CN116674551A - Path planning method, device and equipment for emergency exit in lane change process - Google Patents
Path planning method, device and equipment for emergency exit in lane change process 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention discloses a path planning method, device and equipment for emergency exit in the course of lane change. The method comprises the following steps: acquiring own vehicle information and adjacent vehicle information of adjacent lanes to be switched in the automatic lane switching process; if collision risk of the vehicle and the adjacent vehicle is predicted according to the vehicle information and the adjacent vehicle information, determining critical collision time according to the vehicle information and the adjacent vehicle information; determining the initial state of the host vehicle at the lane change exit starting point, the end state of the host vehicle at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point according to the host vehicle information and the adjacent vehicle information based on the critical collision moment; and determining an optimal lane change exit path according to the starting state, the time difference between the current time and the critical collision time, the ending state and the exit displacement, and controlling the vehicle to exit the automatic lane change process according to the optimal lane change exit path. The embodiment of the invention can reduce the accident probability in the channel changing process.
Description
Technical Field
The invention relates to the technical field of vehicle auxiliary driving, in particular to a path planning method, device and equipment for emergency exit in lane change.
Background
With the continuous development of the internet of vehicles, advanced Driving Assistance Systems (ADAS) are bound to combine with the development of the internet of vehicles. Based on the condition of the Internet of vehicles, an L2 level related vehicle-to-vehicle collaborative lane change driving auxiliary system is also continuously proposed. Therefore, developing a corresponding advanced driving auxiliary system for the lane change under the cooperation of the vehicle and the vehicle is an important means for avoiding the lane change accident. The lane change accident can be reduced by constructing the lane change advanced driving auxiliary system, and the lane change strategy and the corresponding algorithm form the lane change advanced driving auxiliary system core, so that the corresponding lane change strategy needs to be developed.
The previous research on the lane change strategy is limited to the independent research on lane change track optimization, track tracking control and driver lane change intention recognition, and the whole lane change strategy and how to process dynamic dangerous working conditions are not comprehensively considered, and meanwhile, the exiting mechanism of the lane change process is not considered, so that the lane change strategy is not widely applied.
Disclosure of Invention
The invention provides a path planning method, device and equipment for emergency exit in the course of channel changing, so as to reduce the accident probability in the channel changing process.
According to one aspect of the present invention, there is provided a path planning method for emergency exit during lane change, including:
acquiring own vehicle information and adjacent vehicle information of adjacent lanes to be switched in the automatic lane switching process;
if collision risk of the vehicle and the adjacent vehicle is predicted according to the vehicle information and the adjacent vehicle information, determining critical collision time according to the vehicle information and the adjacent vehicle information;
determining the initial state of the host vehicle at the lane change exit starting point, the end state of the host vehicle at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point according to the host vehicle information and the adjacent vehicle information based on the critical collision moment;
and determining an optimal lane change exit path according to the starting state, the time difference between the current time and the critical collision time, the ending state and the exit displacement, and controlling the vehicle to exit the automatic lane change process according to the optimal lane change exit path.
According to another aspect of the present invention, there is provided a path planning apparatus for emergency exit during lane change, comprising:
the vehicle information acquisition module is used for acquiring the vehicle information and the adjacent vehicle information of the adjacent lane to be switched in the automatic lane switching process;
the collision moment determining module is used for determining critical collision moment according to the information of the own vehicle and the adjacent vehicle if the collision risk of the own vehicle and the adjacent vehicle is predicted according to the information of the own vehicle and the adjacent vehicle;
the path state determining module is used for determining the initial state of the vehicle at the lane change exit starting point, the end state at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point according to the vehicle information and the adjacent vehicle information based on the critical collision moment;
and the exit path planning module is used for determining an optimal lane change exit path according to the starting state, the time difference between the current moment and the critical collision moment, the ending state and the exit displacement, and controlling the vehicle to exit the automatic lane change process according to the optimal lane change exit path in an emergency way.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method for path planning for an emergency exit during a lane change according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a path planning method for performing an emergency exit during a lane change according to any of the embodiments of the present invention.
According to the embodiment of the invention, the lane change is exited when the lane change is dangerous, the lane change exit path is planned, the lane change exiting process is completed on the premise of meeting various constraints and optimizing, and the safety is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1A is a flow chart of a path planning method for emergency exit during a lane change according to an embodiment of the present invention;
FIG. 1B is a schematic diagram of an emergency exit path planning procedure during a lane change according to an embodiment of the present invention;
FIG. 1C is a schematic diagram of a left-side exit lane change process according to an embodiment of the present invention;
FIG. 1D is a schematic diagram of a right-side exit lane change process according to an embodiment of the present invention;
FIG. 2A is a flow chart of a path planning method for an emergency exit during a lane change according to another embodiment of the present invention;
fig. 2B is a schematic diagram of a contour and corner point of a rectangular commercial vehicle according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a path planning apparatus for emergency exit during lane change according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1A is a flowchart of a path planning method for emergency exit during lane change, which is provided by an embodiment of the present invention, and the embodiment may be adapted to actively find collision risk with an adjacent vehicle, calculate a lane change exit path, and exit a lane change in a process of automatically switching to an adjacent lane by an ADAS system. As shown in fig. 1A, the method includes:
s110, acquiring own vehicle information and adjacent vehicle information of adjacent lanes to be switched in the automatic lane switching process.
The vehicle information and the adjacent vehicle information comprise units of the vehicle, such as speed, acceleration, yaw angle, size and position. The adjacent lane to be switched can be a left adjacent lane or a right adjacent lane of the own lane where the own vehicle is located.
Specifically, as shown in a schematic diagram of a lane change exit path planning and planning process shown in fig. 1B, in a process that a vehicle is automatically switched to an adjacent lane by an ADAS system, a host vehicle information acquiring unit and a target vehicle information acquiring unit acquire host vehicle information and adjacent vehicle information of the lane to be switched respectively.
And S120, if the collision risk of the vehicle and the adjacent vehicle is predicted according to the vehicle information and the adjacent vehicle information, determining critical collision time according to the vehicle information and the adjacent vehicle information.
Specifically, a left-side exiting lane change process schematic diagram shown in fig. 1C and a right-side exiting lane change process schematic diagram shown in fig. 1D. When the vehicle changes lanes to the left/right side, the situation that the adjacent vehicle behind the adjacent lane to be switched accelerates suddenly and the like can be possibly met, so that whether the vehicle collides with the adjacent vehicle or not needs to be judged in real time if the vehicle continues to change lanes according to the planned track of the lane change. When the collision between the vehicle and the adjacent vehicle on the planned track is determined according to the vehicle information and the adjacent vehicle information, the critical moment of the collision is taken as critical collision moment.
S130, based on the critical collision moment, determining the initial state of the host vehicle at the lane change exit starting point, the end state at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point according to the host vehicle information and the adjacent vehicle information.
Wherein the starting state includes a lateral starting speed, a lateral starting acceleration, a longitudinal starting acceleration, and a longitudinal starting speed; the ending state comprises a transverse ending speed, a transverse ending acceleration, a longitudinal ending acceleration and a longitudinal ending speed; the exit displacement includes a lateral exit displacement and a longitudinal exit displacement.
Specifically, the movement direction of the vehicle is divided into a transverse direction and a longitudinal direction, the transverse direction is the translation direction of the vehicle to the left/right, and the longitudinal direction is the forward driving direction of the vehicle. Assuming that after the collision risk is predicted, continuously keeping the current longitudinal speed running of the vehicle from the lane change exit starting point in the longitudinal direction until the vehicle reaches the lane change exit end point; in the transverse direction, the vehicle starts to provide a transverse acceleration in the direction opposite to the lane to be switched from the lane change exit starting point until the vehicle reaches the lane change exit end point, and the vehicle does not have any speed and acceleration in the transverse direction, namely the vehicle is in a uniform-speed straight-line running along the lane at the end state of the lane change exit end point. Based on the assumption, the initial state of the vehicle at the lane change exit starting point, the end state at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point are respectively deduced.
And S140, determining an optimal lane change exit path according to the initial state, the time difference between the current time and the critical collision time, the end state and the exit displacement, and controlling the vehicle to exit the automatic lane change process according to the optimal lane change exit path.
Specifically, with continued reference to fig. 1C and fig. 1D, a polynomial-track collision avoidance plan is performed, where the polynomial-collision avoidance track represents the collision avoidance track of the host vehicle as a parameterized equation related to time, and polynomial parameters are determined by using a starting state, an ending state, an exit displacement, and a total collision avoidance time of collision avoidance. And designing an emergency collision avoidance track, and optimizing the emergency collision avoidance track through indexes such as rapidness, safety, comfort and the like. And establishing an optimized objective function, obtaining an optimal lane change exit path through the optimized objective function, and controlling the vehicle to take the optimal lane change exit path as a subsequent actual track so as to emergently exit the automatic lane change process.
According to the embodiment of the invention, the lane change is exited when the lane change is dangerous, the lane change exit path is planned, the lane change exiting process is completed on the premise of meeting various constraints and optimizing, and the safety is improved.
Fig. 2A is a flowchart of a path planning method for emergency exit during lane change according to another embodiment of the present invention, where the embodiment is optimized and improved based on the foregoing embodiment. As shown in fig. 2A, the method includes:
s210, acquiring own vehicle information and adjacent vehicle information of adjacent lanes to be switched in the automatic lane switching process.
S220, if collision risk of the vehicle and the adjacent vehicle is predicted according to the vehicle information and the adjacent vehicle information, respectively establishing a rectangular model of the vehicle and a rectangular model of the adjacent vehicle according to the vehicle information and the adjacent vehicle information;
s230, determining critical collision time according to the rectangular model of the vehicle and the rectangular model of the adjacent vehicle.
The rectangular model of the host vehicle comprises a left front corner position of the host vehicle, a right front corner position of the host vehicle, a yaw angle of the host vehicle, an included angle between a diagonal line of the host vehicle and a transverse symmetrical axis of the host vehicle, a length of the diagonal line of the rectangular of the host vehicle and a width of the rectangular of the host vehicle; the adjacent car rectangular model comprises a left front corner position of an adjacent car, a right front corner position of the adjacent car and a width of the adjacent car rectangular; the positions include a lateral position and a longitudinal position.
Specifically, when the collision detection system predicts that a collision will occur, the emergency exit path planning is started, and the vehicle bodies of the vehicle and the adjacent vehicles are regarded as a rectangular model. As shown in fig. 2B, four corner points of the vehicle body are respectively named as a corner point 1, a corner point 2, a corner point 3 and a corner point 4, wherein the corner point 1 is positioned at the left front side in the running direction of the vehicle, the corner point 2 is positioned at the right front side in the running direction of the vehicle, the corner point 3 is positioned at the left rear side in the running direction of the vehicle, and the corner point 4 is positioned at the right rear side in the running direction of the vehicle. And determining the collision time of the rectangular model of the own vehicle and the rectangular model of the adjacent vehicle as the critical collision time of the own vehicle and the adjacent vehicle.
Optionally, when the adjacent lane to be switched is a left lane, the critical collision time t x Is determined by the following formula:
correspondingly, when the adjacent lane to be switched is a right lane, the critical collision time t x Is determined by the following formula:
wherein y is 1v Is the transverse position of the left front corner point of the host vehicle, y 1v Is the transverse position of the right front corner of the host vehiclePut, y 1s Is the transverse position of the left front corner point of the adjacent vehicle, y 2s Is the lateral position of the right front corner of the adjacent car,is the yaw angle of the vehicle S v For the length of the rectangular diagonal line of the host vehicle, W s Is the width alpha of the rectangle of the adjacent vehicle v Is an included angle between the diagonal line of the vehicle and the transverse symmetry axis of the vehicle.
Specifically, the method for calculating the transverse position and the longitudinal position of the corner point 1 comprises the following steps:
the calculation method of the transverse position and the longitudinal position of the corner point 2 comprises the following steps:
wherein y is V Is the transverse position of the center of the rectangular model of the host vehicle, x v Is the longitudinal position of the center of the rectangular model of the host vehicle, x 1v Is the longitudinal position of the No. 1 point of the host vehicle, x 2v Is the longitudinal position of the No. 2 point of the vehicle.
The calculation method of the included angle between the rectangular diagonal of the vehicle and the transverse symmetry axis of the vehicle comprises the following steps:
α v ＝tan -1 (W v /L v )
wherein L is v Is the rectangular vehicle length W of the vehicle v The vehicle is rectangular.
S240, determining the transverse initial acceleration of the vehicle based on the time difference between the current moment and the critical collision moment and the required transverse displacement of the vehicle to avoid the adjacent vehicle;
s250, respectively determining a longitudinal speed at the current moment as a longitudinal starting speed and a longitudinal ending speed, determining a longitudinal acceleration at the current moment as a longitudinal starting acceleration and a longitudinal ending acceleration, determining a transverse speed at the current moment as a transverse starting speed, and determining a transverse ending speed and a transverse ending acceleration as zero;
s260, determining transverse exit displacement according to the rectangular model of the vehicle and the rectangular model of the adjacent vehicle, and determining longitudinal exit displacement according to the time difference and the longitudinal initial speed.
Specifically, the current time t is calculated d And critical collision time t x And based on the time difference Δt, the required lateral displacement Δy, and the lateral acceleration V of the host vehicle at the current time ye Determining a lateral initial acceleration a of an exit planned trajectory avoiding a collision ye . When the lane change exit is finished, calculating the required transverse displacement of the vehicle in the lane return as the transverse exit displacement y yd And the transverse end speed V of the vehicle in the transverse direction when the lane change is ended yd And lateral ending acceleration a yd Set to 0. It is assumed that the longitudinal speed is consistent during the vehicle exiting the lane change, so that the longitudinal ending speed V xd With a longitudinal initial velocity V xe Identical, and longitudinal end acceleration a xd With longitudinal start acceleration a xe All being 0, corresponding to longitudinal exit displacement x xd Can be directly based on the time differences Deltat and V xe And (5) calculating and determining.
Optionally, when the adjacent lane to be switched is a left lane, the lateral initial acceleration a ye Is determined by the following formula:
Δt＝(t x –t d )ε
a ye ＝-2(Δy-V ye Δt)/Δt 2
correspondingly, when the adjacent lane to be switched is a right lane, the lateral initial acceleration a ye Is determined by the following formula:
Δt＝(t x –t d )ε
a ye ＝2(Δy-V ye Δt)/Δt 2
wherein t is d T is the current time, t x For critical collision time, ε is the relaxation factor, W s Is rectangular width W of adjacent vehicle v Rectangular width of the host vehicle, y s Is the transverse position of the center of the rectangular model of the adjacent vehicle, y v Is the transverse position of the center of the rectangular model of the vehicle, V ye For the lateral speed of the host vehicle, Δy is the required lateral displacement of the host vehicle to avoid an adjacent vehicle.
Optionally, the lateral exit displacement y yd And the longitudinal exit displacement x xd Is determined by the following formula:
x xd ＝ΔtV xe
wherein V is xe Is the longitudinal initial velocity.
Specifically, the start values of the start points of the lane-change exit in the lateral and longitudinal directions are set to be in addition to the lateral acceleration value a ye And the values obtained by sampling at the current moment are all the values. The channel change end state corresponds to:
x xd ＝ΔtV xe
V xd ＝V xe
a xd ＝0
V yd ＝0
a yd ＝0
x xd 、V xd 、a xd for displacement, speed and acceleration of the end point of the longitudinal lane change and exit process, y yd 、V yd 、a yd For the displacement, speed and acceleration of the end point of the transversal lane change exit process,
V xe exit start point speed for lane change. The ideal lane change ending state is that the vehicle returns to the lane and continues to travel at a constant speed along the straight line of the current lane.
S270, representing the emergency collision avoidance track of the vehicle as a parameterized equation related to time; obtaining a polynomial collision avoidance track according to the starting state, the time difference between the current moment and the critical collision moment, the ending state and the exit displacement as collision avoidance condition parameters of the parameterized equation;
and S280, optimizing the polynomial collision avoidance track through a preset index, and establishing an optimization objective function to solve to obtain an optimal lane change exit path.
Specifically, the polynomial track calculation method comprises the following steps:
the relation between the speed and the time is obtained by first-order derivation of the time
Obtaining a second derivative of timeAcceleration versus time.
The unknown total collision avoidance time can be obtained through the input of the collision avoidance condition parameters, the total collision avoidance time is obtained through a track planning optimization algorithm, and the optimal total collision avoidance time is obtained through the optimization of the total collision avoidance time. The motion trail of the mass center of the commercial vehicle is obtained through a polynomial collision avoidance trail, and the motion trail of each angular point can be obtained through geometrical relation operation.
The unknown total collision avoidance time can be obtained through the input of the collision avoidance condition parameters, the total collision avoidance time is obtained through a track planning optimization algorithm, and the optimal total collision avoidance time is obtained through the optimization of the total collision avoidance time. The optimization process through the objective function is as follows:
planning a five-time polynomial collision avoidance track through collision avoidance optimization time, optimizing based on the collision avoidance time variable, and finally solving the optimal variable through an optimization algorithm. X is X m 、Y m For x-direction and y-displacement, t c Total time for the lane change exit process. In which W is 1 、W 2 And W is 3 Is a weight coefficient, W 1 +W 2 +W 3 ＝1,k 1 And k 2 Is constant.
According to the embodiment of the invention, by means of the method for planning the emergency exit path during channel change, when the channel is dangerous, the exiting channel change path is planned by means of collected data and an algorithm, the optimal channel change track is obtained by means of an optimization algorithm, and the accident probability in the channel change process is reduced.
Fig. 3 is a schematic structural diagram of a path planning device for emergency exit during lane change according to another embodiment of the present invention. As shown in fig. 3, the apparatus includes:
a vehicle information obtaining module 310, configured to obtain information of a host vehicle and information of an adjacent vehicle of an adjacent lane to be switched in an automatic lane changing process;
a collision moment determining module 320, configured to determine a critical collision moment according to the information of the host vehicle and the information of the neighboring vehicle if the risk of collision between the host vehicle and the neighboring vehicle is predicted according to the information of the host vehicle and the information of the neighboring vehicle;
the path state determining module 330 is configured to determine, based on the critical collision time, a start state of the host vehicle at a lane change exit start point, an end state at a lane change exit end point, and an exit displacement from the lane change exit start point to the lane change exit end point according to the host vehicle information and the neighboring vehicle information;
and the exit path planning module 340 is configured to determine an optimal lane change exit path according to the start state, the time difference between the current time and the critical collision time, the end state, and the exit displacement, and control the host vehicle to exit the automatic lane change process in an emergency according to the optimal lane change exit path.
The path planning device for the emergency exit in the lane change process provided by the embodiment of the invention can execute the path planning method for the emergency exit in the lane change process provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Optionally, the collision moment determining module 320 includes:
the vehicle model building unit is used for building a rectangular model of the vehicle and a rectangular model of an adjacent vehicle according to the vehicle information and the adjacent vehicle information respectively;
the collision moment determining unit is used for determining critical collision moment according to the rectangular model of the vehicle and the rectangular model of the adjacent vehicle;
the rectangular model of the host vehicle comprises a left front corner position of the host vehicle, a right front corner position of the host vehicle, a yaw angle of the host vehicle, an included angle between a diagonal line of the host vehicle and a transverse symmetrical axis of the host vehicle, a length of the diagonal line of the rectangular of the host vehicle and a width of the rectangular of the host vehicle; the adjacent car rectangular model comprises a left front corner position of an adjacent car, a right front corner position of the adjacent car and a width of the adjacent car rectangular; the positions include a lateral position and a longitudinal position.
Alternatively, provided thatWhen the adjacent lane to be switched is a left lane, the critical collision time t x Is determined by the following formula:
correspondingly, when the adjacent lane to be switched is a right lane, the critical collision time t x Is determined by the following formula:
wherein y is 1v Is the transverse position of the left front corner point of the host vehicle, y 1v Is the transverse position of the right front corner point of the host vehicle, y 1s Is the transverse position of the left front corner point of the adjacent vehicle, y 2s Is the lateral position of the right front corner of the adjacent car,is the yaw angle of the vehicle S v For the length of the rectangular diagonal line of the host vehicle, W s Is the width alpha of the rectangle of the adjacent vehicle v Is an included angle between the diagonal line of the vehicle and the transverse symmetry axis of the vehicle.
Optionally, the starting state includes a lateral starting speed, a lateral starting acceleration, a longitudinal starting acceleration, and a longitudinal starting speed; the ending state comprises a transverse ending speed, a transverse ending acceleration, a longitudinal ending acceleration and a longitudinal ending speed; the exit displacement includes a lateral exit displacement and a longitudinal exit displacement, and the path state determination module 330 includes:
the transverse initial acceleration determining unit is used for determining the transverse initial acceleration of the vehicle based on the time difference between the current moment and the critical collision moment and the required transverse displacement of the vehicle for avoiding the adjacent vehicle;
a longitudinal state determining unit configured to determine a longitudinal speed at a current time as a longitudinal start speed and a longitudinal end speed, determine a longitudinal acceleration at the current time as a longitudinal start acceleration and a longitudinal end acceleration, determine a lateral speed at the current time as a lateral start speed, and determine a lateral end speed and a lateral end acceleration as zero, respectively;
and the exit displacement determining unit is used for determining transverse exit displacement according to the own vehicle rectangular model and the adjacent vehicle rectangular model and determining longitudinal exit displacement according to the time difference and the longitudinal initial speed.
Optionally, when the adjacent lane to be switched is a left lane, the lateral initial acceleration a ye Is determined by the following formula:
Δt＝(t x –t d )ε
a ye ＝-2(Δy-V ye Δt)/Δt 2
correspondingly, when the adjacent lane to be switched is a right lane, the lateral initial acceleration a ye Is determined by the following formula:
Δt＝(t x –t d )ε
a ye ＝2(Δy-V ye Δt)/Δt 2
wherein t is d T is the current time, t x For critical collision time, ε is the relaxation factor, W s Is rectangular width W of adjacent vehicle v Rectangular width of the host vehicle, y s Is the transverse position of the center of the rectangular model of the adjacent vehicle, y v Is the transverse position of the center of the rectangular model of the vehicle, V ye For the lateral speed of the host vehicle, Δy is the required lateral displacement of the host vehicle to avoid an adjacent vehicle.
Optionally, the lateral exit displacement y yd And the longitudinal exit displacement x xd Is determined by the following formula:
x xd ＝ΔtV xe
wherein V is xe Is the longitudinal initial velocity.
Optionally, the determining the optimal lane change exit path according to the start state, the time difference between the current time and the critical collision time, the end state and the exit displacement includes:
representing the emergency collision avoidance track of the vehicle as a parameterized equation related to time;
obtaining a polynomial collision avoidance track according to the starting state, the time difference between the current moment and the critical collision moment, the ending state and the exit displacement as collision avoidance condition parameters of the parameterized equation;
and optimizing the polynomial collision avoidance track through a preset index, and establishing an optimization objective function to solve to obtain an optimal lane change exit path.
The path planning device for the emergency exit in the lane change process, which is further described, can also execute the path planning method for the emergency exit in the lane change process, which is provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 4 shows a schematic diagram of an electronic device 40 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM) 42, a Random Access Memory (RAM) 43, etc., in which the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 may also be stored. The processor 41, the ROM 42 and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to bus 44.
Various components in electronic device 40 are connected to I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, etc.; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, an optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 41 may be various general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 41 performs the various methods and processes described above, such as the path planning method of emergency exits during a lane change.
In some embodiments, the path planning method of the on-way emergency exit may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 48. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 40 via the ROM 42 and/or the communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the path planning method of emergency exit during a lane change described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the path planning method of the on-way emergency exit by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for path planning for emergency exit during lane change, the method comprising:
acquiring own vehicle information and adjacent vehicle information of adjacent lanes to be switched in the automatic lane switching process;
if collision risk of the vehicle and the adjacent vehicle is predicted according to the vehicle information and the adjacent vehicle information, determining critical collision time according to the vehicle information and the adjacent vehicle information;
determining the initial state of the host vehicle at the lane change exit starting point, the end state of the host vehicle at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point according to the host vehicle information and the adjacent vehicle information based on the critical collision moment;
and determining an optimal lane change exit path according to the starting state, the time difference between the current time and the critical collision time, the ending state and the exit displacement, and controlling the vehicle to exit the automatic lane change process according to the optimal lane change exit path.
2. The method of claim 1, wherein the determining a critical collision moment from the host vehicle information and the neighboring vehicle information comprises:
respectively establishing a rectangular model of the host vehicle and a rectangular model of the adjacent vehicle according to the host vehicle information and the adjacent vehicle information;
determining critical collision time according to the rectangular model of the vehicle and the rectangular model of the adjacent vehicle;
the rectangular model of the host vehicle comprises a left front corner position of the host vehicle, a right front corner position of the host vehicle, a yaw angle of the host vehicle, an included angle between a diagonal line of the host vehicle and a transverse symmetrical axis of the host vehicle, a length of the diagonal line of the rectangular of the host vehicle and a width of the rectangular of the host vehicle; the adjacent car rectangular model comprises a left front corner position of an adjacent car, a right front corner position of the adjacent car and a width of the adjacent car rectangular; the positions include a lateral position and a longitudinal position.
3. The method according to claim 2, wherein the critical collision moment t when the adjacent lane to be switched is a left-hand lane x Is determined by the following formula:
correspondingly, when the adjacent lane to be switched is a right lane, the critical collision time t x Is determined by the following formula:
wherein y is 1v Is the transverse position of the left front corner point of the host vehicle, y 1v Is the transverse position of the right front corner point of the host vehicle, y 1s Is the transverse position of the left front corner point of the adjacent vehicle, y 2s Is the lateral position of the right front corner of the adjacent car,is the yaw angle of the vehicle S v For the length of the rectangular diagonal line of the host vehicle, W s Is the width alpha of the rectangle of the adjacent vehicle v Is an included angle between the diagonal line of the vehicle and the transverse symmetry axis of the vehicle.
4. A method according to claim 3, wherein the starting state comprises a lateral starting speed, a lateral starting acceleration, a longitudinal starting acceleration and a longitudinal starting speed; the ending state comprises a transverse ending speed, a transverse ending acceleration, a longitudinal ending acceleration and a longitudinal ending speed; the exit displacement comprises a transverse exit displacement and a longitudinal exit displacement;
the determining, based on the critical collision moment and according to the vehicle information and the adjacent vehicle information, an initial state of the vehicle at a lane change exit start point, an end state at a lane change exit end point, and an exit displacement from the lane change exit start point to the lane change exit end point includes:
determining the transverse initial acceleration of the vehicle based on the time difference between the current moment and the critical collision moment and the required transverse displacement of the vehicle to avoid the adjacent vehicle;
the longitudinal speed at the current moment is respectively determined to be a longitudinal starting speed and a longitudinal ending speed, the longitudinal acceleration at the current moment is determined to be a longitudinal starting acceleration and a longitudinal ending acceleration, the transverse speed at the current moment is determined to be a transverse starting speed, and the transverse ending speed and the transverse ending acceleration are determined to be zero;
and determining the transverse exit displacement according to the rectangular model of the vehicle and the rectangular model of the adjacent vehicle, and determining the longitudinal exit displacement according to the time difference and the longitudinal initial speed.
5. The method according to claim 4, wherein the lateral start acceleration a when the adjacent lane to be switched is a left-hand lane ye Is determined by the following formula:
Δt＝(t x –t d )ε
a ye ＝-2(Δy-V ye Δt)/Δt 2
correspondingly, when the adjacent lane to be switched is a right lane, the lateral initial acceleration a ye Is determined by the following formula:
Δt＝(t x –t d )ε
a ye ＝2(Δy-V ye Δt)/Δt 2
wherein t is d T is the current time, t x For critical collision time, ε is the relaxation factor, W s Is rectangular width W of adjacent vehicle v Rectangular width of the host vehicle, y s Is the transverse position of the center of the rectangular model of the adjacent vehicle, y v Is the transverse position of the center of the rectangular model of the vehicle, V ye For the lateral speed of the host vehicle, Δy is the required lateral displacement of the host vehicle to avoid an adjacent vehicle.
6. The method of claim 5, wherein the lateral exit displacement y yd And the longitudinal exit displacement x xd Is determined by the following formula:
x xd ＝ΔtV xe
wherein V is xe Is the longitudinal initial velocity.
7. The method of claim 1, wherein said determining an optimal lane change exit path based on the starting state, a time difference between a current time and the critical collision time, the ending state, and the exit displacement comprises:
representing the emergency collision avoidance track of the vehicle as a parameterized equation related to time;
obtaining a polynomial collision avoidance track according to the starting state, the time difference between the current moment and the critical collision moment, the ending state and the exit displacement as collision avoidance condition parameters of the parameterized equation;
and optimizing the polynomial collision avoidance track through a preset index, and establishing an optimization objective function to solve to obtain an optimal lane change exit path.
8. A path planning apparatus for an emergency exit during a lane change, the apparatus comprising:
the vehicle information acquisition module is used for acquiring the vehicle information and the adjacent vehicle information of the adjacent lane to be switched in the automatic lane switching process;
the collision moment determining module is used for determining critical collision moment according to the information of the own vehicle and the adjacent vehicle if the collision risk of the own vehicle and the adjacent vehicle is predicted according to the information of the own vehicle and the adjacent vehicle;
the path state determining module is used for determining the initial state of the vehicle at the lane change exit starting point, the end state at the lane change exit end point and the exit displacement from the lane change exit starting point to the lane change exit end point according to the vehicle information and the adjacent vehicle information based on the critical collision moment;
and the exit path planning module is used for determining an optimal lane change exit path according to the starting state, the time difference between the current moment and the critical collision moment, the ending state and the exit displacement, and controlling the vehicle to exit the automatic lane change process according to the optimal lane change exit path in an emergency way.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of path planning for an emergency exit en route to a lane change of any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute a path planning method for an emergency exit on a lane change according to any one of claims 1 to 7.
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