CN116142194A - Personification channel changing decision method - Google Patents
Personification channel changing decision method Download PDFInfo
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- CN116142194A CN116142194A CN202310246490.2A CN202310246490A CN116142194A CN 116142194 A CN116142194 A CN 116142194A CN 202310246490 A CN202310246490 A CN 202310246490A CN 116142194 A CN116142194 A CN 116142194A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention belongs to the technical field of automobiles, and particularly relates to an anthropomorphic lane change decision method. Comprising the following steps: 1. selecting an optimal lane; 2. if the lane change intention is generated, selecting one of three behaviors of waiting for lane change, overtaking and lane change, and generating a path and a speed of the host vehicle according to the state of the vehicle; 3. and evaluating the benefit index, wherein the benefit comprises speed benefit and safety benefit. The lane change process is divided into lane change execution stages 1 and 2 and lane change preparation stage, the driving schemes of overtaking and waiting for lane change are considered to enter a lane change decision system, different driving schemes are provided for automatic lane change, the determining process of the lane change opportunity is determined in an event triggering mode, and finally, a dynamic game model is established between the lane change process and the rear vehicle through the determination of a potential conflict area, so that the safe and efficient performance of interaction between the two vehicles is ensured.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an anthropomorphic lane change decision method.
Background
With the rapid development of intelligent automobiles, lane changing is an indispensable driving behavior in an intelligent automobile decision system. The lane change decision of the quasi-human is very important for the intelligent automobile to be capable of efficiently running in urban environment. And the decision model needs to be able to guarantee interactions between vehicles in complex traffic environments.
The existing lane change decision method has the defect that the time for returning to the original lane is insufficient in lane change, does not consider whether the state of overtaking lane change is available in lane change, and can slow down to change the lane when the space of the front lane change is insufficient in lane change.
Disclosure of Invention
The invention provides an anthropomorphic lane change decision method, which divides a lane change process into a lane change execution stage 1, a lane change execution stage 2 and a lane change preparation stage, considers the driving schemes of overtaking and waiting for lane change into a lane change decision system, provides different driving schemes for automatic driving lane change by selecting overtaking and waiting for lane change conditions according to the current traffic scene, determines the determination process of lane change time in an event triggering manner, and finally establishes a dynamic game model with a rear vehicle by determining a potential conflict area, thereby ensuring the safe and efficient implementation of interaction between the two vehicles.
The technical scheme of the invention is as follows in combination with the accompanying drawings:
an anthropomorphic lane change decision method comprises the following steps:
step one, selecting an optimal lane;
step two, if the lane change intention is generated, selecting one of three behaviors of waiting for lane change, overtaking and lane change, and generating a path and a speed of the host vehicle according to the state of the vehicle;
and thirdly, evaluating the benefit index, wherein the benefit comprises speed benefit and safety benefit.
Further, the specific method of the first step is as follows:
11 Selecting a lane according to the distance between the traffic participant in each lane in front of the host vehicle and the speed of the vehicle in front;
the evaluation of the lane is determined by the following equation:
in the formula ,
evaluating a function for the speed of the candidate lane; />
The speed of the nearest traffic participant positioned in front of the main vehicle on the waiting lane; v (V) traffic Is the speed limit of traffic regulations; candidate lane ID is a lane candidate ID;
a spatial evaluation function for the candidate lane; />
The distance between the nearest traffic participant and the host vehicle is the distance between the host vehicle and the front of the host vehicle on the candidate lane; d (D) sensor Distance which is the range of the sensor; />
A driving load function for the candidate lane; i.e lane Numbering of candidate lanes for evaluation; />
Numbering lanes of the host vehicle；/>
The sum of cost functions of the candidate lanes;
12 The largest candidate lane in the sum of the substitution function is the target lane Opt ID and is input into the decision of the driving behavior.
Further, the specific method of the second step is as follows:
when the channel changing intention is generated, if the channel changing space is insufficient, and the channel can not be changed, selecting to wait for channel changing; if the space for changing the channel is enough, selecting to change the channel; if the host vehicle is located behind the interacting traffic participants, an overtaking is selected.
Further, when the behavior waiting for lane change is selected, the path of the host vehicle is the center line of the host lane, and the speed of the host vehicle is calculated by the following formula:
V wait ＝max[V wait ,V traffic ]
in the formula ,DF1 The distance from the main vehicle to the front vehicle; v (V) wait Planning speed for waiting for channel changing stage; t is t Delay Brake reaction time for the driver; a, a pd Acceleration for braking the main vehicle; v (V) F1 The speed of the overtaking vehicle; a, a pdmax Maximum braking acceleration for the overtaken vehicle; d (D) stop The distance between two vehicles after the two vehicles are braked; v (V) traffic Vehicle speed as planned for the regulations.
Further, when the lane change behavior is selected, lane change preparation and lane change execution actions are executed;
Executing a lane change preparation action stage, wherein the path of the main vehicle is the center line of the main lane; the space size for preparing channel change is D pre ＝V ego t pre； in the formula ,Vego The speed of the main vehicle; t is t pre The time for preparation of the lane change;
when the channel changing execution action stage is executed, firstly calculating the channel changing required distance, and executing the channel changing execution action after the channel changing distance of the main vehicle meets the channel changing required distance;
the distance required by channel change is obtained through the following calculation;
in the formula ,DLC The size of the space required for the track change; v (V) ego Is the speed of the host vehicle; t (T) LC The lane change time of the main vehicle is set to be 4s; d (D) LC,limit Space required for minimum lane change;
the global coordinate system for the start and end of a track change is obtained by:
in the formula ,
is the starting position of the channel change; s is S ego Projecting the position of the host vehicle to a road coordinate system; />
Is the end position of the channel change;
determining the start position of a lane change
End position +.>
Then, generating a path for channel change through a cubic polynomial, and obtaining the path through the following formula:
y＝a 3 x 3 +a 2 x 2 +a 1 x+a 0
in the formula ,x0 The abscissa of the lane change starting position; y is 0 Is the ordinate of the start position of the channel change;
the course angle is the course angle of the lane change starting position; x is x d The abscissa of the lane change ending point; y is d Is the ordinate of the lane change end point; />
The course angle is the course angle of the lane change ending point;
The lane change execution action stage comprises a lane change execution stage 1 and a lane change execution stage 2;
in the lane change execution stage 1, the host vehicle does not enter a lane 1 which wants to change the lane, and the host vehicle determines the preemption or the departure of the road right through the game between the host vehicle and a rear vehicle B1 on the lane 1; when the main vehicle is in the lane change execution stage 1 and the game result is that the main vehicle is allowed to travel, the main vehicle enters a stage of returning to the original lane so as to avoid collision of the two vehicles; d requirement of main vehicle entering side lane A >W lane Wherein D is A The distance between the corner A of the main vehicle and the center reference line of the lane; w (W) lane The width of the lane where the current main vehicle is located;
the distance required for returning to the original lane is D MB ＝V ego ·T MB, in the formula ,Sego Position projected in road coordinates for host vehicle；T MB Time for returning to the original lane;
returning to the initial position of the original lane
And return to the end position of the original lane +.>
The following are provided:
in the formula ,xego The abscissa of the current position of the main vehicle; y is ego Is the ordinate of the current position of the main vehicle;
the heading angle of the current position of the main vehicle;
when the vehicle is in a stage of returning to the original lane, the speed is planned to be determined according to the position and the movement state of the traffic participant on the original lane; the method comprises the following steps:
V RB ＝max[V RB ,V traffic ]
in the formula ,DF1 Distance of the front vehicle of the main lane; v (V) RB Planning a speed for returning to the original lane;
in the lane change execution stage 2, the host vehicle enters a stage in a potential conflict area, and the stage in the potential conflict area does not play games with the following vehicle;
the speed of the main vehicle is calculated by the following formula:
V wait ＝max[V wait ,V traffic ]
in the formula ,DF1 The distance from the main vehicle to the front vehicle; v (V) wait Planning speed for waiting for channel changing stage; t is t Delay Brake reaction time for the driver; a, a pd Acceleration for braking the main vehicle; v (V) F1 The speed of the overtaking vehicle; a, a pdmax Maximum braking acceleration for the overtaken vehicle; d (D) stop The distance between two vehicles after the two vehicles are braked; v (V) traffic Vehicle speed as planned for the regulations.
Further, when the behavior of overtaking is selected, the lane center line of the main vehicle is planned to be used as a reference path; a target position S is set first target The method comprises the steps of carrying out a first treatment on the surface of the Reaching the target position S target Then, transferring to lane changing preparation and lane changing execution;
the target position S target The method is characterized by comprising the following steps:
D Bsafe ＝L car +D F1safe
S target ＝S F1 +D Bsafe
in the formula ,DBsafe The safety distance between the current speed of the main vehicle and the overtaken vehicle is set; l (L) car The vehicle contour length for the overtaking vehicle; d (D) F1safe The safety distance between the current speed of the main vehicle and the overtaken vehicle is set; v (V) Opt The speed of the vehicle is selected for the overtaking behavior of the host vehicle; s is S F1 The projection of the overtaking vehicle to the road coordinate system;
The speed planning at the overtaking stage is obtained by the following formula:
V overtaking ＝max[V overtaking ,V traffic ]
in the formula ,DF2 Is the distance between the host vehicle and the nearest vehicle in front of the host lane; v (V) overtaking The speed of the vehicle planned for overtaking; v (V) F2 The vehicle speed of the nearest vehicle to the host vehicle in front of the host lane.
Further, the method for determining the overtaking behavior is as follows:
if the main vehicle generates intention of lane changing leftwards and the traffic scene in front can meet the overtaking condition, generating overtaking intention without selecting lane changing to be carried out to follow the rear of the traffic vehicle F1; generating an intent to cut-in when the location of the host vehicle is behind the interacting traffic participants;
when the traffic vehicles F2 and F3 exist in the main vehicle lane and the overtaking lane, the possibility of reaching the target overtaking position is limited by the space between the speeds of the traffic vehicles F2 and F3 and the target position, so overtaking is not selected;
constraint on overtaking acceleration at [0, a ] max ]N equal division and dispersion are carried out on acceleration in the constraint range in order to solve whether a feasible solution exists in the range of overtaking acceleration, overtaking is selected if the feasible solution exists, and overtaking is not selected if the feasible solution does not exist;
the time required by the host vehicle to reach different accelerations required by the overtaking to reach the target position can be obtained through the following steps;
V opt ＝V ego +a opt t
S target -S ego ＝(V ego -V F1 )t+(a opt -a F1 )t 2 /2
in the formula ,Vopt The speed of the main vehicle reaching the target position; v (V) ego The speed of the main vehicle; a, a opt Overtaking acceleration selected for the host vehicle; t is the time of overtaking; a, a F1 Is the longitudinal acceleration of the overtaking vehicle F1;
due to the constraints of the front traffic vehicle F2 and the traffic vehicle F3, the host vehicle is capable of being at timet reaches the target position beyond the overtaken vehicle F1, but still needs to meet the safe distance from the vehicle in front; if the limit of the preceding vehicle is not satisfied, the selected acceleration a is described opt Is not feasible; when a feasible acceleration space is traversed and feasible acceleration exists, the overtaking behavior can be determined, and the feasibility of the overtaking behavior is judged through an algorithm 1;
the judgment method of the algorithm 1 is as follows:
11 Calculating the target position S target ；
12 If the projection S of the position of the traffic vehicle F3 to the road coordinate system F3 >S target And projection S of the position of the traffic vehicle F2 onto the road coordinate system F2 >S target Step 13) is executed;
13 By selecting acceleration a of overtaking i Calculate option a i As the overtaking time t under overtaking acceleration i, wherein ,ai ∈[0,a max ](i＝1,2,…n)
14 Calculation of (c)
wherein ,/>
Projecting the position of the main vehicle at the current moment to a road coordinate system; />
The longitudinal speed of the main vehicle at the current moment; t is t i To choose a i As the overtaking time under overtaking acceleration; />
The longitudinal acceleration of the main vehicle at the current moment;
15 Through a) a process of
Obtain->
16 Through a) a process of
Obtain->
wherein ,/>
At the overtaking time t for the traffic vehicle F2 i Then, the position is projected to a road coordinate system; />
To be at overtaking time t i Then, projecting the position reached by the main vehicle to a road coordinate system;
17 Through a) a process of
Obtain->
wherein ,/>
At the overtaking time t for the traffic vehicle F3 i Then, the position is projected to a road coordinate system;
18 Through a) a process of
Obtain->
wherein ,/>
To be at overtaking time t i The distance between the traffic vehicle F2 and the host vehicle;
19 Through a) a process of
Obtain->
wherein ,/>
To be at overtaking time t i The distance between the traffic vehicle F3 and the host vehicle;
110 If (1)
Step 111) is performed;
111 If (1)
Step 112) is performed; otherwise, go to step 113
112 Overtaking;
113 No overtaking.
Further, the method for determining the channel change behavior is as follows:
when the target lane is not the main lane, generating a lane change intention; but the driving scheme of lane change is determined by algorithm 2; firstly, determining whether lane change can be performed in a overtaking mode; if the lane change can not be realized through overtaking, judging whether the lane change space is enough, and if the lane change space can meet the lane change requirement of the host vehicle, entering the lane change intention; if the lane changing space cannot be met, selecting the lane changing intention when the waiting space of the main vehicle lane is large enough; the way of channel switching is determined by a conditional triggering way, and the channel switching time is also determined;
The judging method of the algorithm 2 is as follows:
21 Judging whether overtaking is carried out;
22 A) predicting the front vehicle of the side lane, wherein the predicting method comprises the following steps:
23 If the result of the judgment in the step 21) is that the overtaking is selected, overtaking is carried out, otherwise, the step 24) is operated;
24 If the condition is satisfied
Then the act of waiting for a lane change is performed or else step 25) is performed;
25 A lane change intention is performed.
Further, during lane changing, when the host vehicle interacts with the rear vehicle, the potential conflict area is determined by the position of the host vehicle; the speed plan of the host vehicle during lane change is determined by a traffic participant in front of the target lane, namely a traffic vehicle F1; the calculation of the time for the rear vehicle B1 to reach the potential conflict area is determined by the following formula;
ΔT＝(S ego -S B1 )/(V B1 -V ego )
wherein, delta T is the time of the rear vehicle to reach the potential conflict area; s is S ego Projecting the position of the host vehicle to a road coordinate system; s is S B1 The projection of the position B1 of the rear vehicle to road coordinates; v (V) B1 The longitudinal speed of the rear vehicle B1; v (V) ego The longitudinal speed of the main vehicle;
when the speed of the rear vehicle B1 is smaller than that of the main vehicle, no game occurs; when the time of the rear car reaching the conflict area is more than 3s, the game is not generated; only when the speed of the rear vehicle is greater than that of the main vehicle and the time for reaching the conflict area is less than 3s, the main vehicle and the rear vehicle can play games, and the calculation process is shown as an algorithm 3;
The judgment method of the algorithm 3 is as follows:
31 Calculating the time delta T for the vehicle behind the side lane to reach the collision area;
32 If the time to reach the conflict area meets the condition deltat >0& deltat <3, two vehicles are played, the result of the game is output as the intended result, otherwise, step 33 is executed);
33 The intention of the host vehicle is not to let go;
when two are in useWhen the vehicle generates games, the host vehicle calculates the excitation degree of the traffic vehicle according to the motion state of the traffic vehicle to the conflict point; the set of actions of the host vehicle is
The action set of the rear vehicle is
wherein ,/>
The action of letting the host vehicle go; />
The method is a motion that a host vehicle does not run; />
The motion of letting the rear vehicle go; />
The vehicle is not allowed to run;
further, the specific method of the third step is as follows:
two benefit indexes are evaluated, and the two benefit indexes respectively comprise speed benefit and safety benefit:
the speed gain of the host vehicle is as follows:
when the host vehicle is not in lane change, the following steps are carried out:
when the main vehicle selects a strategy of not changing lanes, the main vehicle can continue to run on the original lane and enter a stage of returning to the original lane; the speed planning result returned to the original lane stage is used as the speed benefit for selecting not to overtake, and the speed benefit is obtained through the following formula;
in the formula ,
a benefit of the determined speed for no-cut conditions; v RB The speed benefit is obtained when the host vehicle changes the overtaking execution stage into the stage of returning to the original lane at the time t; v traffic Is the legal speed in the traffic scene;
when the host vehicle selects the lane change strategy:
when the host vehicle selects the strategy of lane changing, the speed benefit is obtained by the following formula:
wherein ,
a benefit of the determined speed for no-cut conditions; v LC The obtained speed; legal speed v in this traffic scenario traffic ＝30m/s；
The speed benefit of the rear vehicle is as follows:
when the rear vehicle is in the avoidance state:
after the host vehicle reaches the conflict area, the rear vehicle reaches the conflict area; therefore, the speed benefit needs to be calculated according to the time of the host vehicle reaching the conflict area, and the speed benefit is obtained through the following formula;
in the formula ,DB1 The traffic participant vehicle closest to the host vehicle behind the host vehicle for the target lane;
when the vehicle is in a rear vehicle running state, the speed of the rear vehicle is high; t is t Delay Brake reaction time for the driver; />
The method comprises the steps that a profit function of the rear vehicle under the condition of robbing is given to the rear vehicle;
when the following car is robbed, the following car is robbed:
when the rear vehicle robs, the speed of the rear vehicle is as follows
Is determined by the distance from the preceding vehicle B1 and the speed of the two vehicles. The rear vehicle will obtain a greater speed, and therefore the speed benefit of the rear vehicle is calculated by the following equation.
in the formula ,DB1-F1 The nearest distance from the rear vehicle to the traffic participant in front of the lane in which the rear vehicle is located;
the method comprises the steps that a profit function of the rear vehicle under the condition of robbing is given to the rear vehicle;
the security benefits of the host vehicle are as follows:
when the intention of the host vehicle is robbery time and the intention of the rear vehicle is robbery time, the safety benefit is obtained by the following formula;
in the formula ,
the method is characterized in that the method is that a main vehicle is in robbery time, and a rear vehicle is a profit function of the main vehicle under the condition that the main vehicle is not in robbery; time of arrival of the vehicle at the collision zone after Δt; TTC (TTC) Threshold A time threshold for interaction of the rear vehicle with the host vehicle;
and the risk benefits of the vehicle need to be normalized; if the time for the host vehicle to reach the conflict area is longer than the time for the following vehicle to reach the conflict area, the obtained safety benefit is lower;
when the intention of the main vehicle is lane change and the intention of the rear vehicle is avoidance, the safety benefit is 1, namely the maximum value; when the intention of the host vehicle is avoidance, no collision occurs with the rear vehicle, so that the safety benefit is 1, and the safety benefit is obtained by the following formula:
in the formula ,
the method is beneficial to the benefits of yielding of the rear vehicle for the main vehicle not to yield; />
The income of the host vehicle when the host vehicle lets the vehicle travel;
the safety benefit of the rear vehicle is as follows:
when the intention of the rear vehicle is not to run, and the intention of the main vehicle is to run robustly, the safe benefit is obtained by the following formula:
in the formula ,
for the rear vehicle not to run and the main vehicle not to run, the benefit function of the rear vehicle is obtained;
when the intention of the rear vehicle is robbery, and the intention of the main vehicle is avoidance, the safety gain is 1, namely the maximum value; when the intention of the rear vehicle is avoidance, no conflict occurs with the main vehicle, so that the safety benefit is 1, and the safety benefit is obtained through the following formula:
in the formula ,
the profit function of the rear vehicle is that the rear vehicle does not run and the main vehicle runs; />
A benefit function of the rear vehicle when the rear vehicle is in a left-over state;
the benefit matrix for both vehicles is as follows:
when the main vehicle gives way and the rear vehicle gives way, the income is
When the host vehicle is out of the way and not out of the way, the benefit is +.>
When the main car changes lanes and the rear car lets the car go, the income is +.>
When the host vehicle changes lanes and does not let the host vehicle run, the benefit is +.>
In policy combination
Hereinafter, S is 11 Policy combination for the main vehicle and the rear vehicle;
the action of letting the host vehicle go; />
The motion of letting the rear vehicle go;
the total benefits of the host vehicle and the rear vehicle are shown below;
in the formula ,
the profit function of the host vehicle is obtained when the host vehicle lets go and the rear vehicle lets go; />
The profit function of the rear vehicle when the main vehicle lets the rear vehicle let the front vehicle run; alpha 1 、β 1 The weight parameter between the speed and the safety coefficient is the main vehicle; alpha 2 ,β 2 The weight parameter between the speed and the safety coefficient of the main vehicle is adopted; the sum of the speed weight and the safety weight is 1; />
The speed benefit of the host vehicle when the host vehicle lets is; />
The safety benefit of the host vehicle when the host vehicle is in the process of letting; />
The speed benefit of the rear vehicle when the rear vehicle is in the process of letting; />
The safety benefit of the rear vehicle when the rear vehicle is allowed to travel is obtained;
in policy combination
Hereinafter, S is 12 When the main car is not allowed to run and the rear car is allowed to runPolicy combination of (a); />
The action of letting the host vehicle go; />
The vehicle is not allowed to run;
the total income of the main car and the rear car is obtained by the following formula:
in the formula ,
the profit function of the host vehicle is obtained when the host vehicle lets go and the rear vehicle does not let go; />
The profit function of the rear vehicle is obtained when the main vehicle is in a driving state and the rear vehicle is not in a driving state; />
The speed benefit when the host vehicle lets is obtained; />
Safety benefit when the host vehicle lets; />
A speed benefit function when the rear vehicle is not in a state of being let out; />
The safety benefit function of the rear vehicle is that the rear vehicle is not allowed to run and the main vehicle is allowed to run;
in the strategyCombination of two or more kinds of materials
Hereinafter, S is 21 The strategy combination is that the main vehicle does not run and the rear vehicle runs; />
The method is a motion that a host vehicle does not run; />
The motion of letting the rear vehicle go;
the total income of the main car and the rear car is obtained by the following formula:
in the formula ,
The method is that the host vehicle does not run, and the benefit function of the host vehicle is that the host vehicle runs when the rear vehicle runs; />
The method is that the main vehicle does not run, and the return function of the rear vehicle is that the rear vehicle runs; />
The speed benefit function is the speed benefit function when the host vehicle is not in the process of letting; />
The method is that the host vehicle does not run, and the rear vehicle is the safety benefit of the host vehicle during running; />
A speed benefit function of the rear vehicle when the rear vehicle is in a driving state; />
A safety benefit function of the rear vehicle when the rear vehicle is allowed to travel;
in policy combination
Hereinafter, S is 22 Policy combination for when the main vehicle is not in the way and the rear vehicle is not in the way +.>
The method is a motion that a host vehicle does not run; />
The vehicle is not allowed to run;
the total income of the main car and the rear car is obtained by the following formula:
in the formula ,
the method is a benefit function of the host vehicle when the host vehicle does not run and the rear vehicle does not run; />
The method is a benefit function of the rear vehicle when the main vehicle does not run and the rear vehicle does not run; />
When the host vehicle is not in a state of being out of the way, the speed gain function of the host vehicle is obtained; />
When the main vehicle is not in the way and the rear vehicle is not in the way, the main vehicleSafety benefit; />
A speed benefit function of the rear vehicle when the rear vehicle is not in a running state; />
The safety benefit function of the rear vehicle is that the main vehicle does not run and the rear vehicle does not run.
The beneficial effects of the invention are as follows:
the invention divides the lane change process into a lane change execution stage 1, a lane change execution stage 2 and a lane change preparation stage, considers the driving scheme of overtaking and waiting for lane change into a lane change decision system, provides different driving schemes for automatic driving lane change by selecting overtaking and waiting for lane change conditions according to the current traffic scene, determines the determining process of the lane change opportunity in an event triggering mode, and finally establishes a dynamic game model with the rear vehicle by determining the potential conflict area, thereby ensuring the safe and efficient performance of the interaction between the two vehicles.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a frame of the present invention;
FIG. 2 is a schematic diagram of a lane selection decision;
FIG. 3 is a schematic diagram of a lane change preparation stage;
FIG. 4a is a schematic diagram of a lane change execution stage;
FIG. 4b is a schematic diagram of the critical position of the lane change execution stage 1;
FIG. 5 is a schematic diagram of a return to the original lane;
FIG. 6 is a schematic diagram of an overtaking process;
FIG. 7a is a schematic illustration of a traffic participant in a side-road lane while in a lane change space;
FIG. 7b is a schematic diagram of waiting for a lane change;
FIG. 8 is a schematic diagram of an overtaking process;
fig. 9 is a schematic diagram of a lane change stage gaming process.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an anthropomorphic channel change decision method comprises the following steps:
referring to fig. 2, step one, selecting an optimal lane;
the specific method comprises the following steps:
selecting a lane according to the distance between a traffic participant in each lane in front of the host vehicle and the speed of the vehicle in front of the host vehicle;
the evaluation of the lane is determined by the following equation:
in the formula ,
evaluating a function for the speed of the candidate lane; />
The speed of the nearest traffic participant positioned in front of the main vehicle on the waiting lane; v (V) traffic Is the speed limit of traffic regulations; candidate lane ID is a lane candidate ID;
a spatial evaluation function for the candidate lane; />
The distance between the nearest traffic participant and the host vehicle is the distance between the host vehicle and the front of the host vehicle on the candidate lane; d (D) sensor Distance which is the range of the sensor; />
A driving load function for the candidate lane; i.e lane Numbering of candidate lanes for evaluation; />
Numbering the lanes in which the host vehicle is located; />
The sum of cost functions of the candidate lanes; omega 1 ，ω 2 ，ω 3 Respectively obtaining weight coefficients of the cost functions;
the largest candidate lane in the sum of the substitution function is the target lane Opt ID and is input into the decision of the driving behavior.
Step two, if the lane change intention is generated, selecting one of three behaviors of waiting for lane change, overtaking and lane change, and generating a path and a speed of the host vehicle according to the state of the vehicle;
The specific method comprises the following steps:
when the lane change intention is generated, if the lane change space is insufficient
wherein ,Sego The method comprises the steps of projecting the position of the vehicle to a road coordinate system; d (D) LC The amount of space required for a change of track, < >>
The method comprises the steps that when a road coordinate system is projected by a traffic participant in front of a side lane in prediction time so that the traffic participant cannot change the road, the traffic participant is selected to wait for changing the road; if the space for changing the channel is enough +.>
Then selecting a lane change; if the host vehicle is located behind the interacting traffic participants, an overtaking is selected.
When the track change intention is generated and the space for the track change is insufficient, the track change waiting stage is entered as shown in fig. 7 (a). When the behavior waiting for lane change is selected, the path of the host vehicle is the center line of the host lane, and the recommended vehicle speed is calculated by the formula (10), as shown in fig. 7 (b).
V wait ＝max[V wait ,V traffic ] (10)
in the formula ,DF1 The distance from the main vehicle to the front vehicle; v (V) wait Planning speed for waiting for channel changing stage; t is t Delay Brake reaction time for the driver; a, a pd Acceleration for braking the main vehicle; v (V) F1 The speed of the overtaking vehicle; a, a pdmax Maximum braking acceleration for overtaken vehiclesA degree; d (D) stop The distance between two vehicles after the two vehicles are braked; v (V) traffic Vehicle speed as planned for the regulations.
When the lane changing behavior is selected, lane changing preparation and lane changing execution actions are executed;
referring to fig. 3, a lane change preparation operation is performed, wherein a path of a host vehicle is a center line of a host lane; the space size for preparing channel change is D pre ＝V ego t pre； in the formula ,Vego The speed of the main vehicle; t is t pre In order to prepare for channel changing, the invention takes the channel changing time as 3s.
When the channel changing execution action stage is executed, firstly calculating the channel changing required distance, and executing the channel changing execution action after the channel changing distance of the main vehicle meets the channel changing required distance;
the distance required by channel change is obtained through calculation of a formula (3);
in the formula ,DLC The size of the space required for the track change; v (V) ego Is the speed of the host vehicle; t (T) LC The lane change time of the main vehicle is set to be 4s; d (D) LC,limit Space required for minimum lane change;
and (3) converting the frenet coordinate system into a Cartesian coordinate system through a formula (4), and solving a global coordinate system of the start and the end of channel change.
in the formula ,
is the starting position of the channel change; s is S ego For the position of the main vehicle to the road coordinate systemProjecting; />
Is the end position of the channel change;
determining the start position of a lane change
End position +.>
Then, generating a path for channel change through a cubic polynomial, and obtaining through a formula (5):
y＝a 3 x 3 +a 2 x 2 +a 1 x+a 0
in the formula ,x0 The abscissa of the lane change starting position; y is 0 Is the ordinate of the start position of the channel change;
the course angle is the course angle of the lane change starting position; x is x d The abscissa of the lane change ending point; y is d Is the ordinate of the lane change end point; />
The course angle is the course angle of the lane change ending point;
the lane change execution action stage comprises a lane change execution stage 1 and a lane change execution stage 2;
referring to fig. 4 (a), in the lane change execution stage 1, the host vehicle has not entered the lane 1 where lane change is desired, and the host vehicle determines to contend or let the right of way through a game with the following vehicle B1 on the lane 1; when the host vehicle is in the lane change execution stage 1 and the game result is to let go, the host vehicle will enter the stage of returning to the original lane so as to avoid the collision of the two vehicles, as shown in fig. 5.
D requirement of main vehicle entering side lane A >W lane 2, D as shown in FIG. 4 (b) A The distance between the corner point A of the main vehicle (the corner point A is the corner point in front of the contour of the vehicle, the corner point in front of the left lane is the corner point in front of the left lane, and the corner point in front of the right lane is the corner point in front of the right lane) and the lane center reference line; w (W) lane The width of the lane where the current main vehicle is located;
the distance required for returning to the original lane is D MB ＝V ego ·T MB, in the formula ,Sego The position of the main vehicle projected under the road coordinates; t (T) MB Time for returning to the original lane;
generating a path returning to the original lane from the current position of the vehicle through a cubic polynomial, and returning to the initial position of the original lane 
And return to the end position of the original lane +.>
The method is obtained by the formula (6):
in the formula ,xego The abscissa of the current position of the main vehicle; y is ego Is the ordinate of the current position of the main vehicle;
is the current position of the host vehicleIs a course angle of (2);
referring to fig. 5, when in the stage of returning to the original lane, the speed is planned to be determined according to the position and movement state of the traffic participant on the original lane; obtained by formula (7):
V RB ＝max[V RB ,V traffic ] (7)
in the formula ,DF1 Distance of the front vehicle of the main lane; v (V) RB Planning a speed for returning to the original lane;
in the lane change execution phase 2, the host vehicle has entered a phase in the potential collision area, which is no longer playing with the following vehicle, as shown in fig. 4 (a): the speed of the main vehicle is calculated by the following formula:
V wait ＝max[V wait ,V traffic ] (10)
in the formula ,DF1 The distance from the main vehicle to the front vehicle; v (V) wait Planning speed for waiting for channel changing stage; t is t Delay Brake reaction time for the driver; a, a pd Acceleration for braking the main vehicle; v (V) F1 The speed of the overtaking vehicle; a, a pdmax Maximum braking acceleration for the overtaken vehicle; d (D) stop The distance between two vehicles after the two vehicles are braked; v (V) traffic Vehicle speed as planned for the regulations.
Further, when the behavior of overtaking is selected, the lane center line of the main vehicle is planned to be used as a reference path; a target position S is set first target As shown in fig. 6; reaching the target position S target Then, transferring to lane changing preparation and lane changing execution;
the target position S target The method is obtained by the formula (8):
D Bsafe ＝L car +D F1safe
S target ＝S F1 +D Bsafe (8)
in the formula ,DBsafe The safety distance between the current speed of the main vehicle and the overtaken vehicle is set; l (L) car The vehicle contour length for the overtaking vehicle; d (D) F1safe The safety distance between the current speed of the main vehicle and the overtaken vehicle is set; v (V) Opt The speed of the vehicle is selected for the overtaking behavior of the host vehicle; s is S F1 The projection of the overtaking vehicle to the road coordinate system;
the speed planning in the overtaking stage is obtained by a formula (9):
V overtaking ＝max[V overtaking ,V traffic ] (9)
in the formula ,DF2 Is the distance between the host vehicle and the nearest vehicle in front of the host lane; v (V) overtaking The speed of the vehicle planned for overtaking; v (V) F2 The vehicle speed of the nearest vehicle to the host vehicle in front of the host lane.
Further, the method for determining the overtaking behavior is as follows:
if the main vehicle generates intention of lane changing leftwards and the traffic scene in front can meet the overtaking condition, generating overtaking intention without selecting lane changing to be carried out to follow the rear of the traffic vehicle F1; generating an intent to cut-in when the location of the host vehicle is behind the interacting traffic participants;
when the traffic vehicles F2 and F3 exist in the main vehicle lane and the overtaking lane, the possibility that the speed of the traffic vehicles F2 and F3 and the space of the target position can limit to reach the target overtaking position can be judged through the algorithm 1, so overtaking is not selected;
Constraint on overtaking acceleration at [0, a ] max ]Within the range of a max The acceleration limit of the main vehicle; n (n takes 10) equal discrete on acceleration in the constraint range to solve whether a feasible solution exists in the overtaking acceleration range, if so, overtaking is selected, and if not, overtaking behaviors cannot be selected;
the time required by the host vehicle to reach different accelerations required by the overtaking to reach the target position can be obtained through the formula (12);
V opt ＝V ego +a opt t
S target -S ego ＝(V ego -V F1 )t+(a opt -a F1 )t 2 /2 (12)
in the formula ,Vopt The speed of the main vehicle reaching the target position; v (V) ego The speed of the main vehicle; a, a opt Overtaking acceleration selected for the host vehicle; t is the time of overtaking; a, a F1 Is the longitudinal acceleration of the overtaking vehicle F1; s is S target The projection of the target position to the road coordinate system can be calculated by a formula (8);
because of the constraints of the front traffic vehicle F2 and the traffic vehicle F3, the host vehicle, although being able to reach the target position at time t, exceeds the overtaken vehicle F1, still needs to satisfy the distance to the front vehicle safety; if the limit of the preceding vehicle is not satisfied, the selected acceleration a is described opt Is not feasible; when a feasible acceleration space is traversed and feasible acceleration exists, the overtaking behavior can be determined, and the feasibility of the overtaking behavior is judged through an algorithm 1;
The judgment method of the algorithm 1 is as follows:
11 Calculating the target position S target ；
12 If the projection S of the position of the traffic vehicle F3 to the road coordinate system F3 >S target And projection S of the position of the traffic vehicle F2 onto the road coordinate system F2 >S target Step 13) is executed;
13 By selecting acceleration a of overtaking i Calculate option a i As the overtaking time t under overtaking acceleration i, wherein ,ai ∈[0,a max ](i＝1,2,…n)
14 Calculation of (c)
wherein ,/>
Projecting the position of the main vehicle at the current moment to a road coordinate system; />
The longitudinal speed of the main vehicle at the current moment; t is t i To choose a i As the overtaking time under overtaking acceleration; />
The longitudinal acceleration of the main vehicle at the current moment;
15 Through a) a process of
Obtain->
16 Through a) a process of
Obtain->
wherein ,/>
At the overtaking time t for the traffic vehicle F2 i Then, the position is projected to a road coordinate system; />
To be at overtaking time t i Then, projecting the position reached by the main vehicle to a road coordinate system;
17 Through a) a process of
Obtain->
wherein ,/>
At the overtaking time t for the traffic vehicle F3 i Then, the position is projected to a road coordinate system;
18 Through a) a process of
Obtain->
wherein ,/>
To be at overtaking time t i The distance between the traffic vehicle F2 and the host vehicle;
19 Through a) a process of
Obtain->
wherein ,/>
To be at overtaking time t i The distance between the traffic vehicle F3 and the host vehicle;
110 If (1)
Step 111) is performed;
111 If (1)
Step 112) is performed; otherwiseStep 113 is performed
112 Overtaking;
113 No overtaking.
Further, the method for determining the channel change behavior is as follows:
when the target lane is not the main lane, generating a lane change intention; but the driving scheme of lane change is determined by algorithm 2; firstly, determining whether lane change can be performed in a overtaking mode; if the lane change can not be realized through overtaking, judging whether the lane change space is enough, and if the lane change space can meet the lane change requirement of the host vehicle, entering the lane change intention; if the space for changing the lane cannot be satisfied, the waiting space in the main vehicle lane is large enough
Selecting the intention of channel changing; the way of channel switching is determined by a conditional triggering way, and the channel switching time is also determined;
the judging method of the algorithm 2 is as follows:
21 Judging whether overtaking is carried out;
22 A) predicting the front vehicle of the side lane, wherein the predicting method comprises the following steps:
23 If the result of the judgment in the step 21) is that the overtaking is selected, overtaking is carried out, otherwise, the step 24) is operated;
24 If the condition is satisfied
Then the act of waiting for a lane change is performed or else step 25) is performed;
25 A lane change intention is performed.
Further, during lane changing, when the host vehicle interacts with the rear vehicle, the potential conflict area is determined by the position of the host vehicle; the speed planning of the host vehicle during lane change is determined by a traffic participant in front of a target lane, namely a traffic vehicle F1, and is obtained by solving through a formula (10); the calculation of the time for the rear vehicle B1 to reach the potential conflict area is determined by the following formula;
ΔT＝(S ego -S B1 )/(V B1 -V ego ) (13)
wherein, delta T is the time of the rear vehicle to reach the potential conflict area; s is S ego Projecting the position of the host vehicle to a road coordinate system; s is S B1 The projection of the position B1 of the rear vehicle to road coordinates; v (V) B1 The longitudinal speed of the rear vehicle B1; v (V) ego The longitudinal speed of the main vehicle;
when the speed of the rear vehicle B1 is smaller than that of the main vehicle, no game occurs; when the time of the rear car reaching the conflict area is more than 3s, the game is not generated; only when the speed of the rear vehicle is greater than that of the main vehicle and the time for reaching the conflict area is less than 3s, the main vehicle and the rear vehicle can play games, and the calculation process is shown as an algorithm 3;
the judgment method of the algorithm 3 is as follows:
31 Calculating the time delta T for the vehicle behind the side lane to reach the collision area;
32 If the time to reach the conflict area meets the condition deltat >0& deltat <3, two vehicles are played, the result of the game is output as the intended result, otherwise, step 33 is executed);
33 The intention of the host vehicle is not to let go;
when two vehicles play games, the host vehicle calculates the excitation degree of the traffic vehicle according to the motion state of the traffic vehicle to the conflict point; the set of actions of the host vehicle is
The action set of the rear vehicle is
wherein ,/>
The action of letting the host vehicle go; />
The method is a motion that a host vehicle does not run; />
The motion of letting the rear vehicle go; />
The vehicle is not allowed to run;
and thirdly, evaluating the benefit index, wherein the benefit comprises speed benefit and safety benefit.
Further, the specific method of the third step is as follows:
two benefit indexes are evaluated, and the two benefit indexes respectively comprise speed benefit and safety benefit:
the speed gain of the host vehicle is as follows:
when the host vehicle is not in lane change, the following steps are carried out:
when the main vehicle selects a strategy of not changing lanes, the main vehicle can continue to run on the original lane and enter a stage of returning to the original lane; obtaining a speed benefit by taking a speed planning result returned to an original lane stage as a speed benefit for selecting not to overtake through a formula (14);
in the formula ,
a benefit of the determined speed for no-cut conditions; v RB For the speed benefit of the host vehicle in the time t if the overtaking execution stage is converted into the stage of returning to the original lane, calculating according to a formula (7); v traffic Is the legal speed in the traffic scene;
when the host vehicle selects the lane change strategy:
when the host vehicle selects the lane change strategy, the speed benefit is obtained by equation (15):
wherein ,
a benefit of the determined speed for no-cut conditions; v LC The obtained speed; legal speed v in this traffic scenario traffic ＝30m/s；
The speed benefit of the rear vehicle is as follows:
when the rear vehicle is in the avoidance state:
after the host vehicle reaches the conflict area, the rear vehicle reaches the conflict area; therefore, the speed benefit needs to be calculated according to the time of the host vehicle reaching the conflict area, and the speed benefit is obtained through a formula (16);
in the formula ,DB1 The traffic participant vehicle closest to the host vehicle behind the host vehicle for the target lane;
when the vehicle is in a rear vehicle running state, the speed of the rear vehicle is high; t is t Delay Brake reaction time for the driver; />
The method comprises the steps that a profit function of the rear vehicle under the condition of robbing is given to the rear vehicle;
when the following car is robbed, the following car is robbed:
when the rear vehicle robs, the speed of the rear vehicle is as follows
By distance from the preceding vehicle B1 and twoThe speed of the vehicle is determined. The rear vehicle will obtain a greater speed, and therefore the speed benefit of the rear vehicle is calculated by equation (17).
in the formula ,DB1-F1 The nearest distance from the rear vehicle to the traffic participant in front of the lane in which the rear vehicle is located; 
The method comprises the steps that a profit function of the rear vehicle under the condition of robbing is given to the rear vehicle;
the security benefits of the host vehicle are as follows:
when the intention of the host vehicle is robbery time and the intention of the rear vehicle is robbery time, the safe benefit is obtained through a formula (18);
in the formula ,
the method is characterized in that the method is that a main vehicle is in robbery time, and a rear vehicle is a profit function of the main vehicle under the condition that the main vehicle is not in robbery; time of arrival of the vehicle at the collision zone after Δt; TTC (TTC) Threshold A time threshold for interaction of the rear vehicle with the host vehicle;
and the risk benefits of the vehicle need to be normalized; if the time for the host vehicle to reach the conflict area is longer than the time for the following vehicle to reach the conflict area, the obtained safety benefit is lower;
when the intention of the main vehicle is lane change and the intention of the rear vehicle is avoidance, the safety benefit is 1, namely the maximum value; when the intention of the host vehicle is avoidance, no collision occurs with the rear vehicle, so that the safety benefit is 1, and the safety benefit is obtained by the formula (19):
in the formula ,
the method is beneficial to the benefits of yielding of the rear vehicle for the main vehicle not to yield; />
The income of the host vehicle when the host vehicle lets the vehicle travel;
the safety benefit of the rear vehicle is as follows:
when the intention of the rear vehicle is not to run, and the intention of the main vehicle is to run robustly, the safe benefit is obtained through a formula (20):
in the formula ,
for the rear vehicle not to run and the main vehicle not to run, the benefit function of the rear vehicle is obtained;
when the intention of the rear vehicle is robbery, and the intention of the main vehicle is avoidance, the safety gain is 1, namely the maximum value; when the intention of the rear vehicle is avoidance, no conflict occurs with the main vehicle, so that the safety benefit is 1, and the safety benefit is obtained through a formula (21):
in the formula ,
the profit function of the rear vehicle is that the rear vehicle does not run and the main vehicle runs; />
A benefit function of the rear vehicle when the rear vehicle is in a left-over state;
the benefit matrix for both vehicles is as follows:
in policy combination
Hereinafter, S is 11 Policy combination for the main vehicle and the rear vehicle;
the action of letting the host vehicle go; />
The motion of letting the rear vehicle go;
the total income of the main car and the rear car is obtained through a formula (22);
in the formula ,
the profit function of the host vehicle is obtained when the host vehicle lets go and the rear vehicle lets go; />
The profit function of the rear vehicle when the main vehicle lets the rear vehicle let the front vehicle run; alpha 1 、β 1 The weight parameter between the speed and the safety coefficient is the main vehicle; alpha 2 ,β 2 The weight parameter between the speed and the safety coefficient of the rear vehicle is used; two weight coefficients (an)Weight coefficient of full and velocity gain) is 1; />
The speed benefit of the host vehicle when the host vehicle lets is; / >
The safety benefit of the host vehicle when the host vehicle is in the process of letting; />
The speed benefit of the rear vehicle when the rear vehicle is in the process of letting; />
The safety benefit of the rear vehicle when the rear vehicle is allowed to travel is obtained;
in policy combination
Hereinafter, S is 12 Policy combination for allowing a main vehicle to run and not allowing a rear vehicle to run; />
The action of letting the host vehicle go; />
The vehicle is not allowed to run;
the total profit of the host vehicle and the rear vehicle is obtained by the formula (23):
in the formula ,
to let the host vehicle go and let the rear vehicle not goWhen the vehicle runs, the income function of the host vehicle; />
The profit function of the rear vehicle is obtained when the main vehicle is in a driving state and the rear vehicle is not in a driving state; />
The speed benefit when the host vehicle lets is obtained; />
Safety benefit when the host vehicle lets; />
A speed benefit function when the rear vehicle is not in a state of being let out; />
The safety benefit function of the rear vehicle is that the rear vehicle is not allowed to run and the main vehicle is allowed to run;
in policy combination
Hereinafter, S is 21 The strategy combination is that the main vehicle does not run and the rear vehicle runs; />
The method is a motion that a host vehicle does not run; />
The motion of letting the rear vehicle go;
the total income of the host vehicle and the rear vehicle is obtained by a formula (24)
in the formula ,
the method is that the host vehicle does not run, and the benefit function of the host vehicle is that the host vehicle runs when the rear vehicle runs; />
The method is that the main vehicle does not run, and the return function of the rear vehicle is that the rear vehicle runs; />
The speed benefit function is the speed benefit function when the host vehicle is not in the process of letting; / >
The method is that the host vehicle does not run, and the rear vehicle is the safety benefit of the host vehicle during running; />
A speed benefit function of the rear vehicle when the rear vehicle is in a driving state; />
A safety benefit function of the rear vehicle when the rear vehicle is allowed to travel;
in policy combination
Hereinafter, S is 22 Policy combination for when the main vehicle is not in the way and the rear vehicle is not in the way +.>
The method is a motion that a host vehicle does not run; />
The vehicle is not allowed to run;
the total revenue of the host vehicle and the rear vehicle is obtained by the formula (25):
in the formula ,
the method is a benefit function of the host vehicle when the host vehicle does not run and the rear vehicle does not run; />
The method is a benefit function of the rear vehicle when the main vehicle does not run and the rear vehicle does not run; />
When the host vehicle is not in a state of being out of the way, the speed gain function of the host vehicle is obtained; />
The method is the safety benefit of the host vehicle when the host vehicle does not run and the rear vehicle does not run; />
A speed benefit function of the rear vehicle when the rear vehicle is not in a running state;
the safety benefit function of the rear vehicle is that the main vehicle does not run and the rear vehicle does not run.
The invention models the interaction between two vehicles by a dynamic game method, wherein the other vehicle is a leader, and the vehicle is a follower. After the dynamic game is established, the game balance is solved by equation (26).
Subscripts L and F represent the leader and follower. s is(s) L Strategies, s, representing leaders F Representing the strategy of the follower. 
Representing the optimal strategy for the follower. />
Representing the optimal policy of the leader. S is S F Representing the policy space of the follower. S is S L Representing the policy space of the leader. />
Representing an optimal set of policies for the follower given the leader policy. P (P) F To be the cost function of the follower, P L Is the cost function of the leader.
As interactions with different types of traffic participants may occur during driving. Therefore, the driving level of the driver needs to be calculated, and the weighting coefficients of the safety indexes of different types of drivers are different. According to the acceleration of the interactive vehicle, the driving style coefficient of the rear vehicle is estimated, and the driving style coefficient is calculated by a formula (27). a, a max Is the maximum longitudinal acceleration.
ρ＝a B1 /a max (27)
Wherein ρ is the degree of rear vehicle excitation, a B1 The acceleration of the rear vehicle; the degree of aggressiveness ρ will be relative to the specific gravity β of the safety factor 1 ，β 2 And adjusting. Beta' 1 The weight coefficient after the aggressive degree is considered for the host vehicle. Beta' 2 The weight coefficient of the rear vehicle is calculated by a formula (28) after the degree of excitation is considered. Omega 1 The magnitude of the influence of the aggressive degree on the weight coefficient of the vehicle. Omega 2 The magnitude of the impact of the aggressive degree on the weight coefficient of the rear vehicle.
β′ 1 ＝β 1 -ω 1 ρ
β′ 2 ＝β 2 +ω 2 ρ (28)
In summary, the lane change process is divided into a lane change execution stage 1, a lane change execution stage 2 and a lane change preparation stage, the driving schemes of overtaking and waiting for lane change are considered to enter a lane change decision system, different driving schemes are provided for automatic driving lane change according to the conditions of overtaking and waiting for lane change selected by the current traffic scene, the determining process of the lane change opportunity is determined in an event triggering mode, and finally a dynamic game model is established between the vehicle and the rear vehicle through the determination of a potential conflict area, so that the safe and efficient performance of the interaction between the two vehicles is ensured.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The personified lane change decision method is characterized by comprising the following steps of:
step one, selecting an optimal lane;
step two, if the lane change intention is generated, selecting one of three behaviors of waiting for lane change, overtaking and lane change, and generating a path and a speed of the host vehicle according to the state of the vehicle;
And thirdly, evaluating the benefit index, wherein the benefit comprises speed benefit and safety benefit.
2. The personified lane-change decision method of claim 1, wherein,
the specific method of the first step is as follows:
11 Selecting a lane according to the distance between the traffic participant in each lane in front of the host vehicle and the speed of the vehicle in front;
the evaluation of the lane is determined by the following equation:
in the formula ,
evaluating a function for the speed of the candidate lane; />
The speed of the nearest traffic participant positioned in front of the host vehicle on the waiting lane; v (V) traffic Is the speed limit of traffic regulations; candidate lane ID is a lane candidate ID; />
A spatial evaluation function for the candidate lane; />
The distance between the nearest traffic participant and the host vehicle is the distance between the host vehicle and the nearest traffic participant on the candidate lane; d (D) sensor Distance which is the range of the sensor; />
A driving load function for the candidate lane; i.e lane Numbering of candidate lanes for evaluation; />
Is the host vehicleNumbering of lanes; />
The sum of cost functions of the candidate lanes; omega 1 ，ω 2 ，ω 3 Respectively obtaining weight coefficients of the cost functions;
12 The largest candidate lane in the sum of the substitution function is the target lane Opt ID and is input into the decision of the driving behavior.
3. The personified lane-change decision method of claim 1, wherein,
the specific method of the second step is as follows:
when the channel changing intention is generated, if the channel changing space is insufficient, and the channel can not be changed, selecting to wait for channel changing; if the space for changing the channel is enough, selecting to change the channel; if the host vehicle is located behind the interacting traffic participants, an overtaking is selected.
4. The personified lane change decision method of claim 3, wherein when the behavior waiting for lane change is selected, the path of the host vehicle is the center line of the host vehicle, and the speed of the host vehicle is calculated by the following formula:
V wait ＝max[V wait ,V traffic ]
in the formula ,DF1 The distance from the vehicle to the front vehicle is the distance; v (V) wait Planning speed for waiting for channel changing stage; t is t Delay Brake reaction time for the driver; a, a pd Acceleration for braking the vehicle; v (V) F1 The speed of the overtaking vehicle; a, a pdmax Maximum braking acceleration for the overtaken vehicle; d (D) stop The distance between two vehicles after the two vehicles are braked; v (V) traffic Vehicle speed as planned for the regulations.
5. A personified channel change decision method according to claim 3, characterized in that channel change preparation and channel change execution actions are performed when channel change actions are selected;
Executing a lane change preparation action stage, wherein the path of the vehicle is the center line of the lane; the space size for preparing channel change is D pre ＝V ego t pre； in the formula ,Vego The speed of the main vehicle; t is t pre The time for preparation of the lane change;
when the channel changing execution action stage is executed, firstly calculating the channel changing required distance, and executing the channel changing execution action after the channel changing distance of the vehicle meets the channel changing required distance;
the distance required by channel change is obtained through the following calculation;
in the formula ,DLC The size of the space required for the track change; v (V) ego Is the speed of the own vehicle; t (T) LC The lane change time of the vehicle is set to be 4s; d (D) LC，limit Space required for minimum lane change;
the global coordinate system for the start and end of a track change is obtained by:
in the formula ,
is the starting position of the channel change; s is S ego The method comprises the steps of projecting the position of the vehicle to a road coordinate system; />
For changingAn end position of the track;
determining the start position of a lane change
End position +.>
Then, generating a path for channel change through a cubic polynomial, and obtaining the path through the following formula:
y＝a 3 x 3 +a 2 x 2 +a 1 x+a 0
in the formula ,x0 The abscissa of the lane change starting position; y is 0 Is the ordinate of the start position of the channel change; phi (phi) 0 The course angle is the course angle of the lane change starting position; x is x d The abscissa of the lane change ending point; y is d Is the ordinate of the lane change end point; phi (phi) d The course angle is the course angle of the lane change ending point;
The lane change execution action stage comprises a lane change execution stage 1 and a lane change execution stage 2;
in the lane change execution stage 1, the host vehicle does not enter a lane 1 which wants to change the lane, and the host vehicle determines the preemption or the departure of the road right through the game between the host vehicle and a rear vehicle B1 on the lane 1; when the main vehicle is in the lane change execution stage 1 and the game result is that the main vehicle is allowed to travel, the main vehicle enters a stage of returning to the original lane so as to avoid collision of the two vehicles; d requirement of main vehicle entering side lane A ＞W lane Wherein D is A Is the reference of the corner A of the main vehicle and the center of the laneThe distance of the line; w (W) lane The width of the lane where the current main vehicle is located;
the distance required for returning to the original lane is D MB ＝V ego ·T MB, in the formula ,Sego The position of the vehicle projected under the road coordinates; t (T) MB Time for returning to the original lane;
returning to the initial position of the original lane
And return to the end position of the original lane +.>
The following are provided:
in the formula ,xego The abscissa of the current position of the main vehicle; y is ego Is the ordinate of the current position of the main vehicle;
the heading angle of the current position of the main vehicle;
when the vehicle is in a stage of returning to the original lane, the speed is planned to be determined according to the position and the movement state of the traffic participant on the original lane; the method comprises the following steps:
V RB ＝max[V RB ，V traffic ]
in the formula ,DF1 The distance between the front vehicle and the own lane; v (V) RB Planning a speed for returning to the original lane;
in the lane change execution stage 2, the host vehicle enters a stage in a potential conflict area, and the stage in the potential conflict area does not play games with the following vehicle;
the speed of the vehicle is calculated by the following formula:
V wait ＝max[V wait ，V traffic ]
in the formula ,DF1 The distance from the vehicle to the front vehicle is the distance; v (V) wait Planning speed for waiting for channel changing stage; t is t Delay Brake reaction time for the driver; a, a pd Acceleration for braking the vehicle; v (V) F1 The speed of the overtaking vehicle; a, a pdmax Maximum braking acceleration for the overtaken vehicle; d (D) stop The distance between two vehicles after the two vehicles are braked; v (V) traffic Vehicle speed as planned for the regulations.
6. The personified lane change decision method of claim 5, wherein when the behavior of the overtaking is selected, the lane center line of the host vehicle is planned as a reference path; a target position S is set first target The method comprises the steps of carrying out a first treatment on the surface of the After reaching the target position, switching to channel changing preparation and channel changing execution;
the target position S target The method is characterized by comprising the following steps:
D Bsafe ＝L car +D F1safe
S target ＝S F1 +D Bsafe
in the formula ,DBsafe The safety distance between the current speed of the main vehicle and the overtaken vehicle is set; l (L) car The vehicle contour length for the overtaking vehicle; d (D) F1safe The safety distance between the current speed of the main vehicle and the overtaken vehicle is set; v (V) Opt For overtaking behavior of the host vehicleA selected vehicle speed; s is S F1 The projection of the overtaking vehicle to the road coordinate system;
the speed planning at the overtaking stage is obtained by the following formula:
V overtaking ＝max[V overtaking ，V traffic ]
in the formula ,DF2 The distance between the vehicle and the nearest vehicle in front of the lane; v (V) overtaking The speed of the vehicle planned for overtaking; v (V) F2 The vehicle speed of the nearest vehicle in front of the own lane.
7. The personified lane change decision method of claim 6, wherein the method for determining the overtaking behavior is as follows:
if the main vehicle generates intention of lane changing leftwards and the traffic scene in front can meet the overtaking condition, generating overtaking intention without selecting lane changing to be carried out to follow the rear of the traffic vehicle F1; generating an intent to cut-in when the location of the host vehicle is behind the interacting traffic participants;
when the traffic vehicles F2 and F3 exist in the main vehicle lane and the overtaking lane, the possibility of reaching the target overtaking position is limited by the space between the speeds of the traffic vehicles F2 and F3 and the target position, so overtaking is not selected;
constraint on overtaking acceleration at [0, a ] max ]N equal division and dispersion are carried out on acceleration in the constraint range in order to solve whether a feasible solution exists in the range of overtaking acceleration, overtaking is selected if the feasible solution exists, and overtaking is not selected if the feasible solution does not exist;
The time required by the host vehicle to reach different accelerations required by the overtaking to reach the target position can be obtained through the following steps;
V opt ＝V ego +a opt t
S target -S ego ＝(V ego -V F1 )t+(a opt -a F1 )t 2 /2
in the formula ,Vopt The speed of the main vehicle reaching the target position; v (V) ego The speed of the main vehicle; a, a opt Overtaking acceleration selected for the host vehicle; t is the time of overtaking; a, a F1 Is the longitudinal acceleration of the overtaking vehicle F1;
because of the constraints of the front traffic vehicle F2 and the traffic vehicle F3, the host vehicle, although being able to reach the target position at time t, exceeds the overtaken vehicle F1, still needs to satisfy the distance to the front vehicle safety; if the limit of the preceding vehicle is not satisfied, the selected acceleration a is described opt Is not feasible; when a feasible acceleration space is traversed and feasible acceleration exists, the overtaking behavior can be determined, and the feasibility of the overtaking behavior is judged through an algorithm 1;
the judgment method of the algorithm 1 is as follows:
11 Calculating the target position S target ；
12 If the projection S of the position of the traffic vehicle F3 to the road coordinate system F3 ＞S target And projection S of the position of the traffic vehicle F2 onto the road coordinate system F2 ＞S target Step 13) is executed;
13 By selecting acceleration a of overtaking i Calculate option a i As the overtaking time t under overtaking acceleration i, wherein ,ai ∈[0，a max ](i＝1，2，...n)
14 Calculation of (c) 
wherein ,/>
Projecting the position of the main vehicle at the current moment to a road coordinate system; />
The longitudinal speed of the main vehicle at the current moment; t is t i To choose a i As the overtaking time under overtaking acceleration; />
The longitudinal acceleration of the main vehicle at the current moment;
15 Through a) a process of
Obtain->
16 Through a) a process of
Obtain->
wherein ,/>
At the overtaking time t for the traffic vehicle F2 i Then, the position is projected to a road coordinate system; />
To be at overtaking time t i Then, projecting the position reached by the main vehicle to a road coordinate system; />
17 Through a) a process of
Obtain->
wherein ,/>
At the overtaking time t for the traffic vehicle F3 i Then, the position is projected to a road coordinate system;
18 Through a) a process of
Obtain->
wherein ,/>
To be at overtaking time t i The distance between the traffic vehicle F2 and the host vehicle;
19 Through a) a process of
Obtain->
wherein ,/>
To be at overtaking time t i The distance between the traffic vehicle F3 and the host vehicle;
110 If (1)
Step 111) is performed;
111 If (1)
Step 112) is performed; otherwise, executing step 113);
112 Overtaking;
113 No overtaking.
8. The personified channel change decision method of claim 7, wherein said channel change behavior determination method is as follows:
when the target lane is not the own lane, generating a lane change intention; but the driving scheme of lane change is determined by algorithm 2; firstly, determining whether lane change can be performed in a overtaking mode; if the lane change can not be realized through overtaking, judging whether the lane change space is enough, and if the lane change space can meet the lane change requirement of the host vehicle, entering the lane change intention; if the lane changing space cannot be met, selecting the lane changing intention when the waiting space of the main vehicle lane is large enough; the way of channel switching is determined by a conditional triggering way, and the channel switching time is also determined;
The judging method of the algorithm 2 is as follows:
21 Judging whether overtaking is carried out;
22 A) predicting the front vehicle of the side lane, wherein the predicting method comprises the following steps:
23 If the result of the judgment in the step 21) is that the overtaking is selected, overtaking is carried out, otherwise, the step 24) is operated;
24 If the condition is satisfied
Then the act of waiting for a lane change is performed or else step 25) is performed;
25 A lane change intention is performed.
9. The personified lane change decision method of claim 8 wherein the potential conflict area is determined by the position of the host vehicle upon interaction of the host vehicle with the rear vehicle during lane change; the speed plan of the host vehicle during lane change is determined by a traffic participant in front of the target lane, namely the vehicle F1; the calculation of the time for the rear vehicle B1 to reach the potential conflict area is determined by the following formula;
ΔT＝(S ego -S B1 )/(V B1 -V ego )
wherein, delta T is the time of the rear vehicle to reach the potential conflict area; s is S ego Projecting the position of the host vehicle to a road coordinate system; s is S B1 The projection of the position B1 of the rear vehicle to road coordinates; v (V) B1 The longitudinal speed of the rear vehicle B1; v (V) ego The longitudinal speed of the main vehicle;
when the speed of the rear vehicle B1 is smaller than that of the main vehicle, no game occurs; when the time of the rear car reaching the conflict area is more than 3s, the game is not generated; only when the speed of the rear vehicle is greater than that of the main vehicle and the time for reaching the conflict area is less than 3s, the main vehicle and the rear vehicle can play games, and the calculation process is shown as an algorithm 3;
The judgment method of the algorithm 3 is as follows:
31 Calculating the time delta T for the vehicle behind the side lane to reach the collision area;
32 If the time to reach the conflict area satisfies the condition delta T & gt0 & delta T & lt3, two vehicles are played, the result of the game is output as the intended result, otherwise, step 33 is executed);
33 The intention of the host vehicle is not to let go;
when two vehicles play games, the host vehicle calculates the excitation degree of the traffic vehicle according to the motion state of the traffic vehicle to the conflict point; the set of actions of the host vehicle is
The action set of the rear car is +.>
wherein ,/>
The action of letting the host vehicle go; />
The vehicle is not allowed to run; />
The motion of letting the rear vehicle go; />
Is a motion that the rear vehicle is not allowed to run.
10. The personified lane-change decision method of claim 1, wherein,
the specific method of the third step is as follows:
two benefit indexes are evaluated, and the two benefit indexes respectively comprise speed benefit and safety benefit:
the speed gain of the host vehicle is as follows:
when the host vehicle is not in lane change, the following steps are carried out:
when the main vehicle selects a strategy of not changing lanes, the main vehicle can continue to run on the original lane and enter a stage of returning to the original lane; the speed planning result returned to the original lane stage is used as the speed benefit for selecting not to overtake, and the speed benefit is obtained through the following formula;
in the formula ,
a benefit of the determined speed for no-cut conditions; v RB The speed benefit is obtained when the host vehicle changes the overtaking execution stage into the stage of returning to the original lane at the time t; v traffic Is the legal speed in the traffic scene;
when the host vehicle selects the lane change strategy:
when the host vehicle selects the strategy of lane changing, the speed benefit is obtained by the following formula:
wherein ,
a benefit of the determined speed for no-cut conditions; v LC The obtained speed; legal speed v in this traffic scenario traffic ＝30m/s；
The speed benefit of the rear vehicle is as follows:
when the rear vehicle is in the avoidance state:
after the host vehicle reaches the conflict area, the rear vehicle reaches the conflict area; therefore, the speed benefit needs to be calculated according to the time of the host vehicle reaching the conflict area, and the speed benefit is obtained through the following formula;
in the formula ,DB1 The vehicle is a traffic participant vehicle which is nearest to the host vehicle and behind the host vehicle for the target lane;
when the vehicle is in a rear vehicle running state, the speed of the rear vehicle is high; t is t Delay Brake reaction time for the driver; />
The method comprises the steps that a profit function of the rear vehicle under the condition of robbing is given to the rear vehicle;
when the rear vehicle is forced, the following conditions are that:
when the rear vehicle robs, the speed of the rear vehicle is as follows
Is determined by the distance from the preceding vehicle B1 and the speed of the two vehicles. The rear vehicle will obtain a greater speed, and therefore the speed benefit of the rear vehicle is calculated by the following equation.
in the formula ,DB1-F1 The nearest distance from the rear vehicle to the traffic participant in front of the lane in which the rear vehicle is located;
for the rear vehicles in case of robbingA benefit function;
the safety benefit of the vehicle is as follows:
when the intention of the vehicle is robbery, and the intention of the rear vehicle is robbery, the safety benefit is obtained by the following formula;
in the formula ,
the method is characterized in that the method is that the vehicle is in robbery time, and the rear vehicle is a benefit function of the vehicle under the condition that the vehicle is not in robbery; time of arrival of the vehicle at the collision zone after Δt; TTC (TTC) Threshold A time threshold value for interaction between the rear vehicle and the vehicle;
and the risk benefits of the vehicle need to be normalized; if the time for the host vehicle to reach the conflict area is longer than the time for the following vehicle to reach the conflict area, the obtained safety benefit is lower;
when the intention of the main vehicle is lane change and the intention of the rear vehicle is avoidance, the safety benefit is 1, namely the maximum value; when the intention of the host vehicle is avoidance, no collision occurs with the rear vehicle, so that the safety benefit is 1, and the safety benefit is obtained by the following formula:
in the formula ,
the method is beneficial to the benefits of yielding of the rear vehicle for the main vehicle not to yield; />
The method is beneficial to the income of the host vehicle when the host vehicle is allowed to travel;
the safety benefit of the rear vehicle is as follows:
when the intention of the rear vehicle is not to run, and the intention of the main vehicle is to run robustly, the safe benefit is obtained by the following formula:
in the formula ,
for the rear vehicle not to run and the main vehicle not to run, the benefit function of the rear vehicle is obtained;
when the intention of the rear vehicle is robbery, and the intention of the main vehicle is avoidance, the safety gain is 1, namely the maximum value; when the intention of the rear vehicle is avoidance, no conflict occurs with the main vehicle, so that the safety benefit is 1, and the safety benefit is obtained through the following formula:
in the formula ,
the profit function of the rear vehicle is that the rear vehicle does not run and the main vehicle runs; />
A benefit function of the rear vehicle when the rear vehicle is in a left-over state;
the benefit matrix for both vehicles is as follows:
when the main vehicle gives way and the rear vehicle gives way, the income is
When the host vehicle yields and does not yield, the benefit is
When the main car changes lanes and the rear car lets the car go, the income is +.>
When the host vehicle changes lanes and does not let the host vehicle run, the benefit is +.>
In policy combination
Hereinafter, S is 11 Policy combination for the main vehicle and the rear vehicle; />
The action of letting the host vehicle go; />
The motion of letting the rear vehicle go;
the total benefits of the host vehicle and the rear vehicle are shown below;
in the formula ,
the profit function of the host vehicle is obtained when the host vehicle lets go and the rear vehicle lets go; />
The profit function of the rear vehicle when the main vehicle lets the rear vehicle let the front vehicle run; alpha 1 、β 1 The weight parameter between the speed and the safety coefficient is the main vehicle; alpha 2 ,β 2 The weight parameter between the speed and the safety coefficient of the main vehicle is adopted; the sum of the two weight coefficients is 1; />
The speed benefit of the host vehicle when the host vehicle lets the vehicle travel; />
The safety benefit of the host vehicle when the host vehicle is in the process of letting; />
The speed benefit of the rear vehicle when the rear vehicle is in the process of letting;
the safety benefit of the rear vehicle when the rear vehicle is allowed to travel is obtained;
in policy combination
Hereinafter, S is 12 Policy combination for allowing a main vehicle to run and not allowing a rear vehicle to run;
the action of letting the host vehicle go; />
The vehicle is not allowed to run;
the total income of the main car and the rear car is obtained by the following formula:
in the formula ,
the profit function of the host vehicle is obtained when the host vehicle lets go and the rear vehicle does not let go; />
The profit function of the rear vehicle is obtained when the main vehicle is in a driving state and the rear vehicle is not in a driving state; />
The speed benefit when the host vehicle lets is obtained; />
Safety benefit when the host vehicle lets; />
A speed benefit function when the rear vehicle is not in a state of being let out; />
The safety benefit function of the rear vehicle is that the rear vehicle is not allowed to run and the main vehicle is allowed to run;
in policy combination
Hereinafter, S is 21 The strategy combination is that the main vehicle does not run and the rear vehicle runs;
the method is a motion that a host vehicle does not run; />
The motion of letting the rear vehicle go;
the total income of the main car and the rear car is obtained by the following formula:
in the formula ,
the method is that the host vehicle does not let go, and the benefit function of the host vehicle is that the rear vehicle lets go; / >
The method is that the main vehicle does not run, and the return function of the rear vehicle is that the rear vehicle runs; />
The speed benefit function is the speed benefit function when the host vehicle is not in the process of letting; />
The method is characterized in that when the host vehicle does not run, the rear vehicle is the safety benefit of the host vehicle when the host vehicle runs; />
A speed benefit function of the rear vehicle when the rear vehicle is in a driving state; />
A safety benefit function of the rear vehicle when the rear vehicle is allowed to travel;
in policy combination
Hereinafter, S is 22 Is a strategy combination when the main vehicle is not allowed to run and the rear vehicle is not allowed to run,
the method is a motion that a host vehicle does not run; />
The vehicle is not allowed to run;
the total income of the main car and the rear car is obtained by the following formula:
in the formula ,
the benefit function of the vehicle when the vehicle is not allowed to run and the rear vehicle is not allowed to run; />
The benefit function of the rear vehicle when the rear vehicle does not run is that the vehicle does not run; />
When the host vehicle is not in a state of being out of the way, the speed gain function of the host vehicle is obtained; />
The method is the safety benefit of the host vehicle when the host vehicle does not run and the rear vehicle does not run; />
A speed benefit function of the rear vehicle when the rear vehicle is not in a running state;
the safety benefit function of the rear vehicle is that the vehicle does not run and the rear vehicle does not run. />
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