CN110008577A - The automatic lane-change Function Appraising method of vehicle based on worst global danger level search - Google Patents

The automatic lane-change Function Appraising method of vehicle based on worst global danger level search Download PDF

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CN110008577A
CN110008577A CN201910255614.7A CN201910255614A CN110008577A CN 110008577 A CN110008577 A CN 110008577A CN 201910255614 A CN201910255614 A CN 201910255614A CN 110008577 A CN110008577 A CN 110008577A
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dan
vehicle
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measured
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CN110008577B (en
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罗禹贡
齐蕴龙
***
徐明畅
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Tsinghua University
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    • G06F30/15—Vehicle, aircraft or watercraft design
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    • G06—COMPUTING; CALCULATING OR COUNTING
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Abstract

The present invention discloses a kind of automatic lane-change Function Appraising method of vehicle based on worst global danger level search, this method is by building emulation platform, analysis to automatic lane-change function and lane-change scene to be measured, and then global search is carried out to most dangerous lane-change scene, search is with worst global danger level MSdanFor output, the corresponding most dangerous lane-change scene of worst global danger level is reproduced by actual place, automatic Pilot lane-change function to be measured is verified, if automatic Pilot lane-change function to be measured can meet service requirement under most dangerous lane-change scene, assert that the automatic Pilot lane-change function to be measured passes through assessment.The present invention can improve the safety in the automatic lane-change function real vehicle operational process of automatic Pilot, to play certain progradation to the development of automatic Pilot technology and industrialization while reducing emulation with field test amount.

Description

The automatic lane-change Function Appraising method of vehicle based on worst global danger level search
Technical field
The present invention relates to field of intelligent transportation technology, and in particular to a kind of automatic driving vehicle is based on worst global dangerous The assessment method of automatic lane-change function in the case of degree.
Background technique
Automatic driving vehicle is developed so far a faced main problem is how to land, this not only needs further complete Kind automatic Pilot technology, and solve the problems, such as how commercialized automatic Pilot is, it is often more important that how to ensure automatic driving vehicle Safety behind upper road.Automatic lane-change function is most basic one of the function of automatic driving vehicle, but relative to traditional vehicle Active safety system, since automatic lane-change function institute's duration is longer, and the number for the scene variable element being related to is significantly Increase, while when speed is higher, faulty operation once occurs in automatic lane-change function, will bring biggish danger.Therefore, to certainly The test assessment for moving function is not only more complicated, but also needs stringenter.As traditionally vehicle active safety is tested Method tests the automatic lane-change function of automatic Pilot, in order to reach higher safety, needs to carry out the field of huge amount Ground test, the time it is excessively huge with monetary cost and can not be practical.But still lack in existing research to automatic driving vehicle certainly The theoretical research for moving the test assessment of function, is especially a lack of how research ensures to move certainly while reducing test volume The safety of road function.
Summary of the invention
It is directed to the prior art, the present invention provides a kind of automatic lane-change function of vehicle based on worst global danger level search Assessment method.
This method determines the functional boundary of automatic Pilot lane-change function to be measured first, while determining and to be measured driving automatically equipped with this Sail the configuration of lane-change function vehicle sensors, on influential vehicle parameter of automatic lane-change function tool etc..It builds on this basis The emulation platform of automatic driving vehicle model to be measured, model of place and automatic Pilot algorithm black-box model to be measured.Further, may be used Targetedly place is carried out to the vehicle comprising sensor to test, and the parameter of vehicle emulation platform is adjusted to realize, it is ensured that The accuracy of emulation platform is in certain range.
By the way that automatic lane-change function ODD corresponding with the function, (Operational Design Domain design can be grasped Make range) and application scenarios analysis, determine each bound of parameter in scene.Initial parameter is selected according to lane-change scene analysis It selects, the most dangerous scene problem of search is then converted into optimization problem and is solved.The input of the optimization problem is lane-change scene Parameter and vehicle initial parameter, optimization aim are global danger level Sdan, global danger level SdanRelated Computational Methods are embedded into imitative True platform obtains corresponding global danger level after the emulation platform that each run determines scenario parameters and vehicle initial parameter Sdan.According to optimization algorithm to worst global danger level MS can be reacheddanScenario parameters and vehicle initial parameter searched Rope, to obtain worst global danger level MSdanCorresponding vehicle lane-changing scene.Since the scene is corresponding automatic lane-change function The worst scene that can be met within the scope of ODD, therefore the worst scene by that can cover it in difficulty to a certain extent His scene to reduce field test amount, and demonstrates the performance of corresponding automatic lane-change function in extreme circumstances, improves Safety on automatic driving vehicle behind road.
The technical solution used in the present invention is as follows: a kind of automatic lane-change function of vehicle based on worst global danger level search Energy assessment method, this method comprises the following steps:
S1: building emulation platform, and loading vehicles model, model of place determine Vehicle dynamic parameters, formal parameter, biography The key parameters such as sensor parameter, and including road parameters, weather parameters, traffic instruction parameter, interference number of vehicles, interference The environmental parameter of each moment speed of vehicle etc.；
Further, it can be tested by place, above-mentioned modeling parameters are adjusted, it is ensured that the accuracy of emulation platform.
S2: by the analysis to automatic lane-change function, functional boundary and lane-change scene, the boundary of environmental parameter is determined.
S3: one initial lane-change scene of selection, and then global search is carried out to most dangerous lane-change scene, search for most dangerous scene It is obtained in a manner of optimization problem solving, the input of the optimization problem is environmental parameter and lane-change function and boundary, and it is complete for exporting Office danger level Sdan, wherein defining worst global danger level MSdanCorresponding scene is most dangerous lane-change scene.
S4: reproducing most dangerous lane-change scene by actual place, verify to automatic Pilot lane-change function to be measured, if Automatic Pilot lane-change function to be measured can meet service requirement under the most dangerous lane-change scene, then can assert the automatic Pilot to be measured Lane-change function under other scenes also can maximum probability meet the requirements, it is believed that the automatic Pilot lane-change function to be measured passes through survey It comments.
Further, global danger level S is solveddanMethod are as follows:
1) one Che-vehicle overall situation danger level S is defineddan-vm, wherein most cart-vehicle overall situation danger level MSdan-vmBy vehicle to be measured With it is each interference vehicle each moment collide danger level maximum value determine, be expressed as follows:
MSdan-vm=max { sup (Sdan-1(t)),sup(Sdan-2(t)),...,sup(Sdan-i(t))} (1)
Wherein, Sdan-iIt (t) is the danger level of vehicle to be measured and i-th interference vehicle in t moment, sup characterization takes Sdan-i (t) dividing value on, Sdan-i(t) be expressed as follows:
In formula, (xi(t),yi(t))、ViIt (t) is the position coordinates and speed of i-th vehicle t moment in interference vehicle, (xv (t),yv(t))、VvIt (t) is the position coordinates and speed of vehicle t moment to be measured, W is vehicle width, WLFor road width, CVFor One constant coefficient, be arranged the coefficient purpose be ensure (- | xv(t)-xi(t)|+(Vi(t)-Vv(t))+CV) and (- | xv(t)-xi (t)|-(Vi(t)-Vv(t))+CV) it is not negative value, CVTake a sufficiently large value；
2) a deviation overall situation danger level S is defineddan-lm, wherein maximum deviation overall situation danger level MSdan-lmBy to Measuring car is determined relative to lane boundary in the maximum value that each moment deviates danger level, is expressed as follows:
MSdan-lm=max { sup (Sdan-llane(t)),sup(Sdan-rlane(t))} (4)
In formula, Sdan-llane(t) and Sdan-rlaneIt (t) is respectively vehicle to be measured and any related lane left and right side boundary The deviation danger level of t moment, Sdan-llane(t) and Sdan-rlane(t) be expressed as follows:
In formula, ylFor the y-coordinate on the lane l left/right boundary, ClFor a constant coefficient, the purpose which is set be ensure (- | xv(t)-xi(t)|+Vv(t)+Cl) it is not negative value, ClTake a sufficiently large value；
3) global danger level S is defineddan, wherein worst overall situation danger level MSdanIt is expressed as follows:
MSdan=max { MSdan-vm,MSdan-lm} (6)。
The invention is characterized in that the technical program, it can be while reducing emulation with field test amount, raising is driven automatically The safety in automatic lane-change function real vehicle operational process is sailed, to play centainly to the development of automatic Pilot technology and industrialization Progradation.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows the lane-change scene of automatic lane-change function to be measured of the invention；
Fig. 2 shows the foundation of lane-change scene coordinate system of the invention and each vehicle initial position parameters；
Fig. 3 shows the automatic search platform and search routine figure of the invention based on worst global danger level.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to Implement.With reference to the accompanying drawing, illustrate embodiments of the present invention.
Test Test and analysis will be carried out by the two-way traffic lane-change function to a kind of automatic driving vehicle herein, to the present invention The method of proposition is further detailed and verifies.
Two-way traffic lane-change function description is as shown in Figure 1 with lane-change scene.In figure, VUT indicates automatic driving vehicle to be measured, C11、C12、C21、C22To interfere vehicle, other vehicles in vehicle original to be measured lane and target lane are represented, due to these vehicles Certain interference effect will be played to the lane-change process of tested vehicle, so claiming these vehicles to be referred to as interferes vehicle.
The target of VUT is to change to C from speed way11、C12Between low speed carriage way position.It is relevant to lane-change function its Its factor is Vehicle body parameter, including vehicle width W, Vehicle length L, the wide W in laneL, it is assumed here that the formal parameter of 5 vehicles Unanimously.Meanwhile the speed of 5 vehicles is respectively VT、VC11、VC12、VC21And VC22, VTFor vehicle speed to be measured, other are corresponding license number Speed.
In order to further indicate that vehicle relative positional relationship, the coordinate system for being fixed on road as shown in Figure 2 is established.Figure In (xi,yi) be i vehicle position coordinates, (x0i,y0i) it is initial position of the i vehicle at the t=0 moment, remember VUT at the t=0 moment Initial position is (0,0).
According to the lane-change duration under the scene, the speed change parameter of each vehicle was defined as in 5 seconds here, can be changed The vehicle acceleration a that parameter is each secondiAnd the initial position of t=0 moment vehicle.Due to vehicle degree of danger generally with Speed is directly proportional, determines that the initial velocity of vehicle is the speed upper limit value in corresponding lane here.According to above-mentioned definition, vehicle is interfered The dynamic environment parameter of i are as follows:
[x0i v0i ai| t=0s ai| t=1s ai| t=2s ai| t=3s ai| t=4s ai| t=5s]
Therefore, under this lane-change scene, four interference vehicles include 28 dynamic environment parameters altogether.In order to quickly search Rigging has the scene of worst global danger level, is built here comprising model of place, vehicle dynamic model and automatic lane-change to be measured The emulation platform of algorithm black box.It is flat that emulation is integrated to according to the global danger level computing module of above-mentioned formula (1)~(6) foundation simultaneously Platform.Under each group of environmental parameter, after being run in emulation platform, it can be calculated by global danger level computing module and correspond to this The global danger level of one group of parameter.Using above-mentioned 28 environmental parameters as optimized variable, global danger level SdanIt is maximum that (maximum is corresponding Worst scene) it is optimization aim, in conjunction with optimization tool, searched for automatically with the worst global danger level of emulation platform building jointly flat Platform, such as Fig. 3.
The most dangerous scene for automatic lane-change function to be measured is obtained by above-mentioned automatic search platform, by surveying in place Identical parameters scene is built in examination, and carries out place experiment of the automatic lane-change vehicle to be measured under the scene, obtains automatic lane-change The worst or relatively poor scene that may occur in the operation of function real vehicle, as the worst scene can meet to automatic lane-change function Service requirement, then can determine whether the automatic lane-change function other scenes operation can maximum probability meet the requirements, it is believed that should Automatic lane-change function passes through assessment.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.

Claims (4)

1. a kind of automatic lane-change Function Appraising method of vehicle based on worst global danger level search, this method includes following step It is rapid:
S1: building emulation platform, establishes auto model, model of place；
S2: by the analysis of functional boundary and lane-change scene to automatic lane-change function to be measured, the boundary of environmental parameter is determined；
S3: one initial lane-change scene of selection, and determine initial environment parameter, and then the overall situation is carried out to most dangerous lane-change scene and is searched Rope, search is with worst global danger level MSdanAs output；
S4: most dangerous lane-change scene is reproduced by actual place, automatic Pilot lane-change function to be measured is verified, if to be measured Automatic Pilot lane-change function can meet service requirement under most dangerous lane-change scene, then assert the automatic Pilot lane-change function to be measured Pass through assessment.
2. the vehicle automatic lane-change Function Appraising method according to claim 1 based on worst global danger level search, It is characterized in that:
Worst overall situation danger level MSdanWith most cart-vehicle overall situation danger level MSdan-vmWith maximum deviation overall situation danger level MSdan-lmMaximum value in the two is as selected value.
3. the vehicle automatic lane-change Function Appraising method according to claim 2 based on worst global danger level search, It is characterized in that: most cart-vehicle overall situation danger level MSdan-vmMethod for solving are as follows:
Define Che-vehicle overall situation danger level Sdan-vm, most cart-vehicle overall situation danger level MSdan-vmBy vehicle to be measured and each interference vehicle Each moment collide danger level maximum value determine, be expressed as follows:
MSdan-vm=max { sup (Sdan-1(t)),sup(Sdan-2(t)),...,sup(Sdan-i(t))}(1)
In formula, Sdan-iIt (t) is the danger level of vehicle to be measured and i-th interference vehicle in t moment, sup characterization takes Sdan-i(t) upper bound Value, Sdan-i(t) be expressed as follows:
In formula, (xi(t),yi(t))、ViIt (t) is the position coordinates and speed of i-th vehicle t moment in interference vehicle, (xv(t),yv (t))、VvIt (t) is the position coordinates and speed of vehicle t moment to be measured, W is vehicle width, WLFor road width, CVOften it is for one Number, it is ensured that (- | xv(t)-xi(t)|+(Vi(t)-Vv(t))+CV) and (- | xv(t)-xi(t)|-(Vi(t)-Vv(t))+CV) be not Negative value.
4. the vehicle automatic lane-change Function Appraising method according to claim 2 or 3 based on worst global danger level search, It is characterized by: maximum deviation overall situation danger level MSdan-lmMethod for solving are as follows:
Define deviation overall situation danger level Sdan-lm, middle maximum deviation overall situation danger level MSdan-lmIt is opposite by vehicle to be measured It determines, is expressed as follows in the maximum value that each moment deviates danger level in lane boundary:
MSdan-lm=max { sup (Sdan-llane(t)),sup(Sdan-rlane(t))} (4)
In formula, Sdan-llane(t) and Sdan-rlane(t) be respectively vehicle to be measured to any related lane left and right side boundary t when The deviation danger level at quarter, Sdan-llane(t) and Sdan-rlane(t) be expressed as follows:
In formula, (xi(t),yi(t))、ViIt (t) is the position coordinates and speed of i-th vehicle t moment in interference vehicle, (xv(t),yv (t))、VvIt (t) is the position coordinates and speed of vehicle t moment to be measured, W is vehicle width, WLFor road width, ylFor the lane l The corresponding y-coordinate in left/right boundary, ClFor a constant coefficient, it is ensured that (- | xv(t)-xi(t)|+Vv(t)+Cl) it is not negative value.
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