CN111547057A - PET-based vehicle lane change control system and method - Google Patents

PET-based vehicle lane change control system and method Download PDF

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CN111547057A
CN111547057A CN202010334172.8A CN202010334172A CN111547057A CN 111547057 A CN111547057 A CN 111547057A CN 202010334172 A CN202010334172 A CN 202010334172A CN 111547057 A CN111547057 A CN 111547057A
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vehicle
lane
pet
speed
time
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葛慧敏
黄明月
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Jiangsu University
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
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  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a PET-based vehicle lane change control system and a PET-based vehicle lane change control method, wherein the PET-based vehicle lane change control system comprises a vehicle speed monitoring unit, an acceleration monitoring unit, a vehicle distance monitoring unit, a data processing unit and a main control unit; the data processing unit comprises a PET calculating module, a lane changing time calculating module, a first judging module, a second judging module, a third judging module and an information processing module; the control method comprises nine steps of speed and acceleration data acquisition, vehicle distance data acquisition, speed judgment by a first judgment module, lane change time calculation, post-invasion time judgment of a front vehicle by a second judgment module, post-invasion time judgment of a rear vehicle by a third judgment module, forced straight-going and lane change execution. Has the advantages that: the invention avoids traffic accidents caused by lane change by calculating the rear invasion time of the vehicle and the front and rear vehicles of the target lane, and effectively improves the safety of the road.

Description

PET-based vehicle lane change control system and method
Technical Field
The invention relates to a vehicle control system and a vehicle control method, in particular to a PET-based vehicle lane change control system and a PET-based vehicle lane change control method, and belongs to the field of automobile control.
Background
With the rapid development of economy in China, the vehicle holding amount is continuously increased, so that the road traffic volume is rapidly increased. Along with the improvement of the automobile ownership rate and the utilization rate, the occurrence rate of traffic accidents is higher and higher. In the traffic accidents, the traffic accidents caused by the lane changing behavior account for 28 percent of the total number of the traffic accidents, and great negative effects are caused on the road traffic accidents. Statistics show that in traffic accidents caused by vehicle lane changing, the traffic accidents are mainly caused by misjudgment of drivers on the lane changing time of vehicles. Therefore, the method has very important significance in providing safe lane change decision for drivers when vehicles change lanes, and has very important effects on reducing traffic accidents and guaranteeing the property and life safety of people.
Chinese patent CN 110834634 discloses a lane change warning system and control method, the system transmits the monitoring data of a vehicle distance monitoring unit and a vehicle speed monitoring unit to a data processing unit, so as to obtain a data processing result, and then transmits the data to a main control execution unit.
PET (post impact time) represents a time difference between two vehicles arriving at a specified cross section, which is also called post-intrusion time, and the higher the value of PET, the lower the possibility of collision between two vehicles is, and the higher the safety of driving between two vehicles is; taking lane change of the vehicle as an example, the lane change means a time difference that the lane change vehicle passes through a specified cross section by taking a certain position where the vehicle passes in front of the lane change target lane as the specified cross section.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects in the prior art, the invention provides a PET-based vehicle lane change control system and method, which are used for forcing a vehicle to complete lane change under the condition of no collision and avoiding lane change under the condition of possible collision.
The technical scheme is as follows: a PET-based vehicle lane change control system comprises a vehicle speed monitoring unit, an acceleration monitoring unit, a vehicle distance monitoring unit, a data processing unit and a main control unit; the vehicle speed monitoring unit, the acceleration monitoring unit and the vehicle distance monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the main control unit, and the main control unit controls the steering of the vehicle and reminds a driver of the vehicle; the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor and a rear vehicle longitudinal acceleration sensor; the vehicle speed monitoring unit comprises a transverse vehicle speed sensor, a longitudinal vehicle speed sensor, a front speed measuring instrument, a rear speed measuring instrument, a front vehicle longitudinal vehicle speed sensor and a rear vehicle longitudinal vehicle speed sensor; the data processing unit comprises a PET calculating module, a lane changing time calculating module, a first judging module, a second judging module, a third judging module and an information processing module; the main control unit comprises a voice prompt device and a control execution device;
the lateral speed sensor and the lateral acceleration sensor measure the lateral speed and the lateral acceleration of the vehicle and transmit the lateral speed and the lateral acceleration to the lane change calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module;
the longitudinal speed sensor measures the longitudinal speed of the vehicle, and the front speedometer and the rear speedometer respectively measure the front vehicle speed of a target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to the PET calculation module;
the distance between the vehicle and the front vehicle of the target lane is measured by the front distance meter and transmitted to the PET calculation module, the longitudinal speed of the front vehicle of the target lane is measured by the front vehicle longitudinal speed sensor, and the longitudinal acceleration and the longitudinal speed of the vehicle are respectively measured by the longitudinal acceleration sensor and the longitudinal speed sensor and transmitted to the PET calculation module; the PET calculation module calculates the rear invasion time of the vehicle and the front vehicle and transmits the rear invasion time to the second judgment module, and the judgment value of the second judgment module is transmitted to the third judgment module;
the rear distance meter measures the distance between the vehicle and the rear vehicle of the target lane and transmits the distance to the PET calculation module, the longitudinal vehicle speed sensor measures the longitudinal vehicle speed of the vehicle, the longitudinal acceleration sensor of the rear vehicle and the longitudinal vehicle speed sensor of the rear vehicle respectively measure the longitudinal acceleration and the longitudinal vehicle speed of the rear vehicle of the target lane and transmit the longitudinal acceleration and the longitudinal vehicle speed to the PET calculation module, and the PET calculation module calculates the rear intrusion time of the vehicle and the rear vehicle and transmits the rear intrusion time to the third judgment module;
the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the voice reminding device and the vehicle speed control execution device, and the control execution device controls the vehicle to turn through the turning device.
A control method of a PET-based vehicle lane change system comprises the following steps:
acquiring speed and acceleration data: the lateral speed sensor measures the lateral speed v of the vehicleBhThe lateral acceleration sensor measures the lateral acceleration a of the vehicleBhRespectively sent to a lane change time calculation module,
the longitudinal acceleration sensor measures the longitudinal acceleration a of the vehicleBzThe longitudinal speed sensor measures the longitudinal speed v of the vehicleBzThe front speed measurer measures the front speed v of the target laneAThe longitudinal speed sensor of the front vehicle measures the longitudinal speed v of the front vehicle of the target laneAz，
The rear speedometer, the rear vehicle longitudinal acceleration sensor and the rear vehicle longitudinal speed sensor respectively measure the rear vehicle speed v of the target laneCLongitudinal acceleration a of the rear vehicleCzAnd rear vehicle longitudinal speed vCz，
The longitudinal speed v of the vehicleBzSpeed v of the preceding vehicleAAnd rear vehicle speed vCSending the vehicle longitudinal acceleration a to a first judgment moduleBzAnd the longitudinal speed v of the vehicleBzLongitudinal speed v of front vehicle of target laneAzLongitudinal acceleration a of rear vehicle of target laneCzAnd rear vehicle longitudinal speed vCzSending the data to a PET calculation module;
step two, vehicle distance data acquisition: the front distance meter measures the distance L between the vehicle and the front vehicle of the target laneBAThe rear distance measuring instrument measures the distance L between the vehicle and the rear vehicle of the target laneBCAnd the distance L between the vehiclesBAAnd LBCSending the data to a PET calculation module;
step three, the first judging module judges the speed: longitudinal speed v of vehicle of first judging moduleBzSpeed v of the preceding vehicleAAnd rear vehicle speed vCMaking a comparison if vC≤vBz≤vAIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six;
step four, calculating lane changing time: the lane change time calculation module calculates the time T required by the vehicle to complete lane change and sends the time T to the second judgment module and the third judgment module;
step five, calculating post invasion time PET: the PET calculation module calculates the rear invasion time PET of the vehicle and the front vehicle of the target laneBAAnd the post-invasion time PET of the vehicle and the vehicle behind the target laneCBAnd combining the PET withBASending the PET to a second judgment moduleCBSending the data to a third judgment module;
step six, the second judging module judges the lane changing result of the vehicle and the vehicle in front of the target lane: the second judgment module is used for judging lane changing time T and rear invasion time PET of the vehicle and the vehicle in front of the target laneBAA comparison was made if T < PETBAStep seven is executed to judge T and PETCBOtherwise, executing step eight;
seventhly, judging the lane changing result of the vehicle and the rear vehicle of the target lane by a third judging module: the third judgment module is used for judging lane changing time T and post-invasion time PET of the vehicle and the vehicle behind the target laneCBMaking comparisons, e.g. T < PETCBIf yes, executing a step nine, wherein the vehicle can change the lane, otherwise, executing a step eight, wherein the vehicle is forced to move straight, and the vehicle cannot change the lane;
step eight, forcing to go straight: the voice prompt device prompts the driver that the lane changing time is too long, the vehicle is forced to move straight, and the control execution module controls the vehicle steering wheel control device to adjust the steering wheel angle;
step nine, executing lane changing: the prompting device prompts a driver that the vehicle can change lanes.
Preferably, the calculation formula of the post-calculated invasion time of the PET calculation module is as follows:
PETi＝Ti-Ti-1
in the formula: PETiThe time difference between the ith vehicle and the previous vehicle (i.e. the i-1 vehicle) reaching a certain specified section;
setting the time T of the front vehicle passing through the pointing cross section of the target lanei-10, i.e. PET of the lane-changing vehicle and the vehicle ahead of the target laneiIs TiSo PET in the event of a lane change being allowediThe larger the value of (A), the smaller the possibility of collision, and the greater the safety of the vehicle during lane change, the calculation is as follows:
PETi＝Ti
preferably, the lane change time T from the lane change of the vehicle to the target lane in the step four is calculated as follows:
Figure BDA0002466003780000031
because of the fact that
Figure BDA0002466003780000032
There are two different solutions to the equation, as follows:
Figure BDA0002466003780000033
since T >0, so
Figure BDA0002466003780000034
In the formula: l is lane width in m; v. ofBzThe unit is the transverse speed of the vehicle, and the unit is m/s; a isBzIs the lateral acceleration of the vehicle in m/s2(ii) a And delta is a discriminant of a solution of a one-dimensional quadratic equation.
Preferably, in the sixth step, the second judgment module judges the lane changing time T and the post-invasion time PET of the vehicle and the vehicle in front of the target laneBAThe method of comparison was as follows:
when v isBz＞vAIn time, the allowable conditions for lane change of the vehicle are as follows: the distance between the vehicle and the front vehicle of the target lane is LBATaking the position of the front vehicle of the target lane as a designated section, and taking the time difference between the front vehicle of the target lane and the front vehicle of the target lane passing through the pointed section, namely the lane-changing vehicle driving LBAIs longer than the lane change time of the vehicle, i.e. PETBAIf the vehicle speed is more than T, the vehicle changes lanes in the whole process, the vehicle does not collide with the front vehicle of the target lane, and lane changing is safe;
when v isBz＞vAWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000041
calculating the running distance L of the vehicle through the equationBATime t (t > 0), i.e.,
when a isBzWhen the pressure is higher than 0, the pressure is higher,
Figure BDA0002466003780000042
the above equation has two different solutions, so
Figure BDA0002466003780000043
Since t >0, so
Figure BDA0002466003780000044
When a isBzWhen the ratio is less than 0, the reaction mixture is,
Figure BDA0002466003780000045
the above equation has two different solutions, so
Figure BDA0002466003780000046
Because of t4＞t3Greater than 0, and selecting smaller time to solve t for ensuring the accuracy of the track changing time3Therefore, it is
Figure BDA0002466003780000047
In view of the above, it is desirable to provide,when v isBz＞vAWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000048
in the formula: v. ofBzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; a isBzIs the longitudinal acceleration of the vehicle in m/s2；vAzThe unit is the longitudinal speed of the front vehicle of the target lane; l isBAThe unit m is the distance between the vehicle and the front vehicle of the target lane; and delta is a discriminant of a solution of a one-dimensional quadratic equation.
Preferably, the seventh judging module judges the rear intrusion time of the rear vehicle according to the following steps:
when v isBz＜vCIn time, the allowable conditions for lane change of the vehicle are as follows: the distance between the vehicle and the rear vehicle of the target lane is LBCTaking the position of the vehicle as a designated section, the time difference between the vehicle and the vehicle behind the target lane passing through the designated section, namely the driving L of the vehicle behind the target laneBCIs longer than the lane change time of the vehicle, i.e. PETCBIf the vehicle lane change speed is more than T, the vehicle lane change is carried out in the whole process, the vehicle does not collide with the rear vehicle of the target lane, and the lane change is safe;
the PETCBThe post-intrusion time for the host vehicle and the vehicle following the target lane is calculated as follows:
when v isBz＜vCWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000051
calculating the rear driving distance L of the target vehicle according to the equationBATime t (t > 0), i.e.:
when a isCzWhen the pressure is higher than 0, the pressure is higher,
Figure BDA0002466003780000052
the above equation has two different solutions, so
Figure BDA0002466003780000053
Since t >0, so
Figure BDA0002466003780000054
When a isCzWhen the ratio is less than 0, the reaction mixture is,
Figure BDA0002466003780000055
the above equation has two different solutions, so
Figure BDA0002466003780000056
Because of t8＞t7Is more than 0, and a smaller time is selected to solve the t in order to ensure the safety of the channel changing process7Therefore, it is
Figure BDA0002466003780000057
In summary, when v isB＜vCWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000058
in the formula: v. ofCzThe unit is the longitudinal speed of the rear vehicle and the unit is m/s; a isCzIs the longitudinal acceleration of the rear vehicle in m/s2；vBzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; l isBCThe unit m is the vehicle distance between the vehicle and the rear of the target lane; and delta is a discriminant of a solution of a one-dimensional quadratic equation.
Has the advantages that: the invention avoids traffic accidents caused by lane change by calculating the rear invasion time of the vehicle and the front and rear vehicles of the target lane, and effectively improves the safety of the road.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a control flow chart of the present invention.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, a PET-based vehicle lane change control system includes a vehicle speed monitoring unit, an acceleration monitoring unit, a vehicle distance monitoring unit, a data processing unit, and a main control unit; the vehicle speed monitoring unit, the acceleration monitoring unit and the vehicle distance monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the main control unit, and the main control unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor and a rear vehicle longitudinal acceleration sensor; the vehicle speed monitoring unit comprises a longitudinal vehicle speed sensor, a front speed meter, a rear speed meter, a front vehicle longitudinal vehicle speed sensor and a rear vehicle longitudinal vehicle speed sensor; the data processing unit comprises a PET calculating module, a lane changing time calculating module, a first judging module, a second judging module, a third judging module and an information processing module; the main control unit comprises a voice prompt device and a control execution device;
the lateral speed sensor and the lateral acceleration sensor respectively measure the lateral speed and the lateral acceleration of the vehicle and transmit the lateral speed and the lateral acceleration to the lane change calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module;
the longitudinal speed sensor measures the longitudinal speed of the vehicle, and the front speedometer and the rear speedometer respectively measure the front vehicle speed of a target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to the PET calculation module;
the distance between the vehicle and the front vehicle of the target lane is measured by the front distance meter and transmitted to the PET calculation module, the longitudinal speed of the front vehicle of the target lane is measured by the front vehicle longitudinal speed sensor, and the longitudinal acceleration and the longitudinal speed of the vehicle are respectively measured by the longitudinal acceleration sensor and the longitudinal speed sensor and transmitted to the PET calculation module; the PET calculation module calculates the rear invasion time of the vehicle and the front vehicle and transmits the rear invasion time to the second judgment module, and the judgment value of the second judgment module is transmitted to the third judgment module;
the rear distance meter measures the distance between the vehicle and the rear vehicle of the target lane and transmits the distance to the PET calculation module, the longitudinal vehicle speed sensor measures the longitudinal vehicle speed of the vehicle, the longitudinal acceleration sensor of the rear vehicle and the longitudinal vehicle speed sensor of the rear vehicle respectively measure the longitudinal acceleration and the longitudinal vehicle speed of the rear vehicle of the target lane and transmit the longitudinal acceleration and the longitudinal vehicle speed to the PET calculation module, and the PET calculation module calculates the rear intrusion time of the vehicle and the rear vehicle and transmits the rear intrusion time to the third judgment module;
the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the voice reminding device and the vehicle speed control execution device, and the control execution device controls the vehicle to turn through the turning device.
As shown in fig. 2, a control method of a PET-based vehicle lane-changing system includes the steps of:
acquiring speed and acceleration data: the lateral speed sensor measures the lateral speed v of the vehicleBhThe lateral acceleration sensor measures the lateral acceleration a of the vehicleBhRespectively sent to a lane change time calculation module,
the longitudinal acceleration sensor measures the longitudinal acceleration a of the vehicleBzThe longitudinal speed sensor measures the longitudinal speed v of the vehicleBzThe front speed measurer measures the front speed v of the target laneAThe longitudinal speed sensor of the front vehicle measures the longitudinal speed v of the front vehicle of the target laneAz，
The rear speedometer, the rear vehicle longitudinal acceleration sensor and the rear vehicle longitudinal speed sensor respectively measure the rear vehicle speed v of the target laneCLongitudinal acceleration a of the rear vehicleCzAnd rear vehicle longitudinal speed vCz，
The longitudinal speed v of the vehicleBzSpeed v of the preceding vehicleAAnd rear vehicle speed vCSending the vehicle longitudinal acceleration a to a first judgment moduleBzAnd the longitudinal speed v of the vehicleBzLongitudinal speed v of front vehicle of target laneAzLongitudinal acceleration a of rear vehicle of target laneCzAnd rear vehicle longitudinal speed vCzSending the data to a PET calculation module;
step two, vehicle distance data acquisition: the front distance meter measures the distance L between the vehicle and the front vehicle of the target laneBARear distance measuring instrumentMeasuring the distance L between the vehicle and the rear vehicle of the target laneBCAnd the distance L between the vehiclesBAAnd LBCSending the data to a PET calculation module;
step three, the first judging module judges the speed: longitudinal speed v of vehicle of first judging moduleBzSpeed v of the preceding vehicleAAnd rear vehicle speed vCMaking a comparison if vC≤vBz≤vAIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six;
step four, calculating lane changing time T: the lane change time calculation module calculates the time T required by the vehicle to complete lane change and sends the time T to the second judgment module and the third judgment module;
step five, calculating post invasion time PET: the PET calculation module calculates the rear invasion time PET of the vehicle and the front vehicle of the target laneBAAnd the post-invasion time PET of the vehicle and the vehicle behind the target laneCBAnd combining the PET withBASending the PET to a second judgment moduleCBSending the data to a third judgment module;
step six, the second judging module judges the lane changing result of the vehicle and the vehicle in front of the target lane: the second judgment module is used for judging lane changing time T and rear invasion time PET of the vehicle and the vehicle in front of the target laneBAA comparison was made if T < PETBAStep seven is executed to judge T and PETCBOtherwise, executing step eight;
seventhly, judging the lane changing result of the vehicle and the rear vehicle of the target lane by a third judging module: the third judgment module is used for judging lane changing time T and post-invasion time PET of the vehicle and the vehicle behind the target laneCBMaking comparisons, e.g. T < PETCBIf yes, executing a step nine, wherein the vehicle can change the lane, otherwise, executing a step eight, wherein the vehicle is forced to move straight, and the vehicle cannot change the lane;
step eight, forcing to go straight: the voice prompt device prompts the driver that the lane changing time is too long, the vehicle is forced to move straight, and the control execution module controls the vehicle steering wheel control device to adjust the steering wheel angle;
step nine, executing lane changing: the prompting device prompts a driver that the vehicle can change lanes.
Firstly, PET (post impact time) represents a time difference between two vehicles arriving at a certain designated section, which is also called post-intrusion time, and the higher the value of PET is, the lower the possibility of collision between the two vehicles is, and the higher the safety of driving the two vehicles is; taking lane change of a vehicle as an example, the lane change means that a certain position where a vehicle in front of a lane change target lane passes is taken as a designated cross section, and the time difference of the lane change vehicle passing the designated cross section is calculated according to the following formula:
PETi＝Ti-Ti-1
in the formula: PETiThe time difference between the ith vehicle and the previous vehicle (i.e. the i-1 vehicle) reaching a certain specified section;
because a certain position passed by the vehicle in front of the target lane is a designated section, the time T of the vehicle in front of the target lane passing through the designated sectioni-10, i.e. PET of the lane-changing vehicle and the vehicle ahead of the target laneiIs TiSo PET in the event of a lane change being allowediThe larger the value of (A), the smaller the possibility of collision, and the greater the safety of the vehicle during lane change, the calculation is as follows:
PETi＝Ti。
secondly, obtaining the lane changing time T from the vehicle lane changing to the target lane by an acceleration-displacement formula, and calculating as follows:
Figure BDA0002466003780000081
because of the fact that
Figure BDA0002466003780000082
There are two different solutions to the equation, as follows:
Figure BDA0002466003780000083
since T >0, so
Figure BDA0002466003780000084
In the formula: l is lane width in m; v. ofBzThe unit is the transverse speed of the vehicle, and the unit is m/s; a isBzIs the lateral acceleration of the vehicle in m/s2(ii) a And delta is a discriminant of a solution of a one-dimensional quadratic equation.
Finally, as stated in step three, if vC≤vBz≤vAIf yes, executing the step nine, and enabling the vehicle to change lanes; if this condition is not met, two situations arise: (1) v. ofBz＞vA(2)vBz＜vC；
(1) When v isBz＞vAIn time, the allowable conditions for lane change of the vehicle are as follows: the distance between the vehicle and the front vehicle of the target lane is LBATaking the position of the front vehicle of the target lane as a designated section, and taking the time difference between the front vehicle of the target lane and the front vehicle of the target lane passing through the pointed section, namely the lane-changing vehicle driving LBAIs longer than the lane change time of the vehicle, i.e. PETBAIf the vehicle speed is more than T, the vehicle changes lanes in the whole process, the vehicle does not collide with the front vehicle of the target lane, and lane changing is safe;
the PETBAThe rear intrusion time of the vehicle and the vehicle in front of the target lane is calculated as follows:
when v isBz＞vAWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000085
calculating the running distance L of the vehicle through the equationBATime t (t > 0), i.e.,
when a isBzWhen the pressure is higher than 0, the pressure is higher,
Figure BDA0002466003780000086
the above equation has two different solutions, so
Figure BDA0002466003780000091
Since t >0, so
Figure BDA0002466003780000092
When a isBzWhen the ratio is less than 0, the reaction mixture is,
Figure BDA0002466003780000093
the above equation has two different solutions, so
Figure BDA0002466003780000094
Because of t4＞t3Greater than 0, and selecting smaller time to solve t for ensuring the accuracy of the track changing time3Therefore, it is
Figure BDA0002466003780000095
In summary, when v isBz＞vAWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000096
in the formula: v. ofBzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; a isBzIs the longitudinal acceleration of the vehicle in m/s2；vAzThe unit is the longitudinal speed of the front vehicle of the target lane; l isBAThe unit m is the distance between the vehicle and the front vehicle of the target lane; and delta is a discriminant of a solution of a one-dimensional quadratic equation.
(2) When v isBz＜vCIn time, the allowable conditions for lane change of the vehicle are as follows: the distance between the vehicle and the rear vehicle of the target lane is LBCTaking the position of the vehicle as a designated section, the time difference between the vehicle and the vehicle behind the target lane passing through the designated section, namely the driving L of the vehicle behind the target laneBCIs longer than the lane change time of the vehicle, i.e. PETCBIf the vehicle lane change speed is more than T, the vehicle lane change is carried out in the whole process, the vehicle does not collide with the rear vehicle of the target lane, and the lane change is safe;
the PETCBThe post-intrusion time for the host vehicle and the vehicle following the target lane is calculated as follows:
when v isBz＜vCWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000097
calculating the rear driving distance L of the target vehicle according to the equationBATime t (t > 0), i.e.:
when a isCzWhen the pressure is higher than 0, the pressure is higher,
Figure BDA0002466003780000098
the above equation has two different solutions, so
Figure BDA0002466003780000101
Since t >0, so
Figure BDA0002466003780000102
When a isCzWhen the ratio is less than 0, the reaction mixture is,
Figure BDA0002466003780000103
the above equation has two different solutions, so
Figure BDA0002466003780000104
Because of t8＞t7Is more than 0, and a smaller time is selected to solve the t in order to ensure the safety of the channel changing process7Therefore, it is
Figure BDA0002466003780000105
In summary, when v isB＜vCWhen the temperature of the water is higher than the set temperature,
Figure BDA0002466003780000106
in the formula: v. ofCzThe unit is the longitudinal speed of the rear vehicle and the unit is m/s; a isCzIs the longitudinal acceleration of the rear vehicle in m/s2；vBzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; l isBCThe unit m is the vehicle distance between the vehicle and the rear of the target lane; and delta is a discriminant of a solution of a one-dimensional quadratic equation.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (6)

1. A PET-based vehicle lane change control system comprises a vehicle speed monitoring unit, an acceleration monitoring unit, a vehicle distance monitoring unit, a data processing unit and a main control unit; the vehicle speed monitoring unit, the acceleration monitoring unit and the vehicle distance monitoring unit transmit the measured data to the data processing unit, the data processing unit sends an instruction to the main control unit, and the main control unit controls the steering of the vehicle and reminds a driver of the vehicle; the method is characterized in that: the vehicle distance monitoring unit comprises a front distance meter and a rear distance meter; the acceleration monitoring unit comprises a transverse acceleration sensor, a longitudinal acceleration sensor and a rear vehicle longitudinal acceleration sensor; the vehicle speed monitoring unit comprises a longitudinal vehicle speed sensor, a transverse vehicle speed sensor, a front speed measuring instrument, a rear speed measuring instrument, a front vehicle longitudinal vehicle speed sensor and a rear vehicle longitudinal vehicle speed sensor; the data processing unit comprises a PET calculating module, a lane changing time calculating module, a first judging module, a second judging module, a third judging module and an information processing module; the main control unit comprises a voice prompt device and a control execution device;
the lateral speed sensor and the lateral acceleration sensor measure the lateral speed and the lateral acceleration of the vehicle and transmit the lateral speed and the lateral acceleration to the lane change calculation module; the lane change time calculation module calculates the lane change time of the vehicle and transmits the lane change time to the second judgment module and the third judgment module;
the longitudinal speed sensor measures the longitudinal speed of the vehicle, and the front speedometer and the rear speedometer respectively measure the front vehicle speed of a target lane and the rear vehicle speed of the target lane and transmit the values to the first judgment module; the judgment value of the first judgment module is transmitted to the PET calculation module;
the distance between the vehicle and the front vehicle of the target lane is measured by the front distance meter and transmitted to the PET calculation module, the longitudinal speed of the front vehicle of the target lane is measured by the front vehicle longitudinal speed sensor, and the longitudinal acceleration and the longitudinal speed of the vehicle are respectively measured by the longitudinal acceleration sensor and the longitudinal speed sensor and transmitted to the PET calculation module; the PET calculation module calculates the rear invasion time of the vehicle and the front vehicle and transmits the rear invasion time to the second judgment module, and the judgment value of the second judgment module is transmitted to the third judgment module;
the rear distance meter measures the distance between the vehicle and the rear vehicle of the target lane and transmits the distance to the PET calculation module, the longitudinal vehicle speed sensor measures the longitudinal vehicle speed of the vehicle, the longitudinal acceleration sensor of the rear vehicle and the longitudinal vehicle speed sensor of the rear vehicle respectively measure the longitudinal acceleration and the longitudinal vehicle speed of the rear vehicle of the target lane and transmit the longitudinal acceleration and the longitudinal vehicle speed to the PET calculation module, and the PET calculation module calculates the rear intrusion time of the vehicle and the rear vehicle and transmits the rear intrusion time to the third judgment module;
the judgment value of the third judgment module is transmitted to the information processing module; the information processing module is respectively connected with the voice reminding device and the vehicle speed control execution device, and the control execution device controls the vehicle to turn through the turning device.
2. The control method of the PET-based vehicular lane-change system according to claim 1, comprising the steps of:
acquiring speed and acceleration data: the lateral speed sensor measures the lateral speed v of the vehicleBhThe lateral acceleration sensor measures the lateral acceleration a of the vehicleBhRespectively sent to a lane change time calculation module,
the longitudinal acceleration sensor measures the longitudinal acceleration a of the vehicleBzThe longitudinal speed sensor measures the longitudinal speed v of the vehicleBzThe front speed measurer measures the front speed v of the target laneAThe longitudinal speed sensor of the front vehicle measures the longitudinal speed v of the front vehicle of the target laneAz，
The rear speedometer, the rear vehicle longitudinal acceleration sensor and the rear vehicle longitudinal speed sensor respectively measure the rear vehicle speed v of the target laneCLongitudinal acceleration a of the rear vehicleCzAnd rear vehicle longitudinal speed vCz，
The longitudinal speed v of the vehicleBzSpeed v of the preceding vehicleAAnd rear vehicle speed vCSending the vehicle longitudinal acceleration a to a first judgment moduleBzAnd the longitudinal speed v of the vehicleBzLongitudinal speed v of front vehicle of target laneAzLongitudinal acceleration a of rear vehicle of target laneCzAnd rear vehicle longitudinal speed vCzSending the data to a PET calculation module;
step two, vehicle distance data acquisition: the front distance meter measures the distance L between the vehicle and the front vehicle of the target laneBAThe rear distance measuring instrument measures the distance L between the vehicle and the rear vehicle of the target laneBCAnd the distance L between the vehiclesBAAnd LBCSending the data to a PET calculation module;
step three, the first judging module judges the speed: longitudinal speed v of vehicle of first judging moduleBzSpeed v of the preceding vehicleAAnd rear vehicle speed vCMaking a comparison if vC≤vBz≤vAIf yes, executing a step nine, wherein the vehicle can change lanes, otherwise, executing a step six;
step four, calculating lane changing time T: the lane change time calculation module calculates the time T required by the vehicle to complete lane change and sends the time T to the second judgment module and the third judgment module;
step five, calculating post invasion time PET: the PET calculation module calculates the rear invasion time PET of the vehicle and the front vehicle of the target laneBAAnd the post-invasion time PET of the vehicle and the vehicle behind the target laneCBAnd combining the PET withBASending the PET to a second judgment moduleCBSending the data to a third judgment module;
step six, the second judging module judges the lane changing result of the vehicle and the vehicle in front of the target lane: the second judgment module is used for judging lane changing time T and rear invasion time PET of the vehicle and the vehicle in front of the target laneBAMaking a comparison if T<PETBAStep seven is executed to judge T and PETCBOtherwise, executing step eight;
seventhly, judging the lane changing result of the vehicle and the rear vehicle of the target lane by a third judging module: the third judgment module is used for judging lane changing time T and post-invasion time PET of the vehicle and the vehicle behind the target laneCBMaking a comparison, e.g.T<PETCBIf yes, executing a step nine, wherein the vehicle can change the lane, otherwise, executing a step eight, wherein the vehicle is forced to move straight, and the vehicle cannot change the lane;
step eight, forcing to go straight: the voice prompt device prompts the driver that the lane changing time is too long, the vehicle is forced to move straight, and the control execution module controls the vehicle steering wheel control device to adjust the steering wheel angle;
step nine, executing lane changing: the prompting device prompts a driver that the vehicle can change lanes.
3. The control method of a PET-based lane change system for a vehicle according to claim 2, wherein the post-calculation intrusion time of the PET calculation module is calculated by the following formula:
PETi＝Ti-Ti-1
in the formula: PETiThe time difference between the ith vehicle and the previous vehicle (i.e. the i-1 vehicle) reaching a certain specified section;
setting the time T of the front vehicle passing through the pointing cross section of the target lanei-10, i.e. PET of the lane-changing vehicle and the vehicle ahead of the target laneiIs TiSo PET in the event of a lane change being allowediThe larger the value of (A), the smaller the possibility of collision, and the greater the safety of the vehicle during lane change, the calculation is as follows:
PETi＝Ti。
4. the control method of the PET-based vehicular lane-change system according to claim 2, wherein: and fourthly, calculating the lane changing time T from the lane changing of the vehicle to the target lane as follows:
Figure FDA0002466003770000031
because of the fact that
Figure FDA0002466003770000032
There are two different solutions to the equation, as follows:
Figure FDA0002466003770000033
since T >0, so
Figure FDA0002466003770000034
In the formula: l is lane width in m; v. ofBzThe unit is the transverse speed of the vehicle, and the unit is m/s; a isBzIs the lateral acceleration of the vehicle in m/s2(ii) a And delta is a discriminant of a solution of a one-dimensional quadratic equation.
5. The PET-based vehicle lane-change system control method according to claim 2, wherein; in the sixth step, the second judgment module judges the lane changing time T and the post-invasion time PET of the vehicle and the vehicle in front of the target laneBAThe method of comparison was as follows:
when v isBz>vAIn time, the allowable conditions for lane change of the vehicle are as follows: the distance between the vehicle and the front vehicle of the target lane is LBATaking the position of the front vehicle of the target lane as a designated section, and taking the time difference between the front vehicle of the target lane and the front vehicle of the target lane passing through the pointed section, namely the lane-changing vehicle driving LBAIs longer than the lane change time of the vehicle, i.e. PETBA>T, the lane change of the vehicle is completed, the vehicle does not collide with the front vehicle of the target lane, and the lane change is safe;
when v isBz>vAWhen the temperature of the water is higher than the set temperature,
Figure FDA0002466003770000035
calculating the running distance L of the vehicle through the equationBATime t (t)>0) That is to say that,
when a isBz>At the time of 0, the number of the first,
Figure FDA0002466003770000036
the above equation has two different solutions, so
Figure FDA0002466003770000037
Since t >0, so
Figure FDA0002466003770000038
When a isBz<At the time of 0, the number of the first,
Figure FDA0002466003770000039
the above equation has two different solutions, so
Figure FDA0002466003770000041
Because of t4>t3>0, selecting a smaller time to solve the t in order to ensure the accuracy of the track changing time3Therefore, it is
Figure FDA0002466003770000042
In summary, when v isBz>vAWhen the temperature of the water is higher than the set temperature,
Figure FDA0002466003770000043
in the formula: v. ofBzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; a isBzIs the longitudinal acceleration of the vehicle in m/s2；vAzThe unit is the longitudinal speed of the front vehicle of the target lane; l isBAThe unit m is the distance between the vehicle and the front vehicle of the target lane; and delta is a discriminant of a solution of a one-dimensional quadratic equation.
6. The PET-based vehicle lane-change system control method according to claim 2, wherein; the seventh judging module judges the rear intrusion time of the rear vehicle according to the following steps:
when v isBz<vCTime, bookThe allowable conditions for lane changing of the vehicle are as follows: the distance between the vehicle and the rear vehicle of the target lane is LBCTaking the position of the vehicle as a designated section, the time difference between the vehicle and the vehicle behind the target lane passing through the designated section, namely the driving L of the vehicle behind the target laneBCIs longer than the lane change time of the vehicle, i.e. PETCB>T, the lane change of the vehicle is completed, the vehicle does not collide with the rear vehicle of the target lane, and the lane change is safe;
the PETCBThe post-intrusion time for the host vehicle and the vehicle following the target lane is calculated as follows:
when v isBz<vCWhen the temperature of the water is higher than the set temperature,
Figure FDA0002466003770000044
calculating the rear driving distance L of the target vehicle according to the equationBATime t (t)>0) Namely:
when a isCz>At the time of 0, the number of the first,
Figure FDA0002466003770000045
the above equation has two different solutions, so
Figure FDA0002466003770000046
Since t >0, so
Figure FDA0002466003770000047
When a isCz<At the time of 0, the number of the first,
Figure FDA0002466003770000048
the above equation has two different solutions, so
Figure FDA0002466003770000051
Because of t8>t7>0, to ensure the safety of the lane-changing processSex, choosing a smaller time solution t7Therefore, it is
Figure FDA0002466003770000052
In summary, when v isB<vCWhen the temperature of the water is higher than the set temperature,
Figure FDA0002466003770000053
in the formula: v. ofCzThe unit is the longitudinal speed of the rear vehicle and the unit is m/s; a isCzIs the longitudinal acceleration of the rear vehicle in m/s2；vBzThe unit is the longitudinal speed of the vehicle, and the unit is m/s; l isBCThe unit m is the vehicle distance between the vehicle and the rear of the target lane; and delta is a discriminant of a solution of a one-dimensional quadratic equation.
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