preset time may be calculated according to a distance from the unmanned vehicle to the non-merged road segment, the preset threshold value, and a driving speed of the unmanned vehicle. For example, the preset time is (distance between the unmanned vehicle and the non-merged road segment-the preset threshold)/(number x of travel speed), where the number is the number of times that step S107 is performed when the distance is greater than the preset threshold. By setting the preset time in this way, the calculation burden of the unmanned vehicle can be avoided to be increased by the hour set by the preset time when the preset time is quantitative, and the optimal time and position for merging into the passing lane can be avoided to be missed by the great time set by the preset time.
It should be noted that in some embodiments, the predetermined time is a fixed amount, such as 5 seconds, so that the unmanned vehicle is not required to separately calculate the predetermined time.
Step S109, detecting whether the unmanned vehicle meets the condition of merging into the traffic lane, and if so, executing step S110.
When a vehicle which is parallel to the unmanned vehicle exists on the traffic lane and a vehicle runs on the traffic lane behind the unmanned vehicle, the safety of the vehicle merging into the traffic lane needs to be considered comprehensively, and the vehicle can only be merged into the traffic lane in a safe state, specifically, referring to fig. 3, an implementation manner for detecting whether the unmanned vehicle meets the condition of merging into the traffic lane includes the following steps:
step S1091, identifying whether the unmanned vehicle is positioned on a lane adjacent to the passing lane, and if so, executing step S1092.
If the unmanned vehicle is identified not to be located on the lane adjacent to the traffic lane, the unmanned vehicle needs to be merged into the lane adjacent to the traffic lane.
Step S1092, detecting whether a parallel vehicle which is parallel to the unmanned vehicle exists on the lane, if so, executing step S1093, otherwise, executing step S1094.
The with the side by side vehicle of unmanned vehicles side by side, include the rear of a vehicle side by side with the locomotive of unmanned vehicles is parallel, include the rear of a vehicle side by side with the automobile body of unmanned vehicles is parallel, include the locomotive of side by side vehicle with the automobile body of unmanned vehicles is parallel, and include the locomotive of side by side vehicle with the rear of a vehicle of unmanned vehicles is parallel.
Step S1093, determining that the unmanned vehicle does not satisfy the condition for merging into the traffic lane.
If there are vehicles in parallel with the unmanned vehicle on the traffic lane, the unmanned vehicle cannot be merged into the traffic lane at this time.
Step S1094 of detecting whether there is a rear vehicle located behind the unmanned vehicle on the traffic lane, and if there is no rear vehicle, step S1095 is executed, otherwise step S1096 is executed.
Step S1095, determining that the unmanned vehicle meets the condition of merging into the traffic lane.
When no vehicles in parallel with the unmanned vehicle are arranged on the passing lane and no vehicle behind the unmanned vehicle runs on the passing lane, the unmanned vehicle is considered to be safe to merge into the passing lane at the moment, namely the unmanned vehicle is determined to meet the condition of merging into the passing lane.
Step S1096, obtaining a distance between the rear vehicle and the unmanned vehicle.
One feasible way to obtain the distance between the rear vehicle and the unmanned vehicle is to mount a binocular camera behind the unmanned vehicle, then use the binocular camera to photograph the rear vehicle, and finally calculate the distance according to the base line, the focal length and the parallax of the binocular camera.
Another feasible way of obtaining the distance between the rear vehicle and the unmanned vehicle is that a vehicle-mounted radar is loaded on the unmanned vehicle, the vehicle-mounted radar continuously transmits signals and receives echo signals of an object, and the distance between the object and the vehicle-mounted radar can be determined according to the transmitted signals and the echo signals of the object.
Step S1097, determining whether the distance is greater than or equal to a preset merging safety distance, if so, executing step S1098, otherwise, executing step S1099.
The unmanned vehicle can be merged into the traffic lane only when the distance is greater than or equal to a preset merging safety distance.
Wherein, for a normally running vehicle, generally, the preset merging safety distance may be set to 50 meters.
In some embodiments, when the distance is greater than or equal to a preset merging safety distance, it is further detected whether the unmanned vehicle is located in a dashed-line section, if so, step S1098 is performed to determine that a condition for merging into the traffic lane is satisfied, if the unmanned vehicle is located in a solid-line section, step S1099 is performed to determine that the condition for merging into the traffic lane is not satisfied, after it is determined that the condition for merging into the traffic lane is not satisfied, the unmanned vehicle continues to travel on the traffic lane, step S1092 is performed to detect whether there is a side-by-side vehicle in the lane, if there is the side-by-side vehicle, step S1093 is performed, otherwise, step S1094 is performed.
Step S1098, determining that the condition of merging the traffic lane is satisfied.
Wherein, when it is determined that a condition for merging into the traffic lane is satisfied, then the unmanned vehicle may be further controlled to merge into the traffic lane.
Step S1099, determining that the condition for merging into the traffic lane is not satisfied.
Wherein, when it is determined that the condition for merging into the traffic lane is not satisfied, then the unmanned vehicle cannot be controlled to merge into the traffic lane.
Step S110, detecting whether a front vehicle exists in the passing lane in a preset distance in front of the unmanned vehicle, if so, executing step S111, otherwise, executing step S113.
Wherein the preset distance is at least greater than a braking distance of the unmanned vehicle.
Step S111 detects the traveling speed of the preceding vehicle.
In some embodiments, a speed sensor is provided on the unmanned vehicle to test the speed of the unmanned vehicle itself. And a distance sensor is arranged in front of the unmanned vehicle, so that the running speed of the front vehicle can be detected by testing the distance between the front vehicle and the unmanned vehicle and the speed of the unmanned vehicle.
And step S112, controlling the unmanned vehicle to merge into the traffic lane according to the running speed of the front vehicle.
One way of controlling the unmanned vehicle to merge into the traffic lane according to the running speed of the front vehicle is to control the unmanned vehicle to merge into the traffic lane at a speed lower than the running speed of the front vehicle, so that the unmanned vehicle can be prevented from colliding with the front vehicle in front of the unmanned vehicle on the traffic lane, and the driving safety of the unmanned vehicle is guaranteed.
In some implementations, in controlling the unmanned vehicle to merge into the traffic lane, the unmanned vehicle may be controlled to illuminate a corresponding turn light.
The turn signal lamp is a turn signal lamp that is turned on when the vehicle is turning left, and a turn signal lamp that is turned on when the vehicle is turning right.
And step S113, controlling the unmanned vehicle to merge into the traffic lane at a normal speed.
When the front vehicle does not exist in the preset distance in front of the unmanned vehicle, the unmanned vehicle can be controlled to be merged into the passing lane at a normal speed, and the influence on the running of the rear vehicle behind the unmanned vehicle on the passing lane can be avoided.
In some embodiments, the unmanned vehicle may be controlled to accelerate into the traffic lane when there is no preceding vehicle a preset distance in front of the unmanned vehicle, but the speed of the unmanned vehicle needs to be controlled to be less than the travel speed of the preceding vehicle.
In the embodiment of the invention, the driving route and the current driving lane of the unmanned vehicle are obtained; according to the driving route, obtaining a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light; acquiring a traffic lane corresponding to the driving direction; judging whether the passing lane is the same as the driving lane or not; if not, determining that the unmanned vehicle has a lane change requirement; obtaining a non-merge leg that is continuous from the traffic light and that is not merge into the traffic lane; acquiring the distance from the unmanned vehicle to the non-merging road section; judging whether the distance is smaller than or equal to a preset threshold value; if the distance is greater than the preset threshold value, the step of obtaining the distance from the unmanned vehicle to the non-merging road section is executed after preset time; if the distance is smaller than or equal to the preset threshold value, detecting whether the unmanned vehicle meets the condition of merging into the passing lane; if yes, detecting whether a front vehicle exists in a preset distance in front of the unmanned vehicle on the passing lane; detecting the running speed of the front vehicle if the front vehicle exists; and controlling the unmanned vehicle to be merged into the passing lane according to the running speed of the front vehicle. By the method for controlling the lane change of the vehicle, when the unmanned vehicle runs, in front of a traffic light and needs to change lanes, the lanes can be combined on the road section capable of combining lanes in time, and therefore normal running of the unmanned vehicle is guaranteed. According to the method for controlling the lane change of the vehicle, when the front vehicle exists in the preset distance in front of the passing lane to be merged, the unmanned vehicle can be controlled to be merged into the passing lane according to the running speed of the front vehicle, so that the unmanned vehicle is prevented from colliding with the front vehicle, and the influence of the unmanned vehicle on the normal running of the rear vehicle is avoided.
Example two
When a non-merging road section exists in a passing lane, when the distance between an unmanned vehicle and the non-merging road section is smaller than or equal to the preset threshold value, when the unmanned vehicle is detected to meet the condition of merging into the passing lane, the unmanned vehicle is controlled to merge into the passing lane. When the unmanned vehicle travels in the traffic lane, it is necessary to control the travel of the unmanned vehicle when there is a merging vehicle ahead of the unmanned vehicle for safety. Referring to fig. 4, fig. 4 is a schematic flowchart illustrating another method for controlling a lane change of a vehicle according to an embodiment of the present invention. The method is different from the first embodiment in that the method further comprises the following steps:
and step S114, detecting whether a lane merging vehicle exists in front of the unmanned vehicle or not in the process that the unmanned vehicle runs on the passing lane, and if so, executing step S115.
Wherein the merge vehicle is a vehicle that merges into the traffic lane from a lane adjacent to the traffic lane.
Step S115, recognizing whether a distance between the merging vehicle and the unmanned vehicle is less than a preset merging safety distance, if so, executing step S116.
For a normally running vehicle, the preset merging safety distance may be set to 50 meters, that is, when there is a merging vehicle in front of the unmanned vehicle within 50 meters, step S116 is executed.
And step S116, controlling the unmanned vehicle to decelerate or brake.
When the distance between the lane merging vehicle and the unmanned vehicle is smaller than the preset lane merging safety distance, the unmanned vehicle is controlled to decelerate or brake, and therefore the unmanned vehicle is guaranteed not to impact the lane merging vehicle.
In some embodiments, the unmanned vehicle is controlled to illuminate a warning lamp during the controlling of the unmanned vehicle to decelerate or brake.
In the process of controlling the deceleration or braking of the unmanned vehicle, the unmanned vehicle is controlled to light up a warning lamp, and then a warning can be given to the vehicle behind the unmanned vehicle, so that the rear vehicle is prevented from colliding with the unmanned vehicle.
In the embodiment of the invention, whether a merging vehicle exists in front of the unmanned vehicle is detected in the process that the unmanned vehicle runs on the passing lane, wherein the merging vehicle is a vehicle merged into the passing lane by a lane adjacent to the passing lane; if so, identifying whether the distance between the lane merging vehicle and the unmanned vehicle is smaller than a preset lane merging safety distance; if so, controlling the unmanned vehicle to decelerate or brake; and in the process of controlling the deceleration or braking of the unmanned vehicle, controlling the unmanned vehicle to light a warning lamp, so that the unmanned vehicle is prevented from colliding with a preceding merging vehicle when running on a passing lane, and the unmanned vehicle is safe to run on the passing lane.
EXAMPLE III
Referring to fig. 5, fig. 5 is a schematic diagram of an apparatus for controlling a lane change of a vehicle according to an embodiment of the present invention, where the apparatus 400 includes: a first obtaining module 401, configured to obtain a driving route and a current driving lane of the unmanned vehicle; a second obtaining module 402, configured to obtain, according to the driving route, a traffic light closest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light; a third obtaining module 403, configured to obtain a traffic lane corresponding to the driving direction; a first judging module 404, configured to judge whether the passing lane is the same as the driving lane; a determining module 405, configured to determine that the unmanned vehicle has a lane change requirement if the passing lane is different from the driving lane; a fourth obtaining module 406, configured to obtain a non-merge road segment that is continuous from the traffic light and is not able to merge into the traffic lane; a fifth obtaining module 407, configured to obtain a distance from the unmanned vehicle to the non-merging road segment; a second determining module 408, configured to determine whether the distance is smaller than or equal to a preset threshold, if the distance is greater than the preset threshold, execute the fifth obtaining module 407 after a preset time, and if the distance is smaller than or equal to the preset threshold, execute the first detecting module 409; a first detection module 409 for detecting whether the unmanned vehicle meets a condition for merging into the traffic lane; a fourth detecting module 414, configured to detect whether there is a vehicle ahead of the unmanned vehicle by a preset distance on the traffic lane if the unmanned vehicle meets a condition of merging into the traffic lane; a third detecting module 411, configured to detect a driving speed of the front vehicle if the front vehicle exists; a first control module 412, configured to control the unmanned vehicle to merge into the traffic lane according to a driving speed of the vehicle in front.
In some embodiments, the apparatus further comprises: a second control module 413, configured to control the unmanned vehicle to merge into the traffic lane at a normal speed if the front vehicle is not present.
In some embodiments, the first control module 412 is specifically configured to: controlling the unmanned vehicle to merge into the traffic lane at a speed less than a travel speed of the vehicle in front.
In some embodiments, the fourth obtaining module 406 includes: a first identification unit 4061 configured to identify whether the traffic lane is in a congested state; a fifth obtaining unit 4062, configured to, if the passing lane is in a congested state, obtain a continuously congested road segment of the passing lane from the traffic light, and use the continuously congested road segment as a non-merge road segment.
In some embodiments, the fourth obtaining module 406 further comprises: a sixth obtaining unit 4063, configured to, if the traffic lane is not in a congested state, obtain a continuous solid link from the traffic light, and regard the continuous solid link as a non-merge link.
In some embodiments, the first detection module 409 comprises: a second recognition unit 4091 for recognizing whether the unmanned vehicle is located on a lane adjacent to the traffic lane; a first detecting unit 4092 configured to detect whether there are side-by-side vehicles in the lane that are side by side with the unmanned vehicle, if the unmanned vehicle is located in a lane adjacent to the passing lane; a third determining unit 4093 configured to determine that the unmanned vehicle does not satisfy a condition for merging into the traffic lane if the side-by-side vehicle exists; a second detecting unit 4094 configured to detect whether there is a rear vehicle located behind the unmanned vehicle on the traffic lane if there is no parallel vehicle; a fourth determining unit 4095 configured to determine that the unmanned vehicle satisfies a condition for merging into the traffic lane if the rear vehicle does not exist; a seventh obtaining unit 4096 configured to obtain, if the rear vehicle exists, a distance between the rear vehicle and the unmanned vehicle; a third determining unit 4097, configured to determine whether the distance is greater than or equal to a preset merge safety distance; a fifth determining unit 4098, configured to determine that a condition for merging into the passing lane is satisfied if the distance is greater than or equal to a preset merging safety distance; a sixth determining unit 4099, configured to determine that the condition for merging into the traffic lane is not met if the distance is less than a preset merging safety distance.
In some embodiments, the apparatus 400 further comprises: a fourth detecting module 414, configured to detect whether there is a merging vehicle in front of the unmanned vehicle during the unmanned vehicle travels on the traffic lane, where the merging vehicle is a vehicle merged into the traffic lane by a lane adjacent to the traffic lane; the identification module 415 is configured to identify whether a distance between the merging vehicle and the unmanned vehicle is smaller than a preset merging safety distance if a merging vehicle exists in front of the unmanned vehicle; and the third control module 416 is configured to control the unmanned vehicle to decelerate or brake if the distance between the lane merging vehicle and the unmanned vehicle is less than the preset lane merging safety distance.
In the embodiment of the invention, a driving route and a current driving lane of the unmanned vehicle are acquired through a first acquisition module 401; acquiring a traffic light closest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light according to the driving route through a second acquisition module 402; acquiring a traffic lane corresponding to the driving direction through a third acquisition module 403; judging whether the passing lane is the same as the driving lane through a first judging module 404; if not, determining that the unmanned vehicle has a lane change requirement through a determination module 405; acquiring, by a fourth acquisition module 406, non-merge segments that are consecutive from the traffic lights and that cannot merge into the traffic lane; acquiring the distance from the unmanned vehicle to the non-merging road segment through a fifth acquisition module 407; judging whether the distance is smaller than or equal to a preset threshold value through a second judging module 408, if the distance is larger than the preset threshold value, executing a fifth acquiring module 407 after a preset time, and if the distance is smaller than or equal to the preset threshold value, executing a first detecting module 409; detecting, by a first detection module 409, whether the unmanned vehicle satisfies a condition for merging into the transit lane; if yes, detecting whether a front vehicle exists in the passing lane at a preset distance in front of the unmanned vehicle through a second detection module 410; if the front vehicle exists, detecting the running speed of the front vehicle through a third detection module 411; controlling, by the first control module 412, the unmanned vehicle to merge into the traffic lane according to a travel speed of the leading vehicle. Through the device for controlling the vehicle to change lanes, when the unmanned vehicle runs, in front of traffic lights and needs to change lanes, the lane can be merged on a road section in time, and therefore normal running of the unmanned vehicle is guaranteed. Through the device for controlling the vehicle lane change, when the front vehicle exists in the preset distance in front of the passing lane which needs to be merged, the unmanned vehicle can be controlled to be merged into the passing lane according to the running speed of the front vehicle, so that the collision between the unmanned vehicle and the front vehicle is avoided, and the influence of the unmanned vehicle on the normal running of the rear vehicle is avoided.
Example four
Referring to fig. 6, fig. 6 is a schematic hardware structure diagram of an unmanned vehicle according to an embodiment of the present invention. The unmanned vehicle 500 includes: one or more processors 501 and memory 502, one for example in fig. 6.
The processor 501 and the memory 502 may be connected by a bus or other means, and in the embodiment of the present invention, the bus connection is taken as an example.
The memory 502, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules (e.g., the modules shown in fig. 5) corresponding to the method of controlling a lane change of a vehicle in an embodiment of the present invention. The processor 501 executes various functional applications and data processing of the device for controlling a lane change of a vehicle, that is, implements the method of controlling a lane change of a vehicle of the above-described method embodiment, by executing nonvolatile software programs, instructions, and modules stored in the memory 502.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a device that controls lane change of the vehicle, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, which may be connected to a control drone vehicle lane-change device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 502 and, when executed by the one or more processors 501, perform a method of controlling a vehicle lane change in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for an unmanned vehicle to perform a method of controlling a vehicle lane change in any of the above method embodiments.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a method of controlling a vehicle lane change in any of the method embodiments described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A method for controlling lane change of a vehicle, which is applied to an unmanned vehicle, is characterized by comprising the following steps:
acquiring a driving route and a current driving lane of the unmanned vehicle;
according to the driving route, obtaining a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light;
acquiring a traffic lane corresponding to the driving direction;
judging whether the passing lane is the same as the driving lane or not;
if not, determining that the unmanned vehicle has a lane change requirement;
obtaining a non-merge leg that is continuous from the traffic light and that is not merge into the traffic lane;
acquiring the distance from the unmanned vehicle to the non-merging road section;
judging whether the distance is smaller than or equal to a preset threshold value;
if the distance is greater than the preset threshold value, the step of obtaining the distance from the unmanned vehicle to the non-merging road section is executed after preset time;
if the distance is smaller than or equal to the preset threshold value, detecting whether the unmanned vehicle meets the condition of merging into the passing lane;
if yes, detecting whether a front vehicle exists in a preset distance in front of the unmanned vehicle on the passing lane;
detecting the running speed of the front vehicle if the front vehicle exists;
controlling the unmanned vehicle to merge into the traffic lane according to the running speed of the front vehicle;
the step of acquiring a non-merge road segment that is continuous from the traffic light and that is not merge into the traffic lane, further comprising:
identifying whether the traffic lane is in a congestion state;
if so, acquiring a continuous jammed road section of the passing lane from the traffic light, and taking the continuous jammed road section as a non-merging road section;
the step of acquiring a non-merge road segment that is continuous from the traffic light and that is not merge into the traffic lane, further comprising:
and if the passing lane is not in a congestion state, acquiring a continuous solid line section from the traffic light, and taking the continuous solid line section as a non-merging section.
2. The method of claim 1, wherein the step of detecting whether the unmanned vehicle satisfies a condition for merging into the transit lane further comprises:
identifying whether the unmanned vehicle is located on a lane adjacent to the traffic lane;
if so, detecting whether a parallel vehicle which is parallel to the unmanned vehicle exists on the lane;
if the side-by-side vehicles exist, determining that the unmanned vehicle does not meet the condition of merging into the traffic lane;
if the parallel vehicles do not exist, detecting whether a rear vehicle behind the unmanned vehicle exists on the passing lane;
if the rear vehicle does not exist, determining that the unmanned vehicle meets the condition of merging into the passing lane;
if the rear vehicle exists, acquiring the distance between the rear vehicle and the unmanned vehicle;
judging whether the distance is greater than or equal to a preset merging safety distance;
if so, determining that the condition of merging into the passing lane is met;
if not, determining that the condition of merging into the traffic lane is not met.
3. An apparatus for controlling lane change of a vehicle, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a driving route and a current driving lane of an unmanned vehicle;
the second acquisition module is used for acquiring a traffic light closest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light according to the driving route;
the third acquisition module is used for acquiring a traffic lane corresponding to the driving direction;
the first judgment module is used for judging whether the passing lane is the same as the driving lane or not;
the determining module is used for determining that the unmanned vehicle has a lane change requirement if the passing lane is different from the driving lane;
a fourth acquisition module for acquiring a non-merge section which is continuous from the traffic light and can not merge into the traffic lane;
the fifth acquisition module is used for acquiring the distance between the unmanned vehicle and the non-merging road section;
the second judgment module is used for judging whether the distance is smaller than or equal to a preset threshold value, if the distance is larger than the preset threshold value, the fifth acquisition module is executed after preset time, and if the distance is smaller than or equal to the preset threshold value, the first detection module is executed;
a first detection module for detecting whether the unmanned vehicle satisfies a condition for merging into the traffic lane;
the second detection module is used for detecting whether a front vehicle exists in the passing lane at a preset distance in front of the unmanned vehicle if the unmanned vehicle meets the condition of merging into the passing lane;
the third detection module is used for detecting the running speed of the front vehicle if the front vehicle exists;
the first control module is used for controlling the unmanned vehicle to merge into the passing lane according to the running speed of the front vehicle;
the fourth obtaining module includes: a first identification unit for identifying whether the passing lane is in a congestion state; a fifth obtaining unit, configured to obtain a continuously congested road segment of the traffic lane from the traffic light if the traffic lane is in a congested state, and use the continuously congested road segment as a non-merge road segment;
the fourth obtaining module further comprises: a sixth acquiring unit, configured to acquire a continuous solid link from the traffic light if the traffic lane is not in a congested state, and regard the continuous solid link as a non-merge link.
4. An unmanned vehicle, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-2.
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| CN115092140A (en) * | 2022-06-22 | 2022-09-23 | 广州小鹏自动驾驶科技有限公司 | Lane change position control method, lane change position control device, vehicle, and storage medium |
| CN115923798B (en) * | 2023-01-09 | 2024-03-08 | 广州小鹏自动驾驶科技有限公司 | Vehicle lane change control method, electronic device, vehicle and storage medium |
| CN116279485B (en) * | 2023-03-28 | 2024-04-19 | 深圳市康士达科技有限公司 | Automatic lane changing method based on unmanned vehicle, control chip and electronic equipment |
| CN116740939A (en) * | 2023-06-29 | 2023-09-12 | 西部科学城智能网联汽车创新中心(重庆)有限公司 | Intelligent network-connected vehicle running planning method and device |
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| CN112693465A (en) | 2021-04-23 |
| CN114194193A (en) | 2022-03-18 |
| CN114194193B (en) | 2023-06-27 |
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