CN110103969B - Vehicle control method, device and system and vehicle - Google Patents

Vehicle control method, device and system and vehicle Download PDF

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CN110103969B
CN110103969B CN201910416257.8A CN201910416257A CN110103969B CN 110103969 B CN110103969 B CN 110103969B CN 201910416257 A CN201910416257 A CN 201910416257A CN 110103969 B CN110103969 B CN 110103969B
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lane
vehicle
information
target
change
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CN110103969A (en
Inventor
谢兆夫
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • 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
    • 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
    • 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
    • B60W2554/804—Relative 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the invention discloses a vehicle control method, a device and a system and a vehicle, which are applied to the technical field of vehicle driving and can solve the problem of potential safety hazard in a lane changing process due to the fact that a driver cannot accurately judge the surrounding environment of the vehicle. The method comprises the following steps: in the process that a first vehicle drives on a first lane along with a second vehicle, if the first driving time of the first vehicle is longer than or equal to the preset time, acquiring target lane line information and road condition information of a second lane; under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane, controlling the first vehicle to change the lane from the first lane to the second lane; the first driving time duration is the time duration that the driving speed of the first vehicle is continuously lower than the speed threshold, the first lane and the second lane are adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane. The method is applied to the scene of vehicle control.

Description

Vehicle control method, device and system and vehicle
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle control method, device and system and a vehicle.
Background
With more and more people selecting to drive the car for traveling, the traffic jam condition is increasingly serious, and the traffic accidents are more frequent. In the process of driving the vehicle on the road, a driver usually drives the vehicle to overtake a slow vehicle driving right ahead, and the overtaking process can be completed through two times of lane changing driving. However, in the lane changing process, the driver often determines the road condition by observing in the visual range to complete the lane changing process, and due to the limitation of the visual field of the driver, the driver may not accurately determine the surrounding environment of the vehicle, so that potential safety hazards exist in the lane changing process.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a device and a system and a vehicle, which are used for solving the problem of potential safety hazard in a lane changing process due to the fact that a driver cannot accurately judge the surrounding environment of the vehicle in the prior art. In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:
in a first aspect, a vehicle control method is provided, which is applied to a terminal device, and includes:
in the process that a first vehicle drives on a first lane along with a second vehicle, if the first driving time of the first vehicle is longer than or equal to a preset time, acquiring target lane line information and road condition information of a second lane;
under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane, controlling the first vehicle to change the lane from the first lane to the second lane;
the first driving time is the time when the driving speed of the first vehicle is continuously lower than a speed threshold value, the first lane and the second lane are mutually adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane.
As an alternative implementation, in a first aspect of an embodiment of the invention,
the determining that the lane change condition is met according to the target lane line information and the road condition information of the second lane comprises the following steps:
judging whether lane changing is allowed or not according to the target lane line information;
determining whether a lane change space exists in the second lane according to the road condition information of the second lane under the condition that the target lane line information indicates that lane change is allowed;
determining that a lane change condition is satisfied in a case where a lane change space exists in the second lane.
As an alternative implementation, in a first aspect of an embodiment of the present invention,
the method further comprises, after the controlling the first vehicle to lane-change from the first lane to the second lane, before the first vehicle lane-change from the first lane to the second lane:
acquiring road condition information in the lane change space;
and under the condition that the obstacle is determined to appear in the lane change space according to the road condition information in the lane change space, controlling the first vehicle to stop driving to the second lane and controlling the first vehicle to drive back to the first lane.
As an alternative implementation, in a first aspect of an embodiment of the present invention,
the controlling the first vehicle to lane-change from the first lane to the second lane, comprising:
planning a first desired route for the first vehicle;
controlling the first vehicle to travel according to the first desired route to lane change from the first lane to the second lane.
As an alternative implementation, in a first aspect of an embodiment of the present invention,
the planning a first desired route for the first vehicle includes:
acquiring first position information and lane size information; the first position information is information of a position of a reference point on the second vehicle, and the lane size information is information of lane widths of the first lane and the second lane;
calculating to obtain information of a first target position in a second lane according to the first position information and the lane size information;
planning a first desired route between a current location of the first vehicle and the first target location;
the controlling the first vehicle to travel according to the first desired route to travel from the first lane to the second lane, comprising:
controlling the first vehicle to travel according to the first desired route to travel from the first location to the first target location.
As an alternative implementation, in a first aspect of an embodiment of the present invention,
after traveling from the first position to the first target position, the method further comprises:
acquiring the length of the body of the second vehicle;
calculating to obtain information of a second target position according to the first position information and the length of the second vehicle body;
controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration.
As an alternative implementation, in a first aspect of an embodiment of the present invention,
after controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration, the method further comprises:
acquiring the target lane line information and the road condition information of the first lane;
and controlling the first vehicle to change the lane from the second lane to the first lane to run under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the first lane.
In a second aspect, there is provided a vehicle control apparatus comprising:
the device comprises an acquisition module, a determination module and a control module;
the acquisition module is used for acquiring target lane line information and road condition information of a second lane if the first running time of a first vehicle is longer than or equal to a preset time in the process that the first vehicle runs on the first lane along with a second vehicle;
the determining module is used for determining whether the lane change condition is met according to the target lane line information acquired by the acquiring module and the road condition information of the second lane;
the control module is used for controlling the first vehicle to change the lane from the first lane to the second lane under the condition that the determining module determines that the lane change condition is met according to the target lane line information and the road condition information of the second lane;
the first driving time is the time when the driving speed of the first vehicle is continuously lower than a speed threshold value, the first lane and the second lane are mutually adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane.
As an alternative implementation, in the second aspect of the embodiment of the present invention,
the determining module is specifically configured to determine whether lane changing is allowed according to the target lane line information; determining whether a lane change space exists in the second lane according to the road condition information of the second lane under the condition that the target lane line information indicates that lane change is allowed; determining that a lane change condition is satisfied in a case where a lane change space exists in the second lane.
As an alternative implementation, in the second aspect of the embodiment of the present invention,
the obtaining module is further configured to obtain road condition information in the lane change space after the control module controls the first vehicle to change the lane from the first lane to the second lane and before the first vehicle changes the lane from the first lane to the second lane;
the determining module is further configured to determine whether an obstacle appears in the lane change space according to the road condition information in the lane change space;
the control module is further configured to control the first vehicle to stop lane changing to the second lane and control the first vehicle to travel back to the first lane when the determining module determines that the obstacle appears in the lane changing space according to the road condition information in the lane changing space.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the control module includes a planning sub-module and a control sub-module;
the planning sub-module is used for planning a first expected route of the first vehicle;
the control submodule is used for controlling the first vehicle to travel according to the first expected route so as to change the lane from the first lane to the second lane.
As an alternative implementation, in the second aspect of the embodiment of the present invention,
the planning submodule is specifically used for acquiring first position information and lane size information; the first position information is information of a position of a reference point on the second vehicle, and the lane size information is information of lane widths of the first lane and the second lane; calculating to obtain information of a first target position in a second lane according to the first position information and the lane size information; planning a first desired route between the first location and the first target location;
the control module submodule is specifically configured to control the first vehicle to travel according to the first desired route so as to travel from the first position to the first target position.
As an alternative implementation, in the second aspect of the embodiment of the present invention,
the acquisition module is further used for acquiring the length of the second vehicle body after the second vehicle body travels from the first position to the first target position; calculating to obtain information of a second target position according to the first position information and the length of the second vehicle body;
the control module is further used for controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration.
As an alternative implementation, in the second aspect of the embodiment of the present invention,
the obtaining module is further configured to obtain the target lane line information and the road condition information of the first lane after controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration;
the control module is further configured to control the first vehicle to change the lane from the second lane to the first lane when it is determined that the lane change condition is met according to the target lane line information and the road condition information of the first lane.
In a third aspect, there is provided a vehicle control apparatus comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle control method according to the first aspect.
In a fourth aspect, there is provided a vehicle control system comprising: the vehicle control device comprises an image acquisition device, a steering adjusting device, a vehicle speed adjusting device, a positioning device and the vehicle control device according to the second aspect;
the vehicle control device is respectively connected with the image acquisition device, the steering adjusting device, the vehicle speed adjusting device and the positioning device.
As an alternative implementation, in the fourth aspect of the embodiment of the invention, the vehicle control system may further include a radar device;
wherein the vehicle control device is connected with the radar device.
In a fifth aspect, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method according to the first aspect
In a sixth aspect, there is provided a computer program product which, when run on a computer, causes the computer to perform the steps of the vehicle control method according to the first aspect
In a seventh aspect, an application distribution platform is provided for distributing a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform some or all of the steps of the vehicle control method according to the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, in the process that a first vehicle drives on a first lane along with a second vehicle, if the first driving time of the first vehicle is longer than or equal to the preset time, target lane line information and road condition information of a second lane are obtained; under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane, controlling the first vehicle to change the lane from the first lane to the second lane; the first driving time duration is the time duration that the driving speed of the first vehicle is continuously lower than the speed threshold, the first lane and the second lane are adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane. Therefore, by implementing the embodiment of the invention, the lane change requirement of the first vehicle can be determined under the condition that the first running time of the first vehicle is greater than or equal to the preset time, the lane change condition can be determined whether to be met or not by acquiring the target lane line information and the road condition information of the second lane, and the lane change of the first vehicle is controlled under the condition that the lane change condition is met, so that the lane change time can be judged according to the acquired road condition information of the second lane, and the first vehicle can be controlled to automatically change lanes at a proper time, so that the potential safety hazard caused by the fact that a driver cannot accurately judge the surrounding environment of the first vehicle can be avoided, and the safety in the lane change process is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first schematic flow chart of a vehicle control method disclosed by an embodiment of the invention;
FIG. 2 is a schematic illustration of a safety space of a first vehicle as disclosed in an embodiment of the present invention;
FIG. 3 is a second flowchart illustrating a vehicle control method according to an embodiment of the present invention;
FIG. 4 is a third schematic flow chart illustrating a vehicle control method according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a travel path of a first vehicle as disclosed in an embodiment of the present invention;
FIG. 6 is a fourth flowchart illustrating a vehicle control method according to an embodiment of the present invention;
FIG. 7 is a fifth flowchart illustrating a vehicle control method according to an embodiment of the present invention;
FIG. 8 is a first schematic structural diagram of a vehicle control device according to an embodiment of the present invention;
FIG. 9 is a second schematic structural diagram of a vehicle control apparatus according to an embodiment of the present invention;
FIG. 10 is a third schematic structural diagram of a vehicle control device according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a vehicle according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first" and "second," and the like, in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first vehicle and the second vehicle, etc. are for distinguishing different vehicles, rather than for describing a particular order of the vehicles.
The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
The embodiment of the invention provides a vehicle control method, a device and a system and a vehicle, which can avoid potential safety hazards caused by the fact that a driver cannot accurately judge the surrounding environment of a first vehicle, and further improve the safety in a lane changing process.
The execution subject of the method provided by the embodiment of the present invention may be a vehicle control device, a vehicle control system, or a vehicle (which may be a first vehicle in the embodiment of the present invention), which may be specifically determined according to actual use requirements, and the embodiment of the present invention is not limited. The following embodiments exemplify a vehicle control method according to an embodiment of the present invention, taking the execution subject as a vehicle control device as an example.
As shown in fig. 1, an embodiment of the present invention provides a vehicle control method, which may include the following steps S101 and S102.
S101, in the process that a first vehicle drives on a first lane along with a second vehicle, if the first driving time of the first vehicle is longer than or equal to a preset time, a vehicle control device acquires target lane line information and road condition information of a second lane.
The first driving time is the time when the driving speed of the first vehicle is continuously lower than the speed threshold value, the first lane and the second lane are mutually adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane.
In an embodiment of the present invention, the vehicle control device may be provided in the first vehicle.
Alternatively, the vehicle control device may be an Electronic Control Unit (ECU) in the first vehicle.
Optionally, the preset time duration may be a time duration set by default (for example, the preset time duration is set in the vehicle control device when the vehicle control device leaves a factory), or may be a time duration set by a user in a self-defined manner, which is not limited in the embodiment of the present invention.
Optionally, the speed threshold may be a specific speed value, where the speed value may be a speed value set by default or a speed value set by a user in a self-defined manner, and the embodiment of the present invention is not limited.
Optionally, in the embodiment of the present invention, when the first vehicle travels along with the second vehicle, the first vehicle may travel along with the second vehicle by using a vehicle following logic of adaptive cruise (ACC).
Alternatively, when the first vehicle travels following the second vehicle, the vehicle control device may further acquire position information of a lane line of the first lane, and keep the first vehicle traveling in the middle of the lane according to the position information of the lane line of the first lane.
In the embodiment of the invention, in the process that the first vehicle drives on the first lane along with the second vehicle, under the condition that the first driving time of the first vehicle is longer than or equal to the preset time, the first vehicle is forced to keep driving at a lower speed possibly due to the fact that the speed of the second vehicle is lower, and then the first vehicle can judge that the overtaking requirement exists, so that the vehicle control device can further judge whether the overtaking condition can be met by acquiring the target lane line information and the road condition information of the second lane.
Correspondingly, when the first running time of the first vehicle is less than the preset time, the first vehicle may not have the overtaking requirement, and at the moment, the first vehicle can still be kept running along with the second vehicle.
In the embodiment of the invention, the target lane line information and the road condition information of the second lane can be obtained from the image.
In the embodiment of the invention, the vehicle control device can be connected with the image acquisition device, and the image acquisition device can send the acquired image including the image of the second lane and the acquired image including the image of the lane line between the first lane and the second lane to the vehicle control device, so that the vehicle control device can acquire the target lane line information and the road condition information of the second lane from the images.
Optionally, a map of a current driving road of the first vehicle may be obtained, the target lane line information may be obtained from the map, and the target lane line information obtained from the image may be compared and calibrated according to the target lane line information obtained from the map, so as to avoid that an image of the target lane line cannot be captured due to a limited field of view of the image acquisition device under certain conditions (such as when the first vehicle is too close to the second vehicle or is driving on a curve, or under a rainy weather condition), or that the captured image of the target lane line is blurred, and improve accuracy of obtaining the lane line information.
Generally, in practical applications, when a lane line between two lanes is a broken line, it is characterized as allowing lane change; when the lane line between the two lanes is a solid line, a double yellow line and other lane lines, the lane change is not allowed.
Optionally, in this embodiment of the present invention, the target lane line information may refer to an identification form (for example, a dotted line) of a lane line between the first lane and the second lane or a meaning indicated by the identification form (for example, lane change permission).
Optionally, in the embodiment of the present invention, the road condition information of the second lane may specifically refer to whether there are vehicles, pedestrians, and other objects in the second lane.
Optionally, the road condition information of the second lane may further include information of movement tracks of vehicles, pedestrians, and other objects in the second lane.
S102, the vehicle control device controls the first vehicle to change the lane from the first lane to the second lane to drive under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane.
Optionally, the vehicle control device may determine whether the lane change condition is satisfied according to the target lane line information and the road condition information of the second lane.
The method for judging whether the lane change condition is met according to the first lane line information and the second lane road condition information by the vehicle control device may include the following steps a, b and c.
a. The vehicle control device determines whether lane change is permitted or not based on the target lane line information.
For example, if the lane line between the first lane and the second lane is determined to be a broken line based on the target lane line information, it may be determined that lane change is permitted, and if the lane line between the first lane and the second lane is determined to be a solid line based on the target lane line information, it may be determined that lane change is not permitted.
b. In the case where the target lane line information indicates that lane change is permitted, the vehicle control apparatus determines whether a lane change space exists in the second lane according to the road condition information of the second lane.
Optionally, the vehicle control device may calculate a safety space in which the first vehicle can safely change lanes in the second lane in the process that the first vehicle changes lanes from the first lane to the second lane, and then determine whether an obstacle exists in the safety space according to the road condition information of the second lane. In the case where no obstacle exists in the safety space, it may be determined that there is a lane change space in the second lane, and in the case where an obstacle exists in the safety space, it may be determined that there is no lane change space in the second lane.
For example, as shown in fig. 2, the secure space is an area B in fig. 2, and the method for calculating the secure space may specifically include:
first, a longitudinal distance S required to be maintained by a rear vehicle from a first vehicle when the first vehicle makes a lane change is calculated according to equation 1 shown belowr(with the center point of the rear axle of the first vehicle as the origin of the coordinate system), equation 1 is as follows:
Figure GDA0002478265410000101
wherein v in formula 1rIndicating the speed, v, of the vehicle behind the first lane0Indicating the current speed of the first vehicle, arRepresenting vehicle acceleration, t, behind the first laneBIndicating driver reaction time, tGAnd the vehicle stable following time length is shown.
Next, the longitudinal distance S that the second vehicle needs to maintain from the first vehicle when the first vehicle changes lanes is calculated according to the following formula 2f(using the center point of the rear axle of the vehicle as the center pointAs the origin of the coordinate system), equation 2 follows:
Figure GDA0002478265410000111
wherein v in formula 2fIndicating the speed of the vehicle ahead of the first lane, a0Representing a first vehicle acceleration, SdefaultA default safe distance is indicated, which is the sum of the length of the first vehicle and the safe distance. The safe distance can be 1 meter, 2 meters or 3 meters and can be set according to actual requirements.
The first vehicle will add, subtract or decelerate with a comfortable acceleration range value, i.e. | a0|≤|acomI, empirically, generally | acomThe value of [ -2, 2 | ]]。
Therefore, the length S of the area B where the vehicle needs to change lanes can be calculatedbComprises the following steps: sb＝Sf+Sr。
The vehicle control apparatus may further determine the size range of the region B in conjunction with the width of the second lane after determining the length of the region B.
Based on the method, the vehicle control device can make different lane changing strategies according to different conditions of the first vehicle in the lane changing process and different road condition information in the area B.
c. In a case where there is a lane change space in the second lane, the vehicle control apparatus determines that the lane change condition is satisfied.
In the embodiment of the invention, after the vehicle control device determines that the lane change condition is satisfied, the first vehicle may be controlled to change the lane from the first lane to the second lane.
The embodiment of the invention provides a vehicle control method, wherein in the process that a first vehicle drives on a first lane along with a second vehicle, if the first driving time length of the first vehicle is greater than or equal to the preset time length, a vehicle control device can acquire target lane line information and road condition information of a second lane, and control the first vehicle to change the lane from the first lane to the second lane to drive under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane. The first driving time duration is the time duration that the driving speed of the first vehicle is continuously lower than the speed threshold, the first lane and the second lane are adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane. Therefore, by implementing the embodiment of the invention, the lane change requirement of the first vehicle can be determined under the condition that the first running time of the first vehicle is greater than or equal to the preset time, the lane change condition can be determined whether to be met or not by acquiring the target lane line information and the road condition information of the second lane, and the lane change of the first vehicle is controlled under the condition that the lane change condition is met, so that the lane change time can be judged according to the acquired road condition information of the second lane, and the first vehicle can be controlled to automatically change lanes at a proper time, so that the potential safety hazard caused by the fact that a driver cannot accurately judge the surrounding environment of the first vehicle can be avoided, the safety in the lane change process is further improved, and the safety in the lane change process is further improved.
Furthermore, because the lane changing operation is complex for the driver in the process of actually driving the vehicle by the driver at present, in the embodiment of the invention, the mode of controlling the vehicle to change the lane by the vehicle control device can be free from the operation of the driver, so that the comfort in the driving process is improved.
Optionally, after S102 in fig. 1, before the first vehicle changes lanes from the first lane to the second lane, the method provided in the embodiment of the present invention further includes: the vehicle control device can acquire the road condition information in the lane change space, and control the first vehicle to stop lane change to the second lane and control the first vehicle to drive back to the first lane under the condition that the obstacle in the lane change space is determined according to the road condition information in the lane change space.
Alternatively, in conjunction with fig. 1, as shown in fig. 3, the above S102 may be replaced with S102a and S102b described below.
S102a, the vehicle control device plans a first expected route of the first vehicle under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane.
S102b, the vehicle control device controls the first vehicle to travel according to the first expected route so as to change the lane from the first lane to the second lane.
Alternatively, in conjunction with fig. 3, as shown in fig. 4, the above S102a may be replaced with S102c, S102d, and S102e described below.
S102c, the vehicle control device acquires the first position information and the lane size information.
The first position information is information of a position where a reference point on the second vehicle is located. The lane size information is information of lane widths of the first lane and the second lane.
Alternatively, the reference point on the second vehicle may be a certain point on the default second vehicle, for example, a center point of a rear axle of the second vehicle.
S102d, the vehicle control device calculates information of the first target position in the second lane based on the first position information and the lane size information.
S102, 102e, a vehicle control device plans a first expected route between the current position of the first vehicle and a first target position.
Optionally, the current position of the first vehicle may be determined by coordinates of a center point of a rear axle of the first vehicle, that is, P in fig. 50。
In the first vehicle lane changing process, the vehicle control device can plan the path of the driving track of the first vehicle through the lane line information acquired from the map and the information acquired by the image acquisition device.
As shown in FIG. 5, wherein P0To P1The path in between may be a path of a first vehicle lane change. The specific planning method of the driving track comprises the following steps:
with the center point P of the rear axle of the first vehicle0(X0，Y0) As the origin of coordinates, the end point of the lane change process is P1(X1，Y1) I.e., the first target location information in the embodiment of the present invention.
Wherein, P1Abscissa position Y1Is the center line of the target laneThe abscissa of (a). Considering that the lane change may be failed due to the occurrence of other obstacles in the lane change space during the lane change process of the first vehicle, the first vehicle returns to the original lane (i.e. the first lane), so that the first vehicle keeps the current vehicle speed during the lane change process, and the end point Y1 needs to keep a certain distance from the second vehicle driving ahead. I.e. the second vehicle should be kept at a suitable distance S at this timesrAt this time, the end point P1Ordinate X of1Can be determined according to the following equation 3, equation 3 is as follows:
X0-Ssr＝X1
wherein S issrCan be a preset distance value, X'0Is the ordinate of the centre point of the rear axle of the second vehicle. .
Further, the end point P may be determined based on information of lane widths of the first lane and the second lane1Abscissa and ordinate Y of1. Whereby the end point P can be determined1Determines P when the coordinate information (i.e., the first object position information) of0And P1Later, P can be planned0And P1The path between them.
Optionally, in planning P0And P1During the route between the two vehicles, a three-degree-of-freedom vehicle single-track model can be established, a model predictive controller algorithm is adopted to control the deflection angle of the front wheel of the first vehicle, then the angle required to be controlled at the steering wheel end is converted through the transmission ratio, the steering wheel is controlled through a vehicle control device to be adjusted through the calculated angle, and therefore the first vehicle is controlled to follow the planned route from P0To P1And (5) running.
Further, as shown in fig. 4, the above S102b may be replaced with the following S102 f.
S102f, the vehicle control device controls the first vehicle to travel according to the first desired route to travel from the current position of the first vehicle to the first target position.
Alternatively, as shown in fig. 6 in conjunction with fig. 4, after the above S102f, the following S102g, S102h and S102j may be further included.
S102g, the vehicle control device obtains first position information and the length of the vehicle body of the second vehicle, wherein the first position information is information of the current position of the second vehicle.
S102h, the vehicle control device calculates information of the second target position based on the first position information and the vehicle length of the second vehicle.
If the first vehicle needs to overtake the second vehicle after changing the lane to the second lane, the speed limit information of the second lane is combined to avoid the vehicle occupying the second lane for a long time and reduce the influence of uncertain factors of the movement of the second vehicle in the overtaking process. First vehicle arriving at P1The point can take the maximum speed limit allowed by the current road as the target speed, and accelerate to P within the comfortable acceleration range2(X2，Y2) And (4) point.
Wherein, P2Coordinates of points on the horizontal axis and P1Similarly, in order to ensure the safety during the second lane change, the first vehicle and the second vehicle need to maintain a proper safety distance SsfThus accelerating the end point P of the segment2Ordinate X of2Can be calculated according to the following equation 4, equation 4 is as follows:
X′0+l0+Ssf＝X2
in formula 4, l0The length of the overtaken vehicle. X'0Is the ordinate of the center point of the rear axle of the second vehicle, SsfIs a distance value that may be preset.
In the embodiment of the invention, after the first vehicle has traveled to the first target position, the vehicle control apparatus may execute S102j described below.
S102j, the vehicle control device controls the first vehicle to accelerate from the first target position to the second target position at the target acceleration.
Optionally, the target acceleration may be determined according to the highest speed limit of the second lane (i.e. the lane to be changed to) and the current vehicle speed of the first vehicle, and a specific value of the target acceleration is not limited in the embodiment of the present invention.
For the ride comfort of the vehicle occupant, the target acceleration can be set within a comfortable acceleration range, which typically can range from-2, 2.
Illustratively, the first target position to the second target position are P in fig. 51To P2And the section can adopt a conventional proportional-integral-derivative controller (generally abbreviated as PID) control, namely acceleration control is carried out in a comfortable acceleration or acceleration torque range by taking the highest speed limit of the current road as a target vehicle speed, taking the current vehicle speed and the target vehicle speed as deviation values and taking acceleration or acceleration torque as a control value. If the first vehicle arrives at P2And when the driving speed does not reach the maximum speed limit of the road, the first vehicle does not accelerate any more. Namely, the current vehicle speed is maintained to change the lane or the vehicle keeps running in the middle of the lane.
Optionally, with reference to fig. 5, as shown in fig. 6, after the step S102j, the following steps S102k and S1021 may be further included.
S102k, the vehicle control device obtains the target lane line information and the road condition information of the first lane.
And S1021, the vehicle control device controls the first vehicle to change the lane from the second lane to the first lane to drive under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the first lane.
S102K and S1021 are a lane change process, which is similar to the lane change process described in S101 and S102, and some specific descriptions of S102K and S1021 can refer to the descriptions of S101 and S102, which are not repeated herein.
The traffic information of the first lane is similar to the traffic information of the second lane, and is not repeated here.
As shown in connection with FIG. 5, when the first vehicle reaches the second target position, P2After the vehicle is clicked, the road condition information of the first lane can be obtained. If there is a lane-changing space in the original lane (the first lane), the second lane-changing end point is P3(X3，Y3)。
Alternatively, the vehicle may maintain P2The speed of the spot completes the lane change.
Wherein, P3The abscissa of the lane-changing coordinate system is the same as the center line of the original lane, and the ordinate is the coordinate value for completing the second lane-changing at the current speed. Thus knowing P2And P3After the coordinates of the points, the pairs P can be referenced1And P2Method of path planning between points, pair P2And P3Planning the path between the points so that the first vehicle can drive to the point P according to the planned path3And (4) finishing the process that the first vehicle passes the second vehicle.
If the vehicle control apparatus determines that the lane change condition is not satisfied, the first vehicle may maintain P2The speed of the point remains in the second lane and after a certain time the vehicle control means may cause the first vehicle to remain in the second lane and to abandon the passing of the second vehicle.
As shown in fig. 7, a possible flow for controlling the overtaking of the vehicle in the vehicle control method provided in the embodiment of the present invention is exemplarily described below, and the flow may include the following steps S1 to S14.
And S1, the first vehicle keeps running in the first lane.
The vehicle control device may acquire model information of a current first lane, and control the first vehicle to travel in the middle of the first lane with a center line of the current first lane as a reference.
And S2, the second vehicle forces the first vehicle to run at a low speed for a period of time.
The method comprises the steps of detecting the speed of a running object in front of a road by using a front millimeter wave radar, enabling a first vehicle to run along with a front vehicle by adopting an ACC (adaptive cruise control) following logic, and determining that the first vehicle possibly needs to overtake after the vehicle runs along with the front vehicle and exceeds a certain time when the vehicle is lower than a current set vehicle speed.
And S3, detecting the surrounding environment of the first vehicle.
And in the case that the first vehicle needs to carry out overtaking driving, judging the type of the target lane line, judging whether a lane change space exists in the second lane, predicting the tracks of other objects and the like.
And S4, judging whether the lane change condition is met.
The target lane line is a dotted line, whether a lane change space exists or not is determined, if yes, the lane change condition is determined to be met, and the lane change track of the first vehicle is planned, namely planning P0To P1The path between the points is driven to P according to the planned path1。
If it is determined that the lane change condition is not satisfied, execution may return to S1 described above.
S5, the first vehicle changes lane to reach the first target position (i.e. P in fig. 5)1A dot).
Illustratively, the first vehicle follows the planned trajectory to reach P of the second lane shown in FIG. 51After this point, it may be determined that the first lane change has been completed, at which point the vehicle is no longer requested to turn.
And S6, the first vehicle runs in the middle of the second lane.
The vehicle arrives at P shown in FIG. 51And after the point is reached, the front camera is used for detecting the lane line of the road or the model information of the current lane sent by the map, and the vehicle is controlled to run in the middle of the second lane by taking the center line of the road as the reference.
S7, accelerating the first vehicle to the second target position (namely P in figure 5)2A dot).
The first vehicle transversely keeps running in the middle of the second lane, the longitudinal direction takes the current maximum speed limit of the second lane as the target vehicle speed, and the PID control is adopted within the comfortable acceleration range to accelerate the vehicle to P shown in figure 52And (4) point.
And S8, detecting the surrounding environment of the first vehicle.
And detecting the surrounding environment of the first vehicle again to provide information for the second lane change decision, which is similar to S3 and is not described herein again.
And S9, judging whether the lane change condition is met.
Similar to S4, the description thereof is omitted.
S10, the first vehicle changes lane to travel to the third target position (i.e. travels to P in FIG. 5)3A dot).
If the lane change condition is met, the first vehicleVehicle, from P as shown in FIG. 52Point driving to P3And (4) counting to finish the secondary lane change operation.
And S11, overtaking.
When the vehicle reaches the point P3, the lane change is completed for the second time, and the whole overtaking process is finished. The vehicle may continue to travel intermediate the first lane. Binding of P2The speed of the point and the speed limit information of the current lane are calculated according to the speed of the current lane and P2The minimum value between the vehicle speeds of the points is traveled.
And S12, keeping driving in the second lane.
If the road condition is not met, the first vehicle maintains P as shown in FIG. 52And keeping the vehicle speed of the point running in the second lane.
And S13, the lane change condition is not met for more than a certain time.
After the lane change condition is not satisfied for more than a certain period of time, the vehicle does not attempt to make a second lane change, i.e., maintains the centerline of the second lane at P shown in FIG. 52The current vehicle speed.
And S14, abandoning the overtaking and keeping the vehicle running in the second lane.
And no attempt is made to change lane for the second time, and the vehicle continues to drive in the second lane.
In the embodiment of the present invention, the vehicle control methods shown in the above drawings are all described by way of example with reference to one of the drawings in the embodiment of the present invention. In specific implementation, the vehicle control method shown in each of the above drawings may also be implemented by combining any other drawings that may be combined, which are illustrated in the above embodiments, and are not described herein again.
As shown in fig. 8, the embodiment of the present invention provides a vehicle control apparatus 130, and the vehicle control apparatus 130 includes an obtaining module 131, a determining module 132, and a control module 133.
The obtaining module 131 is configured to, in a process that a first vehicle travels on a first lane along with a second vehicle, obtain target lane line information and road condition information of a second lane if a first travel time of the first vehicle is greater than or equal to a preset time.
The determining module 132 is configured to determine whether the lane change condition is satisfied according to the target lane line information and the road condition information of the second lane acquired by the acquiring module 131.
And a control module 133, configured to control the first vehicle to change the lane from the first lane to the second lane when the determination module 132 determines that the lane change condition is met according to the target lane line information and the road condition information of the second lane.
The first driving time duration is the time duration that the driving speed of the first vehicle is continuously lower than the speed threshold, the first lane and the second lane are adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane.
Optionally, the determining module 132 is specifically configured to determine whether lane changing is allowed according to the target lane line information; determining whether a lane change space exists in the second lane according to the road condition information of the second lane under the condition that the target lane line information indicates that lane change is allowed; in a case where there is a lane change space in the second lane, it is determined that the lane change condition is satisfied.
Optionally, the obtaining module 131 is further configured to obtain road condition information in the lane change space after the control module 133 controls the first vehicle to change the lane from the first lane to the second lane and before the first vehicle changes the lane from the first lane to the second lane; the determining module 132 is further configured to determine whether an obstacle occurs in the lane change space according to the road condition information in the lane change space; the control module 133 is further configured to control the first vehicle to stop lane changing to the second lane and to control the first vehicle to travel back to the first lane if the determination module 132 determines that the obstacle is present in the lane changing space according to the road condition information in the lane changing space.
Optionally, referring to fig. 8, as shown in fig. 9, the control module 133 includes a planning submodule 133a and a control submodule 133 b.
Wherein the planning submodule 133a is configured to plan a first desired route of the first vehicle; and a control submodule 133b for controlling the first vehicle to travel according to the first desired route to change lanes from the first lane to the second lane.
Optionally, the planning submodule 133a is specifically configured to acquire first position information and lane size information; the first position information is information of a position of a reference point on the second vehicle, and the lane size information is information of lane widths of the first lane and the second lane; calculating to obtain information of a first target position in a second lane according to the first position information and the lane size information; planning a first desired route between the first location and the first target location; the control submodule 133b is specifically configured to control the first vehicle to travel according to the first desired route so as to travel from the current position of the first vehicle to the first target position.
Optionally, the obtaining module 131 is further configured to obtain the first position information and the length of the body of the second vehicle after the first vehicle travels from the current position to the first target position; calculating to obtain information of a second target position according to the first position information and the length of the second vehicle body; the control module 133 is further configured to control the first vehicle to accelerate from the first target position to the second target position at the target acceleration.
Optionally, the obtaining module 131 is further configured to obtain the target lane line information and the road condition information of the first lane after controlling the first vehicle to accelerate from the first target position to the second target position at the target acceleration; the control module 133 is further configured to control the first vehicle to change the lane from the second lane to the first lane when it is determined that the lane change condition is satisfied according to the target lane line information and the road condition information of the first lane.
As shown in fig. 10, an embodiment of the present invention also provides a vehicle control apparatus 140, where the vehicle control apparatus 140 includes: a processor 141, a memory 142 and a computer program stored on the memory 142 and operable on the processor 141, the computer program, when executed by the processor 141, implementing the steps of the vehicle control method in the above-described method embodiments.
The vehicle control device provided by the embodiment of the invention can realize each process shown in the method embodiment, and is not described again for avoiding repetition.
The embodiment of the invention provides a vehicle control device, which is used for acquiring target lane line information and road condition information of a second lane if the first running time of a first vehicle is longer than or equal to a preset time in the process that the first vehicle runs on the first lane along with a second vehicle; under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane, controlling the first vehicle to change the lane from the first lane to the second lane; the first driving time duration is the time duration that the driving speed of the first vehicle is continuously lower than the speed threshold, the first lane and the second lane are adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane. Therefore, by implementing the embodiment of the invention, the lane change requirement of the first vehicle can be determined under the condition that the first running time of the first vehicle is greater than or equal to the preset time, the lane change condition can be determined whether to be met or not by acquiring the target lane line information and the road condition information of the second lane, and the lane change of the first vehicle is controlled under the condition that the lane change condition is met, so that the lane change time can be judged according to the acquired road condition information of the second lane, and the first vehicle can be controlled to automatically change lanes at a proper time, so that the potential safety hazard caused by the fact that a driver cannot accurately judge the surrounding environment of the first vehicle is caused, and the safety in the lane change process is further improved.
An embodiment of the present invention provides a vehicle control system, including: an image acquisition device, a steering adjustment device, a vehicle speed adjustment device, a map and positioning information acquisition device and the vehicle control device (such as the vehicle control device shown in any one of fig. 8, fig. 9 and fig. 10).
The vehicle control device is respectively connected with the image acquisition device, the steering adjustment device, the vehicle speed adjustment device and the positioning device.
The embodiment of the invention provides a vehicle control system, which can further comprise a radar device.
Wherein the vehicle control device is connected to the radar device.
Optionally, an embodiment of the present invention provides a vehicle, where the vehicle includes the vehicle control system in the above embodiment, or the vehicle includes the vehicle control device in the above embodiment.
For example, as shown in fig. 11, a schematic diagram of a possible vehicle provided by the embodiment of the present invention is shown, and the vehicle may mainly include the following components: the system comprises a front-view camera 1, a front millimeter wave radar 2, an angle millimeter wave radar 3, a main control ECU (namely the vehicle control device) 4, a side front camera 5, a side rear camera 6, a steering system, a steering lamp (namely a steering adjusting device) 7, a brake system and a brake lamp (namely a vehicle speed adjusting device) 8 and a map and positioning information acquisition device 9.
The forward-looking camera 1 can extract a region of interest (ROI) from each frame of shot image through visual identification and image processing technology to perform pixel interpolation calculation or edge detection, establishes a lane line cubic equation for the detected lane line by using a Clothoid model for modeling, and constructs lane line position information by using a rear axle of a vehicle as a coordinate origin. The vehicle can keep running in the middle of the road by taking the lane central line as a control track before the overtaking or lane changing action is not executed, and can keep running in the middle of the overtaking or lane changing after the overtaking or lane changing. Meanwhile, the front-view camera can also detect the outline, motion parameters and other information of an object in the range of 100-200 m in front of the driving road of the vehicle, and provide auxiliary information for the vehicle to make overtaking or lane-changing decisions.
The front millimeter wave radar 2 can transmit and receive high-frequency millimeter waves in the front direction, detect object information in a certain front view range by using the Doppler effect, wherein the object information comprises front obstacle information before passing or changing lanes and obstacle information during passing or changing lanes, and provides auxiliary information for a main control ECU (electronic control unit) to make a decision on passing or changing lanes.
The angle millimeter wave radar 3, which is similar to the operation principle of the front millimeter wave radar, detects the speed and acceleration of the object in front of and behind the target lane side and the speed and acceleration of the object in front of and behind the lane side in the overtaking or lane changing return stage by emitting high-frequency millimeter waves to the periphery of the vehicle by using the Doppler effect, and sends the information to the main control ECU, so as to judge that the lane changing space is an obstacle when the vehicle overtakes or changes lanes.
The main control ECU4 receives the information collected by the front-view camera 1, the front millimeter-wave radar 2, the angle millimeter-wave radar 3, and the side-front camera 5, the side-rear camera 6, and the map and positioning information acquisition device 9, and controls the steering system, the steering lamp 7, and the vehicle speed control device 8 according to the information to implement the vehicle control method provided by the embodiment of the present invention.
The front side camera 5 is arranged at the position of the rearview mirror, detects an object in the front area of the side of the vehicle through visual identification and image processing technology, and provides accurate object motion and contour information for the main control ECU to calculate the variable lane space to make a passing decision.
And the side rear camera 6 is arranged at the position of a B column of the vehicle, detects an object in the front area of the side of the vehicle through visual identification and image processing technology, and provides accurate object motion and contour information for the main control ECU to calculate a variable lane space to make a passing decision.
And a steering system and a steering lamp 7, wherein when the main control ECU performs track tracking, the main control ECU transmits a steering request to the steering system and the steering lamp through a Controller Area Network (CAN) bus by calculating a steering angle required by control, and the steering system executes the steering request and lights the steering lamp at the same time.
And the vehicle speed control device 8 is used for controlling the required vehicle speed through calculation and transmitting a vehicle speed control command to the vehicle speed control device through the CAN bus when the main control ECU performs track tracking.
The map and positioning information acquiring device 9 can acquire a high-precision map to provide refined lane level information including lane curvature, gradient, course, highest and lowest speed limit and other information to assist the sensing system and make up for the defects of sensors (such as cameras, radars and the like). Meanwhile, high-precision positioning information can be acquired to be matched with a high-precision map, so that a guarantee is provided for the main control ECU to carry out accurate vehicle control.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the vehicle control method in the above-described method embodiments.
Embodiments of the present invention provide a computer program product which, when run on a computer, causes the computer to perform the steps of the vehicle control method in the above-described method embodiments.
An embodiment of the present invention provides an application distribution platform, which is configured to distribute a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute some or all of the steps of the vehicle control method in the above method embodiment.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

Claims (10)

1. A vehicle control method, characterized by comprising:
in the process that a first vehicle drives on a first lane along with a second vehicle, if the first driving time of the first vehicle is longer than or equal to a preset time, acquiring target lane line information and road condition information of a second lane;
under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the second lane, acquiring first position information and lane size information; the first position information is information of a position of a reference point on the second vehicle, and the lane size information is information of lane widths of the first lane and the second lane; calculating to obtain information of a first target position in a second lane according to the first position information and the lane size information; planning a first desired route between a current location of the first vehicle and the first target location; controlling the first vehicle to travel according to the first desired route to travel from the first location to the first target location; after traveling from the first position to the first target position, the method further comprises:
acquiring the length of the body of the second vehicle;
calculating to obtain information of a second target position according to the first position information and the length of the second vehicle body;
controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration;
the first driving time is the time when the driving speed of the first vehicle is continuously lower than a speed threshold value, the first lane and the second lane are mutually adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane.
2. The method of claim 1, wherein determining that a lane change condition is satisfied according to the target lane line information and the road condition information of the second lane comprises:
judging whether lane changing is allowed or not according to the target lane line information;
determining whether a lane change space exists in the second lane according to the road condition information of the second lane under the condition that the target lane line information indicates that lane change is allowed;
determining that a lane change condition is satisfied in a case where a lane change space exists in the second lane.
3. The method of claim 2, wherein after the controlling the first vehicle to lane-change from the first lane to the second lane, and before the first vehicle lane-change from the first lane to the second lane, the method further comprises:
acquiring road condition information in the lane change space;
and under the condition that the obstacle is determined to appear in the lane change space according to the road condition information in the lane change space, controlling the first vehicle to stop driving to the second lane and controlling the first vehicle to drive back to the first lane.
4. The method of claim 1, wherein after controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration, the method further comprises:
acquiring the target lane line information and the road condition information of the first lane;
and controlling the first vehicle to change the lane from the second lane to the first lane to run under the condition that the lane change condition is determined to be met according to the target lane line information and the road condition information of the first lane.
5. A vehicle control apparatus characterized by comprising: the device comprises an acquisition module, a determination module and a control module;
the acquisition module is used for acquiring target lane line information and road condition information of a second lane if the first running time of a first vehicle is longer than or equal to a preset time in the process that the first vehicle runs on the first lane along with a second vehicle;
the determining module is used for determining whether the lane change condition is met according to the target lane line information acquired by the acquiring module and the road condition information of the second lane;
the control module is used for controlling the first vehicle to change the lane from the first lane to the second lane under the condition that the determining module determines that the lane change condition is met according to the target lane line information and the road condition information of the second lane;
the first driving time length is the time length that the driving speed of the first vehicle is continuously lower than a speed threshold value, the first lane and the second lane are mutually adjacent lanes, and the target lane line information is the information of a lane line between the first lane and the second lane;
the control module comprises a planning submodule and a control submodule;
the planning sub-module is used for planning a first expected route of the first vehicle;
the control submodule is used for controlling the first vehicle to travel according to the first expected route so as to change the lane from the first lane to the second lane;
the planning submodule is specifically used for acquiring first position information and lane size information; the first position information is information of a position of a reference point on the second vehicle, and the lane size information is information of lane widths of the first lane and the second lane; calculating to obtain information of a first target position in a second lane according to the first position information and the lane size information; planning a first desired route between the first location and the first target location;
the control module submodule is specifically configured to control the first vehicle to travel according to the first desired route so as to travel from the first position to the first target position;
the acquisition module is further used for acquiring the length of the second vehicle body after the second vehicle body travels from the first position to the first target position; calculating to obtain information of a second target position according to the first position information and the length of the second vehicle body;
the control module is further used for controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration.
6. The apparatus of claim 5,
the determining module is specifically configured to determine whether lane changing is allowed according to the target lane line information; determining whether a lane change space exists in the second lane according to the road condition information of the second lane under the condition that the target lane line information indicates that lane change is allowed; determining that a lane change condition is satisfied in a case where a lane change space exists in the second lane.
7. The apparatus of claim 6,
the obtaining module is further configured to obtain road condition information in the lane change space after the control module controls the first vehicle to change the lane from the first lane to the second lane and before the first vehicle changes the lane from the first lane to the second lane;
the determining module is further configured to determine whether an obstacle appears in the lane change space according to the road condition information in the lane change space;
the control module is further configured to control the first vehicle to stop lane changing to the second lane and control the first vehicle to travel back to the first lane when the determining module determines that the obstacle appears in the lane changing space according to the road condition information in the lane changing space.
8. The apparatus of claim 5,
the obtaining module is further configured to obtain the target lane line information and the road condition information of the first lane after controlling the first vehicle to accelerate from the first target position to the second target position at a target acceleration;
the control module is further configured to control the first vehicle to change the lane from the second lane to the first lane when it is determined that the lane change condition is met according to the target lane line information and the road condition information of the first lane.
9. A vehicle control system, characterized by comprising: image acquisition means, steering adjustment means, vehicle speed adjustment means, map and positioning information acquisition means and vehicle control means as claimed in any one of claims 5 to 8;
the vehicle control device is respectively connected with the image acquisition device, the steering adjustment device, the vehicle speed adjustment device and the map and positioning information acquisition device.
10. A vehicle characterized in that the vehicle includes the vehicle control system according to claim 9, or the vehicle includes the vehicle control apparatus according to any one of claims 5 to 8.
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