CN109955851B - Lane changing decision and track planning method - Google Patents

Lane changing decision and track planning method Download PDF

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CN109955851B
CN109955851B CN201711391676.8A CN201711391676A CN109955851B CN 109955851 B CN109955851 B CN 109955851B CN 201711391676 A CN201711391676 A CN 201711391676A CN 109955851 B CN109955851 B CN 109955851B
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time
lane
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CN109955851A (en
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吴栥松
王威仁
徐锦衍
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Automotive Research and Testing Center
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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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

A lane-changing decision-making and trajectory planning method is disclosed, wherein a driving computer of a vehicle receives the sensing signals of a plurality of sensors on the vehicle, so as to generate a plurality of running speed time sequencing information and a plurality of environment state time sequencing information, and further generate a Sudoku block corresponding to the surrounding environment of the vehicle, when the running computer receives a turn-on signal of a turn signal, selecting data of a time section from the running speed time sequence information and the environment state time sequence information respectively, processing the data together with the Sudoku block to generate a lane change space, and judging that the lane change space accords with a safe movement decision through a decision mode, a moving planning path is generated, so that the vehicle can provide lane change assistance in the safest space at any speed, and the purpose of improving the convenience and safety of lane change is achieved.

Description

Lane changing decision and track planning method
Technical Field
The invention relates to a decision-making and trajectory planning method applied to a vehicle, in particular to a lane-changing decision-making and trajectory planning method applied to the vehicle.
Background
In order to improve the convenience and safety of vehicle driving, various car factories develop automatic driving cars to assist drivers in driving vehicles. The vehicle is mainly characterized in that a plurality of different sensors such as radars, image capturing devices (such as cameras) or GPS are arranged on the vehicle, captured images are processed through software tools such as image identification software in a vehicle computer, the relative position, the relative distance, the lane line width, the lane line position and the like of a front vehicle are obtained, and the vehicle can be further processed according to data such as the speed sensed by the radars and the speed of the front vehicle, so that an active cruise control system (ACC) can be automatically carried out by the vehicle to achieve automatic vehicle following and lane departure warning, and an automatic emergency braking system (AEB) can be further combined to provide vehicle assistance for a driver through blind spot sensing and an automobile anti-collision system.
At present, each car manufacturer has developed a lane change assist system for automatically assisting a vehicle to change lanes according to a direction of a turn signal switched by a driver when the vehicle is driven at a high speed (60 Km/h or more), but the lane change assist system is not applied to a low speed (less than 60 Km/hr).
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a lane change decision and trajectory planning method, which mainly generates a nine-grid block for confirming the driving status of other vehicles within the vehicle range according to the current driving speed and the vehicle environment status of the vehicle, and generates a movement planning path for the vehicle to change lanes according to the movement planning path when determining that the relative distance between the vehicle and other vehicles meets a safe movement decision, so as to provide lane change assistance in the safest lane change space at any speed, thereby achieving the purpose of improving the convenience and safety of lane change.
The technical means adopted to achieve the above object is to apply the lane-changing decision-making and trajectory planning method to a vehicle, receive data sensed by a plurality of sensors on the vehicle by a vehicle computer of the vehicle, and execute the following method by the vehicle computer:
receiving a plurality of driving speed sensing data and a plurality of environment state sensing data, and generating corresponding driving speed time sequencing information and environment state time sequencing information;
generating a Sudoku block corresponding to the surrounding distance of the vehicle according to the running speed time sequencing information and the environment state time sequencing information;
respectively selecting a plurality of data of a time section from the plurality of driving speed time sequencing information and the plurality of environment state time sequencing information according to a received turn-on signal of the direction lamp, and generating at least one lane change space according to the selected data and the Sudoku block;
and judging that the lane change space conforms to a safe movement decision by a decision mode, and generating a movement planning path.
According to the above method, a corresponding nine-grid block is generated according to the driving speed and the environmental status of the vehicle, and when the turn signal is received, a plurality of data are respectively selected from the plurality of driving speed time-sequencing information and the plurality of environmental status time-sequencing information, and the lane change space is generated with the nine-grid block, wherein the lane change space is the safest braking distance of the front and rear vehicles in the same lane as the vehicle or the front and rear vehicles in the target lane of the lane to be changed, and the lane change space is judged by the decision mode to conform to a safe movement decision, the movement planning path is generated, and the vehicle change is controlled, the nine-grid block of the invention is adjusted according to the driving speed and the environmental status of the vehicle, thereby providing the corresponding nine-grid block no matter under the high speed higher than 60Km/hr or the low speed lower than 60Km/hr, and according to the lane to be changed and the conditions of other vehicles around the nine-grid block, the lane to be changed is judged to have enough safe space, and the most safe lane changing space is used for providing lane changing assistance, so that the purposes of improving the convenience and the safety of lane changing are achieved.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1: the first nine-square grid diagram of the preferred embodiment of the invention;
FIG. 2: a second nine-grid schematic diagram of a preferred embodiment of the present invention;
FIG. 3: a first application diagram of a preferred embodiment of the present invention;
FIG. 4: the trapezoidal trace diagram of the preferred embodiment of the present invention;
FIG. 5: the schematic diagram of the moving distance of the preferred embodiment of the present invention;
FIG. 6: a second application diagram of the preferred embodiment of the present invention;
FIG. 7: a method flow diagram of a preferred embodiment of the invention.
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
referring to fig. 1 and 2, the lane change decision and trajectory planning method of the present invention is applied to a vehicle 10, and is executed by a vehicle computer on the vehicle to assist the vehicle in making a lane change decision and planning a turning trajectory. The vehicle 10 is equipped with a plurality of sensors such as radar, image capturing device (such as camera) or GPS (global positioning System), when the vehicle 10 is running on a road 20, the sensors on the vehicle 10 sense the surrounding environment and running speed of the vehicle, and the captured images are processed by the image recognition software in the vehicle computer, so as to obtain the information of the surrounding vehicle position, distance, vehicle speed, lane line width, lane line position, etc.
The road 20 is divided by a plurality of lane lines 201 to form a middle lane 21, an outer lane 22 and an inner lane 23, wherein the road is provided by way of example and not limitation; taking the orientation of fig. 1 as an example, the outside lane 22 is located below the middle lane 21 (right side when the vehicle is traveling in the road direction), the inside lane 23 is located above the middle lane 21 (left side when the vehicle is traveling in the road direction), the direction in which the vehicle 10 travels in the road direction is the longitudinal direction, the longitudinal direction includes a first direction 202 at the front side of the vehicle and a second direction 203 at the rear side of the vehicle, the direction in which the vehicle 10 changes lanes is the lateral direction, and the lateral direction includes a third direction 204 in which the vehicle is offset toward the outside lane 22 and a fourth direction 205 in which the vehicle is offset toward the inside lane 23.
Taking the vehicle 10 traveling on the center lane 21 as an example, a plurality of traveling speed sensing data and a plurality of environmental condition sensing data are sensed by sensors on the vehicle 10, wherein the plurality of traveling speed sensing data includes information such as a relative longitudinal speed, a relative lateral acceleration and a relative acceleration of the vehicle 10 and other surrounding vehicles, a longitudinal vehicle speed, a lateral vehicle speed of the vehicle 10, and a longitudinal vehicle speed and a lateral vehicle speed of the surrounding vehicles; the plurality of environmental condition sensing data includes information such as a lane width of the center lane 21, a lane width of the outer lane 22, a lane width of the inner lane 23, and sensing of the presence of other vehicles within the vehicle.
Since the sensor of the vehicle 10 will sense every other sensing time and transmit the sensed data to the vehicle computer, the vehicle computer will sort the sensed data of each driving speed and the sensed data of each environmental state according to the sequence of the sensed time according to a time sequence, and process the data into a driving speed time sorting information and an environmental state time sorting information respectively, so as to facilitate directly capturing data of a part of time segments for use when the vehicle computer judges that a lane needs to be changed, further taking the following table as an example to briefly describe how to process the data into the time sorting information:
information \ sensing time T1 T2 T3
Longitudinal speed of first lane change Vlongitudinal_11 Vlongitudinal_12 Vlongitudinal_13
Longitudinal speed of lane change for the second time Vlongitudinal_21 Vlongitudinal_22
Because the data captured during each lane change is time sequence data with different lengths for the vehicle computer, the vehicle computer can change the lane for the first timeV sensed at T1-T3 times of longitudinal speedlongitudinal_11、Vlongitudinal_12、Vlongitudinal_13The data is regarded as the same processing data, and therefore, the data of the longitudinal speed of the first lane change is time-ordered into [ V ] by the time-series orderinglongitudinal_11Vlongitudinal_ 12Vlongitudinal_13]Time-series sorted information, and the longitudinal speed data of the second lane change is also time-sorted as [ V ]longitudinal_21Vlongitudinal_22]Time series ordering information of.
However, the time for each lane change is different, and therefore the captured data amount is different, for example, the longitudinal speed at the time of lane change for the first time captures data of T1-T3, but the longitudinal speed at the time of lane change for the second time captures data of only T1-T2, so the information lengths of the longitudinal speeds of the lane change for the two times are different, which cannot be effectively processed by the vehicle computer, in order to allow the vehicle computer to effectively process information, the information lengths of the longitudinal speeds of the lane change for the two times are respectively compared with a preset information length by an information normalization, for example, the preset information length data amount is three data but not limited thereto, so the information length of the longitudinal speed of the lane change for the first time is the same as the preset information length, but the information length of the longitudinal speed of the lane change for the second time is only two data amounts, therefore, the information length of the longitudinal speed of the lane change for the second time is less than the predetermined information length, and thus, the longitudinal speed of the lane change for the second time is added with data of "None" at the time of sensing at T3, wherein the "None" represents null data, thereby setting the data of the longitudinal speed of the lane change for the second time at the time of sensing at T3 as null data to indicate that no data is detected, and thus, the time-series ordering information of the longitudinal speed of the lane change for the second time is [ V ]longitudinal_21Vlongitudinal_22None]In other words, the sensing time point without sensing data in the longitudinal speed of the lane change for the second time is added to the null data, so that the vehicle computer can process the null data every timeThe information length of the time series sequencing information of the lane change is the same as the preset information length, so that the subsequent information processing is facilitated.
The vehicle computer generates a squared block 30 corresponding to the vehicle periphery according to the plurality of speed time sorting information and the plurality of environment state time sorting information, so as to correspond to the middle lane 21, the outer lane 22 and the inner lane 23. The squared figure block 30 includes a first block 31, a second block 32, a third block 33, a fourth block 34, a fifth block 35, a sixth block 36, a seventh block 37, an eighth block 38 and a ninth block 39, which are rectangular, the first to eighth blocks 31-38 surround the ninth block 39, and the ninth block 39 corresponds to the position of the vehicle 10. The first zone 31, the fourth zone 34, and the sixth zone 36 are located in a first direction 202 of the vehicle 10, the first zone 31 corresponds to the outer lane 22, the fourth zone 34 corresponds to the middle lane 21, and the sixth zone 36 corresponds to the inner lane 23, the second zone 32 is located in a third direction 204 of the vehicle 10 and corresponds to the outer lane 22, the seventh zone 37 is located in a fourth direction 205 of the vehicle 10 and corresponds to the inner lane 23, the third zone 33, the fifth zone 35, and the eighth zone 38 are located in a second direction 203 of the vehicle 10, the third zone 33 corresponds to the outer lane 22, the fifth zone 35 corresponds to the middle lane 21, and the eighth zone 38 corresponds to the inner lane 23.
It should be noted that the squared figure block 30 is generated according to a plurality of driving speed sensing data and a plurality of environmental condition sensing data which are continuously sensed.
Wherein the range of each of the squared blocks 30 varies with the speed of the vehicle 10.
In this embodiment, the range of the first block 31, the fourth block 34 and the sixth block 36 in the squared figure block 30 is formed by the longitudinal length and the transverse length of each block, and the transverse length is the lane width, and the longitudinal length of the range of the first block 31, the fourth block 34 and the sixth block 36 is calculated according to the following formula:
Figure BDA0001517678020000051
wherein the content of the first and second substances,
Dfront: the longitudinal length of the squared figure block range of the front side of the vehicle;
Dbreak: the braking distance between the vehicle and the front vehicle;
Figure BDA0001517678020000052
the shortest safe distance between the vehicle and the front vehicle;
Vego: a vehicle longitudinal speed;
Vfront: the longitudinal speed of the front vehicle;
TimeLC: the time for the vehicle to change lanes.
Wherein D isbreakIs calculated by the following formula:
Dbreak＝Vego×(TB+TTR)+Lego(ii) a Wherein the content of the first and second substances,
TB: and Time To Break (TB) of the preceding vehicle;
TTR: the reaction Time (Time to react) is the reaction Time of a driver according to the institute of New Car Assessment of European Union (Euro NACP).
Wherein TB is calculated by the following formula:
Figure BDA0001517678020000061
wherein the content of the first and second substances,
s: relative longitudinal distance from the leading vehicle;
Vr: and the relative longitudinal speed of the lead vehicle;
ar: and relative acceleration of the preceding vehicle, wherein ar＝-0.4g，g＝9.8。
Wherein，
Figure BDA0001517678020000064
Is calculated by the following formula:
Figure BDA0001517678020000062
wherein, TimeLCIs calculated by the following formula:
TimeLC＝2t1+2t2(ii) a Wherein the content of the first and second substances,
t1: a first lane change acceleration time;
t2: a second lane change acceleration time.
Wherein, t1Is calculated by the following formula:
Figure BDA0001517678020000063
wherein the content of the first and second substances,
a: the lateral acceleration, in the present embodiment, a is a set value, which can be set according to the actual situation, wherein, preferably, the value of a can be a value of 1.5, but not limited thereto;
j: the jerk, where J is a set value, which can be set according to the actual situation, and preferably J can be a value of 3, but not limited thereto;
wherein, t2Is calculated by the following formula:
Figure BDA0001517678020000071
yeva: lane width.
In this embodiment, the range of the second block 32 and the seventh block 37 in the squared figure block 30 is formed by the longitudinal length and the transverse length of each block, and the transverse length is the lane width, and the longitudinal length of the range of the second block 32 and the seventh block 37 is calculated according to the following formula:
Figure BDA0001517678020000073
wherein the content of the first and second substances,
Dego: the longitudinal length of the range of the squared blocks on both sides of the vehicle in the transverse direction.
In this embodiment, the range of the third block 33, the fifth block 35 and the eighth block 38 in the squared figure block 30 is formed by the longitudinal length and the transverse length of each block, and the transverse length is the lane width, and the longitudinal length of the range of the third block 33, the fifth block 35 and the eighth block 38 is calculated according to the following formula:
Dback＝Dmin+max{Vbreak-Vego,0}×TimeLC(ii) a Wherein the content of the first and second substances,
Dback: the longitudinal length of the squared figure block range of the rear side of the vehicle;
Dmin: and a minimum safe distance to the rear vehicle, wherein,
Figure BDA0001517678020000072
Vback: longitudinal speed of the rear vehicle;
after the vehicle computer of the vehicle 10 generates the squared figure block 30, please refer to fig. 3, when the vehicle computer of the vehicle 10 receives a turn signal such as a left turn signal, the vehicle computer selects a plurality of data in a time section from the plurality of travel speed time sequence information and the plurality of environment state time sequence information respectively, and generates at least one lane change space for the vehicle computer to judge according to the selected data and the Sudoku block 30, when the vehicle computer determines that the lane change space conforms to a safe movement decision according to a decision mode, a safe distance mark 301 is generated on the squared figure block 30, and a movement planning path 302 is generated according to a trapezoidal acceleration trajectory, and the vehicle 10 is controlled by the vehicle computer to change from the middle lane 21 to the inner lane 23 according to the movement planning path 302. Specifically, for example, when it is sensed that there is a preceding vehicle 40 in the fourth block 34 and the vehicle computer wants to change the lane from the middle lane 21 to the inner lane 23, the vehicle computer calculates the lane change space according to the selected data and the squared figure block 30 when receiving the turn-on signal, and determines whether the lane change space conforms to the safe movement decision through the decision mode, wherein the lane change space is a safest braking distance between the vehicle 10 and the preceding vehicle 40 in the fourth block 34, and when the lane change space between the vehicle 10 and the preceding vehicle 40 conforms to the safe movement decision, the vehicle computer indicates a safe distance indicator 301 in the fourth block 34 and generates a movement planning path 302.
In this embodiment, the way of retrieving the data of the time segment from the travel speed time sequence information and the environmental state time sequence information means that when the vehicle computer receives the turn-on signal, the time point corresponding to the received turn-on signal is searched from the travel speed time sequence information and the environmental state time sequence information, and the data in the time segment is retrieved from the time point forward, and the time segment may be set to a time segment of 0.4 seconds, but not limited thereto.
In this embodiment, since the turn signal is a pulse signal that is continuously output, the vehicle-mounted computer selects a plurality of data of the time segment from the plurality of travel speed time-series information and the plurality of environmental state time-series information each time the vehicle-mounted computer receives the turn signal, and generates at least one lane change space according to the squared figure block 30 until the vehicle-mounted computer does not receive the turn signal any more.
In this embodiment, the decision mode is a neural decision model, which is a safe movement decision stored as a safe movement decision by correspondingly generating a tested squared block according to a plurality of driving speed sensing data and a plurality of environmental state sensing data during testing and determining the safe space distance after generating the lane change space, so as to train one or more safe movement decisions according to different conditions.
Referring to fig. 4 and 5, the mobile planning path 302 is planned according to t when the vehicle computer receives the turn-on signal of the turn signal1、t2The longitudinal speed and lane width of the vehicle 10 are used to generate the movement plan path through a trapezoidal acceleration trajectory model.
Wherein the movement planning path includes a longitudinal movement distance and a lateral movement distance, and the calculation formula for calculating the longitudinal movement distance required by the vehicle 10 to change lanes is as follows:
RLPS＝Vego×TimeLC；
wherein R isLPS: changing the longitudinal moving distance of the lane;
the lateral moving distance is the lane width yeva。
In the present embodiment, it is assumed that
Figure BDA0001517678020000081
(second,s)、
Figure BDA0001517678020000082
yeva＝3.5m、t1＝0.5s、t2＝1.31s、RLPS60.3m, but not limited thereto, and first 0 to t by the trapezoidal acceleration trajectory model as in fig. 41Is that the vehicle 10 starts moving laterally and maintains t after the vehicle 10 moves from the center lane 21 to the middle of the inner lane 231～t2After a stable time frame of (2), t is performed2～2t1+t2After the steering wheel correction time of (1), the operation is maintained for 2t1+t2～t1+2t2After a stable time frame, t is performed1+2t2～2t1+2t2The acceleration change of the vehicle 10 when it is rotating is known, and the longitudinal movement distance R according to fig. 5 is obtainedLPSAnd laterally moveDistance of movement yevaThe movement plan path is generated.
In this embodiment, when the vehicle 10 changes lanes according to the movement planning path, the vehicle computer may rotate a steering wheel to generate a steering wheel signal, and determine whether a rotation value of the steering wheel signal exceeds a rotation setting value, if so, the vehicle computer may determine that the vehicle 10 has started to change lanes, and when receiving a turn-off signal, the vehicle computer may delete the travel speed time sequence information and the environmental state time sequence information at a time point when the steering wheel signal reaches the rotation setting value and a time point when the turn-off signal is received.
In this embodiment, please refer to fig. 6 as another application diagram, in which the vehicle 10 senses that the fourth block 34 has the front vehicle 40 and the third block 33 has a rear vehicle 50 and is to change lanes, the vehicle computer of the vehicle 10 receives a turn signal as a right turn signal, that is, the vehicle 10 intends to change lanes from the middle lane 21 to the outer lane 22, the vehicle computer respectively selects a plurality of data in the time segment from the plurality of travel speed time sequence information and the plurality of environment state time sequence information, and generates a lane change space corresponding to the fourth block 34 and a lane change space corresponding to the third block 33 according to the decision mode, the vehicle computer determines whether the two lane change spaces conform to a safe movement decision, if yes, a first safety distance indicator 301A is indicated on the fourth block 34, and a second safety distance indicator 301B is indicated on the third block 33, and a movement plan path 302A is correspondingly generated to control the vehicle 10 to change lanes from the middle lane 21 to the outer lane 22 along the movement plan path 302.
As can be seen from the above, before the vehicle 10 needs to change lanes, it is determined whether there is enough safety space between the lane to be changed by the vehicle 10 and the currently driving lane according to the sensed surrounding environment data and vehicle state data, and by determining the safety space needed by the vehicle to change lanes, the vehicle 10 can provide lane change assistance in the safest lane change space at any speed, thereby achieving the purpose of improving lane change convenience and safety.
Based on the above, the flow chart of the lane change decision and trajectory planning method of the present invention is further summarized, as shown in fig. 7, the following steps are executed by the vehicle computer of the vehicle 10:
receiving the plurality of driving speed sensing data and the plurality of environmental state sensing data, and generating corresponding driving speed time-series information and environmental state time-series information (S61);
generating a squared figure block 30 corresponding to a distance around the vehicle according to the travel speed time sorting information and the environment state time sorting information (S62);
receiving the turn-on signal of the turn signal, selecting a plurality of data in the time zone from the plurality of travel speed time-series information and the plurality of environmental status time-series information, respectively, and generating at least one lane change space according to the selected data and the squared figure 30 (S63);
if the decision mode determines that the lane change space conforms to the safe movement decision, the movement planning path is generated (S64).
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A lane-changing decision-making and track planning method is applied to a vehicle, and a vehicle computer of the vehicle receives data sensed by a plurality of sensors on the vehicle, and is characterized in that the vehicle computer executes the following method:
receiving a plurality of driving speed sensing data and a plurality of environment state sensing data, and generating a plurality of corresponding driving speed time sequencing information and a plurality of corresponding environment state time sequencing information;
generating a Sudoku block corresponding to the surrounding distance of the vehicle according to the running speed time sequencing information and the environment state time sequencing information;
respectively selecting a plurality of data of a time section from the plurality of driving speed time sequencing information and the plurality of environment state time sequencing information according to a received turn-on signal of the direction lamp, and generating at least one lane change space according to the selected data and the Sudoku block;
and judging that the lane change space conforms to a safe movement decision by a decision mode, and generating a movement planning path.
2. The method of claim 1, wherein the Sudoku blocks comprise three blocks at the front side of the vehicle, two blocks at both sides of the vehicle, and three blocks at the rear side of the vehicle, and the range of each block is defined by the longitudinal length and the lateral length of each block;
the longitudinal lengths of the three block ranges on the front side of the vehicle are calculated according to the following formula:
Figure FDA0002498975050000011
Dfront: the longitudinal length of the squared figure block range of the front side of the vehicle; dbreak: the braking distance between the vehicle and the front vehicle;
Figure FDA0002498975050000012
the shortest safe distance between the vehicle and the front vehicle; vego: a vehicle longitudinal speed; vfront: the longitudinal speed of the front vehicle; timeLC: time for a vehicle to change lanes;
the longitudinal length of the two block ranges on the two sides of the vehicle is calculated according to the following formula:
Figure FDA0002498975050000013
Dego: longitudinal length of the squared figure block range on both sides of the vehicle; TTR: reaction time;
the longitudinal lengths of the three block ranges on the rear side of the vehicle are calculated according to the following formula:
Dback＝Dmin+max{Vbreak-Vego,0}×TimeLC；
Dback: the longitudinal length of the squared figure block range of the rear side of the vehicle; dmin: and the minimum safe distance of the rear vehicle.
3. The lane-change decision and trajectory planning method according to claim 2, wherein the Time for the vehicle to change lanes is TimeLCIs calculated according to the following formula:
TimeLC＝2t1+2t2；
t1: a first lane change acceleration time;
t2: a second lane change acceleration time.
4. The method of claim 3, wherein the first lane change acceleration time t is the acceleration time of the lane change1Is calculated by the following formula:
Figure FDA0002498975050000021
a: lateral acceleration;
j: degree of jerk;
the second lane change acceleration time t2Is calculated by the following formula:
Figure FDA0002498975050000022
yeva: lane width.
5. The method of claim 4, wherein a braking distance D between a vehicle and a preceding vehicle is providedbreakIs calculated according to the following formula:
Dbreak＝Vego×(TB+TTR)+Lego；
TB time of collision with a preceding vehicle, TTR time of reaction Lego: the length of the vehicle;
the collision time TB of the front vehicle is calculated according to the following formula:
Figure FDA0002498975050000023
s: relative longitudinal distance from the leading vehicle; vr: and the relative longitudinal speed of the lead vehicle; a isr: and relative acceleration of the preceding vehicle, said ar-0.4g, said g being 9.8;
the shortest safe distance between the vehicle and the front vehicle
Figure FDA0002498975050000026
Is calculated by the following formula:
Figure FDA0002498975050000024
minimum safe distance D between the vehicle and the rear vehicleminIs calculated by the following formula:
Figure FDA0002498975050000025
Vback: and the longitudinal speed of the rear vehicle.
6. The method of claim 5, wherein the turn-on signal is a continuously output pulse signal, and the vehicle computer re-selects the data of the time segment from the travel speed time sequence information and the environmental state time sequence information each time the turn-on signal is received, and generates at least one lane change space according to the selected data and the Sudoku block until the vehicle computer does not receive the turn-on signal.
7. The method as claimed in claim 6, wherein when the vehicle computer receives a steering wheel signal and determines that the turning value of the steering wheel signal exceeds a turning setting value, the vehicle computer deletes the running speed time sequence information and the environmental state time sequence information from a time point when the turning value of the steering wheel signal exceeds the turning setting value to a time point when the steering wheel signal is received when the vehicle computer receives a steering lamp turning-off signal.
8. The method of claim 7, wherein the vehicle computer performs a time-series sorting of the plurality of driving speed sensing data and the plurality of environmental state sensing data according to sensing times of the sensing data according to a time-series sorting to generate the plurality of driving speed time-series information and the plurality of environmental state time-series information;
the vehicle computer judges whether the information length of the running speed time sequencing information and the information length of the environmental state time sequencing information of the lane change is smaller than a preset information length, if so, the running speed time sequencing information and the environmental state time sequencing information of the lane change are supplemented with null data, so that the information length of the running speed time sequencing information and the information length of the environmental state time sequencing information of the lane change are the same as the preset information length.
9. The lane-change decision and trajectory planning method of claim 8, wherein the vehicle computer is configured to schedule the lane-change based on a Time for the vehicle to change lanesLCAnd the longitudinal direction of the vehicleSpeed VegoGenerating a lane-changing longitudinal moving distance and according to the first lane-changing acceleration time t1The second lane change acceleration time t2The longitudinal moving distance of the lane changing and the lane width are generated into the moving planning path through a trapezoidal acceleration track model.
10. The method of claim 9, wherein the plurality of driving speed sensing data comprises relative longitudinal speed, relative lateral acceleration, relative acceleration, longitudinal speed of the vehicle and longitudinal speed and lateral speed of the surrounding vehicle; the plurality of environmental state sensing data includes lane width, surrounding vehicle position.
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