CN114537445A - Following target selection method based on vehicle running track - Google Patents
Following target selection method based on vehicle running track Download PDFInfo
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- 238000000034 method Methods 0.000 claims abstract description 12
- 238000012502 risk assessment Methods 0.000 claims abstract description 8
- 230000008859 change Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000009191 jumping Effects 0.000 abstract description 4
- 238000011156 evaluation Methods 0.000 abstract 1
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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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
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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
- B60W2540/00—Input parameters relating to 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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle following target selection method based on a vehicle running track, which combines a lane line, a guardrail, a traffic flow running track and a high-precision map to fit the vehicle running track; judging whether the driver has a lane changing intention or not by combining the operation behavior of the driver; if the driver has the lane changing intention, determining a lane changing track line according to the lane changing intention; determining an interested area according to the running track of the vehicle; carrying out risk assessment on the car following target in the interesting area; selecting a car following target; and (5) making a behavior decision of the vehicle. The invention effectively solves the problems of error braking and brake leakage caused by poor quality of a far-end lane line or jumping of a fitted lane line on a curve; the lane changing intention of the driver is considered, the take-over rate in the lane changing process is reduced, and the driving experience is improved; and the problem of discontinuous braking experience caused by the jumping of the ID of the target area is effectively avoided based on the risk evaluation and the target selection strategy of the target TrackID and the driving track.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle following target selection method based on a vehicle running track.
Background
In the current engineering application field, automatic driving and vehicle following target selection algorithms generally depend on lane lines strongly, the algorithms generally assume that a target vehicle drives in a self lane and a driver does not have frequent action of rotating a steering wheel, and the algorithms which depend on the lane lines strongly are suitable for L2 or L2+ scenes which have good lane line quality and are mainly controlled by a system. The lane line in the industry is generally obtained by performing cubic curve fitting on the basis of visual sampling points, the curve has a natural weakness that the quality of a far-end lane line is greatly influenced by the actual curvature, and the misbraking or missed braking is easily caused by selecting a target by using the lane line. In addition, by adopting the existing strategy, when a driver takes over the steering wheel actively, the targets selected by using the lane line frame are not easy to release in time, and the following targets of the adjacent lanes cannot be selected in time, so that the actual experience is not in line with the expectation of the driver. When a driver takes over the steering wheel, the following target is repeatedly confirmed, the misselection of the following target is reduced, but the problem that the target lane following target is braked late in the lane changing process of the driver is also solved, and the problems that the taking over rate is high in the early lane changing process and the braking experience is poor only in the longitudinal activation process are caused. In addition, driving assistance systems in the industry typically brake only selected following targets, and the timing of the need for braking is typically later and the minimum deceleration is limited to a very conservative level, calibrated for following targets that may be at risk of collision.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a following target selection method based on a driving track of a vehicle, which improves the scene adaptability of an unmanned vehicle and gives consideration to the riding experience and the driving safety of a driver.
In order to solve the technical problems, the invention adopts the following technical scheme:
a car following target selection method based on a running track of a vehicle comprises the following steps:
(1) fitting the driving track of the vehicle by combining the lane line, the guardrail, the traffic flow driving track and the high-precision map;
(2) judging whether the driver has a lane changing intention or not by combining the operation behavior of the driver;
(3) if the driver has the lane changing intention, determining a lane changing track line according to the lane changing intention;
(4) determining an interested area according to the running track of the vehicle;
(5) carrying out risk assessment on the car following target in the interesting area;
(6) selecting a car following target;
(7) and (5) making a behavior decision of the vehicle.
As optimization, in the step (1), when the driving track of the vehicle is fitted, according to a lane line equation, determining a central line equation of a lane line as a reference line 1 of the driving track of the vehicle; fitting the output reference point of the high-precision map into a cubic curve as a reference line 2 of the running track of the vehicle; fusing the guardrail points and track points of vehicles around the vehicle to obtain a cubic curve as a reference line 3 of the running track of the vehicle; correcting the equation coefficient of the lane line beyond 2 times of the time distance by using the reference line 2 and the reference line 3; the corrected reference line is taken as the vehicle travel track reference line 0, and the coefficients a0, a1, a2 and A3 are given.
As an optimization, in the step (2), when it is determined whether the driver has an intention to switch lanes, the distance S1 of the continuous movement of the host vehicle with respect to the reference line 0 is calculated; calculating the transverse moving speed V1 of the vehicle according to the distance of the continuous movement; calculating the distance D1 between the vehicle and the lane line; if S1 is greater than the calibrated value, and the absolute value of V1 is greater than the calibrated value, and D1 is less than the calibrated value, then the driver is considered to have a lane-change intention.
As an optimization, in step (3), when the lane change trajectory is determined according to the driver's lane change intention, the coefficients of the equation quadratic term and cubic term of the lane change trajectory are a2 and A3, respectively, and the coefficient of the zero-order term and the coefficient of the first-order term are both 0.
As optimization, in the step (4), when the interesting area is determined according to the running track of the vehicle, translating the reference line of the running track of the vehicle to the two sides of the vehicle by half lane width to obtain a No. 0 original pipeline of the interesting area; translating the reference line on the left side of the No. 0 original pipeline by a lane width to the left side to obtain a No. 1 original pipeline of the region of interest; translating the reference line on the right side of the No. 0 pipeline to the right side by a lane width to obtain a No. 2 original pipeline of the region of interest; setting an interval composed of a No. 1 original pipeline and a No. 2 original pipeline within 3 times of time distance and a No. 0 original pipeline within 5 times of time distance as an interested area.
As optimization, in the step (5), when risk assessment is carried out on the car following target in the interesting area, the car following target appearing in the interesting area is tracked, and the historical track of the car following target is recorded; judging the approaching trend of the following target and the corresponding transverse speed according to the historical track of the following target; judging the time TCL required by the following target to reach the running track of the vehicle according to the transverse speed of the following target; determining the longitudinal collision time TTC of the following vehicle target according to the longitudinal distance of the following vehicle target and the longitudinal speed difference of the vehicle; predicting a position P0 behind the car-following target 1s based on the current position and the transverse and longitudinal speed of the car-following target; and determining the intrusion amount of the following object intruding into the No. 0 running pipeline of the vehicle according to P0, and determining the cut probability P of the following object according to the intrusion amount.
As optimization, in the step (6), when the following target is selected, and when the following target tends to approach and the longitudinal speed is less than the longitudinal speed of the vehicle, if the time TCL required for the following target to reach the running track of the vehicle minus the longitudinal collision time TTC of the following target is less than a fixed value and the cut-in probability P is greater than a calibrated value, the following target is considered as a potential collision target; and selecting one with the smallest longitudinal collision time TTC of the following targets from the potential collision targets as the following target.
As optimization, in the step (7), during the decision of the behavior of the vehicle, the required deceleration a1 is planned by adopting a PID algorithm according to the longitudinal relative distance, the longitudinal relative speed and the longitudinal acceleration of the following target and the vehicle; planning the required deceleration a2 by adopting a PID algorithm according to the cut-in probability of the following target, the longitudinal relative distance between the following target and the vehicle, the longitudinal relative speed and the longitudinal acceleration of the following target; a2 is the following target of all interested areas, and the minimum deceleration planned by PID is utilized; at each specific time, the host vehicle deceleration is decided to be min (a1, a 2).
In conclusion, the beneficial effects of the invention are as follows:
(1) the expected running track of the vehicle is obtained by fusing the lane line, the guardrail, the traffic flow running track and the high-precision map information, so that the problems of error braking and brake leakage caused by poor quality of the far-end lane line or jumping of the lane line fitted on a curve are effectively solved;
(2) the lane changing intention of the driver is considered, the driving track is switched in advance for the scene of the driver actively changing the lane, the following target can be selected earlier, the take-over rate in the lane changing process is reduced, and the driving experience is improved;
(3) based on the risk assessment and the target selection strategy of the target TrackID and the driving track, the problem of discontinuous braking experience caused by the jumping of the target area ID can be effectively avoided.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of a process of fitting a driving trajectory of a vehicle according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, a following target selection method based on a traveling trajectory of a host vehicle in the present embodiment includes the following steps:
(1) fitting the driving track of the vehicle by combining the lane line, the guardrail, the traffic flow driving track and the high-precision map;
(2) judging whether the driver has a lane changing intention or not by combining the operation behavior of the driver;
(3) if the driver has the lane changing intention, determining a lane changing track line according to the lane changing intention;
(4) determining an interested area according to the running track of the vehicle;
(5) carrying out risk assessment on the car following target between the interested areas;
(6) selecting a car following target;
(7) and (5) making a behavior decision of the vehicle.
In the present embodiment, in the step (1), when the running track of the vehicle is fitted, a central line equation of a lane line is determined according to a lane line equation, and is used as a reference line 1 of the running track of the vehicle; fitting the output reference point of the high-precision map into a cubic curve as a reference line 2 of the running track of the vehicle; fusing the guardrail points and track points of vehicles around the vehicle to obtain a cubic curve as a reference line 3 of the running track of the vehicle; correcting the equation coefficients of the lane lines beyond the time distance of 2 times by using the reference line 2 and the reference line 3; the corrected reference line is taken as the vehicle travel track reference line 0, and the coefficients a0, a1, a2 and A3 are given.
In the present embodiment, when it is determined in step (2) whether or not the driver has an intention to switch lanes, the distance S1 of the continuous movement of the host vehicle with respect to the reference line 0 is calculated; calculating the transverse moving speed V1 of the vehicle according to the distance of the continuous movement; calculating the distance D1 between the vehicle and the lane line; if S1 is greater than the calibrated value, and the absolute value of V1 is greater than the calibrated value, and D1 is less than the calibrated value, then the driver is considered to have a lane-change intention.
In the present embodiment, in step (3), when the lane change trajectory line is determined according to the driver's lane change intention, the equation quadratic term and cubic term coefficient of the lane change trajectory line are a2 and A3, respectively, and the zero-order term coefficient and the first-order term coefficient are both 0.
In the specific embodiment, in the step (4), when the interesting area is determined according to the running track of the vehicle, the reference line of the running track of the vehicle is translated to the two sides of the vehicle by half lane width to obtain a number 0 original pipeline of the interesting area; translating the reference line on the left side of the No. 0 original pipeline by a lane width to the left side to obtain a No. 1 original pipeline of the region of interest; translating the reference line on the right side of the No. 0 pipeline to the right side by a lane width to obtain a No. 2 original pipeline of the region of interest; setting an interval composed of a No. 1 original pipeline and a No. 2 original pipeline within 3 times of time distance and a No. 0 original pipeline within 5 times of time distance as an interested area.
In the specific embodiment, in the step (5), when the car following target in the interesting area is subjected to risk assessment, the car following target appearing in the interesting area is tracked, and the historical track of the car following target is recorded; judging the approaching trend of the following target and the corresponding transverse speed according to the historical track of the following target; judging the time TCL required by the following target to reach the running track of the vehicle according to the transverse speed of the following target; determining the longitudinal collision time TTC of the following vehicle target according to the longitudinal distance of the following vehicle target and the longitudinal speed difference of the vehicle; predicting a position P0 behind the car-following target 1s based on the current position and the transverse and longitudinal speed of the car-following target; and determining the intrusion amount of the following object intruding into the No. 0 running pipeline of the vehicle according to P0, and determining the cut probability P of the following object according to the intrusion amount.
In the present specific embodiment, in the step (6), when the following target is selected, and when the following target has an approaching trend and the longitudinal speed is less than the longitudinal speed of the vehicle, if the time TCL required for the following target to reach the running track of the vehicle minus the longitudinal time to collision TTC of the following target is less than a fixed value and the cut-in probability P is greater than a calibrated value, the following target is considered as a potential collision target; and selecting one with the smallest longitudinal collision time TTC of the following targets from the potential collision targets as the following target.
In the present embodiment, in step (7), when the vehicle behavior is determined, a required deceleration a1 is planned by using a PID algorithm according to the longitudinal relative distance between the following target and the vehicle, the longitudinal relative speed, and the longitudinal acceleration of the following target; planning the required deceleration a2 by adopting a PID algorithm according to the cut-in probability of the following target, the longitudinal relative distance between the following target and the vehicle, the longitudinal relative speed and the longitudinal acceleration of the following target; a2 is the following target of all interested areas, and the minimum deceleration planned by PID is utilized; at each specific time, the host vehicle deceleration is decided to be min (a1, a 2).
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A car following target selection method based on a vehicle running track is characterized in that: the method comprises the following steps:
(1) fitting the driving track of the vehicle by combining lane lines, guardrails, traffic flow driving tracks and a high-precision map;
(2) judging whether the driver has a lane changing intention or not by combining the operation behavior of the driver;
(3) if the driver has the lane changing intention, determining a lane changing track line according to the lane changing intention;
(4) determining an interested area according to the running track of the vehicle;
(5) carrying out risk assessment on the car following target between the interested areas;
(6) selecting a car following target;
(7) and (5) making a behavior decision of the vehicle.
2. The method according to claim 1, wherein the following target selection method based on the traveling trajectory of the host vehicle comprises: in the step (1), when the driving track of the vehicle is fitted, determining a central line equation of a lane line according to a lane line equation to be used as a reference line 1 of the driving track of the vehicle; fitting the output reference point of the high-precision map into a cubic curve as a reference line 2 of the running track of the vehicle; fusing the guardrail points and track points of vehicles around the vehicle to obtain a cubic curve as a reference line 3 of the running track of the vehicle; correcting the equation coefficient of the lane line beyond 2 times of the time distance by using the reference line 2 and the reference line 3; the corrected reference line is taken as the vehicle travel track reference line 0, and the coefficients a0, a1, a2 and A3 are given.
3. The vehicle following target selection method based on the traveling trajectory of the host vehicle according to claim 2, wherein: in the step (2), when judging whether the driver has the intention of changing the lane, calculating the distance S1 of the continuous movement of the vehicle relative to the reference line 0; calculating the lateral movement speed V1 of the vehicle according to the distance of continuous movement; calculating the distance D1 between the vehicle and the lane line; if S1 is greater than the calibrated value, and the absolute value of V1 is greater than the calibrated value, and D1 is less than the calibrated value, then the driver is considered to have a lane-change intention.
4. The method according to claim 1, wherein the following target selection method based on the traveling trajectory of the host vehicle comprises: in step (3), when the lane change trajectory is determined according to the driver's lane change intention, the equation quadratic term and cubic term coefficient of the lane change trajectory are respectively A2 and A3, and the zero-order term coefficient and the first-order term coefficient are both 0.
5. The method according to claim 1, wherein the following target selection method based on the traveling trajectory of the host vehicle comprises: in the step (4), when the interested area is determined according to the running track of the vehicle, translating the running track reference line of the vehicle to the two sides of the vehicle by half lane width to obtain a No. 0 original pipeline of the interested area; translating the reference line on the left side of the No. 0 original pipeline by a lane width to the left side to obtain a No. 1 original pipeline of the region of interest; translating the reference line on the right side of the No. 0 pipeline to the right side by a lane width to obtain a No. 2 original pipeline of the region of interest; setting an interval composed of a No. 1 original pipeline and a No. 2 original pipeline within 3 times of time distance and a No. 0 original pipeline within 5 times of time distance as an interested area.
6. The method according to claim 5, wherein the following target selection method based on the traveling trajectory of the host vehicle comprises: in the step (5), when risk assessment is carried out on the car following target in the interesting area, the car following target appearing in the interesting area is tracked, and the historical track of the car following target is recorded; judging the approaching trend of the following target and the corresponding transverse speed according to the historical track of the following target; judging the time TCL required by the following target to reach the running track of the vehicle according to the transverse speed of the following target; determining the longitudinal collision time TTC of the following vehicle target according to the longitudinal distance of the following vehicle target and the longitudinal speed difference of the vehicle; predicting a position P0 behind the car-following target 1s based on the current position and the transverse and longitudinal speed of the car-following target; and determining the intrusion amount of the following object intruding into the No. 0 running pipeline of the vehicle according to P0, and determining the cut probability P of the following object according to the intrusion amount.
7. The method according to claim 6, wherein the following target selection method based on the traveling trajectory of the host vehicle comprises: in the step (6), when the following target is selected, if the following target has a tendency of approaching and the longitudinal speed is less than the longitudinal speed of the vehicle, and if the time TCL required for the following target to reach the running track of the vehicle minus the longitudinal collision time TTC of the following target is less than a fixed value and the cut-in probability P is greater than a calibrated value, the following target is considered to be a potential collision target; and selecting one with the smallest longitudinal collision time TTC of the following targets from the potential collision targets as the following target.
8. The method according to claim 1, wherein the following target selection method based on the traveling trajectory of the host vehicle comprises: in the step (7), when the vehicle behavior is decided, the required deceleration a1 is planned by adopting a PID algorithm according to the longitudinal relative distance, the longitudinal relative speed and the longitudinal acceleration of the vehicle-following target and the vehicle; planning the required deceleration a2 by adopting a PID algorithm according to the cut-in probability of the following target, the longitudinal relative distance between the following target and the vehicle, the longitudinal relative speed and the longitudinal acceleration of the following target; a2 is the following target of all interested areas, and the minimum deceleration planned by PID is utilized; at each specific time, the host vehicle deceleration is decided to be min (a1, a 2).
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| CN115257802A (en) * | 2022-06-17 | 2022-11-01 | 重庆长安汽车股份有限公司 | Trajectory rationality checking method for automatic driving redundancy function |
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| CN115257802A (en) * | 2022-06-17 | 2022-11-01 | 重庆长安汽车股份有限公司 | Trajectory rationality checking method for automatic driving redundancy function |
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