CN114572218A - Lane changing control method, device, equipment and medium based on whole vehicle driving mode - Google Patents

Lane changing control method, device, equipment and medium based on whole vehicle driving mode Download PDF

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CN114572218A
CN114572218A CN202210326895.2A CN202210326895A CN114572218A CN 114572218 A CN114572218 A CN 114572218A CN 202210326895 A CN202210326895 A CN 202210326895A CN 114572218 A CN114572218 A CN 114572218A
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vehicle
lane
target vehicle
distance
lane change
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CN114572218B (en
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陈伟
陈康
杜路遥
刘雨婷
钟志轩
裴忠惠
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a lane change control method, a lane change control device, lane change control equipment and a lane change control medium based on a vehicle driving mode, wherein the method comprises the following steps: acquiring first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage; respectively establishing a first lane change safety model and a second lane change safety model of the target vehicle according to the first lane change reference data and the second lane change reference data; determining a first driving control strategy of the target vehicle in a first lane change stage based on a first speed difference included in the first lane change safety model; a second drive control strategy for the target vehicle at a second lane-change stage is determined based on a second speed difference included in the second lane-change safety model. The invention solves the problems of unreasonable manual traditional lane changing and collision in the lane changing process caused by misjudgment.

Description

Lane changing control method, device, equipment and medium based on whole vehicle driving mode
Technical Field
The invention relates to the technical field of pure electric vehicle drive control, in particular to a lane change control method, a lane change control device, lane change control equipment and a lane change control medium based on a whole vehicle drive mode.
Background
With the gradual appearance of pure electric vehicles and the continuous development of the car networking technology, great convenience is provided for people's traveling.
The pure electric vehicle is the most important mode in the running process of the vehicle, the output torque of the vehicle directly reflects the power performance of the vehicle, and the information such as the speed, the distance, the speed difference and the like can be obtained between the vehicles, so that the technical support of lane changing is provided for a driver.
In the prior art, a reasonable lane change safe distance model is generally established according to the speed difference and the distance of a vehicle, and a certain acceleration is determined to change the lane according to the current speed of the vehicle. In practical applications, the vehicle is usually controlled by the driver to control the pedal, so as to control the vehicle speed. In the lane changing process, a driver can make judgment errors according to the feeling, and the lane changing behavior is carried out under the conditions of unreasonable lane changing distance and wrong pedal opening, so that accidents are caused.
Disclosure of Invention
In view of the above, it is necessary to provide a lane change control method, apparatus, device and medium based on a vehicle driving mode, so as to solve the problems in the prior art that the manual traditional lane change is unreasonable and the lane change process is collided due to a misjudgment.
In order to solve the above problem, in a first aspect, the present invention provides a lane change control method based on a vehicle driving mode, including:
acquiring first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage;
respectively establishing a first lane change safety model and a second lane change safety model of the target vehicle according to the first lane change reference data and the second lane change reference data;
determining a first drive control strategy of the target vehicle at the first lane change stage based on a first speed difference included in the first lane change safety model, wherein the first speed difference includes a speed difference between a first vehicle speed of a first reference vehicle and a second vehicle speed of the target vehicle within a lane change lane, and the first reference vehicle is a vehicle in front of the target vehicle in the lane change lane;
determining a second drive control strategy of the target vehicle at the second lane change stage based on a second speed difference included in the second lane change safety model, wherein the second speed difference includes a speed difference between a third vehicle speed of a second reference vehicle and a fourth vehicle speed of the target vehicle within a target lane, the second reference vehicle being a vehicle of the target vehicle in front of the target lane.
Optionally, establishing a first lane change safety model of the target vehicle according to the first lane change reference data includes:
determining a first safe distance S of the target vehicle from the first reference vehicleF1：
Figure BDA0003573865160000021
Wherein S is1A first initial relative distance, v, between the target vehicle and the first reference vehicle at an initial time of lane change1Is an initial vehicle speed, v, of the first reference vehicle0Is the initial speed of the target vehicle, a is the acceleration of the target vehicle when changing lanes, t0<t1<tf，t0Is the initial time of the first lane change stage, t1For the first lane change phase operating time, tfIs the end time of the first lane change stage, L is the length of the vehicle, W is the width of the vehicle, and theta1Is at t1And at the moment, the target vehicle forms a first included angle with the traffic flow direction.
Optionally, the determining a first driving control strategy of the target vehicle in the first lane-change stage based on the first speed difference included in the first lane-change safety model includes:
determining a first distance difference of the first speed difference within a first preset time, and determining a first early warning level of the target vehicle at the first lane changing stage based on the first distance difference;
and determining a first driving control strategy of the target vehicle in the first lane changing stage according to the first early warning level.
Optionally, the determining, based on the first distance difference, a first warning level of the target vehicle at the first lane change stage includes:
if the first distance between the target vehicle and the first reference vehicle is larger than the sum of the first distance difference and the adjusting distance, or the second vehicle speed of the target vehicle is smaller than the first vehicle speed of the first reference vehicle, determining that the first early warning level of the target vehicle in the first lane changing stage is a safe lane changing distance;
if the second vehicle speed of the target vehicle is not less than the first vehicle speed of the first reference vehicle, the first vehicle distance between the target vehicle and the first reference vehicle is less than the sum of the first distance difference and the adjusting distance and is greater than the sum of the third distance difference and the adjusting distance of the first speed difference within second preset time, and the first early warning level of the target vehicle at the first lane changing stage is determined to be a reasonable lane changing distance, wherein the second preset time is less than the first preset time;
and if the second vehicle speed of the target vehicle is not less than the first vehicle speed of the first reference vehicle, and the first vehicle distance between the target vehicle and the first reference vehicle is less than the sum of the third distance difference and the adjusting distance, or less than the adjusting distance, determining that the first early warning level of the target vehicle at the first lane changing stage is a dangerous lane changing distance.
Optionally, the determining the first driving control strategy of the target vehicle at the first lane change stage according to the first warning level includes:
if the first early warning level of the target vehicle in the first lane changing stage is a safe lane changing distance, a first driving control strategy of the target vehicle in the first lane changing stage is a hard pedal mode;
if the first early warning level of the target vehicle in the first lane changing stage is a reasonable lane changing distance, a first driving control strategy of the target vehicle in the first lane changing stage is in a linear pedal mode;
and if the first early warning level of the target vehicle in the first lane changing stage is the dangerous lane changing distance, the first driving control strategy of the target vehicle in the first lane changing stage is in a soft pedal mode.
Optionally, establishing a second lane change safety model of the target vehicle according to the second lane change reference data includes:
determining a second safe distance S of the target vehicle from the second reference vehicleF2：
Figure BDA0003573865160000041
Wherein S is2A second initial relative distance, v, between the target vehicle and the second reference vehicle at an initial time of a second lane change phase2Is the initial vehicle speed, v, of the second reference vehicle3Is the initial speed of the target vehicle in the second lane change stage, a is the acceleration of the target vehicle during lane change, tf<t2<te，tfIs the initial time of the second lane-changing stage, t2For the second lane-change phase operating time, teIs the end time of the second lane change stage, L is the length of the vehicle, W is the width of the vehicle, and theta2Is at t2And at the moment, a second included angle between the target vehicle and the traffic flow direction.
Optionally, the determining a second driving control strategy of the target vehicle in the second lane change stage based on a second speed difference included in the second lane change safety model includes:
determining a second distance difference of the second speed difference within a second preset time, and determining a second early warning level of the target vehicle at the second lane changing stage based on the second distance difference;
and determining a second driving control strategy of the target vehicle in the second lane changing stage according to the second early warning level.
Optionally, the determining, based on the second distance difference, a second early warning level of the target vehicle at the second lane change stage includes:
if the fourth vehicle speed of the target vehicle is smaller than the third vehicle speed of the second reference vehicle and the second speed difference is larger than the preset speed difference, or the second reference vehicle does not exist in the target lane, determining that the second early warning level of the target vehicle in the second lane changing stage is a safe lane changing distance;
if the second speed difference is smaller than the preset speed difference and the second distance between the target vehicle and the second reference vehicle is larger than the sum of the second distance difference and the adjusting distance, determining that the second early warning level of the target vehicle in the second lane changing stage is a reasonable lane changing distance;
when the fourth vehicle speed of the target vehicle is greater than the third vehicle speed of the second reference vehicle and the second speed difference is greater than the preset speed difference, if the second vehicle distance between the target vehicle and the second reference vehicle is greater than the sum of the second distance difference and the adjusting distance, determining that the second early warning level of the target vehicle at the second lane changing stage is the first dangerous lane changing distance;
and when the fourth vehicle speed of the target vehicle is greater than the third vehicle speed of the second reference vehicle and the second speed difference is greater than the preset speed difference, if the second vehicle distance between the target vehicle and the second reference vehicle is smaller than the sum of the second distance difference and the adjusting distance or smaller than the adjusting distance, determining that the second early warning level of the target vehicle in the second lane changing stage is a second dangerous lane changing distance.
Optionally, the determining the second driving control strategy of the target vehicle at the second lane changing stage according to the second warning level includes:
if the second early warning level of the target vehicle in the second lane changing stage is the safe lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a hard pedal mode;
if the second early warning level of the target vehicle in the second lane changing stage is a reasonable lane changing distance, a second driving control strategy of the target vehicle in the second lane changing stage is in a linear pedal mode;
if the second early warning level of the target vehicle in the second lane changing stage is the first dangerous lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a soft pedal mode;
and if the second early warning level of the target vehicle in the second lane changing stage is a second dangerous lane changing distance, reducing an accelerator pedal of the target vehicle, and increasing a brake pedal of the target vehicle so as to reduce the fourth vehicle speed of the target vehicle to a third vehicle speed of the second reference vehicle to finish lane changing behaviors.
Optionally, the method further includes:
if the fifth vehicle speed of the third reference vehicle is lower than the fourth vehicle speed of the target vehicle, the target vehicle executes a lane changing action, wherein the third reference vehicle is a vehicle behind the target vehicle in a target lane;
and if the fifth vehicle speed of the third reference vehicle is greater than the fourth vehicle speed of the target vehicle, the target vehicle executes a lane changing action under the condition that the relative distance between the third reference vehicle and the target vehicle is greater than a preset distance.
In a second aspect, the present invention further provides a lane change control device based on a driving mode of a whole vehicle, including:
the data acquisition module is used for acquiring first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage;
the model establishing module is used for respectively establishing a first lane changing safety model and a second lane changing safety model of the target vehicle according to the first lane changing reference data and the second lane changing reference data;
a first strategy determination module for determining a first drive control strategy of the target vehicle at the first lane change stage based on a first speed difference included in the first lane change safety model, wherein the first speed difference includes a speed difference between a first vehicle speed of a first reference vehicle and a second vehicle speed of the target vehicle within a lane change lane, and the first reference vehicle is a vehicle in front of the lane change lane of the target vehicle;
a second strategy determination module for determining a second drive control strategy for the target vehicle in the second lane change phase based on a second speed difference comprised in the second lane change safety model, wherein the second speed difference comprises a speed difference of a third vehicle speed of a second reference vehicle within a target lane and a fourth vehicle speed of the target vehicle, the second reference vehicle being a vehicle of the target vehicle in front of the target lane.
In a third aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps in the lane change control method based on the entire vehicle driving mode are implemented.
In a fourth aspect, the present invention further provides a computer storage medium, where a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the steps in the lane change control method based on the entire vehicle driving mode are implemented.
The lane change safety model is established based on the lane change reference data, so that the collision condition in the lane change process is avoided, the lane change safety is improved, the requirement of a driver on lane change under different conditions is met according to the speed difference in the lane change process, and the utilization rate of resources is improved.
Drawings
Fig. 1 is a schematic flowchart of an embodiment of a lane change control method based on a vehicle driving mode according to the present invention;
FIG. 2 is a schematic diagram of an initial time of a vehicle in a first lane change phase according to the present invention;
FIG. 3 is a schematic view of a vehicle traveling in a second lane-change phase according to the present invention;
FIG. 4 is a lane change coordinate graph of a vehicle constructed according to a lane change offset angle of the vehicle, in accordance with the present invention;
FIG. 5 is a schematic flow chart illustrating a process for determining a first warning level according to the present invention;
FIG. 6 is a diagram illustrating a relationship between pedal opening and motor torque coefficient of a pure electric vehicle according to the present invention;
FIG. 7 is a schematic flow chart illustrating a process for determining a second warning level according to the present invention;
fig. 8 is a schematic structural diagram of an embodiment of the lane change control device based on the entire vehicle driving mode provided by the invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention provides a lane change control method, a lane change control device, lane change control equipment and a lane change control medium based on a whole vehicle driving mode, which are respectively explained below.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a lane change control method based on a vehicle driving mode according to the present invention, and a specific embodiment of the present invention discloses a lane change control method based on a vehicle driving mode, including:
step S101: acquiring first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage;
firstly, it is to be noted that, in the lane changing process, the vehicle has two lanes, namely a lane changing lane and a target lane, and the first lane changing stage refers to a time point when the target vehicle starts to change from the initial lane changing time to the middle of the two lanes and has no possibility of collision with the vehicle in front of the lane changing lane; the second lane-changing stage is a process from the time when the first stage is finished to the time when the lane-changing is finished, and the vehicle deflection angle returns to be parallel to the traffic flow. In one embodiment of the invention, the total lane change time is 5s, and the time of each stage is 2-3 s.
For facilitating understanding of the present invention, please refer to fig. 2 and fig. 3, fig. 2 is a schematic diagram of an initial time of a vehicle in a first lane change stage according to the present invention; fig. 3 is a schematic diagram of a vehicle driving in a second lane change stage according to the present invention. The vehicle M is a target vehicle, the vehicle F1 is a first reference vehicle, the vehicle F2 is a second reference vehicle, the vehicle F3 is a third reference vehicle, and the initial distances between the vehicle M and the vehicles F1, F2, and F3 are S1, S2, and S3, respectively.
The first lane change parameter data comprises a second vehicle speed of the target vehicle in the lane change lane and a first vehicle speed of a first reference vehicle in the lane change lane in the first lane change process, the first reference vehicle is a vehicle of the target vehicle in front of the lane change lane, and the first lane change parameter data further comprises a first initial relative distance between the target vehicle and the first reference vehicle. The second lane change parameter data includes a fourth vehicle speed of the target vehicle in the target lane and a third vehicle speed of a second reference vehicle in the target lane during the second lane change, the second reference vehicle is a vehicle of the target vehicle in front of the target lane, and the first lane change parameter data further includes a first initial relative distance between the target vehicle and the first reference vehicle.
It will be appreciated that in practice, the vehicle is on a normal road and the speed of the target vehicle is generally not less than 40km/h during a lane change. It should be noted that the real-time speed of the vehicle and the initial distance between the target vehicle and the reference vehicle can be obtained through the intelligent network connection, and in the lane changing process, the speeds of the other reference vehicles except the target vehicle are kept unchanged, and the direction is parallel to the traffic flow direction.
Step S102: respectively establishing a first lane change safety model and a second lane change safety model of the target vehicle according to the first lane change reference data and the second lane change reference data;
to facilitate understanding of the present invention, please refer to fig. 4, fig. 4 is a lane change coordinate diagram of a vehicle according to a lane change deviation angle of the vehicle according to the present invention. Wherein L is the length of the vehicle, W is the width of the vehicle, and theta is the included angle between the vehicle and the traffic flow direction. The left front corner V1(L cos theta, L sin theta + W cos theta) and the right front corner V2(L cos theta + W sin theta, L sin theta) are calibrated.
Specifically, establishing a first lane-changing safety model of the target vehicle according to the first lane-changing reference data includes:
determining a first safe distance S between a target vehicle and a first reference vehicleF1：
Figure BDA0003573865160000101
Wherein S is1A first initial relative distance, v, between the target vehicle and the first reference vehicle at the initial time of lane change1Is the initial speed, v, of the first reference vehicle0Is the initial speed of the target vehicle, a is the acceleration of the target vehicle when changing lanes, t0<t1<tf，t0Is the initial time of the first lane change stage, t1For the first lane change phase operating time, tfIs the end time of the first lane change stage, L is the length of the vehicle, W is the width of the vehicle, and theta1Is at t1And at the moment, the target vehicle forms a first included angle with the traffic flow direction.
The method comprises the following steps that a, a constant value is taken when the lane of the M vehicle is accelerated and changed, and a is 0 when the lane of the M vehicle is uniformly changed.S1For a first initial relative distance, S, between the target vehicle and a first reference vehicle at an initial time of lane changeF1A first safe distance between the target vehicle and the first reference vehicle, and a condition that the target vehicle does not collide with the first reference vehicle is SF1>STWherein S isTAnd a correction value for the lane change distance of the vehicle. Specifically, the dangerous distance is set when the distance behind the vehicle is less than 3m, so S is setTAs a result of 3, the number of pixels,
Figure BDA0003573865160000102
according to the above formula, the relationship between the first speed difference and the first initial relative distance is obtained.
Specifically, establishing a second lane change safety model of the target vehicle according to the second lane change reference data includes:
determining a second safe distance S between the target vehicle and a second reference vehicleF2：
Figure BDA0003573865160000111
Wherein S is2A second initial relative distance, v, between the target vehicle and a second reference vehicle at the initial time of the second lane change phase2Is the initial vehicle speed, v, of the second reference vehicle3Is the initial speed of the target vehicle in the second lane-changing stage, a is the acceleration of the target vehicle during lane-changing, tf<t2<te，tfIs the initial time of the second lane-changing stage, t2For the second lane-change phase operating time, teIs the end time of the second lane change stage, L is the length of the vehicle, W is the width of the vehicle, and theta2Is at t2And at the moment, a second included angle between the target vehicle and the traffic flow direction.
In the same way, S2A second initial relative distance, S, between the target vehicle and a second reference vehicle at the initial time of the second lane change stageF2A second safe distance between the target vehicle and the second reference vehicle, and the condition that the target vehicle does not collide with the second reference vehicle is SF2>STWherein S isTAnd a correction value for the lane change distance of the vehicle. Therefore, the temperature of the molten metal is controlled,
Figure BDA0003573865160000112
and obtaining the relation between the second speed difference and the second initial relative distance according to the formula.
Step S103: determining a first driving control strategy of the target vehicle in a first lane change stage based on a first speed difference included in the first lane change safety model, wherein the first speed difference includes a speed difference between a first vehicle speed of a first reference vehicle and a second vehicle speed of the target vehicle in a lane change lane, and the first reference vehicle is a vehicle in front of the lane change lane of the target vehicle;
in one embodiment of the present invention, determining a first drive control strategy for a target vehicle in a first lane change phase based on a first speed difference included in a first lane change safety model includes:
determining a first distance difference of the first speed difference within first preset time, and determining a first early warning level of the target vehicle at a first lane changing stage based on the first distance difference;
and determining a first driving control strategy of the target vehicle in a first lane changing stage according to the first early warning level.
It can be understood that according to research statistics, the duration of the whole lane changing process is generally about 5s, and according to the time point, an early warning grade can be established. Specifically, in the first lane change stage, the first warning level is determined by taking the speed difference between the target vehicle and the first reference vehicle as a boundary line, i.e., a distance reduced by a first predetermined time, i.e., a first distance difference, as 5 s.
In an embodiment of the present invention, the first warning level includes a safe lane change distance, a reasonable lane change distance and a dangerous lane change distance, please refer to fig. 5, fig. 5 is a schematic flow chart of determining the first warning level according to the present invention,
determining a first early warning level of the target vehicle at a first lane change stage based on the first distance difference, comprising:
step S501: if the first distance between the target vehicle and the first reference vehicle is larger than the sum of the first distance difference and the adjusting distance, or the second vehicle speed of the target vehicle is smaller than the first vehicle speed of the first reference vehicle, determining that the first early warning level of the target vehicle at the first lane changing stage is the safe lane changing distance;
step S502: if the second vehicle speed of the target vehicle is not less than the first vehicle speed of the first reference vehicle, the first distance between the target vehicle and the first reference vehicle is less than the sum of the first distance difference and the adjusting distance and is greater than the sum of the third distance difference and the adjusting distance of the first speed difference within second preset time, and the first early warning level of the target vehicle at the first lane changing stage is determined to be a reasonable lane changing distance, wherein the second preset time is less than the first preset time;
step S503: and if the second vehicle speed of the target vehicle is not less than the first vehicle speed of the first reference vehicle, and the first distance between the target vehicle and the first reference vehicle is less than the sum of the third distance difference and the adjusting distance, or is less than the adjusting distance, determining that the first early warning level of the target vehicle in the first lane changing stage is the dangerous lane changing distance.
It should be noted that, in the lane changing process, considering the relationship between the relative distance and the speed difference, the adjustment distance needs to be added under any one of the early warning levels to meet the actual situation, where the adjustment distance may be a correction value, i.e., 3 meters. The corresponding lane changing distance can be deduced according to the safe distance formula of the first lane changing stage and the second lane changing stage. Specifically, the steering wheel angle is set to 5 °, and the total lane change time of the vehicle is generally 5 s.
According to a formula of a difference between a first initial relative distance and a first speed, in a first lane changing stage, when the speed of a target vehicle is smaller than the speed of a first reference vehicle, or the speed of the target vehicle is larger than the speed of the first reference vehicle, but the distance between the two vehicles is larger than the sum of the distance reduced by the two vehicles in 5s and an adjusting distance, setting the lane changing distance at the moment as a safe lane changing distance;
and when the speed of the target vehicle is not less than the speed of the first reference vehicle, and the distance between the two vehicles is less than the distance reduced by the vehicle running for 5s plus the adjustment distance and is greater than the distance running for 3s, namely the distance reduced in the second preset time plus the adjustment distance, determining that the lane change distance at the moment is the reasonable lane change distance.
And when the speed of the target vehicle is not less than the speed of the first reference vehicle, and the distance between the two vehicles is less than the distance reduced by the driving of the two vehicles for 3s plus the adjustment distance, or the distance between the two vehicles is less than 3m, determining that the lane change distance at the moment is the dangerous lane change distance.
In one embodiment of the present invention, the first driving control strategy includes a hard pedal mode, a linear pedal mode and a soft pedal mode, and the determining the first driving control strategy of the target vehicle in the first lane change stage according to the first warning level includes:
if the first early warning level of the target vehicle in the first lane changing stage is the safe lane changing distance, the first driving control strategy of the target vehicle in the first lane changing stage is a hard pedal mode;
if the first early warning level of the target vehicle in the first lane changing stage is the reasonable lane changing distance, the first driving control strategy of the target vehicle in the first lane changing stage is in a linear pedal mode;
if the first early warning level of the target vehicle in the first lane changing stage is the dangerous lane changing distance, the first driving control strategy of the target vehicle in the first lane changing stage is in a soft pedal mode.
In order to show that the vehicle has different driving modes during running, the driving modes are divided into three types, which are respectively: a hard pedal mode, a linear pedal mode, and a soft pedal mode.
The hard pedal mode is that the motor torque proportionality coefficient is increased sharply with the increase of the pedal opening, the acceleration obtained by the automobile is larger, and the torque coefficient is in a trend of rising sharply with the increase of the pedal opening, so that a driver generally uses the mode under the condition of safety or the condition of relatively larger pedal opening; the linear pedal mode refers to that the torque proportional coefficient of the motor is linearly increased along with the increase of the pedal opening, the acceleration obtained by the automobile is linearly increased, and the torque coefficient is linearly increased along with the increase of the pedal opening, so that a driver generally selects the mode to use the mode on a conventional road section in the normal driving process or under the condition of moderate pedal opening; the soft pedal mode refers to that the torque coefficient gradually increases along with the increase of the pedal opening degree, the torque coefficient is gradually increased along with the increase of the pedal opening degree, the increasing speed is lower than that of the linear pedal mode, and therefore a driver selects the mode under the condition of being dangerous or relatively smaller in pedal opening degree. Referring to fig. 6, fig. 6 is a diagram illustrating a relationship between a pedal opening degree and a motor torque coefficient of a pure electric vehicle according to the present invention. A, B, C are the hard pedal mode and the soft pedal mode, respectively.
Under the condition of different early warning levels, the target vehicle adopts different driving modes, and when the target vehicle is in a safe distance, a hard pedal mode can be adopted; when the target vehicle is at a reasonable distance, a linear pedal mode is generally adopted; when the target vehicle is at a dangerous distance, a soft pedal mode may be employed, and the brake pedal opening may be increased if necessary. Specifically, in the first lane changing stage, when the distance between the target vehicle and the first reference vehicle is the safe lane changing distance, the lane changing can be realized by adopting a hard pedal mode and increasing the pedal opening degree and accelerating to the expected speed of the driver in a short time; when the distance between the two vehicles is a reasonable lane changing distance, a linear pedal mode is adopted, the driver keeps the current pedal opening unchanged or properly reduces the pedal opening, and lane changing is carried out in a constant speed or slight deceleration mode; when the distance between the two vehicles is the dangerous lane changing distance, the vehicles are controlled to decelerate to the reasonable lane changing distance, and then lane changing is executed.
Step S104: a second drive control strategy of the target vehicle at a second lane change stage is determined based on a second speed difference included in a second lane change safety model, wherein the second speed difference includes a speed difference between a third vehicle speed of a second reference vehicle and a fourth vehicle speed of the target vehicle within the target lane, the second reference vehicle being a vehicle in front of the target lane.
In one embodiment of the present invention, establishing a second lane-change safety model of the target vehicle according to the second lane-change reference data includes:
in one specific embodiment of the present invention, determining the second drive control strategy of the target vehicle at the second lane change stage based on the second speed difference included in the second lane change safety model includes:
determining a second distance difference of the second speed difference within second preset time, and determining a second early warning level of the target vehicle at a second lane changing stage based on the second distance difference;
and determining a second driving control strategy of the target vehicle in a second lane changing stage according to the second early warning level.
It will be appreciated that in the second lane change phase, the target vehicle may be considered approximately as a following condition with respect to the second reference vehicle, and therefore the second warning level may be determined according to the speed difference between the two vehicles and the safety distance formula.
In an embodiment of the present invention, the second warning level includes a safe lane change distance, a reasonable lane change distance, a first dangerous lane change distance, and a second dangerous lane change distance, please refer to fig. 7, fig. 7 is a schematic flow chart of determining the second warning level according to the present invention,
determining a second early warning level of the target vehicle at a second lane change stage based on the second distance difference, comprising:
step S701: if the fourth vehicle speed of the target vehicle is smaller than the third vehicle speed of the second reference vehicle and the second speed difference is larger than the preset speed difference, or the second reference vehicle does not exist in the target lane, determining that the second early warning level of the target vehicle in the second lane changing stage is the safe lane changing distance;
step S702: if the second speed difference is smaller than the preset speed difference and the second distance between the target vehicle and the second reference vehicle is larger than the sum of the second distance difference and the adjusting distance, determining that the second early warning level of the target vehicle at the second lane changing stage is the reasonable lane changing distance;
step S703: when the fourth vehicle speed of the target vehicle is greater than the third vehicle speed of the second reference vehicle and the second speed difference is greater than the preset speed difference, if the second distance between the target vehicle and the second reference vehicle is greater than the sum of the second distance difference and the adjusting distance, determining that the second early warning level of the target vehicle in the second lane changing stage is the first dangerous lane changing distance;
step S704: and when the fourth vehicle speed of the target vehicle is greater than the third vehicle speed of the second reference vehicle and the second speed difference is greater than the preset speed difference, if the second distance between the target vehicle and the second reference vehicle is smaller than the sum of the second distance difference and the adjusting distance or smaller than the adjusting distance, determining that the second early warning level of the target vehicle at the second lane changing stage is the second dangerous lane changing distance.
It can be understood that, according to the formula of the second initial relative distance and the second speed difference, in the second lane changing stage, when the speed of the target vehicle is smaller than the speed of the second reference vehicle, and the speed difference is greater than 1m/s, or there is no vehicle in front of the target vehicle, the lane changing distance at this time is set as the safe lane changing distance;
when the speed difference of the two vehicles is less than 1m/s, no matter which vehicle speed of the two vehicles is faster, the speed of the two vehicles is set to be similar at the moment, the distance between the two vehicles is greater than the sum of the distance reduced by 3 seconds when the two vehicles run and the adjusting distance, and the lane changing distance at the moment is judged to be the reasonable lane changing distance;
when the speed of the target vehicle is greater than the speed of the second reference vehicle, the speed difference is greater than 1m/s, the distance between the two vehicles is greater than the sum of the distance reduced by the driving of the two vehicles for 3s and the adjustment distance, and is less than the sum of the distance reduced by the driving of the two vehicles for 5s and the adjustment distance, and the lane change distance at the moment is determined to be the first dangerous lane change distance;
and when the speed of the target vehicle is greater than the speed of the second reference vehicle, the speed difference is greater than 1m/s, and the distance between the two vehicles is smaller than the distance reduced by 3 seconds of driving of the two vehicles plus the adjustment distance or smaller than the adjustment distance, determining that the lane changing distance at the moment is the second dangerous lane changing distance.
In an embodiment of the present invention, the second driving control strategy includes a hard pedal mode, a linear pedal mode and a soft pedal mode, and the determining the second driving control strategy of the target vehicle in the second lane change stage according to the second warning level includes:
if the second early warning level of the target vehicle in the second lane changing stage is the safe lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a hard pedal mode;
if the second early warning level of the target vehicle in the second lane changing stage is the reasonable lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a linear pedal mode;
if the second early warning level of the target vehicle in the second lane changing stage is the first dangerous lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a soft pedal mode;
and if the second early warning level of the target vehicle in the second lane changing stage is the second dangerous lane changing distance, reducing an accelerator pedal of the target vehicle, and increasing a brake pedal of the target vehicle so as to reduce the fourth vehicle speed of the target vehicle to the third vehicle speed of the second reference vehicle to finish the lane changing behavior.
Under the condition of different early warning levels, the target vehicle adopts different driving modes, in a second lane changing stage, when the distance between the target vehicle and a second reference vehicle is a safe distance, acceleration lane changing or uniform lane changing can be performed, a hard pedal mode is adopted, the pedal opening degree is increased, and the vehicle speed can reach the expected vehicle speed of a driver in a short time; when the distance is a reasonable distance, a linear pedal mode is adopted, the pedal opening can be properly reduced, the vehicle speed is properly reduced, and lane changing is completed; when the distance is the first phase dangerous distance, a soft pedal mode is adopted, the opening degree of a brake pedal can be increased if necessary, and the distance between the vehicles is kept to be larger than the adjusting distance. When the distance is the second dangerous distance, immediately releasing the accelerator pedal, increasing the opening degree of the brake pedal, reducing the speed to be not more than the speed of the front vehicle, simultaneously enabling the vehicle distance to be larger than the adjusting distance, and waiting for the opportunity to change the lane again.
In a specific embodiment of the present invention, the method further includes:
if the fifth speed of the third reference vehicle is lower than the fourth speed of the target vehicle, the target vehicle executes a lane changing behavior, wherein the third reference vehicle is a vehicle behind the target lane;
and if the fifth speed of the third reference vehicle is greater than the fourth speed of the target vehicle, the target vehicle executes a lane changing action under the condition that the relative distance between the third reference vehicle and the target vehicle is greater than the preset distance.
It is understood that, during the lane change of the target vehicle, the target vehicle may perform the lane change operation on the basis that a safe distance should be maintained between the target vehicle and the third reference vehicle in consideration of no collision between the target vehicle and the third reference vehicle.
The lane change safety model is established based on the lane change reference data, so that the collision condition in the lane change process is avoided, the lane change safety is improved, the requirement of a driver on lane change under different conditions is met according to the speed difference in the lane change process, and the utilization rate of resources is improved.
In order to better implement the lane change control method based on the vehicle driving mode in the embodiment of the present invention, on the basis of the lane change control method based on the vehicle driving mode, please refer to fig. 8, where fig. 8 is a schematic structural diagram of an embodiment of the lane change control device based on the vehicle driving mode provided in the present invention, and an embodiment of the present invention provides a lane change control device 800 based on the vehicle driving mode, including:
the data acquisition module 801 is configured to acquire first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage;
a model establishing module 802, configured to respectively establish a first lane change safety model and a second lane change safety model of the target vehicle according to the first lane change reference data and the second lane change reference data;
a first strategy determination module 803 for determining a first drive control strategy of the target vehicle at the first lane change stage based on a first speed difference included in the first lane change safety model, wherein the first speed difference includes a speed difference between a first vehicle speed of a first reference vehicle and a second vehicle speed of the target vehicle within a lane change lane, the first reference vehicle being a vehicle ahead of the target vehicle in the lane change lane;
a second strategy determination module 804 configured to determine a second driving control strategy of the target vehicle in the second lane change stage based on a second speed difference included in the second lane change safety model, wherein the second speed difference includes a speed difference between a third vehicle speed of a second reference vehicle and a fourth vehicle speed of the target vehicle in a target lane, and the second reference vehicle is a vehicle in front of the target lane.
Here, it should be noted that: the apparatus 800 provided in the foregoing embodiment may implement the technical solutions described in the foregoing method embodiments, and the specific implementation principles of the modules or units may refer to the corresponding contents in the foregoing method embodiments, which are not described herein again.
Based on the lane change control method based on the entire vehicle driving mode, an embodiment of the present invention further provides an electronic device, including: a processor and a memory and a computer program stored in the memory and executable on the processor; the processor executes the computer program to realize the steps of the lane change control method based on the whole vehicle driving mode according to the above embodiments.
Based on the lane change control method based on the entire vehicle driving mode, embodiments of the present invention further provide a computer-readable storage medium, where one or more programs are stored in the computer-readable storage medium, and the one or more programs can be executed by one or more processors, so as to implement the steps in the lane change control method based on the entire vehicle driving mode according to the foregoing embodiments.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
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 changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (13)

1. A lane change control method based on a vehicle driving mode is characterized by comprising the following steps:
acquiring first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage;
respectively establishing a first lane change safety model and a second lane change safety model of the target vehicle according to the first lane change reference data and the second lane change reference data;
determining a first drive control strategy of the target vehicle at the first lane change stage based on a first speed difference included in the first lane change safety model, wherein the first speed difference includes a speed difference between a first vehicle speed of a first reference vehicle and a second vehicle speed of the target vehicle within a lane change lane, and the first reference vehicle is a vehicle in front of the target vehicle in the lane change lane;
determining a second drive control strategy of the target vehicle at the second lane change stage based on a second speed difference included in the second lane change safety model, wherein the second speed difference includes a speed difference between a third vehicle speed of a second reference vehicle and a fourth vehicle speed of the target vehicle within a target lane, the second reference vehicle being a vehicle of the target vehicle in front of the target lane.
2. The method of claim 1, wherein establishing a first lane-change safety model of the target vehicle from the first lane-change reference data comprises:
determining a first safe distance S of the target vehicle from the first reference vehicleF1：
Figure FDA0003573865150000011
Wherein S is1A first initial relative distance, v, between the target vehicle and the first reference vehicle at an initial time of lane change1Is an initial vehicle speed, v, of the first reference vehicle0Is the initial speed of the target vehicle, a is the acceleration of the target vehicle when changing lanes, t0<t1<tf，t0Is the initial time of the first lane change stage, t1For the first lane change phase operating time, tfIs the end time of the first lane change stage, L is the length of the vehicle, W is the width of the vehicle, and theta1Is at t1And at the moment, the target vehicle forms a first included angle with the traffic flow direction.
3. The method of claim 2, wherein the determining a first drive control strategy for the target vehicle in the first lane-change phase based on a first speed difference included in the first lane-change safety model comprises:
determining a first distance difference of the first speed difference within a first preset time, and determining a first early warning level of the target vehicle at the first lane changing stage based on the first distance difference;
and determining a first driving control strategy of the target vehicle in the first lane changing stage according to the first early warning level.
4. The method of claim 3, wherein the first warning level comprises a safe lane change distance, a reasonable lane change distance, and a dangerous lane change distance, and wherein determining the first warning level of the target vehicle at the first lane change stage based on the first distance difference comprises:
if the first distance between the target vehicle and the first reference vehicle is larger than the sum of the first distance difference and the adjusting distance, or the second vehicle speed of the target vehicle is smaller than the first vehicle speed of the first reference vehicle, determining that the first early warning level of the target vehicle in the first lane changing stage is a safe lane changing distance;
if the second vehicle speed of the target vehicle is not less than the first vehicle speed of the first reference vehicle, the first vehicle distance between the target vehicle and the first reference vehicle is less than the sum of the first distance difference and the adjusting distance and is greater than the sum of the third distance difference and the adjusting distance of the first speed difference within second preset time, and the first early warning level of the target vehicle at the first lane changing stage is determined to be a reasonable lane changing distance, wherein the second preset time is less than the first preset time;
and if the second vehicle speed of the target vehicle is not less than the first vehicle speed of the first reference vehicle, and the first vehicle distance between the target vehicle and the first reference vehicle is less than the sum of the third distance difference and the adjusting distance, or less than the adjusting distance, determining that the first early warning level of the target vehicle at the first lane changing stage is a dangerous lane changing distance.
5. The method of claim 4, wherein the first drive control strategy comprises a hard pedal mode, a linear pedal mode, and a soft pedal mode, and wherein determining the first drive control strategy for the target vehicle at the first lane change stage based on the first warning level comprises:
if the first early warning level of the target vehicle in the first lane changing stage is a safe lane changing distance, a first driving control strategy of the target vehicle in the first lane changing stage is a hard pedal mode;
if the first early warning level of the target vehicle in the first lane changing stage is a reasonable lane changing distance, a first driving control strategy of the target vehicle in the first lane changing stage is in a linear pedal mode;
and if the first early warning level of the target vehicle in the first lane changing stage is the dangerous lane changing distance, the first driving control strategy of the target vehicle in the first lane changing stage is in a soft pedal mode.
6. The method of claim 1, wherein establishing a second lane-change safety model of the target vehicle based on the second lane-change reference data comprises:
determining a second safe distance S of the target vehicle from the second reference vehicleF2：
Figure FDA0003573865150000031
Wherein S is2For the first of the target vehicle and the second reference vehicle at the initial moment of the second lane change stageTwo initial relative distances, v2Is the initial vehicle speed, v, of the second reference vehicle3Is the initial speed of the target vehicle in the second lane change stage, a is the acceleration of the target vehicle when changing lanes, tf<t2<te，tfIs the initial time of the second lane-changing stage, t2For the second lane-change phase operating time, teIs the end time of the second lane change stage, L is the length of the vehicle, W is the width of the vehicle, and theta2Is at t2And at the moment, a second included angle between the target vehicle and the traffic flow direction.
7. The method of claim 1, wherein said determining a second drive control strategy for the target vehicle in the second lane-change phase based on a second speed difference included in the second lane-change safety model comprises:
determining a second distance difference of the second speed difference within a second preset time, and determining a second early warning level of the target vehicle at the second lane changing stage based on the second distance difference;
and determining a second driving control strategy of the target vehicle in the second lane changing stage according to the second early warning level.
8. The method of claim 7, wherein the second warning level comprises a safe lane change distance, a reasonable lane change distance, a first dangerous lane change distance, and a second dangerous lane change distance, and wherein determining the second warning level of the target vehicle at the second lane change stage based on the second distance difference comprises:
if the fourth vehicle speed of the target vehicle is smaller than the third vehicle speed of the second reference vehicle and the second speed difference is larger than the preset speed difference, or the second reference vehicle does not exist in the target lane, determining that the second early warning level of the target vehicle at the second lane changing stage is a safe lane changing distance;
if the second speed difference is smaller than the preset speed difference and the second distance between the target vehicle and the second reference vehicle is larger than the sum of the second distance difference and the adjusting distance, determining that the second early warning level of the target vehicle in the second lane changing stage is a reasonable lane changing distance;
when the fourth vehicle speed of the target vehicle is greater than the third vehicle speed of the second reference vehicle and the second speed difference is greater than the preset speed difference, if the second vehicle distance between the target vehicle and the second reference vehicle is greater than the sum of the second distance difference and the adjusting distance, determining that the second early warning level of the target vehicle at the second lane changing stage is the first dangerous lane changing distance;
and when the fourth vehicle speed of the target vehicle is greater than the third vehicle speed of the second reference vehicle and the second speed difference is greater than the preset speed difference, if the second vehicle distance between the target vehicle and the second reference vehicle is smaller than the sum of the second distance difference and the adjusting distance or smaller than the adjusting distance, determining that the second early warning level of the target vehicle in the second lane changing stage is a second dangerous lane changing distance.
9. The method of claim 4, wherein the second drive control strategy comprises a hard pedal mode, a linear pedal mode, and a soft pedal mode, and wherein determining the second drive control strategy for the target vehicle at the second lane change stage based on the second warning level comprises:
if the second early warning level of the target vehicle in the second lane changing stage is the safe lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a hard pedal mode;
if the second early warning level of the target vehicle in the second lane changing stage is a reasonable lane changing distance, a second driving control strategy of the target vehicle in the second lane changing stage is in a linear pedal mode;
if the second early warning level of the target vehicle in the second lane changing stage is the first dangerous lane changing distance, the second driving control strategy of the target vehicle in the second lane changing stage is in a soft pedal mode;
and if the second early warning level of the target vehicle in the second lane changing stage is a second dangerous lane changing distance, reducing an accelerator pedal of the target vehicle, and increasing a brake pedal of the target vehicle so as to reduce the fourth vehicle speed of the target vehicle to a third vehicle speed of the second reference vehicle to finish lane changing behaviors.
10. The method of claim 9, further comprising:
if the fifth vehicle speed of the third reference vehicle is lower than the fourth vehicle speed of the target vehicle, the target vehicle executes a lane changing action, wherein the third reference vehicle is a vehicle behind the target vehicle in a target lane;
and if the fifth vehicle speed of the third reference vehicle is greater than the fourth vehicle speed of the target vehicle, the target vehicle executes a lane changing action under the condition that the relative distance between the third reference vehicle and the target vehicle is greater than a preset distance.
11. The utility model provides a lane change controlling means based on whole car drive mode which characterized in that includes:
the data acquisition module is used for acquiring first lane change reference data of a target vehicle in a first lane change stage and second lane change reference data of the target vehicle in a second lane change stage;
the model establishing module is used for respectively establishing a first lane changing safety model and a second lane changing safety model of the target vehicle according to the first lane changing reference data and the second lane changing reference data;
a first strategy determination module for determining a first drive control strategy of the target vehicle at the first lane change stage based on a first speed difference included in the first lane change safety model, wherein the first speed difference includes a speed difference between a first vehicle speed of a first reference vehicle and a second vehicle speed of the target vehicle within a lane change lane, and the first reference vehicle is a vehicle in front of the lane change lane of the target vehicle;
a second strategy determination module for determining a second drive control strategy of the target vehicle in the second lane change stage based on a second speed difference included in the second lane change safety model, wherein the second speed difference includes a speed difference of a third vehicle speed of a second reference vehicle and a fourth vehicle speed of the target vehicle in a target lane, and the second reference vehicle is a vehicle in front of the target lane.
12. An electronic device comprising a memory and a processor, wherein the memory is configured to store a program; the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps of the lane-change control method based on the entire vehicle driving mode according to any one of claims 1 to 10.
13. A computer-readable storage medium for storing a computer-readable program or instructions, which when executed by a processor, can implement the steps of the lane-change control method according to any one of claims 1 to 10.
CN202210326895.2A 2022-03-30 Lane changing control method, device, equipment and medium based on whole vehicle driving mode Active CN114572218B (en)

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