CN113362588A - Driving assistance system, method and storage medium for lane change control of vehicle fleet - Google Patents
Driving assistance system, method and storage medium for lane change control of vehicle fleet Download PDFInfo
- Publication number
- CN113362588A CN113362588A CN202010153646.9A CN202010153646A CN113362588A CN 113362588 A CN113362588 A CN 113362588A CN 202010153646 A CN202010153646 A CN 202010153646A CN 113362588 A CN113362588 A CN 113362588A
- Authority
- CN
- China
- Prior art keywords
- fleet
- sub
- vehicle
- vehicles
- lane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A driving assistance system, method and computer-readable storage medium for lane change control of a fleet of vehicles are provided, the system comprising: the information acquisition unit is configured to acquire vehicle information on a lane adjacent to a current lane where the fleet is located to identify at least a position of at least one obstacle vehicle affecting a fleet lane change on the adjacent lane; the calculation unit is configured for calculating a separation distance on an adjacent lane that is available for at least a part of the vehicles in the platoon to make a lane change, based on the position of the at least one obstacle vehicle on the adjacent lane; the controller is configured to: calculating the total number N of head vehicles capable of changing lanes to adjacent lanes and following vehicles sequentially adjacent behind the head vehicles according to the spacing distance, wherein N is a positive integer; and sending corresponding lane change commands to the front N vehicles containing the head vehicles in the fleet, thereby splitting the fleet into a first sub-fleet which changes lanes to adjacent lanes and a second sub-fleet which continues to travel along the current lane.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to a driving assistance system, method, and computer-readable storage medium for lane change control of a fleet of vehicles.
Background
During the driving of a vehicle fleet comprising a plurality of vehicles, if a lane change (e.g., overtaking or changing back to an original lane) is required due to a low-speed driving vehicle in front or other conditions, it may be difficult to change the entire vehicle fleet to an adjacent lane if the entire vehicle fleet is not accommodated in the adjacent lane with a sufficient separation distance due to the relatively long vehicle fleet.
Therefore, there is a need for a driving assistance system and method that can control a portion of vehicles in a fleet of vehicles to change to an adjacent lane based on the actual spacing of the adjacent lanes.
Disclosure of Invention
To solve at least the above technical problems, a driving assistance system and method for lane change control of a vehicle fleet of the present invention as described below is proposed.
Specifically, according to a first aspect of the present invention, there is provided a driving assistance system for lane change control of a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, the driving assistance system comprising an information acquisition unit, a calculation unit and a controller, wherein,
the information acquisition unit is configured to acquire vehicle information located on a lane adjacent to a current lane where the fleet is located, to at least identify a position of at least one obstacle vehicle affecting a fleet lane change on the adjacent lane;
the calculation unit is configured to calculate a separation distance on the adjacent lane available for at least a part of the vehicles of the fleet to make lane changes based on the position of the at least one obstacle vehicle on the adjacent lane;
the controller is configured to:
calculating the total number N of head vehicles capable of changing lanes to the adjacent lanes and following vehicles sequentially adjacent behind the head vehicles according to the spacing distance, wherein N is a positive integer; and
and sending a corresponding lane change command to the first N vehicles including the head vehicle in the fleet, thereby splitting the fleet into a first sub-fleet which changes lanes to the adjacent lanes and a second sub-fleet which continues to travel along the current lane.
In one embodiment, when the information acquisition unit identifies that only one obstacle vehicle affecting lane change of the fleet is present on the adjacent lane and the obstacle vehicle is located at a side of the fleet, the calculation unit is configured to calculate the separation distance based on a distance between a front portion of a head vehicle in the fleet to a front portion of the one obstacle vehicle; or
When the information acquisition unit identifies that two obstacle vehicles affecting lane change of the vehicle fleet are present on adjacent lanes and the two obstacle vehicles are respectively positioned in front of and at the side of the vehicle fleet, the calculation unit is configured to calculate the separation distance based on the distance between the two obstacle vehicles.
In one embodiment, the information obtaining unit is further configured to obtain a speed of a preceding vehicle located ahead of the fleet in a current lane;
the computing unit is further configured to: and when the speed of the front vehicle is lower than a preset threshold value, judging that a vehicle team lane change condition is met, and calculating the spacing distance of at least one part of vehicles in the adjacent lane, which can be used for changing lanes.
In one embodiment, the controller is further configured to: after the platoon has been split into a first sub-platoon and a second sub-platoon, if the N vehicles of the first sub-platoon comprise a head vehicle of the platoon and N-1 following vehicles behind the head vehicle, setting an N +1 th vehicle behind the first sub-platoon as a new head vehicle in the second sub-platoon, the new head vehicle in the second sub-platoon being configured to send a target signal to the remaining vehicles in the second sub-platoon, the target signal comprising at least one or any combination of: target speed, target acceleration, target position and target longitudinal and transverse trajectory.
In one embodiment, the driving assistance system is further configured to be located on a new head car of the second sub-fleet and configured to repeatedly perform lane change control on the second sub-fleet.
In one embodiment, the information obtaining unit is further configured to: when the first sub-fleet and the second sub-fleet in the fleet change lanes to the same lane, acquiring the distance between the first sub-fleet and the second sub-fleet; and
the controller is further configured to:
calculating a target driving speed which enables the second sub-fleet to catch up with the first sub-fleet within a preset time period according to the distance between the first sub-fleet and the second sub-fleet, and sending the target driving speed to vehicles in the second sub-fleet; and
when the second sub-fleet catches up with the first sub-fleet, controlling all vehicles in the second sub-fleet to follow the head vehicle of the first sub-fleet, thereby recombining the first sub-fleet and the second sub-fleet into one fleet.
According to a second aspect of the present invention, there is provided a driving assistance method for lane change control of a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance method comprises:
obtaining vehicle information on a lane adjacent to a current lane where the fleet is located to at least identify a position of at least one obstacle vehicle affecting fleet lane change on the adjacent lane;
calculating a separation distance on the adjacent lane that is available for at least a portion of the vehicles in the fleet to make lane changes based on the location of the at least one obstacle vehicle on the adjacent lane;
calculating the total number N of head vehicles capable of changing lanes to the adjacent lanes and following vehicles sequentially adjacent behind the head vehicles according to the spacing distance, wherein N is a positive integer; and
and sending a corresponding lane change command to the first N vehicles including the head vehicle in the fleet, thereby splitting the fleet into a first sub-fleet which changes lanes to the adjacent lanes and a second sub-fleet which continues to travel along the current lane.
In one embodiment, the method further comprises: upon identifying that only one obstacle vehicle affecting a lane change of a fleet of vehicles is present in the adjacent lane and that obstacle vehicle is located to a side of the fleet of vehicles, calculating the separation distance based on a distance between a front portion of a head vehicle in the fleet of vehicles to a front portion of the one obstacle vehicle; or
Upon identifying that two obstacle vehicles affecting a lane change of the fleet are present on adjacent lanes and that are located in front of and to the side of the fleet, respectively, the separation distance is calculated based on the distance between the two obstacle vehicles.
In one embodiment, the method further comprises: acquiring a speed of a vehicle ahead of the fleet in a current lane;
and when the speed of the front vehicle is lower than a preset threshold value, judging that a vehicle team lane change condition is met, and calculating the spacing distance of at least one part of vehicles in the adjacent lane, which can be used for changing lanes.
In one embodiment, the method further comprises:
after the platoon has been split into a first sub-platoon and a second sub-platoon, if the N vehicles of the first sub-platoon comprise a head vehicle of the platoon and N-1 following vehicles behind the head vehicle, setting an N +1 th vehicle behind the first sub-platoon as a new head vehicle in the second sub-platoon, the new head vehicle in the second sub-platoon being configured to send a target signal to the remaining vehicles in the second sub-platoon, the target signal comprising at least one or any combination of: target speed, target acceleration, target position and target longitudinal and transverse trajectory.
In one embodiment, the method further comprises:
and repeatedly executing lane change control on the second sub-fleet on the new head vehicle of the second sub-fleet.
In one embodiment, the method further comprises:
when the first sub-fleet and the second sub-fleet in the fleet change lanes to the same lane, acquiring the distance between the first sub-fleet and the second sub-fleet; and
calculating a target driving speed which enables the second sub-fleet to catch up with the first sub-fleet within a preset time period according to the distance between the first sub-fleet and the second sub-fleet, and sending the target driving speed to vehicles in the second sub-fleet; and
when the second sub-fleet catches up with the first sub-fleet, controlling all vehicles in the second sub-fleet to follow the head vehicle of the first sub-fleet, thereby recombining the first sub-fleet and the second sub-fleet into one fleet.
According to yet another aspect of the present invention, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of any of the above-mentioned methods when executing the computer program.
According to yet another aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program realizes the steps of any of the above-mentioned methods when executed by a processor.
The method comprises the steps of acquiring vehicle information on adjacent lanes, determining the positions of obstacle vehicles influencing lane changing of a fleet on the adjacent lanes according to the vehicle information on the adjacent lanes, calculating the spacing distance enabling part of vehicles in the fleet to change lanes according to the positions so as to calculate the number of vehicles capable of changing lanes, and splitting the fleet into a first sub-fleet capable of changing lanes to the adjacent lanes and a remaining second sub-fleet capable of continuously driving along the current lane according to the number of vehicles capable of changing lanes. By splitting the motorcade, the motorcade can flexibly change lanes according to the actual situation of the spacing distance between the adjacent lanes, so that partial vehicles in the motorcade can be changed to the adjacent lanes even if the spacing distance between the adjacent lanes is not enough to accommodate the whole motorcade.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described, by way of example, with reference to the following drawings, in which:
FIG. 1 shows a schematic diagram of a driving assistance system for lane change control of a fleet of vehicles according to an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a particular application scenario, according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating another specific application scenario, according to another embodiment of the present invention;
FIG. 4 shows a schematic diagram of a reorganization of a first sub-fleet and a second sub-fleet in accordance with an embodiment of the present invention;
fig. 5 shows a flow diagram of a driving assistance method for controlling lane changes of a platoon according to an embodiment of the invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting, for those of ordinary skill in the art.
Fig. 1 shows a schematic diagram of a driving assistance system for lane change control of a platoon according to an embodiment of the invention.
The driving assistance system provided by the invention can be applied to motorcades running on expressways, urban main roads, urban secondary roads and the like.
To better describe the driving assistance system 100 provided by the present invention, as shown in fig. 1, the driving assistance system 100 includes an information acquisition unit 110, a calculation unit 120, and a controller 130. Of course, other required devices, such as an alarm and the like, can also be installed.
The information obtaining unit 110 may obtain information of vehicles located on a lane adjacent to a current lane where the fleet is located to identify at least a location of at least one obstacle vehicle affecting a fleet lane change on the adjacent lane. The calculation unit 120 may calculate a separation distance on the adjacent lane that is available for at least a part of the vehicles of the fleet to make a lane change based on the position of the at least one obstacle vehicle on the adjacent lane. The controller 130 may calculate a total number N of leading vehicles capable of changing lanes to the adjacent lanes and following vehicles sequentially adjacent to the leading vehicles according to the separation distance, where N is a positive integer; and sending a corresponding lane change command to the first N vehicles in the fleet containing the head vehicle, thereby splitting the fleet into a first sub-fleet which changes lanes to the adjacent lane and a second sub-fleet which continues to travel along the current lane. Specifically, the first sub-fleet is the first N vehicles of the fleet including the head vehicle, and the second sub-fleet is all the remaining vehicles of the fleet except the first N vehicles. Calculating the number of vehicles in a fleet that can make lane changes based on the "separation distance" herein also requires consideration of factors such as the length of the vehicles, the travel speed of the obstacle vehicles, and the safe travel distance between the vehicles.
Fig. 2 shows a schematic diagram of a specific application scenario according to an embodiment of the present invention.
Specifically, as shown in fig. 2, the fleet may include a head vehicle a01 and at least one following vehicle a02, a03, a04, a05, and a06 located behind the head vehicle. The head car a01 may be driven by the driver or may be autonomous. Likewise, the following vehicles a 02-a 06 may be autonomous and may be driven based on the driving data or commands of the lead vehicle a01 to drive the entire fleet efficiently, safely, and consistently. Of course, the following vehicles a02 to a06 may also have a function of being driven by the driver to intervene in driving by the driver when necessary.
In an embodiment, the information obtaining unit 110 may further obtain a speed of a vehicle ahead of the platoon in a current lane. The calculation unit 120 may determine that a fleet lane change condition is satisfied when the speed of the vehicle ahead is lower than a preset threshold. For example, the preset threshold may be 50km/h or less.
As shown in fig. 2, for example, when it is detected that the vehicle ahead of the head vehicle a01 travels slowly in the current lane, and thus the head vehicle a01 wants to make a lane change for overtaking, the information acquisition unit 110 acquires the vehicle information on the adjacent lane of the current lane where the platoon is located, to identify at least whether there is at least one obstacle vehicle affecting the lane change of the platoon on the adjacent lane. When the information obtaining unit 110 identifies that there is only one obstacle vehicle affecting lane change of the fleet located at a side of the fleet on the adjacent lane, the calculating unit 120 may calculate the separation distance (e.g., the separation distance D1 shown in fig. 2) based on a distance between a front portion of the head vehicle a01 in the fleet and a front portion of the one obstacle vehicle.
The controller 130 may calculate the total number N of leading vehicles and following vehicles in the fleet that can change lanes to the adjacent lane according to the separation distance D1. For example, the number N may be obtained by dividing the separation distance D1 by the sum of the body length of each vehicle and the safe running distance, and then rounding the resultant value. Assuming that the calculated number N is 4, it means that the vehicles a01-a04 can change to an adjacent lane, thereby splitting the original fleet into a first sub-fleet of vehicles (vehicles a01-a04) changing lanes to the adjacent lane and a second sub-fleet of vehicles (vehicles a05-a06) remaining to continue traveling along the current lane.
Fig. 3 shows a schematic diagram of another specific application scenario according to another embodiment of the present invention.
In the embodiment shown in fig. 3, when the information acquisition unit 110 identifies that two obstacle vehicles (e.g., the first obstacle vehicle and the second obstacle vehicle shown in fig. 3) affecting lane change of the fleet are present on adjacent lanes and that the two obstacle vehicles are located in front of and to the sides of the fleet, respectively, the calculation unit 120 is configured to calculate the separation distance D2 based on the distance between the two obstacle vehicles.
The controller 130 may calculate the total number N of leading vehicles and following vehicles in the fleet that can change lanes to the adjacent lane based on the separation distance D2. The calculation process may be similar to that described above in connection with fig. 2. Assuming that the calculated number N is 4, it means that the vehicles a01-a04 can change to an adjacent lane.
Upon determining that vehicle A01-A04 may change to an adjacent lane, controller 130 sends a corresponding lane change command to vehicle A01-A04, thereby splitting the fleet into a first sub-fleet of vehicles (vehicle A01-A04) that change lanes to the adjacent lane and a second sub-fleet of vehicles (vehicle A05-A06) that continue traveling along the current lane.
In an embodiment, after the fleet is split into a first sub-fleet and a second sub-fleet, if the N vehicles of the first sub-fleet include a head vehicle of the fleet and N-1 following vehicles behind the head vehicle, the controller 130 may set an N +1 th vehicle behind the first sub-fleet as a new head vehicle in the second sub-fleet, the new head vehicle in the second sub-fleet to send a target signal to the remaining vehicles in the second sub-fleet, the target signal comprising at least any combination of one or more of the following signals: target speed, target acceleration, target position and target longitudinal and transverse trajectory.
Specifically, as shown in fig. 2 and 3, if the vehicles a01-a04 in the fleet are the first sub-fleet, then the vehicles a05-a06 in the fleet are the second sub-fleet. Thus, the vehicle a05 in the second sub-fleet may be set as the new head vehicle in said second sub-fleet, and the vehicle a05 is responsible for transmitting a target signal to the remaining vehicles in said second sub-fleet, e.g. to the vehicle a06, so that the vehicle a06 may adjust its own driving condition according to the target speed, target acceleration, target position and/or target longitudinal and transverse trajectory in the received target signal. Of course, the target signal may include other signals (e.g., target deceleration, target traveling direction, etc.) that can be used to adjust the traveling condition of the remaining vehicles, depending on the actual situation.
In such a case, the driving assistance system 100 described above may be provided on a new head car of the second sub-fleet to repeatedly perform lane change control on the second sub-fleet.
Fig. 4 shows a schematic diagram of a reorganization of a first sub-fleet and a second sub-fleet in accordance with an embodiment of the present invention.
As shown in fig. 4, the first sub-fleet and the second sub-fleet in the fleet both change lanes to the same lane, but since the first sub-fleet and the second sub-fleet change to adjacent lanes at different times, there is a separation between the tail cars of the first sub-fleet and the head cars of the second sub-fleet.
In the embodiment shown in fig. 4, the information obtaining unit 110 may be further configured to: and when the first sub-fleet and the second sub-fleet in the fleet both change lanes to the same lane, acquiring the distance between the first sub-fleet and the second sub-fleet.
Thus, the controller 130 may be further configured to:
calculating a target driving speed which enables the second sub-fleet to catch up with the first sub-fleet within a preset time period according to the distance between the first sub-fleet and the second sub-fleet, and sending the target driving speed to vehicles in the second sub-fleet; and
when the second sub-fleet catches up with the first sub-fleet, controlling all vehicles in the second sub-fleet to follow the head vehicle of the first sub-fleet, thereby recombining the first sub-fleet and the second sub-fleet into one fleet.
Specifically, as shown in fig. 4, a distance S between a first sub-fleet and a second sub-fleet is calculated, and then a target driving speed enabling the second sub-fleet to catch up with the first sub-fleet within a predetermined time period is calculated according to the distance S, so that the second sub-fleet catches up with the first sub-fleet according to the target driving speed, and is recombined with the first sub-fleet into one fleet.
By the driving assistance system for the motorcade, the spacing distance for controlling the motorcade lane change is calculated, so that the total number N of the head vehicles and the following vehicles which are sequentially adjacent to the head vehicles and can change lanes to the adjacent lanes in the motorcade is calculated according to the actual situation of the spacing distance. This allows the fleet to flexibly switch between adjacent lanes based on the actual spacing of the adjacent lanes, thereby allowing a portion of the vehicles in the fleet to switch to an adjacent lane even if the spacing on the adjacent lane is not sufficient to accommodate the entire fleet. In addition, the first sub-fleet and the second sub-fleet can be recombined into a single fleet according to actual conditions.
Fig. 5 shows a flow diagram of a driving assistance method for controlling lane changes of a platoon according to an embodiment of the invention.
As shown in fig. 5, the platoon comprises a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance method S100 comprises:
s200: obtaining vehicle information on a lane adjacent to a current lane where the fleet is located to at least identify a position of at least one obstacle vehicle affecting fleet lane change on the adjacent lane;
s300: calculating a separation distance on the adjacent lane that is available for at least a portion of the vehicles in the fleet to make lane changes based on the location of the at least one obstacle vehicle on the adjacent lane;
s400: calculating the total number N of head vehicles capable of changing lanes to the adjacent lanes and following vehicles sequentially adjacent behind the head vehicles according to the spacing distance, wherein N is a positive integer; and
s500: and sending a corresponding lane change command to the first N vehicles including the head vehicle in the fleet, thereby splitting the fleet into a first sub-fleet which changes lanes to the adjacent lanes and a second sub-fleet which continues to travel along the current lane.
Preferably, the method further comprises: upon identifying that only one obstacle vehicle affecting a lane change of a fleet of vehicles is present in the adjacent lane and that obstacle vehicle is located to a side of the fleet of vehicles, calculating the separation distance based on a distance between a front portion of a head vehicle in the fleet of vehicles to a front portion of the one obstacle vehicle; or
Upon identifying that two obstacle vehicles affecting a lane change of the fleet are present on adjacent lanes and that are located in front of and to the side of the fleet, respectively, the separation distance is calculated based on the distance between the two obstacle vehicles.
Preferably, the method further comprises: acquiring a speed of a vehicle ahead of the fleet in a current lane;
and when the speed of the front vehicle is lower than a preset threshold value, judging that a vehicle team lane change condition is met, and calculating the spacing distance of at least one part of vehicles in the adjacent lane, which can be used for changing lanes.
Preferably, the method further comprises:
after the platoon has been split into a first sub-platoon and a second sub-platoon, if the N vehicles of the first sub-platoon comprise a head vehicle of the platoon and N-1 following vehicles behind the head vehicle, setting an N +1 th vehicle behind the first sub-platoon as a new head vehicle in the second sub-platoon, the new head vehicle in the second sub-platoon being configured to send a target signal to the remaining vehicles in the second sub-platoon, the target signal comprising at least one or any combination of: target speed, target acceleration, target position and target longitudinal and transverse trajectory.
Preferably, the method further comprises:
and repeatedly executing lane change control on the second sub-fleet on the new head vehicle of the second sub-fleet.
Preferably, the method further comprises:
when the first sub-fleet and the second sub-fleet in the fleet change lanes to the same lane, acquiring the distance between the first sub-fleet and the second sub-fleet; and
calculating a target driving speed which enables the second sub-fleet to catch up with the first sub-fleet within a preset time period according to the distance between the first sub-fleet and the second sub-fleet, and sending the target driving speed to vehicles in the second sub-fleet; and
when the second sub-fleet catches up with the first sub-fleet, controlling all vehicles in the second sub-fleet to follow the head vehicle of the first sub-fleet, thereby recombining the first sub-fleet and the second sub-fleet into one fleet.
As for a more specific extension of the driving assistance method for controlling lane change of a fleet of vehicles of the present invention, reference may be made to the above detailed description of the driving assistance system for controlling lane change of a fleet of vehicles of the present invention, which is not repeated herein. In addition, it should be understood that the controller 130 in the driving assistance system 100 may be implemented in whole or in part by software, hardware, and a combination thereof, for example, the controller may be embedded in a processor inherent in a computer device in a hardware form, or may be stored in a memory in the computer device in a software form, so that the processor can call and execute the corresponding operations described above.
In one embodiment, there is provided a computer device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the processor implementing the steps of the driving assistance method of any one of the above embodiments when executing the computer program. The computer device may be a server, an in-vehicle system device or a mobile terminal device of a vehicle user. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is capable of implementing the driving assistance method of any one of the above aspects of the present invention when executed by a processor.
Those skilled in the art will appreciate that the schematic diagram of the driving assistance system 100 shown in fig. 1 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation of the computer device to which the present application is applied, and a specific computer device may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
Another aspect of the present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the driving assistance method according to any one of the above embodiments.
It will be understood by those skilled in the art that all or part of the steps in the method according to the above embodiments of the present invention may be indicated by the relevant hardware to be completed by a computer program, which may be stored in a non-volatile computer-readable storage medium, and which, when executed, may implement the steps of the above embodiments of the method. Any reference to memory, storage, database, or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
While the invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (12)
1. A driving assistance system for lane change control of a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, the driving assistance system comprising an information obtaining unit, a calculation unit and a controller, wherein,
the information acquisition unit is configured to acquire vehicle information located on a lane adjacent to a current lane where the fleet is located, to at least identify a position of at least one obstacle vehicle affecting a fleet lane change on the adjacent lane;
the calculation unit is configured to calculate a separation distance on the adjacent lane available for at least a part of the vehicles of the fleet to make lane changes based on the position of the at least one obstacle vehicle on the adjacent lane;
the controller is configured to:
calculating the total number N of head vehicles capable of changing lanes to the adjacent lanes and following vehicles sequentially adjacent behind the head vehicles according to the spacing distance, wherein N is a positive integer; and
and sending a corresponding lane change command to the first N vehicles including the head vehicle in the fleet, thereby splitting the fleet into a first sub-fleet which changes lanes to the adjacent lanes and a second sub-fleet which continues to travel along the current lane.
2. The driving assistance system according to claim 1,
when the information acquisition unit identifies that only one obstacle vehicle influencing lane change of the vehicle fleet is located on the adjacent lane and the obstacle vehicle is located on the side of the vehicle fleet, the calculation unit is configured to calculate the separation distance based on the distance between the front part of the head vehicle in the vehicle fleet and the front part of the one obstacle vehicle; or
When the information acquisition unit identifies that two obstacle vehicles affecting lane change of the vehicle fleet are present on the adjacent lanes and the two obstacle vehicles are respectively positioned in front of and at the side of the vehicle fleet, the calculation unit is configured to calculate the separation distance based on the distance between the two obstacle vehicles.
3. The driving assistance system according to claim 1 or 2, wherein,
the information acquisition unit is further configured to acquire a speed of a preceding vehicle located ahead of the fleet in a current lane;
the computing unit is further configured to: and when the speed of the front vehicle is lower than a preset threshold value, judging that a vehicle team lane change condition is met, and calculating the spacing distance of at least one part of vehicles in the adjacent lane, which can be used for changing lanes.
4. The driving assistance system according to claim 1 or 2, wherein the controller is further configured to: after the platoon has been split into a first sub-platoon and a second sub-platoon, if the N vehicles of the first sub-platoon comprise a head vehicle of the platoon and N-1 following vehicles behind the head vehicle, setting an N +1 th vehicle behind the first sub-platoon as a new head vehicle in the second sub-platoon, the new head vehicle in the second sub-platoon being configured to send a target signal to the remaining vehicles in the second sub-platoon, the target signal comprising at least one or any combination of: target speed, target acceleration, target position and target longitudinal and transverse trajectory.
5. The driving assistance system according to claim 4, wherein,
the information acquisition unit is further configured to: when the first sub-fleet and the second sub-fleet in the fleet change lanes to the same lane, acquiring the distance between the first sub-fleet and the second sub-fleet; and
the controller is further configured to:
calculating a target driving speed which enables the second sub-fleet to catch up with the first sub-fleet within a preset time period according to the distance between the first sub-fleet and the second sub-fleet, and sending the target driving speed to vehicles in the second sub-fleet; and
when the second sub-fleet catches up with the first sub-fleet, controlling all vehicles in the second sub-fleet to follow the head vehicle of the first sub-fleet, thereby recombining the first sub-fleet and the second sub-fleet into one fleet.
6. A driving assistance method for lane change control of a platoon comprising a head vehicle and at least one following vehicle located behind the head vehicle, wherein the driving assistance method comprises:
obtaining vehicle information on a lane adjacent to a current lane where the fleet is located to at least identify a position of at least one obstacle vehicle affecting fleet lane change on the adjacent lane;
calculating a separation distance on the adjacent lane that is available for at least a portion of the vehicles in the fleet to make lane changes based on the location of the at least one obstacle vehicle on the adjacent lane;
calculating the total number N of head vehicles capable of changing lanes to the adjacent lanes and following vehicles sequentially adjacent behind the head vehicles according to the spacing distance, wherein N is a positive integer; and
and sending a corresponding lane change command to the first N vehicles including the head vehicle in the fleet, thereby splitting the fleet into a first sub-fleet which changes lanes to the adjacent lanes and a second sub-fleet which continues to travel along the current lane.
7. The driving assistance method according to claim 6, wherein the method further includes: upon identifying that only one obstacle vehicle affecting a lane change of a fleet of vehicles is present in the adjacent lane and that obstacle vehicle is located to a side of the fleet of vehicles, calculating the separation distance based on a distance between a front portion of a head vehicle in the fleet of vehicles to a front portion of the one obstacle vehicle; or
Upon identifying that two obstacle vehicles affecting a lane change of the fleet are present on adjacent lanes and that are located in front of and to the side of the fleet, respectively, the separation distance is calculated based on the distance between the two obstacle vehicles.
8. The driving assistance method according to claim 6 or 7, wherein the method further includes: acquiring a speed of a vehicle ahead of the fleet in a current lane;
and when the speed of the front vehicle is lower than a preset threshold value, judging that a vehicle team lane change condition is met, and calculating the spacing distance of at least one part of vehicles in the adjacent lane, which can be used for changing lanes.
9. The driving assistance method according to claim 8, wherein the method further includes:
after the platoon has been split into a first sub-platoon and a second sub-platoon, if the N vehicles of the first sub-platoon comprise a head vehicle of the platoon and N-1 following vehicles behind the head vehicle, setting an N +1 th vehicle behind the first sub-platoon as a new head vehicle in the second sub-platoon, the new head vehicle in the second sub-platoon being configured to send a target signal to the remaining vehicles in the second sub-platoon, the target signal comprising at least one or any combination of: target speed, target acceleration, target position and target longitudinal and transverse trajectory.
10. The driving assistance method according to claim 9, wherein the method further includes:
when the first sub-fleet and the second sub-fleet in the fleet change lanes to the same lane, acquiring the distance between the first sub-fleet and the second sub-fleet; and
calculating a target driving speed which enables the second sub-fleet to catch up with the first sub-fleet within a preset time period according to the distance between the first sub-fleet and the second sub-fleet, and sending the target driving speed to vehicles in the second sub-fleet; and
when the second sub-fleet catches up with the first sub-fleet, controlling all vehicles in the second sub-fleet to follow the head vehicle of the first sub-fleet, thereby recombining the first sub-fleet and the second sub-fleet into one fleet.
11. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 6 to 10 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 6 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010153646.9A CN113362588B (en) | 2020-03-06 | 2020-03-06 | Driving assistance system, method and storage medium for lane change control of a fleet of vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010153646.9A CN113362588B (en) | 2020-03-06 | 2020-03-06 | Driving assistance system, method and storage medium for lane change control of a fleet of vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113362588A true CN113362588A (en) | 2021-09-07 |
| CN113362588B CN113362588B (en) | 2023-05-16 |
Family
ID=77524271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010153646.9A Active CN113362588B (en) | 2020-03-06 | 2020-03-06 | Driving assistance system, method and storage medium for lane change control of a fleet of vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113362588B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115660301A (en) * | 2022-06-02 | 2023-01-31 | 小米汽车科技有限公司 | Vehicle scheduling method and device, storage medium and chip |
| CN115662188A (en) * | 2022-10-25 | 2023-01-31 | 吉林大学 | Obstacle avoidance system for vehicles running in queue |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140107867A1 (en) * | 2012-10-11 | 2014-04-17 | Denso Corporation | Convoy travel system and convoy travel apparatus |
| CN106991846A (en) * | 2017-05-15 | 2017-07-28 | 东南大学 | A kind of vehicle on highway under car networking environment forces lane-change control method |
| CN106997690A (en) * | 2017-05-15 | 2017-08-01 | 东南大学 | The optional lane-change control method of vehicle on highway under a kind of car networking environment |
| CN107010064A (en) * | 2017-03-24 | 2017-08-04 | 奇瑞汽车股份有限公司 | A kind of fleet's formation drive manner and system |
| CN107933551A (en) * | 2017-11-27 | 2018-04-20 | 长安大学 | A kind of intelligence fleet lane-change method |
| CN110264698A (en) * | 2019-06-25 | 2019-09-20 | 重庆长安汽车股份有限公司 | Convoy driving separation and recombination method |
| CN110365733A (en) * | 2018-04-09 | 2019-10-22 | 罗伯特·博世有限公司 | Method for transmitting information, method and corresponding equipment for handling auxiliary request |
-
2020
- 2020-03-06 CN CN202010153646.9A patent/CN113362588B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140107867A1 (en) * | 2012-10-11 | 2014-04-17 | Denso Corporation | Convoy travel system and convoy travel apparatus |
| CN107010064A (en) * | 2017-03-24 | 2017-08-04 | 奇瑞汽车股份有限公司 | A kind of fleet's formation drive manner and system |
| CN106991846A (en) * | 2017-05-15 | 2017-07-28 | 东南大学 | A kind of vehicle on highway under car networking environment forces lane-change control method |
| CN106997690A (en) * | 2017-05-15 | 2017-08-01 | 东南大学 | The optional lane-change control method of vehicle on highway under a kind of car networking environment |
| CN107933551A (en) * | 2017-11-27 | 2018-04-20 | 长安大学 | A kind of intelligence fleet lane-change method |
| CN110365733A (en) * | 2018-04-09 | 2019-10-22 | 罗伯特·博世有限公司 | Method for transmitting information, method and corresponding equipment for handling auxiliary request |
| CN110264698A (en) * | 2019-06-25 | 2019-09-20 | 重庆长安汽车股份有限公司 | Convoy driving separation and recombination method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115660301A (en) * | 2022-06-02 | 2023-01-31 | 小米汽车科技有限公司 | Vehicle scheduling method and device, storage medium and chip |
| CN115662188A (en) * | 2022-10-25 | 2023-01-31 | 吉林大学 | Obstacle avoidance system for vehicles running in queue |
| CN115662188B (en) * | 2022-10-25 | 2024-04-19 | 吉林大学 | Obstacle avoidance system for vehicles traveling in queue |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113362588B (en) | 2023-05-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6873911B2 (en) | Method and system for vehicle operator assistance improvement | |
| CN109017785B (en) | Vehicle lane-changing driving method | |
| US11447155B2 (en) | Vehicle control device, map information management system, vehicle control method, and storage medium | |
| CN109421712B (en) | Vehicle control device, vehicle control method, and storage medium | |
| JP7156989B2 (en) | Travel control device, travel control method, and program | |
| US20210129863A1 (en) | Method and control device for controlling a motor vehicle | |
| US11300954B2 (en) | System and methods to improve automated driving utilization | |
| CN113362588B (en) | Driving assistance system, method and storage medium for lane change control of a fleet of vehicles | |
| CN113085873B (en) | Method and device for acquiring driving strategy, computer equipment and storage medium | |
| CN112356827A (en) | Automatic parking control method and device, computer equipment and storage medium | |
| CN114120684A (en) | Vehicle driving assistance system, method and corresponding readable storage medium | |
| CN112918472A (en) | Vehicle driving assistance system, vehicle using the same, and corresponding method and medium | |
| CN110884494A (en) | Lane changing method and device for vehicle, vehicle and storage medium | |
| CN113771841A (en) | Driving assistance system, method, computer device and storage medium for a fleet of vehicles | |
| CN113053112A (en) | Vehicle track prediction method, vehicle predicted track analysis method and device and vehicle | |
| CN112477859A (en) | Lane keeping assist method, apparatus, device and readable storage medium | |
| CN114620071A (en) | Detour trajectory planning method, device, equipment and storage medium | |
| CN117261903A (en) | Lane changing method and device for automatic driving vehicle | |
| CN110435648B (en) | Vehicle travel control method, device, vehicle, and storage medium | |
| CN113386762A (en) | Vehicle driving assistance system, vehicle using the same, and corresponding method and medium | |
| CN113665585A (en) | Automatic driving assistance system, method and readable storage medium for vehicle | |
| CN113788029B (en) | Vehicle control method, device and computer program product | |
| CN115489530A (en) | Lane changing method and device for vehicle, vehicle and storage medium | |
| CN115056783A (en) | Vehicle lane changing method, device and equipment | |
| CN113135185A (en) | Vehicle driving assistance system, vehicle including the same, and corresponding method and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |