CN114523976B - Control system and method for intelligently driving vehicle - Google Patents
Control system and method for intelligently driving 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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Abstract
The present disclosure provides a control system for a smart driving vehicle, comprising: the lane change planning module plans a vehicle lane change strategy and sends a request about lane change reminding to the execution end; and the lane change monitoring module comprises a lane change permission decision sub-module, and the lane change permission decision sub-module receives feedback information about the execution terminal correctly executing the lane change reminding and sends a lane change permission mark for permitting the lane change strategy to be executed when the feedback information meets a preset standard. The present disclosure also provides a control method for an intelligent driving vehicle. The technical scheme disclosed by the invention has the advantages of reliability and low cost, and is particularly suitable for intelligent driving requirements below an L3 level.
Description
Technical Field
The disclosure belongs to the field of intelligent driving control, and particularly relates to a control system and a control method for an intelligent driving vehicle.
Background
Numerous technologies have been applied to lane change control for intelligent driving. For example, the driving system is configured to be able to decide whether to change lanes according to a target vehicle speed or navigation information set by a driver, in combination with road conditions (such as lane line type, distance of other vehicles, vehicle speed and acceleration, etc.) of the own vehicle sensed by the sensor. In addition, when the traffic condition is complex, the vehicle parameters and other vehicle parameters can be input into the neural network in a machine learning mode to obtain the preliminary acceleration and deceleration before lane changing, so that the vehicle speed of the vehicle is adjusted to find safe lane changing time. Even, besides the perception of the vehicle, the vehicle can also communicate with a plurality of vehicles in a network, report states and intentions mutually, and the vehicles run coordinately to achieve the purpose of safe lane changing.
While the above techniques have all achieved varying degrees of accuracy, the hardware and software systems of current intelligent-drive vehicles may still fail or fail in view of the technical risks inherent in the vehicle and the numerous unpredictable or controlled unexpected situations that may exist in the complex environment of the external road. Therefore, it is necessary to provide a more comprehensive, simple and reliable lane-changing safety technology for intelligent driving.
Disclosure of Invention
The present disclosure provides a control system for a smart driving vehicle, comprising:
the lane change planning module plans a vehicle lane change strategy and sends a request about lane change reminding to the execution end;
and the lane change monitoring module comprises a lane change permission decision sub-module, and the lane change permission decision sub-module receives feedback information about the execution terminal correctly executing the lane change reminding and sends a lane change permission mark for permitting the lane change strategy to be executed when the feedback information meets a preset standard.
Advantageously, the lane change monitoring module further comprises a lane change error monitoring submodule, wherein when the lane change error monitoring submodule judges that the lane change planning module has a fault, control information for stopping executing the lane change strategy is sent.
The lane change error monitoring sub-module judges that the lane change planning module has a fault if the lane change planning module sends a lane change instruction when the lane change permission decision sub-module does not send a lane change permission mark.
Advantageously, when the lane change permission decision sub-module sends the lane change permission flag, if one or more of the steering torque, the steering torque change rate, the turning angle or the turning angle change rate contained in the lane change strategy exceeds the corresponding safety boundary, the lane change error monitoring sub-module judges that the lane change planning module has a fault.
Advantageously, the safety margin for the steering torque is
Wherein V is the current speed of the vehicle.
Advantageously, when the lane change planning module fails, the lane change error monitoring sub-module instructs to set the steering torque or turn angle request of the vehicle to 0 and prompts the driver to take over the vehicle.
The lane change reminding module is used for reminding the driver of the lane change strategy, and comprises a steering lamp lighting device, a steering wheel vibration device and a vehicle machine prompting device, wherein when at least two of the steering wheel vibration device, the steering lamp lighting device and the vehicle machine prompting device are correctly executed, the lane change permission decision sub-module sends a lane change permission mark which allows the lane change strategy to be executed.
The present disclosure also provides a control method for an intelligent driving vehicle, which includes:
planning a vehicle lane change strategy and sending a lane change prompt to an execution end;
receiving feedback information about that an execution end correctly executes the lane changing reminding, and sending a lane changing allowing mark allowing the lane changing strategy to be executed when the feedback information meets a preset standard;
when the lane change permission mark is not sent out, if a lane change instruction occurs, judging that a lane change fault occurs, and sending out control information for stopping executing the lane change strategy;
when the lane change permission mark is sent out, if one or more of steering torque, steering torque change rate, steering angle or steering angle change rate contained in the lane change strategy exceeds a corresponding safety boundary, the lane change fault is judged to occur, and control information for stopping executing the lane change strategy is sent out.
The present disclosure also provides an electronic device, including:
a processor;
a memory storing instructions for execution by the processor;
wherein the instructions, when executed by the processor, implement the control method for a smart driving vehicle.
The present disclosure also provides a storage medium storing an application program that, when executed by a processor, implements the control method for an intelligent driving vehicle.
Drawings
FIG. 1 is a schematic diagram of an exemplary lane-change control system for a smart driving vehicle.
FIG. 2 is a schematic diagram of an exemplary control module for a lane change control system.
Fig. 3 is a graph showing the absolute value of the safety margin of the steering torque as a function of the vehicle speed.
FIG. 4 is a flow chart of an exemplary lane change method for a smart driving vehicle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. The specific embodiments described herein are to be considered in all respects as illustrative and not restrictive. In addition, for convenience of description, only a part of the structure or steps related to the present invention is illustrated in the drawings, not all of the structure or steps related to the present invention.
FIG. 1 is a schematic diagram of an exemplary lane-change control system for a smart driving vehicle, which generally includes three parts, a sensing end, a computing platform and an executing end.
The sensing end can comprise a camera, a sensing sensor such as a millimeter wave radar and a laser radar, a high-precision map, a global satellite navigation system and the like, and is used for acquiring road information (such as lane line type, curvature, intersection distance in front and the like), the position of the own vehicle in the road, other vehicle information (distance and speed relative to the own vehicle) and the like as key control input information.
The computing platform can comprise a plurality of hardware and software, wherein the hardware and software comprise a lane change planning module and a lane change monitoring module, the lane change planning module plans a driving path according to a sensing signal and scene information transmitted by a sensing end, a lane change strategy is formulated, and finally an instruction is output to an execution end to finish actions such as driver reminding and steering.
The execution end comprises a steering system and a vehicle machine system, responds to a control instruction output by the computing platform, prompts a driver to change lanes in a voice, image or vibration mode and the like, and executes steering and the like when lane changing is allowed. The steering system comprises a vehicle chassis control system, a steering motor, a steering lamp, a vehicle control system, an in-vehicle display screen, a loudspeaker and the like. And the execution condition of the execution end is transmitted to the controller as a feedback signal so as to realize lane change monitoring and protection. The feedback signal includes, for example, steering wheel vibration state feedback, turn signal state feedback, vehicle prompt feedback, and the like.
Fig. 2 is a schematic diagram of a control module in a computing platform, which includes a lane change planning module, a lane change monitoring module, and the like.
The lane change planning module is set to plan a vehicle lane change strategy and sends a lane change instruction and a lane change prompt to the execution end. For example, the lane change planning module acquires sensing information, position information, a running state of the vehicle, a scene where the vehicle is located, and the like about the vehicle and the surrounding environment from the sensing system or the cloud, and determines whether lane change is required currently. If the driver needs to overtake, leave a ramp or change roads, and the like, the driver is requested to light a steering lamp, shake a steering wheel, send lane change images and voice and the like before lane change is executed, and the driver is reminded of going to change lanes.
The lane change monitoring module is used for monitoring and protecting lane change of the vehicle and comprises an input signal processing submodule, a lane change permission decision submodule, a lane change error monitoring submodule, an output signal processing submodule and the like.
The input signal processing sub-module receives information required by safe lane change monitoring from a vehicle chassis control system in a CAN, LIN or Ethernet mode and the like, analyzes related signals, and verifies the related signals to ensure the credibility of the related signals. The verification method comprises the following steps: and (3) carrying out Alive check, CRC check and the like, wherein the Alive check checks whether the signal is normally updated, and the CRC check checks whether the related signal value is changed in an error manner in the transmission process.
The lane change permission decision sub-module judges whether lane change is permitted or not based on information obtained from the input signal processing sub-module, such as a steering wheel vibration state, a turn light state, a vehicle machine prompt state and the like. If lane change is allowed, a lane change allowing flag bit is sent to the lane change planning module to allow the lane change planning module to send a lane change instruction to the execution end. For example, in one or more embodiments, the lane change enable decision sub-module issues a lane change enable flag that enables execution of the lane change policy when at least two of a steering wheel shake, a turn light is on, and a car machine alert are properly executed.
And the lane change error monitoring submodule monitors lane change execution and sends control information for stopping executing a lane change strategy when judging that the lane change planning module has a fault.
In one or more embodiments, when the lane change permission decision sub-module does not permit lane change or does not issue a lane change permission flag, if the lane change planning module still executes lane change control, it is determined that the lane change planning module has a fault. Further, in one or more embodiments, when the lane change permission decision sub-module permits a lane change, the lane change planning module is determined to be malfunctioning if at least one of a steering torque, a rate of change of the steering torque, a steering angle, or a rate of change of the steering angle requested by the lane change planning module exceeds a corresponding safety margin.
The safety limit value is in a negative correlation with the speed, i.e., the higher the vehicle speed, the smaller the allowed maximum steering torque, the maximum steering torque rate of change, the maximum steering angle, or the maximum steering angle rate of change. Under the condition of high vehicle speed, the driving technical requirements required by a driver for taking over the vehicle in an emergency are higher, and the vehicle is easy to be unstable due to sharp steering, so that the control of the vehicle is lost. For this reason, the safety margin value is small at high vehicle speeds.
In one or more embodiments, simulation and actual road testing may be performed according to functional characteristics of different vehicle types to determine the safety boundary value. Unexpected lane change is simulated under the conditions of different vehicle speeds in a fault injection mode, and the controllability of unexpected lateral motion performance of the vehicle or the prevention of harm by taking over of a driver under the conditions of different steering torques, steering torque change rates, turning angles or turning angle change rates is tested.
Taking an actual road test taking ODD (operational design domain) as NOA (navigation on automatic) function of the expressway as an example, firstly, reasonably simplifying the complex road working condition based on actual conditions and experience, and analyzing to obtain a test judgment standard. Assuming a scenario in which the width of a highway lane is 3.75m, the width of a self-vehicle is 1.85m, the self-vehicle drives in the center of the lane, a guardrail or other vehicle in an adjacent lane is arranged on one side (and the driving track of the self-vehicle is close to a lane line between two vehicles), the scenario is relatively common and dangerous when the self-vehicle has an unexpected lane change, and the reaction time of a driver reacting to take over the vehicle after the unexpected lane change to avoid the occurrence of the harm is 1.2s. Based on the above scenario, when an unexpected lane change occurs, if the lateral displacement of the vehicle does not exceed 60cm within 1s, it is considered that the occurrence of harm can be avoided, that is, the occurrence is taken as the judgment criterion of the safe steering torque. During testing, the vehicle runs in a straight line at different vehicle speeds, different steering torques are sent to a vehicle steering system through a testing tool to manufacture unexpected steering, vehicle motion state parameters such as the vehicle speed and the yaw rate in the testing process are recorded, the lateral offset distance of the vehicle within 1s after fault injection can be calculated through the vehicle speed and the yaw rate, and the maximum steering torque allowed at different vehicle speeds can be obtained by taking 60cm as a standard.
Or, through the test scenario and the fault injection manner, a plurality of common drivers with different driving experiences take over the vehicle when an unexpected lane change occurs, and the maximum allowable steering torque is determined through the maximum lateral offset distance and the take-over feeling of the driver. The steering torque rate of change and the steering angle rate of change can also be determined by a similar method.
In one or more embodiments, the safety margin for the turning angle is calculated or simulated, for example, by vehicle kinematics and vehicle dynamics theory, to obtain the maximum allowable turning angle at different vehicle speeds, beyond which the vehicle will be out of control.
In one or more embodiments, the maximum allowable steering torque is calculated and determined by the following equation:
where V is the current running speed of the vehicle. Fig. 3 shows the absolute value of the maximum allowable steering torque at different vehicle speeds as a function of the vehicle speed.
The lane change monitoring module also comprises an output signal processing submodule which is set to process signals sent by the lane change planning module, the lane change permission decision submodule, the lane change error monitoring submodule and the like and send corresponding control instructions. For example, when the lane change planning module fails, the steering torque (or steering angle) request is set to 0 based on the lane change fault flag sent by the lane change error monitoring submodule, the lateral direction of the vehicle is not controlled any more, and the driver is prompted to fail and pay attention to take over the vehicle. For another example, when lane change is permitted, a steering torque or a steering angle request for performing lane change, or the like is output.
In one or more embodiments, when the lane change monitoring module of the vehicle judges that lane change is allowed, the lane change planning module requests a steering torque (or a steering angle) to change lanes at least after 2s according to actual conditions, and outputs the steering torque (or the steering angle) and the lane change request state to the lane change error monitoring submodule, so that a driver can observe the conditions around the vehicle, particularly the intended lane change lane, and take over the vehicle in a dangerous condition to avoid traffic accidents. For example, when the lane change error monitoring sub-module determines that a fault has occurred, the steering torque (or steering angle) request is set to 0, and the driver is prompted to take over the vehicle for the fault. The fault occurrence reason may be, for example, that a serious fault occurs in the intelligent driving area controller, at the moment, lane change is inhibited, the driver is reminded of taking over the fault, and damage can be effectively avoided. If the lane change error monitoring submodule judges that no fault occurs, the driver can be considered to be reminded before lane change and the steering wheel rotation angle change rate is in a safety range, and even if potential danger is caused due to sensing limitation, the driver can take over the vehicle in time to avoid traffic accidents.
FIG. 4 is a flow chart of an exemplary lane-change method for a smart driving vehicle, comprising the steps of:
s1: and planning a vehicle lane change strategy and sending a lane change prompt to the execution end.
In one or more embodiments, the lane change planning module obtains the sensing information, the position information and the running state of the vehicle, identifies the place where the vehicle is located, and determines whether lane change is needed and possible and the motion and power control parameters required by lane change operation, such as steering torque, the change rate of the steering angle or the change rate of the steering angle, and the like. If the driver needs to overtake, leave a ramp or change roads, the driver is requested to turn on a steering lamp, shake a steering wheel and send a lane change image and voice before lane change is executed, so that the driver is reminded of the fact that the lane change is about to be carried out.
S2: and receiving feedback information about that the execution terminal correctly executes the lane change reminding, and sending an indication of allowing the lane change strategy to be executed when the feedback information meets a preset standard.
In one or more embodiments, after the input signal processing submodule of the lane change monitoring module obtains the steering wheel vibration state, the turn light state and the voice prompt state through analysis, safety verification is performed on related signals, and whether the state signals are updated or not and whether signal values are changed in an error mode in the communication process or not is judged. If the signal is not updated or is changed in the communication process, the signal is not considered to be credible, a signal error mark is output, and the signal error mark is determined to be incorrect execution of the lane change reminding. For example, when two of the steering wheel vibration, the steering lamp and the car machine prompt are correctly executed, the lane change permission decision sub-module judges that lane change is permitted, outputs a lane change permission mark to the lane change planning module and the lane change error monitoring sub-module, and otherwise, does not permit lane change.
The lane change permission determination logic truth table of the embodiment is shown in table 1, where F denotes no execution hint or no permission to change lanes, and T denotes an executed hint or permission to change lanes.
TABLE 1 lane change permission determination logic truth table
S3: the lane change state is monitored and execution of an erroneous lane change is stopped.
In one or more embodiments, the lane change monitoring module includes a lane change error monitoring sub-module, wherein when the lane change error monitoring sub-module determines that the lane change planning module has a fault, control information for stopping executing the lane change policy is sent. For example, when a lane change permission flag is issued, if a steering torque, a steering torque change rate, a steering angle, or a steering angle change rate requested by a lane change strategy exceeds an allowable safety margin, it is determined that a lane change failure has occurred, and control information for stopping execution of the lane change strategy is issued. For another example, when the lane change permission flag is not issued, if it is monitored that a lane change instruction is issued, it is determined that a lane change failure has occurred, and control information for stopping executing the lane change policy is issued.
In one or more embodiments, when it is determined that a lane change failure has occurred, the steering torque or angle request is set to 0, and the driver is prompted for the failure and takes over the vehicle.
The safe lane changing technical scheme has the advantages of reliability and low cost. Firstly, the implementation of the invention obtains the judgment information by means of devices which are possessed by most vehicles, such as a steering motor, a steering lamp and a vehicle machine, and the signal transmission to an intelligent driving area controller, such as CAN, lin or Ethernet, CAN be realized by depending on the original communication network of the vehicle. Therefore, the invention can realize the scheme only through a software algorithm. Of course, the present invention may also be implemented by a combination of software algorithms and hardware.
The technical scheme has low implementation cost. The technical scheme is based on the existing whole vehicle framework, does not need to add newly-added parts, only needs to be realized on the algorithm level, can realize safe lane change and has low cost.
The invention is particularly suitable for intelligent driving requirements below the L3 level. The technical scheme skillfully designs a simple, low-cost, but feasible and effective scheme on the premise that the driver needs to take over the vehicle in an emergency state. For example, the lane change is effectively prompted by the driver as one of the input conditions for the lane change execution, and the steering torque or the steering angle is further safely monitored, so that the lane change safety is improved.
The present disclosure also relates to a computer-readable storage medium having stored thereon a computer program (or referred to as computer-executable instructions), which when executed by a processor, is for performing a lane-change control method for a smart driving vehicle according to the present disclosure, the method comprising: planning a vehicle lane change strategy and sending a request about lane change reminding to an execution end; and receiving feedback information about that the execution terminal correctly executes the lane change reminding, and sending a lane change permission mark for permitting the execution of the lane change strategy when the feedback information meets a preset standard. When the lane change permission mark is not sent, if a lane change instruction occurs, judging that a lane change fault occurs, and sending control information for stopping executing the lane change strategy; when the lane change permission mark is sent out, if the steering torque, the steering torque change rate, the steering angle or the steering angle change rate contained in the lane change strategy exceeds the corresponding safety boundary, the lane change fault is judged to occur, and control information for stopping executing the lane change strategy is sent out.
The computer storage media may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, or a conventional procedural programming language such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Claims (9)
1. A control system for a smart driving vehicle, comprising:
the lane change planning module plans a vehicle lane change strategy and sends a request about lane change reminding to the execution end;
the lane change monitoring module comprises a lane change permission decision sub-module, the lane change permission decision sub-module receives feedback information about that an execution end correctly executes the lane change reminding, and sends a lane change permission mark which allows the lane change strategy to be executed when the feedback information meets a preset standard, wherein the lane change reminding comprises turn light lightening, steering wheel vibration and vehicle machine prompting, and when at least two of the steering wheel vibration, the turn light lightening and the vehicle machine prompting are correctly executed, the lane change permission decision sub-module sends a lane change permission mark which allows the lane change strategy to be executed.
2. The control system according to claim 1, wherein the lane-change monitoring module further comprises a lane-change error monitoring submodule, wherein when the lane-change error monitoring submodule judges that the lane-change planning module has a fault, control information for stopping executing the lane-change strategy is sent.
3. The control system of claim 2, wherein when the lane-change permission decision sub-module does not issue the lane-change permission flag, if the lane-change planning module issues the lane-change instruction, the lane-change error monitoring sub-module determines that the lane-change planning module is faulty.
4. The control system of claim 2, wherein when the lane change permission decision sub-module issues the lane change permission flag, the lane change error monitoring sub-module determines that the lane change planning module is faulty if one or more of a steering torque, a steering torque change rate, a steering angle, or a steering angle change rate included in the lane change strategy exceeds a corresponding safety boundary.
5. The control system of claim 4, wherein the safety margin for steering torque is
Wherein V is the current speed of the vehicle.
6. The control system of any one of claims 2-5, wherein when the lane change planning module fails, the lane change error monitoring submodule directs that the vehicle's steering torque request be set to 0 and prompts the driver to take over the vehicle.
7. A control method for a smart-driving vehicle, characterized by comprising:
planning a vehicle lane change strategy and sending a request about lane change reminding to an execution end;
receiving feedback information about correct execution of the lane changing reminding by an execution end, and sending a lane changing permission mark which allows the lane changing strategy to be executed when the feedback information meets a preset standard, wherein the lane changing reminding comprises turn light lightening, turn light vibration and vehicle machine prompting;
when the lane change permission sign is not sent out, if a lane change instruction occurs, judging that a lane change fault occurs, and sending out control information for stopping executing the lane change strategy;
when the lane change permission mark is sent out, if one or more of steering torque, steering torque change rate, corner or corner change rate contained in the lane change strategy exceeds a corresponding safety boundary, the lane change fault is judged to occur, and control information for stopping executing the lane change strategy is sent out.
8. An electronic device, comprising:
a processor;
a memory storing instructions for execution by the processor;
wherein the instructions, when executed by the processor, implement the control method for a smart driving vehicle of claim 7.
9. A storage medium storing an application program that, when executed by a processor, implements the control method for an intelligent driving vehicle according to claim 7.
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| CN106960600A (en) * | 2015-09-22 | 2017-07-18 | 福特全球技术公司 | Formulate track level route planning |
| CN109445428A (en) * | 2018-10-08 | 2019-03-08 | 北京海纳川汽车部件股份有限公司 | The lane change method, apparatus of automatic driving vehicle and automatic driving vehicle with it |
| WO2022006777A1 (en) * | 2020-07-08 | 2022-01-13 | 深圳元戎启行科技有限公司 | Method and system for performing lane-change classification on surrounding moving objects, and computer device and storage medium |
| CN112435482A (en) * | 2020-11-06 | 2021-03-02 | 福瑞泰克智能系统有限公司 | Parking control method and system in automatic driving mode, electronic equipment and vehicle |
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