CN113147765A - Lane changing control method and device for automatic driving vehicle - Google Patents

Lane changing control method and device for automatic driving vehicle Download PDF

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Publication number
CN113147765A
CN113147765A CN202110483757.0A CN202110483757A CN113147765A CN 113147765 A CN113147765 A CN 113147765A CN 202110483757 A CN202110483757 A CN 202110483757A CN 113147765 A CN113147765 A CN 113147765A
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China
Prior art keywords
lane
vehicle
lane change
change
current
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CN202110483757.0A
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Chinese (zh)
Inventor
杨智勇
廖清科
王海洋
周瑜
许沁欣
杜春林
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Chongqing Vocational Institute of Engineering
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Chongqing Vocational Institute of Engineering
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Priority to CN202110483757.0A priority Critical patent/CN113147765A/en
Publication of CN113147765A publication Critical patent/CN113147765A/en
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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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

Abstract

The invention relates to the technical field of automatic driving control, and provides a lane change control method of an automatic driving vehicle, aiming at solving the problem that the current driver cannot find the vehicle running in a target lane in time to cause traffic accidents when judging lane change, wherein the lane change control method comprises the following steps of: acquiring road condition information and navigation information of a road where a current vehicle is located; a lane change judgment step: analyzing the acquired road condition information and navigation information and judging whether the lane needs to be changed; vehicle condition acquisition: when the lane change is determined to be needed, acquiring the speed of the current vehicle and the speed of an adjacent vehicle on a target lane, and acquiring the distance difference between the current vehicle and the adjacent vehicle; a channel switching time judging step: comparing the obtained vehicle distance difference with a preset vehicle distance threshold value, and sending a lane changing signal when the vehicle distance difference is larger than the vehicle distance threshold value; a lane changing step: and controlling the current vehicle to drive to change the lane of the target lane according to the lane change signal.

Description

Lane changing control method and device for automatic driving vehicle
Technical Field
The invention relates to the technical field of automatic driving control, in particular to a lane changing control method and a lane changing control device for an automatic driving vehicle.
Background
An automatic driving vehicle is an intelligent vehicle which realizes unmanned driving through a computer system. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can automatically control the motor vehicle without any active operation of human.
With the development of automatic driving technology, automatic parking assist systems, brake assist systems, lane change assist systems, and the like have been developed to assist drivers in controlling vehicles in different scenes. The lane change auxiliary system can realize automatic lane change operation of the vehicle, and when the vehicle receives a lane change signal, lane change driving is carried out according to the traffic conditions at the rear and the side of the vehicle and on a lane to be changed. However, the lane change time of the vehicle is still determined by the driver, and when the lane change time is determined, the driver usually observes whether the vehicle is running on the target lane to be changed through a rearview mirror, so if the driver cannot find the vehicle running in the target lane in time in the lane change process, the vehicle may collide with the current vehicle afterwards, thereby causing a traffic accident.
Disclosure of Invention
One of the objectives of the present invention is to provide a lane change control method for an automatic driving vehicle, so as to solve the problem in the prior art that a driver cannot find a vehicle traveling in a target lane in time when determining a lane change, thereby causing a traffic accident.
The basic scheme provided by the invention is as follows: the lane change control method of the automatic driving vehicle comprises the following steps of: acquiring road condition information and navigation information of a road where a current vehicle is located;
a lane change judgment step: analyzing the acquired road condition information and navigation information and judging whether the lane needs to be changed;
vehicle condition acquisition: when the lane change is determined to be needed, acquiring the speed of the current vehicle and the speed of an adjacent vehicle on a target lane, and acquiring the distance difference between the current vehicle and the adjacent vehicle;
a channel switching time judging step: comparing the obtained vehicle distance difference with a preset vehicle distance threshold value, and sending a lane changing signal when the vehicle distance difference is larger than the vehicle distance threshold value;
a lane changing step: and controlling the current vehicle to drive to change the lane of the target lane according to the lane change signal.
In this embodiment, the adjacent vehicle is the first vehicle behind the current vehicle on the target lane.
The beneficial effects of the first basic scheme are as follows: according to the scheme, after the road condition information and the navigation information of the road where the current vehicle is located are collected through the information collection step, whether the current vehicle needs to change the lane or not is analyzed according to the obtained road condition information and the obtained navigation information, when the current vehicle needs to change the lane, in order to avoid the situation that the vehicle behind the target lane collides with the current vehicle in the lane changing process when the current vehicle needs to change the lane, in the scheme, the vehicle distance difference between the current vehicle and the adjacent vehicle is also obtained, and when the vehicle distance difference exceeds the vehicle distance threshold value, the distance between the adjacent vehicle on the target lane and the current vehicle is large enough, under the condition, in the lane changing process, the adjacent vehicle cannot overtake the current vehicle, and therefore the probability of collision with other vehicles in the lane changing process of the vehicle is reduced.
The first preferred scheme is as follows: as a preferred option of the first basic scheme, in the lane change judging step, the lane change includes a turning lane change and a express lane change, and when the navigation information is analyzed and the front road in the navigation information needs to be turned around, the lane change is judged to be turned around; when the road condition information is analyzed, and when the current lane congestion is analyzed, the situation that the express bus needs to be changed is judged. Description of the drawings: in the scheme, the express lane change means that the vehicle changes the lane in order to accelerate the speed of the vehicle.
Has the advantages that: considering that the lane change of the vehicle usually comprises the turning lane change and the express lane change, and the driving operation of the turning lane change and the express lane change is different, in the scheme, the accurate driving during the subsequent lane change is ensured by analyzing and judging different lane change modes.
The preferred scheme II is as follows: preferably, in the lane change judging step, the type of lane change is judged according to the acquired navigation information, when the lane change is judged to be a turning lane change, the distance between the current vehicle and the nearest turning intersection is acquired in the vehicle condition acquiring step, and in the lane change opportunity judging step, the distance between the current vehicle and the nearest turning intersection is compared with a preset turning distance, and when the distance between the current vehicle and the nearest turning intersection is compared to be greater than the preset turning distance, a turning lane change signal is sent; and in the lane changing step, controlling the current vehicle to change lanes and turn around according to the turn-around lane changing signal. Has the advantages that: considering that the purpose of changing lanes of the vehicle includes turning around and speeding up, and for turning around, the turning around of the vehicle must be performed on a section of road that allows the turning around, in the process of turning round, the vehicle still needs to move forward for a certain distance, so if the vehicle moves through the place which allows turning round in the process of moving forward, and in this case, the vehicle still continues to turn around, not only violating the traffic rules, but also possibly causing traffic accidents, so in this scheme, when the lane change is judged, the type of the lane change is also judged, and when the lane change is judged to be the turning round, whether the distance between the current vehicle and the nearest turning round crossing is more than the preset turning round distance or not is also judged, and only when the distance between the current vehicle and the nearest U-turn intersection is greater than the preset U-turn distance, the U-turn lane-changing signal is sent, and then the turning operation is triggered, so that traffic safety accidents caused by forced turning due to insufficient reserved distance during turning are avoided.
The preferable scheme is three: preferably, in the lane change judging step, after the express way is judged to be changed, the vehicle condition collecting step also obtains the vehicle speed of the current lane and the vehicle speed of the adjacent lane, and in the lane change timing judging step, when the vehicle speed of the adjacent lane is compared to be larger than the vehicle speed of the current lane, the express way change signal is sent; and in the lane changing step, controlling the current vehicle to change the lane of the express bus according to the express bus lane changing signal. Has the advantages that: at present, when a driver judges whether lane change acceleration is needed, the driver usually judges the speed of the road where the current vehicle is located, when the driver thinks that the speed of the current road is slow, the driver wants to change the lane to the adjacent lane, but if the speed of the adjacent lane is not faster than or even smaller than the speed of the current lane, the lane change operation cannot bring benefit, for example, under the condition that the current lane and the adjacent lane are blocked, some drivers see that the vehicle on the adjacent lane moves, so that the speed of the adjacent lane is faster, and the lane change operation can be carried out on the adjacent lane, but the vehicle on the adjacent lane can move only because the vehicle is driven out in front of the adjacent lane, but after the vehicle moves for a certain distance, the adjacent lane still is blocked, under the condition, the lane change operation cannot allow the vehicle to pass through, and the lane change congestion under the condition can increase the probability of safety accidents, therefore, in the scheme, when the express way is judged to be changed, the speed of the current lane and the speed of the adjacent lane are obtained and compared, the express way change signal is sent only when the speed of the adjacent lane is larger than the current lane, and the express way change operation is carried out by the vehicle, so that the effect of accelerating the speed of the vehicle can be achieved by the express way change operation.
The preferable scheme is four: preferably, in the second preferred embodiment, in the lane change timing determining step, when the vehicle speed difference between the vehicle speed of the adjacent lane and the vehicle speed of the current lane is greater than a preset vehicle speed threshold, the express lane change signal is sent. Has the advantages that: considering that although the speed of the vehicle in the adjacent lane is higher than the speed of the current lane, if the difference between the speed of the vehicle in the adjacent lane and the speed of the current lane is not large, the meaning of lane change is not large, in this scheme, when the speed of the current lane is compared with the speed of the adjacent lane, the speed difference between the speed of the adjacent lane and the speed of the current lane is compared with a preset speed threshold, and when the compared speed difference is larger than the speed threshold, a fast lane change signal is sent to trigger fast lane change.
The second purpose of the invention is to provide a lane change control method device of an automatic driving vehicle, and the second basic scheme is as follows: the lane change control method device of the automatic driving vehicle comprises a communication module, a route control module and a route control module, wherein the communication module is used for acquiring road condition information and navigation information of a road where the current vehicle is located;
the analysis module is used for analyzing and judging whether the lane needs to be changed according to the acquired road condition information and the acquired navigation information;
when the lane change is judged to be needed, the communication module is further used for acquiring the distance difference between the current vehicle and the adjacent vehicle;
the storage module is preset with a vehicle distance threshold;
the comparison module is used for comparing the obtained vehicle distance difference with a vehicle distance threshold value;
and the control module is used for controlling the current vehicle to change the lane to the target lane when the comparison result shows that the vehicle distance difference is larger than the vehicle distance threshold value.
The second basic scheme has the beneficial effects that: in the scheme, after the communication module is arranged to acquire the road condition information and the navigation information of the road where the current vehicle is positioned, the analysis module analyzes whether the current vehicle needs to change the lane according to the acquired road condition information and the navigation information, when the current vehicle needs to change lanes is judged, in order to avoid collision of vehicles behind a target lane in the current vehicle lane changing process when the current vehicle changes lanes, a communication module is further arranged to obtain a vehicle distance difference between the current vehicle and an adjacent vehicle, a comparison module is used for comparing the vehicle distance difference with a vehicle distance threshold value preset in a storage module, when the vehicle distance difference exceeds the vehicle distance threshold value, the distance between the adjacent vehicle on the target lane and the current vehicle is indicated to be large enough, in this case, during the lane change, the adjacent vehicle does not overtake, and the control module controls the vehicle to run the lane change, so that the probability of collision with other vehicles during the lane change is reduced.
Drawings
FIG. 1 is a flow chart illustrating a lane-change control method of an autonomous vehicle in an embodiment of a lane-change control method and apparatus of an autonomous vehicle of the present invention;
fig. 2 is a schematic diagram of the vehicle distance difference between the current vehicle and the adjacent vehicle in the embodiment.
Detailed Description
The following is further detailed by way of specific embodiments:
the embodiment is basically as shown in the attached figure 1: the lane change control method of the automatic driving vehicle comprises the following steps of: acquiring road condition information and navigation information of a road where a current vehicle is located; the road condition information mainly comprises weather conditions, road surface conditions and road traffic conditions, and if the road condition information is 'weather is cloudy, the road surface is dry and the traffic is normal'; the navigation information is obtained after the navigation software navigates according to the set destination and the set departure place.
A lane change judgment step: analyzing the acquired road condition information and navigation information and judging whether the lane needs to be changed; in this embodiment, specifically, the lane change includes a u-turn lane change and a express lane change, when it is determined whether the lane change is required, the type of the lane change is determined according to the acquired navigation information, and when the navigation information is analyzed, when it is analyzed that a front road in the navigation information needs to be u-turn, the u-turn lane change is determined; when the road condition information is analyzed, when the current lane congestion is analyzed, if the road traffic condition in the road condition information is 'road congestion', the analysis result is the current lane congestion, and the current lane congestion is judged to be fast vehicle lane change;
vehicle condition acquisition: when it is determined that lane changing is required, acquiring the speed of a current vehicle and the speed of an adjacent vehicle on a target lane, and also acquiring the distance difference between the current vehicle and the adjacent vehicle, wherein in the embodiment, the distance difference is the distance between heads of the two vehicles in the same direction, as shown in fig. 2, and L is the distance difference between the two vehicles; when the vehicle is judged to turn around and change lanes, the distance between the current vehicle and the nearest turn-around intersection is also acquired; after the express way change is judged, the speed of the current lane and the speed of the adjacent lane are also obtained, in the embodiment, the speed of the lane can be obtained from a traffic management center;
a channel switching time judging step: comparing the obtained vehicle distance difference with a preset vehicle distance threshold value, and sending a lane changing signal when the vehicle distance difference is larger than the vehicle distance threshold value; specifically, when the vehicle is judged to turn around and change the lane, the distance between the current vehicle and the nearest turn-around intersection is compared with a preset turn-around distance, and when the distance between the current vehicle and the nearest turn-around intersection is compared to be larger than the preset turn-around distance, a turn-around and lane change signal is sent; after the express way is judged to be changed, when the speed of the adjacent lane is greater than the speed of the current lane and the speed difference between the speed of the adjacent lane and the speed of the current lane is greater than a preset speed threshold value, a express way change signal is sent;
a lane changing step: and controlling the current vehicle to change the lane and turn around according to the turn-around lane changing signal, and controlling the current vehicle to change the lane of the express bus according to the express bus lane changing signal.
Based on the lane change control method, the embodiment also discloses a lane change control method device of the automatic driving vehicle, which comprises a communication module, a navigation module and a control module, wherein the communication module is used for acquiring road condition information and navigation information of a road where the current vehicle is located;
the analysis module is used for analyzing and judging whether the lane needs to be changed according to the acquired road condition information and the acquired navigation information;
when the lane change is judged to be needed, the communication module is further used for acquiring the distance difference between the current vehicle and the adjacent vehicle;
the storage module is preset with a vehicle distance threshold;
the comparison module is used for comparing the obtained vehicle distance difference with a vehicle distance threshold value;
and the control module is used for controlling the current vehicle to change the lane to the target lane when the comparison result shows that the vehicle distance difference is larger than the vehicle distance threshold value.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (6)

1. A lane change control method for an autonomous vehicle, characterized by: the method comprises the following steps of information acquisition: acquiring road condition information and navigation information of a road where a current vehicle is located;
a lane change judgment step: analyzing the acquired road condition information and navigation information and judging whether the lane needs to be changed;
vehicle condition acquisition: when the lane change is determined to be needed, acquiring the distance difference between the current vehicle and the adjacent vehicle;
a channel switching time judging step: comparing the obtained vehicle distance difference with a preset vehicle distance threshold value, and sending a lane changing signal when the vehicle distance difference is larger than the vehicle distance threshold value;
a lane changing step: and controlling the current vehicle to drive to change the lane of the target lane according to the lane change signal.
2. The lane change control method of an autonomous vehicle according to claim 1, characterized in that: in the lane change judging step, lane change comprises turning around lane change and express lane change, and when the navigation information is analyzed and the front road in the navigation information needs to turn around, the lane change needing to turn around is judged; when the road condition information is analyzed, and when the current lane congestion is analyzed, the situation that the express bus needs to be changed is judged.
3. The lane change control method of an autonomous vehicle according to claim 2, characterized in that: in the lane change judging step, the type of lane change is judged according to the acquired navigation information, when the lane change is judged to be a U-turn lane change, the distance between the current vehicle and the nearest U-turn intersection is acquired in the vehicle condition acquisition step, in the lane change time judging step, the distance between the current vehicle and the nearest U-turn intersection is compared with a preset U-turn distance, and when the distance between the current vehicle and the nearest U-turn intersection is compared to be larger than the preset U-turn distance, a U-turn lane change signal is sent; and in the lane changing step, controlling the current vehicle to change lanes and turn around according to the turn-around lane changing signal.
4. The lane change control method of an autonomous vehicle according to claim 2, characterized in that: in the lane change judging step, after the express way is judged to be changed, the vehicle condition collecting step also obtains the speed of the current lane and the speed of the adjacent lane, and in the lane change opportunity judging step, when the speed of the adjacent lane is compared to be larger than the speed of the current lane, the express way change signal is sent; and in the lane changing step, controlling the current vehicle to change the lane of the express bus according to the express bus lane changing signal.
5. The lane change control method of an autonomous vehicle according to claim 4, characterized in that: in the step of determining the lane changing time, when the vehicle speed difference between the vehicle speed of the adjacent lane and the vehicle speed of the current lane is larger than a preset vehicle speed threshold value, a express lane changing signal is sent.
6. The lane change control method and device of the automatic driving vehicle are characterized in that: the system comprises a communication module, a navigation module and a control module, wherein the communication module is used for acquiring road condition information and navigation information of a road where a current vehicle is located;
the analysis module is used for analyzing and judging whether the lane needs to be changed according to the acquired road condition information and the acquired navigation information;
when the lane change is judged to be needed, the communication module is further used for acquiring the distance difference between the current vehicle and the adjacent vehicle;
the storage module is preset with a vehicle distance threshold;
the comparison module is used for comparing the obtained vehicle distance difference with a vehicle distance threshold value;
and the control module is used for controlling the current vehicle to change the lane to the target lane when the comparison result shows that the vehicle distance difference is larger than the vehicle distance threshold value.
CN202110483757.0A 2021-04-30 2021-04-30 Lane changing control method and device for automatic driving vehicle Pending CN113147765A (en)

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Publication number Priority date Publication date Assignee Title
JP2017228076A (en) * 2016-06-22 2017-12-28 本田技研工業株式会社 Driving support device
CN110614994A (en) * 2018-12-29 2019-12-27 长城汽车股份有限公司 Control method and control system for lane changing during automatic driving of vehicle and vehicle
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