CN114435389A - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
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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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
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Abstract
The application provides a vehicle control method, comprising: the method comprises the steps of obtaining first motion information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane, obtaining second motion information of the first vehicle relative to a lane line, determining a first reference index value for judging whether the second vehicle cuts into the first lane, determining the probability that the second vehicle cuts into the first lane, and finally controlling the motion state of the first vehicle according to the cut-in probability. Therefore, the corresponding control can be carried out on the vehicle on the basis of accurately judging whether the vehicles in the adjacent lanes can cut in, the safety of the vehicle is improved, and the possibility of traffic accidents is reduced.
Description
Technical Field
The present application relates to the field of vehicle control, and in particular, to a vehicle control method and apparatus, and a vehicle.
Background
With the continuous development of intelligent driving technology, related traffic accidents are more and more, and most of the traffic accidents related to intelligent driving are caused by the fact that an intelligent automobile cannot accurately judge the change of the surrounding traffic environment according to related analysis and expression, and then the intelligent driving automobile is controlled to make corresponding decisions.
Specifically, because the intelligent driving vehicle cannot accurately judge the cut-in condition of the adjacent lane vehicle, the intelligent driving vehicle is not timely controlled to make corresponding decisions, and thus traffic accidents are caused.
Accordingly, there is a need to provide a control method for an intelligent vehicle capable of accurately determining the surrounding environment of the vehicle.
Disclosure of Invention
The present application provides a vehicle control method. The method comprises the steps of calculating the cut-in probability of the adjacent lane vehicle by acquiring the motion information of the first vehicle and the adjacent lane vehicle and the motion information of the first vehicle and a lane line, so as to control the motion state of the vehicle. Therefore, the vehicle can make a corresponding control decision on the basis of accurately judging whether vehicles in adjacent lanes can cut in, so that the safety of the vehicle is improved, and the possibility of traffic accidents is further reduced.
In a first aspect, the present application provides a vehicle control method. The method comprises the following steps:
acquiring first motion information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane, and acquiring second motion information of the first vehicle relative to a lane line, wherein the first motion information comprises first longitudinal motion information and first transverse motion information, and the second motion information comprises second transverse motion information;
determining a first reference index value for judging whether the second vehicle cuts into the first lane or not according to the first longitudinal movement information;
determining the probability that the second vehicle cuts into the first lane according to the first transverse movement information and at least one of the first reference index value and the second reference index value determined according to the lane width;
and controlling the motion state of the first vehicle according to the probability of the second vehicle cutting into the first lane.
In some possible implementations, the first longitudinal movement information includes at least one of a longitudinal distance, a longitudinal speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle, and the first lateral movement information includes at least one of a lateral distance, a lateral speed, and a lateral acceleration of the first vehicle relative to the second vehicle;
the second lateral-motion information includes a lateral distance of the first vehicle relative to the lane line;
the first reference index value includes a first threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 0, and the second reference index value includes a second threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 1.
In some possible implementations, the first reference index value is a product of a first coefficient and a lane width, and the second reference index value is a product of a second coefficient and the lane width, the first coefficient being determined according to the first longitudinal motion information.
In some possible implementations, determining a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information includes:
predicting a longitudinal distance of the first vehicle relative to the second vehicle after the target period of time has elapsed based on the longitudinal distance, the longitudinal speed, and the longitudinal acceleration of the first vehicle relative to the second vehicle;
determining a first coefficient according to the interval in which the prediction result falls;
a first reference index value is determined based on the first coefficient.
In some possible implementations, the first reference indicator value is determined by the following formula:
wherein y is a first reference index value, w is a lane width, t is a target time length, Px is a longitudinal distance of the first vehicle relative to the second vehicle after the target time length, dx, vxAnd axRespectively, the longitudinal distance, the longitudinal speed and the longitudinal acceleration of the first vehicle relative to the second vehicle.
In some possible implementations, determining a probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and the second reference index value determined according to the lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after the target duration;
when the prediction result is not greater than the first reference index value, determining that the probability that the second vehicle cuts into the first lane is 0;
when the prediction result is not smaller than the second reference index value, determining that the probability of switching the first lane of the second vehicle is 1;
and when the prediction result is larger than the first reference index value and smaller than the second reference index value, determining the probability that the second vehicle cuts into the first lane according to the prediction result and the lane width.
In some possible implementations, the probability of the second vehicle cutting into the first lane is determined by the following equation:
wherein y is a first reference index value, w is a lane width, t is a target time duration, Py is a lateral offset of the second vehicle relative to a center line of the second lane after the target time duration, dy, vyAnd ayRespectively, a lateral offset, a lateral speed, and a lateral acceleration of the second vehicle relative to a centerline of the second lane.
In a second aspect, the present application provides a vehicle control apparatus comprising:
the communication module is used for acquiring first motion information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane and acquiring second motion information of the first vehicle relative to a lane line, wherein the first operation information comprises first longitudinal motion information and first transverse motion information, and the second motion information comprises second transverse motion information;
the first determining module is used for determining a first reference index value for judging whether the second vehicle cuts into the first lane or not according to the first longitudinal movement information;
the second determination module is used for determining the probability that the second vehicle cuts into the first lane according to the first transverse movement information and at least one of the first reference index value and the second reference index value determined according to the lane width;
and the control module is used for controlling the motion state of the first vehicle according to the probability that the second vehicle cuts into the first lane.
In some possible implementations, the first longitudinal movement information includes at least one of a longitudinal distance, a longitudinal speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle, and the first lateral movement information includes at least one of a lateral distance, a lateral speed, and a lateral acceleration of the first vehicle relative to the second vehicle;
the second lateral movement information includes a lateral distance of the first vehicle relative to the lane line;
the first reference index value includes a first threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 0, and the second reference index value includes a second threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 1.
In some possible implementations, the first reference index value is a product of a first coefficient and a lane width, and the second reference index value is a product of a second coefficient and the lane width, the first coefficient being determined according to the first longitudinal motion information.
In some possible implementations, determining a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information includes:
predicting a longitudinal distance of the first vehicle relative to the second vehicle after the target period of time has elapsed based on the longitudinal distance, the longitudinal speed, and the longitudinal acceleration of the first vehicle relative to the second vehicle;
determining a first coefficient according to the interval in which the prediction result falls;
a first reference index value is determined based on the first coefficient.
In some possible implementations, the first reference indicator value is determined by the following formula:
wherein y is a first reference index value, w is a lane width, t is a target time length, Px is a longitudinal distance of the first vehicle relative to the second vehicle after the target time length, dx, vxAnd axRespectively, the longitudinal distance, the longitudinal speed and the longitudinal acceleration of the first vehicle relative to the second vehicle.
In some possible implementations, determining a probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and the second reference index value determined according to the lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after the target duration;
when the prediction result is not greater than the first reference index value, determining that the probability that the second vehicle cuts into the first lane is 0;
when the prediction result is not smaller than the second reference index value, determining that the probability of switching the first lane of the second vehicle is 1;
and when the prediction result is larger than the first reference index value and smaller than the second reference index value, determining the probability that the second vehicle cuts into the first lane according to the prediction result and the lane width.
In some possible implementations, the probability of the second vehicle cutting into the first lane is determined by the following equation:
wherein y is a first reference index value, w is a lane width, t is a target time duration, Py is a lateral offset of the second vehicle relative to a center line of the second lane after the target time duration, dy, vyAnd ayRespectively, the lateral offset, lateral velocity and lateral acceleration of the second vehicle relative to the centerline of the second lane.
In a third aspect, the present application provides an electronic control unit, which is characterized in that the electronic control unit is configured to execute the vehicle control method in any one implementation manner of the first aspect or the second aspect.
In a fourth aspect, the present application provides a vehicle comprising an electronic control unit configured to perform the method of any one of the implementations of the first or second aspects above to control the vehicle.
The present application can further combine to provide more implementations on the basis of the implementations provided by the above aspects.
According to the technical scheme, the embodiment of the application has the following advantages:
the embodiment of the application provides a vehicle control method, which comprises the steps of firstly obtaining first motion information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane, obtaining second motion information of the first vehicle relative to a lane line, determining a first reference index value for judging whether the second vehicle cuts into the first lane according to the first longitudinal motion information, determining the probability that the second vehicle cuts into the first lane according to at least one of the first reference index value and a second reference index value determined according to the lane width and the first transverse motion information, and finally controlling the motion state of the first vehicle according to the cut probability. Therefore, the corresponding control can be carried out on the vehicle on the basis of accurately judging whether the vehicles in the adjacent lanes can cut in, the safety of the vehicle is improved, and the possibility of traffic accidents is reduced.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of a first vehicle and a second vehicle in an adjacent lane according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application.
Detailed Description
The scheme in the embodiments provided in the present application will be described below with reference to the drawings in the present application.
The terms "first" and "second" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Some technical terms referred to in the embodiments of the present application will be first described.
Intelligent driving (Intelligent Drive) refers to a technology in which a robot assists a person in driving and completely replaces the person driving in a special case. At present, the era of intelligent driving is coming, for example, automatic braking, the front part of the automobile is provided with a radar and an infrared probe, and when a foreign body or a pedestrian in front is detected, the automatic braking of the automobile is controlled.
The existing research shows that most of traffic accidents related to intelligent driving are caused by the fact that an intelligent automobile cannot accurately judge the change of the surrounding traffic environment so as to control an intelligent driving vehicle to make corresponding decisions.
Judging whether the vehicle in the adjacent lane of the vehicle cuts into the lane is an important link for judging the change of the traffic environment around the vehicle, so the vehicle control method is provided. The method can be applied to an Electronic Control Unit (ECU) through which a vehicle is controlled. The electronic control unit is a control device composed of an integrated circuit for realizing a series of functions such as analysis, processing, and transmission of data. The electronic control unit generally includes a plurality of components such as an input circuit, an a/D (analog/digital) converter, a microcomputer, and an output circuit.
The main functions of the electronic control unit include: receiving input signals of a sensor or other devices, and processing the input signals into signals capable of being received by a computer; providing a reference voltage for the sensor; storing, calculating and analyzing the processing information, storing the operation information and the fault information, analyzing the input information and performing corresponding calculation processing; outputting an execution command to change the signal to a strong signal; outputting fault information; to perform various control functions, etc.
Specifically, in the present application, an electronic control unit acquires first movement information of a first vehicle on a first lane with respect to at least one second vehicle on an adjacent second lane through a correlation sensor, and acquires second movement information of the first vehicle with respect to a lane line, determines a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information, determines a probability of the second vehicle cutting into the first lane according to at least one of the first reference index value and a second reference index value determined according to a lane width, and the first lateral movement information, and then controls a movement state of the first vehicle according to the cut probability.
According to the method, the movement state of the first vehicle is controlled by obtaining the second movement information of the first vehicle relative to the lane line and calculating the probability of the second vehicle cutting into the first lane according to the first movement information of the first vehicle on the first lane relative to at least one second vehicle on the adjacent second lane, and on the basis of accurately judging whether the vehicles on the adjacent lanes can be cut into the lane line or not, the corresponding control is carried out on the vehicle, the safety of the vehicle is improved, and the possibility of traffic accidents is reduced.
For convenience of understanding, a control method of a vehicle according to an embodiment of the present application will be described below with reference to the drawings.
Referring to a flowchart of a control method of a vehicle shown in fig. 1, the method includes:
s102: the ECU acquires first movement information of a first vehicle on a first lane with respect to at least one second vehicle on an adjacent second lane, and acquires second movement information of the first vehicle with respect to a lane line.
The first motion information comprises first longitudinal motion information and first transverse motion information, and the second motion information comprises second transverse motion information. The longitudinal direction refers to a direction parallel to the lane line, and the lateral direction refers to a direction perpendicular to the lane line, as shown in fig. 2.
The first longitudinal movement information includes at least one of a longitudinal distance, a longitudinal speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle, the first lateral movement information includes at least one of a lateral distance, a lateral speed, and a lateral acceleration of the first vehicle relative to the second vehicle, and the second lateral movement information includes a lateral distance of the first vehicle relative to the lane line.
In some possible implementations, the first movement information of the first vehicle on the first lane relative to the at least one second vehicle on the adjacent second lane may be obtained by radar detection. Specifically, the radar may be a front radar, which refers to a radar for detecting information in front of the vehicle.
Second movement information of the first vehicle relative to the lane line can be obtained by detecting through a vision sensor, wherein the vision sensor can be a front-looking camera of the vehicle, and the front-looking camera is a camera used for detecting information in front of the vehicle.
S104: the ECU may screen a second vehicle on an adjacent second lane according to the first lateral-motion information and the second lateral-motion information.
Specifically, the ECU first determines the lane width based on second movement information of the first vehicle with respect to the lane line, then according to the transverse distance and lane width in the first transverse movement information of the first vehicle on the first lane relative to at least one second vehicle on the adjacent second lane, judging which lane the second vehicle on the adjacent second lane is specifically positioned in, then according to the transverse speed in the first transverse movement information of the first vehicle on the first lane relative to at least one second vehicle on the adjacent second lane, judging the movement direction of the second vehicle on the adjacent second lane, screening out the vehicles which are consistent with the movement direction of the first vehicle and positioned on the adjacent lanes on the two sides of the first vehicle, and when the transverse distance between the current screening acquired vehicle and the first vehicle is smaller than the relative transverse distance at the last moment, judging the vehicle as a second vehicle.
S104 is an optional step in this embodiment, and the ECU may screen the second vehicle on the adjacent second lane according to the first lateral motion information and the second lateral motion information, or may directly perform S106.
S106: the ECU determines a first reference index value for determining whether the second vehicle cuts into the first lane, based on the first longitudinal movement information.
Specifically, the ECU determines the longitudinal distance of the first vehicle relative to the second vehicle after the target time length passes according to the first longitudinal movement information, then determines a first coefficient according to the longitudinal distance of the first vehicle relative to the second vehicle after the target time length passes, and finally determines a first reference index value according to the first coefficient and the lane width.
In some possible implementations, the ECU determines a longitudinal distance of the first vehicle relative to the second vehicle after the target period of time has elapsed based on the first longitudinal movement information, as shown in equation (1):
where Px is the longitudinal distance of the first vehicle relative to the second vehicle after the target period of time has elapsed, dx, vxAnd axRespectively the longitudinal distance of the first vehicle relative to the second vehicle in the first longitudinal movement informationLongitudinal speed and longitudinal acceleration, t being the target duration.
In some possible implementations, the target time t is generally 0.2 to 0.5 seconds according to the experience of the technician, but the present solution is not limited thereto, and the target time t may also take other values according to the actual requirement.
Further, the first coefficient is determined as a function of the longitudinal distance Px of the first vehicle relative to the second vehicle after the target period of time t has elapsed.
When Px is less than or equal to 10, the first coefficient is 0;
when Px is more than or equal to 80, the first coefficient is 0.49;
the first coefficient is (0.007 × Px-0.07) when 10< Px < 80.
Wherein, 0.49, 0.007 and 0.07 of the above values are obtained by the skilled person according to experiments and technical experiences, and the scheme is not limited thereto.
Finally, the ECU determines a first reference index value according to the first coefficient and the lane width.
Specifically, the first reference index value is a product of a first coefficient and a lane width w, which may be calculated from a lateral distance of the first vehicle with respect to each lane line in the second lateral movement information.
Namely, the first reference index value is calculated by the formula (2):
wherein y is the first reference index value, and w is the lane width.
S108: the ECU determines the probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and the second reference index value determined according to the lane width.
Specifically, the ECU first determines at least one of the second reference index values according to the lane width, then determines the lateral deviation, the lateral speed, and the lateral acceleration of the second vehicle with respect to the center line of the second lane according to the second motion information and the first lateral motion information, further determines the lateral deviation of the second vehicle with respect to the center line of the second lane after the target period elapses according to the lateral deviation, the lateral speed, and the lateral acceleration of the second vehicle with respect to the center line of the second lane, and finally calculates the probability that the second vehicle cuts into the first lane according to the magnitude relationship between the lateral deviation of the second vehicle with respect to the center line of the second lane after the target period elapses and the first reference index value and the second reference index value.
In some possible implementations, the second reference index value may be calculated by (0.5w), and the second reference index value includes a second threshold value of the deviation of the second vehicle with respect to the center line of the second lane when the cut-in probability is 1, where 0.5 is obtained by a technician according to experiments and technical experiences, and the present solution is not limited thereto.
Since the second lateral-motion information is lateral-motion information of the first vehicle with respect to the lane-line, the first lateral-motion information includes a lateral distance, a lateral velocity, and a lateral acceleration of the first vehicle with respect to the second vehicle, the ECU may determine a lateral offset, a lateral velocity, and a lateral acceleration of the second vehicle with respect to a center line of the second lane according to the relative motion.
The ECU predicts the lateral deviation of the second vehicle from the center line of the second lane after the target period of time has elapsed, based on the lateral deviation of the second vehicle from the center line of the second lane, the lateral speed, and the lateral acceleration, as shown in equation (3):
where Py is the lateral offset of the second vehicle relative to the centerline of the second lane after the target duration has elapsed, dy, vyAnd ayCorresponding respectively to the lateral offset, lateral speed and lateral acceleration of the second vehicle relative to the centerline of the second lane.
The ECU calculates the probability that the second vehicle cuts into the first lane according to the predicted magnitude relation between the lateral deviation of the second vehicle relative to the center line of the second lane after the target duration passes and the first reference index value and the second reference index value:
when the predicted lateral deviation Py of the second vehicle relative to the central line of the second lane after the target duration is passed is not greater than the first reference index value y, determining that the probability that the second vehicle cuts into the first lane is 0;
when the prediction result is not smaller than the second reference index value, determining that the probability of switching the first lane of the second vehicle is 1;
and when the prediction result is larger than the first reference index value and smaller than the second reference index value, determining the probability that the second vehicle cuts into the first lane according to the prediction result and the lane width.
That is, the probability that the second vehicle cuts into the first lane is calculated by equation (4):
and P is the probability of the second vehicle cutting into the first lane, w is the lane width, t is the target duration, and Py is the transverse offset of the second vehicle relative to the center line of the second lane after the target duration.
The second reference index value includes a second threshold value for a deviation of the second vehicle from the center line of the second lane when the cut-in probability is 1
S110: the ECU controls the state of motion of the first vehicle according to the probability that the second vehicle cuts into the first lane.
When the calculated probability that the second vehicle cuts into the first lane is 0, controlling the first vehicle to keep a current running state; when the probability is calculated to be 1, controlling the first vehicle to brake or reduce the speed; and when the probability is calculated to be other values, controlling the first vehicle to properly decelerate.
In correspondence with the above method embodiment, the present application also provides a vehicle control apparatus, referring to fig. 3, the apparatus 300 including: a communication module 302, a first determination module 304, a second determination module 306, and a control module 308.
A communication module 302, configured to obtain first movement information of a first vehicle on a first lane with respect to at least one second vehicle on an adjacent second lane, and obtain second movement information of the first vehicle with respect to a lane line, where the first operation information includes first longitudinal movement information and first lateral movement information, and the second movement information includes second lateral movement information;
a first determination module 304, configured to determine a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information;
the second determination module 306 is configured to determine a probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and a second reference index value determined according to the lane width;
and the control module 308 is used for controlling the motion state of the first vehicle according to the probability that the second vehicle cuts into the first lane.
In some possible implementations, the first longitudinal movement information includes at least one of a longitudinal distance, a longitudinal speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle, and the first lateral movement information includes at least one of a lateral distance, a lateral speed, and a lateral acceleration of the first vehicle relative to the second vehicle;
the second lateral-motion information includes a lateral distance of the first vehicle relative to the lane line;
the first reference index value includes a first threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 0, and the second reference index value includes a second threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 1.
In some possible implementations, the first reference index value is a product of a first coefficient and a lane width, and the second reference index value is a product of a second coefficient and the lane width, the first coefficient being determined according to the first longitudinal motion information.
In some possible implementations, determining a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information includes:
predicting a longitudinal distance of the first vehicle relative to the second vehicle after the target period of time has elapsed based on the longitudinal distance, the longitudinal speed, and the longitudinal acceleration of the first vehicle relative to the second vehicle;
determining a first coefficient according to the interval in which the prediction result falls;
a first reference index value is determined based on the first coefficient.
In some possible implementations, the first reference indicator value is determined by the following formula:
wherein y is a first reference index value, w is a lane width, t is a target time length, Px is a longitudinal distance of the first vehicle relative to the second vehicle after the target time length, dx, vxAnd axRespectively, the longitudinal distance, the longitudinal speed and the longitudinal acceleration of the first vehicle relative to the second vehicle.
In some possible implementations, determining a probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and the second reference index value determined according to the lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after the target duration;
when the prediction result is not greater than the first reference index value, determining that the probability that the second vehicle cuts into the first lane is 0;
when the prediction result is not smaller than the second reference index value, determining that the probability of switching the first lane of the second vehicle is 1;
and when the prediction result is larger than the first reference index value and smaller than the second reference index value, determining the probability that the second vehicle cuts into the first lane according to the prediction result and the lane width.
In some possible implementations, the probability of the second vehicle cutting into the first lane is determined by the following equation:
wherein y is a first reference index value, w is a lane width, t is a target time duration, Py is a lateral offset of the second vehicle relative to a center line of the second lane after the target time duration, dy, vyAnd ayRespectively, a lateral offset, a lateral speed, and a lateral acceleration of the second vehicle relative to a centerline of the second lane.
The embodiment of the application also provides an electronic control unit, and the electronic control unit is used for executing the vehicle control method.
The embodiment of the application also provides a vehicle which comprises an electronic control unit, wherein the electronic control unit is used for executing the vehicle control method so as to control the vehicle.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, an exercise device, or a network device) to execute the method according to the embodiments of the present application.
Claims (10)
1. A vehicle control method, characterized by comprising:
acquiring first motion information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane, and acquiring second motion information of the first vehicle relative to a lane line, wherein the first motion information comprises first longitudinal motion information and first transverse motion information, and the second motion information comprises second transverse motion information;
determining a first reference index value for judging whether the second vehicle cuts into the first lane or not according to the first longitudinal movement information;
determining the probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and a second reference index value determined according to lane width;
and controlling the motion state of the first vehicle according to the probability that the second vehicle cuts into the first lane.
2. The method of claim 1, wherein the first longitudinal movement information comprises at least one of a longitudinal distance, a longitudinal velocity, and a longitudinal acceleration of the first vehicle relative to the second vehicle, the first lateral movement information comprises at least one of a lateral distance, a lateral velocity, and a lateral acceleration of the first vehicle relative to the second vehicle;
the second lateral-motion information includes a lateral distance of the first vehicle relative to a lane line;
the first reference index value includes a first threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 0, and the second reference index value includes a second threshold value of a deviation of the second vehicle with respect to a center line of the second lane when the cut-in probability is 1.
3. The method according to claim 2, wherein the first reference index value is a product of a first coefficient determined from the first longitudinal motion information and the lane width, and the second reference index value is a product of a second coefficient determined from the first longitudinal motion information and the lane width.
4. The method according to claim 3, wherein the determining a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information includes:
predicting a longitudinal distance of the first vehicle relative to the second vehicle after a target period of time based on a longitudinal distance, a longitudinal speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle;
determining the first coefficient according to the interval in which the prediction result falls;
and determining the first reference index value according to the first coefficient.
5. The method according to any one of claims 1 to 4, characterized in that the first reference index value is determined by the following formula:
wherein y is the first reference index value, w is the lane width, t is a target time duration, Px is the longitudinal distance of the first vehicle relative to the second vehicle after the target time duration has elapsed, dx, vxAnd said axRespectively, a longitudinal distance, a longitudinal speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle.
6. The method according to claim 5, wherein determining the probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and a second reference index value determined according to a lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after a target length of time;
when the prediction result is not greater than the first reference index value, determining that the probability that the second vehicle cuts into the first lane is 0;
when the prediction result is not smaller than the second reference index value, determining that the probability that the second vehicle switches the first lane is 1;
and when the prediction result is larger than the first reference index value and smaller than the second reference index value, determining the probability that the second vehicle cuts into the first lane according to the prediction result and the lane width.
7. The method of claim 6, wherein the probability of the second vehicle cutting into the first lane is determined by the formula:
wherein y is the first reference index value, w is a lane width, t is a target time duration, Py is a lateral offset of the second vehicle with respect to a center line of the second lane after the target time duration passes, dy, vyAnd said ayRespectively a lateral offset, a lateral speed and a lateral acceleration of the second vehicle relative to a centerline of the second lane.
8. A vehicle control apparatus characterized by comprising:
the communication module is used for acquiring first motion information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane and acquiring second motion information of the first vehicle relative to a lane line, wherein the first motion information comprises first longitudinal motion information and first transverse motion information, and the second motion information comprises second transverse motion information;
the first determining module is used for determining a first reference index value for judging whether the second vehicle cuts into the first lane or not according to the first longitudinal movement information;
a second determination module configured to determine a probability that the second vehicle cuts into the first lane according to the first lateral movement information and at least one of the first reference index value and a second reference index value determined according to a lane width;
and the control module is used for controlling the motion state of the first vehicle according to the probability that the second vehicle cuts into the first lane.
9. An electronic control unit, characterized in that it is adapted to perform the method according to any one of claims 1 to 7.
10. A vehicle, characterized in that it comprises an electronic control unit for executing the method according to any one of claims 1 to 7 for controlling the vehicle.
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