CN114906146A - Self-adaptive control method and system for lane changing during automatic driving overtaking - Google Patents
Self-adaptive control method and system for lane changing during automatic driving overtaking Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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Abstract
The invention relates to an automatic driving overtaking lane-changing self-adaptive control method and system, which can select different control strategies according to a lane-changing driving environment and a lane-changing progress, ensure the reliability of a lane-changing process, ensure that overtaking lane-changing driving has better vehicle control and comfortable lane-changing experience, and simultaneously ensure that the vehicle has better acceleration response after lane changing; adaptively optimizing a second overtaking lane change acceleration according to a straight-lane running environment, and adaptively adjusting the second vehicle longitudinal acceleration according to a lane change stage, a course angle and a lane line included angle; adaptively optimizing third overtaking lane-changing acceleration according to the driving environment of the curve, and adaptively adjusting the longitudinal acceleration of a third vehicle according to the lane-changing direction, the direction of the curve and the radius of the curve; and an automatic overtaking lane change redundancy control strategy is carried out in real time according to different lane change driving scenes, so that the safety and the flexibility of the vehicle in the lane change process are ensured.
Description
Technical Field
The invention relates to the field of automatic driving planning control, in particular to an automatic driving overtaking lane changing self-adaptive control method and system.
Background
In recent years, with the rapid development of automobile electromotion, intellectualization and networking, the high-level automatic driving function is continuously updated in an iterative manner and the driving scene is continuously expanded. When the NOA (navigation on automatic) is started for driving, the steering deflector rod can be used for triggering lane change or automatically changing the lane of the system to replace a driver to finish the detection of the surrounding environment of the vehicle, the control of the transverse direction and the longitudinal direction of the vehicle and the like, so that the fatigue strength of the driver is reduced.
In general, an ALC (automatic Lane Change) system performs Lane Change environment determination through a sensor mounted on a vehicle, and controls the vehicle to complete lateral and longitudinal movement of a Lane Change if a Lane Change condition is satisfied, otherwise, does not perform a Lane Change operation. However, when the vehicle ahead is lost in the lane changing process when the vehicle automatically overtakes the vehicle, the vehicle can judge whether the lane changing requirement is met or not according to the lane changing condition to start the lane changing function, and if the set speed is greater than the speed of the vehicle before lane changing, the lane changing process can accelerate the lane changing according to the deviation between the set speed and the actual speed of the NOA function. And the excessive transverse and longitudinal acceleration in lane changing can cause discomfort and tension for drivers, and easily cause the transverse control failure to cause safety accidents.
Disclosure of Invention
The invention provides an automatic overtaking lane-changing self-adaptive control method and system aiming at the technical problems in the prior art, and solves the problems that the driver is uncomfortable and nervous due to overlarge transverse and longitudinal acceleration during automatic overtaking lane changing, and safety accidents are caused due to the fact that transverse control fails easily.
According to a first aspect of the present invention, there is provided an automatic lane change adaptive control method for overtaking in automatic driving, comprising: judging whether the current driving scene of the vehicle is a straight road or not when the set lane change speed Vset is greater than the speed V before lane change after the vehicle is judged to overtake and change the lane;
if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, the radius of the curve, the direction of the curve and the lane change direction;
and controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the process of determining that the vehicle is to perform lane change includes:
when the vehicle is judged to have the overtaking lane change requirement, whether the lane change condition is met is judged according to the environment information and the running state of the vehicle:
if yes, executing overtaking lane change;
otherwise, judging whether the lane change condition is met after the running speed of the vehicle is adjusted within a set range: if yes, executing overtaking lane change; and otherwise, waiting for overtaking lane changing, and judging not to execute the overtaking lane changing when the overtaking lane changing exceeds the set time length and the lane changing condition is not met after the running speed of the vehicle is adjusted within the set range.
Optionally, after it is determined that the vehicle is about to perform the passing lane change, when the set lane change vehicle speed Vset is not greater than the pre-lane change vehicle speed V, the vehicle is controlled to perform the uniform speed passing lane change.
Optionally, when the current driving scene of the vehicle is judged to be a straight road, and the longitudinal acceleration of the vehicle is calculated according to the deviation between the Vset and the V, the lane line and the heading angle of the vehicle, the lane changing process is divided into two stages of lane changing in the same direction and lane returning in the reverse direction:
in the same-direction lane changing stage, the speed of a driving path before lane changing is kept unchanged by the vehicle;
in the reverse correction stage, calculating to obtain a second longitudinal acceleration of the vehicle according to an included angle alpha between the self-vehicle course angle and the lane line and the first longitudinal acceleration, and controlling the vehicle to run by adopting the second longitudinal acceleration; the determination of the first longitudinal acceleration comprises: the acceleration required for the vehicle to reach Vset is calculated using the deviation between Vset and V as an input to the PID controller in conjunction with a vehicle dynamics model and a PID control method.
Optionally, the method for calculating a second longitudinal acceleration of the vehicle according to the included angle α between the self-vehicle heading angle and the lane line and the first longitudinal acceleration includes:
establishing a corresponding relation table of an included angle alpha between the self-vehicle course angle and the lane line and the value of the first longitudinal acceleration running environment coefficient;
determining the corresponding first longitudinal acceleration running environment coefficient according to the current included angle alpha;
multiplying the first longitudinal acceleration by the first longitudinal acceleration running environment coefficient to obtain the second longitudinal acceleration.
Optionally, the step of determining that the current driving scene of the vehicle is not a straight road, and calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of lane change includes:
when the direction of the curve and the lane change direction are judged to be reverse, the longitudinal acceleration of the vehicle is set to be 0;
when the curve direction and the lane changing direction are judged to be the same direction, a corresponding relation table of the curve radius and the value of the second longitudinal acceleration running environment coefficient is established; determining a corresponding second longitudinal acceleration running environment coefficient according to the value of the current curve radius; and multiplying the second longitudinal acceleration by the second longitudinal acceleration running environment coefficient to obtain a third longitudinal acceleration, and controlling the running of the vehicle by adopting the third longitudinal acceleration.
Optionally, in the process of controlling the vehicle to overtake and change lanes according to the calculated longitudinal acceleration of the vehicle, whether a new collision risk exists in the lane change process is judged in real time;
if the lane change is not finished, the lane change is continuously carried out until the lane change is finished, and the lane change process is finished;
when the vehicle lane changing control system exists, the real vehicle control is carried out according to the lane changing progress of the current vehicle: if the lane line of the vehicle crossing the lane change side is smaller than the set proportion, judging whether the vehicle can return to the original lane, if so, interrupting the lane change progress to control the vehicle to return to the original lane, and if not, adjusting the vehicle to run in parallel with the lane line and then finishing the lane change process; if the vehicle crosses the lane line on the lane changing side at the moment and is larger than or equal to the set proportion, the lane changing process is finished after the vehicle is aligned to run in parallel with the lane line.
According to a second aspect of the present invention, there is provided an automatic driving overtaking lane change adaptive control system, comprising: a perception input layer, a decision control layer and an execution layer;
the perception input layer is used for acquiring environment perception information of the environment where the vehicle is located;
the decision control layer is used for judging whether the current driving scene of the vehicle is a straight road or not when the set lane change vehicle speed Vset is greater than the vehicle speed V before lane change after the vehicle is judged to be overtaking and lane change based on the environment perception information; if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, the radius of the curve, the direction of the curve and the lane change direction;
and the execution layer is used for controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the automated driving overtaking lane change adaptive control method when executing a computer management-like program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer management-like program, which when executed by a processor, implements the steps of the automated driving overtaking lane change adaptive control method.
According to the automatic driving overtaking lane change self-adaptive control method, the system, the electronic equipment and the storage medium, overtaking lane change longitudinal control parameters are optimized by combining the driving state of the vehicle and the road environment, different lane change control strategies are adopted according to different lane change scenes, and the overtaking lane change driving is guaranteed to have good vehicle control safety and comfortable lane change experience.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an autonomous passing lane change process;
FIG. 2 is a flow chart of an embodiment of an automatic lane change adaptive control method for overtaking in driving according to the present invention;
FIG. 3 is a flow chart of an embodiment of an automatic cut-in lane change redundancy control strategy provided by the present invention;
FIG. 4 is a block diagram of an automatic lane-changing adaptive control system for automatic driving and overtaking according to the present invention;
FIG. 5 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 6 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, which is a schematic diagram of an embodiment of an automatic driving overtaking lane change process, an ALC system optimizes lateral and longitudinal control parameters of a vehicle in the overtaking lane change by judging a first target state of driving in front of the vehicle, a second target state of driving in front of an adjacent lane, a third target state of driving in back of the adjacent lane, a road environment and information of the driving state of the vehicle, and adopts different lane change control strategies according to different lane change scenes, so as to ensure that the overtaking lane change driving has better vehicle control safety and comfortable lane change experience, and simultaneously ensure that the vehicle has better acceleration response after lane change.
Fig. 2 is a flowchart of an automatic lane change adaptive control method for overtaking in driving, as shown in fig. 2, the method includes: after the vehicle is judged to be overtaking and changing the lane, when the set lane changing vehicle speed Vset is larger than the vehicle speed V before lane changing, whether the current driving scene of the vehicle is a straight lane or not is judged.
If so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, the vehicle longitudinal acceleration is calculated from the deviation between Vset and V, the curve radius, the curve direction and the lane-change direction.
And controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
The invention provides an automatic driving overtaking lane change auxiliary self-adaptive control method, which optimizes overtaking lane change longitudinal control parameters by combining the driving state of a self vehicle and the road environment, and adopts different lane change control strategies according to different lane change scenes to ensure that overtaking lane change driving has better vehicle control safety and comfortable lane change experience.
Example 1
Embodiment 1 provided by the present invention is an embodiment of an automatic driving overtaking lane change adaptive control method provided by the present invention, and as can be seen by referring to fig. 2, the embodiment of the adaptive control method includes:
step 1, when the vehicle is judged to have the overtaking lane change requirement, whether the lane change condition is met is judged according to the environment information and the running state of the vehicle, if so, the step 2 is carried out, and if not, the step 3 is carried out.
In specific implementation, after the NOA function of the vehicle is started to drive, if the NOA system judges that a passing lane changing request exists or a driver requests the passing lane changing through a steering deflector rod, the ALC system judges the lane changing condition according to the environmental information input by the sensor and the driving state of the vehicle, and if the NOA system does not judge that the passing lane changing request exists, the ALC system executes stable following driving and does not execute lane changing operation.
If the ALC judges that the lane change condition is met, the ALC system plans a lane change path and judges the deviation between the cruising speed Vset set by the NOA function and the speed V of the self-vehicle before lane change, if the NOA sets that the cruising speed Vset is greater than the speed V of the self-vehicle before lane change, the overtaking control parameters are adaptively optimized according to the driving scene, if the driving scene is a straight lane, straight lane overtaking lane change control is started, and if not, curve overtaking lane change control is carried out. And if the NOA set speed Vset is smaller than the speed V of the bicycle before lane changing, realizing constant-speed lane changing according to the lane changing path. The method specifically comprises the following steps:
and 2, executing overtaking lane change, judging whether the set lane change vehicle speed Vset is greater than the vehicle speed V before lane change, otherwise, executing step 201, and executing step 202 if yes.
Step 201, controlling the vehicle to carry out uniform-speed overtaking lane changing.
Step 202, judging whether the current driving scene of the vehicle is a straight road, if so, performing step 20201, and otherwise, performing step 20202.
And 20101, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, and controlling the vehicle to overtake and change the lane according to the calculated longitudinal acceleration of the vehicle.
In one possible embodiment, the current driving scene of the vehicle is judged to be a straight road, and the lane changing process is divided into two stages of lane changing in the same direction and reverse returning in the process of calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the lane line and the heading angle of the vehicle:
in the same-direction lane changing stage, the speed of the driving path before lane changing is kept unchanged.
In the reverse correction stage, calculating to obtain a second longitudinal acceleration of the vehicle according to an included angle alpha between the self-vehicle course angle and the lane line and the first longitudinal acceleration, and controlling the vehicle to run by adopting the second longitudinal acceleration; the determination of the first longitudinal acceleration comprises: the deviation between Vset and V is used as an input to the PID controller, which combines a vehicle dynamics model with a PID control method to calculate the acceleration required of the vehicle to reach Vset.
In one possible embodiment, the method for calculating the second longitudinal acceleration of the vehicle according to the first longitudinal acceleration and the included angle alpha between the heading angle of the vehicle and the lane line comprises the following steps:
and establishing a corresponding relation table of an included angle alpha between the self-vehicle course angle and the lane line and the value of the first longitudinal acceleration running environment coefficient.
And determining a corresponding first longitudinal acceleration running environment coefficient according to the current included angle alpha value.
The first longitudinal acceleration is multiplied by the first longitudinal acceleration running environment coefficient to obtain a second longitudinal acceleration.
Specifically, during the straight-lane overtaking process, the cruise speed Vset set by the NOA function is larger than the speed V of the vehicle before lane changing, and the longitudinal acceleration of the vehicle is adaptively calculated according to the information such as the deviation between the Vset and the V, the lane line, the heading angle of the vehicle and the like. Firstly, calculating a first longitudinal acceleration required by a vehicle to reach a set speed according to a deviation between the vehicle Vset and the vehicle V as an input quantity of a PID controller by combining a vehicle dynamic model and a PID control method; then, according to the lane changing process divided into two stages of lane changing in the same direction and lane returning in the reverse direction, in the lane changing stage of the first half section, the speed of a driving path before lane changing is kept unchanged, namely the longitudinal acceleration is 0 (longitudinal acceleration 1 multiplied by 0%), in the lane returning stage of the second half section, the second longitudinal acceleration of the vehicle is adaptively adjusted according to the included angle alpha between the heading angle of the vehicle and the lane line and the first longitudinal acceleration, namely the actual second longitudinal acceleration of the vehicle is obtained by multiplying the required first longitudinal acceleration by a first driving environment coefficient according to the value set in the table, and the actuator layer calculates the output quantity of the motor torque according to the second longitudinal acceleration to complete the actual lane changing longitudinal control of the vehicle.
As shown in the following table 1, a table of correspondence between an included angle α between a vehicle heading angle and a lane line and a value of a first longitudinal acceleration running environment coefficient according to an embodiment of the present invention is provided.
Table 1: corresponding relation table of included angle alpha between self-vehicle course angle and lane line and value of first longitudinal acceleration running environment coefficient
And calculating other numerical values of the self-vehicle course angle and the lane line included angle alpha out of the table 1 by adopting an interpolation method to obtain a corresponding first longitudinal acceleration running environment coefficient.
Step 20102, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, the radius of the curve, the direction of the curve and the lane changing direction, and controlling the vehicle to overtake and change the lane according to the calculated longitudinal acceleration of the vehicle.
In one possible embodiment, determining that the current driving scene of the vehicle is not a straight road, the calculating of the longitudinal acceleration of the vehicle from the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of lane change comprises:
when the curve direction and the lane change direction are determined to be in the reverse direction, the vehicle longitudinal acceleration is set to 0.
When the curve direction and the lane changing direction are judged to be the same direction, a corresponding relation table of the curve radius and the value of the second longitudinal acceleration running environment coefficient is established; determining a corresponding second longitudinal acceleration running environment coefficient according to the value of the current curve radius; and multiplying the second longitudinal acceleration by the second longitudinal acceleration running environment coefficient to obtain a third longitudinal acceleration, and controlling the running of the vehicle by adopting the third longitudinal acceleration.
In the curve overtaking optimization control process, when overtaking and changing lanes in a curve, the curve curvature, the curve direction and the lane changing direction are added on the straight lane changing overtaking control to optimize the longitudinal acceleration control, and the third longitudinal acceleration of the real vehicle in the curve scene is obtained by multiplying the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient. When the curve direction and the lane changing direction are opposite, the driving environment coefficient of the second longitudinal acceleration is 0 percent, and the third longitudinal acceleration of the real vehicle is 0 percent, namely the constant-speed lane changing is kept; when the direction of the curve is the same as the lane changing direction, the actual third longitudinal acceleration is obtained by multiplying the second longitudinal acceleration running environment coefficient on the basis of the second longitudinal acceleration according to the radius of the curve, and the actuator layer calculates the torque output quantity of the motor according to the third longitudinal acceleration to finish the actual lane changing control of the vehicle.
Table 2 below shows a table of correspondence between the radius of the curve and the value of the second longitudinal acceleration running environment coefficient according to an embodiment of the present invention.
Table 2: correspondence table of values of curve radius and second longitudinal acceleration running environment coefficient
And for other values of the radius m of the curve outside the table 2, calculating by adopting an interpolation method to obtain a corresponding second longitudinal acceleration running environment coefficient.
In a possible embodiment mode, in order to ensure the safety and the flexibility in the lane changing process of the vehicle, the automatic overtaking lane changing redundancy control strategy is carried out in real time according to different lane changing driving scenes. Fig. 3 is a flowchart illustrating an embodiment of the redundancy control strategy for automatic overtaking and lane changing according to the present invention. As can be seen from fig. 3, the automatic passing lane change redundancy control strategy includes:
and step 2, controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle, and judging whether a new collision risk exists in the lane changing process in real time.
And if the lane change is not finished, the lane change is continuously carried out until the lane change is finished, and the lane change process is finished.
When the vehicle lane changing control system exists, the real vehicle control is carried out according to the lane changing progress of the current vehicle: if the lane line of the vehicle crossing the lane change side is smaller than the set proportion, judging whether the vehicle can return to the original lane, if so, interrupting the lane change progress to control the vehicle to return to the original lane, and if not, adjusting the vehicle to run in parallel with the lane line and then finishing the lane change process; if the vehicle crosses the lane line on the lane changing side at the moment and is larger than or equal to the set proportion, the lane changing process is finished after the vehicle is aligned to run in parallel with the lane line.
In the specific implementation, firstly, safe lane changing is carried out according to target lane and own vehicle information, if the lane changing is finished at the moment, the overtaking lane changing function is quitted, if the lane changing is not finished, whether new collision risks exist in the lane changing process is judged, if the new collision risks do not exist, the lane changing is continuously carried out until the lane changing is finished, and if the collision risks exist, real vehicle control is carried out according to the lane changing progress of the vehicle at the moment. And if the vehicle crosses the lane line on the lane changing side at the moment and is less than 70 percent, judging whether the vehicle can return to the original lane, if so, interrupting the lane changing progress to control the vehicle to return to the original lane, and if not, continuously adjusting the vehicle to run in parallel with the lane line for 2 s. If the vehicle crosses the lane line on the lane change side more than 70%, the vehicle is adjusted to run parallel to the lane line for 2 s.
The safety risks existing in lane change include scenes that vehicles behind a target lane in the overtaking lane change suddenly accelerate, vehicles in front of the target lane in the overtaking lane change suddenly decelerate, vehicles at intervals in the overtaking lane change suddenly drive to the target lane, static vehicles exist in front of the target lane and the like.
And the cross-line judgment condition is that the positions of the body and the lane line of the self-vehicle are calculated according to the kinematics of the vehicle and the geometric dimension of the body.
Step 3, judging whether the lane change condition is met after the vehicle running speed is adjusted within a set range: if yes, executing step 2; otherwise, go to step 301.
And 301, waiting for overtaking and lane changing, and judging not to execute overtaking and lane changing when the overtaking and lane changing are waited for exceeding the set time length and the lane changing condition is not met after the vehicle running speed is adjusted within the set range.
Specifically, when the lane change condition is judged not to be met in the step 1, the ALC system judges whether the lane change condition can be met by adjusting the driving speed of the vehicle (+ -10% range), if the lane change condition can be met by adjusting the driving speed of the vehicle before lane change, the lane change operation is continuously executed, otherwise, the ALC system judges whether the lane change time exceeds 10s, if the waiting time exceeds 10s, the lane change function is quitted, stable following driving is executed, and if not, the ALC system continuously judges whether the lane change condition can be met by changing the driving state of the vehicle.
Example 2
Embodiment 2 of the present invention is an embodiment of an automatic driving overtaking lane change adaptive control system provided by the present invention, fig. 4 is a structural diagram of an automatic driving overtaking lane change adaptive control system provided by the embodiment of the present invention, and it can be known by referring to fig. 4 that the embodiment of the adaptive control system includes: the system comprises three parts, namely a perception input layer, a decision control layer and an execution layer. The embodiment of the invention mainly aims to provide an innovative idea of a decision control layer, which mainly comprises lane changing strategies under different lane changing driving scenes and transverse and longitudinal control parameters in the lane changing process.
The perception input layer is used for acquiring environment perception information of the environment where the vehicle is located.
In specific implementation, the perception input layer outputs a lane line in front of a vehicle and distance/speed/category information of a first target in front of the vehicle by using a front-view camera, outputs speed/distance/azimuth information of a first target in front of a self lane by using a front-view millimeter wave radar, outputs distance/speed/azimuth information of a second target in front of an adjacent lane and a third target behind the adjacent lane by using a front-back angle radar, and realizes the perception of the driving environment around the self vehicle by using a multi-sensor fusion method.
The decision control layer is used for judging whether a current driving scene of the vehicle is a straight road or not when a set lane changing vehicle speed Vset is greater than a vehicle speed V before lane changing after the vehicle is about to overtake and change lanes based on the environment perception information; if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, the vehicle longitudinal acceleration is calculated from the deviation between Vset and V, the curve radius, the curve direction and the lane-change direction.
In specific implementation, the decision control layer adaptively selects a lane change control strategy according to environment perception information output by the perception input layer and by combining the running state of the vehicle and the NOA functional state, and calculates the control parameters of the longitudinal acceleration and the transverse rotation angle of the vehicle.
And the execution layer is used for controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
In specific implementation, the execution layer calculates the actual driving torque or deceleration braking force of an acceleration motor of the vehicle and the lateral control torque of a steering wheel and the like according to the lateral and longitudinal control parameters and the vehicle dynamic model to complete the overtaking lane-changing running of the vehicle.
It can be understood that the automatic driving overtaking lane changing adaptive control system provided by the present invention corresponds to the automatic driving overtaking lane changing adaptive control method provided by the foregoing embodiments, and the relevant technical features of the automatic driving overtaking lane changing adaptive control system may refer to the relevant technical features of the automatic driving overtaking lane changing adaptive control method, and are not described herein again.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 5, an embodiment of the present invention provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320, where the processor 1320 executes the computer program 1311 to implement the following steps: judging whether the current driving scene of the vehicle is a straight road or not when the set lane change speed Vset is greater than the speed V before lane change after the vehicle is judged to overtake and change the lane; if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the radius of the curve, the direction of the curve and the lane change direction; and controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
Referring to fig. 6, fig. 6 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 6, the present embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored, which computer program 1411, when executed by a processor, implements the steps of: judging whether the current driving scene of the vehicle is a straight road or not when the set lane change speed Vset is greater than the speed V before lane change after the vehicle is judged to overtake and change the lane; if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, the radius of the curve, the direction of the curve and the lane change direction; and controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
According to the self-adaptive control method, the system, the electronic equipment and the storage medium for automatically driving overtaking and changing the lane, the cruising speed, the deviation of the speed of the vehicle before lane changing, the heading angle of the vehicle and the included angle of a lane line are set according to the NOA function in the overtaking and changing process to adaptively calculate the acceleration of overtaking and changing the lane, so that the overtaking and changing driving is ensured to have better vehicle control and comfortable lane changing experience, and meanwhile, the better acceleration response after the vehicle changes the lane can be ensured. The straight lane overtaking lane change control is mainly used for adaptively optimizing overtaking lane change acceleration according to a straight lane driving environment and adaptively adjusting the longitudinal acceleration of a vehicle according to a lane change stage, a course angle and a lane line included angle; the curve overtaking lane change control is mainly used for adaptively optimizing overtaking lane change acceleration according to the curve running environment and adaptively adjusting the longitudinal acceleration of the vehicle according to the lane change direction, the curve direction and the curve radius; different control strategies can be selected according to the lane changing driving environment and the lane changing progress, and the reliability of the lane changing process is guaranteed.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An adaptive control method for lane change in automatic driving and overtaking, characterized in that the adaptive control method comprises:
judging whether the current driving scene of the vehicle is a straight road or not when the set lane change speed Vset is greater than the speed V before lane change after the vehicle is judged to overtake and change the lane;
if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, the radius of the curve, the direction of the curve and the lane change direction;
and controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
2. The adaptive control method according to claim 1, wherein the process of determining that the vehicle is about to perform lane change includes:
when the vehicle is judged to have the overtaking lane change requirement, whether the lane change condition is met is judged according to the environment information and the running state of the vehicle:
if yes, executing overtaking lane change;
otherwise, judging whether the lane change condition is met after the running speed of the vehicle is adjusted within a set range: if yes, executing overtaking lane change; and otherwise, waiting for overtaking lane changing, and judging not to execute the overtaking lane changing when the overtaking lane changing exceeds the set time length and the lane changing condition is not met after the running speed of the vehicle is adjusted within the set range.
3. The adaptive control method according to claim 1, wherein after determining that the vehicle is about to perform a passing lane change, the vehicle is controlled to perform a constant speed passing lane change when the set lane change vehicle speed Vset is not greater than the pre-lane change vehicle speed V.
4. The adaptive control method according to claim 1, wherein in the process of judging that the current driving scene of the vehicle is a straight road and calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, a lane line and a heading angle of the vehicle, the lane changing process is divided into two stages of lane changing in the same direction and lane returning in the opposite direction:
in the same-direction lane changing stage, the speed of a driving path before lane changing is kept unchanged by the vehicle;
in the reverse return stage, calculating to obtain a second longitudinal acceleration of the vehicle according to an included angle alpha between the self-vehicle course angle and the lane line and the first longitudinal acceleration, and controlling the vehicle to run by adopting the second longitudinal acceleration; the determination of the first longitudinal acceleration comprises: the acceleration required for the vehicle to reach Vset is calculated using the deviation between Vset and V as an input to the PID controller in conjunction with a vehicle dynamics model and a PID control method.
5. The adaptive control method according to claim 4, wherein the method for calculating the second longitudinal acceleration of the vehicle according to the first longitudinal acceleration and the included angle α between the heading angle of the vehicle and the lane line comprises:
establishing a corresponding relation table of an included angle alpha between the self-vehicle course angle and the lane line and the value of the first longitudinal acceleration running environment coefficient;
determining the corresponding first longitudinal acceleration running environment coefficient according to the current included angle alpha;
multiplying the first longitudinal acceleration by the first longitudinal acceleration running environment coefficient to obtain the second longitudinal acceleration.
6. The adaptive control method according to claim 5, wherein the determination that the current driving scene of the vehicle is not a straight road, and the calculating of the longitudinal acceleration of the vehicle from the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of lane change comprises:
when the direction of the curve and the lane change direction are judged to be reverse, the longitudinal acceleration of the vehicle is set to be 0;
when the curve direction and the lane changing direction are judged to be the same direction, a corresponding relation table of the curve radius and the value of the second longitudinal acceleration running environment coefficient is established; determining a corresponding second longitudinal acceleration running environment coefficient according to the value of the current curve radius; and multiplying the second longitudinal acceleration by the second longitudinal acceleration running environment coefficient to obtain a third longitudinal acceleration, and controlling the running of the vehicle by adopting the third longitudinal acceleration.
7. The adaptive control method according to claim 1, wherein in the process of controlling the vehicle to overtake and change the lane according to the calculated longitudinal acceleration of the vehicle, whether a new collision risk exists in the lane changing process is judged in real time;
if the lane change is not finished, the lane change is continuously carried out until the lane change is finished, and the lane change process is finished;
when the vehicle lane changing control system exists, the real vehicle control is carried out according to the lane changing progress of the current vehicle: if the lane line of the vehicle crossing the lane change side is smaller than the set proportion, judging whether the vehicle can return to the original lane, if so, interrupting the lane change progress to control the vehicle to return to the original lane, and if not, adjusting the vehicle to run in parallel with the lane line and then finishing the lane change process; if the vehicle crosses the lane line on the lane changing side at the moment and is larger than or equal to the set proportion, the lane changing process is finished after the vehicle is aligned to run in parallel with the lane line.
8. An autonomous driving overtaking lane change adaptive control system, the adaptive control system comprising: a perception input layer, a decision control layer and an execution layer;
the perception input layer is used for acquiring environment perception information of the environment where the vehicle is located;
the decision control layer is used for judging whether the current driving scene of the vehicle is a straight road or not when the set lane change vehicle speed Vset is greater than the vehicle speed V before lane change after the vehicle is judged to be overtaking and lane change based on the environment perception information; if so, calculating the vehicle longitudinal acceleration based on the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between the Vset and the V, the radius of the curve, the direction of the curve and the lane change direction;
and the execution layer is used for controlling the vehicle to carry out overtaking lane changing according to the calculated longitudinal acceleration of the vehicle.
9. An electronic device comprising a memory, a processor for implementing the steps of the automated driving overtaking lane change adaptive control method according to any one of claims 1-7 when executing a computer management-like program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management-like program that, when executed by a processor, performs the steps of the autonomous driving overtaking lane change adaptive control method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117246333A (en) * | 2023-11-16 | 2023-12-19 | 北京航空航天大学 | Vehicle driving braking demand prediction method based on near-field predictive information |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117246333A (en) * | 2023-11-16 | 2023-12-19 | 北京航空航天大学 | Vehicle driving braking demand prediction method based on near-field predictive information |
| CN117246333B (en) * | 2023-11-16 | 2024-01-16 | 北京航空航天大学 | Vehicle driving braking demand prediction method based on near-field predictive information |
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