CN114590257A - Car following control method and equipment - Google Patents
Car following control method and equipment Download PDFInfo
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- CN114590257A CN114590257A CN202210310146.0A CN202210310146A CN114590257A CN 114590257 A CN114590257 A CN 114590257A CN 202210310146 A CN202210310146 A CN 202210310146A CN 114590257 A CN114590257 A CN 114590257A
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- 238000004590 computer program Methods 0.000 claims description 10
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- 230000010365 information processing Effects 0.000 claims description 3
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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
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention aims to provide a following control method and equipment, which can judge whether a target vehicle changes lanes or not by activating a control system of a self-vehicle and based on a lane line in front of the self-vehicle and the real-time position of the target vehicle, and control a steering wheel of the self-vehicle to turn to the lane of the target vehicle after a steering lamp of the self-vehicle is lightened if the target vehicle changes lanes, so that the self-vehicle is appointed to follow the target vehicle in front to automatically drive, and accurate following and lane changing are realized. In addition, the control system of the self-vehicle can be activated, so that the self-vehicle can be appointed to follow a vehicle in front for automatic driving, and automatic and reliable acceleration and deceleration of the following vehicle can be realized.
Description
Technical Field
The invention relates to a car following control method and equipment.
Background
The control scheme that the rear vehicle and the front vehicle follow the existing automatic vehicle driving has the problems of unreliable following control and insufficient safety.
Disclosure of Invention
The invention provides a car following control method and equipment.
The invention provides a car following control method, which comprises the following steps:
acquiring a target vehicle image in front of the self vehicle, and obtaining a license plate number of the target vehicle based on the acquired target vehicle image;
identifying a lane line in front of the vehicle and a real-time position of the target vehicle based on the license plate number of the vehicle;
and if the target vehicle changes lanes, after a steering lamp of the self vehicle is lightened, a steering wheel of the self vehicle is controlled to steer to change lanes to the lanes of the target vehicle.
Further, in the following control method, determining whether the lane change of the target vehicle occurs based on a lane line in front of the host vehicle and a real-time position of the target vehicle includes:
and if all the wheels on the outer side of the target vehicle enter the lane lines of the adjacent lanes, judging that the target vehicle changes lanes.
Further, in the following control method, identifying the real-time position of the target vehicle in front of the host vehicle based on the license plate number of the host vehicle includes:
continuously searching for a target vehicle in front of the own vehicle based on the license plate number of the vehicle;
and if the target vehicle in front of the self-vehicle is searched, identifying the real-time position of the target vehicle in front of the self-vehicle.
Further, in the following control method, after continuously searching for a target vehicle ahead of the host vehicle based on the license plate number of the vehicle, the following method further includes:
and if the target vehicle in front of the self vehicle is not searched within the preset search time, generating a reminder that the target vehicle is lost.
Further, in the following control method, after determining whether the target vehicle has changed lanes based on a lane line in front of the host vehicle and a real-time position of the target vehicle, the following control method further includes:
and if the target vehicle does not change the lane, controlling the self vehicle to run along with the target vehicle according to the corresponding speed based on the speed of the target vehicle.
Further, in the following control method, the controlling the host vehicle to follow the target vehicle at a corresponding speed based on the speed of the target vehicle includes:
if the time distance between the self vehicle and the target vehicle is larger than a preset time distance threshold value, controlling the self vehicle to run along with the target vehicle according to a vehicle adding speed, wherein the vehicle adding speed is equal to the vehicle speed of the target vehicle plus a preset vehicle adding speed;
if the time distance between the self vehicle and the target vehicle is equal to a preset first time distance threshold value, controlling the self vehicle to run along with the target vehicle according to the same speed of the target vehicle;
and if the time distance between the self vehicle and the target vehicle is smaller than a preset first time distance threshold value, controlling the self vehicle to run along with the target vehicle according to a reduced vehicle speed, wherein the reduced vehicle speed is equal to the vehicle speed of the target vehicle minus a preset reduced vehicle speed.
Further, the following control method, in which, when a lane change occurs in a target vehicle and a turn lamp of the host vehicle is turned on, a steering wheel of the host vehicle is controlled to turn to the lane change to the lane of the target vehicle, includes:
if the target vehicle changes lane, judging whether a safe lane changing space exists on the lane of the target vehicle at present,
if the lane to be changed has the safe lane changing space at present, after a steering lamp of the self-vehicle is lightened, a steering wheel of the self-vehicle is controlled to turn to change the lane to the safe lane changing space of the lane of the target vehicle.
Further, in the following control method, if the target vehicle changes lane, determining whether a safe lane change space exists on a lane of the target vehicle at present includes:
if the target vehicle changes lanes, judging whether a vehicle exists in front of the current lane of the vehicle,
if a vehicle exists in front of the current lane of the self-vehicle, controlling the self-vehicle to drive along with the vehicle in front of the current lane of the self-vehicle according to the corresponding speed of the vehicle based on the speed of the vehicle in front of the current lane of the self-vehicle, and then judging whether a safe lane changing space exists on the lane of the target vehicle at present.
Further, in the following control method, controlling the host vehicle to travel following a vehicle ahead of the current lane of the host vehicle at a corresponding vehicle speed includes:
if the time distance between the self vehicle and the target vehicle is larger than a preset time distance threshold value, controlling the self vehicle to drive along with the vehicle in front of the current lane of the self vehicle according to the vehicle adding speed, wherein the vehicle adding speed is equal to the vehicle speed of the vehicle in front of the current lane of the self vehicle plus the preset vehicle adding speed;
if the time distance between the self-vehicle and the vehicle in front of the current lane of the self-vehicle is equal to a preset first time distance threshold value, controlling the self-vehicle to run along with the vehicle in front of the current lane of the self-vehicle according to the same speed of the vehicle in front of the current lane of the self-vehicle;
and if the time distance between the self-vehicle and the vehicle in front of the current lane of the self-vehicle is smaller than a preset first time distance threshold value, controlling the self-vehicle to run along with the vehicle in front of the current lane of the self-vehicle according to a reduced speed, wherein the reduced speed is equal to the speed of the vehicle in front of the current lane of the self-vehicle minus a preset reduced speed.
Further, in the following control method, determining whether a safe lane change space exists on a lane of the target vehicle includes:
acquiring a current lane changing space on a lane of a target vehicle;
if the time distance between the self vehicle and the vehicle in front of the lane changing space is larger than a preset second time distance threshold value, and the collision time between the self vehicle and the vehicle in front of the lane changing space is larger than a preset collision time threshold value; and if the time distance between the vehicle and the vehicle behind the lane changing space is larger than a preset second time distance threshold value, and the collision time between the vehicle and the vehicle behind the lane changing space is larger than a preset collision time threshold value, judging that the current lane changing space on the lane of the target vehicle is a safe lane changing space.
According to another aspect of the present invention, there is also provided a following control apparatus, wherein the apparatus includes:
the acquisition device is used for acquiring an image of a target vehicle in front of the self-vehicle and acquiring a license plate number of the target vehicle based on the acquired image of the target vehicle;
the positioning device is used for identifying a lane line in front of the self-vehicle and the real-time position of the target vehicle based on the license plate number of the vehicle;
and the lane changing device is used for controlling the steering wheel of the vehicle to turn to change the lane to the lane of the target vehicle after the steering lamp of the vehicle is lightened if the target vehicle changes the lane.
According to another aspect of the present invention, there is also provided a computer readable medium having computer readable instructions stored thereon, the computer readable instructions being executable by a processor to implement the method of any one of the above.
According to another aspect of the invention, there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any of the preceding claims.
The invention can judge whether the target vehicle changes the lane or not by activating the control system of the self-vehicle based on the lane line in front of the self-vehicle and the real-time position of the target vehicle, and controls the steering wheel of the self-vehicle to turn to the lane of the target vehicle after lightening the steering lamp of the self-vehicle if the target vehicle changes the lane, thereby enabling the self-vehicle to appoint to follow the target vehicle in front for automatic driving and realizing accurate lane following and changing.
In addition, the control system of the self-vehicle can be activated, so that the self-vehicle can be appointed to follow a vehicle in front for automatic driving, and automatic and reliable acceleration and deceleration of the following vehicle can be realized.
Drawings
Fig. 1 is a system architecture diagram of a car following control method and apparatus according to an embodiment of the present invention;
FIG. 2 is a logic diagram of the control of the speed and distance of the following vehicle according to the following vehicle control method of the embodiment of the present invention;
FIG. 3 is a schematic diagram of a lane change status of a target vehicle according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a lane change security space definition according to an embodiment of the present invention;
FIG. 5 is a logic diagram illustrating lane change and speed control of the vehicle according to one embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
The applicable scenarios of the present invention may be, for example: when the vehicle is going out with a friend group, the vehicle can be appointed to travel along with the friend vehicle, the whole journey of the vehicle following with the friend can be realized, and acceleration, deceleration and lane changing can be realized.
The method can also be as follows: when the self-vehicle runs on the road, a driver of the self-vehicle feels that a certain vehicle driving style in the road accords with own habits, for example, an old driver drives the vehicle efficiently, namely, the system can be activated, and the vehicle can be enabled to keep following the vehicle of the appointed old driver to drive flexibly and reliably.
The invention provides a car following control method, which comprises the following steps: step S1 to step S4.
Step S1, acquiring a target vehicle image in front of the self vehicle, and obtaining a license plate number of the target vehicle based on the acquired target vehicle image;
step S2, identifying a lane line in front of the vehicle and the real-time position of the target vehicle based on the license plate number of the vehicle;
after a driver of the vehicle can activate a control system of the vehicle through keys of the vehicle, the license plate number in the target vehicle image is analyzed according to visual image processing, and the target vehicle right in front of the vehicle is recorded and locked as a follow-up vehicle;
after a system of the vehicle receives a key instruction of a driver, the license plate number of a target vehicle right in front of a road can be identified through image identification and analysis, and the license plate number is recorded to lock a following target;
the real-time position of a target vehicle can be identified through a camera and a radar in front of the vehicle, and when the target vehicle changes lanes, the vehicle is controlled to turn to follow the target vehicle to change lanes;
step S3, based on the lane line in front of the vehicle and the real-time position of the target vehicle, judging whether the target vehicle has lane change,
and step S4, if the lane change occurs in the target vehicle, after the steering lamp of the vehicle is lightened, the steering wheel of the vehicle is controlled to turn to the lane of the target vehicle.
Here, the overall architecture scheme of the control system of the self-vehicle of the present invention is as shown in fig. 1, the driver confirms the activation function through the key, the control system locks the target vehicle number plate through the camera, and then detects the position and the speed of the target vehicle according to the radar and the camera, and controls the speed, the steering wheel, and the turn lights of the self-vehicle.
The invention can judge whether the target vehicle changes the lane or not by activating the control system of the self-vehicle based on the lane line in front of the self-vehicle and the real-time position of the target vehicle, and controls the steering wheel of the self-vehicle to turn to the lane of the target vehicle after lightening the steering lamp of the self-vehicle if the target vehicle changes the lane, thereby enabling the self-vehicle to appoint to follow the target vehicle in front for automatic driving and realizing accurate lane following and changing.
In an embodiment of the following control method of the present invention, the step S3 of determining whether the lane change of the target vehicle occurs based on the lane line in front of the own vehicle and the real-time position of the target vehicle includes:
and if all the wheels on the outer side of the target vehicle enter the lane lines of the adjacent lanes, judging that the target vehicle changes lanes.
Here, as shown in fig. 3, when the current vehicle changes lanes, the system determines whether the target vehicle changes lanes according to the position of the target vehicle and lane line information, and then lights a turn light and controls a steering wheel to turn to change lanes; when all of the outer wheels of the target vehicle ID1 enter the lane line of the adjacent lane, it is defined that the lane change of the target vehicle ID1 is completed.
In an embodiment of the car following control method of the present invention, in step S2, identifying the real-time location of the target vehicle in front of the own car based on the license plate number of the vehicle includes:
step S21, continuously searching a target vehicle in front of the vehicle based on the license plate number of the vehicle;
in step S22, if the target vehicle in front of the host vehicle is found, the real-time position of the target vehicle in front of the host vehicle is identified.
Under the working condition of complex traffic flow, if the target vehicle is temporarily lost in the camera identification range, the control system of the self vehicle can enter the common self-adaptive cruise system, continuously search the target vehicle according to the license plate number of the target vehicle, and change lanes or regulate the speed according to the position and the speed of the target vehicle again after the target is detected.
In this embodiment, after the current vehicle target vehicle disappears for a short time, the control system of the own vehicle can delay the continuous search for the target vehicle, and continuously realize speed change and lane change following after detecting the target vehicle again.
In an embodiment of the following control method of the present invention, in step S21, after continuously searching for a target vehicle ahead of the own vehicle based on the license plate number of the vehicle, the method further includes:
in step S23, if the target vehicle in front of the host vehicle is not searched within the preset search time, a warning that the target vehicle is lost is generated.
Here, if the target vehicle in front of the host vehicle is not searched within the preset search time, and it is indicated that the target vehicle is lost for a long time, the driver may be notified that the target vehicle is lost through the instrument prompt.
In an embodiment of the following control method of the present invention, step S3, after determining whether the target vehicle has changed lanes based on a lane line in front of the host vehicle and a real-time position of the target vehicle, further includes:
and step S5, if the target vehicle does not change lane, controlling the vehicle to follow the target vehicle to run according to the corresponding speed based on the speed of the target vehicle.
The control system of the self-vehicle can detect the lane line distance on both sides of the current road through the camera and control the steering wheel to enable the self-vehicle to keep running in the middle of the lane line road.
The control system of the self-vehicle can be activated, so that the self-vehicle can be appointed to follow a vehicle in front for automatic driving, and automatic and reliable acceleration and deceleration of the following vehicle are realized.
As shown in fig. 2, in an embodiment of the following control method according to the present invention, in step S5, the controlling the host vehicle to follow the target vehicle at a corresponding vehicle speed based on the vehicle speed of the target vehicle includes:
step S51, if the time distance between the vehicle and the target vehicle is larger than a preset time distance threshold value, controlling the vehicle to run along with the target vehicle according to the vehicle adding speed, wherein the vehicle adding speed is equal to the vehicle speed of the target vehicle plus the preset vehicle adding speed;
step S52, if the time distance between the vehicle and the target vehicle is equal to a preset first time distance threshold value, controlling the vehicle to run along with the target vehicle according to the same speed of the target vehicle;
and step S53, if the time distance between the vehicle and the target vehicle is smaller than a preset first time distance threshold value, controlling the vehicle to run along with the target vehicle according to a speed reduction speed, wherein the speed reduction speed is equal to the speed of the target vehicle minus a preset speed reduction speed.
Here, as shown in fig. 2, the control system of the host vehicle can recognize the vehicle speed and distance information of the front target through the camera and the radar, adjust the vehicle speed of the host vehicle according to the distance and the vehicle speed information of the front target vehicle, and follow the vehicle according to the following vehicle distance 2 s;
the time distance = the vehicle distance between the front vehicle and the rear vehicle/the vehicle speed of the own vehicle.
For example, as shown in fig. 2, if the time distance between the host vehicle and the target vehicle is greater than 2s, the host vehicle is controlled to follow the target vehicle according to an added vehicle speed, wherein the added vehicle speed is equal to the vehicle speed of the target vehicle plus 10 km/h;
if the time distance between the self vehicle and the target vehicle is equal to preset 2s, controlling the self vehicle to run along with the target vehicle according to the same speed of the target vehicle;
and if the time distance between the self vehicle and the target vehicle is less than 2s, controlling the self vehicle to run along with the target vehicle according to a reduced vehicle speed, wherein the reduced vehicle speed is equal to the vehicle speed of the target vehicle minus 10 km/h.
In an embodiment of the following control method of the present invention, step S4, if the target vehicle changes lane, and after turning on a turn signal of the host vehicle, controlling a steering wheel of the host vehicle to turn to change lane to a lane of the target vehicle includes:
step S41, if the lane change occurs in the target vehicle, it is determined whether there is a safe lane change space in the lane of the target vehicle,
and step S42, if the lane to be changed has the safe lane changing space, after turning on the steering lamp of the vehicle, controlling the steering wheel of the vehicle to turn to the safe lane changing space of the lane of the target vehicle.
Here, through the safe space of trading, trade the in-process and need satisfy the safe space of trading and just can trade, can guarantee the reliability that the lane was traded with the car from the car.
As shown in fig. 5, in an embodiment of the following control method of the present invention, in step S41, if the target vehicle changes lanes, determining whether a safe lane change space exists on the lane of the target vehicle includes:
step S41, if the lane change occurs to the target vehicle ID1, it is determined whether there is a vehicle ID2 in front of the current lane of the host vehicle,
in step S42, if there is a vehicle ID2 ahead of the current lane of the host vehicle, the host vehicle is controlled to travel along with the vehicle ID2 ahead of the current lane of the host vehicle at a corresponding vehicle speed based on the vehicle speed of the vehicle ID2 ahead of the current lane, and then it is determined whether there is a safe lane change space in the lane of the target vehicle ID 1.
Here, as shown in fig. 5, a vehicle right in front of the current road where the vehicle is located may be defined as a target vehicle, the license plate number of the target vehicle may be identified through image recognition and analysis, and the following target vehicle ID1 may be recorded and locked;
if the target vehicle ID1 is a target vehicle definition ID2 newly appearing in front of the lane A where the own vehicle is located after the lane is changed from the lane A to the lane B, the own vehicle needs to judge whether a safe lane changing space exists in the lane of the target vehicle ID1 at present after being controlled to follow the front vehicle ID2 of the current lane of the own vehicle according to the corresponding vehicle speed based on the vehicle speed of the front vehicle ID2 of the current lane, so that the own vehicle can be smoothly changed from the lane A to the lane B where the target vehicle ID1 is located after safely following the own vehicle on the lane A where the own vehicle is located.
In an embodiment of the following control method according to the present invention, in step S42, the controlling of the host vehicle to travel following the vehicle ahead of the current lane of the host vehicle at the corresponding vehicle speed includes:
step S421, if the time distance between the vehicle and the target vehicle is greater than a preset time distance threshold, controlling the vehicle to travel along with the vehicle in front of the current lane of the vehicle according to an added vehicle speed, wherein the added vehicle speed is equal to the sum of the vehicle speed of the vehicle in front of the current lane of the vehicle and a preset added vehicle speed;
step S422, if the time distance between the vehicle and the vehicle in front of the current lane of the vehicle is equal to a preset first time distance threshold value, controlling the vehicle to run along with the vehicle in front of the current lane of the vehicle according to the same speed of the vehicle in front of the current lane of the vehicle;
and step 423, if the time distance between the vehicle and the vehicle in front of the current lane of the vehicle is smaller than a preset first time distance threshold value, controlling the vehicle to run along with the vehicle in front of the current lane of the vehicle according to a reduced speed, wherein the reduced speed is equal to the speed of the vehicle in front of the current lane of the vehicle minus a preset reduced speed.
Here, as shown in fig. 2, the control system of the host vehicle can recognize the vehicle speed and distance information of the front target through the camera and the radar, adjust the vehicle speed of the host vehicle according to the distance and the vehicle speed information of the front target vehicle, and follow the vehicle according to the following vehicle distance 2 s;
the time distance = the distance between the preceding vehicle and the own vehicle/the speed of the own vehicle.
For example, as shown in fig. 2, if the time distance between the host vehicle and the target vehicle is greater than 2s, the host vehicle is controlled to follow the target vehicle according to an added vehicle speed, wherein the added vehicle speed is equal to the vehicle speed of the target vehicle plus 10 km/h;
if the time distance between the self vehicle and the target vehicle is equal to preset 2s, controlling the self vehicle to run along with the target vehicle according to the same speed of the target vehicle;
and if the time distance between the self vehicle and the target vehicle is less than 2s, controlling the self vehicle to run along with the target vehicle according to a reduced vehicle speed, wherein the reduced vehicle speed is equal to the vehicle speed of the target vehicle minus 10 km/h.
In an embodiment of the following control method of the present invention, the step S41 of determining whether a safe lane change space currently exists in a lane of the target vehicle includes:
step S411, acquiring the current lane change space on the lane of the target vehicle;
step S412, if the time distance between the vehicle and the vehicle in front of the lane change space is greater than a preset second time distance threshold value, and the collision time between the vehicle and the vehicle in front of the lane change space is greater than a preset collision time threshold value; and if the time distance between the vehicle and the vehicle behind the lane changing space is larger than a preset second time distance threshold value, and the collision time between the vehicle and the vehicle behind the lane changing space is larger than a preset collision time threshold value, judging that the current lane changing space on the lane of the target vehicle is a safe lane changing space.
Here, as shown in fig. 4, in the lane change process, the lane change is performed only when the safe lane change space is satisfied, and the safe lane change space is defined as follows: the time distance between the vehicle and the vehicle in front of the oncoming lane is more than 2s, the collision time is more than 2s, and the time distance between the vehicle and the vehicle behind the oncoming lane is more than 2s, and the collision time is more than 2 s;
time distance = vehicle distance between front vehicle and rear vehicle/vehicle speed of rear vehicle;
time To Collision (TTC) = vehicle distance between the preceding vehicle and the following vehicle/relative vehicle speed between the preceding vehicle and the following vehicle.
According to another aspect of the present invention, there is also provided a following control apparatus, wherein the apparatus includes:
the acquisition device is used for acquiring an image of a target vehicle in front of the self-vehicle and acquiring a license plate number of the target vehicle based on the acquired image of the target vehicle;
the positioning device is used for identifying a lane line in front of the self-vehicle and the real-time position of the target vehicle based on the license plate number of the vehicle;
and the lane changing device is used for controlling the steering wheel of the vehicle to turn to change the lane to the lane of the target vehicle after the steering lamp of the vehicle is lightened if the target vehicle changes the lane.
According to another aspect of the present invention, there is also provided a computer readable medium having computer readable instructions stored thereon, the computer readable instructions being executable by a processor to implement the method of any one of the above.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of the preceding claims.
The details of each device embodiment of the present invention may specifically refer to the corresponding parts of each method embodiment, and are not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (13)
1. A car following control method, wherein the method comprises:
acquiring a target vehicle image in front of the self vehicle, and obtaining a license plate number of the target vehicle based on the acquired target vehicle image;
identifying a lane line in front of the vehicle and a real-time position of the target vehicle based on the license plate number of the vehicle;
and if the target vehicle changes lanes, after a steering lamp of the self vehicle is lightened, a steering wheel of the self vehicle is controlled to steer to change lanes to the lanes of the target vehicle.
2. The following control method according to claim 1, wherein determining whether the lane change of the target vehicle occurs based on a lane line in front of the own vehicle and a real-time position of the target vehicle includes:
and if all the wheels on the outer side of the target vehicle enter the lane lines of the adjacent lanes, judging that the target vehicle changes lanes.
3. The car following control method according to claim 1, wherein identifying a real-time position of a target vehicle in front of the own car based on a license plate number of the vehicle comprises:
continuously searching for a target vehicle in front of the own vehicle based on the license plate number of the vehicle;
and if the target vehicle in front of the self-vehicle is searched, identifying the real-time position of the target vehicle in front of the self-vehicle.
4. The following control method according to claim 3, wherein after continuously searching for the target vehicle ahead of the own vehicle based on the license plate number of the vehicle, further comprising:
and if the target vehicle in front of the own vehicle is not searched within the preset searching time, generating a warning that the target vehicle is lost.
5. The following control method according to claim 1, wherein, after determining whether the lane change of the target vehicle has occurred based on a lane line in front of the host vehicle and a real-time position of the target vehicle, further comprising:
and if the target vehicle does not change the lane, controlling the self vehicle to run along with the target vehicle according to the corresponding speed based on the speed of the target vehicle.
6. The following control method according to claim 5, wherein controlling the own vehicle to travel following the target vehicle at a corresponding vehicle speed based on a vehicle speed of the target vehicle includes:
if the time distance between the self vehicle and the target vehicle is larger than a preset time distance threshold value, controlling the self vehicle to run along with the target vehicle according to a vehicle adding speed, wherein the vehicle adding speed is equal to the vehicle speed of the target vehicle plus a preset vehicle adding speed;
if the time distance between the self vehicle and the target vehicle is equal to a preset first time distance threshold value, controlling the self vehicle to run along with the target vehicle according to the same speed of the target vehicle;
and if the time distance between the self vehicle and the target vehicle is smaller than a preset first time distance threshold value, controlling the self vehicle to run along with the target vehicle according to a reduced vehicle speed, wherein the reduced vehicle speed is equal to the vehicle speed of the target vehicle minus a preset reduced vehicle speed.
7. The car following control method according to claim 1, wherein if the target vehicle makes a lane change, and after a turn lamp of the host vehicle is turned on, controlling a steering wheel of the host vehicle to turn the lane change to the lane of the target vehicle comprises:
if the target vehicle changes lanes, judging whether a safe lane changing space exists on the lane of the target vehicle at present,
if the lane to be changed has the safe lane changing space at present, after a steering lamp of the self-vehicle is lightened, a steering wheel of the self-vehicle is controlled to turn to change the lane to the safe lane changing space of the lane of the target vehicle.
8. The following control method according to claim 7, wherein if the target vehicle changes lanes, determining whether a safe lane change space currently exists on a lane of the target vehicle comprises:
if the target vehicle changes lanes, judging whether a vehicle exists in front of the current lane of the vehicle,
if a vehicle exists in front of the current lane of the self-vehicle, controlling the self-vehicle to run along with the vehicle in front of the current lane of the self-vehicle according to the corresponding vehicle speed based on the vehicle speed of the vehicle in front of the current lane of the self-vehicle, and then judging whether a safe lane changing space exists on the lane of the target vehicle.
9. The following control method according to claim 8, wherein controlling the host vehicle to travel following a vehicle ahead of a current lane of the host vehicle at a corresponding vehicle speed includes:
if the time distance between the self vehicle and the target vehicle is larger than a preset time distance threshold value, controlling the self vehicle to drive along with the vehicle in front of the current lane of the self vehicle according to the vehicle adding speed, wherein the vehicle adding speed is equal to the vehicle speed of the vehicle in front of the current lane of the self vehicle plus the preset vehicle adding speed;
if the time distance between the self-vehicle and the vehicle in front of the current lane of the self-vehicle is equal to a preset first time distance threshold value, controlling the self-vehicle to run along with the vehicle in front of the current lane of the self-vehicle according to the same speed of the vehicle in front of the current lane of the self-vehicle;
and if the time distance between the self-vehicle and the vehicle in front of the current lane of the self-vehicle is smaller than a preset first time distance threshold value, controlling the self-vehicle to drive along with the vehicle in front of the current lane of the self-vehicle according to the speed reduction speed, wherein the speed reduction speed is equal to the speed of the vehicle in front of the current lane of the self-vehicle minus the preset speed reduction speed.
10. The following control method according to claim 7, wherein determining whether a safe lane change space currently exists on the lane of the target vehicle includes:
acquiring a current lane changing space on a lane of a target vehicle;
if the time distance between the self vehicle and the vehicle in front of the lane changing space is larger than a preset second time distance threshold value, and the collision time between the self vehicle and the vehicle in front of the lane changing space is larger than a preset collision time threshold value; and if the time distance between the vehicle and the vehicle behind the lane changing space is larger than a preset second time distance threshold value, and the collision time between the vehicle and the vehicle behind the lane changing space is larger than a preset collision time threshold value, judging that the current lane changing space on the lane of the target vehicle is a safe lane changing space.
11. A car-following control apparatus, wherein the apparatus comprises:
the acquisition device is used for acquiring an image of a target vehicle in front of the self-vehicle and acquiring a license plate number of the target vehicle based on the acquired image of the target vehicle;
the positioning device is used for identifying a lane line in front of the self-vehicle and the real-time position of the target vehicle based on the license plate number of the vehicle;
and the lane changing device is used for controlling the steering wheel of the vehicle to turn to change the lane to the lane of the target vehicle after the steering lamp of the vehicle is lightened if the target vehicle changes the lane.
12. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 10.
13. An apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210310146.0A CN114590257A (en) | 2022-03-28 | 2022-03-28 | Car following control method and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210310146.0A CN114590257A (en) | 2022-03-28 | 2022-03-28 | Car following control method and equipment |
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| Publication Number | Publication Date |
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| CN114590257A true CN114590257A (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210310146.0A Withdrawn CN114590257A (en) | 2022-03-28 | 2022-03-28 | Car following control method and equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279469A (en) * | 2023-05-22 | 2023-06-23 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving vehicle following method and system |
| CN117465451A (en) * | 2023-12-28 | 2024-01-30 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving lane change decision method and system |
-
2022
- 2022-03-28 CN CN202210310146.0A patent/CN114590257A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116279469A (en) * | 2023-05-22 | 2023-06-23 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving vehicle following method and system |
| CN116279469B (en) * | 2023-05-22 | 2023-09-22 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving vehicle following method and system |
| CN117465451A (en) * | 2023-12-28 | 2024-01-30 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving lane change decision method and system |
| CN117465451B (en) * | 2023-12-28 | 2024-04-02 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving lane change decision method and system |
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