CN113859242B - Automatic lane change control method and device, vehicle, computer equipment and medium - Google Patents
Automatic lane change control method and device, vehicle, computer equipment and medium Download PDFInfo
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- CN113859242B CN113859242B CN202111164809.4A CN202111164809A CN113859242B CN 113859242 B CN113859242 B CN 113859242B CN 202111164809 A CN202111164809 A CN 202111164809A CN 113859242 B CN113859242 B CN 113859242B
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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
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
Abstract
The invention relates to an automatic lane-changing control method, an automatic lane-changing control device, a vehicle, computer equipment and a medium, wherein the method comprises the following steps: planning a first lane changing path of the self-vehicle according to the lane changing intention, the current speed and the acceleration of the self-vehicle; judging whether the self vehicle runs according to the first lane changing path and whether a collision risk exists with a risk target vehicle or not; if no collision risk exists, controlling the self-vehicle to automatically change lanes according to a first lane changing path; if the collision risk exists, judging whether a second lane changing path avoiding the collision exists in the front space and the rear space of the risk target vehicle; if a second lane changing path avoiding collision exists in the front space and the rear space of the risk target vehicle, controlling the self vehicle to automatically change lanes according to the second lane changing path; if a second lane change path for avoiding collision does not exist in the space in front of and behind the risk target vehicle, the self vehicle is controlled to maintain the current speed, a waiting mode is entered, the success rate of automatic lane change can be effectively improved, the availability of lane change assistance is improved, and meanwhile lane change assistance is carried out more intelligently.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an automatic lane change control method, an automatic lane change control device, a vehicle, computer equipment and a medium.
Background
With the rapid development of the automobile industry and the continuous improvement of the living standard of people, the automobile demand and the holding amount are continuously increased, the automobile becomes an important walk-substituting tool for people, and the demand of users on the safety performance of passenger cars is higher and higher. Meanwhile, more and more new vehicle types carry the intelligent driving auxiliary system, the grade of the intelligent driving auxiliary system is higher and higher, and drivers can be liberated more in demand.
In the related art, the automatic lane change assisting function is a driving assisting system combining longitudinal control and transverse control of a vehicle, and the automatic lane change assisting function not only can maintain the vehicle running in a lane, but also can automatically assist a driver to complete lane change when the driver actively changes lanes. The longitudinal control of the automatic lane changing assistance is mainly based on the ACC (adaptive cruise control) of the front target, when the driving environment with large traffic flow is responded, a driver turns on a steering lamp to change lanes, and the automatic lane changing cannot be completed easily because the driving vehicles exist in adjacent lanes, so that the experience of the automatic lane changing is poor, and the intelligent sense is lacked.
Therefore, there is a need for a new automatic lane change control method, apparatus, vehicle, computer device, and medium to overcome the above problems.
Disclosure of Invention
The embodiment of the invention provides an automatic lane changing control method, an automatic lane changing control device, a vehicle, computer equipment and a medium, and aims to solve the problems that in the related art, when a driver turns on a steering lamp to change lanes, automatic lane changing cannot be finished easily because of the existence of running vehicles in adjacent lanes, so that the experience of automatic lane changing is poor and the intelligence is lack.
In a first aspect, an automatic lane change control method is provided, which includes: planning a first lane change path of the self-vehicle according to the lane change intention, the current speed and the acceleration of the self-vehicle; judging whether the own vehicle runs according to the first lane change path and whether a collision risk exists with a risk target vehicle or not; if no collision risk exists, controlling the self-vehicle to automatically change lanes according to the first lane changing path; if the collision risk exists, judging whether a second lane change path for avoiding collision exists in the front space and the rear space of the risk target vehicle; if a second lane change path for avoiding collision exists in the front space and the rear space of the risk target vehicle, controlling the self vehicle to automatically change lanes according to the second lane change path; and if the front space and the rear space of the risk target vehicle do not have a second lane change path for avoiding collision, controlling the self vehicle to maintain the current speed, and entering a waiting mode.
In some embodiments, the determining whether the host vehicle travels along the first lane change path and the risk target vehicle has a collision risk includes: predicting the running path of the risk target vehicle in the adjacent lane according to the speed, the acceleration and the position information of the risk target vehicle in the adjacent lane; and judging whether the self vehicle and the risk target vehicle have collision risks or not according to the first lane changing path and the driving path.
In some embodiments, the determining whether the second lane change path avoiding the collision exists in the front-rear space of the risk target vehicle includes: judging whether the target speed of the self vehicle is higher than the speed of the risk target vehicle or not, wherein the target speed is the highest lane changing speed allowed by the self vehicle; if yes, judging whether collision risks exist between the overtaking lane change vehicle and the risk target vehicle and between the overtaking lane change vehicle and a front vehicle of the risk target vehicle; if no collision risk exists with the risk target vehicle and the front vehicle of the risk target vehicle after the vehicle overtakes the lane, a second lane changing path avoiding collision exists in front of the risk target vehicle; if the target speed of the vehicle is less than or equal to the speed of the risk target vehicle, judging whether collision risks exist between the vehicle and the risk target vehicle and between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed; if no collision risk exists between the vehicle and the risk target vehicle or between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed, a second lane changing path for avoiding collision exists behind the risk target vehicle; and if the collision risk exists between the vehicle and at least one of the risk target vehicle or the front vehicle of the risk target vehicle after the vehicle overtakes the lane and the collision risk exists between the vehicle and at least one of the risk target vehicle or the rear vehicle of the risk target vehicle after the vehicle decelerates and changes the lane, a second lane changing path avoiding collision does not exist in the front and rear space of the risk target vehicle.
In some embodiments, the determining whether there is a collision risk with the risk target vehicle and a vehicle ahead of the risk target vehicle after the vehicle overtakes the lane change includes: judging whether the distance between the overtaking lane change vehicle and the risk target vehicle is greater than or equal to a first preset distance or not; if so, judging whether the collision time between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle is greater than or equal to a first preset time, wherein the collision time is obtained by calculation according to the distance between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle and the speed difference between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle; if the collision time between the overtaking lane change vehicle and the front vehicle of the risk target vehicle is greater than or equal to first preset time, collision risks do not exist between the overtaking lane change vehicle and the front vehicle of the risk target vehicle and between the overtaking lane change vehicle and the front vehicle of the risk target vehicle; if the distance between the vehicle passing the lane and the risk target vehicle is smaller than a first preset distance or the collision time between the vehicle passing the lane and the front vehicle of the risk target vehicle is smaller than a first preset time, collision risks exist between the vehicle passing the lane and the risk target vehicle or the front vehicle of the risk target vehicle.
In some embodiments, the determining whether there is a collision risk with the risk target vehicle and a rear vehicle of the risk target vehicle after the vehicle decelerates and changes lanes includes: judging whether the distance between the vehicle and the risk target vehicle after the speed reduction and lane change of the vehicle is greater than or equal to a second preset distance; if so, judging whether the collision time between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed into the lane is greater than or equal to second preset time, wherein the collision time is calculated according to the distance between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed into the lane and the speed difference between the vehicle and the rear vehicle of the risk target vehicle during the vehicle deceleration and change into the lane; if the collision time between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle is greater than or equal to second preset time, collision risks do not exist between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle; if the distance between the lane-changed self-deceleration vehicle and the risk target vehicle is smaller than a second preset distance, or the collision time between the lane-changed self-deceleration vehicle and the rear vehicle of the risk target vehicle is smaller than a second preset time, collision risk exists between the lane-changed self-deceleration vehicle and the risk target vehicle or the rear vehicle of the risk target vehicle.
In some embodiments, the controlling the host vehicle to maintain the current vehicle speed and enter the waiting mode includes: controlling the self-vehicle to maintain the current vehicle speed unchanged, and judging whether a third lane changing path avoiding collision exists in an adjacent lane in real time; if a third lane change path avoiding collision exists, controlling the self-vehicle to automatically change lanes according to the third lane change path; and if the current speed of the vehicle is maintained for the third preset time, prompting the driver that the automatic lane change fails.
In a second aspect, there is provided an automatic lane change control apparatus, comprising: the calculation module is used for planning a first lane change path of the self-vehicle according to the lane change intention, the current speed and the acceleration of the self-vehicle; the judgment module is used for judging whether the own vehicle runs according to the first lane change path and whether a collision risk exists with the risk target vehicle; the control module is used for controlling the self-vehicle to automatically change lanes according to the first lane changing path if no collision risk exists; the judgment module is also used for judging whether a second lane change path for avoiding collision exists in the front space and the rear space of the risk target vehicle if the collision risk exists; the control module is also used for controlling the self-vehicle to automatically change lanes according to a second lane changing path if the front space and the rear space of the risk target vehicle have the second lane changing path for avoiding collision; and if the front space and the rear space of the risk target vehicle do not have a second lane change path for avoiding collision, controlling the self vehicle to maintain the current speed, and entering a waiting mode.
In a third aspect, a vehicle is provided, which is characterized by comprising the automatic lane change control apparatus described above.
In a fourth aspect, a computer device is provided, which includes a processor and a memory, wherein the memory stores at least one program code, and the program code is loaded and executed by the processor to implement the automatic lane change control method.
In a fifth aspect, a computer-readable storage medium is provided, wherein at least one program code is stored in the computer-readable storage medium, and the program code is loaded and executed by a processor to implement the automatic lane change control method.
The technical scheme provided by the invention has the beneficial effects that:
the embodiment of the invention provides an automatic lane changing control method, an automatic lane changing control device, a vehicle, computer equipment and a medium, wherein a first lane changing path of the vehicle is planned, so that whether collision risks exist in lane changing of the vehicle according to the first lane changing path under the condition that the vehicle speed is not changed can be judged, if collision risks exist, the front space and the rear space of a risk target vehicle can be judged, and whether overspeed or deceleration lane changing can be carried out.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an automatic lane change control method according to an embodiment of the present invention;
FIG. 2 is a flowchart of S104 in FIG. 1;
FIG. 3 is a flowchart of S202 in FIG. 2;
fig. 4 is a flowchart of S203 in fig. 2.
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. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The embodiment of the invention provides an automatic lane changing control method, an automatic lane changing control device, a vehicle, computer equipment and a medium, which can solve the problems that in the related art, when a driver turns on a steering lamp to change lanes, automatic lane changing cannot be finished easily because of the existence of running vehicles in adjacent lanes, so that the experience of automatic lane changing is poor and the intelligence is lacked.
Referring to fig. 1, an automatic lane change control method provided for an embodiment of the present invention may include: s101: and planning a first lane changing path of the self-vehicle according to the lane changing intention, the current speed and the acceleration of the self-vehicle. When a driver turns on a steering lamp in an automatic lane changing auxiliary mode and intends to change lanes, whether the driver is ready to change lanes to the left or to the right can be known according to the direction of the steering lamp, and a lane changing path from the current position of the driver to the position after lane changing is completed, namely a first lane changing path, can be planned according to the lane changing intention of the driver, the current speed and the acceleration of the driver. S102: and judging whether the self vehicle runs according to the first lane changing path and the risk target vehicle has collision risk or not. Among them, the risk target vehicles may be vehicles traveling side by side on adjacent lanes, vehicles that may collide by passing behind, vehicles traveling at low speed in front of the adjacent lanes, and the like. S103: and if the collision risk does not exist, controlling the self-vehicle to automatically change lanes according to the first lane changing path. Namely, when the own vehicle changes lanes according to the first lane changing path, the own vehicle does not collide with the vehicle closest to the own vehicle on the adjacent lane, and the own vehicle is controlled to automatically change lanes according to the planned first lane changing path. S104: and if the collision risk exists, judging whether a second lane change path avoiding collision exists in the front space and the rear space of the risk target vehicle. That is, if the first lane change path planned according to the current speed of the host vehicle is in collision risk, it is necessary to determine whether there is a lane change space in front of or behind the risk target vehicle, so that the host vehicle can finish lane change by speeding up or slowing down without collision. S105: and if a second lane change path for avoiding collision exists in the front space and the rear space of the risk target vehicle, controlling the self vehicle to automatically change lanes according to the second lane change path. S106: and if the front space and the rear space of the risk target vehicle do not have a second lane change path for avoiding collision, controlling the self vehicle to maintain the current speed, and entering a waiting mode.
In the embodiment of the invention, because the first lane change path of the self-vehicle is planned, whether the self-vehicle has collision risk according to the first lane change path under the condition of not changing the speed of the self-vehicle can be judged, if the collision risk exists, the front and back spaces of a risk target vehicle can be judged, whether overspeed lane change can be carried out in front of the risk target vehicle merged into an adjacent lane or deceleration lane change can be carried out in back of the risk target vehicle merged into the adjacent vehicle, and the lane change is ensured not to be completed by collision.
Further, in step S102, the determining whether the own vehicle travels along the first lane change path and the risk target vehicle has a collision risk may include: predicting the running path of the risk target vehicle in the adjacent lane according to the speed, the acceleration and the position information of the risk target vehicle in the adjacent lane; and judging whether the self vehicle and the risk target vehicle have collision risks or not according to the first lane changing path and the driving path. That is, it is determined whether the intersection exists between the first lane change path and the driving path in the same time period, so that it is possible to know whether the own vehicle and the risk target vehicle have a collision risk.
Referring to fig. 2, further, in step S104, the determining whether there is a second lane change path avoiding the collision in the front-rear space of the risk target vehicle may include the following steps:
s201: and judging whether the target speed of the vehicle is higher than the speed of the risk target vehicle, wherein the target speed is a cruise set speed and is the highest lane change speed allowed by the vehicle.
S202: if so, judging whether collision risks exist between the vehicle passing the lane and the risk target vehicle and between the vehicle and the front vehicle of the risk target vehicle; when the highest speed that can be reached by the self-vehicle is higher than the speed of the risk target vehicle, the self-vehicle can realize overtaking lane changing.
If no collision risk exists between the vehicle and the risk target vehicle after the vehicle overtakes the lane change and the front vehicle of the risk target vehicle, a second lane change path for avoiding collision exists in front of the risk target vehicle; that is, even if the target vehicle speed of the host vehicle is higher than the vehicle speed of the risk target vehicle, and the host vehicle needs to complete the overtaking and lane changing, the overtaking requirement is still met, namely, after the overtaking and lane changing, the host vehicle cannot collide with the risk target vehicle behind the host vehicle immediately, and cannot collide with the vehicle in front of the host vehicle immediately, wherein the vehicle in front of the overtaking and lane changing after the host vehicle overtaking and lane changing, namely, the vehicle in front of the risk target vehicle, namely, the front vehicle of the risk target vehicle.
S203: and if the target speed of the vehicle is less than or equal to the speed of the risk target vehicle, judging whether collision risks exist between the vehicle and the risk target vehicle and between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed. When the highest vehicle speed that the vehicle can reach is smaller than or equal to the vehicle speed of the risk target vehicle, whether the lane change requirement can be met after the vehicle is decelerated needs to be considered. Wherein, before the speed reduction and lane change of the self vehicle, the vehicle positioned behind the risk target vehicle, namely the rear vehicle of the risk target vehicle "
And if no collision risk exists between the vehicle and the risk target vehicle or between the vehicle and the rear vehicle of the risk target vehicle after the speed reduction and lane change of the vehicle, a second lane change path for avoiding collision exists behind the risk target vehicle.
If a collision risk exists between the vehicle and at least one of the risk target vehicle or the front vehicle of the risk target vehicle after overtaking and changing the lane, and a collision risk exists between the vehicle and at least one of the risk target vehicle or the rear vehicle of the risk target vehicle after decelerating and changing the lane, a second lane changing path for avoiding collision does not exist in the front-rear space of the risk target vehicle; that is, when the vehicle overtakes the vehicle and changes lane, a collision risk exists, when the vehicle decelerates and changes lane, the collision risk also exists, which shows that no second lane changing path for avoiding collision exists in front of the risk target vehicle, and no second lane changing path for avoiding collision and collision exists behind the risk target vehicle, so that the vehicle is not suitable for changing lane at present.
In this embodiment, the maximum speed that can reach from the car is judged earlier, if the speed of a motor vehicle satisfies, the place ahead of the risk target vehicle that merges into the adjacent lane with the overtaking mode of priority, can directly judge from the car suitable overtaking lane change or the deceleration lane change, two routes of clear lane change carry out subsequent judgement and planning of route again, can save a large amount of steps, and the thinking is clear.
Referring to fig. 3, in some embodiments, in S202, the determining whether there is a collision risk with the risk target vehicle and the vehicle in front of the risk target vehicle after the vehicle overtakes the lane change may include the following steps:
s301: and judging whether the distance between the vehicle passing lane change and the risk target vehicle is greater than or equal to a first preset distance or not, so that a certain distance is formed between the vehicle passing lane change and the risk target vehicle, and the vehicle can not collide with the risk target vehicle immediately after the vehicle passing lane change, wherein the first preset distance is preferably 12m (can be calibrated).
S302: and if so, judging whether the Time To Collision (TTC) between the overtaking lane change of the self vehicle and the front vehicle of the risk target vehicle is greater than or equal to a first preset time, wherein the time to collision is calculated according to the distance between the overtaking lane change of the self vehicle and the front vehicle of the risk target vehicle and the speed difference between the overtaking lane change of the self vehicle and the front vehicle of the risk target vehicle. Recording the distance between the vehicle after passing the vehicle and the lane change and the front vehicle of the risk target vehicle as a first distance, recording the speed difference between the vehicle after passing the vehicle and the lane change and the front vehicle of the risk target vehicle as a first speed difference, and dividing the first distance by the first speed difference to obtain the collision time between the vehicle after passing the vehicle and the lane change and the front vehicle of the risk target vehicle; in this embodiment, the speed of the vehicle is not changed during the overtaking and lane changing process, and the first preset time is preferably 1.5s through test calculation.
If the collision time between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle is larger than or equal to a first preset time, collision risks do not exist between the overtaking lane change of the vehicle and the risk target vehicle and between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle. Under the condition, the vehicle can overtake and change lanes.
If the distance between the vehicle passing the lane and the risk target vehicle is smaller than a first preset distance or the collision time between the vehicle passing the lane and the front vehicle of the risk target vehicle is smaller than a first preset time, collision risks exist between the vehicle passing the lane and the risk target vehicle or the front vehicle of the risk target vehicle. The distance between the vehicle and the risk target vehicle after the vehicle overtaking lane change is smaller than a first preset distance, which indicates that the vehicle has the risk of colliding with the risk target vehicle after the vehicle overtaking lane change, and the collision time between the vehicle after the vehicle overtaking lane change and the front vehicle of the risk target vehicle is smaller than a first preset time, which indicates that the vehicle has the risk of colliding with the front vehicle of the risk target vehicle after the vehicle overtaking lane change. In this embodiment, the two determination orders of S301 and S302 may be interchanged.
Referring to fig. 4, in step S203, the determining whether there is a collision risk between the host vehicle and the risk target vehicle after the host vehicle decelerates and changes lanes and the rear vehicle of the risk target vehicle may include:
s401: judging whether the distance between the vehicle and the risk target vehicle after the vehicle is decelerated and changed is larger than or equal to a second preset distance or not, so that a certain distance is formed between the vehicle and the risk target vehicle after the vehicle is decelerated and changed, and the risk target vehicle is ensured not to collide with the vehicle immediately after the vehicle is decelerated and changed, wherein in the embodiment, the second preset distance is preferably 6m or 5m (capable of being calibrated)
S402: and if so, judging whether the Time To Collision (TTC) between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed into the lane is greater than or equal to a second preset time, wherein the time to collision is calculated according to the distance between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed into the lane and the speed difference between the vehicle and the rear vehicle of the risk target vehicle during the deceleration and change into the lane. Recording the distance between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle as a second distance, recording the speed difference between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle as a second speed difference, and dividing the second distance by the second speed difference to obtain the collision time between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle; in this embodiment, the speed of the self-vehicle is not changed in the speed reduction and lane change process, and the second preset time is preferably 2.5s through test calculation.
If the collision time between the vehicle after the speed reduction and lane change and the rear vehicle of the risk target vehicle is greater than or equal to second preset time, collision risks do not exist between the vehicle after the speed reduction and lane change and the rear vehicle of the risk target vehicle.
If the distance between the lane-changed self-deceleration vehicle and the risk target vehicle is smaller than a second preset distance, or the collision time between the lane-changed self-deceleration vehicle and the rear vehicle of the risk target vehicle is smaller than a second preset time, collision risk exists between the lane-changed self-deceleration vehicle and the risk target vehicle or the rear vehicle of the risk target vehicle. And the collision time between the vehicle after the vehicle is decelerated and changed and the rear vehicle of the risk target vehicle is less than the second preset time, so that the risk of collision between the vehicle after the vehicle is decelerated and changed and the rear vehicle of the risk target vehicle is indicated. In this embodiment, the two determination orders of S401 and S402 may be interchanged.
Further, the controlling the host vehicle to maintain the current vehicle speed and enter the waiting mode may include: and controlling the self-vehicle to maintain the current vehicle speed unchanged, and judging whether a third lane changing path for avoiding collision exists in the adjacent lane in real time, namely judging whether the self-vehicle can generate collision according to the current vehicle speed for lane changing or overtaking lane changing and speed reducing lane changing. If a third lane change path avoiding collision exists, controlling the self-vehicle to automatically change lanes according to the third lane change path; and if the vehicle keeps the current speed and waits for the third preset time, prompting the driver of the vehicle that the lane is failed to automatically change, and resuming the cruise control of the vehicle lane.
The embodiment of the invention also provides an automatic lane changing control device, which can comprise: the calculation module is used for planning a first lane change path of the self-vehicle according to the lane change intention, the current speed and the acceleration of the self-vehicle; the judgment module is used for judging whether the own vehicle runs according to the first lane change path and whether a collision risk exists with the risk target vehicle; the control module is used for controlling the self-vehicle to automatically change lanes according to the first lane changing path if no collision risk exists; the judgment module is also used for judging whether a second lane change path for avoiding collision exists in the front space and the rear space of the risk target vehicle if the collision risk exists; the control module is also used for controlling the self vehicle to automatically change lanes according to a second lane changing path if the front space and the rear space of the risk target vehicle have the second lane changing path for avoiding collision; and if a second lane change path for avoiding collision does not exist in the front space and the rear space of the risk target vehicle, controlling the self vehicle to maintain the current speed and entering a waiting mode.
The embodiment of the invention also provides a vehicle which can comprise the automatic lane changing control device.
The embodiment of the present invention further provides a computer device, where the computer device includes a processor and a memory, where the memory stores at least one program code, and the program code is loaded and executed by the processor to implement the above automatic lane change control method.
The embodiment of the present invention further provides a computer-readable storage medium, where at least one program code is stored, and the program code is loaded and executed by a processor to implement the above automatic lane change control method. Computer-readable storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electrical, mechanical or other form of connection.
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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. An automatic lane change control method is characterized by comprising the following steps:
planning a first lane change path of the self-vehicle according to the lane change intention, the current speed and the acceleration of the self-vehicle;
judging whether the own vehicle runs according to the first lane change path and whether a collision risk exists with a risk target vehicle or not;
if no collision risk exists, controlling the self-vehicle to automatically change lanes according to the first lane changing path;
if the collision risk exists, judging whether a second lane change path for avoiding collision exists in the front space and the rear space of the risk target vehicle;
if a second lane changing path avoiding collision exists in the front space and the rear space of the risk target vehicle, controlling the self vehicle to automatically change lanes according to the second lane changing path;
if a second lane change path avoiding collision does not exist in the space in front of and behind the risk target vehicle, controlling the self vehicle to maintain the current speed, and entering a waiting mode;
the judging whether a second lane change path avoiding collision exists in the space in front of and behind the risk target vehicle comprises the following steps:
judging whether the target speed of the self vehicle is higher than the speed of the risk target vehicle or not, wherein the target speed is the highest lane changing speed allowed by the self vehicle;
if yes, judging whether collision risks exist between the overtaking lane change vehicle and the risk target vehicle and between the overtaking lane change vehicle and a front vehicle of the risk target vehicle;
if no collision risk exists between the vehicle and the risk target vehicle after the vehicle overtakes the lane change and the front vehicle of the risk target vehicle, a second lane change path for avoiding collision exists in front of the risk target vehicle;
if the target speed of the vehicle is less than or equal to the speed of the risk target vehicle, judging whether collision risks exist between the vehicle and the risk target vehicle and between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed;
if no collision risk exists between the vehicle and the risk target vehicle or between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and the lane is changed, a second lane changing path avoiding collision exists behind the risk target vehicle;
and if the collision risk exists between the vehicle and at least one of the risk target vehicle or the front vehicle of the risk target vehicle after the vehicle overtakes the lane and the collision risk exists between the vehicle and at least one of the risk target vehicle or the rear vehicle of the risk target vehicle after the vehicle decelerates and changes the lane, a second lane changing path avoiding collision does not exist in the front and rear space of the risk target vehicle.
2. The automatic lane-change control method according to claim 1, wherein the determining whether the own vehicle travels along the first lane-change path and the risk target vehicle has a risk of collision includes:
predicting the running path of the risk target vehicle in the adjacent lane according to the speed, the acceleration and the position information of the risk target vehicle in the adjacent lane;
and judging whether the self vehicle and the risk target vehicle have collision risks or not according to the first lane changing path and the driving path.
3. The automatic lane change control method according to claim 1, wherein the determining whether there is a risk of collision with the risk target vehicle and a preceding vehicle of the risk target vehicle after the passing of the vehicle and the lane change includes:
judging whether the distance between the vehicle and the risk target vehicle after overtaking and changing lanes is larger than or equal to a first preset distance or not;
if so, judging whether the collision time between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle is greater than or equal to a first preset time, wherein the collision time is obtained by calculation according to the distance between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle and the speed difference between the overtaking lane change of the vehicle and the front vehicle of the risk target vehicle;
if the collision time between the overtaking lane change vehicle and the front vehicle of the risk target vehicle is greater than or equal to first preset time, collision risks do not exist between the overtaking lane change vehicle and the front vehicle of the risk target vehicle and between the overtaking lane change vehicle and the front vehicle of the risk target vehicle;
if the distance between the vehicle passing the lane and the risk target vehicle is smaller than a first preset distance or the collision time between the vehicle passing the lane and the front vehicle of the risk target vehicle is smaller than a first preset time, collision risks exist between the vehicle passing the lane and the risk target vehicle or the front vehicle of the risk target vehicle.
4. The automatic lane change control method according to claim 1, wherein the determining whether there is a risk of collision with the risk target vehicle and a following vehicle of the risk target vehicle after the host vehicle decelerates and changes lanes comprises:
judging whether the distance between the self vehicle and the risk target vehicle after the self vehicle is decelerated and changed is larger than or equal to a second preset distance;
if so, judging whether the collision time between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle is greater than or equal to second preset time, wherein the collision time is obtained by calculation according to the distance between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle and the speed difference between the vehicle and the rear vehicle of the risk target vehicle in the speed reduction and lane change process of the vehicle;
if the collision time between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle is greater than or equal to second preset time, collision risks do not exist between the vehicle after speed reduction and lane change and the rear vehicle of the risk target vehicle;
if the distance between the lane-changed self-deceleration vehicle and the risk target vehicle is smaller than a second preset distance, or the collision time between the lane-changed self-deceleration vehicle and the rear vehicle of the risk target vehicle is smaller than a second preset time, collision risk exists between the lane-changed self-deceleration vehicle and the risk target vehicle or the rear vehicle of the risk target vehicle.
5. The automatic lane-change control method according to claim 1, wherein the controlling the host vehicle to maintain a current vehicle speed and enter a waiting mode includes:
controlling the self-vehicle to maintain the current vehicle speed unchanged, and judging whether a third lane changing path avoiding collision exists in an adjacent lane in real time;
if a third lane change path for avoiding collision exists, controlling the self-vehicle to automatically change lanes according to the third lane change path;
and if the current speed of the self-vehicle is maintained for waiting for the third preset time, prompting the driver that the automatic lane change fails.
6. An automatic lane change control device, characterized in that it comprises:
the calculation module is used for planning a first lane change path of the self-vehicle according to the lane change intention, the current speed and the acceleration of the self-vehicle;
the judging module is used for judging whether the self vehicle runs according to the first lane changing path and whether the risk target vehicle has collision risk or not;
the control module is used for controlling the self-vehicle to automatically change lanes according to the first lane changing path if no collision risk exists;
the judging module is also used for judging whether a second lane changing path avoiding collision exists in the front space and the rear space of the risk target vehicle if the collision risk exists;
the control module is also used for controlling the self-vehicle to automatically change lanes according to a second lane changing path if the front space and the rear space of the risk target vehicle have the second lane changing path for avoiding collision; if a second lane change path avoiding collision does not exist in the space in front of and behind the risk target vehicle, controlling the self vehicle to maintain the current speed, and entering a waiting mode;
the judging whether a second lane change path avoiding collision exists in the front space and the rear space of the risk target vehicle comprises the following steps:
judging whether the target speed of the self vehicle is higher than the speed of the risk target vehicle or not, wherein the target speed is the highest lane changing speed allowed by the self vehicle;
if yes, judging whether collision risks exist between the overtaking lane change vehicle and the risk target vehicle and between the overtaking lane change vehicle and a front vehicle of the risk target vehicle;
if no collision risk exists between the vehicle and the risk target vehicle after the vehicle overtakes the lane change and the front vehicle of the risk target vehicle, a second lane change path for avoiding collision exists in front of the risk target vehicle;
if the target speed of the self vehicle is less than or equal to the speed of the risk target vehicle, judging whether collision risks exist between the self vehicle and the risk target vehicle and between the self vehicle and the rear vehicle of the risk target vehicle after the self vehicle is decelerated and changes lanes;
if no collision risk exists between the vehicle and the risk target vehicle or between the vehicle and the rear vehicle of the risk target vehicle after the vehicle is decelerated and changed, a second lane changing path for avoiding collision exists behind the risk target vehicle;
and if the collision risk exists between the vehicle and at least one of the risk target vehicle or the front vehicle of the risk target vehicle after the vehicle overtakes the lane and the collision risk exists between the vehicle and at least one of the risk target vehicle or the rear vehicle of the risk target vehicle after the vehicle decelerates and changes the lane, a second lane changing path avoiding collision does not exist in the front and rear space of the risk target vehicle.
7. A vehicle characterized by comprising the automatic lane change control apparatus according to claim 6.
8. A computer device, characterized in that it comprises a processor and a memory, in which at least one program code is stored, which is loaded and executed by the processor to implement the automatic lane change control method according to any one of claims 1 to 5.
9. A computer-readable storage medium having at least one program code stored therein, the program code being loaded and executed by a processor to implement the automatic lane-change control method according to any one of claims 1 to 5.
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| CN202111164809.4A CN113859242B (en) | 2021-09-30 | 2021-09-30 | Automatic lane change control method and device, vehicle, computer equipment and medium |
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| KR101439017B1 (en) * | 2013-04-11 | 2014-10-30 | 현대자동차주식회사 | System for controlling change of lane |
| JP6137212B2 (en) * | 2015-02-02 | 2017-05-31 | トヨタ自動車株式会社 | Driving assistance device |
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| CN109649393A (en) * | 2018-11-30 | 2019-04-19 | 福瑞泰克智能系统有限公司 | A kind of paths planning method and device of automatic Pilot changing Lane |
| CN109739246A (en) * | 2019-02-19 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | Decision-making technique, device, equipment and storage medium during a kind of changing Lane |
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