CN114475664A - Automatic driving vehicle lane changing coordination control method for congested road section - Google Patents
Automatic driving vehicle lane changing coordination control method for congested road section Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims description 7
- 238000012508 change request Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
Abstract
The invention discloses a method for coordinately controlling lane change of automatic driving vehicles on congested road sections, and belongs to the technical field of automatic driving coordinately control. A method for coordinated control of automatic driving vehicle lane change in a congested road section is characterized by comprising the following steps: acquiring congestion state information of a road section, and activating a road planning and lane changing coordination request; executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state; adopting an automatic driving mode to change lanes, monitoring the states of the front and the rear vehicles, identifying the states of the front and the rear vehicles, carrying out lane change early warning, and entering a pre-steering state; the vehicle body is controlled to enter a predetermined lane.
Description
Technical Field
The invention relates to the technical field of automatic driving coordination control, in particular to a method for coordinating and controlling lane changing of automatic driving vehicles on congested road sections.
Background
Lane change is a very common situation in the driving process, for example, a fast lane on the left side or a slow lane on the right side needs to be changed, and overtaking from the left side is needed; it is necessary to change into a lane in a specific direction before the intersection. The automatic lane change is used as a basic function of future unmanned vehicles and comprises a plurality of important links such as environment perception, lane change decision, trajectory planning and trajectory tracking. When the automatic driving automobile changes lanes, the information of surrounding vehicles is identified and acquired, and safe lane changing is kept. However, when a congested road section is subjected to temporary lane change by adopting an automatic driving mode, the direction and speed change monitoring of surrounding vehicles is difficult to predict, the lane change is difficult, and the lane change efficiency is low.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method for coordinating and controlling the lane change of an automatic driving vehicle on a congested road section.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for coordinated control of automatic driving vehicle lane change in a congested road section is characterized by comprising the following steps:
acquiring congestion state information of a road section, and activating a road planning and lane changing coordination request;
executing a lane change control instruction, starting a steering lamp, and entering a driving mode switching state;
adopting an automatic driving mode to change lanes, monitoring the states of the front and the rear vehicles, identifying the states of the front and the rear vehicles, carrying out lane change early warning, and entering a pre-steering state;
the vehicle body is controlled to enter a predetermined lane.
Preferably, the road congestion state information is acquired by adopting communication data of a navigation system;
the navigation system carries out early warning on road congestion, feeds back congestion distance and congestion estimated time, activates road planning in advance, and starts to send out a request lane change instruction when not entering a congested road section.
Preferably, the acquisition of the congestion state information of the road section adopts a front-end control camera and a front-side radar system to detect the speed of the front vehicle, the acquisition is carried out within 20s, the average speed of the front vehicle is less than or equal to 5km/h, the braking occurs for 2-3 times, and the front vehicle is still in a variable road area after the detection time is over, and then the vehicle is judged to enter the congestion road section;
and analyzing the road congestion state information by an automatic driving auxiliary system of the vehicle and sending a request lane change instruction.
Preferably, the automatic driving assistance system acquires the movement change of the vehicle in the road through a side radar system, and performs congestion analysis; and after the lane change data are acquired, the road is replanned, and a lane change request is carried out.
Preferably, the radar system comprises a millimeter wave radar and an ultrasonic radar, the millimeter wave radar is distributed and installed along four sides of the vehicle body, and the ultrasonic radar is installed at four corners of the vehicle body and the middle parts of two sides of the vehicle body.
Preferably, after the lane change instruction is executed, the driving mode switching driving state is automatically entered, the driver is prompted to select, and the automatic driving lane change mode is adopted after the driver does not make a selection or selects automatic driving.
Preferably, the automatic driving lane-changing mode adopts front and rear cameras and a radar system to acquire the states of front and rear vehicles,
A. the distance between the front vehicle and the front vehicle exceeds 1.5m and the front vehicle turns on a steering lamp,
B. the distance between the front vehicle and the front vehicle is more than 1.5m and the turn light is not turned on,
C. the distance between the tail car and the tail car exceeds 1m and the turn light is not turned on,
D. the distance between the tail car and the tail car exceeds 1m and the tail car turns on a steering lamp,
entering a pre-steering state after the state B and the state C are met;
after the state A is satisfied, entering a waiting mode;
after the state D is met, whistling early warning is carried out, and then the pre-steering state is entered;
the pre-steering comprises deflecting the front headstock, locally pressing or pressing a dotted line, and waiting and detecting a side coming vehicle.
Preferably, the automatic driving lane-changing mode adopts a side radar system to identify the information of the vehicles in the lane,
s1, no vehicle is present on the road,
s2, the vehicle is on the way and is in a moving state,
s3, the vehicle is on the way and is in a static state,
the recognition system acquires S1 status information, enters a predetermined lane,
the recognition system acquires S2 state information, performs whistling early warning, enters a preset lane when a side rear vehicle decelerates or stops,
and the recognition system acquires the state information of S3, waits, and enters the state of S2 and waits for entering a preset lane when the vehicle moves.
Preferably, the lane change coordination request activation includes, but is not limited to, a driver manually activating a crowded lane change instruction, the driving assistance system acquiring road congestion information fed back by the navigation system to activate the crowded lane change instruction, the driving assistance system acquiring following vehicle traveling data to judge that the vehicle is in a congested state and activating the crowded lane change instruction, and the driver activates the crowded lane change instruction when the driver replans a road and needs to change lanes and turn;
and after the crowded lane change instruction is activated, the crowded lane change instruction needs to enter a driving mode switching state, and after the automatic driving mode is locked for lane change, lane change coordination control is performed.
Compared with the prior art, the invention provides a method for coordinating lane change of automatic driving vehicles on congested road sections, which has the following beneficial effects:
the invention can provide a timely lane change plan by using a navigation system to carry out road congestion pre-judgment, and can carry out lane change analysis by using the fusion technology of front and rear cameras and a radar system when congestion is approached, thereby completing effective lane change in advance.
When the vehicle lane change is carried out on a congested road section, lane change conditions are obtained by analyzing front and rear vehicles, pre-steering is realized, a fusion algorithm is adopted to coordinate an ultrasonic radar and a millimeter wave radar, different sensors are subjected to relevant adjustment in time and space, data redundancy is avoided, steering identification accuracy is improved, and safe and efficient steering is realized.
Drawings
FIG. 1 is a flow chart of a lane change coordination method according to the present invention;
FIG. 2 is a schematic view of the integration of radar system and imaging system of the present invention;
fig. 3 is a schematic structural diagram of a coverage diagram of a radar system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example (b):
the application discloses a method for coordinating lane change of automatic driving vehicles on congested road sections, which is applied to an automatic driving system and provides a manual driving switching mode in advance.
Firstly, in the lane change coordination control system for processing automatic driving, the automatic driving lane change conditions comprise uncongested road section lane change and crowded road section lane change, and the uncongested road section lane change is judged by an automatic driving auxiliary system and automatically operated; and the automatic driving auxiliary system sends a crowded lane change request and acquires an instruction to enter a lane change mode in the crowded road section.
The method is suitable for the automatic driving vehicle lane changing coordination control method for the congested road section when the automatic driving vehicle enters the congested road section to change lanes.
The lane change request of the congested road section comprises but is not limited to a command of manually activating the congested lane change by a driver, a command of activating the congested lane change by a driving assistance system to acquire road congestion information fed back by a navigation system, a command of determining that the driving assistance system is in a congested state and activating the congested lane change by the driving assistance system to acquire following driving data, and a command of activating the congested lane change when the driver replans the road section to plan the road again and needs to change lanes and turn.
The following provides a first embodiment of lane change coordination control according to a situation where a vehicle enters a congested state, and is specifically described:
a road changing coordination control method for an automatic driving vehicle on a congested road section comprises the following steps;
acquiring congestion state information of a road section, and activating a road planning and lane changing coordination request;
in the embodiment of the application, the road congestion state information is acquired through the communication of a navigation system; the navigation system carries out early warning on road congestion, feeds back congestion distance and congestion estimated time, activates road planning in advance, and starts to send out a request lane change instruction when a vehicle does not enter a congested road section.
Step two, executing a lane change control instruction, turning on a steering lamp, and entering a driving mode switching state;
in the embodiment of the application, after the lane change instruction is sent, the rotating lamp is automatically turned on, the driving mode switching state is turned on in the execution process, the manual driving candidate state is carried out, and the driver is prompted to select.
Based on the fact that the crowded road section has severe lane changing conditions, blind areas can be easily identified for identifying the vehicles at the side and the rear side, and the manual driving mode is preferentially selected.
Adopting an automatic driving lane changing mode after the driver does not make a selection or selects automatic driving; otherwise, the lane changing instruction is removed, the turn-on state of the turn light is maintained, and the manual driving mode is entered.
Step three, adopting an automatic driving mode to change lanes, monitoring the states of the front and the rear vehicles, identifying the states of the front and the rear vehicles, carrying out lane change early warning, and entering a pre-steering state;
in the embodiment of the application, after entering the automatic driving mode, the vehicle information around will be analyzed, and the vehicle state around adopting front and back camera and radar system, acquireing:
A. detecting the distance between the front vehicle and the front vehicle, identifying that the front vehicle turns on a steering lamp or enters a steering state of the front vehicle,
B. detecting the distance to the front vehicle, identifying that the front vehicle does not start the steering lamp and does not enter the steering state of the front vehicle,
C. detecting the distance between the rear vehicle and the rear vehicle, identifying that the rear vehicle does not turn on a steering lamp and does not enter the steering state of the rear vehicle,
D. detecting the distance between the vehicle and the rear vehicle, identifying the rear vehicle to turn on a steering lamp or enter a steering state of the rear vehicle,
after the state B and the state C are identified, the vehicle deflects towards the adjacent lane, locally presses over or presses a dotted line, and enters a pre-steering state; and analyzing the side or the side rear vehicle;
after the state A is identified, maintaining the straight line and entering a waiting mode;
after the state D is identified, whistling early warning is carried out, the vehicle deflects towards the adjacent road, a broken line is locally pressed or pressed, and the vehicle enters a pre-steering state; and analyzing the side or side-to-side vehicle.
In the embodiment of the application, adopt rear-view mirror and radar system, acquire side and side rear vehicle state:
s1, no vehicle is present on the road,
s2, a vehicle is present on the road,
at the recognition acquisition S1, the state information, the vehicle is driven into a predetermined lane,
and S2, acquiring state information, driving the vehicle to the next lane into a preset lane when the vehicle passes by the next lane, or carrying out whistle early warning on the vehicle coming from the rear side of the next lane, and driving the vehicle into the preset lane when the vehicle from the rear side decelerates or exceeds the preset lane.
And step four, controlling the vehicle body to enter a preset lane.
In the embodiment of the application, the automatic driving vehicle comprises an auxiliary driving system, and in the driving process of the vehicle, the radar system, the camera, the communication equipment and the like are matched to detect and identify the road smoothness information, the road environment and the surrounding vehicles.
Therefore, in the embodiment of the present application, the pre-steering state is a concept assumed to be a lane-change transition state in the above-described synchronous recognition and analysis of the front and rear vehicle information and the side and side rear vehicle information. The vehicle before and after the analysis and the vehicle at the side are analyzed, and when both conditions are met, the vehicle is in a pre-steering state, and the pre-steering state is generated.
The following provides a second embodiment of lane change coordination control according to a vehicle in congestion situation:
a method for coordinating lane change of an automatic driving vehicle on a congested road section comprises the following steps:
acquiring congestion state information of a road section, and activating a road planning and lane changing coordination request;
in the embodiment of the application, the congestion state information of the road section is acquired by adopting a front-end control camera and a front-side radar system to detect the speed of a front vehicle, the average speed is less than or equal to 5km/h within 20s, the braking occurs for 2-3 times, and the road section enters the congestion road section when the detection time is still in a variable road area after finishing;
and the automatic driving auxiliary system acquires and analyzes the lane change request and sends a lane change request command.
Step two, executing a lane change control instruction, turning on a steering lamp, and entering a driving mode switching state;
in the embodiment of the application, after the lane change instruction is sent out, the rotating lamp is automatically turned on, the driving mode switching state is turned on in the execution process, the state to be selected is manually driven, and the driver is prompted to select the state.
Based on the fact that the crowded road section has severe lane changing conditions, blind areas can easily appear in the recognition of the vehicles at the side and the rear sides, and the manual driving mode is preferentially selected.
And after the driver does not make a selection or selects automatic driving, adopting an automatic driving lane changing mode, otherwise removing a lane changing instruction, maintaining the turn-on state of the steering lamp, and entering a manual driving mode.
Step three, adopting an automatic driving mode to change lanes, monitoring the states of the front and the rear vehicles, identifying the states of the front and the rear vehicles, carrying out lane change early warning, and entering a pre-steering state;
in the embodiment of the application, after entering the automatic driving mode, the vehicle information around will be analyzed, and the vehicle state around adopting front and back camera and radar system, acquireing:
A. detecting that the distance between the automobile and the front automobile exceeds 1.5m and the front automobile turns on a steering lamp,
B. detecting that the distance between the automobile and the front automobile exceeds 1.5m and the front automobile does not turn on a steering lamp,
C. detecting that the distance between the tail car and the tail car exceeds 1m and the tail car does not turn on a steering lamp,
D. detecting that the distance between the tail car and the tail car exceeds 1m and turning on a steering lamp by the tail car,
after the state B and the state C are identified, the vehicle deflects towards the adjacent lane, locally presses over or presses a dotted line, and enters a pre-steering state; and analyzing the side or the side rear vehicle;
after the state A is identified, waiting for front lane change;
after the state D is identified, whistling early warning is carried out, and when the vehicle deflects towards the adjacent lane, a broken line is locally pressed or pressed, so that the vehicle enters a pre-steering state; and analyzing the side or side-to-side vehicle.
In the embodiment of the application, adopt rear-view mirror and radar system, acquire side and side rear vehicle state:
s1, no vehicle is present on the road,
s2, the vehicle is on the way and is in a moving state,
s3, the vehicle is on the way and is in a static state,
the state information is acquired at the recognition system, S1, the predetermined lane is entered,
when the recognition system acquires the state information of S2, the warning of whistling is carried out, when the side rear vehicle decelerates or stops, the vehicle enters a preset lane,
the recognition system acquires the state information of S3, waits for the vehicle to move, enters the state of S2, and then enters a preset lane.
In the embodiment of the application, the vehicle is in a congestion state, a pre-steering state and a steering waiting state during lane changing, the vehicle is in a static or low-speed moving state, and lane changing operation is performed after a lane meets lane changing conditions.
In the two embodiments, the radar system comprises a millimeter wave radar and an ultrasonic radar, the millimeter wave radar is distributed and installed along four sides of the vehicle body, and the ultrasonic radar is installed at four corners of the vehicle body and in the middle of two sides of the vehicle body. The ultrasonic radar carries out long-distance detection and identification, and the millimeter wave radar carries out close-range perception to acquire the state of the surrounding vehicle.
In the first embodiment of the present application, the analysis of the turning state of the vehicle body is based on a lane change prediction of the leading vehicle in the non-activated steering mode, and comprises:
continuously approaching the adjacent lane according to the condition that the front vehicle is 5-10 s away, and pressing down the dotted line;
according to the fact that the front vehicle turns for more than two times in a large angle within 5s-10 s;
continuously pressing down the dotted line in 5s according to the prior vehicle;
in any case, the steering operation is stopped, the lane change of the preceding vehicle is successful or the steering operation is restarted after the lane change of the preceding vehicle is stable for 5s
Referring to fig. 3, in the first embodiment of the present application, when detecting a side-to-side and a side-to-back approach, the radar system coordinates the ultrasonic radar and the millimeter wave radar by using a fusion algorithm, and performs correlation adjustment on different sensors in time and space, thereby avoiding data redundancy and improving the identification accuracy.
When a plurality of devices such as an ultrasonic radar and a millimeter wave radar are used for measuring the same vehicle, the characteristics and the reliability of each device in the measurement are set as corresponding weights, and after the weights are added and summed, the advantages of various radars are integrated to improve the sensing advantage and the accuracy.
When observing a vehicle Y by using N radar devices, the measured values of different radars are used as { YjDenoted by 0,1,2, L, N, Y is obtained from LMS (least mean square error estimation), i.e. Y is
The variance estimate is expressed as
In the formula, σj(j ═ 0,1,2, L, N) is the variance of the jth radar measurement sequence,
under the constraint condition in the formula (2), the variance in the formula (3) is minimized, and the optimal weight can be obtained, which is expressed as:
in the formula, only the sigma is determinedjThe optimal weight in the data fusion process can be obtained by (j is 0,1,2, L, N). In the above, by fusing radar detection, the detection of a distant vehicle can be improvedAnd (4) accuracy.
Referring to fig. 3, in a second embodiment of the present application, an imaging system is formed by vehicle-mounted front and rear cameras, and when detecting a side and side rear vehicle, a radar system and imaging system fusion technology is adopted to identify and adjust the accuracy of a close-range vehicle.
Specifically, independent identification is carried out by means of a millimeter wave radar and an imaging system, respective identification results are respectively given, a target sequence is input, and a fusion algorithm is used for comprehensively judging the results to obtain a final output result.
The millimeter wave radar provides information on the position and speed of the target vehicle, the vision algorithm of the imaging system can provide the position of the target vehicle, it is noted that the millimeter wave radar can recognize the electromagnetic wave target which can be reflected, and the camera can only recognize the trained target. And after the sequences of the two targets are fused, accurate information such as the position, the width, the type and the like of the vehicle is obtained.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. A method for coordinated lane change control of an automatic driving vehicle on a congested road section is characterized by comprising the following steps:
acquiring congestion state information of a road section, and activating a road planning and lane changing coordination request;
step two, executing a lane change control instruction, turning on a steering lamp, and entering a driving mode switching state;
step three, adopting an automatic driving mode to change lanes, monitoring the states of the front and the rear vehicles, identifying the states of the front and the rear vehicles, carrying out lane change early warning, and entering a pre-steering state;
and step four, controlling the vehicle body to enter a preset lane.
2. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to claim 1, characterized in that: acquiring the congestion state information of the road section by adopting communication data of a navigation system;
the navigation system carries out early warning on road congestion, feeds back congestion distance and congestion estimated time, activates road planning in advance, and starts to send out a request lane change instruction when not entering a congested road section.
3. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to claim 1, characterized in that: acquiring the congestion state information of the road section, namely detecting the speed of a front vehicle by adopting a front-end control camera and a front-side radar system, wherein the acquisition time is within 20s, the average speed of the front vehicle is less than or equal to 5km/h, the braking occurs for 2-3 times, and after the detection time is over, the front vehicle is still in a variable road area, and then judging that the vehicle enters the congestion road section;
and analyzing the road congestion state information by an automatic driving auxiliary system of the vehicle and sending a request lane change instruction.
4. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to the claim 3, characterized in that: the automatic driving auxiliary system acquires the movement change of the vehicle in the lane through a side radar system, and carries out congestion analysis; and after the lane change data are acquired, the road is replanned, and a lane change request is carried out.
5. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to the claim 3, characterized in that: the radar system comprises a millimeter wave radar and an ultrasonic radar, wherein the millimeter wave radar is distributed and installed along four sides of the automobile body, and the ultrasonic radar is installed at the four corners of the automobile body and the middle parts of the two sides of the automobile body.
6. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to claim 5, characterized in that: and after the lane change instruction is executed, automatically entering a driving mode to switch a driving state, prompting the driver to select, and adopting an automatic driving lane change mode after the driver does not make a selection or selects automatic driving.
7. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to the claim 6, characterized in that: the automatic driving lane-changing mode adopts front and rear cameras and a radar system to acquire the states of front and rear vehicles through a fusion technology,
A. the distance between the front vehicle and the front vehicle exceeds 1.5m and the front vehicle turns on a steering lamp,
B. the distance between the front vehicle and the front vehicle is more than 1.5m and the turn light is not turned on,
C. the distance between the tail car and the tail car exceeds 1m and the turn light is not turned on,
D. the distance between the tail car and the tail car exceeds 1m and the tail car turns on a steering lamp,
entering a pre-steering state after the state B and the state C are met;
after the state A is satisfied, entering a waiting mode;
after the state D is met, whistling early warning is carried out, and then the pre-steering state is entered;
the pre-steering comprises deflecting the front headstock, locally pressing or pressing a dotted line, and waiting and detecting a side coming vehicle.
8. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to claim 7, characterized in that: the automatic driving lane changing mode adopts the side radar system fusion algorithm to coordinate, and recognizes the information of the oncoming vehicles, which comprises the following steps:
s1, no vehicle is present on the road,
s2, the vehicle is on the way and is in a moving state,
s3, the vehicle is on the way and is in a static state,
the recognition system acquires S1 status information, enters a predetermined lane,
the recognition system acquires the state information of S2, carries out whistling early warning, enters a preset lane when the side rear vehicle decelerates or stops,
and the recognition system acquires the state information of S3, waits, and enters the state of S2 and waits for entering a preset lane when the vehicle moves.
9. The method for coordination control over lane change of the automatic driving vehicle on the congested road section according to claim 1, characterized in that: the lane change coordination request activation includes but is not limited to manual operation of a driver to activate a crowded lane change instruction, a driving assistance system acquires road congestion information fed back by a navigation system to activate the crowded lane change instruction, the driving assistance system acquires following driving data to judge that the vehicle is in a crowded state and activates the crowded lane change instruction, and the driver activates the crowded lane change instruction when replanning a road on a congested road section and needs lane change steering;
and after the crowded lane change instruction is in an activated state, the crowded lane change instruction needs to enter a driving mode switching state, and after the automatic driving mode is locked for lane change, lane change coordination control is carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210264636.1A CN114475664B (en) | 2022-03-17 | 2022-03-17 | Automatic driving vehicle lane-changing coordination control method for congested road section |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210264636.1A CN114475664B (en) | 2022-03-17 | 2022-03-17 | Automatic driving vehicle lane-changing coordination control method for congested road section |
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| CN114475664A true CN114475664A (en) | 2022-05-13 |
| CN114475664B CN114475664B (en) | 2023-09-01 |
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| CN115790636A (en) * | 2023-02-01 | 2023-03-14 | 西华大学 | Unmanned retail vehicle cruise path planning method and device based on big data |
| CN116279485A (en) * | 2023-03-28 | 2023-06-23 | 深圳市康士达科技有限公司 | Automatic lane changing method based on unmanned vehicle, control chip and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115790636A (en) * | 2023-02-01 | 2023-03-14 | 西华大学 | Unmanned retail vehicle cruise path planning method and device based on big data |
| CN116279485A (en) * | 2023-03-28 | 2023-06-23 | 深圳市康士达科技有限公司 | Automatic lane changing method based on unmanned vehicle, control chip and electronic equipment |
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| CN116639152A (en) * | 2023-07-27 | 2023-08-25 | 安徽中科星驰自动驾驶技术有限公司 | Manual guiding identification method and system for automatic driving vehicle |
| CN116639152B (en) * | 2023-07-27 | 2023-10-31 | 安徽中科星驰自动驾驶技术有限公司 | Manual guiding identification method and system for automatic driving vehicle |
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