CN112937584B - Automatic lane changing control method and device and automobile - Google Patents
Automatic lane changing control method and device and automobile Download PDFInfo
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- CN112937584B CN112937584B CN202110351789.5A CN202110351789A CN112937584B CN 112937584 B CN112937584 B CN 112937584B CN 202110351789 A CN202110351789 A CN 202110351789A CN 112937584 B CN112937584 B CN 112937584B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
Abstract
The patent relates to an automatic lane changing control method and device and an automobile, and aims to realize automatic overtaking lane changing of the automobile. The automatic lane change control method comprises the following steps: respectively solving the traffic flow speeds in the current lane of the vehicle and the adjacent lane of the vehicle based on the collected road information in the preset distance range in front of the vehicle; solving overtaking scores representing that the vehicle safely changes lanes towards the adjacent lanes on the basis of all traffic flow speeds obtained by solving; judging whether the vehicle can change lanes or not based on the overtaking score obtained by solving; and if the lane change of the vehicle is determined, selecting a target lane, and controlling the vehicle to automatically change the lane towards the target lane.
Description
Technical Field
The patent belongs to the field of automatic driving, and particularly relates to an automatic lane changing control method and device and an automobile.
Background
With the development of artificial intelligence technology, multi-sensor fusion technology and control decision technology, the demand for automatically driving automobiles is more and more strong. The automatic driving automobile can be classified into no grades from L1 to L5 according to the use scene, technical capability and the like of the automatic driving automobile. Where L2 is advanced driving assistance, L3 level is conditional autonomous driving, L4 level is full autonomous driving of a defined area, and L5 is full autonomous driving.
The industry is currently focusing on mass production of automated driving technologies at the level L2-L3, which is primarily directed to limited automated driving capabilities in urban expressway and highway scenarios. The system comprises main functions of lane centering driving, vehicle self-adaptive cruising, automatic lane changing and the like.
For point-to-point automatic driving tasks of structured roads such as expressways, besides basic lane centering and vehicle self-adaptive cruising, an automatic driving system is required to have the capabilities of automatically ascending and descending ramps, automatically switching interactive driving, automatically overtaking and changing lanes and the like. The automatic overtaking lane changing function means that when a navigation path is opened, vehicles which run slowly exist in a driving lane of the vehicle, and when the vehicle speed of an adjacent lane is high, the vehicle can automatically execute an overtaking lane changing instruction so as to improve the overall passing efficiency. In order to bring good use experience to users, the timing of automatic overtaking lane changing needs to be as close as possible to the intention of the driver, so the decision-making method of automatic overtaking lane changing is very important.
Disclosure of Invention
The patent relates to an automatic lane changing control method and device and an automobile, and aims to realize automatic overtaking lane changing of the automobile.
The technical scheme of the invention is as follows:
the embodiment of the invention provides an automatic lane change control method, which comprises the following steps:
respectively solving the traffic flow speeds in the current lane of the vehicle and the adjacent lane of the vehicle based on the collected road information in the preset distance range in front of the vehicle;
solving overtaking scores representing that the vehicle safely changes lanes towards the adjacent lanes on the basis of all traffic flow speeds obtained by solving;
judging whether the vehicle can change lanes or not based on the overtaking score obtained by solving;
and if the lane change of the vehicle is determined, selecting a target lane, and controlling the vehicle to automatically change the lane towards the target lane.
Preferably, the solving of the traffic flow speed of the adjacent lane of the host vehicle comprises:
if the left side of the vehicle has an adjacent lane, the following formula is used:
calculating the traffic flow speed leftLaneSpeed of the left adjacent lane of the vehicle; wherein alpha is1And beta1Is a weight coefficient, α1And beta1The sum of (1); leftLaneobjnLongV represents a longitudinal speed of an nth target in front of the host vehicle in an adjacent lane on the left side of the host vehicle; leftLaneobj1LongV stands for bookThe longitudinal speed of a target which is in front of the vehicle and is closest to the vehicle in longitudinal distance in the adjacent lane on the left side of the vehicle;
if the adjacent lane exists on the right side of the vehicle, the following formula is used:
calculating the traffic flow speed RightLaneSpeed of the adjacent lane at the right side of the vehicle; wherein alpha is2And beta2Is a weight coefficient, α2And beta2The sum of (1); RightLaneObjnLongV represents a longitudinal speed of an m-th front target in front of the host vehicle in an adjacent lane on the right side of the host vehicle; RightLaneObj1LongV represents a longitudinal speed of a front target which is in front of the vehicle and is closest to the vehicle in longitudinal distance in an adjacent lane on the right side of the vehicle;
the step of solving the traffic flow speed of the current lane of the vehicle comprises the following steps:
if a target exists in front of the current lane of the vehicle, the longitudinal speed HostLaneObj of a front target which is closest to the longitudinal distance of the vehicle in the current lane of the vehicle is taken1The current traffic speed HostLaneSpeed of the lane where the Lane of the LangV vehicle is located;
if no target exists in front of the current lane of the vehicle, the maximum speed limit value of the current lane of the vehicle is taken as the traffic flow speed HostLaneSpeed of the current lane of the vehicle.
Preferably, the step of solving the passing score representing that the vehicle safely changes lanes towards the adjacent lane comprises:
solving decision scores respectively corresponding to each type of preset lane changing strategy based on all traffic flow speeds obtained through solving;
by the formula:
calculating a passing score FinalScore, wherein t1For the current time, T is a preset time window constantDt is sampling interval time, and the value range of dt is 0.1s-0.2 s; w is a forgetting factor coefficient, and the numeric area of w is 0.8-1.0; and the Score is the sum of decision scores respectively corresponding to each type of preset lane change strategy.
Preferably, the preset lane change strategy includes four kinds, which are respectively: the system comprises a first type of preset lane changing strategy for enabling the vehicle to change lanes quickly, a second type of strategy for enabling the vehicle to be far away from a cart, a third type of strategy for enabling the vehicle to keep a middle lane to run and a fourth type of strategy for enabling the vehicle to be far away from a junction channel to run; based on all traffic flow speeds obtained by solving, the step of solving the decision score corresponding to each type of preset lane changing strategy comprises the following steps:
when the traffic flow speed of the current lane of the vehicle is smaller than the traffic flow speed of the adjacent lane, determining a first decision score SpeedFlowScore corresponding to a first-class preset lane changing strategy based on the vehicle speed, the traffic flow speed of the current lane of the vehicle and the traffic flow speed of the adjacent lane; otherwise, determining that a first decision score SpeedFlowScore corresponding to the first-class preset lane change strategy is zero;
when the front vehicle type closest to the longitudinal distance of the vehicle in the current lane of the vehicle is determined to be a large vehicle and the front vehicle type closest to the longitudinal distance of the vehicle in the adjacent lane is not determined to be a large vehicle, determining a second decision score CargoScore corresponding to a second type of preset lane changing strategy based on the traffic flow speed of the current lane of the vehicle and the traffic flow speed of the adjacent lane; otherwise, determining that a second decision score CargoScore corresponding to the second type of preset lane change strategy is zero;
when the current lane of the vehicle is determined not to be the predefined lane and the current road, the predefined lane and other lanes close to the predefined lane are not ramps or convergence lanes, determining a third decision score CenterLaneScore corresponding to a third type of preset lane change strategy based on the traffic flow speed of the current lane of the vehicle and the traffic flow speed of an adjacent lane; otherwise, determining that a third decision score CenterLaneScore corresponding to a third type of preset lane change strategy is zero;
when the fact that the front of the current lane of the vehicle is a junction channel is confirmed, a fourth decision score ConfluenceLaneScore corresponding to a fourth type of preset lane changing strategy is confirmed based on the traffic speed of the current lane of the vehicle and the traffic speed of an adjacent lane; otherwise, determining that the fourth decision score ConfluenceLaneScore corresponding to the fourth type of preset lane change strategy is zero.
Preferably, the step of determining a first decision score corresponding to the first type of preset lane change policy includes:
by the formula:
calculating the speed deviation value percentage SpeedDiffPercent; wherein, LaneSpeed is the flow speed of the target lane, LaneSpeed (leftLaneSpeed or rightLaneSpeed);
HostLaneSpeed is the traffic flow speed of the current lane of the vehicle; HostVehiclespeed is the vehicle speed;
then, based on a first predetermined corresponding relation table of the speed deviation value percentage speeddiffPercent and the first decision score speedFlowScore, determining the first decision score speedFlowScore by table look-up;
wherein the velocity deviation value percentage SpeedDiffPercent is positively correlated with the first decision score SpeedFlowScore.
Preferably, the step of determining a second decision score, CargoScore, corresponding to the second type of preset lane change policy includes:
if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the vehicle, determining a second decision score CargoScore by looking up a table based on the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the vehicle and a second predetermined corresponding relation table of the second decision score CargoScore;
in the second predetermined relation table, the greater the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the vehicle is, the greater the second decision score CargoScore is;
the step of determining a fourth decision score, conference lanesescore, comprises:
if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the host vehicle, determining a fourth decision score ConfluenceLaneScore by table lookup based on a fourth predetermined correspondence table of the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the host vehicle and the fourth decision score ConfluenceLaneScore;
in the fourth predetermined relationship table, the greater the difference between the traffic speed lanesped of the adjacent lane and the traffic speed hostlannespeed of the lane in which the host vehicle is currently located, the greater the fourth decision score ConfluenceLaneScore.
Preferably, if the current road has only two lanes, the right lane in the current road is determined as the predefined lane, and the step of determining the third decision score centranescore comprises:
if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the vehicle, determining a third decision score CenterLaneScore based on a third predetermined corresponding relation table of the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the vehicle and a third decision score CenterLanScore;
if the current road has three or more lanes, the middle lane of the current road is a predefined lane, and the step of determining the third decision score centranescore includes:
and if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the host vehicle, determining a third decision score CenterLaneScore based on a difference value between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the host vehicle and a third predetermined corresponding relation table of the third decision score CenterLaneScore.
Preferably, the step of judging whether the vehicle can change lanes based on the overtaking score obtained by the solution includes:
if the overtaking fraction is larger than or equal to a preset threshold value, determining that the vehicle can change lanes;
the steps of selecting a target lane and controlling the vehicle to automatically change lanes towards the target lane comprise:
if the vehicle only has one adjacent lane, determining the adjacent lane as a target lane, and controlling the vehicle to generate a lane change line from the lane to the target lane according to preset logic and automatically changing the lane;
if the vehicle is provided with two adjacent lanes, and when the overtaking score corresponding to the left adjacent lane and the overtaking score corresponding to the right adjacent lane both meet the condition that the vehicle changes lanes, determining the left adjacent lane as a target lane, and controlling the vehicle to generate a lane changing line from lane changing to the target lane according to preset logic and automatically changing lanes;
if the vehicle has two adjacent lanes, and the passing score corresponding to the left adjacent lane or the passing score corresponding to the right adjacent lane meets the condition of changing the vehicle, the adjacent lane which meets the requirement of changing the vehicle is determined as a target lane, and the vehicle is controlled to generate a lane changing line from the lane changing to the target lane according to preset logic and automatically change the lane.
The embodiment of the invention also provides an automatic lane changing control device, which comprises:
the first solving module is used for respectively solving the traffic flow speeds in the current lane of the vehicle and the adjacent lane of the vehicle based on the collected road information in the preset distance range in front of the vehicle;
the second solving module is used for solving overtaking scores representing that the vehicle safely changes lanes towards the adjacent lanes on the basis of all traffic flow speeds obtained through solving;
the judging module is used for judging whether the vehicle can change the lane or not based on the overtaking fraction obtained by solving;
and the control module is used for selecting a target lane and controlling the vehicle to automatically change lanes towards the target lane if the lane change of the vehicle is determined.
The embodiment of the invention also provides an automobile which comprises the automatic lane changing control device.
The invention has the beneficial effects that: (1) the environment information is obtained by utilizing sensors such as a corner radar, a camera and the like for mass production, and the decision of automatic lane change is carried out, so that the scheme is reliable and mature, and the cost is controllable; (2) the automatic lane changing method is high in calculation efficiency and meets the performance requirements of vehicle-mounted calculation. (3) And the decision result of automatic lane changing is close to the intention of a driver, so that the user experience is good. (4) And the automatic lane changing decision-making style can be calibrated through parameters, so that conservative, common, aggressive and other driver styles can be well reflected.
Drawings
FIG. 1 is a logic flow diagram of the present invention.
Detailed Description
Referring to fig. 1, an embodiment of the present invention provides an automatic lane change control method, where, when a vehicle is in an automatic lane change mode, the method includes:
A. environmental information processing
The method comprises the steps of obtaining information of each vehicle target in the surrounding environment (including the position, the speed and the type (the types of a cart, a small car, a motorcycle and the like) of the vehicle target), information of a surrounding lane line (including a lane line coefficient, the length and the type), map information (front ramp information, front converging channel information, lane positioning, the number of lanes and road speed limit of a current road), navigation path (upper and lower ramp information) and the like.
B. Calculating the traffic flow speed of each lane on the current road
B1, when the left side of the vehicle has an adjacent lane, the formula for calculating the flow velocity leftLane speed of the adjacent lane on the left side of the vehicle is as follows:
in the above formula, leftLaneObjnLongV represents the longitudinal speed of the target n ahead of the left adjacent lane (specifically referring to other targets ahead of the nearest target vehicle ahead of the left adjacent lane), where LeftLaneObj1LongV represents the longitudinal speed of the target in front of the left lane closest to the longitudinal distance of the host vehicle in the left adjacent lane. Alpha is alpha1And beta1Representing a weight factor, typically 0.8, alpha1And beta1The sum of (1) is 1.
When it is recognized that no target exists in front of the left adjacent lane (i.e. no target is detected in the sensing range of the vehicle), the traffic flow speed of the left adjacent lane is equal to the maximum road speed limit value of the left adjacent lane.
B2, calculating the current traffic flow speed HostLaneSpeed of the lane where the vehicle is located:
HostLaneSpeed＝HostLaneObj1LongV，
the above HostLaneObj1LongV represents the longitudinal speed of the target in front of the host vehicle lane that is the closest longitudinal distance from the host vehicle. When no target exists in front of the current lane of the host vehicle (namely no target is detected in the sensing range of the host vehicle), the traffic flow speed of the current lane of the host vehicle is equal to the maximum road speed limit value of the current lane of the host vehicle.
B3, calculating the traffic flow speed RightLaneSpeed of the right adjacent lane of the lane where the vehicle is located according to the formula:
calculating, wherein, the RightLaneObjnLongV represents the longitudinal speed of an object m ahead of the right lane (specifically other objects ahead of the nearest object vehicle ahead of the right adjacent lane), where RightLaneObj1LongV represents the longitudinal speed of the target in front of the right lane closest to the longitudinal distance of the host vehicle in the right adjacent lane. α, a2And beta2Is a weight coefficient, α2And beta2The sum of (1).
When it is recognized that no target exists in front of the right adjacent lane (that is, no target is detected in the sensing range of the vehicle), the traffic flow speed of the right adjacent lane is equal to the maximum road speed limit value of the right adjacent lane.
C. And calculating the overtaking fraction of the automatic lane change.
And calculating corresponding decision scores according to various preset lane changing strategies. The preset lane changing strategy comprises the following steps:
1. a first-class preset lane changing strategy for enabling the vehicle to run slowly over the front; 2. a second type of preset lane changing strategy for enabling the vehicle to be far away from a front cart in the current lane; 3. a third type of preset lane changing strategy for enabling the vehicle to preferentially run in the middle lane; 4. and a fourth type of preset lane changing strategy for enabling the vehicle to run away from the confluence channel.
In steps C1 to C5 of the present embodiment, the case where the host vehicle has only one left adjacent lane will be described.
When the host vehicle has a left adjacent lane and a right adjacent lane, the passing score corresponding to the left adjacent lane and the passing score corresponding to the right adjacent lane need to be calculated according to C1 to C4 described below, respectively. Then, respectively judging whether the overtaking scores respectively corresponding to the left adjacent lane and the right adjacent lane can meet the condition for changing the lanes of the vehicle or not through the step C5, and if so, selecting the left adjacent lane as a target lane; if the number of the channels is not satisfied, judging that the automatic channel switching cannot be carried out; and if one of the scores is satisfied, selecting the satisfied lane as the target lane. Specifically, the step C includes:
c1, calculating a first decision score speedFlowScore aiming at the first-class preset channel switching strategy.
For the first type of preset lane change strategy, when the traffic speed of the current lane of the vehicle is slow and the traffic speed of the left adjacent lane of the vehicle is fast (i.e., the traffic speed of the left adjacent lane of the vehicle is greater than the traffic speed of the current lane of the vehicle), a first decision score SpeedFlowScore is generated.
Specifically, the method comprises the following steps:
1) calculating the speed deviation value percentage SpeedDiffPercent:
the aforementioned hostveheclespeed is the current vehicle speed of the host vehicle.
And looking up a SpeedDiffPercent table (the table is a first preset corresponding relation table) to obtain a first decision score SpeedFlowScore. Theoretically, SpeedFlowScore is larger for larger SpeedDiffPercent, i.e., the percent speed deviation value SpeedDiffPercent is positively correlated with the first decision score SpeedFlowScore.
In addition, for the first type of preset lane changing strategy, if the traffic speed of the current lane of the vehicle is greater than or equal to the traffic speed of the left adjacent lane, the result of the first decision score is set to zero.
Similarly, a first decision score can be obtained by the same principle for a right adjacent lane of the lane where the vehicle is located.
And C2, calculating a corresponding second decision score CargoScore according to the second type of preset lane change strategy. Specifically, when the vehicle type of the front in the current lane where the vehicle is closest to the longitudinal distance of the vehicle is a large vehicle and the vehicle type of the front in the left adjacent lane closest to the longitudinal distance of the vehicle is not a large vehicle; and if the traffic flow speed leftLane speed of the left adjacent lane is greater than the traffic flow speed HostLane speed of the current lane of the vehicle, based on the difference between the traffic flow speed Lane speed of the adjacent lane and the traffic flow speed HostLane speed of the current lane of the vehicle and a second predetermined corresponding relation table of a second decision score CargoScore, the second decision score CargoScore is determined and generated by table lookup. Generating this second decision score, CargoScore, needs to satisfy:
1) the type of the target with the shortest longitudinal distance between the front of the lane where the vehicle is located and the vehicle is a large vehicle, and the type of the target with the shortest longitudinal distance between the front of the adjacent lane on the left side and the vehicle is not a large vehicle;
2) the traffic speed leftLane speed of the left adjacent lane is greater than the traffic speed HostLane speed of the current lane, and the greater the difference value is, the greater the CargoScore is.
And when the two conditions are not met, taking the value of the second decision score CargoScore as 0.
And C3, aiming at the third type of preset lane change strategy, calculating a corresponding third decision score CenterLaneScore.
Specifically, if the current road has only two lanes, the right lane in the current road is determined as the predefined lane (in the present embodiment, the predefined lane is the middle lane). At this time, if:
1) when the vehicle runs on the left side of the middle lane, no ramp or junction exists on the right side of the lane where the vehicle is located within a certain distance in front of the vehicle;
2) and the traffic flow speed leftLane speed of the right lane is greater than the traffic flow speed HostLane speed of the current lane of the vehicle.
If the above relationship is satisfied, a third decision score CenterLaneScore is determined based on a third predetermined correspondence table of a difference between the flow velocity LaneSpeed of the adjacent lane and the flow velocity HostLaneSpeed of the lane in which the host vehicle is currently located and the third decision score CenterLaneScore.
Wherein, in the third predetermined corresponding relation table, the larger the difference is, the corresponding third decision score centranescore.
For the scheme that the current road has only 2 lanes, if the above conditions 1) and 2) are not met, setting the value of the third decision score centranescore to 0.
If the current road has three or more lanes, the middle lane of the current road is the predefined lane (middle lane). If the current road has three or more lanes, defining the left second lane as a middle lane), and if the conditions are met:
1) when the vehicle runs on the right side of the middle lane, no ramp or junction exists on the left side of the lane where the vehicle is located within a certain distance in front of the vehicle;
2) the running speed of the vehicle is more than or equal to 90% of the maximum speed limit value of the current road;
3) and the traffic flow speed leftLaneSpeed of the right adjacent lane is greater than the traffic flow speed HostLaneSpeed of the current lane of the vehicle.
A third decision score centranescore is determined based on a difference between the flow velocity lanesered of the adjacent lane and the flow velocity hostlannespeed of the lane in which the host vehicle is currently located, and a third predetermined correspondence table of the third decision score centranescore. And the larger the difference the larger the centranescore.
For the scheme that the current road has only 3 lanes, if the above conditions 1) to 3) are not met, setting the value of the third decision score centranescore to 0.
And C4, calculating a corresponding fourth decision score ConfluenceLaneScore according to the fourth type of preset lane change strategy. When the map information of the vehicle indicates that the vehicle flows are converged at a certain distance in front of the current lane of the vehicle, generating a fourth decision score ConfluenceLaneScore, wherein the fourth decision score ConfluenceLaneScore needs to meet the following requirements:
1) the right side of the map information, which is provided with a certain distance ahead, is provided with a traffic flow to be converged, and the lane is a convergence lane;
2) and the traffic flow speed leftLaneSpeed of the left adjacent lane is greater than the traffic flow speed HostLaneSpeed of the current lane of the vehicle.
Determining a fourth decision score ConfluenceLaneScore by table lookup based on a fourth predetermined corresponding relation table of a difference value of the traffic speed LaneSpeed of the adjacent lane and the traffic speed HostLaneSpeed of the current lane of the host vehicle and the fourth decision score ConfluenceLaneScore;
in the fourth predetermined relationship table, the greater the difference between the traffic speed lanesped of the adjacent lane and the traffic speed hostlannespeed of the lane in which the host vehicle is currently located, the greater the fourth decision score ConfluenceLaneScore.
C5, summing the decision scores SpeedFlowScore, CargoScore, CenterLaneScore and ComflueLaneScore obtained based on the above to obtain the decision Score at the current moment, summing the decision scores of the past period of time T to obtain the overtaking Score FinalScore required by automatic lane change:
wherein, the above t1T is a time window constant (generally 10s-20s) at the current moment, dt is sampling interval time (for reducing the memory utilization rate, the sampling interval time is not suitable to be too small and generally 0.1s-0.2s), w is a forgetting factor coefficient, the Score decreases progressively the longer the moment is, and the value range of w is 0.8-1.0.
D. Generating an automatic overtaking lane change command (taking a left lane change decision as an example)
The passing score obtained in the above step C5 is compared with a threshold JudgeScore set in advance. If the threshold value is exceeded and the basic condition and the safety condition of the left lane changing are met, an automatic left lane changing instruction is generated:
1) safety conditions for automatic lane change to the left (no collision risk with surrounding vehicle targets, clear lane lines, vehicle speed satisfying conditions, road curvature satisfying conditions, etc.)
2) The automatic overtaking lane change decision score finalsscore is greater than or equal to the threshold JudgeScore. It is noted that, for driving habits and safety reasons, drivers are more inclined to overtake left rather than right during actual road travel. The right lane change threshold should preferably be 1.5 to 2.0 times the left lane change threshold.
D. Automatic lane change execution
After receiving an automatic lane changing instruction for changing lanes towards a target lane, the automatic lane changing control system generates an automatic lane changing track (the generation mode is the prior art), and controls the vehicle to complete lane changing in a corresponding direction.
The embodiment of the invention also provides an automatic lane changing control device, which comprises:
the first solving module is used for respectively solving the traffic flow speeds in the current lane of the vehicle and the adjacent lane of the vehicle based on the collected road information in the preset distance range in front of the vehicle;
the second solving module is used for solving overtaking scores representing that the vehicle safely changes lanes towards the adjacent lanes on the basis of all traffic flow speeds obtained through solving;
the judging module is used for judging whether the vehicle can change lanes or not based on the overtaking score obtained by solving;
and the control module is used for selecting a target lane and controlling the vehicle to automatically change lanes towards the target lane if the lane change of the vehicle is determined.
The embodiment of the invention also provides an automobile comprising the automatic lane changing control device.
Claims (9)
1. An automatic lane change control method is characterized by comprising the following steps:
respectively solving the traffic flow speeds in the current lane of the vehicle and the adjacent lane of the vehicle based on the collected road information in the preset distance range in front of the vehicle;
solving overtaking scores representing that the vehicle safely changes lanes towards the adjacent lanes on the basis of all traffic flow speeds obtained by solving;
judging whether the vehicle can change lanes or not based on the overtaking score obtained by solving;
if the lane change of the vehicle is determined, selecting a target lane and controlling the vehicle to automatically change the lane towards the target lane;
the solving step of the traffic flow speed of the adjacent lane of the vehicle comprises the following steps:
if the left side of the vehicle has an adjacent lane, the following formula is used:
calculating the traffic flow speed leftLaneSpeed of the left adjacent lane of the vehicle; wherein alpha is1And beta1Is a weight coefficient, α1And beta1The sum of (1); leftLaneobjnLongV represents a longitudinal speed of an nth target in front of the host vehicle in an adjacent lane on the left side of the host vehicle; leftLaneobj1LongV represents a longitudinal speed of a target in front of the vehicle and closest to the vehicle in longitudinal distance in an adjacent lane on the left side of the vehicle;
if the adjacent lane exists on the right side of the vehicle, the following formula is used:
calculating the traffic flow speed RightLaneSpeed of the adjacent lane at the right side of the vehicle; wherein alpha is2And beta2Is a weight coefficient, α2And beta2The sum of (1); RightLaneObjnLongV represents the inner of the adjacent lane at the right side of the vehicleThe longitudinal speed of the mth front target in front of the host vehicle; RightLaneObj1LongV represents a longitudinal speed of a front target which is in front of the vehicle and closest to the vehicle in longitudinal distance in an adjacent lane on the right side of the vehicle;
the step of solving the traffic flow speed of the current lane of the vehicle comprises the following steps:
if a target exists in front of the current lane of the vehicle, the longitudinal speed HostLaneObj of a front target which is closest to the longitudinal distance of the vehicle in the current lane of the vehicle is taken1The current traffic speed HostLaneSpeed of the lane where the Lane of the LangV vehicle is located;
if no target exists in front of the current lane of the vehicle, the maximum speed limit value of the current lane of the vehicle is taken as the traffic flow speed HostLaneSpeed of the current lane of the vehicle.
2. The method of claim 1, wherein the step of solving for a passing score indicative of a safe lane change of the host vehicle into an adjacent lane comprises:
solving decision scores respectively corresponding to each type of preset lane changing strategy based on all traffic flow speeds obtained through solving;
by the formula:
calculating a passing score FinalScore, wherein t1At the current moment, T is a preset time window constant, dt is sampling interval time, and the value range of dt is 0.1s-0.2 s; w is a forgetting factor coefficient, and the numeric area of w is 0.8-1.0; and the Score is the sum of decision scores respectively corresponding to each type of preset lane change strategy.
3. The method according to claim 2, wherein the preset lane change strategy includes four kinds, which are respectively: the system comprises a first type of preset lane changing strategy for enabling the vehicle to change lanes quickly, a second type of strategy for enabling the vehicle to be far away from a cart, a third type of strategy for enabling the vehicle to keep a middle lane to run and a fourth type of strategy for enabling the vehicle to be far away from a junction channel to run; based on all traffic flow speeds obtained by solving, the step of solving the decision score corresponding to each type of preset lane changing strategy comprises the following steps:
when the traffic flow speed of the current lane of the vehicle is smaller than the traffic flow speed of the adjacent lane, determining a first decision score SpeedFlowScore corresponding to a first-class preset lane changing strategy based on the vehicle speed of the vehicle, the traffic flow speed of the current lane of the vehicle and the traffic flow speed of the adjacent lane; otherwise, determining that a first decision score SpeedFlowScore corresponding to the first-class preset lane change strategy is zero;
when the front vehicle type closest to the longitudinal distance of the vehicle in the current lane of the vehicle is determined to be a large vehicle and the front vehicle type closest to the longitudinal distance of the vehicle in the adjacent lane is not determined to be a large vehicle, determining a second decision score CargoScore corresponding to a second type of preset lane changing strategy based on the traffic flow speed of the current lane of the vehicle and the traffic flow speed of the adjacent lane; otherwise, determining that a second decision score CargoScore corresponding to the second type of preset lane change strategy is zero;
when the current lane of the vehicle is determined not to be the predefined lane and the current road, the predefined lane and other lanes close to the predefined lane are not ramps or convergence lanes, determining a third decision score CenterLaneScore corresponding to a third type of preset lane change strategy based on the traffic flow speed of the current lane of the vehicle and the traffic flow speed of an adjacent lane; otherwise, determining that a third decision score CenterLaneScore corresponding to a third type of preset lane change strategy is zero;
when the fact that the front of the current lane of the vehicle is a junction channel is confirmed, a fourth decision score ConfluenceLaneScore corresponding to a fourth type of preset lane changing strategy is confirmed based on the traffic speed of the current lane of the vehicle and the traffic speed of an adjacent lane; otherwise, determining that the fourth decision score ConfluenceLaneScore corresponding to the fourth type of preset lane change strategy is zero.
4. The method of claim 3, wherein determining the first decision score corresponding to the first type of predetermined lane-change policy comprises:
by the formula:
calculating the speed deviation value percentage SpeedDiffPercent; wherein LaneSpeed is the traffic speed of the target lane, and LaneSpeed (LeftLaneSpeed or RightLaneSpeed); HostLaneSpeed is the traffic flow speed of the current lane of the vehicle; HostVehiclespeed is the vehicle speed;
then, based on a first preset corresponding relation table of the speed deviation value percentage SpeedDiffPercent and a first decision score SpeedFlowScore, determining the first decision score SpeedFlowScore by table look-up;
wherein the velocity deviation value percentage SpeedDiffPercent is positively correlated with the first decision score SpeedFlowScore.
5. The method of claim 3, wherein the step of determining a second decision score CargoScore corresponding to the second type of predefined lane change policy comprises:
if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the vehicle, determining a second decision score CargoScore by looking up a table based on the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the vehicle and a second predetermined corresponding relation table of the second decision score CargoScore;
in the second predetermined relation table, the greater the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the vehicle is, the greater the second decision score CargoScore is;
the step of determining a fourth decision score, conference lanesescore, comprises:
if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the host vehicle, determining a fourth decision score ConflueLaneLaneScore by looking up a table based on a fourth predetermined corresponding relation table of the difference between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the host vehicle and the fourth decision score ConflueLaneScore;
in the fourth predetermined relationship table, the greater the difference between the traffic speed lanesped of the adjacent lane and the traffic speed hostlannespeed of the lane in which the host vehicle is currently located, the greater the fourth decision score ConfluenceLaneScore.
6. The method of claim 5,
if the current road has only two lanes, determining the right lane in the current road as the predefined lane, the step of determining the third decision score centranescore comprising:
if the traffic flow speed LaneSpeed of the adjacent lane is larger than or equal to the traffic flow speed HostLaneSpeed of the current lane of the host vehicle, determining a third decision score CenterLaneScore based on a difference value between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the host vehicle and a third predetermined corresponding relation table of the third decision score CenterLaneScore;
if the current road has three or more lanes, the middle lane of the current road is a predefined lane, and the step of determining the third decision score centranescore includes:
and if the traffic flow speed LaneSpeed of the adjacent lane is greater than or equal to the traffic flow speed HostLaneSpeed of the current lane of the host vehicle, determining a third decision score CenterLaneScore based on a difference value between the traffic flow speed LaneSpeed of the adjacent lane and the traffic flow speed HostLaneSpeed of the current lane of the host vehicle and a third predetermined corresponding relation table of the third decision score CenterLaneScore.
7. The method of claim 2, wherein the step of determining whether the host vehicle can change lanes based on the solved passing score comprises:
if the overtaking fraction is larger than or equal to a preset threshold value, determining that the vehicle can change lanes;
the steps of selecting a target lane and controlling the vehicle to automatically change lanes towards the target lane comprise:
if the vehicle only has one adjacent lane, determining the adjacent lane as a target lane, and controlling the vehicle to generate a lane change line from the lane to the target lane according to preset logic and automatically changing the lane;
if the vehicle is provided with two adjacent lanes, and when the overtaking score corresponding to the left adjacent lane and the overtaking score corresponding to the right adjacent lane both meet the condition that the vehicle changes lanes, determining the left adjacent lane as a target lane, and controlling the vehicle to generate a lane changing line from lane changing to the target lane according to preset logic and automatically changing lanes;
if the vehicle has two adjacent lanes, and the passing score corresponding to the left adjacent lane or the passing score corresponding to the right adjacent lane meets the condition of changing the vehicle, the adjacent lane which meets the requirement of changing the vehicle is determined as a target lane, and the vehicle is controlled to generate a lane changing line from the lane changing to the target lane according to preset logic and automatically change the lane.
8. An automatic lane-changing control device is characterized by comprising:
the first solving module is used for respectively solving the traffic flow speeds in the current lane of the vehicle and the adjacent lane of the vehicle based on the collected road information in the preset distance range in front of the vehicle;
the second solving module is used for solving overtaking scores representing that the vehicle safely changes lanes towards the adjacent lanes on the basis of all traffic flow speeds obtained through solving;
the judging module is used for judging whether the vehicle can change lanes or not based on the overtaking score obtained by solving;
the control module is used for selecting a target lane and controlling the vehicle to automatically change lanes towards the target lane if the lane change of the vehicle is determined;
the first solving module is specifically configured to:
if the left side of the vehicle has an adjacent lane, the following formula is used:
calculating the traffic flow speed leftLaneSpeed of the left adjacent lane of the vehicle; wherein alpha is1And beta1Is a weight coefficient, α1And beta1The sum of (1); leftLaneobjnLongV represents a longitudinal speed of an nth target in front of the host vehicle in an adjacent lane on the left side of the host vehicle; leftLaneobj1LongV represents a longitudinal speed of a target in front of the vehicle and closest to the vehicle in longitudinal distance in an adjacent lane on the left side of the vehicle;
if the adjacent lane exists on the right side of the vehicle, the formula is used for:
calculating the traffic flow speed RightLaneSpeed of the adjacent lane at the right side of the vehicle; wherein alpha is2And beta2Is a weight coefficient, α2And beta2The sum of (1); RightLaneObjnLongV represents a longitudinal speed of an m-th front target in front of the host vehicle in an adjacent lane on the right side of the host vehicle; RightLaneObj1LongV represents a longitudinal speed of a front target which is in front of the vehicle and is closest to the vehicle in longitudinal distance in an adjacent lane on the right side of the vehicle;
the step of solving the traffic flow speed of the current lane of the vehicle comprises the following steps:
if a target exists in front of the current lane of the vehicle, the longitudinal speed HostLaneObj of a front target which is closest to the longitudinal distance of the vehicle in the current lane of the vehicle is taken1The current traffic speed HostLaneSpeed of the lane where the Lane of the LangV vehicle is located;
if no target exists in front of the current lane of the vehicle, the maximum speed limit value of the current lane of the vehicle is taken as the traffic flow speed HostLaneSpeed of the current lane of the vehicle.
9. An automobile characterized by comprising the automatic lane change control apparatus according to claim 8.
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