CN112735134B - Multi-lane roundabout entering method for automatically driving vehicle - Google Patents
Multi-lane roundabout entering method for automatically driving vehicle Download PDFInfo
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- CN112735134B CN112735134B CN202011631472.9A CN202011631472A CN112735134B CN 112735134 B CN112735134 B CN 112735134B CN 202011631472 A CN202011631472 A CN 202011631472A CN 112735134 B CN112735134 B CN 112735134B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Abstract
The invention provides a multi-lane roundabout entering method of an automatic driving vehicle, which comprises the following steps: step 1, when a preset condition is met, a vehicle acquires a roundabout map; step 2, establishing a plane coordinate system of the rotary island; step 3, acquiring driving environment parameters of lanes outside the roundabout and driving environment parameters of lanes inside the roundabout; and 4, judging whether the vehicle can drive to a preset position by a preset roundabout outside lane path, if so, determining a first driving parameter according to the driving environment parameter of the roundabout outside lane, otherwise, judging that the vehicle needs to drive to the preset position by the preset roundabout inside lane path, and determining a second driving parameter according to the driving environment parameter of the roundabout outside lane and the driving environment parameter of the roundabout inside lane. The invention realizes high-efficiency and safe access to the multi-lane roundabout.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a multi-lane roundabout entering method of an automatic driving vehicle.
Background
In the urban road intersection, the roundabout is not controlled by a signal lamp, so that traffic accidents caused by road robbing are very easy to happen when the roundabout enters and exits, and the traffic efficiency is influenced by too slow running.
The current technical scheme of entering the roundabout does not consider the situation that a long vehicle enters the roundabout with multiple lanes and the situation that the vehicle path in the roundabout changes, and can not adapt to the situation of the roundabout with multiple lanes.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a multi-lane roundabout entering method for automatically driving a vehicle, which aims to overcome the defects in the prior art and realize high-efficiency and safe entering of the multi-lane roundabout.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides a multi-lane roundabout entering method of an automatic driving vehicle, which comprises the following steps:
step 1, when a preset condition is met, a vehicle acquires a roundabout map;
step 2, establishing a plane coordinate system of the rotary island, wherein the plane coordinate system of the rotary island takes a central point O of the rotary island as an original point, takes a ray which passes through the original point and is consistent with the current forward direction of the vehicle as a Y axis, and takes a vertical Y axis as an X axis;
step 3, obtaining driving environment parameters of an external lane of the roundabout and driving environment parameters of an internal lane of the roundabout, wherein the driving environment parameters of the external lane of the roundabout comprise: the driving environment parameters of the inner lane of the roundabout comprise a left inner operating parameter and a right inner operating parameter;
and 4, judging whether the vehicle can drive to a preset position by a preset driving environment path of the lane outside the roundabout or not according to the driving environment parameter of the lane outside the roundabout, the driving environment parameter of the lane inside the roundabout, the acceleration curve of the vehicle, the length and the width of the vehicle, if so, determining a first driving parameter according to the driving environment parameter of the lane outside the roundabout, otherwise, judging that the vehicle needs to drive to the preset position by the preset driving environment path of the lane inside the roundabout, and determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout.
Specifically, the step of determining a first driving parameter according to the driving environment parameter of the lane outside the roundabout comprises the following steps: if the state of the left outer turn light is right turn, the determination method of the first driving parameter is as follows:
a1) setting a steering angle of a steering wheel of the vehicle as a first steering angle;
b1) and determining a first vehicle speed curve of the vehicle according to the right-side outside vehicle speed, the right-side outside distance and the forward safety distance.
Specifically, the step of determining a first driving parameter according to the driving environment parameter of the lane outside the roundabout comprises the following steps: if the left outer turn light is not turned on, the first driving parameter determining method comprises the following steps:
a2) setting a steering angle of a steering wheel of the vehicle as a first steering angle;
b2) and judging whether a second vehicle speed curve exists or not so that the vehicle enters the roundabout outside lane according to the preset roundabout outside lane path within the first entering time, wherein the left side outside distance is larger than or equal to the backward safe distance, and the right side outside distance is larger than or equal to the forward safe distance, if so, setting the vehicle speed curve as the second vehicle speed curve, and otherwise, controlling the vehicle to stop for waiting.
Specifically, determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout comprises: if the left outer turn light state and the left inner turn light state are both right turns, the second driving parameter determining method comprises the following steps:
a3) setting the steering wheel angle of the vehicle as a second steering angle;
b3) determining a third vehicle speed curve of the vehicle in the lane outside the roundabout according to the right-side outside vehicle speed, the right-side outside distance and the forward safety distance;
c3) and determining a fourth vehicle speed curve of the vehicle in the inner lane according to the right inner vehicle speed, the right inner space and the forward safe space.
Specifically, determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout comprises: if the left outer turn light state and the left inner turn light state are not turned on, the second driving parameter determining method comprises the following steps:
a4) setting the steering wheel angle of the vehicle as a second steering angle;
b4) judging whether a fifth vehicle speed curve exists or not, so that the vehicle enters an island outer lane according to a preset island inner lane path within second entering time, the left side outer spacing is larger than or equal to a backward safety spacing, and the left side inner spacing is larger than or equal to a forward safety spacing, if yes, entering the next step, and if not, controlling the vehicle to stop for waiting;
c4) and judging whether a sixth speed curve exists or not so that the vehicle can enter the inner lane of the roundabout from the outer lane of the roundabout within a third entering time according to a preset inner lane path of the roundabout, wherein the left inner space is larger than or equal to the backward safe space, and the right inner space is larger than or equal to the forward safe space, if so, setting the speed curve of the vehicle entering the outer lane of the roundabout as a fifth speed curve, setting the speed curve of the vehicle entering the outer lane of the roundabout as a sixth speed curve, and if not, controlling the vehicle to stop for waiting.
Specifically, determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout comprises: if the left outer turn signal lamp state is right turn and the left inner turn signal lamp state is not turned on, the second driving parameter determining method comprises the following steps:
a5) setting the steering wheel angle of the vehicle as a second steering angle;
b5) judging whether a seventh speed curve exists or not, so that the vehicle enters the inner lane of the roundabout from the outer lane of the roundabout according to a preset inner lane path of the roundabout within a third time, the left-side inner distance is larger than or equal to the backward safety distance, and the right-side inner distance is larger than or equal to the forward safety distance, if yes, entering the next step, and if not, controlling the vehicle to stop for waiting;
c5) and setting a speed curve of the vehicle entering the inner lane of the roundabout as a seventh speed curve, and determining an eighth speed curve of the vehicle in the outer lane according to the right-side outer vehicle speed, the right-side outer distance and the forward safe distance safety distance.
Specifically, determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout comprises: if the left outer turn signal is not turned on and the left inner turn signal is turned right, the second driving parameter is determined by the following steps:
a6) setting the steering wheel angle of the vehicle as a second steering angle;
b6) judging whether a ninth vehicle speed curve exists or not, so that the condition that the left-side outer spacing is larger than or equal to the backward safety spacing and the right-side outer spacing is larger than or equal to the forward safety spacing is met within the fourth time when the vehicle enters the roundabout outer lane according to the preset roundabout inner lane path, if yes, entering the next step, and if not, controlling the vehicle to stop for waiting;
c6) and setting a speed curve of the vehicle entering the lane outside the roundabout as a ninth speed curve, and determining a tenth speed curve of the vehicle in the lane according to the right-side inner vehicle speed, the right-side inner distance and the forward safe distance safety distance.
Specifically, the meeting of the preset condition includes: when the vehicle detects the roundabout sign, or the time or the distance is preset before the vehicle enters the roundabout.
Specifically, the acquiring the roundabout map includes: and acquiring a roundabout map from a server, or reading a local high-precision map stored in the vehicle.
The invention has the beneficial effects that: according to the invention, the roundabout map is obtained, the roundabout plane coordinate system is established, and the driving environment parameters of the lanes outside the roundabout and the driving environment parameters of the lanes inside the roundabout are obtained, so that the driving path of the vehicle running to the preset position is judged, the corresponding driving parameters are determined according to the driving path, and the purpose of efficiently and safely entering the multi-lane roundabout is realized.
Drawings
FIG. 1 is a schematic flow diagram of a multi-lane roundabout entry method of an autonomous vehicle of the present invention;
fig. 2 is a schematic diagram of the multi-lane rotary island vehicle state of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
The host vehicle M0 of the present invention has the following features:
1. the vehicle M0 at least comprises 4 wheels and is a road vehicle using a fuel engine or a storage battery to output power;
2. the vehicle M0 has a power system, a steering system and a brake system;
3. the host vehicle M0 has a camera and radar system installed outside the vehicle for detecting the running environment;
4. the host vehicle M0 has a car navigation system that can calculate the real-time position of the host vehicle M0 on a map and plan a traveling route, and a storage device;
5. the storage device of the vehicle M0 stores a traffic sign library and a speed database of the length, width, vehicle weight, load capacity and 0-60 km/h acceleration of the vehicle M0;
6. the host vehicle M0 has a communication device that performs communication using a network.
As shown in fig. 1, the present embodiment provides a multi-lane roundabout entering method of an autonomous vehicle, including:
step 1, when a preset condition is met, the vehicle acquires a roundabout map.
In this embodiment, the meeting the preset condition includes: when the vehicle detects the roundabout sign, or the time or the distance is preset before the vehicle enters the roundabout.
In this embodiment, the acquiring the roundabout map includes: and acquiring a roundabout map from a server, or reading a local high-precision map stored in the vehicle.
And 2, establishing a plane coordinate system of the rotary island, wherein the plane coordinate system of the rotary island takes a central point O of the rotary island as an original point, takes a ray which passes through the original point and is consistent with the current advancing direction of the vehicle as a Y axis, and takes a vertical Y axis as an X axis.
Step 3, obtaining driving environment parameters of an external lane of the roundabout and driving environment parameters of an internal lane of the roundabout, wherein the driving environment parameters of the external lane of the roundabout comprise: the driving environment parameters of the inner lane of the roundabout comprise a left inner operating parameter and a right inner operating parameter.
As shown in fig. 2, the left-side external running parameter is a running parameter of a vehicle M (1L) nearest to the host vehicle M0 on the Y-axis left-side roundabout external lane, and is denoted as P (1L), and the right-side external running parameter is a running parameter of a vehicle M (1R) nearest to the host vehicle M0 on the Y-axis right-side roundabout external lane, and is denoted as P (1R); the left-side internal operation parameter is an operation parameter of a vehicle M (2L) nearest to the vehicle M0 on the inner lane of the left roundabout on the Y axis and is recorded as P (2L), and the right-side internal operation parameter is an operation parameter of a vehicle M (2R) nearest to the vehicle M0 on the inner lane of the right roundabout on the Y axis and is recorded as P (2R).
The left-side external operation parameter P (1L) includes: the vehicle speed V (1L) of the vehicle M (1L) is recorded as the left-side outside vehicle speed; the distance D (1L) between the vehicle M (1L) and the host vehicle M0 is recorded as the left outside distance; a turn signal state Z (1L) of the vehicle M (1L) is recorded as a left outer turn signal state;
the right external operation parameter P (1R) includes: the vehicle speed V (1R) of the vehicle M (1R), which is regarded as the right-side outside vehicle speed; the distance D (1R) between the vehicle M (1R) and the host vehicle M0 is recorded as the right outside distance; a turn signal state Z (1R) of the vehicle M (1R), which is recorded as a right outer turn signal state;
the left-side internal operating parameter P (2L) includes: the vehicle speed V (2L) of the vehicle M (2L) is recorded as the left-side inner vehicle speed; the distance D (2L) between the vehicle M (2L) and the host vehicle M0 is recorded as the left-side inter-distance; a turn signal state Z (2L) of the vehicle M (2L) is recorded as a left inner turn signal state;
the right internal operating parameter P (2R) includes: the vehicle speed V (2R) of the vehicle M (2R) is recorded as the right-side inner vehicle speed; the distance D (2R) between the vehicle M (2R) and the host vehicle M0 is recorded as the right-side inner distance; the right inner winker state Z (2R) of the vehicle M (2R) is described as a right inner winker state.
And 4, judging whether the vehicle M0 can drive to a preset position by a preset roundabout outside lane path S (outside) or not according to the roundabout outside lane driving environment parameters, the driving environment parameters of the roundabout inside lane, the acceleration curve of the vehicle, the length L and the width W of the vehicle, if so, determining a first driving parameter P (1) according to the driving environment parameters of the roundabout outside lane, otherwise, judging that the vehicle needs to drive to a preset position by the preset roundabout inside lane path S (inside), and determining a second driving parameter P (2) according to the driving environment parameters of the roundabout outside lane and the driving environment parameters of the roundabout inside lane.
It is easy to understand that when the starting point and the target point of the vehicle are determined, the preset roundabout outer lane path S (outer) and the preset roundabout inner lane path S (inner) can be uniquely determined by calculation.
The steering wheel corner corresponding to the preset roundabout outside lane path S (outside) is a first corner alpha (01), and the steering wheel corner corresponding to the preset roundabout outside lane path S (outside) is a second corner alpha (02).
In the present embodiment, the starting point of the host vehicle is set as the central position of the junction between the driving lane before the host vehicle enters the roundabout and the roundabout, as shown by point P0; the target point is set as the position of the tangent line of the central line of the lane after the vehicle enters the roundabout lane and is parallel to the central axis of the vehicle for the first time.
A. Determining a first driving parameter according to the driving environment parameter of the lane outside the roundabout comprises the following steps:
a1, if the left outer turn signal state is right turn, the method for determining the first driving parameter P (1) is as follows:
a1) setting a steering angle of a steering wheel of the vehicle as a first steering angle;
b1) and determining a first vehicle speed curve f1(V) of the vehicle according to the right side outer vehicle speed V (1R), the right side outer distance D (1R) and the forward safe distance D (SR).
In the above step, when the vehicle in the lane outside the island on the left side exits the island, the vehicle speed V (1L) and the distance D (1L) of the vehicle M (1L) have no influence on the vehicle M0, and the vehicle M may ensure that the vehicle M0 does not cause the vehicle M (1R) in the lane outside the island on the right side to collide with each other.
The speed curve of the vehicle is determined by the acceleration curve of the vehicle and the currently output power.
The forward safe distance d (sr) is determined based on the relative speed of the host vehicle, the vehicle M (1R), and the time to collision TTC.
A2, if the left outer turn signal is not turned on, the method for determining the first driving parameter P (1) is as follows:
a2) setting a steering angle of a steering wheel of the vehicle as a first steering angle;
b2) and judging whether a second vehicle speed curve f2(V) exists or not so that the vehicle meets the conditions that the left outer distance D (1L) is more than or equal to the backward safe distance D (SL) and the right outer distance D (1R) is more than or equal to the forward safe distance D (SR) within the first entering time when the vehicle enters the roundabout outer lane according to the preset roundabout outer lane path S (outer), if so, setting the vehicle speed curve as a second vehicle speed curve f2(V), and otherwise, controlling the vehicle to stop for waiting.
The rear safe distance d (sl) is determined based on the relative speed of the host vehicle and the vehicle M (1L) and the time to collision TTC.
B. Determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout comprises the following steps:
b1, if the left outer turn signal state Z (1L) and the left inner turn signal state Z (2L) are both right turns, the method for determining the second driving parameter P (2) is as follows:
a3) setting the steering wheel angle of the vehicle as a second steering angle;
b3) determining a third vehicle speed curve f3(V) of the vehicle in the lane outside the roundabout according to the right side outside vehicle speed V (1R), the right side outside distance D (1R) and the forward safe distance D (SR);
c3) and determining a fourth vehicle speed curve f4(V) of the vehicle in the inner lane according to the right inner vehicle speed V (2R), the right inner space D (2R) and the forward safe space D (SR).
In the above step, the vehicles in the outer lane and the inner lane of the left roundabout are all about to exit the roundabout, and at this time, the vehicle speed V (1L) and the distance D (1L) of the vehicle M (1L), the vehicle speed V (2L) and the distance D (2L) of the vehicle M (2L) have no influence on the vehicle, and the vehicle is ensured not to collide with the vehicle M (1R) in the outer lane and the vehicle M (2R) in the inner lane of the right roundabout.
Step B2, if neither the left outside turn signal state Z (1L) nor the left inside turn signal state Z (2L) is turned on, the method for determining the second driving parameter P (2) is:
a4) setting a steering angle of a steering wheel of the vehicle to a second steering angle alpha (02);
b4) and judging whether a fifth vehicle speed curve f5(V) exists or not so that the left-side outer distance D (1L) is more than or equal to the backward safe distance D (SL) and the left-side inner distance D (1R) is more than or equal to the forward safe distance D (SR) within the second entering time when the vehicle enters the roundabout outer lane according to the preset roundabout inner lane route S (inner), if so, entering the next step, and otherwise, controlling the vehicle to stop for waiting.
c4) And judging whether a sixth vehicle speed curve f6(V) exists or not so that the vehicle meets the conditions that the left-side inner distance D (2L) is more than or equal to the backward safe distance D (SL) and the right-side inner distance D (2R) is more than or equal to the forward safe distance D (SR) within the third entering time when the vehicle enters the inner lane of the roundabout from the outer lane of the roundabout according to the preset inner lane route S (inner) of the roundabout, if so, setting the vehicle speed curve when the vehicle enters the outer lane of the roundabout as a fifth vehicle speed curve f5(V), setting the vehicle speed curve when the vehicle enters the outer lane of the roundabout as a sixth vehicle speed curve f6(V), and otherwise, controlling the vehicle to stop and wait.
Step B3, if the left outside turn signal state Z (1L) is right turn and the left inside turn signal state Z (2L) is not turned on, the method for determining the second driving parameter P (2) is as follows:
a) setting a steering angle of a steering wheel of the vehicle to a second steering angle alpha (02);
b) and judging whether a seventh vehicle speed curve f7(V) exists or not, so that the vehicle meets the requirements that the distance D (2L) in the left side is more than or equal to the backward safe distance D (SL) and the distance D (2R) in the right side is more than or equal to the forward safe distance D (SR) in the third time when the vehicle enters the lane in the roundabout from the lane outside the roundabout according to the preset lane path S (inside) in the roundabout, if so, the vehicle enters the next step, and if not, the vehicle is controlled to stop for waiting.
c) And setting a vehicle speed curve of the vehicle entering the lane in the roundabout as a seventh vehicle speed curve f7(V), and determining an eighth vehicle speed curve f8(V) of the vehicle in the lane outside according to the right-side outside vehicle speed V (1R), the right-side outside distance D (1R) and the forward safe distance D (SR).
Step B4, if the left outer turn signal state Z (1L) is not turned on and the left inner turn signal state Z (2L) is turned right, the method for determining the second driving parameter P (2) is as follows:
a) setting a steering angle of a steering wheel of the vehicle to a second steering angle alpha (02);
b) and judging whether a ninth vehicle speed curve f9(V) exists or not so that the fourth time when the vehicle enters the roundabout outer lane according to the preset roundabout inner lane path S (inner) meets the conditions that the left-side outer distance D (1L) is more than or equal to the backward safe distance D (SL) and the right-side outer distance D (1R) is more than or equal to the forward safe distance D (SR), if yes, entering the next step, and otherwise, controlling the vehicle to stop for waiting.
c) And setting a vehicle speed curve of the vehicle entering the lane outside the roundabout island as a ninth vehicle speed curve f9(V), and determining a tenth vehicle speed curve f10(V) of the vehicle in the lane according to the right side inner vehicle speed V (2R), the right side inner distance D (2R) and the forward safe distance D (SR).
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.
Claims (3)
1. A multi-lane roundabout entry method for an autonomous vehicle, comprising:
step 1, when a preset condition is met, a vehicle acquires a roundabout map;
step 2, establishing a plane coordinate system of the rotary island, wherein the plane coordinate system of the rotary island takes a central point O of the rotary island as an original point, takes a ray which passes through the original point and is consistent with the current forward direction of the vehicle as a Y axis, and takes a vertical Y axis as an X axis;
step 3, obtaining driving environment parameters of an external lane of the roundabout and driving environment parameters of an internal lane of the roundabout, wherein the driving environment parameters of the external lane of the roundabout comprise: the driving environment parameters of the inner lane of the roundabout comprise a left inner operating parameter and a right inner operating parameter;
step 4, judging whether the vehicle can drive to a preset position by a preset driving environment path of the lane outside the roundabout according to the driving environment parameter of the lane outside the roundabout, the driving environment parameter of the lane inside the roundabout, the acceleration curve of the vehicle, the length and the width of the vehicle, if so, determining a first driving parameter according to the driving environment parameter of the lane outside the roundabout, otherwise, judging that the vehicle needs to drive to the preset position by the preset driving environment path of the lane inside the roundabout, and determining a second driving parameter according to the driving environment parameter of the lane outside the roundabout and the driving environment parameter of the lane inside the roundabout, wherein the steps comprise:
if the state of the left outer turn light is right turn, the determination method of the first driving parameter is as follows:
a1) setting a steering angle of a steering wheel of the vehicle as a first steering angle;
b1) determining a first vehicle speed curve of the vehicle according to the right-side outside vehicle speed, the right-side outside distance and the forward safety distance;
if the left outer turn light is not turned on, the first driving parameter determining method comprises the following steps:
a2) setting a steering angle of a steering wheel of the vehicle as a first steering angle;
b2) judging whether a second vehicle speed curve exists or not, so that the vehicle enters an extra-roundabout lane according to a preset extra-roundabout lane path within a first entering time, wherein the left-side outer spacing is larger than or equal to a backward safety spacing, and the right-side outer spacing is larger than or equal to a forward safety spacing, if so, setting the vehicle speed curve as the second vehicle speed curve, and otherwise, controlling the vehicle to stop for waiting;
if the left outer turn light state and the left inner turn light state are both right turns, the second driving parameter determining method comprises the following steps:
a3) setting the steering wheel angle of the vehicle as a second steering angle;
b3) determining a third vehicle speed curve of the vehicle in the lane outside the roundabout according to the right-side outside vehicle speed, the right-side outside distance and the forward safety distance;
c3) determining a fourth vehicle speed curve of the vehicle in the inner lane according to the right inner vehicle speed, the right inner space and the forward safety space;
if the left outer turn light state and the left inner turn light state are not turned on, the second driving parameter determining method comprises the following steps:
a4) setting the steering wheel angle of the vehicle as a second steering angle;
b4) judging whether a fifth vehicle speed curve exists or not, so that the vehicle enters an island outer lane according to a preset island inner lane path within second entering time, the left side outer spacing is larger than or equal to a backward safety spacing, and the left side inner spacing is larger than or equal to a forward safety spacing, if yes, entering the next step, and if not, controlling the vehicle to stop for waiting;
c4) judging whether a sixth speed curve exists or not so that the vehicle can enter the inner lane of the roundabout from the outer lane of the roundabout within third entering time according to a preset inner lane path of the roundabout, wherein the left inner space is larger than or equal to the backward safe space, and the right inner space is larger than or equal to the forward safe space;
if the left outer turn signal lamp state is right turn and the left inner turn signal lamp state is not turned on, the second driving parameter determining method comprises the following steps:
a5) setting the steering wheel angle of the vehicle as a second steering angle;
b5) judging whether a seventh speed curve exists or not, so that the vehicle enters the inner lane of the roundabout from the outer lane of the roundabout according to a preset inner lane path of the roundabout within a third time, the left-side inner distance is larger than or equal to the backward safety distance, and the right-side inner distance is larger than or equal to the forward safety distance, if yes, entering the next step, and if not, controlling the vehicle to stop for waiting;
c5) setting a speed curve of the vehicle entering a lane in the roundabout as a seventh speed curve, and determining an eighth speed curve of the vehicle in the lane outside according to the right-side outside vehicle speed, the right-side outside distance and the forward safe distance;
if the left outer turn signal is not turned on and the left inner turn signal is turned right, the second driving parameter is determined by the following steps:
a6) setting the steering wheel angle of the vehicle as a second steering angle;
b6) judging whether a ninth vehicle speed curve exists or not, so that the condition that the left-side outer spacing is larger than or equal to the backward safety spacing and the right-side outer spacing is larger than or equal to the forward safety spacing is met within the fourth time when the vehicle enters the roundabout outer lane according to the preset roundabout inner lane path, if yes, entering the next step, and if not, controlling the vehicle to stop for waiting;
c6) and setting a speed curve of the vehicle entering the lane outside the roundabout as a ninth speed curve, and determining a tenth speed curve of the vehicle in the lane according to the right-side inner vehicle speed, the right-side inner distance and the forward safe distance safety distance.
2. The multi-lane roundabout entry method of an autonomous vehicle according to claim 1, wherein said meeting a preset condition comprises: when the vehicle detects the roundabout sign, or the time or the distance is preset before the vehicle enters the roundabout.
3. The multi-lane roundabout entry method for an autonomous vehicle according to claim 1, wherein said obtaining a roundabout map comprises: and acquiring a roundabout map from a server, or reading a local high-precision map stored in the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011631472.9A CN112735134B (en) | 2020-12-30 | 2020-12-30 | Multi-lane roundabout entering method for automatically driving vehicle |
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| CN202011631472.9A CN112735134B (en) | 2020-12-30 | 2020-12-30 | Multi-lane roundabout entering method for automatically driving vehicle |
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| CN112735134A CN112735134A (en) | 2021-04-30 |
| CN112735134B true CN112735134B (en) | 2022-04-19 |
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| CN111258300A (en) * | 2020-01-22 | 2020-06-09 | 长安大学 | System and method for testing traffic capacity of unmanned vehicle beacon-free roundabout |
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| CN110871793A (en) * | 2018-08-31 | 2020-03-10 | 现代自动车株式会社 | Collision avoidance control system and method |
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