CN114019962B - Vehicle lane change control method and device and vehicle - Google Patents
Vehicle lane change control method and device and vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The invention provides a vehicle lane change control method, a vehicle lane change control device and a vehicle, wherein the method comprises the following steps: if the lane change control condition is met, determining a predicted target lane line of the vehicle based on the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width; determining a first expected direction corner of the vehicle based on the predicted target lane line, and controlling the vehicle to steer based on the first expected direction corner until the vehicle detects the target lane line; and determining a second expected direction turning angle of the vehicle based on the target lane line, and controlling the vehicle to enter the lane determined by the target lane line to drive based on the second expected direction turning angle. The method, the device and the vehicle do not need a high-precision map and high-precision positioning, so that the lane change control algorithm of the vehicle is small in calculation amount, the lane change process can be stably realized, and the control effect of lane change control is improved.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a vehicle lane change control method and device and a vehicle.
Background
As research, development, application, and commercialization of the assistant driving technology are accelerated, more and more vehicles are being installed and operating the assistant driving system. The conventional assistant driving system can only automatically drive the vehicle on one lane, and cannot control the vehicle to bypass an obstacle to change lanes to drive under the conditions of front congestion or lane dislocation and the like. In this case, the driver assistance system needs to control the vehicle to perform lane change in accordance with a lane change command from the driver.
The existing vehicle lane change control method generally fuses positioning navigation information provided by high-precision map and high-precision positioning information with data acquired by a sensor on a vehicle to plan a feasible lane change track, and then controls the vehicle to change lanes. The existing vehicle lane change control method excessively depends on a high-precision map and high-precision positioning information, the lane change control process is complex, and the control effect is poor.
Disclosure of Invention
The invention provides a vehicle lane change control method, a vehicle lane change control device and a vehicle, which are used for solving the technical problems that the existing vehicle lane change control method excessively depends on a high-precision map and high-precision positioning information, the lane change control process is complex, and the control effect is poor.
The invention provides a vehicle lane change control method, which comprises the following steps:
if the lane change control condition is met, determining a predicted target lane line of the vehicle based on the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width;
determining a first expected direction corner of the vehicle based on the predicted target lane line, and controlling the vehicle to steer and run based on the first expected direction corner until the vehicle detects the target lane line;
and determining a second expected direction turning angle of the vehicle based on the target lane line, and controlling the vehicle to enter the lane determined by the target lane line to drive based on the second expected direction turning angle.
According to the lane change control method for a vehicle provided by the present invention, if the lane change control condition is satisfied, determining a predicted target lane line of the vehicle based on a lane change direction in a lane change command, a current lane line detected by the vehicle, and a lane width, which previously includes:
acquiring a lane change instruction;
detecting other vehicles running on adjacent lanes corresponding to the lane changing direction based on the lane changing direction in the lane changing instruction;
if no other vehicle is detected, or a plurality of other vehicles are detected, and the distance between each other vehicle and the vehicle is greater than a preset distance threshold, determining that the vehicle meets the lane change control condition.
According to the lane change control method for a vehicle provided by the present invention, the determining a first desired direction turning angle of the vehicle based on the prediction target lane line includes:
determining a pre-view distance of the vehicle based on the predicted target lane line;
determining a vehicle position error and a vehicle direction error of the vehicle based on the pre-range of the vehicle;
a first desired heading angle of the vehicle is determined based on the vehicle position error and the vehicle heading error of the vehicle.
According to the lane change control method for a vehicle provided by the present invention, the determining a first desired steering angle of the vehicle based on a vehicle position error and a vehicle direction error of the vehicle includes:
limiting the vehicle position error based on a preset position error limiting coefficient and a preset position error limiting threshold value to obtain a limited vehicle position error;
limiting the vehicle direction error based on a preset direction error limiting coefficient and a preset direction error limiting threshold value to obtain a limited vehicle direction error;
determining a first desired steering angle of the vehicle based on the limited vehicle position error and the limited vehicle direction error.
According to the lane change control method for a vehicle provided by the present invention, the determining a first desired rudder angle of the vehicle based on the limited vehicle position error and the limited vehicle direction error includes:
determining a position error rate of change and a direction error rate of change of the vehicle based on the limited vehicle direction error and the speed of the vehicle;
determining a first desired steering angle of the vehicle based on the limited vehicle position error, the limited vehicle heading error, the position error rate of change, and the heading error rate of change.
According to the lane change control method of the vehicle provided by the invention, the lane change instruction is determined by a steering lever of the vehicle in response to an operation by a driver.
The invention provides a vehicle lane change control device, comprising:
a lane line prediction unit configured to determine a predicted target lane line of the vehicle based on a lane change direction in a lane change instruction, a current lane line detected by the vehicle, and a lane width if a lane change control condition is satisfied;
the switching control unit is used for determining a first expected direction corner of the vehicle based on the predicted target lane line and controlling the vehicle to steer and run based on the first expected direction corner until the vehicle detects the target lane line;
and the lane change control unit is used for determining a second expected direction turning angle of the vehicle based on the target lane line and controlling the vehicle to enter the lane determined by the target lane line to drive based on the second expected direction turning angle.
The invention provides a vehicle, which comprises the vehicle lane change control device.
The invention provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the vehicle lane change control method.
The present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle lane-change control method.
According to the vehicle lane change control method, the vehicle lane change control device and the vehicle, if the vehicle meets a lane change control condition, a predicted target lane line of the vehicle is determined according to a lane change direction in a lane change instruction, a current lane line detected by the vehicle and a lane width, a first expected direction corner of the vehicle is determined according to the predicted target lane line, the vehicle is controlled to steer until the vehicle detects the target lane line, a second expected direction corner of the vehicle is determined according to the target lane line, the vehicle is controlled to enter a lane determined by the target lane line to drive, the first expected direction corner of the vehicle is obtained after the current line is translated to the lane change direction according to the lane width in the lane change process, a high-precision map and high-precision positioning are not needed, the first expected direction corner and the second expected direction corner are determined through the predicted target lane line and the detected target lane line, the lane change control algorithm calculation amount of the vehicle is small, the lane change process can be achieved successively, and the smooth control effect of the lane change control is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are 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 schematic flow chart of a lane-change control method for a vehicle according to the present invention;
FIG. 2 is a second schematic flow chart of the lane-change control method for a vehicle according to the present invention;
FIG. 3 is a schematic illustration of a vehicle lane change process provided by the present invention;
FIG. 4 is a schematic structural diagram of a lane-change control apparatus for a vehicle according to the present invention;
FIG. 5 is a schematic structural view of a vehicle provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Reference numerals:
300: a vehicle; 400: a vehicle lane change control device;
410: a lane line prediction unit; 420: a switching control unit;
430: and a lane change control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a vehicle lane change control method provided by the present invention, and as shown in fig. 1, the method includes:
and step 110, if the lane change control condition is met, determining a predicted target lane line of the vehicle based on the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width.
Specifically, the execution subject of the lane change control method provided by the embodiment of the invention is a vehicle control system.
The lane change control condition is a condition for determining whether the vehicle satisfies the lane change running when running on the current lane. Here, lane change is that the vehicle travels from the current lane to the adjacent lane. The lane change control condition may be determined according to the state of another vehicle traveling on a lane adjacent to the vehicle at the present time. For example, the vehicle may detect another vehicle traveling on the left and right adjacent lanes by using a sensor such as a laser radar or a camera mounted on the vehicle body, and if there is no other vehicle on the adjacent lanes on both sides or there is another vehicle but the distance between the other vehicle and the vehicle is long, it may be determined that the vehicle satisfies the lane change control condition; if there is another vehicle and the distance between the another vehicle and the vehicle is close, it may be determined that the vehicle does not satisfy the lane change control condition.
The lane change instruction is a control instruction generated by the vehicle in response to the operation of the driver, and is used for triggering a control system of the vehicle to automatically change lanes. The lane change command includes a lane change direction, which is determined according to the operation of the driver.
When the vehicle runs on the current lane, the lane line is also detected. The current lane line is a boundary line on both sides of a lane on which the vehicle is traveling. For example, the lane lines may be solid or dashed marked boundaries, which are typically yellow or white.
The detection of the lane lines may be obtained by an image sensor mounted on the vehicle and obtained by an image recognition algorithm. For example, a camera may be installed at the front end of the vehicle, and the distance between the road surface corresponding to the pixel point in the image taken by the camera and the vehicle is calibrated to obtain the distance correspondence between the pixel point and the actual road surface. Through the existing image recognition algorithm, a lane line can be recognized from a shot image, and the distance from each point on the lane line to a vehicle is obtained according to the distance corresponding relation.
The lane width is the distance between lane lines on both sides of the lane. The target lane line is a lane line of a lane where the vehicle is located after lane changing driving, and if the vehicle changes the lane from the current lane to the adjacent lane, the target lane line is a lane line of the adjacent lane.
The predicted target lane line is a predicted line of the target lane line when the vehicle performs lane change control. When the vehicle changes lane, due to the visual field limitation of the sensor, the vehicle may only be able to detect the current lane line in the detection range, and the target lane line is not included at this time. At this time, the target lane line may be predicted according to the current lane line according to the relationship between lanes to obtain a predicted target lane line for controlling the vehicle to change lanes.
For example, the lane change direction of the vehicle may be determined to be left according to the lane change direction in the lane change instruction, and the current lane line may be shifted to the left by one lane width, so that the predicted target lane line may be obtained.
And step 120, determining a first expected direction turning angle of the vehicle based on the predicted target lane line, and controlling the vehicle to steer and run based on the first expected direction turning angle until the vehicle detects the target lane line.
Specifically, a first desired steering angle for controlling the vehicle to make a turn-around change may be obtained from the predicted target lane line. The desired rudder angle is used to control the steering angle of the vehicle.
The first desired direction rotation angle may be determined based on the predicted target lane line and the current position of the vehicle. For example, the vehicle is traveling on the center line of the current lane, which may be determined based on the current lane line. The position of the center line of the predicted target lane may be determined according to the predicted target lane line, and the first desired direction turning angle may be determined according to a distance between the center line of the current lane and the center line of the predicted target lane. If the distance between the two center lines is large, the first desired direction turning angle may be determined as a large angle, and if the distance between the two center lines is small, the first desired direction turning angle may be determined as a small angle.
When the vehicle is controlled to turn to change lanes at the first expected direction turning angle, the vehicle performs lane change driving towards a target lane line, and the driving posture of the vehicle is changed during the lane change driving, so that the visual field of a sensor on the vehicle approaches towards the target lane line until the vehicle detects the target lane line.
And step 130, determining a second expected direction turning angle of the vehicle based on the target lane line, and controlling the vehicle to enter the lane determined by the target lane line to travel based on the second expected direction turning angle.
Specifically, when the target lane line is detected, a second desired direction rotation angle for controlling the vehicle to make a turn-to-turn change may be obtained from the target lane line. The second expected direction corner may be determined according to the target lane line and the current position of the vehicle, and the determination method is similar to the determination method of the first expected direction corner, and only the predicted target lane line needs to be replaced by the target lane line, which is not described herein again.
And when the vehicle carries out lane change driving according to the second expected direction turning angle, the vehicle enters the lane determined by the target lane line to drive, so that the vehicle already drives to the adjacent lane, the vehicle lane change control process is finished, and the vehicle carries out lane keeping in the adjacent lane.
According to the vehicle lane change control method provided by the embodiment of the invention, if the vehicle meets the lane change control condition, the predicted target lane line of the vehicle is determined according to the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width, the first expected direction corner of the vehicle is determined according to the predicted target lane line, the vehicle is controlled to steer until the vehicle detects the target lane line, then the second expected direction corner of the vehicle is determined according to the target lane line, and the vehicle is controlled to enter the lane determined by the target lane line to drive.
Based on the above embodiment, step 110 includes:
acquiring a lane change instruction;
detecting other vehicles running on adjacent lanes corresponding to the lane changing direction based on the lane changing direction in the lane changing instruction;
and if no other vehicle is detected, or a plurality of other vehicles are detected, and the distance between each other vehicle and the vehicle is greater than a preset distance threshold value, determining that the vehicle meets the lane change control condition.
Specifically, the control system on the vehicle may control the sensor to detect other vehicles traveling on adjacent lanes corresponding to the lane change direction and distances between the other vehicles and the vehicle according to the lane change direction in the acquired lane change instruction.
If no other vehicle is detected, or a plurality of other vehicles are detected, and the distance between each other vehicle and the vehicle is larger than the preset distance threshold, the normal driving of the other vehicles on the adjacent lane is not influenced when the vehicle is changed, and the lane change is safe, namely, the vehicle is determined to meet the lane change control condition.
If a plurality of other vehicles are detected and at least one distance between the other vehicles and the vehicle is smaller than or equal to a preset distance threshold value, the normal running of the other vehicles on the adjacent lanes is influenced when the vehicle changes lanes, and the lane change is unsafe, namely the vehicle is determined not to meet the lane change control condition. The preset distance threshold may be set as desired.
After acquiring the lane change instruction, the adjacent lane may also be determined according to the detected lane line information. The adjacent lane here is a lane in the same direction as the driving direction of the lane in which the vehicle is currently located.
The lane line information includes a lane line type, a lane line display quality, and the like. The lane line type includes a double yellow line (solid line or dotted line), a single white line (solid line or dotted line), and the like. The lane line display quality includes whether or not the display of the detected lane line is clear.
For example, if the vehicle detects that the lane line on the left side is a double yellow line and is realized, the left lane is opposite to the driving direction of the lane where the vehicle is currently located, and the left lane cannot be an adjacent lane that can be changed. If the vehicle detects that the display quality of the lane line on the left side is not good, the lane on the left side cannot be used as an adjacent lane which can be changed in order to avoid accidents.
Based on any of the above embodiments, step 120 includes:
determining a pre-aiming distance of the vehicle based on the predicted target lane line;
determining a vehicle position error and a vehicle direction error of the vehicle based on the pre-aiming distance of the vehicle;
a first desired steering angle of the vehicle is determined based on the vehicle position error and the vehicle direction error of the vehicle.
Specifically, the vehicle coordinate system may be established while the vehicle keeps the current lane driving forward. The vehicle coordinate system uses the vehicle as an origin O, uses the traveling direction of the vehicle as a Y-axis (the positive direction is directed to the front of the vehicle), and uses the horizontal vertical direction of the traveling direction of the vehicle as an X-axis (the positive direction is directed to the right of the vehicle).
At the moment, the current lane line is detected through a sensor, and a left lane line x is obtained after fittinglAnd right lane line xrThe fitted curve of (1).
xl＝C0l+C1ly+C2ly2+C3ly3
xr＝C0r+C1ry+C2ry2+C3ry3
Then a fitted curve of the current lane centerline can be obtained:
x＝C0+C1y+C2y2+C3y3
wherein:
C0＝(C0l+C0r)/2
C1＝(C1l+C1r)/2
C2＝(C2l+C2r)/2
C3＝(C3l+C3r)/2
wherein y is the advancing distance of the vehicle, xlIs the left lane line, xrIs a right lane line, and x is a lane center line; c0、C1、C2、C3Respectively the lane line transverse offset distance, the lane line transverse angle, the lane line curvature and the curvature change rate of the lane central line; c0l、C1l、C2l、C3lRespectively the lane line lateral offset distance, the lane line lateral angle, the lane line curvature and the curvature change rate of the left lane line; c0r、C1r、C2r、C3rRespectively, the lane line lateral offset distance, the lane line lateral angle, the lane line curvature, and the curvature change rate of the right lane line.
In the above embodiment, when the vehicle is traveling in the current lane, the current lane line x is shifted to the left by one lane width, so that the predicted target lane line x can be obtained1Is formulated as:
x1＝C0-linewidth+C1y+C2y2+C3y3
similarly, the current lane line is translated to the right by a lane width, so that the predicted target lane line x can be obtained2Is formulated as:
x2＝C0+linewidth+C1y+C2y2+C3y3
in the formula, linewidth is a lane width.
The pre-address distance is a distance between a lane cut-in position on the predicted target lane line and the current position in the advancing direction of the vehicle when the vehicle changes lanes from the current position to the predicted target lane line.
According to the pre-aiming distance, the vehicle position error and the vehicle direction error of the vehicle can be obtained, and are expressed by the following formula:
e1＝C0+C1ypre+C2ypre2+C3ypre3
e2＝atan [C1+2C2*ypre+3C3*ypre2]
in the formula, e1As error in the position of the vehicle, e2And ypre is the direction error of the vehicle and is the pre-aiming distance.
Based on any of the above embodiments, determining a first desired steering angle of the vehicle based on the vehicle position error and the vehicle direction error of the vehicle includes:
limiting the vehicle position error based on a preset position error limiting coefficient and a preset position error limiting threshold value to obtain a limited vehicle position error;
limiting the vehicle direction error based on a preset direction error limiting coefficient and a preset direction error limiting threshold value to obtain a limited vehicle direction error;
a first desired steering angle of the vehicle is determined based on the limited vehicle position error and the limited vehicle heading error.
Specifically, in the course of lane changing and steering, if the error of the vehicle position and the error of the vehicle direction are too large, the steering angle of the vehicle is large, the lane changing speed of the vehicle is high, and the lane changing process is unsafe.
Therefore, it is possible to correct the vehicle position error e before determining the first desired direction rotation angle1aAnd vehicle direction error e2aThe restriction is formulated as:
in the formula, e1aLFor the limited vehicle position error, k1 and k2 are preset position error limiting coefficients, e1alimt is a preset position error limit threshold; e.g. of a cylinder2aLIs a limit ofThe direction error of the vehicle after manufacture, k3 and k4 are preset direction error limiting coefficients, e2alimt is a preset direction error limit threshold. The respective limiting coefficients and limiting threshold values described above may be determined as necessary.
When e is1aAbsolute value less than e1aThere is no restriction on limt. When e is2aAbsolute value less than e2alimt is not a requirement.
By limiting the vehicle position error and the vehicle direction error, the finally determined first expected direction rotating angle can control the vehicle to smoothly change the lane, and the security of lane change control is improved.
Similarly, before the second desired direction turning angle is determined, the vehicle position error e obtained according to the target lane line may be also corrected1bAnd vehicle direction error e2bThe restriction is formulated as:
in the formula, e1bLFor the limited vehicle position error, k5 and k6 are preset position error limiting coefficients, e1blimt is a preset position error limit threshold; e.g. of the type2bLFor the limited vehicle direction error, k7 and k8 are preset direction error limiting coefficients, e2blimt is a preset direction error limit threshold. The respective limiting coefficients and limiting threshold values described above may be determined as necessary.
By limiting the vehicle position error and the vehicle direction error, the finally determined second expected direction rotating angle can control the vehicle to smoothly change the lane, and the security of lane change control is improved.
Based on any of the embodiments above, determining a first desired steering angle of the vehicle based on the limited vehicle position error and the limited vehicle direction error includes:
determining a position error change rate and a direction error change rate of the vehicle based on the limited vehicle direction error and the speed of the vehicle;
a first desired heading angle of the vehicle is determined based on the limited vehicle position error, the limited vehicle heading error, the rate of change of the position error, and the rate of change of the heading error.
Specifically, in the embodiment of the invention, for convenience of description, the limited vehicle position error is e1The limited vehicle direction error is e2。
According to the limited vehicle direction error e1And the speed V of the vehiclexDetermining a position error change rate of the vehicle as
Rate of change of directional error of
Is formulated as:
in the formula, e2(k) For limiting the vehicle direction error e2Value at time k, e2(k-1) is the limited vehicle direction error e2And T is the sampling period when the value at the moment of k-1 is taken.
According to the limited vehicle position error e1And the limited vehicle direction error e2Rate of change of position error
And rate of change of direction error
Establishing a stateThe equation:
wherein, delta1For the steering wheel feedback control quantity, S is a state quantity, which can be expressed as:
a and B are state coefficient matrices:
in the formula, CfFor vehicle front wheel cornering stiffness, CrFor the vehicle rear wheel cornering stiffness,/fIs the vehicle center-of-mass to front axle distance,/rIs the distance from the center of mass of the vehicle to the rear axle, m is the vehicle mass, IzThe moment of inertia about the Z axis is imparted to the vehicle. Wherein the Z-axis is a direction perpendicular to the X-axis and the Y-axis in the vehicle coordinate system.
Definition Q = diag [ Q [ ]1,q2,q3,q4]Is a state quantity e1、
e2、
Weight of (d), R = [ R ]]To control the quantity delta1The weight of (c). Wherein q is2、q4And r is set to a fixed value.
Wherein, V1And V2Is a velocity VxLimit value of q1minIs q1Minimum value of (a), q1maxIs q1Maximum value of (a), q3minIs q3Minimum value of (b), q3maxIs q3Is measured.
According to an LQR (Linear Quadratic Regulator) solver, the optimal control gain K can be obtained:
K＝[K1 K2 K3 K4]＝LQR(A,B,Q,R)
in the formula, K1, K2, K3 and K4 are control gain coefficients, respectively.
The feedback control quantity delta of the steering wheel can be calculated according to the optimal control gain and the state error1：
δ1＝-KS
The position error Integral control quantity delta can be calculated according to a PID (Proportional Integral Derivative) algorithm2:
δ2(k)＝δ2(k-1)-kie1
In the formula, delta2(k) The position error is taken as the value of the integral control quantity at the moment k, delta2(k-1) is the value of the position error integral control quantity at the moment of k-1, kiIs an integral control coefficient.
The feedforward control quantity delta can be calculated according to the curvature of the road3：
Wherein L is the vehicle wheel base.
The first desired rudder angle δ of the vehicle is formulated as:
δ＝(δ1+δ2+δ3)*igear
in the formula igearIs the steering wheel rotation ratio, i.e., the ratio of the steering wheel angle to the front wheel angle.
Furthermore, the first desired steering angle may be limited:
wherein, steerlimt is the lane change critical steering wheel angle and is obtained by calibration. The method comprises the steps of firstly calibrating and recording lane change critical steering wheel corners under different vehicle speeds and different road curvatures, and manufacturing a three-dimensional interpolation table. And obtaining the real-time speed and the road curvature during lane changing, and obtaining the current critical steering wheel turning angle through table lookup and interpolation.
Similarly, the method for determining the second expected direction and rotation angle is similar to the method for determining the first expected direction and rotation angle, and is not described herein again.
According to any of the embodiments described above, the lane change instruction is determined by the steering lever of the vehicle in response to the operation by the driver.
Specifically, a steering column may be provided on the vehicle. The lane change instruction may be generated by a steering lever according to the operation of the driver. When the driver dials the steering poking rod leftwards, the steering poking rod can generate a left lane changing instruction; when the driver dials the steering lever to the right, the steering lever may generate a right lane change command.
Based on any of the above embodiments, fig. 2 is a second schematic flow chart of the vehicle lane change control method provided by the present invention, as shown in fig. 2, the method includes:
step one, a vehicle runs on a current lane;
secondly, a driver dials a left (right) steering poking rod of the vehicle to send a lane changing command;
step three, the vehicle control system judges whether a lane change condition is reached at the moment according to the type of the lane line and the motion conditions of other vehicles on the adjacent lane at the left (right) side, if the lane change condition is reached, the step three is executed, if the lane change condition is not met, the step one is executed, and the lane is kept to run;
step four, translating and switching lane lines: the current lane line is translated to the left (one lane is translated to the right), and the translated lane line is used as a predicted target lane line;
step five, starting lane changing: obtaining a position error and a direction error according to a fitting curve of a predicted target lane line, further calculating a first expected steering wheel angle, and controlling the vehicle to change lanes;
step six, lane changing switching: judging whether a lane line switching condition is met, if the lane line switching condition is met, jumping occurs on the lane line identified by the sensor, the vehicle runs through the current lane, and if the lane line switching condition is met, the switched lane line detected by the sensor is used as a target lane;
step seven, continuously changing lanes: obtaining a position error and a direction error according to a fitting curve of a target lane line, further calculating a second expected steering wheel angle, and controlling the vehicle to change lanes;
step eight, finishing lane changing: according to the transverse offset distance C of the lane line0Judging whether to end the lane, if C0And if the deviation is smaller than the preset transverse deviation distance, indicating that the lane change is finished, continuously keeping the lane driving in the target lane, and if the deviation is not met, continuously changing the lane.
Fig. 3 is a schematic diagram of a lane change process of a vehicle according to the present invention, as shown in fig. 3, in which lines 1, 2 and 3 are solid lines, and lines a and b are dot-dash lines. The dotted line portion is a lane change trajectory of the vehicle 300.
Starting with the vehicle 300 in lane keeping mode, lines 2 and 3 are the two lane lines identified by the sensors, and line b is the centerline of lines 2 and 3. When the driver turns on the left steering deflector rod, if the system judges that the lane change condition is met, the lane is translated leftwards to obtain two lane lines of a line 1 and a line 2, meanwhile, a line a is the central line of the line 1 and the line 2, and the line a is the central line of the target lane. And controlling the vehicle to steer according to the center line calculation error and the steering wheel rotation angle. When the lane line switching condition is satisfied, the vehicle 300 travels approximately to line 2, the two lines recognized by the sensors become line 1 and line 2, the switching target center line is the center line of the current lane, and the lane change is continued. When the vehicle 300 travels to the middle of the lane of line 1 and line 2, the lane change is ended and the lane keeping mode is entered.
Based on any of the embodiments described above, fig. 4 is a schematic structural diagram of a vehicle lane change control device provided by the present invention, and as shown in fig. 4, the vehicle lane change control device 400 includes:
a lane line prediction unit 410 configured to determine a predicted target lane line of the vehicle based on a lane change direction in a lane change instruction, a current lane line detected by the vehicle, and a lane width if a lane change control condition is satisfied;
a switching control unit 420, configured to determine a first desired direction turning angle of the vehicle based on the predicted target lane line, and control the vehicle to steer based on the first desired direction turning angle until the vehicle detects the target lane line;
and a lane change control unit 430, configured to determine a second desired direction turning angle of the vehicle based on the target lane line, and control the vehicle to enter the lane determined by the target lane line to travel based on the second desired direction turning angle.
According to the vehicle lane-changing control device provided by the embodiment of the invention, if the vehicle meets the lane-changing control condition, the predicted target lane line of the vehicle is determined according to the lane-changing direction in the lane-changing instruction, the current lane line detected by the vehicle and the lane width, the first expected direction corner of the vehicle is determined according to the predicted target lane line, the vehicle is controlled to steer until the vehicle detects the target lane line, then the second expected direction corner of the vehicle is determined according to the target lane line, and the vehicle is controlled to enter the lane determined by the target lane line to drive.
Based on any embodiment above, still include:
the lane change judging unit is used for acquiring a lane change instruction;
detecting other vehicles running on adjacent lanes corresponding to the lane changing direction based on the lane changing direction in the lane changing instruction;
and if no other vehicle is detected, or a plurality of other vehicles are detected, and the distance between each other vehicle and the vehicle is greater than a preset distance threshold value, determining that the vehicle meets the lane change control condition.
Based on any of the above embodiments, the handover control unit includes:
the distance determining subunit is used for determining the pre-aiming distance of the vehicle based on the predicted target lane line;
the error determining subunit is used for determining a vehicle position error and a vehicle direction error of the vehicle based on the pre-aiming distance of the vehicle;
and the rotation angle determining subunit is used for determining a first expected direction rotation angle of the vehicle based on the vehicle position error and the vehicle direction error of the vehicle.
Based on any of the embodiments described above, the rotation angle determining subunit includes:
the position error limiting module is used for limiting the vehicle position error based on a preset position error limiting coefficient and a preset position error limiting threshold value to obtain a limited vehicle position error;
the direction error limiting module is used for limiting the vehicle direction error based on a preset direction error limiting coefficient and a preset direction error limiting threshold value to obtain a limited vehicle direction error;
and the corner determining module is used for determining a first expected direction corner of the vehicle based on the limited vehicle position error and the limited vehicle direction error.
Based on any embodiment, the rotation angle determining module is configured to:
determining a position error change rate and a direction error change rate of the vehicle based on the limited vehicle direction error and the speed of the vehicle;
a first desired heading angle of the vehicle is determined based on the limited vehicle position error, the limited vehicle heading error, the rate of change of the position error, and the rate of change of the heading error.
Based on any of the embodiments described above, the lane change instruction is determined by the steering lever of the vehicle in response to the operation of the driver.
Based on any one of the embodiments, fig. 5 is a schematic structural diagram of a vehicle provided by the present invention, and as shown in fig. 5, a vehicle 300 provided by the embodiment of the present invention includes the vehicle lane change control device 400.
Specifically, the vehicle in the embodiment of the present invention may be a motor vehicle including a passenger vehicle, a commercial vehicle, an engineering vehicle, and the like.
Based on any of the above embodiments, fig. 6 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 6, the electronic device may include: a Processor (Processor) 610, a communication Interface (Communications Interface) 620, a Memory (Memory) 630 and a communication Bus (Communications Bus) 640, wherein the Processor 610, the communication Interface 620 and the Memory 630 complete communication with each other through the communication Bus 640. The processor 610 may call logical commands in the memory 630 to perform the following method:
if the lane change control condition is met, determining a predicted target lane line of the vehicle based on the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width; determining a first expected direction corner of the vehicle based on the predicted target lane line, and controlling the vehicle to steer and run based on the first expected direction corner until the vehicle detects the target lane line; and determining a second expected direction turning angle of the vehicle based on the target lane line, and controlling the vehicle to enter the lane determined by the target lane line to travel based on the second expected direction turning angle.
In addition, the logic commands in the memory 630 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of commands for enabling 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.
The processor in the electronic device provided in the embodiment of the present invention may call a logic instruction in the memory to implement the method, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects may be achieved, which is not described herein again.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes:
if the lane change control condition is met, determining a predicted target lane line of the vehicle based on the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width; determining a first expected direction corner of the vehicle based on the predicted target lane line, and controlling the vehicle to steer and run based on the first expected direction corner until the vehicle detects the target lane line; and determining a second expected direction turning angle of the vehicle based on the target lane line, and controlling the vehicle to enter the lane determined by the target lane line to travel based on the second expected direction turning angle.
When the computer program stored on the non-transitory computer readable storage medium provided in the embodiments of the present invention is executed, the method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects can be achieved, which is not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several commands for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle lane change control method characterized by comprising:
if the lane change control condition is met, determining a predicted target lane line of the vehicle based on the lane change direction in the lane change instruction, the current lane line detected by the vehicle and the lane width; the predicted target lane line is a predicted line of the target lane line when the vehicle performs lane change control;
determining a first expected direction corner of the vehicle based on the predicted target lane line, and controlling the vehicle to steer based on the first expected direction corner until the vehicle detects the target lane line;
and determining a second expected direction turning angle of the vehicle based on the target lane line, and controlling the vehicle to enter the lane determined by the target lane line to drive based on the second expected direction turning angle.
2. The vehicle lane-change control method according to claim 1, wherein the determining a predicted target lane line of the vehicle based on a lane-change direction in a lane-change instruction, a current lane line detected by the vehicle, and a lane width if the lane-change control condition is satisfied, previously comprises:
acquiring a lane change instruction;
detecting other vehicles running on adjacent lanes corresponding to the lane changing direction based on the lane changing direction in the lane changing instruction;
if no other vehicle is detected, or a plurality of other vehicles are detected, and the distance between each other vehicle and the vehicle is greater than a preset distance threshold, determining that the vehicle meets the lane change control condition.
3. The vehicle lane change control method according to claim 1, wherein the determining a first desired direction rotation angle of the vehicle based on the prediction target lane line includes:
determining a pre-aiming distance of the vehicle based on the predicted target lane line;
determining a vehicle position error and a vehicle direction error of the vehicle based on the pre-sight distance of the vehicle;
determining a first desired steering angle of the vehicle based on the vehicle position error and the vehicle direction error of the vehicle.
4. The vehicle lane-change control method according to claim 3, wherein the determining a first desired direction rotation angle of the vehicle based on the vehicle position error and the vehicle direction error of the vehicle includes:
limiting the vehicle position error based on a preset position error limiting coefficient and a preset position error limiting threshold value to obtain a limited vehicle position error;
limiting the vehicle direction error based on a preset direction error limiting coefficient and a preset direction error limiting threshold value to obtain a limited vehicle direction error;
determining a first desired steering angle of the vehicle based on the limited vehicle position error and the limited vehicle direction error.
5. The vehicle lane-change control method according to claim 4, wherein the determining a first desired steering angle of the vehicle based on the limited vehicle position error and the limited vehicle direction error comprises:
determining a position error rate of change and a direction error rate of change of the vehicle based on the limited vehicle direction error and the speed of the vehicle;
determining a first desired steering angle of the vehicle based on the limited vehicle position error, the limited vehicle heading error, the position error rate of change, and the heading error rate of change.
6. The vehicle lane-change control method according to any one of claims 1 to 5, wherein the lane-change instruction is determined by a steering lever of the vehicle in response to an operation by a driver.
7. A vehicle lane change control apparatus, characterized by comprising:
a lane line prediction unit configured to determine a predicted target lane line of the vehicle based on a lane change direction in a lane change instruction, a current lane line detected by the vehicle, and a lane width if a lane change control condition is satisfied; the predicted target lane line is a predicted line of the target lane line when the vehicle performs lane change control;
the switching control unit is used for determining a first expected direction turning angle of the vehicle based on the predicted target lane line and controlling the vehicle to steer and run based on the first expected direction turning angle until the vehicle detects the target lane line;
and the lane change control unit is used for determining a second expected direction turning angle of the vehicle based on the target lane line and controlling the vehicle to enter the lane determined by the target lane line to drive based on the second expected direction turning angle.
8. A vehicle characterized by comprising the vehicle lane change control apparatus of claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor when executing said program carries out the steps of a vehicle lane-change control method according to any one of claims 1 to 6.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the vehicle lane-change control method according to any one of claims 1 to 6.
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Application publication date: 20220208 Assignee: Sany Automobile Manufacturing Co.,Ltd. Assignor: SANY SPECIAL PURPOSE VEHICLE Co.,Ltd. Contract record no.: X2024980010904 Denomination of invention: Vehicle lane change control method, device, and vehicle Granted publication date: 20221101 License type: Common License Record date: 20240801 |
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