CN114435389B - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
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- CN114435389B CN114435389B CN202011202862.4A CN202011202862A CN114435389B CN 114435389 B CN114435389 B CN 114435389B CN 202011202862 A CN202011202862 A CN 202011202862A CN 114435389 B CN114435389 B CN 114435389B
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- 238000004891 communication Methods 0.000 claims description 6
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Classifications
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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
Abstract
The application provides a vehicle control method, comprising 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, acquiring 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 probability of the second vehicle cutting into the first lane, and finally controlling the motion state of the first vehicle according to the cutting probability. Therefore, on the basis of accurately judging whether the vehicles in the adjacent lanes can cut in or not, the corresponding control can be performed on the vehicle, the safety of the vehicle is improved, and the possibility of traffic accidents is reduced.
Description
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a vehicle control method and apparatus, and a vehicle.
Background
Along with the continuous development of intelligent driving technology, more and more traffic accidents are related to the intelligent driving technology, and according to related analysis and expression, most of traffic accidents related to intelligent driving are caused by that intelligent automobiles cannot accurately judge the change of surrounding traffic environments, so that intelligent driving vehicles are controlled to make corresponding decisions.
Specifically, because the intelligent driving vehicle cannot accurately judge the cut-in condition of the vehicles in the adjacent lanes, the intelligent vehicle is not controlled to make a corresponding decision in time, thereby causing traffic accidents.
Accordingly, there is a need in the art to provide a control method for an intelligent vehicle that can accurately determine the surrounding environment of the vehicle.
Disclosure of Invention
The application provides a vehicle control method. According to the method, the cutting probability of the vehicles in the adjacent lanes is calculated by acquiring the motion information of the first vehicle and the vehicles in the adjacent lanes and the motion information of the first vehicle and the lane lines, so that the motion state of the vehicle is controlled. Therefore, the vehicle can make corresponding control decisions 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 according to the first longitudinal movement information;
determining a probability of the second vehicle cutting 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;
the movement state of the first vehicle is controlled 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 an offset of the second vehicle relative to a center line of the second lane when the cut probability is 0, and the second reference index value includes a second threshold value of an offset of the second vehicle relative to a center line of the second lane when the cut 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 a lane width, the first coefficient being determined according to the first longitudinal movement information.
In some possible implementations, determining a first reference indicator value for determining whether the second vehicle is cutting into the first lane based on 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 index 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 period, px is a longitudinal distance between the first vehicle and the second vehicle after the target time period is passed, dx and v x And a x Longitudinal distance, longitudinal speed and longitudinal acceleration of the first vehicle relative to the second vehicle, respectively.
In some possible implementations, determining the probability of the second vehicle cutting into the first lane based on the first lateral movement information and at least one of the first reference index value and the second reference index value determined based on the lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after the target length of time has elapsed;
when the predicted result is not greater than the first reference index value, determining that the probability of the second vehicle cutting into the first lane is 0;
when the predicted result is not less than the second reference index value, determining that the probability of switching the first lane by the second vehicle is 1;
and when the predicted result is larger than the first reference index value and smaller than the second reference index value, determining the probability of the second vehicle cutting into the first lane according to the predicted 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 formula:
wherein y is a first reference index value, w is a lane width, t is a target time period, py is a lateral offset of the second vehicle relative to the center line of the second lane after the target time period is passed, dy, v y And a y The lateral offset, lateral velocity and lateral acceleration of the second vehicle relative to the centerline of the second lane, respectively.
In a second aspect, the present application provides a vehicle control apparatus, comprising:
the communication module is used for acquiring first movement information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane and acquiring second movement information of the first vehicle relative to a lane line, wherein the first movement information comprises first longitudinal movement information and first transverse movement information, and the second movement information comprises second transverse movement 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 according to the first longitudinal movement information;
a second determining module for determining a probability of the second vehicle cutting 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;
and the control module is used for controlling the movement 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 an offset of the second vehicle relative to a center line of the second lane when the cut probability is 0, and the second reference index value includes a second threshold value of an offset of the second vehicle relative to a center line of the second lane when the cut 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 a lane width, the first coefficient being determined according to the first longitudinal movement information.
In some possible implementations, determining a first reference indicator value for determining whether the second vehicle is cutting into the first lane based on 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 index 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 period, px is a longitudinal distance between the first vehicle and the second vehicle after the target time period is passed, dx and v x And a x Longitudinal distance, longitudinal speed and longitudinal acceleration of the first vehicle relative to the second vehicle, respectively.
In some possible implementations, determining the probability of the second vehicle cutting into the first lane based on the first lateral movement information and at least one of the first reference index value and the second reference index value determined based on the lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after the target length of time has elapsed;
when the predicted result is not greater than the first reference index value, determining that the probability of the second vehicle cutting into the first lane is 0;
when the predicted result is not less than the second reference index value, determining that the probability of switching the first lane by the second vehicle is 1;
and when the predicted result is larger than the first reference index value and smaller than the second reference index value, determining the probability of the second vehicle cutting into the first lane according to the predicted 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 formula:
wherein y is a first reference index value, w is a lane width, t is a target time period, and Py is a lateral offset of the second vehicle relative to a center line of the second lane after the target time period passes，dy、v y And a y The lateral offset, lateral velocity and lateral acceleration of the second vehicle relative to the centerline of the second lane, respectively.
In a third aspect, the present application provides an electronic control unit, which is configured to perform the vehicle control method in any implementation manner of the first aspect or the second aspect.
In a fourth aspect, the present application provides a vehicle, characterized in that the vehicle comprises an electronic control unit for performing the method of any of the implementations of the first or second aspects above for controlling the vehicle.
Further combinations of the present application may be made to provide further implementations based on the implementations provided in the above aspects.
From the above technical solutions, the embodiments of the present application have 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 probability of the second vehicle cutting into the first lane according to at least one of the first reference index value and the 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 cutting probability. Therefore, on the basis of accurately judging whether the vehicles in the adjacent lanes can cut in or not, the corresponding control can be performed on the vehicle, 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 that are required to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a first vehicle and a second vehicle adjacent to the first vehicle in a lane according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application.
Detailed Description
The embodiments of the present application will be described below with reference to the drawings in the present application.
The terms "first", "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 defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Some technical terms related to the embodiments of the present application will be first described.
Intelligent driving (Intelligent Drive) refers to a technique in which robots assist a person in driving, and in special cases completely replace the person in driving. At present, the age of intelligent driving has come, for example, automatic braking is carried out, radar and infrared probes are arranged at the front part of an automobile, and when foreign matters or pedestrians in front are detected, the automobile is controlled to automatically brake.
The existing researches show that most traffic accidents related to intelligent driving are caused by the fact that intelligent automobiles cannot accurately judge the change of surrounding traffic environments, and further control intelligent driving vehicles to make corresponding decisions.
Judging whether a vehicle in a lane adjacent to the vehicle cuts into the lane is an important link for judging the change of the traffic environment around the vehicle, and therefore, the application provides a vehicle control method. The method may be applied to an electronic control unit (Electronic Control Unit, ECU) by which the vehicle is controlled. The electronic control unit is a control device which is composed of integrated circuits and is used for realizing a series of functions such as analysis, processing and transmission of data. The electronic control unit generally includes a plurality of constituent parts 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 an input signal from a sensor or other device and processing the input signal into a signal that can be received by a computer; providing a reference voltage for the sensor; storing, calculating and analyzing processing information, storing operation information and fault information, analyzing input information, analyzing the input information and carrying out corresponding calculation processing; outputting an execution command, and changing the signal into an execution command with a strong signal; outputting fault information; completing various control functions, etc.
Specifically, in the present application, the electronic control unit acquires first movement information of a first vehicle on a first lane relative to at least one second vehicle on an adjacent second lane through a related sensor, acquires second movement information of the first vehicle relative to a lane line, determines a first reference index value for judging 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 the second reference index value determined according to the lane width and the first lateral movement information, and then controls a movement state of the first vehicle according to the cutting probability.
According to the method, the probability of the second vehicle cutting into the first lane is calculated according to the first motion information of the first vehicle on the first lane relative to at least one second vehicle on the adjacent second lane and the second motion information of the first vehicle relative to the lane lines, so that the motion state of the first vehicle is controlled, the vehicle can be correspondingly controlled on the basis of accurately judging whether the vehicle cutting into the adjacent lane, the safety of the vehicle is improved, and the possibility of traffic accidents is reduced.
For easy understanding, the control method of the vehicle according to the embodiment of the present application is described below with reference to the accompanying 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 relative to at least one second vehicle on an adjacent second lane, and acquires second movement information of the first vehicle relative to a lane line.
Wherein the first motion information includes first longitudinal motion information and first lateral motion information, and the second motion information includes second lateral motion information. The longitudinal direction refers to the direction parallel to the lane line and the transverse direction refers to the 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 motion information of the first vehicle on the first lane relative to the at least one second vehicle on the adjacent second lane may be detected by radar. Specifically, the radar may be a front radar, which refers to a radar for detecting information in front of the vehicle.
The second movement information of the first vehicle relative to the lane line can be detected by a vision sensor, wherein the vision sensor can be a front-view camera of the vehicle, and the front-view camera is a camera for detecting the front information of the vehicle.
S104: the ECU may screen the second vehicle on the adjacent second lane based on the first lateral movement information and the second lateral movement information.
Specifically, the ECU firstly determines the width of a lane according to second movement information of a first vehicle relative to a lane line, then judges which lane the second vehicle on the adjacent second lane is located in according to the transverse distance and the width of the lane 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, then judges the movement direction of the second vehicle on the adjacent second lane according to the transverse speed of the first vehicle on the first lane relative to the first transverse movement information of the at least one second vehicle on the adjacent second lane, screens out vehicles which are consistent with the movement direction of the first vehicle and are positioned on two sides of the first vehicle, and judges the vehicle as the second vehicle when the transverse distance between the current screening obtained vehicle and the first vehicle is smaller than the relative transverse distance of the previous moment.
In the embodiment of the present application, S104 is an optional step, where the ECU may screen the second vehicles on the adjacent second lane according to the first lateral movement information and the second lateral movement information, or may directly perform S106.
S106: the ECU determines a first reference index value for judging whether the second vehicle cuts into the first lane according to the first longitudinal movement information.
Specifically, the ECU determines the longitudinal distance of the first vehicle with respect to the second vehicle after the target period of time has elapsed according to the first longitudinal movement information, then determines the first coefficient according to the longitudinal distance of the first vehicle with respect to the second vehicle after the target period of time has elapsed, and finally determines the 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 from the first longitudinal movement information, as shown in equation (1):
wherein Px is the longitudinal distance of the first vehicle relative to the second vehicle after the target time period passes, dx, v x And a x The longitudinal distance, the longitudinal speed and the longitudinal acceleration of the first vehicle relative to the second vehicle in the first longitudinal movement information are respectively, and t is the target duration.
In some possible implementations, the target time period t is generally 0.2 to 0.5 seconds according to experience of a technician, but the scheme is not limited thereto, and the target time t may take other values according to actual requirements.
Further, the first coefficient is determined according to the longitudinal distance Px of the first vehicle with respect to the second vehicle after the target period 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;
when 10< px <80, the first coefficient is (0.007 x px-0.07).
Wherein, 0.49, 0.007 and 0.07 of the above values are all obtained by the skilled person according to experiments and technical experience, and the scheme is not limited thereto.
Finally, the ECU determines a first reference index value based on the first coefficient and the lane width.
Specifically, the first reference index value is a product of the first coefficient and the lane width, and the lane width w may be calculated from a lateral distance of the first vehicle relative to each lane line in the second lateral movement information.
I.e. the first reference index value is calculated by equation (2):
where y is a first reference index value and w is a lane width.
S108: the ECU determines a probability that the second vehicle cuts into the first lane based on the first lateral movement information and at least one of the first reference index value and the second reference index value determined based on 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 offset, the lateral velocity 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 offset of the second vehicle with respect to the center line of the second lane after the target time period passes according to the lateral offset, the lateral velocity and the lateral acceleration of the second vehicle with respect to the center line of the second lane, and finally calculates the probability of the second vehicle cutting into the first lane according to the magnitude relation between the lateral offset of the second vehicle with respect to the center line of the second lane after the target time period passes and the first reference index value and the second reference index value.
In some possible implementations, the second reference index value may be calculated from (0.5 w), where 0.5 is a technician based on experiment and technical experience, and the present solution is not limited to this, and the second reference index value includes a second threshold value of the offset of the second vehicle relative to the center line of the second lane when the cut probability is 1.
Because 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 speed, and a lateral acceleration of the first vehicle with respect to the second vehicle, and the ECU can determine a lateral offset, a lateral speed, and a lateral acceleration of the second vehicle with respect to a center line of the second lane based on the relative motion.
The ECU predicts the lateral shift of the second vehicle with respect to the center line of the second lane after the target period of time has elapsed from the lateral shift, the lateral speed, and the lateral acceleration of the second vehicle with respect to the center line of the second lane, as shown in formula (3):
wherein Py is the lateral offset of the second vehicle relative to the centerline of the second lane after the target period of time has elapsed, dy, v y And a y Corresponding to a lateral offset, a lateral velocity and a lateral acceleration, respectively, of the second vehicle with respect to the centre line of the second lane.
The ECU calculates the probability of the second vehicle cutting into the first lane according to the size relation between the predicted transverse offset of the second vehicle relative to the center line of the second lane after the target time length passes and the first reference index value and the second reference index value:
determining that the probability of the second vehicle cutting into the first lane is 0 when the predicted lateral deviation Py of the second vehicle with respect to the center line of the second lane after the target time period passes is not greater than the first reference index value y;
when the predicted result is not less than the second reference index value, determining that the probability of switching the first lane by the second vehicle is 1;
and when the predicted result is larger than the first reference index value and smaller than the second reference index value, determining the probability of the second vehicle cutting into the first lane according to the predicted result and the lane width.
I.e. the probability of the second vehicle cutting into the first lane, is calculated by equation (4):
wherein 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 lateral 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 of an offset of the second vehicle relative to a center line of the second lane when the cut 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 the current running state; when the probability is calculated to be 1, controlling the first vehicle to brake or slow down; when the probability is calculated to be other value, the first vehicle is controlled to appropriately slow down.
Corresponding to the above method embodiment, the present application further provides a vehicle control device, referring to fig. 3, the device 300 includes: 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 relative to at least one second vehicle on an adjacent second lane, and obtain second movement information of the first vehicle relative to a lane line, where the first movement information includes first longitudinal movement information and first lateral movement information, and the second movement information includes second lateral movement information;
a first determining 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;
a second determining module 306, configured to determine a probability of the second vehicle cutting 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;
a control module 308 for controlling the movement state of the first vehicle based on 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 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 an offset of the second vehicle relative to a center line of the second lane when the cut probability is 0, and the second reference index value includes a second threshold value of an offset of the second vehicle relative to a center line of the second lane when the cut 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 a lane width, the first coefficient being determined according to the first longitudinal movement information.
In some possible implementations, determining a first reference indicator value for determining whether the second vehicle is cutting into the first lane based on 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 index 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 period, px is a longitudinal distance between the first vehicle and the second vehicle after the target time period is passed, dx and v x And a x Longitudinal distance, longitudinal speed and longitudinal acceleration of the first vehicle relative to the second vehicle, respectively.
In some possible implementations, determining the probability of the second vehicle cutting into the first lane based on the first lateral movement information and at least one of the first reference index value and the second reference index value determined based on the lane width includes:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after the target length of time has elapsed;
when the predicted result is not greater than the first reference index value, determining that the probability of the second vehicle cutting into the first lane is 0;
when the predicted result is not less than the second reference index value, determining that the probability of switching the first lane by the second vehicle is 1;
and when the predicted result is larger than the first reference index value and smaller than the second reference index value, determining the probability of the second vehicle cutting into the first lane according to the predicted 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 formula:
wherein y is a first reference index value, w is a lane width, t is a target time period, py is a lateral offset of the second vehicle relative to the center line of the second lane after the target time period is passed, dy, v y And a y The lateral offset, lateral velocity and lateral acceleration of the second vehicle relative to the centerline of the second lane, respectively.
The embodiment of the application also provides an electronic control unit 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 further noted that the above-described apparatus embodiments are merely illustrative, and that the units described as separate units may or may not be physically separate, and that units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the application, the connection relation between the modules represents that the modules have communication connection therebetween, and can be specifically implemented as one or more communication buses or signal lines.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented by means of software plus necessary general purpose hardware, or of course may be implemented by dedicated hardware including application specific integrated circuits, dedicated CPUs, dedicated memories, dedicated 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 can be varied, such as analog circuits, digital circuits, or dedicated circuits. However, a software program implementation is a preferred embodiment in many cases for the present application. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product 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, etc., including several instructions for causing a computer device (which may be a personal computer, a training device, or a network device, etc.) to perform the method described in the embodiments of the present application.
Claims (10)
1. A vehicle control method, characterized in that the method comprises:
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 according to the first longitudinal movement information;
determining a probability of the second vehicle cutting 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; the first reference index value includes a first threshold value of an offset of the second vehicle relative to a centerline of the second lane when a cut-in probability is 0, and the second reference index value includes a second threshold value of an offset of the second vehicle relative to a centerline of the second lane when the cut-in probability is 1;
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 speed, and a longitudinal acceleration of the first vehicle relative to the second vehicle, and the first lateral movement information comprises 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 a lane line.
3. The method of claim 2, wherein the first reference index value is a product of a first coefficient and the lane width, the second reference index value is a product of a second coefficient and the lane width, and the first coefficient is determined based on the first longitudinal movement information.
4. A method according to claim 3, wherein said determining a first reference index value for determining whether the second vehicle is cutting into the first lane based on the first longitudinal movement information comprises:
predicting a longitudinal distance of the first vehicle relative to the second vehicle after a 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 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, wherein 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 the target duration, px is the longitudinal distance between the first vehicle and the second vehicle after the target duration, dx, v x And said a x Longitudinal distance, longitudinal speed and longitudinal acceleration of the first vehicle relative to the second vehicle, respectively.
6. The method of claim 5, wherein determining a probability that the second vehicle is cutting into the first lane based on the first lateral movement information and at least one of the first reference index value and a second reference index value determined based on lane width comprises:
predicting a lateral offset of the second vehicle relative to a centerline of the second lane after a target length of time has elapsed;
when the predicted result is not greater than the first reference index value, determining that the probability of the second vehicle cutting into the first lane is 0;
when the predicted result is not less than the second reference index value, determining that the probability of the second vehicle switching the first lane is 1;
and when the prediction result is greater than the first reference index value and less 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 following formula:
wherein y is the first reference index value, w is the lane width, t is the target time length, py is the lateral offset of the second vehicle relative to the center line of the second lane after the target time length, dy and v y And said a y A lateral offset, a lateral velocity and a lateral acceleration, respectively, 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;
a first determining module for determining a first reference index value for determining whether the second vehicle cuts into the first lane according to the first longitudinal movement information;
a second determining 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; the first reference index value includes a first threshold value of an offset of the second vehicle relative to a centerline of the second lane when a cut-in probability is 0, and the second reference index value includes a second threshold value of an offset of the second vehicle relative to a centerline of the second lane when the cut-in probability is 1;
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 for performing the method of any one of claims 1 to 7.
10. A vehicle, characterized in that it comprises an electronic control unit for performing the method according to any one of claims 1 to 7 for controlling the vehicle.
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