CN109774715A - Lane change method and device for automatic driving vehicle - Google Patents
Lane change method and device for automatic driving vehicle Download PDFInfo
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- CN109774715A CN109774715A CN201811646309.2A CN201811646309A CN109774715A CN 109774715 A CN109774715 A CN 109774715A CN 201811646309 A CN201811646309 A CN 201811646309A CN 109774715 A CN109774715 A CN 109774715A
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Abstract
The embodiment of the present invention provides a kind of lane change method and device for automatic driving vehicle, belongs to automatic Pilot field.The described method includes: determine whether that there is the first lane change demand, the first lane change demand include it is following one or more: the lane change demand of lane change prompt and driver's input that the lane change demand that is obtained based on high-precision map, navigation system are provided；With the first lane change demand, judge whether to meet lane change condition；And if meeting the lane change condition, controls current vehicle and execute lane change operation.It provides a kind of reasonable autonomous lane change strategy for automatic driving vehicle.
Description
Technical field
The present invention relates to automatic Pilot fields, and in particular, to a kind of lane change method and dress for automatic driving vehicle
It sets.
Background technique
The appearance of automatic Pilot technology, provides convenience for vehicle drive, is particularly advantageous to need long-duration driving vehicle
The case where.It can guarantee the safe and reliable of driving, avoid fatigue driving in the case where not influencing to drive stroke.
In automotive vehicle driving process, it may be needed to be implemented to pursue faster speed or more free driving space
Lane changing, this needs to provide reasonable lane change strategy, to provide good basis for lane-change behavior.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of lane change method and device for automatic driving vehicle is provided, to be vehicle
Road transformation provides reasonable autonomous lane change strategy.
To achieve the goals above, the embodiment of the present invention provides a kind of lane change method for automatic driving vehicle, described
Method comprises determining whether there is the first lane change demand, the first lane change demand include it is following one or more: based on high-precision
Degree map and obtain lane change demand, navigation system provide lane change prompt and driver input lane change demand；With institute
In the case where stating the first lane change demand, judge whether to meet lane change condition；And if meeting the lane change condition, control is worked as
Vehicle in front executes lane change operation.
Optionally, the lane change condition includes: that the fore-and-aft distance of the front truck and the current vehicle in current lane is greater than
The fore-and-aft distance of safe distance, the front truck in target lane and current vehicle is greater than the safe distance and the target carriage
The fore-and-aft distance of rear car and the current vehicle in road is greater than the safe distance.
Optionally, the safe distance is obtained by following formula:
Wherein, D is the safe distance, and ρ is in the response time of rear vehicle, amax,accelFor rear vehicle most greatly
Speed；amax,brakeFor the maximum deceleration of vehicle in front, amin,brakeFor in the minimum deceleration degree of rear vehicle, vrFor in rear vehicle
Speed, vfFor the speed of vehicle in front.
Optionally, described to judge whether that meeting lane change condition includes: not indicate target lane in the first lane change demand
In the case where, using the left-lane adjacent with current lane as target lane to determine whether meeting the lane change condition；And
Using the left-lane as the target lane after judge to be unsatisfactory for the lane change condition in the case where, will be with current lane
Adjacent right lane is as target lane to determine whether meeting the lane change condition.
Optionally, the method also includes: if being unsatisfactory for the lane change condition, issue lane change request；Judge sending out
Whether meet the lane change condition in the preset time after the lane change request out；And if after issuing the lane change request
Preset time in meet the lane change condition, then control the current vehicle and execute the lane change operation.
Optionally, the first lane change demand further includes that the lane change due to caused by the front truck pressure speed in current lane needs
It asks, wherein the priority for the lane change prompt that the navigation system provides is higher than due to the front truck pressure speed in current lane and causes
Lane change demand priority, the priority of the lane change demand obtained based on high-precision map is higher than the navigation system and mentioned
The priority of the lane change prompt of confession；The priority of the lane change demand of driver's input is obtained described in being higher than based on high-precision map
The priority of the lane change demand taken.
Correspondingly, the embodiment of the present invention also provides a kind of lane change device for automatic driving vehicle, described device includes:
Determining module, be used to determine whether have the first lane change demand, the first lane change demand include it is following one or more: be based on
High-precision map and obtain lane change demand, navigation system provide lane change prompt and driver input lane change demand；Judgement
Module, for judging whether to meet lane change condition with the first lane change demand；And control module, it uses
If controlling current vehicle in meeting the lane change condition and executing lane change operation.
Optionally, the lane change condition includes: that the fore-and-aft distance of the front truck and the current vehicle in current lane is greater than
The fore-and-aft distance of safe distance, the front truck in target lane and current vehicle is greater than the safe distance and the target carriage
The fore-and-aft distance of rear car and the current vehicle in road is greater than the safe distance.
Optionally, the safe distance is obtained by following formula:
Wherein, D is the safe distance, and ρ is in the response time of rear vehicle, aMax, accelFor rear vehicle most greatly
Speed；aMax, brakeFor the maximum deceleration of vehicle in front, aMin, brakeFor in the minimum deceleration degree of rear vehicle, vrFor in rear vehicle
Speed, vfFor the speed of vehicle in front.
Optionally, the judgment module is used for:, will be in the case where the first lane change demand does not indicate target lane
The adjacent left-lane of current lane is as target lane to determine whether meeting the lane change condition；And by the left-lane
As being judged in the case where being unsatisfactory for the lane change condition behind the target lane, the right lane adjacent with current lane is made
For target lane to determine whether meeting the lane change condition.
Optionally, described device further include: lane change request issues module, if for being unsatisfactory for the lane change condition,
Issue lane change request；The judgment module is also used to judge issuing in the preset time after the lane change request whether meet institute
State lane change condition；And if the control module is also used to issuing in the preset time after the lane change request described in satisfaction
Lane change condition then controls the current vehicle and executes the lane change operation.
Optionally, the first lane change demand further includes that the lane change due to caused by the front truck pressure speed in current lane needs
It asks, wherein the priority for the lane change prompt that the navigation system provides is higher than due to the front truck pressure speed in current lane and causes
Lane change demand priority, the priority of the lane change demand obtained based on high-precision map is higher than the navigation system and mentioned
The priority of the lane change prompt of confession；The priority of the lane change demand of driver's input is obtained described in being higher than based on high-precision map
The priority of the lane change demand taken.
Correspondingly, the embodiment of the present invention also provides a kind of machine readable storage medium, deposited on the machine readable storage medium
Instruction is contained, which is used for so that machine is able to carry out the above-mentioned lane change method for automatic driving vehicle.
Through the above technical solutions, determining whether there is the first lane change demand in real time, which considers use
Various factors such as family demand, road environment are just executed in the case where having the first lane change demand and meeting lane change condition
Lane change operation makes lane change strategy more reasonable, more perfect.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 shows the flow diagram of the lane change method according to an embodiment of the invention for automatic driving vehicle；
And
Fig. 2 shows the structural block diagrams of the lane change device according to an embodiment of the invention for automatic driving vehicle.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 shows the flow diagram of the lane change method according to an embodiment of the invention for automatic driving vehicle.
As shown in Figure 1, the embodiment of the present invention provides a kind of lane change method for automatic driving vehicle, and the method may include: step
Rapid S110 determines whether there is the first lane change demand, the first lane change demand include it is following one or more: based on high-precision
Map and obtain lane change demand, navigation system provide lane change prompt and driver input lane change demand；Step S120,
With the first lane change demand, judge whether to meet lane change condition；And step S130, if described in meeting
Lane change condition then controls current vehicle and executes lane change operation.If determining do not have the first lane change demand in step S110, after
It is continuous to execute step S110, if step S120 judges discontented lane change condition, step S110 can be continued to execute, waits next time full
Sufficient lane change condition.First lane change demand considers various factors such as user demand, road environment, and there is the first lane change to need
In the case where asking and meeting lane change condition, lane change operation is just executed, makes lane change strategy more reasonable, more perfect.
Vehicle can obtain the road information that vehicle is presently in position in real time from high-precision map server, thus can be with
Lane change demand is determined based on the road information that high-precision map provides, for example, lane quantity changes in front of road information instruction
In the case where becoming (such as becoming 3 lanes from 4 lanes), can determine currently has lane change demand.It is obtained based on high-precision map
Lane change demand usually would not instruct that the information in target lane, need the autonomous selection target lane of current vehicle.
The destination that navigation system can be inputted according to user generates lane grade path planning track, and provides suggestion change
Road point, in vehicle driving to when suggesting near lane change point, navigation system will provide lane change prompt.The lane change that navigation system provides mentions
The information in target lane will clearly be provided by showing, for example, clearly providing still lane change to the right to the left.
Driver can be actively entered lane change demand by lane change switch or lane change button.It is appreciated that driver is defeated
Clearly there is the information in target lane in the lane change demand entered.
Optionally, the first lane change demand can also include the lane change due to caused by the front truck pressure speed in current lane
Demand.Front truck is the first car being located in front of the current vehicle in current lane in current lane, that is, in current lane
The vehicle nearest with current vehicle distance that front is able to detect that.Before front truck pressure speed refers in current lane in current lane
The speed of vehicle is too low, such as the average speed of front truck is lower than preset vehicle speed in current lane in past first preset time,
First preset time for example can be 1 minute, and the preset vehicle speed for example can be the 80% of target vehicle speed, the target
Speed can be user for the speed of current vehicle setting or the restricted driving speed of current lane.The front truck in current lane
In the case where pressure speed, it will cause lane change demand.The lane change demand due to caused by the front truck pressure speed in current lane will not
The information for indicating target lane, needs the autonomous selection target lane of current vehicle.
Lane change demand caused by distinguishing because of four kinds of reasons is listed above, it will be understood that the embodiment of the present invention is simultaneously unlimited
In this, because lane change demand caused by other reasons also may include in the first lane change demand, for example, because front occur it is quiet
Only lane change demand caused by barrier also may include in the first lane change demand.
In the case that any one or more persons meet in the first lane change demand, illustrate that there is the first lane change demand.?
In the case that any one in one lane change demand is not satisfied, illustrate do not have the first lane change demand.To the first lane change demand
Determination can be in real time determine, that is, will also determine the first lane change demand in real time during lane change.
In the case where having the first lane change demand, judge whether to meet lane change condition.Judging whether to meet lane change item
It first has to determine the target lane for carrying out lane change before part.As described above, the lane change prompt or driver that navigation system provides
Instruction is had to the information in target lane, the target lane for instruction judges whether full in this case in the lane change demand of input
Sufficient lane change condition.The lane change demand that is obtained based on high-precision map is drawn due to the front truck pressure speed in current lane
Rise lane change demand in will not hard objectives lane information, need to select a target lane first in this case.Optionally,
Can preferably it consider using the left-lane adjacent with current lane as target lane to determine whether meeting lane change condition, if discontented
Foot, then using the right lane adjacent with current lane as target lane to determine whether meeting lane change condition.That is, in target
In the indefinite situation in lane, preferentially lane change to the left, if unsuccessful consider further that lane change to the right.Or it is optional, it is needing to select
In the case where target lane, it can judge whether to meet lane change condition for adjacent left-lane and right lane, if all meeting
Lane change condition, then preferential lane change to the left, if only left-lane or right lane meet lane change condition, to the left vehicle for meeting lane change condition
Road or right lane lane change.
Optionally, priority can be arranged to multiple lane change demands included by the first lane change demand, such as can be set
The priority for the lane change prompt that navigation system provides is higher than the lane change demand due to caused by the front truck pressure speed in current lane
Priority, the priority of the lane change demand obtained based on high-precision map are higher than the preferential of the lane change prompt that navigation system provides
Grade；The priority of the lane change demand of driver's input is higher than the priority of the lane change demand obtained based on high-precision map.That is, excellent
The sequence of first grade can be set are as follows: the lane change demand > navigation system for the lane change demand of driver's input > obtained based on high-precision map
The lane change prompt of the offer > lane change demand due to caused by the front truck pressure speed in current lane.If it is determined that having multiple changes
Road demand, can be and high according to priority according to the priority ranking of each lane change demand, the high lane change demand of execution priority
Lane change demand determines target lane.
Behind the target lane for determining progress lane change, whether the following three for judging that lane change condition includes meets: working as front truck
Front truck in road greater than the front truck in corresponding safe distance, target lane and works as front truck with the fore-and-aft distance of the current vehicle
Fore-and-aft distance be greater than rear car in corresponding safe distance and the target lane and the current vehicle it is longitudinal away from
From greater than corresponding safe distance.In the case that only above-mentioned three is all satisfied, just determination meets lane change condition.Wherein, target
Front truck in lane refers to the first car being located in front of current vehicle in target lane, that is, the front energy in target lane
The vehicle nearest with current vehicle distance enough detected.Rear car in target lane refers to and is located at currently in target lane
The first car of rear of vehicle, that is, the vehicle nearest with current vehicle distance that rear is able to detect that in target lane.
Wherein, the fore-and-aft distance of current vehicle and other vehicles can be obtained by the sensor being arranged on current vehicle
, safe distance D can calculate according to the following formula acquisition:
Wherein, ρ is in the response time of rear vehicle, aMax, accelFor in the peak acceleration of rear vehicle；aMax, brakeFor
The maximum deceleration of vehicle in front, aMin, brakeFor in the minimum deceleration degree of rear vehicle, vrFor in the speed of rear vehicle, vfFor in front truck
Speed, national standard unit can be used in the unit of each parameter.vr、vfIt can be and the sensor being arranged on current vehicle
It obtains in real time.
When calculating safe distance corresponding with the front truck in current lane, current vehicle is in rear vehicle, current lane
Interior front truck is vehicle in front.Similar, when calculating safe distance corresponding with the front truck in target lane, current vehicle is
Front truck in rear vehicle, target lane is vehicle in front.In formula (1), ρ is for current vehicle (automatic driving vehicle)
It unites the response time, is the intrinsic parameter of vehicle, it can be by being demarcated under line；aMax, accelFor current vehicle allow peak acceleration,
It is the intrinsic parameter of current vehicle, can be by demarcating under line；aMin, brakeIt is to work as front truck for the minimum deceleration degree of current vehicle
Intrinsic parameter, can be by demarcating under line；aMax, brakeFor the maximum deceleration of vehicle in front, in the type for determining vehicle in front
Later, it can be obtained by inquiry database, can store maximum deceleration, the maximum of various types of vehicles in database
Acceleration, minimum deceleration degree.
When calculating safe distance corresponding with the rear car in target lane, current vehicle is vehicle in front, target lane
Interior rear car is in rear vehicle.In formula (1), ρ is the response time of the rear car in target lane, is one preset
Set time, the set time can use the Human decidual time, and the range of the response time can be 200ms to 700ms；
aMax, accelFor the peak acceleration of the rear car in target lane, aMin, brakeFor the minimum deceleration degree of the rear car in target lane,
After determining the type of rear car, a can be obtained by inquiry databasemax,accel、amin,brake；amax,brakeFor current vehicle
Maximum deceleration, be current vehicle intrinsic parameter, can be by being demarcated under line.
According to formula (1) it is found that safe distance is not a fixed value, with current vehicle and corresponding another vehicle
Speed it is related, that is to say, that when being compared with different vehicle, used safe distance is not identical.
In the case that three in lane change condition is all satisfied, the current vehicle that can control executes lane change operation, the change
Road operation may include: to issue lane change prompt, be performed simultaneously lane change movement.The lane change prompt can for example pass through text, figure
Shape, voice etc. do kind of mode to show, such as prompt can be issued by control turn signal, or optional, can pass through
The screen that is arranged outside current vehicle and light bar are prompted, for example, text information and/or figure can be shown on the screen
Information prompts exterior vehicle or pedestrian currently to carry out lane change steering, and the text information for example can be " becomes to left-lane
Road ", " lane to the right " etc., the graphical information can for example indicate that lane change will be carried out to the left or to the right in form of arrows,
Lane change can also be prompted by the flashing of control light bar, optionally, can also be broadcast by the voice playing device being arranged on vehicle
The voice messaging about lane change is put to execute lane change prompt.After lane change movement runs succeeded, stop issuing lane change prompt.
In the successful situation of lane change, it can control current vehicle and continue to move ahead in the lane after lane change.Optionally, exist
Execute lane change operation when, it is also possible to lane change failure because lane change early period deterministic process (for example, to lane change demand and lane change
The deterministic process of condition) and lane change action executing process between there are time error, this makes it possible to just to execute lane change dynamic
When making, meet lane change condition, and be unsatisfactory for lane change condition in implementation procedure, so as to cause lane change failure.In lane change failure
In the case of, control current vehicle, which returns to former lane, to be continued to travel.
If any one in three included by lane change condition or more persons are unsatisfactory for, it is determined that lane change condition is unsatisfactory for,
In this case, lane change request can be issued to outside, similar with lane change prompt, lane change request can for example pass through text, figure
Shape, voice etc. do kind of mode to show, such as request can be issued by control turn signal, or optional, can pass through
The screen that is arranged outside current vehicle and light bar carry out lane change request, for example, can show on the screen text information and/or
Graphical information prompts exterior vehicle to carry out lane change, and the text information for example can be that " lane to the left, trouble allow
Row ", " lane to the right, trouble give way " etc., the graphical information can for example indicate in form of arrows will be leftward or rightward
Lane change is carried out, lane change can also be made to request by the flashing of control light bar more eye-catching, it optionally, can also be by being arranged on vehicle
Voice playing device play the voice messaging requested about lane change.Lane change request and lane change prompt can pass through automatic Pilot vehicle
XMI module is set to execute, XMI module is the module that vehicle is interacted with pedestrian, exterior vehicle execution on.
After issuing lane change request, judge whether meet lane change condition in preset time, if it is satisfied, then executing the change
Road operation.If still not satisfying lane change condition in preset time, or lane change demand is cancelled in the preset time, i.e., at this
No longer there is lane change demand in preset time, then can cancel lane change, stop issuing lane change request, and control current vehicle continuation
It is run on current lane, when waiting lane change next time, then carries out lane change.The range of the preset time can be 25 seconds to 35
Second, such as can be 30 seconds.
Lane change method provided in an embodiment of the present invention for automatic driving vehicle, has the advantage that (1) is being become
Road demand timing really, it is contemplated that various factors such as user demand, road environment；(2) determining whether to meet lane change item
When part, front truck, the rear car in target lane are not only allowed for, it is also contemplated that the distance between the front truck of current lane and current vehicle are
It is not no to meet safe distance, and it is a fixed value that safe distance, which is not, be with speed, type of vehicle variation and change,
So that the judgement of lane change condition is more comprehensive, safer.
Correspondingly, the embodiment of the present invention also provides a kind of machine readable storage medium, deposited on the machine readable storage medium
Instruction is contained, which is used for so that machine is able to carry out described in any embodiment according to the present invention for automatic driving vehicle
Lane change method.
Fig. 2 shows the structural block diagrams of the lane change device according to an embodiment of the invention for automatic driving vehicle.Such as
Shown in Fig. 2, the embodiment of the present invention also provides a kind of lane change device for automatic driving vehicle, the apparatus may include: it determines
Module 210, be used to determine whether have the first lane change demand, the first lane change demand include it is following one or more: be based on
High-precision map and obtain lane change demand, navigation system provide lane change prompt and driver input lane change demand；Judgement
Module 220, for judging whether to meet lane change condition with the first lane change demand；And control module
230, if controlling current vehicle for meeting the lane change condition and executing lane change operation.First lane change demand considers use
Various factors such as family demand, road environment are just executed in the case where having the first lane change demand and meeting lane change condition
Lane change operation makes lane change strategy more reasonable, more perfect.
Optionally, the first lane change demand can also include the lane change due to caused by the front truck pressure speed in current lane
Demand, wherein the priority for the lane change prompt that the navigation system provides is higher than due to the front truck pressure speed in current lane and draws
The priority of the priority of the lane change demand risen, the lane change demand obtained based on high-precision map is higher than the navigation system
The priority of the lane change prompt of offer；The priority of the lane change demand of driver input be higher than it is described based on high-precision map and
The priority of the lane change demand of acquisition.
In some optional embodiments, the lane change condition may include: that the front truck in current lane works as front truck with described
Fore-and-aft distance be greater than safe distance, the front truck in target lane and current vehicle fore-and-aft distance be greater than the safety away from
From and the target lane in rear car and the current vehicle fore-and-aft distance be greater than the safe distance.Wherein, safety
Distance can be obtained by formula (1) described above.When determining whether to meet lane change condition, target lane is not only allowed for
Front truck, rear car, it is also contemplated that whether the distance between front truck and current vehicle of current lane meet safe distance, and safety away from
From not be a fixed value, be with speed, type of vehicle variation and change so that the judgement of lane change condition is more complete
It is face, safer.
In some optional embodiments, judgment module can be used for: not indicate target lane in the first lane change demand
In the case where, using the left-lane adjacent with current lane as target lane to determine whether meeting the lane change condition；And
Using the left-lane as the target lane after judge to be unsatisfactory for the lane change condition in the case where, will be with current lane
Adjacent right lane is as target lane to determine whether meeting the lane change condition.Preferentially using left-lane as target lane,
So that lane change strategy provided in an embodiment of the present invention more meets driving habit.
In some optional embodiments, described device can also include: that lane change request issues module, if for being unsatisfactory for
The lane change condition then issues lane change request；The judgment module is also used to judge default after issuing the lane change request
Whether the lane change condition is met in time；And if the control module be also used to it is pre- after issuing lane change request
If meeting the lane change condition in the time, then controls the current vehicle and execute the lane change operation.The model of the preset time
Enclosing can be 25 seconds to 35 seconds, such as can be 30 seconds.If still not satisfying lane change condition in preset time, or pre- at this
If lane change demand is cancelled in the time, i.e., no longer there is lane change demand in the preset time, then can cancel lane change, stops issuing
Lane change request, and control current vehicle continuation and run on current lane, when waiting lane change next time, then carry out lane change.
The concrete operating principle and benefit of lane change device provided in an embodiment of the present invention for automatic driving vehicle with
Concrete operating principle and the benefit for stating the lane change method of automatic driving vehicle provided in an embodiment of the present invention are similar, here will no longer
It repeats.
The lane change device for automatic driving vehicle includes processor and memory, and above-mentioned determining module judges mould
Block, control module and lane change request issue module etc. and store in memory as program unit, execute storage by processor
Above procedure unit in memory realizes corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one
Or more, carry out the lane change method for automatic driving vehicle by adjusting kernel parameter.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flash RAM), memory include that at least one is deposited
Store up chip.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that the embodiment of the present invention can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the present invention
Form.It is deposited moreover, the present invention can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only the embodiment of the present invention, are not intended to restrict the invention.To those skilled in the art,
The invention may be variously modified and varied.It is all within the spirit and principles of the present invention made by any modification, equivalent replacement,
Improve etc., it should be included within scope of the presently claimed invention.
Claims (13)
1. a kind of lane change method for automatic driving vehicle, which is characterized in that the described method includes:
Determine whether that there is the first lane change demand, the first lane change demand include it is following one or more: based on accurately
The lane change demand of figure and the lane change demand of acquisition, the lane change prompt of navigation system offer and driver's input；
With the first lane change demand, judge whether to meet lane change condition；And
If meeting the lane change condition, controls current vehicle and execute lane change operation.
2. the method according to claim 1, wherein the lane change condition include: front truck in current lane with
The fore-and-aft distance that the fore-and-aft distance of the current vehicle is greater than safe distance, the front truck in target lane and current vehicle is greater than institute
The fore-and-aft distance for stating rear car and the current vehicle in safe distance and the target lane is greater than the safe distance.
3. according to the method described in claim 2, it is characterized in that, the safe distance is obtained by following formula:
Wherein, D is the safe distance, and ρ is in the response time of rear vehicle, aMax, accelFor in the peak acceleration of rear vehicle；
amax,brakeFor the maximum deceleration of vehicle in front, amin,brakeFor in the minimum deceleration degree of rear vehicle, vrFor in the speed of rear vehicle
Degree, vfFor the speed of vehicle in front.
4. the method according to claim 1, wherein described judge whether that meeting lane change condition includes:
In the case where the first lane change demand does not indicate target lane, using the left-lane adjacent with current lane as target
Lane is to determine whether meet the lane change condition；And
Using the left-lane as the target lane after judge to be unsatisfactory for the lane change condition in the case where, will with it is current
The adjacent right lane in lane is as target lane to determine whether meeting the lane change condition.
5. the method according to claim 1, wherein the method also includes:
If being unsatisfactory for the lane change condition, lane change request is issued；
Judge issuing in the preset time after the lane change request whether meet the lane change condition；And
If meeting the lane change condition issuing in the preset time after the lane change request, controls the current vehicle and hold
The row lane change operation.
6. the method according to claim 1, wherein the first lane change demand further includes due in current lane
Front truck pressure speed caused by lane change demand,
Wherein, the priority for the lane change prompt that the navigation system provides is higher than due to the front truck pressure speed in current lane and causes
Lane change demand priority, the priority of the lane change demand obtained based on high-precision map is higher than the navigation system and mentioned
The priority of the lane change prompt of confession；The priority of the lane change demand of driver's input is obtained described in being higher than based on high-precision map
The priority of the lane change demand taken.
7. a kind of lane change device for automatic driving vehicle, which is characterized in that described device includes:
Determining module, be used to determine whether have the first lane change demand, the first lane change demand include it is following one or more:
The lane change demand of lane change prompt and driver's input that lane change demand, the navigation system obtained based on high-precision map is provided；
Judgment module, for judging whether to meet lane change condition with the first lane change demand；And
Control module, if controlling current vehicle for meeting the lane change condition and executing lane change operation.
8. device according to claim 7, which is characterized in that the lane change condition include: front truck in current lane with
The fore-and-aft distance that the fore-and-aft distance of the current vehicle is greater than safe distance, the front truck in target lane and current vehicle is greater than institute
The fore-and-aft distance for stating rear car and the current vehicle in safe distance and the target lane is greater than the safe distance.
9. device according to claim 8, which is characterized in that the safe distance is obtained by following formula:
Wherein, D is the safe distance, and ρ is in the response time of rear vehicle, amax,accelFor in the peak acceleration of rear vehicle；
amax,brakeFor the maximum deceleration of vehicle in front, amin,brakeFor in the minimum deceleration degree of rear vehicle, vrFor in the speed of rear vehicle
Degree, vfFor the speed of vehicle in front.
10. device according to claim 7, which is characterized in that the judgment module is used for: in the first lane change demand
In the case where not indicating target lane, using the left-lane adjacent with current lane as target lane to determine whether described in meeting
Lane change condition；And using the left-lane as the target lane after judge the case where being unsatisfactory for the lane change condition
Under, using the right lane adjacent with current lane as target lane to determine whether meeting the lane change condition.
11. device according to claim 7, which is characterized in that
Described device further include: lane change request issues module, if issuing lane change for being unsatisfactory for the lane change condition and asking
It asks；
The judgment module is also used to judge issuing in the preset time after the lane change request whether meet the lane change item
Part；And
If the control module is also used to meet the lane change condition in the preset time after issuing the lane change and requesting,
It controls the current vehicle and executes the lane change operation.
12. device according to claim 7, which is characterized in that the first lane change demand further includes due to current lane
Lane change demand caused by interior front truck pressure speed,
Wherein, the priority for the lane change prompt that the navigation system provides is higher than due to the front truck pressure speed in current lane and causes
Lane change demand priority, the priority of the lane change demand obtained based on high-precision map is higher than the navigation system and mentioned
The priority of the lane change prompt of confession；The priority of the lane change demand of driver's input is obtained described in being higher than based on high-precision map
The priority of the lane change demand taken.
13. a kind of machine readable storage medium, which is characterized in that be stored with instruction on the machine readable storage medium, the instruction
For making machine be able to carry out the lane change method according to any one of claim 1 to 6 for automatic driving vehicle.
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