CN114802252A - Control method and device for automatic lane changing of vehicle - Google Patents
Control method and device for automatic lane changing of vehicle Download PDFInfo
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- CN114802252A CN114802252A CN202210525766.6A CN202210525766A CN114802252A CN 114802252 A CN114802252 A CN 114802252A CN 202210525766 A CN202210525766 A CN 202210525766A CN 114802252 A CN114802252 A CN 114802252A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W60/0025—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
- 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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Abstract
The invention discloses a control method and a device for automatic lane changing of a vehicle, wherein the method comprises the steps of acquiring the current lane changing requirement of the vehicle before the vehicle changes lanes; when other different types of lane change requirements exist, determining whether to respond to the current lane change requirement according to the preset priority of each type of lane change requirement; in the lane changing process of the vehicle, when conflicts with other lane changing requirements of different types exist, each lane changing requirement which conflicts is arbitrated based on the preset priority, so that the lane changing operation of the vehicle is correspondingly adjusted. According to the control method and the device for the automatic lane changing of the vehicle, disclosed by the embodiment of the invention, the arbitration strategy of the vehicle for the lane changing requirement which conflicts in the lane changing process is designed, the control effect of the automatic lane changing of the vehicle is optimized, and the intelligent process of the automatic driving of the vehicle is promoted.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a control method and a control device for automatic lane changing of a vehicle.
Background
The automatic driving technology provides convenience for driving of the vehicle, can ensure the safety and reliability of driving without influencing the driving stroke, and avoids fatigue driving.
In the automatic driving process, automatic lane changing plays an important role in the rapid and stable driving of a vehicle, a lane changing strategy in the prior art often focuses on logic control before the lane changing of the vehicle, conflicts among different lane changing requirements caused by different lane changing environments are ignored in the lane changing process of the vehicle, if the conflicts among the different lane changing requirements are not effectively processed, the control effect of the automatic driving of the vehicle can be influenced, and the driving experience of a user is not facilitated.
Disclosure of Invention
The invention provides a control method and a device for automatic lane changing of a vehicle, which aim to solve the problem that the existing lane changing strategy does not consider logic control in the lane changing process, optimize the control effect of automatic lane changing of the vehicle and promote the intelligent process of automatic driving of the vehicle by designing an arbitration strategy for conflicting lane changing requirements in the lane changing process of the vehicle.
In order to solve the above technical problem, an embodiment of the present invention provides a control method for automatically changing lanes of a vehicle, including:
before the vehicle changes the lane, acquiring the current lane change requirement of the vehicle;
when other different types of lane change requirements exist, determining whether to respond to the current lane change requirement according to the preset priority of each type of lane change requirement;
in the lane changing process of the vehicle, when conflicts with other lane changing requirements of different types exist, each lane changing requirement which conflicts is arbitrated based on the preset priority, so that the lane changing operation of the vehicle is correspondingly adjusted.
As one of the preferable solutions, each type of lane change requirement includes: the method comprises the following steps of (1) automatically changing lanes based on the active lane changing requirement of a driver, the lane changing requirement based on a navigation map, the lane changing requirement based on safe avoidance and the lane changing requirement based on driving efficiency;
the preset priority of each type of lane change requirement specifically comprises the following steps: the active lane changing requirement based on the driver is higher than the lane changing requirement based on the navigation map, the lane changing requirement based on the navigation map is higher than the lane changing requirement based on safe avoidance, and the lane changing requirement based on the safe avoidance is higher than the lane changing requirement based on the driving efficiency.
As one preferable scheme, when there is a conflict with other lane change requirements of different types, arbitrating each lane change requirement with which the conflict occurs based on the preset priority to correspondingly adjust the lane change operation of the vehicle specifically includes:
if the conflict exists between the lane changing operation corresponding to the active lane changing requirement based on the driver and the lane changing operation corresponding to the lane changing requirement based on the navigation map, outputting the active lane changing requirement of the driver and inhibiting the lane changing requirement based on the navigation map;
if the conflict exists between the lane change operation corresponding to the lane change requirement based on the navigation map and the lane change operation corresponding to the lane change requirement based on the safety avoidance, outputting the lane change requirement based on the navigation map and inhibiting the lane change requirement based on the safety avoidance;
if the conflict exists between the lane changing operation corresponding to the lane changing requirement based on the safe avoidance and the lane changing operation corresponding to the lane changing requirement based on the driving efficiency, outputting the lane changing requirement based on the safe avoidance, and restraining the lane changing requirement based on the driving efficiency.
As one of the preferable schemes, when the active lane change requirement of the driver is output and the lane change requirement based on the navigation map is restrained, the vehicle is controlled to continuously execute the lane change operation corresponding to the active lane change requirement of the driver, and after the vehicle completes the lane change operation corresponding to the active lane change requirement of the driver, the lane change operation corresponding to the lane change requirement based on the navigation map is continuously executed.
As one preferable scheme, when the lane change requirement based on the navigation map is output and the lane change requirement based on the safety avoidance is restrained, the vehicle is controlled to continuously execute the lane change operation corresponding to the lane change requirement based on the navigation map, and the lane change operation corresponding to the lane change requirement based on the safety avoidance is ignored.
As one preferable scheme, when the vehicle is controlled to continuously perform the lane changing operation corresponding to the lane changing requirement based on the navigation map, the vehicle is controlled to synchronously decelerate, and reminding information is generated for a driver.
As one preferable scheme, when the lane change demand based on safe avoidance is output and the lane change demand based on driving efficiency is suppressed, the vehicle is controlled to continue to execute the lane change operation corresponding to the lane change demand based on safe avoidance and ignore the lane change operation corresponding to the lane change demand based on driving efficiency.
As one preferable scheme, when the current lane change requirement of the vehicle is obtained, the turn light of the vehicle is controlled to be turned on;
before determining whether to respond to the current lane change demand, the method further comprises:
and determining whether the current lane changing environment meets the lane changing condition corresponding to the current lane changing requirement.
Another embodiment of the present invention provides a control apparatus for automatically changing lanes of a vehicle, including a vehicle controller configured to:
acquiring the lane change requirement of the vehicle in real time;
controlling a vehicle to execute lane changing operation corresponding to the lane changing requirements according to the preset priority of each lane changing requirement;
and in the lane changing process of the vehicle, evaluating conflicts among the lane changing requirements, and arbitrating the conflicting lane changing requirements based on the preset priority so as to correspondingly adjust the lane changing operation of the vehicle.
As one preferable scheme, the vehicle controller is an ADAS domain controller.
Compared with the prior art, the embodiment of the invention has the advantages that at least one point is as follows: improving logic control strategies before lane changing, during lane changing and after lane changing in the automatic driving process of the vehicle; the method has the advantages that the lane change requirement conflicts with different priorities are continuously evaluated in the lane change process of the vehicle, each lane change requirement with the conflict is arbitrated according to the preset priority, the technical problem that different lane change requirements of the vehicle conflict with each other in the lane change process is effectively solved corresponding to the whole lane change action, so that the automatic lane change control of the vehicle is more comprehensive and safer, and the intelligent process of automatic driving of the vehicle is promoted.
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FIG. 1 is a schematic flow chart of a control method for automatic lane change of a vehicle according to one embodiment of the present invention;
FIG. 2 is a logic control diagram of a control method for automatic lane change of a vehicle in one embodiment of the present invention;
FIG. 3 is a schematic diagram of a first embodiment of the present invention for illustrating a road condition of a vehicle;
FIG. 4 is a schematic view of a road condition of a vehicle during lane change in a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a third embodiment of the present invention for illustrating a road condition of a vehicle;
reference numerals:
a, lane changing vehicles; m, a static obstacle.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments, and the embodiments are provided for the purpose of making the disclosure of the present invention more thorough and complete. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first," "second," "third," etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. As used herein, the terms "vertical," "horizontal," "left," "right," "up," "down," and the like are for illustrative purposes only and do not indicate or imply that the referenced device or element must be in a particular orientation, constructed or operated in a particular manner, and is not to be construed as limiting the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the description of the present application, it is to be noted that, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as those skilled in the art will recognize the specific meaning of the terms used in the present application in a particular context.
An embodiment of the present invention provides a control method for automatically changing lanes of a vehicle, and specifically, referring to fig. 1, fig. 1 is a schematic flow chart of the control method for automatically changing lanes of a vehicle in an embodiment of the present invention, which includes steps S1 to S3:
s1, before the lane change of the vehicle, acquiring the current lane change requirement of the vehicle;
s2, when other lane changing requirements of different types exist, determining whether to respond to the current lane changing requirement according to the preset priority of each type of lane changing requirement;
and S3, when conflicts with other different types of lane change requirements exist in the lane change process of the vehicle, arbitrating each lane change requirement with the conflicts based on the preset priority so as to correspondingly adjust the lane change operation of the vehicle.
It should be noted that lane change requirements are determined according to a specific lane change environment, different lane change requirements may be triggered in the same scene, and in order to ensure accuracy and effectiveness of automatic lane change, in this embodiment, specific lane change requirements of a vehicle before, after, and after lane change need to be obtained in real time according to a lane change scene of the vehicle. The lane change requirements of the vehicle in this embodiment include: the method comprises the following steps of actively changing lanes based on a driver, changing lanes based on a navigation map, changing lanes based on safe avoidance and changing lanes based on driving efficiency.
The method comprises the following steps of actively intervening for a driver based on the active lane change requirement of the driver, wherein the active lane change requirement comprises that the driver actively operates control components of a vehicle, such as a steering wheel, a poke rod and the like, and also can be a voice lane change request of the driver; the lane change requirement based on the navigation map is as follows: the method comprises the steps that a vehicle acquires the current position of the vehicle in real time based on a high-precision map server, and generates lane change requirements according to driving destinations, wherein the lane change requirements comprise lane change of the vehicle at a ramp port, lane change of the vehicle when the vehicle converges into a main road and the like; the lane change requirement based on safe avoidance is as follows: the vehicle generates lane change requirements based on static obstacles appearing in the front, disappearance and combination of roads in the front, construction areas or temporary accidents in the front and the like, and it is noted that related sensors (a visual sensor, an infrared sensor and the like) need to be arranged on the periphery of the vehicle to identify the real-time vehicle condition environment in front of the vehicle so as to generate corresponding lane change requirements, and the lane change requirements are not limited herein; the lane change requirement based on the driving efficiency is a request for simulating overtaking and avoiding traffic flow of a driver habit, for example, in the automatic driving process, if queuing occurs at a front lower ramp intersection, the lane change requirement is generated according to the overtaking habit of the driver, the queued traffic flow is crossed, so that waiting is not needed, and rapid lane change is realized.
In the embodiment of the invention, before lane changing and in the lane changing process, a plurality of different lane changing requirements exist, if the plurality of different lane changing requirements correspond to different lane changing operations, for example, the lane changing requirement based on a navigation map is leftward, and the lane changing requirement based on safe avoidance is rightward, a reasonable lane changing control strategy needs to be formulated, and the control logic of automatic lane changing is perfected.
Specifically, referring to fig. 2, fig. 2 is a logic control diagram of a control method for automatically changing lanes of a vehicle according to an embodiment of the present invention, before changing lanes, the vehicle is in a single lane cruising state, determining whether a lane change requirement exists according to a lane change environment obtained in real time, when receiving the lane change requirement, lighting a turn signal, determining whether a reverse lane change requirement with a higher priority exists, and so on, continuously obtaining the lane change environment in real time, determining the lane change requirement, and according to a preset priority of each lane change requirement, correspondingly executing a lane change operation corresponding to the lane change requirement, such as canceling the lane change or continuously executing the lane change. In this embodiment, preferably, the preset priorities of the lane change requirements of each type are specifically: the active lane changing requirement based on the driver is higher than the lane changing requirement based on the navigation map, the lane changing requirement based on the navigation map is higher than the lane changing requirement based on safe avoidance, and the lane changing requirement based on the safe avoidance is higher than the lane changing requirement based on the driving efficiency. Therefore, the priority of the active lane change requirement based on the driver is the highest, the lane change requirement based on the navigation map is the next, the lane change requirement based on the safety avoidance is the next, and the priority of the lane change requirement based on the driving efficiency is the lowest. That is, the vehicle determines each lane change requirement according to the lane change environment before changing lanes, and controls the vehicle to execute the lane change operation corresponding to the lane change requirement with high priority according to the priority of different lane change requirements.
To avoid misunderstanding, in the present invention, the priority of each lane change requirement is only one priority ranking under the "lane change" logic, for example, under the "lane change" logic, the lane change requirement based on safe avoidance is arranged at the position of the third priority rather than the position of the first priority, where the priority refers to the priority which is specially designed for different kinds of lane change requirement logics and is not considered from the perspective of the whole vehicle. When the vehicle needs to carry out safe avoidance, the vehicle is involved in executing not only the lane changing logic disclosed by the invention, but also the active safety logic of the vehicle, for example, for a part of electric vehicles, under the safe avoidance scene, the conventional lane changing behavior is inhibited, and at the moment, the safety modules such as emergency braking, emergency steering and the like are correspondingly started, so that the safety risk of the whole vehicle is reduced and eliminated. Therefore, it should be emphasized that the automatic control of the vehicle always puts the "safety" factor at the first position, but in the lane change logic of the present embodiment, the lane change requirement based on safety avoidance is arranged at the position of the third priority, and will not be described herein again.
During the lane change process of the vehicle, the embodiment of the invention can also continuously evaluate the conflict among the lane change requirements with different priorities and adjust the lane change action correspondingly. For example, if there is a conflict between the lane change operation corresponding to the active lane change demand based on the driver and the lane change operation corresponding to the lane change demand based on the navigation map, the active lane change demand based on the driver is output, and the lane change demand based on the navigation map is suppressed;
if the conflict exists between the lane change operation corresponding to the lane change requirement based on the navigation map and the lane change operation corresponding to the lane change requirement based on the safety avoidance, outputting the lane change requirement based on the navigation map and inhibiting the lane change requirement based on the safety avoidance;
if the conflict exists between the lane changing operation corresponding to the lane changing requirement based on the safe avoidance and the lane changing operation corresponding to the lane changing requirement based on the driving efficiency, outputting the lane changing requirement based on the safe avoidance, and restraining the lane changing requirement based on the driving efficiency.
Through the inhibition of the lane change requirement with the low priority and the output of the lane change requirement with the high priority, the vehicle can execute correct lane change operation in the lane change process, so that the lane change strategy is more reasonable and perfect.
Further, in the above-described embodiment, when the active lane change demand of the driver is output and the lane change demand based on the navigation map is suppressed, the vehicle is controlled to continue to perform the lane change operation corresponding to the active lane change demand of the driver, and after the vehicle performs the lane change operation corresponding to the active lane change demand of the driver, the lane change operation corresponding to the lane change demand based on the navigation map is continued.
Further, in the above embodiment, when the lane change demand based on the navigation map is output and the lane change demand based on the safety avoidance is suppressed, the vehicle is controlled to continue to perform the lane change operation corresponding to the lane change demand based on the navigation map and to ignore the lane change operation corresponding to the lane change demand based on the safety avoidance.
Further, in the above embodiment, when the vehicle is controlled to continue to perform the lane change operation corresponding to the lane change demand based on the navigation map, the vehicle is controlled to decelerate synchronously, and a warning message is generated to the driver.
Further, in the above-described embodiment, when the safe avoidance-based lane change request is output and the travel efficiency-based lane change request is suppressed, the vehicle is controlled to continue to perform the lane change operation corresponding to the safe avoidance-based lane change request and to ignore the lane change operation corresponding to the travel efficiency-based lane change request.
In the embodiment, when the current lane change requirement of the vehicle is acquired, the turn lamp of the vehicle is controlled to be turned on at the moment; before determining whether to respond to the current lane change demand, the control method for automatically changing the lane of the vehicle in the embodiment further comprises the following steps:
and determining whether the current lane changing environment meets the lane changing condition corresponding to the current lane changing requirement, and executing subsequent lane changing operation if the current lane changing environment meets the lane changing condition corresponding to the current lane changing requirement.
Three specific examples are given below to illustrate the technical solution of the present invention.
Example 1
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a road condition of a vehicle changing lane according to a first embodiment of the present invention, in which a vehicle (lane changing vehicle a in the figure) generates a lane changing demand based on a navigation map that needs a next ramp to the right according to a navigation destination, but at this time, the vehicle detects a traffic jam at a ramp entrance, generates a lane changing demand based on driving efficiency to the left according to an overtaking habit of a driver, and lane changing operations corresponding to the lane changing demands of the vehicle and the lane changing demand conflict with each other, and at this time, according to a preset priority, the vehicle does not cross a queued traffic flow to the left but queues up until entering the next ramp.
Example 2
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a road condition of a vehicle changing lane according to a second embodiment of the present invention, where a vehicle (lane changing vehicle a in the figure) generates a lane changing demand based on a navigation map that needs a next ramp to the right according to a navigation destination, but there are many vehicles queued at this time, and a driver actively intervenes to control the vehicle to the left, and after the lane changing with a high priority to the left is completed, the vehicle will continue to execute the lane changing demand with a low priority, that is, the vehicle is controlled until entering the next ramp according to the lane changing demand based on the navigation map.
Example 3
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a lane change road condition of a vehicle according to a third embodiment of the present invention, where the vehicle (lane change vehicle a in the figure) generates a lane change request based on a navigation map that requires a next ramp according to a navigation destination to the right, but there are many vehicles queued at this time, and a driver actively intervenes to control the vehicle to the left, and after a lane change with a high priority to the left is completed, the vehicle detects that a stationary obstacle M appears ahead, and at this time, there is a lane change request based on safe avoidance to the left, and a lane change request based on the navigation map to the right, and according to a preset priority, the vehicle suppresses the lane change request based on safe avoidance to the left with a low priority and outputs the lane change request based on the navigation map to the right with a high priority.
Another embodiment of the present invention provides a control apparatus for automatically changing lanes of a vehicle, including a vehicle controller configured to:
acquiring the lane change requirement of the vehicle in real time;
controlling a vehicle to execute lane changing operation corresponding to the lane changing requirements according to the preset priority of each lane changing requirement;
and in the lane changing process of the vehicle, evaluating conflicts among the lane changing requirements, and arbitrating the conflicting lane changing requirements based on the preset priority so as to correspondingly adjust the lane changing operation of the vehicle.
Preferably, the vehicle controller is an ADAS domain controller.
It should be noted that the vehicle control unit in the present invention includes a processor 21, a memory 22 and a computer program stored in the memory 22 and configured to be executed by the processor 21, and when the processor 21 executes the computer program, the steps in the above-mentioned embodiment of the control method for automatically changing lanes of a vehicle, such as the steps S1 to S3 shown in fig. 1, are implemented; alternatively, the processor 21 implements the functions in the vehicle control unit when executing the computer program, and specifically, the vehicle control unit is configured to include a lane change demand module, a lane change module, and an arbitration module.
Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 22 and executed by the processor 21 to accomplish the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the vehicle control unit. For example, the computer program may be divided into a lane change demand module, a lane change module, and an arbitration module, and the specific functions of each module are as follows:
the lane change demand module is used for acquiring the lane change demand of the vehicle in real time;
the lane changing module is used for controlling a vehicle to execute lane changing operation corresponding to the lane changing requirements according to the preset priority of each lane changing requirement;
and the arbitration module is used for evaluating the conflict among the lane change requirements in the lane change process of the vehicle and arbitrating the conflicting lane change requirements based on the preset priority so as to correspondingly adjust the lane change operation of the vehicle.
The vehicle control unit may include, but is not limited to, a processor 21 and a memory 22. It will be understood by those skilled in the art that the foregoing is merely an example of a vehicle controller, and does not constitute a limitation of the vehicle controller, and that the vehicle controller may include more or less components than those described above, or some components in combination, or different components, for example, the vehicle controller may further include an input-output device, a network access device, a bus, etc.
The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general processor may be a microprocessor or the processor may be any conventional processor, and the processor 21 is a control center of the vehicle controller and is connected to various parts of the vehicle controller by various interfaces and lines.
The memory 22 may be used to store the computer programs and/or modules, and the processor 21 implements various functions of the vehicle control unit by operating or executing the computer programs and/or modules stored in the memory 22 and calling up data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The module integrated with the vehicle control unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Accordingly, the embodiment of the invention provides a vehicle, which comprises the control device for automatically changing lanes of the vehicle.
Accordingly, an embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, an apparatus in which the computer-readable storage medium is located is controlled to execute the steps in the control method for automatically changing lanes of a vehicle according to the above-mentioned embodiment, such as steps S1-S3 shown in fig. 1.
The control method and the device for the automatic lane change of the vehicle have the advantages that at least one point is as follows: improving logic control strategies before lane changing, during lane changing and after lane changing in the automatic driving process of the vehicle; the method has the advantages that the lane change requirement conflicts with different priorities are continuously evaluated in the lane change process of the vehicle, each lane change requirement with the conflict is arbitrated according to the preset priority, the technical problem that different lane change requirements of the vehicle conflict with each other in the lane change process is effectively solved corresponding to the whole lane change action, so that the automatic lane change control of the vehicle is more comprehensive and safer, and the intelligent process of automatic driving of the vehicle is promoted.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A control method for automatic lane change of a vehicle is characterized by comprising the following steps:
before the vehicle changes the lane, acquiring the current lane change requirement of the vehicle;
when other different types of lane change requirements exist, determining whether to respond to the current lane change requirement according to the preset priority of each type of lane change requirement;
in the lane changing process of the vehicle, when conflicts with other lane changing requirements of different types exist, each lane changing requirement which conflicts is arbitrated based on the preset priority, so that the lane changing operation of the vehicle is correspondingly adjusted.
2. The control method for automatically changing lanes of a vehicle according to claim 1, characterized in that each type of lane change requirement comprises: the method comprises the following steps of (1) automatically changing lanes based on the active lane changing requirement of a driver, the lane changing requirement based on a navigation map, the lane changing requirement based on safe avoidance and the lane changing requirement based on driving efficiency;
the preset priority of each type of lane change requirement specifically comprises the following steps: the active lane changing requirement based on the driver is higher than the lane changing requirement based on the navigation map, the lane changing requirement based on the navigation map is higher than the lane changing requirement based on safe avoidance, and the lane changing requirement based on the safe avoidance is higher than the lane changing requirement based on the driving efficiency.
3. The method for controlling automatic lane change of a vehicle according to claim 2, wherein when there is a conflict with other lane change requirements of different types, arbitrating each of the lane change requirements that have a conflict based on the preset priority to correspondingly adjust the lane change operation of the vehicle specifically comprises:
if the conflict exists between the lane changing operation corresponding to the active lane changing requirement based on the driver and the lane changing operation corresponding to the lane changing requirement based on the navigation map, outputting the active lane changing requirement of the driver and inhibiting the lane changing requirement based on the navigation map;
if the conflict exists between the lane change operation corresponding to the lane change requirement based on the navigation map and the lane change operation corresponding to the lane change requirement based on the safety avoidance, outputting the lane change requirement based on the navigation map and inhibiting the lane change requirement based on the safety avoidance;
if the conflict exists between the lane changing operation corresponding to the lane changing requirement based on the safe avoidance and the lane changing operation corresponding to the lane changing requirement based on the driving efficiency, outputting the lane changing requirement based on the safe avoidance, and restraining the lane changing requirement based on the driving efficiency.
4. The control method of automatic lane change of a vehicle according to claim 3, wherein the vehicle is controlled to continue to perform a lane change operation corresponding to the driver's active lane change request while the driver's active lane change request is output and the navigation map-based lane change request is suppressed, and to continue to perform a lane change operation corresponding to the navigation map-based lane change request after the vehicle performs the lane change operation corresponding to the driver's active lane change request.
5. The method for controlling automatic lane changing of a vehicle according to claim 3, wherein when the lane changing demand based on the navigation map is output and the lane changing demand based on the safety avoidance is suppressed, the vehicle is controlled to continue to perform a lane changing operation corresponding to the lane changing demand based on the navigation map and to ignore the lane changing operation corresponding to the lane changing demand based on the safety avoidance.
6. The control method for automatically changing lanes of a vehicle as claimed in claim 5, characterized in that when the vehicle is controlled to continue to perform the lane change operation corresponding to the lane change demand based on the navigation map, the vehicle is controlled to decelerate synchronously and reminder information is generated to the driver.
7. The control method for automatically changing lanes of a vehicle according to claim 3, characterized in that when the lane change request based on safe avoidance is output and the lane change request based on travel efficiency is suppressed, the vehicle is controlled to continue to perform the lane change operation corresponding to the lane change request based on safe avoidance and to ignore the lane change operation corresponding to the lane change request based on travel efficiency.
8. The control method for automatically changing lanes of a vehicle as claimed in claim 1, characterized in that when the current lane change requirement of the vehicle is obtained, the control lights of the vehicle are lighted;
before determining whether to respond to the current lane change demand, the method further comprises:
and determining whether the current lane changing environment meets the lane changing condition corresponding to the current lane changing requirement.
9. A control device for automatic lane changing of a vehicle is characterized by comprising a vehicle control unit, wherein the vehicle control unit is configured to:
acquiring the lane change requirement of the vehicle in real time;
controlling a vehicle to execute lane changing operation corresponding to the lane changing requirements according to the preset priority of each lane changing requirement;
and in the lane changing process of the vehicle, evaluating conflicts among the lane changing requirements, and arbitrating the conflicting lane changing requirements based on the preset priority so as to correspondingly adjust the lane changing operation of the vehicle.
10. The control apparatus for automatically changing lanes of a vehicle as claimed in claim 9, wherein the vehicle controller is an ADAS domain controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210525766.6A CN114802252A (en) | 2022-05-07 | 2022-05-07 | Control method and device for automatic lane changing of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210525766.6A CN114802252A (en) | 2022-05-07 | 2022-05-07 | Control method and device for automatic lane changing of vehicle |
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| CN114802252A true CN114802252A (en) | 2022-07-29 |
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| CN202210525766.6A Pending CN114802252A (en) | 2022-05-07 | 2022-05-07 | Control method and device for automatic lane changing of vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115497300A (en) * | 2022-11-16 | 2022-12-20 | 四川省公路规划勘察设计研究院有限公司 | Vehicle safety shunting scheduling method and device based on vehicle-road cooperative system |
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2022
- 2022-05-07 CN CN202210525766.6A patent/CN114802252A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115497300A (en) * | 2022-11-16 | 2022-12-20 | 四川省公路规划勘察设计研究院有限公司 | Vehicle safety shunting scheduling method and device based on vehicle-road cooperative system |
| CN115497300B (en) * | 2022-11-16 | 2023-01-31 | 四川省公路规划勘察设计研究院有限公司 | Vehicle safety shunting scheduling method and device based on vehicle-road cooperative system |
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