CN114194193B - Method for controlling lane change of vehicle - Google Patents
Method for controlling lane change of vehicle Download PDFInfo
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- CN114194193B CN114194193B CN202210009845.1A CN202210009845A CN114194193B CN 114194193 B CN114194193 B CN 114194193B CN 202210009845 A CN202210009845 A CN 202210009845A CN 114194193 B CN114194193 B CN 114194193B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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Abstract
The embodiment of the invention discloses a method for controlling lane changing of a vehicle, which comprises the steps of obtaining a driving route and a driving lane; acquiring traffic lights closest to the unmanned vehicle and driving directions; acquiring a traffic lane corresponding to a driving direction; judging whether the traffic lane is the same as the driving lane; if the two requirements are different, determining that the unmanned vehicle has a lane change requirement; acquiring a non-merging road section; acquiring the distance of a distance non-merging road section; judging whether the distance is smaller than or equal to a preset threshold value; if not, entering a step of acquiring the distance of the distance non-merging road section; if yes, detecting whether the condition of merging the traffic lanes is met; if yes, detecting whether a front vehicle exists on the traffic lane; if a front vehicle exists, detecting the running speed of the front vehicle; the unmanned vehicle is controlled to be integrated into the traffic lane, so that the lane can be merged in a lane section capable of merging in time before a traffic light when the lane needs to be changed.
Description
Technical Field
The embodiment of the invention relates to the field of daily necessities, in particular to a method for controlling lane changing of a vehicle.
Background
Artificial intelligence is a trend in the future, and unmanned vehicles closely related to artificial intelligence are a popular field for future development. Unmanned vehicles mainly rely on high-precision maps, positioning, perception and the like to acquire conditions near the vehicle, and are very intelligent and advanced. The appearance of unmanned vehicles will undoubtedly bring unprecedented experience to people's trips.
However, the inventors of the present invention found in the course of implementing the present invention that: at present, when an unmanned vehicle runs on a driving lane and a traffic light is in front of the traffic light, the situation that the unmanned vehicle is positioned on a non-merging road section occurs, and the unmanned vehicle cannot be merged into the driving lane.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention provide a method of controlling lane changes in a vehicle that overcomes or at least partially solves the foregoing problems.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling lane change of a vehicle, the method including: acquiring a driving route and a current driving lane of the unmanned vehicle; according to the driving route, acquiring a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light; acquiring a traffic lane corresponding to the driving direction; judging whether the traffic lane is the same as the driving lane; if the two requirements are different, determining that the unmanned vehicle has a lane change requirement; a non-merging section of the traffic lane that is continuous from the traffic light and that is not merging into the traffic lane; acquiring the distance between the unmanned vehicle and the non-merging road section; judging whether the distance is smaller than or equal to a preset threshold value; if the distance is greater than the preset threshold, executing the step of acquiring the distance from the unmanned vehicle to the non-incorporated road section after a preset time; if the distance is smaller than or equal to the preset threshold value, detecting whether the unmanned vehicle meets the condition of being integrated into the traffic lane or not; if yes, detecting whether a front vehicle exists in the front preset distance of the unmanned vehicle on the traffic lane; if the front vehicle exists, detecting the running speed of the front vehicle; controlling the unmanned vehicle to incorporate into the traffic lane according to the traveling speed of the preceding vehicle.
In an alternative way, the step of obtaining a non-merging stretch from the traffic light that is continuous and not merging into the traffic lane, further comprises: identifying whether the traffic lane is in a congestion state; if yes, the continuous congestion road section of the traffic lane from the traffic light is obtained, and the continuous congestion road section is used as a non-merging road section.
In an alternative way, the step of obtaining a non-merging stretch from the traffic light that is continuous and not merging into the traffic lane, further comprises: and if the traffic lane is not in a congestion state, acquiring a continuous solid line section from the traffic light, and taking the continuous solid line section as a non-merging section.
In an alternative manner, the step of detecting whether the unmanned vehicle satisfies a condition of incorporating the traffic lane further includes: identifying whether the unmanned vehicle is located on a lane adjacent to the traffic lane; if yes, detecting whether a side-by-side vehicle which is side-by-side with the unmanned vehicle exists on the lane; if the side-by-side vehicles exist, determining that the unmanned vehicle does not meet the condition of being incorporated into the traffic lane; if the side-by-side vehicles are not present, detecting whether a rear vehicle positioned behind the unmanned vehicle exists on the passing lane; if the rear vehicle does not exist, determining that the unmanned vehicle meets the condition of being integrated into the traffic lane; if the rear vehicle exists, acquiring the distance between the rear vehicle and the unmanned vehicle; judging whether the distance is larger than or equal to a preset parallel path safety distance; if yes, determining that the condition of merging the traffic lane is met; if not, determining that the condition for being integrated into the traffic lane is not met.
According to an aspect of an embodiment of the present invention, there is provided an apparatus for controlling lane change of a vehicle, the apparatus including: the first acquisition module is used for acquiring the driving route of the unmanned vehicle and the driving lane of the current driving; the second acquisition module is used for acquiring traffic lights closest to the unmanned vehicle according to the driving route and the driving direction of the unmanned vehicle passing through the traffic lights; the third acquisition module is used for acquiring a traffic lane corresponding to the driving direction; the first judging module is used for judging whether the traffic lane is the same as the driving lane or not; the determining module is used for determining that the unmanned vehicle has a lane changing requirement if the traffic lane is different from the driving lane; a fourth acquisition module for acquiring non-merging sections that are continuous from the traffic light and that cannot merge into the traffic lane; a fifth acquisition module for acquiring a distance from the unmanned vehicle to the non-merging road section; the second judging module is used for judging whether the distance is smaller than or equal to a preset threshold value, if the distance is larger than the preset threshold value, executing the fifth acquiring module after preset time, and if the distance is smaller than or equal to the preset threshold value, executing the first detecting module; a first detection module for detecting whether the unmanned vehicle satisfies a condition of incorporating the traffic lane; the second detection module is used for detecting whether a front vehicle exists in front of the unmanned vehicle in the passing lane or not if the unmanned vehicle meets the condition of being integrated into the passing lane; a third detection module for detecting a traveling speed of the preceding vehicle if the preceding vehicle is present; a first control module for controlling the integration of the unmanned vehicle into the traffic lane according to a traveling speed of the preceding vehicle; the fourth acquisition module includes: the first recognition unit is used for recognizing whether the traffic lane is in a congestion state or not; a fifth obtaining unit, configured to obtain a continuous congestion road section of the traffic lane from the traffic light if the traffic lane is in a congestion state, and take the continuous congestion road section as a non-merging road section; the fourth acquisition module further includes: and a sixth acquisition unit configured to acquire a continuous solid line segment from the traffic light if the traffic lane is not in a congestion state, and take the continuous solid line segment as a non-merging segment.
According to an aspect of an embodiment of the present invention, there is provided an unmanned vehicle including: at least one processor, and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
The embodiment of the invention has the beneficial effects that: different from the existing method for controlling the lane changing of the vehicle, the method for controlling the lane changing of the vehicle in the embodiment of the invention can timely merge lanes on a lane section capable of merging lanes before a traffic light when the lane changing is needed, thereby ensuring the normal running of an unmanned vehicle. According to the method for controlling the lane change of the vehicle, when the front preset distance of the traffic lane to be integrated is the front vehicle, the unmanned vehicle can be controlled to be integrated into the traffic lane according to the running speed of the front vehicle, so that collision between the unmanned vehicle and the front vehicle is avoided, and normal running of the rear vehicle is avoided.
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One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a schematic flow chart of a method for controlling lane change of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of one possible method of obtaining non-merging road segments from traffic lights that are continuous and that cannot merge into a traffic lane provided by an embodiment of the present invention;
FIG. 3 is a flow chart of one possible method for detecting whether an unmanned vehicle satisfies a condition incorporated into a traffic lane according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for controlling lane change of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an apparatus for controlling lane changes in a vehicle according to an embodiment of the present invention;
fig. 6 is a schematic hardware structure of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In addition, the technical features mentioned in the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of a method for controlling lane change of a vehicle according to an embodiment of the invention, the method includes the following steps:
step S101, a driving route and a current driving lane of the unmanned vehicle are obtained.
The driving route is preset from a certain starting point to a certain terminal point of the unmanned vehicle.
For example, the driving route includes straight on the A road, straight to the B turn intersection, then right turn into straight on the C road, straight to the D turn intersection, then left turn into the E road … …
The driving lane is a lane in a route in which the unmanned vehicle is currently driving. The driving lane may be a straight lane, a turning lane turning to the left, or a turning lane turning to the right.
Step S102, according to the driving route, obtaining a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light.
The driving direction is a preset driving direction in the driving route, and comprises a straight direction, a leftward turning direction and a rightward turning direction.
Step S103, obtaining a traffic lane corresponding to the driving direction.
And if the driving direction is a straight driving direction, the passing lane is a straight driving lane.
And if the driving direction is a leftward turning direction, the passing lane is a leftward turning lane.
And if the driving direction is a rightward turning direction, the passing lane is a rightward turning lane.
Step S104, determining whether the traffic lane is the same as the driving lane, and if not, executing step S105.
And if the traffic lane is the same as the driving lane, determining that the unmanned vehicle does not have the lane changing requirement.
For example, if the driving lane of the unmanned vehicle is a straight driving lane and the passing lane is a straight driving lane, the passing lane is identical to the driving lane, and it is determined that the unmanned vehicle does not have a lane changing requirement.
For example, if the driving lane of the unmanned vehicle is a straight driving lane and the driving lane is a turning lane turning leftwards, the driving lane is different from the driving lane, and it is determined that the unmanned vehicle has a lane changing requirement.
For example, if the driving lane of the unmanned vehicle is a turning lane turning leftwards and the passing lane is a turning lane turning rightwards, the passing lane is different from the driving lane, and it is determined that the unmanned vehicle has a lane changing requirement.
Step S105, determining that the unmanned vehicle has a lane change requirement.
Step S106, obtaining a non-merging road section which is continuous from the traffic light and can not be merged into the traffic lane.
The non-merging road sections can be continuous congestion road sections or continuous solid line routes.
In some embodiments, when there is a first non-merge area, a first viable area, a second non-merge area, a second viable area, and a third non-merge area from the traffic light, wherein the first non-merge area, the second non-merge area, and the third non-merge area refer to solid line routes, or areas where the vehicle is immediately adjacent to the vehicle, are areas where the vehicle is less than a park safe distance from the rear of the vehicle, e.g., areas where the rear of the vehicle is less than 3 meters from the front of the vehicle. The method of obtaining a non-merging road segment that is continuous from the traffic light and that cannot merge into the traffic lane comprises:
Acquiring the length of the first feasible region and the length of the second feasible region;
comparing the length of the first feasible region, the length of the second feasible region and the size of a first preset threshold value respectively;
and when the lengths of the first feasible region and the second feasible region are smaller than the first preset threshold value, taking the road sections comprising the first non-merging region, the first feasible region, the second non-merging region, the second feasible region and the third non-merging region as the non-merging road sections.
The first preset threshold is a parallel path safety distance, for example, 50 meters.
By the method, the sections of which the lengths are smaller than the first preset threshold value and the second feasible region are mistakenly regarded as sections capable of merging, and the sections of which the first non-merging region positioned in front of the first feasible region is mistakenly regarded as continuous sections which are from the traffic light and are not capable of merging into the traffic lane are avoided, so that the condition that the unmanned vehicle cannot be merged into the traffic lane is avoided.
Referring to fig. 2, step S106 specifically includes:
step S1061, identifying whether the traffic lane is in a congestion state, if so, executing step S1062, and if not, executing step S1063.
The traffic lanes need to be merged in advance when the traffic lanes are in a congestion state so as not to be merged.
When the traffic lane is not in a congestion state but there is a continuous solid line section, it is necessary to avoid the continuous solid line section, and the traffic lane is incorporated in the broken line section.
One possible way to identify whether a traffic lane is in a congested state is the number of vehicles passing a certain test point of the traffic lane at a preset time. For example, if the number of vehicles passing through the test point within 1 minute on average is less than 1, the traffic lane is considered to be in a congestion state when the number of vehicles passing through the test point within 1 minute on average is less than 1.
Another possible way to identify whether a traffic lane is in a congested state is the speed of travel of the vehicle in the traffic lane. For example, when the vehicle is defined as in a congestion state in which the vehicle is traveling at a traffic lane at a speed of less than 30 km/h, the traffic lane is considered to be in the congestion state when the average traveling speed of the vehicle in the acquired traffic lane is less than 30 km/h.
Yet another possible way to identify whether a traffic lane is in a congested state is to receive an official report on the road conditions of the city in which the unmanned vehicle is located, and then to obtain its congested state for a specific traffic lane.
Step S1062, obtaining a continuous congestion road section of the traffic lane from the traffic light, and taking the continuous congestion road section as a non-merging road section.
It is understood that the continuous congested road segment is a continuous road segment from the traffic light.
Step S1063, obtaining a continuous solid line segment from the traffic light, and taking the continuous solid line segment as a non-merging segment.
Step S107, obtaining a distance between the unmanned vehicle and the non-merging road section.
One feasible way to obtain the distance between the unmanned vehicle and the non-merging road section is to install a binocular camera in front of the unmanned vehicle, then use the binocular camera to photograph the non-merging road section, and finally calculate the distance according to the baseline, focal length and parallax of the binocular camera.
In some embodiments, the non-merging road segments include a continuous congestion road segment and a continuous solid road segment, and after acquiring a non-merging road segment that is continuous from the trigger target and that cannot merge into the traffic lane, before acquiring a distance of the unmanned vehicle from the non-merging road segment, i.e., after step S106 and before step S107, the method further includes:
Judging whether the non-merging road section comprises a congestion road section or not, wherein the congestion road section is a road section with a distance between the tail of a front vehicle and the head of a rear vehicle smaller than a parking safety distance;
if not, the non-merging section is determined to be a continuous solid line section, and the step S107 is executed.
In some embodiments, the trigger target has a target point in front of it, after step S106 and before step S107, the method further comprises:
step S301, detecting whether the unmanned vehicle has an optional route from the target point, if the unmanned vehicle has no optional route from the target point, executing step S107, and if the unmanned vehicle has an optional route from the target point, executing step S302.
For example, the driving route is that the road at the turn intersection a directly moves on the road b and reaches the turn intersection c at the target point after the target is triggered to turn, and the alternative route may be that the road at the turn intersection a directly moves on the road d and reaches the turn intersection c at the target point after the road at the turn intersection e.
The target point is a certain position point in front of the trigger target, for example, the target point may be a turn intersection in front of the trigger target, where a turn is required.
Step S302, predicting a first driving time of the unmanned vehicle reaching the target point through the driving route, and predicting a second driving time of the unmanned vehicle reaching the target point through the optional route.
The first driving time and the second driving time may refer to history data of the vehicle at the present moment.
Step S303, determining whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, executing step S107.
And when the first driving time is less than or equal to the second driving time, namely the time that the unmanned vehicle reaches the target point through the driving route is less than or equal to the time that the unmanned vehicle reaches the target point through the optional route, the unmanned vehicle still selects to drive according to the driving route.
And when the first driving time is longer than the second driving time, the unmanned vehicle can be driven according to the optional route so as to ensure the driving time of the unmanned vehicle.
Step S108, judging whether the distance is smaller than or equal to a preset threshold value, if the distance is larger than the preset threshold value, executing step S107 after a preset time, and if the distance is smaller than or equal to the preset threshold value, executing step S109.
If the distance is greater than the preset threshold value, only controlling the unmanned vehicle lane change to run on the running lane currently running
And after a preset time, performing step S107, and performing step S109 until the distance is less than or equal to the preset threshold.
By the control method for lane changing of the unmanned vehicle, the unmanned vehicle is prevented from being prematurely incorporated into the traffic lane, so that the running freedom of the unmanned vehicle is affected, the unmanned vehicle can be prevented from being unable to be incorporated into the traffic lane or being difficult to be incorporated into the traffic lane when approaching a traffic light, and the unmanned vehicle is prevented from being unable to normally run.
It should be noted that, in some embodiments, the preset time is a variable, and the preset time may be calculated according to a distance of the unmanned vehicle from the non-merging road section, the preset threshold value, and a running speed of the unmanned vehicle. For example, the preset time is (distance of the unmanned vehicle from the non-merging road segment-the preset threshold)/(number of times x travel speed), wherein the number of times is the number of times step S107 is performed when the distance is greater than the preset threshold. By setting the preset time in this way, it is possible to avoid that the preset time sets an hour to increase the calculation load of the unmanned vehicle when the preset time is quantitative, and that the preset time sets a large hour to miss the optimal time and position of the merging traffic lane.
It should be noted that in some embodiments, the preset time is a fixed amount, for example, 5 seconds, so that the unmanned vehicle is not required to calculate the preset time separately.
Step S109, detecting whether the unmanned vehicle satisfies a condition for incorporating the traffic lane, and if so, executing step S110.
When there is a vehicle alongside the unmanned vehicle on the traffic lane, and when the vehicle runs on the traffic lane behind the unmanned vehicle, the safety of the incorporated traffic lane needs to be comprehensively considered, the incorporated traffic lane can be incorporated only in a safe state, and specifically, referring to fig. 3, one implementation way for detecting whether the unmanned vehicle meets the condition of the incorporated traffic lane comprises the following steps:
step S1091, identifying whether the unmanned vehicle is located on a lane adjacent to the traffic lane, if so, executing step S1092.
If the unmanned vehicle is identified as not being located on a lane adjacent to the passing lane, the unmanned vehicle needs to be incorporated into the lane adjacent to the passing lane first.
Step S1092, detecting whether there is a side-by-side vehicle on the lane, if so, executing step S1093, otherwise executing step S1094.
The side-by-side vehicle is parallel to the unmanned vehicle, comprises a tail of the side-by-side vehicle and a head of the unmanned vehicle, comprises a tail of the side-by-side vehicle and a body of the unmanned vehicle, comprises a head of the side-by-side vehicle and a body of the unmanned vehicle, and comprises a head of the side-by-side vehicle and a tail of the unmanned vehicle.
Step S1093 determines that the unmanned vehicle does not satisfy the condition of incorporating the traffic lane.
If there are side-by-side vehicles on the traffic lane that are side-by-side with the unmanned vehicle, then the unmanned vehicle cannot be incorporated into the traffic lane at this time.
Step S1094, detecting whether there is a rear vehicle behind the unmanned vehicle on the traffic lane, if there is no rear vehicle, executing step S1095, otherwise executing step S1096.
Step S1095 determines that the unmanned vehicle satisfies a condition of incorporating the traffic lane.
When no side-by-side vehicles are arranged on the passing lane and no vehicles run on the passing lane behind the unmanned vehicles, the unmanned vehicles are considered to be safe to be integrated into the passing lane at the moment, namely, the unmanned vehicles are determined to meet the condition of being integrated into the passing lane.
Step S1096 obtains a distance between the rear vehicle and the unmanned vehicle.
One possible way to obtain the distance between the rear vehicle and the unmanned vehicle is to install a binocular camera at the rear of the unmanned vehicle, then use the binocular camera to photograph the rear vehicle, and finally calculate the distance according to the baseline, focal length and parallax of the binocular camera.
The other feasible way of obtaining the distance between the rear vehicle and the unmanned vehicle is that the unmanned vehicle is loaded with a vehicle-mounted radar, the vehicle-mounted radar continuously transmits signals and receives echo signals of objects, and the distance between the objects and the vehicle-mounted radar can be measured according to the transmitted signals and the echo signals of the objects.
Step S1097, determining whether the distance is greater than or equal to a preset merge safety distance, if yes, executing step S1098, otherwise executing step S1099.
The unmanned vehicle can be incorporated into the traffic lane only if the distance is greater than or equal to a preset merge safety distance.
For a vehicle that normally travels, the preset merge safety distance may be set to 50 meters in general.
In some embodiments, when the distance is greater than or equal to a preset merge safety distance, it is further detected whether the unmanned vehicle is located on a broken line road section, if yes, step S1098 is executed, it is determined that the condition for merging the traffic lane is met, if the unmanned vehicle is located on a solid line road section, step S1099 is executed, it is determined that the condition for merging the traffic lane is not met, after it is determined that the condition for merging the traffic lane is not met, the unmanned vehicle continues to travel on the traffic lane, step S1092 is executed, it is detected whether a side-by-side vehicle is present on the traffic lane, if yes, step S1093 is executed, and otherwise step S1094 is executed.
Step S1098, determining that a condition for incorporation into the traffic lane is satisfied.
Wherein when it is determined that the condition for incorporating the traffic lane is satisfied, the unmanned vehicle may be further controlled to incorporate the traffic lane.
Step S1099 determines that the condition for incorporating the traffic lane is not satisfied.
Wherein when it is determined that the condition for incorporating the traffic lane is not satisfied, the unmanned vehicle cannot be controlled to incorporate the traffic lane.
Step S110, detecting whether a front vehicle exists in the front preset distance of the unmanned vehicle on the traffic lane, if yes, executing step S111, otherwise executing step S113.
Wherein the preset distance is at least greater than a braking distance of the unmanned vehicle.
Step S111 detects a running speed of the preceding vehicle.
In some embodiments, a speed sensor is provided on the unmanned vehicle, which can test the speed of the unmanned vehicle itself. And if a distance sensor is arranged in front of the unmanned vehicle, the running speed of the front vehicle can be detected by testing the distance between the front vehicle and the unmanned vehicle and the speed of the unmanned vehicle.
Step S112, controlling the unmanned vehicle to incorporate into the traffic lane according to the traveling speed of the preceding vehicle.
One way of controlling the unmanned vehicle to incorporate into the traffic lane according to the running speed of the front vehicle is to control the unmanned vehicle to incorporate into the traffic lane at a speed smaller than the running speed of the front vehicle, so that collision between the unmanned vehicle and the front vehicle located in front of the unmanned vehicle on the traffic lane can be avoided, and running safety of the unmanned vehicle is ensured.
In some implementations, the unmanned vehicle may be controlled to illuminate a corresponding turn signal during control of the unmanned vehicle to incorporate into the traffic lane.
The corresponding turning lamp is turned on when turning left, and turned on when turning right.
Step S113 controls the unmanned vehicle to merge into the traffic lane at a normal speed.
When no front vehicle exists in front of the unmanned vehicle by a preset distance, the unmanned vehicle can be controlled to be integrated into the traffic lane at a normal speed, and the running of a rear vehicle positioned behind the unmanned vehicle on the traffic lane can be prevented from being influenced.
In some embodiments, the unmanned vehicle may be controlled to accelerate into the traffic lane when there is no front vehicle in front of the unmanned vehicle by a preset distance, but the speed of the unmanned vehicle needs to be controlled to be less than the travel speed of the front vehicle.
In the embodiment of the invention, the driving route of the unmanned vehicle and the driving lane of the current driving are obtained; according to the driving route, acquiring a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light; acquiring a traffic lane corresponding to the driving direction; judging whether the traffic lane is the same as the driving lane; if the two requirements are different, determining that the unmanned vehicle has a lane change requirement; a non-merging section of the traffic lane that is continuous from the traffic light and that is not merging into the traffic lane; acquiring the distance between the unmanned vehicle and the non-merging road section; judging whether the distance is smaller than or equal to a preset threshold value; if the distance is greater than the preset threshold, executing the step of acquiring the distance from the unmanned vehicle to the non-incorporated road section after a preset time; if the distance is smaller than or equal to the preset threshold value, detecting whether the unmanned vehicle meets the condition of being integrated into the traffic lane or not; if yes, detecting whether a front vehicle exists in the front preset distance of the unmanned vehicle on the traffic lane; if the front vehicle exists, detecting the running speed of the front vehicle; controlling the unmanned vehicle to incorporate into the traffic lane according to the traveling speed of the preceding vehicle. By the method for controlling the lane changing of the vehicle, when the unmanned vehicle runs, the lane can be timely merged on the lane capable of being merged when the lane changing is needed before a traffic light, and therefore normal running of the unmanned vehicle is guaranteed. According to the method for controlling the lane change of the vehicle, when the front preset distance of the traffic lane to be integrated is the front vehicle, the unmanned vehicle can be controlled to be integrated into the traffic lane according to the running speed of the front vehicle, so that collision between the unmanned vehicle and the front vehicle is avoided, and normal running of the rear vehicle is avoided.
Example two
When the non-merging road section exists in the traffic lane, and when the distance between the unmanned vehicle and the non-merging road section is smaller than or equal to the preset threshold value, the unmanned vehicle is controlled to merge into the traffic lane when the unmanned vehicle is detected to meet the condition of merging into the traffic lane. When the unmanned vehicle runs on the traffic lane, for safety, when there is a parallel road vehicle in front of the unmanned vehicle, the running of the unmanned vehicle needs to be controlled. Referring to fig. 4, fig. 4 is a flowchart illustrating another method for controlling lane change of a vehicle according to an embodiment of the invention. The method differs from the first embodiment in that it further comprises the steps of:
step S114, during the course of the unmanned vehicle traveling on the traffic lane, detecting whether there is a merging vehicle in front of the unmanned vehicle, and if so, executing step S115.
Wherein the merge vehicle is a vehicle that merges into the traffic lane from a lane adjacent to the traffic lane.
Step S115, identifying whether the distance between the merging vehicle and the unmanned vehicle is smaller than a preset merging safety distance, if yes, executing step S116.
For a vehicle that is traveling normally, the preset merge safety distance may be set to 50 meters, that is, when there is a merge vehicle within 50 meters in front of the unmanned vehicle, step S116 is performed.
And step S116, controlling the unmanned vehicle to slow down or brake.
When the distance between the lane-merging vehicle and the unmanned vehicle is smaller than the preset lane-merging safety distance, the unmanned vehicle is controlled to decelerate or brake, so that the unmanned vehicle can be prevented from impacting the lane-merging vehicle.
In some embodiments, the unmanned vehicle is controlled to light a warning light during the course of controlling the unmanned vehicle to slow down or brake.
In the process of controlling the unmanned vehicle to slow down or brake, the unmanned vehicle is controlled to light up the alarm lamp, so that the vehicle behind the unmanned vehicle can be warned, and the vehicle behind the unmanned vehicle is prevented from being impacted.
In the embodiment of the invention, whether a lane-merging vehicle exists in front of the unmanned vehicle is detected in the process that the unmanned vehicle runs on the traffic lane, wherein the lane-merging vehicle is a vehicle which is merged into the traffic lane by a lane adjacent to the traffic lane; if so, identifying whether the distance between the merging vehicle and the unmanned vehicle is smaller than a preset merging safety distance; if yes, controlling the unmanned vehicle to slow down or brake; and in the process of controlling the unmanned vehicle to slow down or brake, controlling the unmanned vehicle to light an alarm lamp, so that the unmanned vehicle is prevented from colliding with the preceding parallel road vehicle when driving in a traffic lane, and the unmanned vehicle is safe to drive in the traffic lane.
Example III
Referring to fig. 5, fig. 5 is a schematic diagram of an apparatus for controlling lane change of a vehicle according to an embodiment of the invention, where the apparatus 400 includes: a first obtaining module 401, configured to obtain a driving route of the unmanned vehicle and a driving lane of the current driving; a second obtaining module 402, configured to obtain, according to the driving route, a traffic light nearest to the unmanned vehicle, and a driving direction of the unmanned vehicle passing through the traffic light; a third obtaining module 403, configured to obtain a traffic lane corresponding to the driving direction; a first judging module 404, configured to judge whether the traffic lane is the same as the driving lane; a determining module 405, configured to determine that a lane change requirement exists in the unmanned vehicle if the traffic lane is different from the driving lane; a fourth acquisition module 406 for acquiring non-merging sections that are continuous from the traffic light and that cannot merge into the traffic lane; a fifth obtaining module 407, configured to obtain a distance between the unmanned vehicle and the non-merging road section; a second judging module 408, configured to judge whether the distance is less than or equal to a preset threshold, execute the fifth acquiring module 407 after a preset time if the distance is greater than the preset threshold, and execute the first detecting module 409 if the distance is less than or equal to the preset threshold; a first detection module 409 for detecting whether the unmanned vehicle satisfies a condition of incorporating the traffic lane; a fourth detecting module 414, configured to detect whether a front vehicle exists in a preset distance in front of the unmanned vehicle on the traffic lane if the unmanned vehicle meets a condition of being incorporated into the traffic lane; a third detection module 411 configured to detect a traveling speed of the preceding vehicle if the preceding vehicle is present; a first control module 412 for controlling the incorporation of the unmanned vehicle into the traffic lane according to the travel speed of the preceding vehicle.
In some embodiments, the apparatus further comprises: a second control module 413 for controlling the unmanned vehicle to merge into the traffic lane at a normal speed if the front vehicle is not present.
In some embodiments, the first control module 412 is specifically configured to: the unmanned vehicle is controlled to incorporate into the traffic lane at a speed less than a travel speed of the preceding vehicle.
In some embodiments, the fourth acquisition module 406 includes: a first identifying unit 4061 for identifying whether the traffic lane is in a congestion state; and a fifth acquiring unit 4062, configured to acquire a continuous congestion road segment of the traffic lane from the traffic light if the traffic lane is in a congestion state, and take the continuous congestion road segment as a non-merging road segment.
In some embodiments, the fourth acquisition module 406 further comprises: a sixth acquisition unit 4063 is configured to acquire a continuous solid line segment from the traffic light if the traffic lane is not in a congestion state, and to take the continuous solid line segment as a non-merging segment.
In some embodiments, the first detection module 409 comprises: a second recognition unit 4091 for recognizing whether the unmanned vehicle is located on a lane adjacent to the passing lane; a first detection unit 4092 configured to detect whether a side-by-side vehicle that is side-by-side with the unmanned vehicle exists on a lane adjacent to the traffic lane if the unmanned vehicle is located on the lane; a third determining unit 4093 for determining that the unmanned vehicle does not satisfy a condition of incorporating the traffic lane if the side-by-side vehicle is present; a second detection unit 4094 for detecting whether a rear vehicle located behind the unmanned vehicle exists on the passing lane if the side-by-side vehicle does not exist; a fourth determination unit 4095 for determining that the unmanned vehicle satisfies a condition of incorporating the traffic lane if the rear vehicle is not present; a seventh acquisition unit 4096 for acquiring a distance between the rear vehicle and the unmanned vehicle if the rear vehicle is present; a third judging unit 4097, configured to judge whether the distance is greater than or equal to a preset merge safety distance; a fifth determining unit 4098 configured to determine that a condition for merging the traffic lane is satisfied if the distance is greater than or equal to a preset merge safety distance; the sixth determining unit 4099 is configured to determine that the condition for merging the traffic lane is not satisfied if the distance is smaller than a preset merge safety distance.
In some embodiments, the apparatus 400 further comprises: a fourth detection module 414, configured to detect whether a merging vehicle exists in front of the unmanned vehicle during a process in which the unmanned vehicle travels on the passing lane, where the merging vehicle is a vehicle that merges into the passing lane from a lane adjacent to the passing lane; the identifying module 415 is configured to identify whether a distance between the merging vehicle and the unmanned vehicle is smaller than a preset merging safety distance if a merging vehicle exists in front of the unmanned vehicle; and a third control module 416, configured to control the speed reduction or braking of the unmanned vehicle if the distance between the merge vehicle and the unmanned vehicle is less than a preset merge safety distance.
In the embodiment of the present invention, the driving route of the unmanned vehicle and the driving lane of the current driving are acquired through the first acquisition module 401; acquiring traffic lights closest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic lights according to the driving route through a second acquisition module 402; acquiring a traffic lane corresponding to the driving direction through a third acquisition module 403; judging whether the traffic lane is the same as the driving lane or not through a first judging module 404; if not, determining, by the determining module 405, that the unmanned vehicle has a lane change requirement; acquiring, by a fourth acquisition module 406, non-merging sections from the traffic light that are continuous and that cannot merge into the traffic lane; acquiring the distance from the unmanned vehicle to the non-merging road section through a fifth acquisition module 407; judging whether the distance is smaller than or equal to a preset threshold value through a second judging module 408, if the distance is larger than the preset threshold value, executing the fifth acquiring module 407 after a preset time, and if the distance is smaller than or equal to the preset threshold value, executing the first detecting module 409; detecting, by a first detection module 409, whether the unmanned vehicle satisfies a condition of incorporating the traffic lane; if yes, detecting whether a front vehicle exists in the front preset distance of the unmanned vehicle on the passing lane through a second detection module 410; if the front vehicle exists, detecting the running speed of the front vehicle through a third detection module 411; the unmanned vehicle is controlled to incorporate into the traffic lane by a first control module 412 in accordance with the travel speed of the preceding vehicle. Through the device for controlling the lane changing of the vehicle, when the unmanned vehicle runs, the lane can be timely merged on the lane capable of being merged when the lane changing is needed before a traffic light, and therefore the normal running of the unmanned vehicle is guaranteed. Through the device for controlling the lane change of the vehicle, when the front preset distance of the traffic lane needing to be integrated is provided with the front vehicle, the unmanned vehicle can be controlled to be integrated into the traffic lane according to the running speed of the front vehicle, so that collision between the unmanned vehicle and the front vehicle is avoided, and normal running of the rear vehicle is avoided, which is influenced by the unmanned vehicle.
Example IV
Referring to fig. 6, fig. 6 is a schematic hardware structure of an unmanned vehicle according to an embodiment of the invention. The unmanned vehicle 500 includes: one or more processors 501 and a memory 502, one for example in fig. 6.
The processor 501 and the memory 502 may be connected by a bus or otherwise, for example, in the embodiment of the present invention.
The memory 502 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules (e.g., the various modules shown in fig. 5) corresponding to the method of controlling lane change of a vehicle in an embodiment of the present invention. The processor 501 executes various functional applications and data processing of the device for controlling lane change of a vehicle, that is, implements the method for controlling lane change of a vehicle of the above-described method embodiment, by running a nonvolatile software program, instructions, and modules stored in the memory 502.
The one or more modules are stored in the memory 502 that, when executed by the one or more processors 501, perform the method of controlling lane change of a vehicle in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present invention.
Embodiments of the present invention provide a non-volatile computer-readable storage medium storing computer-executable instructions for performing a method of controlling lane change of a vehicle as in any of the method embodiments described above by an unmanned vehicle.
An embodiment of the present invention provides a computer program product including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions which, when executed by a computer, cause the computer to perform the method of controlling lane changes in a vehicle in any of the method embodiments described above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that all or part of the processes implementing the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and where the program may include processes implementing the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. A method of controlling lane change of a vehicle, applied to an unmanned vehicle, comprising:
acquiring a driving route and a current driving lane of the unmanned vehicle;
according to the driving route, acquiring a traffic light nearest to the unmanned vehicle and a driving direction of the unmanned vehicle passing through the traffic light;
acquiring a traffic lane corresponding to the driving direction;
judging whether the traffic lane is the same as the driving lane;
if the two requirements are different, determining that the unmanned vehicle has a lane change requirement;
a non-merging section of the traffic lane that is continuous from the traffic light and that is not merging into the traffic lane;
acquiring the distance between the unmanned vehicle and the non-merging road section;
judging whether the distance is smaller than or equal to a preset threshold value;
if the distance is greater than the preset threshold, executing the step of acquiring the distance from the unmanned vehicle to the non-incorporated road section after a preset time;
if the distance is smaller than or equal to the preset threshold value, detecting whether the unmanned vehicle meets the condition of being integrated into the traffic lane or not;
if yes, detecting whether a front vehicle exists in the front preset distance of the unmanned vehicle on the traffic lane;
If the front vehicle exists, detecting the running speed of the front vehicle;
controlling the unmanned vehicle to incorporate into the traffic lane according to the traveling speed of the preceding vehicle.
2. The method of claim 1, wherein there are a first non-merge area, a first viable area, a second non-merge area, a second viable area, and a third non-merge area from the traffic light, wherein the first non-merge area, the second non-merge area, and the third non-merge area refer to solid line routes, or areas where vehicles are immediately adjacent to vehicles, are areas where a vehicle is less than a park safe distance from a rear of a vehicle from a rear of the vehicle, the step of obtaining a continuous and non-merge section from the traffic light that is not merging into the traffic lane further comprising:
acquiring the length of the first feasible region and the length of the second feasible region;
comparing the length of the first feasible region, the length of the second feasible region and the size of a first preset threshold value respectively;
and when the lengths of the first feasible region and the second feasible region are smaller than the first preset threshold value, taking the road sections comprising the first non-merging region, the first feasible region, the second non-merging region, the second feasible region and the third non-merging region as the non-merging road sections.
3. The method according to claim 1, wherein the method further comprises:
detecting whether a parallel road vehicle exists in front of the unmanned vehicle in the process that the unmanned vehicle runs on the traffic lane;
if so, identifying whether the distance between the merging vehicle and the unmanned vehicle is smaller than a preset merging safety distance;
and if yes, controlling the unmanned vehicle to slow down or brake.
4. The method of claim 1, wherein the step of detecting whether the unmanned vehicle satisfies a condition of incorporating the traffic lane further comprises:
identifying whether the unmanned vehicle is located on a lane adjacent to the traffic lane;
if yes, detecting whether a side-by-side vehicle which is side-by-side with the unmanned vehicle exists on the lane;
if the side-by-side vehicles exist, determining that the unmanned vehicle does not meet the condition of being incorporated into the traffic lane;
if the side-by-side vehicles are not present, detecting whether a rear vehicle positioned behind the unmanned vehicle exists on the passing lane;
if the rear vehicle does not exist, determining that the unmanned vehicle meets the condition of being integrated into the traffic lane;
If the rear vehicle exists, acquiring the distance between the rear vehicle and the unmanned vehicle;
judging whether the distance is larger than or equal to a preset parallel path safety distance;
if yes, determining that the condition of merging the traffic lane is met;
if not, determining that the condition for being integrated into the traffic lane is not met.
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| Publication number | Publication date |
|---|---|
| CN112693465A (en) | 2021-04-23 |
| CN112693465B (en) | 2021-11-26 |
| CN114194193A (en) | 2022-03-18 |
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