CN109204315A - Method, apparatus, storage medium and the electronic equipment of changing Lane - Google Patents
Method, apparatus, storage medium and the electronic equipment of changing Lane Download PDFInfo
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- CN109204315A CN109204315A CN201811045563.7A CN201811045563A CN109204315A CN 109204315 A CN109204315 A CN 109204315A CN 201811045563 A CN201811045563 A CN 201811045563A CN 109204315 A CN109204315 A CN 109204315A
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000012544 monitoring process Methods 0.000 claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 5
- 230000009466 transformation Effects 0.000 abstract description 14
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
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Classifications
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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
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
This disclosure relates to a kind of method of changing Lane, device, storage medium and electronic equipment, it is related to field of vehicle control, applied to vehicle, this method comprises: using the left-hand lane line in target lane and right-hand lane line as the input of preset lane keeping algorithm, to control vehicle from current lane to target lanes, target lane is the right-hand lane or left-hand lane of current lane, first distance of the monitoring vehicle to ranging lane line, ranging lane line is the specific lane line in the left-hand lane line and right-hand lane line of current lane, when the variation tendency of first distance jumps, determine that vehicle has crossed over ranging lane line, drive into target lane, keep the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm, it is sailed with controlling vehicle in target lane uplink.Technology can be kept to realize the transformation in lane by using lane, reduce the computational complexity and hardware cost of vehicle lane change.
Description
Technical field
This disclosure relates to field of vehicle control, and in particular, to a kind of method, apparatus of changing Lane, storage medium and
Electronic equipment.
Background technique
Make in daily life as China's car ownership is constantly increased with the continuous development of electron controls technology, people
With also more and more in the chance of automatic driving state.Vehicle during automatic Pilot, often will appear actively or
There is shelter and changing Lane are needed to be hidden or driver's hair in the demand of passive changing Lane, such as traveling front
The instruction of changing Lane is gone out.Existing lane-change control is usually required according between the lateral vehicle width and barrier and vehicle of vehicle
Distance, cook up guide tracks, the corner of steering wheel for vehicle determined further according to the path point in the guide tracks, operation is multiple
Miscellaneous degree is high, and hardware cost is high.
Summary of the invention
Purpose of this disclosure is to provide a kind of method, apparatus of changing Lane, storage medium and electronic equipments, to solve
Changing Lane computational complexity and the high problem of hardware cost in the prior art.
To achieve the goals above, according to the first aspect of the embodiments of the present disclosure, a kind of method of changing Lane is provided, is answered
For vehicle, which comprises
Using the left-hand lane line in target lane and right-hand lane line as the input of preset lane keeping algorithm, with control
For the vehicle from current lane to the target lanes, the target lane is right-hand lane or a left side for the current lane
Side lane；
The vehicle is monitored to the first distance of ranging lane line, the ranging lane line is the left side of the current lane
Specific lane line in lane line and right-hand lane line；
When the variation tendency of the first distance jumps, determine that the vehicle has crossed over the ranging lane line,
Drive into the target lane；
The input of the left-hand lane line and right-hand lane line in the target lane as the lane keeping algorithm is kept, with
The vehicle is controlled to sail in target lane uplink.
Optionally, first distance of the monitoring vehicle to ranging lane line, comprising:
In the vehicle axis system established using the designated position of the vehicle as origin, the seat of the ranging lane line is obtained
Scale value, the longitudinal axis of the vehicle axis system is parallel with the symmetry axis of the vehicle, and the horizontal axis of the vehicle axis system is perpendicular to institute
State symmetry axis；
The first distance is determined according to the coordinate value.
Optionally, described using the left-hand lane line in target lane and right-hand lane line as preset lane keeping algorithm
Input, before controlling the vehicle from current lane to the target lanes, the method also includes:
According to the control instruction of acquisition, the target lane is determined, the control instruction is used to indicate the row of the vehicle
Sail direction.
Optionally, described using the left-hand lane line in target lane and right-hand lane line as preset lane keeping algorithm
Input, to control the vehicle from current lane to the target lanes, comprising:
Obtain the current travel speed of the vehicle；
The peak torque for controlling the Vehicular turn is determined according to the travel speed；
Using the left-hand lane line in the target lane and right-hand lane line as the input of the lane keeping algorithm, with control
The vehicle is made from the current lane to the target lanes, and the torque for controlling the Vehicular turn is less than or equal to
The peak torque.
It is optionally, described that the peak torque for controlling the Vehicular turn is determined according to the travel speed, comprising:
When the travel speed is less than preset First Speed threshold value, determine that the peak torque is the first torque；
When the travel speed is greater than or equal to the First Speed threshold value, determine that the peak torque is the second torsion
Square；
Wherein, first torque is greater than second torque.
Optionally, the control instruction is also used to indicate that the vehicle is overtaken other vehicles；
In the left-hand lane line for keeping the target lane and right-hand lane line as the lane keeping algorithm
Input, to control the vehicle after target lane uplink is sailed, the method also includes:
The target lane is redefined as current lane, the vehicle is subjected to the former lane before the switching of lane again
It is determined as target lane；
It executes again described using the left-hand lane line in target lane and right-hand lane line as preset lane keeping algorithm
Input, to control the vehicle from current lane to the target lanes to the left side for keeping the target lane
The input of lane line and right-hand lane line as the lane keeping algorithm, to control the vehicle in target lane uplink
The step of sailing.
According to the second aspect of an embodiment of the present disclosure, a kind of device of changing Lane is provided, vehicle, described device are applied to
Include:
First control module, for being kept using the left-hand lane line in target lane and right-hand lane line as preset lane
The input of algorithm, to control the vehicle from current lane to the target lanes, the target lane is described current
The right-hand lane or left-hand lane in lane；
Monitoring modular, the first distance for monitoring the vehicle to ranging lane line, the ranging lane line is described
Specific lane line in the left-hand lane line and right-hand lane line of current lane；
Determining module, for determining that the vehicle has crossed over institute when the variation tendency of the first distance jumps
Ranging lane line is stated, the target lane is driven into；
Second control module, the left-hand lane line and right-hand lane line for keeping the target lane are as the lane
The input for keeping algorithm, is sailed with controlling the vehicle in target lane uplink.
Optionally, the monitoring modular includes:
Coordinate acquisition submodule, for obtaining in the vehicle axis system established using the designated position of the vehicle as origin
The coordinate value of the ranging lane line is taken, the longitudinal axis of the vehicle axis system is parallel with the symmetry axis of the vehicle, the vehicle
The horizontal axis of coordinate system is perpendicular to the symmetry axis；
Distance determines submodule, for determining the first distance according to the coordinate value.
Optionally, described device further include:
Module is obtained, for protecting described using the left-hand lane line in target lane and right-hand lane line as preset lane
The input of algorithm is held, before controlling the vehicle from current lane to the target lanes, is referred to according to the control of acquisition
It enables, determines the target lane, the control instruction is used to indicate the driving direction of the vehicle.
Optionally, first control module includes:
Acquisition submodule, for obtaining the current travel speed of the vehicle；
Torque determines submodule, for determining the peak torque for controlling the Vehicular turn according to the travel speed；
Control submodule, for being kept using the left-hand lane line in the target lane and right-hand lane line as the lane
The input of algorithm to control the vehicle from the current lane to the target lanes, and controls the Vehicular turn
Torque be less than or equal to the peak torque.
Optionally, the torque determines that submodule is used for:
When the travel speed is less than preset First Speed threshold value, determine that the peak torque is the first torque；
When the travel speed is greater than or equal to the First Speed threshold value, determine that the peak torque is the second torsion
Square；
Wherein, first torque is greater than second torque.
Optionally, the control instruction is also used to indicate that the vehicle is overtaken other vehicles；
Described device further include:
Third control module, for the left-hand lane line and right-hand lane line in the holding target lane as institute
The input of lane keeping algorithm is stated, to control the vehicle after target lane uplink is sailed, by target lane weight
Newly it is determined as current lane, the former lane that the vehicle carries out before the switching of lane is redefined as target lane；It executes again
It is described using the left-hand lane line in target lane and right-hand lane line as the input of preset lane keeping algorithm, described in control
Vehicle is from current lane to the target lanes to the left-hand lane line and right-hand lane for keeping the target lane
Input of the line as the lane keeping algorithm, to control the vehicle the step of target lane uplink is sailed.
According to the third aspect of an embodiment of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
The step of machine program, the method for the changing Lane that realization first aspect provides when which is executed by processor.
According to a fourth aspect of embodiments of the present disclosure, a kind of electronic equipment is provided, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize the transformation of first aspect offer
The step of method in lane.
Through the above technical solutions, left-hand lane line and the right side in the target lane that vehicle is needed to transform to by the disclosure first
Side lane line makes vehicle using target lane as the lane to be kept, as the input of preset lane keeping algorithm with control
Vehicle is from current lane to target lanes, then real-time monitoring vehicle is to the left-hand lane line and right-hand lane line of current lane
In specific lane line, i.e. the first distance of ranging lane line can determine when the variation tendency of first distance jumps
Vehicle has had passed over ranging lane line, drives into target lane, and the lane of current driving has been switched to target lane, completes
The transformation in lane keeps the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm at this time, with
Control vehicle is sailed in target lane uplink.Technology can be kept to realize the transformation in lane by using lane, reduce vehicle
The computational complexity and hardware cost of lane change.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the method for changing Lane shown according to an exemplary embodiment；
Fig. 2 is the distance relation schematic diagram in the lane shown in method and vehicle according to Fig. 1；
Fig. 3 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment；
Fig. 4 is the schematic diagram of the vehicle axis system shown in method according to Fig.3,；
Fig. 5 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment；
Fig. 6 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment；
Fig. 7 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment；
Fig. 8 is a kind of block diagram of the device of changing Lane shown according to an exemplary embodiment；
Fig. 9 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment；
Figure 10 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment；
Figure 11 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment；
Figure 12 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment；
Figure 13 is the block diagram of a kind of electronic equipment shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Before introducing the method, apparatus of changing Lane of disclosure offer, storage medium and electronic equipment, first to this
Application scenarios involved in each embodiment are introduced in open, which is the vehicle with Function for Automatic Pilot,
It is provided with Lane Keeping System on vehicle, vehicle can be controlled by lane keeping algorithm along the lanes of input.Its
In, vehicle can be automobile, which is not limited to orthodox car, pure electric automobile or mixed electrical automobile, in addition to this can be with
The motor vehicle of automatic Pilot Status Type is supported suitable for other.Wherein, the realization of lane keeping algorithm, can be and obtain first
The left-hand lane line in target lane and the attribute of right-hand lane line, such as may include side offset distance, course angle, lane line
Curvature, lane line curvature variation, further according to the attribute of the center line in the attribute calculating target lane of two lane lines.Center line
Attribute left-hand lane line and right-hand lane line can be taken to correspond to the average value of attribute, such as center line offset and be left side
The average value of the offset of the offset and right-hand lane line of lane line, the course angle of center line and the course for left-hand lane line
The average value of the course angle of angle and right-hand lane line, center curvature of a curve, Curvature varying amount, similarly will not enumerate.?
To the offset of center line, course angle, curvature and Curvature varying amount, then using this multiple attribute of center line as multiple PID (English
Text: Proportion Integration Differentiation, Chinese: proportional integral derivative) controller input, and it is right
The output result of multiple PID controllers is summed, and torque required for control Vehicular turn can be obtained, to control vehicle
In target lane, uplink is sailed.Wherein, the acquisition of the attribute of left-hand lane line and right-hand lane line can be by being arranged in the car
The camera of heart position (such as middle position of headstock).It can also be obtained by way of fitting, such as camera shooting can be passed through
Point on head acquisition lane line, or by high-precision navigation system, the point on lane line is obtained using high-precision map, from
And the point on lane line is fitted, calculate the attribute of lane line.
Fig. 1 is a kind of flow chart of the method for changing Lane shown according to an exemplary embodiment, as shown in Figure 1, should
Method is applied to vehicle, comprising:
Step 101, using the left-hand lane line in target lane and right-hand lane line as the defeated of preset lane keeping algorithm
Enter, to control vehicle from current lane to target lanes, target lane is the right-hand lane or left-hand lane of current lane.
For example, when vehicle needs changing Lane (leftward or rightward changing Lane), the lane for needing to transform to is i.e.
For target lane, using the left-hand lane line in target lane and right-hand lane line as the input (example of preset lane keeping algorithm
If the headstock of vehicle can be equipped with the camera for detecting lane line information, by the left side in the target lane of camera acquisition
In the Lane Keeping System being arranged on lane line and the corresponding information input to vehicle of right-hand lane line), make vehicle by target carriage
Boundary of the left-hand lane line and right-hand lane line in road as the lane to be kept, to control vehicle from current lane to target carriage
Road traveling, wherein current lane refers to the lane of vehicle current driving, the position being subject to where camera, it is possible to understand that
To be the lane where camera, for example, current lane can be determined according to the camera being arranged on vehicle, camera peace
The position of dress can be the headstock transverse center of vehicle, to identify current lane, mesh according to camera acquired image
Mark lane can be the left-hand lane or right-hand lane of current lane.In control vehicle from current lane to target lanes
In the process, vehicle can also be controlled and open corresponding turn signal, for example, when target lane is the left-hand lane of current lane,
That is vehicle changing Lane to the left after left steering lamp flashes three seconds, then controls vehicle then can control vehicle opens left steering lamp
Target lane is turned to from current lane.
It should be noted that the demand of changing Lane may is that vehicle during automatic Pilot due to going out in front of traveling
Shelter is showed and has needed that changing Lane is hidden or driver actively has issued the instruction of changing Lane, has been converted in vehicle
During lane, the judgement to vehicle current driving environment is may be implemented in the Function for Automatic Pilot of vehicle, suitable to control vehicle
Sharp changing Lane, such as can be according to information collecting devices such as camera, the radars being arranged on vehicle, to determine that vehicle periphery is
No there are obstacles, when determining that vehicle periphery does not have obstacle, then control vehicle and turn to target lane from current lane.
Step 102, first distance of the monitoring vehicle to ranging lane line, wherein ranging lane line is a left side for current lane
Specific lane line in side lane line and right-hand lane line.
It is exemplary, during control vehicle turns to target lane from current lane, real-time monitoring vehicle to ranging vehicle
The first distance of diatom, ranging lane line are the specific lane line in the left-hand lane line and right-hand lane line of current lane, i.e.,
In the lane line of left and right two of current lane, be located at target lane (i.e. switching direction) side or with target lane opposite side
Lane line.Wherein, in the headstock transverse center of vehicle, the camera for detecting lane line information is installed, first distance is,
The point of camera installation site is also possible to the local coordinate system by establishing vehicle, example to the horizontal distance of ranging lane line
Such as using headstock transverse center as origin (i.e. the installation site of camera), respectively using the longitudinal axis of vehicle and horizontal axis as local coordinate
The longitudinal axis and horizontal axis of system, using the absolute value of ranging lane line and the coordinate value of the intersection point of the horizontal axis of local coordinate system as first away from
From.
Step 103, it when the variation tendency of first distance jumps, determines that vehicle has crossed over ranging lane line, drives into
Target lane.
It is exemplary, after lane-change starts, as vehicle is increasingly closer to target lane, the distance of vehicle distances ranging lane line
Also it is changing, when the variation tendency of first distance jumps, can determine that vehicle has crossed over ranging lane line, drive into
Target lane completes the transformation in lane.Jump, which occurs, for the variation tendency of first distance can be divided into two classes: when ranging lane
When line is that current lane is located at the lane line of switching direction side, the first distance of adjacent two monitoring cycles monitoring is smaller and smaller,
Gradually close to 0, when the position of camera is across ranging lane line, vehicle has driven into target lane, at this time target
Lane becomes the lane of vehicle current driving, therefore, because the variation of reference system, ranging lane line is also changed, and first
Distance becomes vehicle (i.e. camera position) and is located at switching direction one into the left-hand lane line and right-hand lane line in target lane
The distance between lane line of side, first distance can increase suddenly as the width in a lane, i.e., first distance is in adjacent two prison
Jump (being zero by gradually decreasing, suddenly become the width in a lane) occurs for the variation tendency for surveying the period.When ranging lane line
When being located at the lane line of switching direction opposite side for current lane, the first distance of adjacent two monitoring cycles monitoring is increasingly
Greatly, the width gradually to a lane is close, and when the position of camera is across ranging lane line, vehicle has driven into mesh
Mark lane, target lane becomes the lane of vehicle current driving at this time, due to the variation of reference system and ranging lane line, first away from
It is opposite positioned at switching direction into the left-hand lane line and right-hand lane line in target lane from vehicle (i.e. camera position) is become
The distance between lane line of side, first distance can suddenly become 0, i.e. first distance becomes in the variation of adjacent two monitoring cycle
Gesture occurs jump and (by being gradually increased to the width in a lane, suddenly becomes 0).
By taking target lane is the lane on the left of current lane as an example, after vehicle drives into target lane, target lane is to work as
The lane of preceding traveling, current lane have become the right-hand lane in the lane of current driving, and the left-hand lane in target lane becomes
The left-hand lane in the lane of current driving, then Lane Keeping System is for left and right two during with vehicle changing Lane
The distance relation of side lane and vehicle is as shown in Fig. 2, horizontal axis is the time in coordinate system, and unit is the second (s), and the longitudinal axis is that lane is kept
Pass through the left-hand lane (horizontal axis of vision-based detection (such as can be camera) obtained vehicle and the lane of current driving in system
The curve of top) and right-hand lane (curve below horizontal axis) distance, unit is rice (m).When vehicle is turned to from current lane
During target lane, vehicle is smaller and smaller at a distance from left-hand lane (i.e. target lane), when vehicle has been switched to mesh
When marking lane (the A point in figure), a jump can occur at a distance from left-hand lane for vehicle, sport pre-determined distance by zero
The left-hand lane of (such as the width that can be a lane), the lane of vehicle current driving at this time becomes target from target lane
The left-hand lane (i.e. the left-hand lane of the left-hand lane of current lane) in lane.
Step 104, the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm is kept, with
Control vehicle is sailed in target lane uplink.
For example, after completing the transformation in lane, the left-hand lane line in target lane and right-hand lane line is kept to make
It for the input of lane keeping algorithm, allows the vehicle to along target lanes, if step 101 when being executed, opens
The turn signal of vehicle can also control vehicle and close turn signal in step 104.
In conclusion the left-hand lane line and right-hand lane in the target lane that vehicle is needed to transform to by the disclosure first
Line makes vehicle using target lane as the lane to be kept as the input of preset lane keeping algorithm, with control vehicle by
Current lane is to target lanes, then real-time monitoring vehicle is to the finger in the left-hand lane line and right-hand lane line of current lane
Determine lane line, the i.e. first distance of ranging lane line, when the variation tendency of first distance jumps, can determine vehicle
Ranging lane line is spanned, target lane is driven into, the lane of current driving has been switched to target lane, completes lane
Transformation keeps the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm, at this time to control vehicle
It is sailed in target lane uplink.Technology can be kept to realize the transformation in lane by using lane, reduce vehicle lane change
Computational complexity and hardware cost.
Fig. 3 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment, as shown in figure 3,
Step 102 can be realized by following steps:
Step 1021, in the vehicle axis system established using the designated position of vehicle as origin, ranging lane line is obtained
Coordinate value, the longitudinal axis of vehicle axis system and the symmetry axis of vehicle are parallel, and the horizontal axis of vehicle axis system is perpendicular to symmetry axis.
Step 1022, first distance is determined according to coordinate value.
For example, first distance can be monitored by establishing vehicle axis system.For example, the designated position with vehicle is
Origin establishes coordinate system, and the longitudinal axis is the symmetry axis of vehicle, and horizontal axis is the axis vertical with symmetry axis, as shown in figure 4, with headstock transverse direction
Center is origin to illustrate, and y-axis is the symmetry axis of vehicle, and x-axis is the axis vertical with y-axis.Vehicle is from current lane to target
During lanes, using the absolute value of ranging lane line and the coordinate value of the intersection point of x-axis as first distance.
Fig. 5 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment, as shown in figure 5,
Before step 101, this method further include:
Step 105, according to the control instruction of acquisition, target lane is determined, control instruction is used to indicate the traveling side of vehicle
To.
It is exemplary, before controlling vehicle changing Lane, control instruction can be first obtained, according to what is indicated in control instruction
The driving direction of vehicle determines target lane, and control instruction can be by the automated driving system sending of vehicle, can also be with
It is to be issued by driver, such as control instruction indicates vehicle changing Lane to the right, then it is determined that target lane is current driving
The right-hand lane in lane.
Fig. 6 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment, as shown in fig. 6,
Step 101 can be realized by following steps:
Step 1011, the current travel speed of vehicle is obtained.
Step 1012, the peak torque of control Vehicular turn is determined according to travel speed.
Step 1013, using the left-hand lane line in target lane and right-hand lane line as the input of lane keeping algorithm, with
Vehicle is controlled from current lane to target lanes, and the torque for controlling Vehicular turn is less than or equal to peak torque.
For example, vehicle in the process of moving, when the steering wheel of vehicle keeps identical corner, not with speed
Together, the speed of lateral direction of car traveling also can be different, and speed is bigger, and the speed of lateral direction of car traveling is bigger, for similarly converting
The process in lane, speed is bigger, and corner needed for steering wheel is with regard to smaller.Therefore, in control vehicle from current lane to target carriage
Road when driving, will obtain the current travel speed of vehicle, and the peak torque of control Vehicular turn is determined by travel speed, determine
After peak torque, control vehicle from current lane to target lane when driving, the torque for controlling Vehicular turn is less than or waits
In peak torque.
Wherein, step 1012 can be realized by following steps:
1) when travel speed is less than preset First Speed threshold value, determine that peak torque is the first torque.
2) when travel speed is greater than or equal to First Speed threshold value, determine that peak torque is the second torque.
Wherein, the first torque is greater than the second torque.
It is exemplary, First Speed threshold value can be set, to determine peak torque, so that travel speed is more than First Speed threshold
Corresponding peak torque is less than speed and is lower than corresponding peak torque when First Speed threshold value when value.It is with First Speed threshold value
For 70km/h, when travel speed is less than 70km/h, determines that peak torque is 3Nm (including turns left or turn right), work as traveling
When speed is greater than or equal to 70km/h, determine that peak torque is 2.5Nm (including turns left or turn right).
Fig. 7 is the flow chart of the method for another changing Lane shown according to an exemplary embodiment, as shown in fig. 7,
Control instruction is also used to indicate that vehicle is overtaken other vehicles, after step 104, this method further include:
Step 106, target lane is redefined as current lane, vehicle is subjected to the former lane before the switching of lane again
It is determined as target lane.Step 101 is executed again to performed step in 104.
For example, control instruction also can indicate that vehicle is overtaken other vehicles, then can after step 104, by target
Lane is redefined as current lane, the former lane that vehicle carries out before the switching of lane is redefined as target lane, then successively
Step 101 is executed to performed step in 104, is overtaken other vehicles with controlling vehicle.Such as: it first controls vehicle and converts vehicle to the left
Road after vehicle is more than target vehicle, then controls vehicle changing Lane to the right, includes converting twice during overtaking other vehicles
The process in lane that is, after determining that vehicle is converted into target lane from current lane, then controls vehicle and switches back into former lane
Traveling.
It should be noted that the Function for Automatic Pilot of vehicle may be implemented current to vehicle during vehicle cut-ins
The judgement of running environment is smoothly overtaken other vehicles with controlling vehicle, such as can be adopted according to information such as camera, the radars being arranged on vehicle
Collect equipment, to determine vehicle periphery with the presence or absence of obstacle, when determining that vehicle periphery does not have obstacle, control vehicle opens left steering
Lamp turns to target lane from current lane, after vehicle is converted into target lane from current lane, closes left steering lamp, controls vehicle
Accelerate, then determines vehicle right side when not having obstacle (being more than target vehicle), then control vehicle and open right turn lamp to original
Lanes.
In conclusion the left-hand lane line and right-hand lane in the target lane that vehicle is needed to transform to by the disclosure first
Line makes vehicle using target lane as the lane to be kept as the input of preset lane keeping algorithm, with control vehicle by
Current lane is to target lanes, then real-time monitoring vehicle is to the finger in the left-hand lane line and right-hand lane line of current lane
Determine lane line, the i.e. first distance of ranging lane line, when the variation tendency of first distance jumps, can determine vehicle
Ranging lane line is spanned, target lane is driven into, the lane of current driving has been switched to target lane, completes lane
Transformation keeps the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm, at this time to control vehicle
It is sailed in target lane uplink.Technology can be kept to realize the transformation in lane by using lane, reduce vehicle lane change
Computational complexity and hardware cost.
Fig. 8 is a kind of block diagram of the device of changing Lane shown according to an exemplary embodiment, as shown in figure 8, the dress
It sets 200 and is applied to vehicle, comprising:
First control module 201, for using the left-hand lane line in target lane and right-hand lane line as preset lane
The input of algorithm is kept, to control vehicle from current lane to target lanes, target lane is the right side vehicle of current lane
Road or left-hand lane.
Monitoring modular 202, the first distance for monitoring vehicle to ranging lane line, ranging lane line are current lane
Specific lane line in left-hand lane line and right-hand lane line.
Determining module 203, for when the variation tendency of first distance jumps, determining that vehicle has crossed over ranging lane
Line drives into target lane.
Second control module 204, the left-hand lane line and right-hand lane line for keeping target lane are as lane holding
The input of algorithm is sailed with controlling vehicle in target lane uplink.
Fig. 9 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment, as shown in figure 9, prison
Surveying module 202 includes:
Coordinate acquisition submodule 2021, for obtaining in the vehicle axis system established using the designated position of vehicle as origin
The coordinate value of ranging lane line is taken, the longitudinal axis of vehicle axis system and the symmetry axis of vehicle are parallel, and the horizontal axis of vehicle axis system is vertical
In symmetry axis.
Distance determines submodule 2022, for determining first distance according to coordinate value.
Figure 10 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment, as shown in Figure 10,
The device 200 further include:
Module 205 is obtained, for protecting using the left-hand lane line in target lane and right-hand lane line as preset lane
The input of algorithm is held, before controlling vehicle from current lane to target lanes, according to the control instruction of acquisition, determines mesh
Lane is marked, control instruction is used to indicate the driving direction of vehicle.
Figure 11 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment, as shown in figure 11,
First control module 201 includes:
Acquisition submodule 2011, for obtaining the current travel speed of vehicle.
Torque determines submodule 2012, for determining the peak torque of control Vehicular turn according to travel speed.
Control submodule 2013, for using the left-hand lane line in target lane and right-hand lane line as lane keeping algorithm
Input, to control vehicle from current lane to target lanes, and the torque for controlling Vehicular turn is less than or equal to maximum
Torque.
Optionally, torque determines that submodule 2012 can be used for executing following steps:
1) when travel speed is less than preset First Speed threshold value, determine that peak torque is the first torque.
2) when travel speed is greater than or equal to First Speed threshold value, determine that peak torque is the second torque.
Wherein, the first torque is greater than the second torque.
Figure 12 is the block diagram of the device of another changing Lane shown according to an exemplary embodiment, as shown in figure 12,
Control instruction is also used to indicate that vehicle is overtaken other vehicles, the device 200 further include:
Third control module 206, for being protected in the left-hand lane line and right-hand lane line that keep target lane as lane
The input of algorithm is held, to control vehicle after target lane uplink is sailed, target lane is redefined as current lane, by vehicle
Carry out lane switching before former lane be redefined as target lane.It is executed again by the left-hand lane line in target lane and the right side
Input of the side lane line as preset lane keeping algorithm, to control vehicle from current lane to target lanes to holding
Input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm, to control vehicle on target lane
The step of traveling.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In conclusion the left-hand lane line and right-hand lane in the target lane that vehicle is needed to transform to by the disclosure first
Line makes vehicle using target lane as the lane to be kept as the input of preset lane keeping algorithm, with control vehicle by
Current lane is to target lanes, then real-time monitoring vehicle is to the finger in the left-hand lane line and right-hand lane line of current lane
Determine lane line, the i.e. first distance of ranging lane line, when the variation tendency of first distance jumps, can determine vehicle
Ranging lane line is spanned, target lane is driven into, the lane of current driving has been switched to target lane, completes lane
Transformation keeps the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm, at this time to control vehicle
It is sailed in target lane uplink.Technology can be kept to realize the transformation in lane by using lane, reduce vehicle lane change
Computational complexity and hardware cost.
Figure 13 is the block diagram of a kind of electronic equipment 300 shown according to an exemplary embodiment.As shown in figure 13, the electronics
Equipment 300 may include: processor 301, memory 302.The electronic equipment 300 can also include multimedia component 303, defeated
Enter/export one or more of (I/O) interface 304 and communication component 305.
Wherein, processor 301 is used to control the integrated operation of the electronic equipment 300, to complete above-mentioned changing Lane
All or part of the steps in method.Memory 302 is for storing various types of data to support in the electronic equipment 300
Operation, these data for example may include the instruction of any application or method for operating on the electronic equipment 300,
And the relevant data of application program, such as contact data, the message of transmitting-receiving, picture, audio, video etc..The memory
302 can be realized by any kind of volatibility or non-volatile memory device or their combination, such as static random is deposited
Access to memory (Static Random Access Memory, abbreviation SRAM), electrically erasable programmable read-only memory
(Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM), erasable programmable
Read-only memory (Erasable Programmable Read-Only Memory, abbreviation EPROM), programmable read only memory
(Programmable Read-Only Memory, abbreviation PROM), and read-only memory (Read-Only Memory, referred to as
ROM), magnetic memory, flash memory, disk or CD.Multimedia component 303 may include screen and audio component.Wherein
Screen for example can be touch screen, and audio component is used for output and/or input audio signal.For example, audio component may include
One microphone, microphone is for receiving external audio signal.The received audio signal can be further stored in storage
Device 302 is sent by communication component 305.Audio component further includes at least one loudspeaker, is used for output audio signal.I/O
Interface 304 provides interface between processor 301 and other interface modules, other above-mentioned interface modules can be keyboard, mouse,
Button etc..These buttons can be virtual push button or entity button.Communication component 305 is for the electronic equipment 300 and other
Wired or wireless communication is carried out between equipment.Wireless communication, such as Wi-Fi, bluetooth, near-field communication (Near Field
Communication, abbreviation NFC), 2G, 3G or 4G or they one or more of combination, therefore corresponding communication
Component 305 may include: Wi-Fi module, bluetooth module, NFC module.
In one exemplary embodiment, electronic equipment 300 can be by one or more application specific integrated circuit
(Application Specific Integrated Circuit, abbreviation ASIC), digital signal processor (Digital
Signal Processor, abbreviation DSP), digital signal processing appts (Digital Signal Processing Device,
Abbreviation DSPD), programmable logic device (Programmable Logic Device, abbreviation PLD), field programmable gate array
(Field Programmable Gate Array, abbreviation FPGA), controller, microcontroller, microprocessor or other electronics member
Part realization, the method for executing above-mentioned changing Lane.
In a further exemplary embodiment, a kind of computer readable storage medium including program instruction is additionally provided, it should
The step of method of above-mentioned changing Lane is realized when program instruction is executed by processor.For example, the computer-readable storage medium
Matter can be the above-mentioned memory 302 including program instruction, and above procedure instruction can be held by the processor 301 of electronic equipment 300
Method of the row to complete above-mentioned changing Lane.
In conclusion the left-hand lane line and right-hand lane in the target lane that vehicle is needed to transform to by the disclosure first
Line makes vehicle using target lane as the lane to be kept as the input of preset lane keeping algorithm, with control vehicle by
Current lane is to target lanes, then real-time monitoring vehicle is to the finger in the left-hand lane line and right-hand lane line of current lane
Determine lane line, the i.e. first distance of ranging lane line, when the variation tendency of first distance jumps, can determine vehicle
Ranging lane line is spanned, target lane is driven into, the lane of current driving has been switched to target lane, completes lane
Transformation keeps the input of the left-hand lane line and right-hand lane line in target lane as lane keeping algorithm, at this time to control vehicle
It is sailed in target lane uplink.Technology can be kept to realize the transformation in lane by using lane, reduce vehicle lane change
Computational complexity and hardware cost.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, those skilled in the art are considering specification and practice
After the disclosure, it is readily apparent that other embodiments of the disclosure, belongs to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.Simultaneously between a variety of different embodiments of the disclosure
Any combination can also be carried out, as long as it, without prejudice to the thought of the disclosure, equally should be considered as disclosure disclosure of that.
The disclosure is not limited to the precision architecture being described above out, and the scope of the present disclosure is only limited by the attached claims
System.
Claims (10)
1. a kind of method of changing Lane, which is characterized in that be applied to vehicle, which comprises
Using the left-hand lane line in target lane and right-hand lane line as the input of preset lane keeping algorithm, described in control
For vehicle from current lane to the target lanes, the target lane is the right-hand lane or left side vehicle of the current lane
Road；
The vehicle is monitored to the first distance of ranging lane line, the ranging lane line is the left-hand lane of the current lane
Specific lane line in line and right-hand lane line；
When the variation tendency of the first distance jumps, determines that the vehicle has crossed over the ranging lane line, drive into
The target lane；
The input of the left-hand lane line and right-hand lane line in the target lane as the lane keeping algorithm is kept, with control
The vehicle is sailed in target lane uplink.
2. the method according to claim 1, wherein the monitoring vehicle to ranging lane line first away from
From, comprising:
In the vehicle axis system established using the designated position of the vehicle as origin, the coordinate of the ranging lane line is obtained
Value, the longitudinal axis of the vehicle axis system is parallel with the symmetry axis of the vehicle, and the horizontal axis of the vehicle axis system is perpendicular to described
Symmetry axis；
The first distance is determined according to the coordinate value.
3. the method according to claim 1, wherein in the left-hand lane line and right side vehicle by target lane
Input of the diatom as preset lane keeping algorithm, with control the vehicle from current lane to the target lanes it
Before, the method also includes:
According to the control instruction of acquisition, the target lane is determined, the control instruction is used to indicate the traveling side of the vehicle
To.
4. the method according to claim 1, wherein the left-hand lane line and right-hand lane by target lane
Input of the line as preset lane keeping algorithm is wrapped with controlling the vehicle from current lane to the target lanes
It includes:
Obtain the current travel speed of the vehicle；
The peak torque for controlling the Vehicular turn is determined according to the travel speed；
Using the left-hand lane line in the target lane and right-hand lane line as the input of the lane keeping algorithm, to control
The torque that vehicle is stated from the current lane to the target lanes, and controls the Vehicular turn is less than or equal to described
Peak torque.
5. according to the method described in claim 4, it is characterized in that, described determined according to the travel speed controls the vehicle
The peak torque of steering, comprising:
When the travel speed is less than preset First Speed threshold value, determine that the peak torque is the first torque；
When the travel speed is greater than or equal to the First Speed threshold value, determine that the peak torque is the second torque；
Wherein, first torque is greater than second torque.
6. method according to claim 3, which is characterized in that the control instruction is also used to indicate that the vehicle carries out
It overtakes other vehicles；
In input of the left-hand lane line and right-hand lane line for keeping the target lane as the lane keeping algorithm,
To control the vehicle after target lane uplink is sailed, the method also includes:
The target lane is redefined as current lane, the former lane that the vehicle carries out before the switching of lane is redefined
For target lane；
It executes again described using the left-hand lane line in target lane and right-hand lane line as the defeated of preset lane keeping algorithm
Enter, to control left-hand lane of the vehicle from current lane to the target lanes to the holding target lane
The input of line and right-hand lane line as the lane keeping algorithm is sailed in target lane uplink with to control the vehicle
Step.
7. a kind of device of changing Lane, which is characterized in that be applied to vehicle, described device includes:
First control module, for using the left-hand lane line in target lane and right-hand lane line as preset lane keeping algorithm
Input, to control the vehicle from current lane to the target lanes, the target lane is the current lane
Right-hand lane or left-hand lane；
Monitoring modular, the first distance for monitoring the vehicle to ranging lane line, the ranging lane line are described current
Specific lane line in the left-hand lane line and right-hand lane line in lane；
Determining module, for determining that the vehicle has crossed over the survey when the variation tendency of the first distance jumps
Away from lane line, the target lane is driven into；
Second control module, left-hand lane line and right-hand lane line for keeping the target lane are kept as the lane
The input of algorithm is sailed with controlling the vehicle in target lane uplink.
8. device according to claim 7, which is characterized in that the monitoring modular includes:
Coordinate acquisition submodule, for obtaining institute in the vehicle axis system established using the designated position of the vehicle as origin
The coordinate value of ranging lane line is stated, the longitudinal axis of the vehicle axis system is parallel with the symmetry axis of the vehicle, the vehicle coordinate
The horizontal axis of system is perpendicular to the symmetry axis；
Distance determines submodule, for determining the first distance according to the coordinate value.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of any one of claim 1-6 the method is realized when row.
10. a kind of electronic equipment characterized by comprising
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize described in any one of claim 1-6
The step of method.
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| CN201811045563.7A CN109204315B (en) | 2018-09-07 | 2018-09-07 | Lane changing method, lane changing device, storage medium and electronic equipment |
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|---|---|---|---|
| CN201811045563.7A CN109204315B (en) | 2018-09-07 | 2018-09-07 | Lane changing method, lane changing device, storage medium and electronic equipment |
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| CN109204315A true CN109204315A (en) | 2019-01-15 |
| CN109204315B CN109204315B (en) | 2020-05-15 |
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| CN109204315B (en) | 2020-05-15 |
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Effective date of registration: 20200925 Address after: 201805 room 1703, No. 888, South Moyu Road, Anting Town, Jiading District, Shanghai Patentee after: NEUSOFT REACH AUTOMOTIVE TECHNOLOGY (SHANGHAI) Co.,Ltd. Address before: Hunnan rookie street Shenyang city Liaoning province 110179 No. 2 Patentee before: NEUSOFT Corp. Patentee before: NEUSOFT REACH AUTOMOTIVE TECHNOLOGY (SHANGHAI) Co.,Ltd. |