CN113997934A - Lane changing method, lane changing device, computer equipment and storage medium - Google Patents

Lane changing method, lane changing device, computer equipment and storage medium Download PDF

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Publication number
CN113997934A
CN113997934A CN202111497123.7A CN202111497123A CN113997934A CN 113997934 A CN113997934 A CN 113997934A CN 202111497123 A CN202111497123 A CN 202111497123A CN 113997934 A CN113997934 A CN 113997934A
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vehicle
lane
target lane
negotiation
type
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CN113997934B (en
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吕铮
崔茂源
吕颖
孔德宝
高延熹
刘柯旺
杨斯琦
董小瑜
刘宇杰
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FAW Group Corp
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FAW Group Corp
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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
    • B60W40/02—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 ambient conditions
    • 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

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention discloses a lane change method, a lane change device, computer equipment and a storage medium. The method comprises the following steps: detecting vehicle driving data corresponding to a target lane; detecting the lane change type of the current vehicle according to the vehicle driving data corresponding to the target lane; and under the condition that the lane change type is determined to be a negotiation and convergence type, acquiring negotiation and convergence response information of a vehicle behind a target lane, and controlling the current vehicle to run. The embodiment of the invention reduces the labor cost of lane change and improves the efficiency of lane change.

Description

Lane changing method, lane changing device, computer equipment and storage medium
Technical Field
The embodiment of the invention relates to the field of computer equipment, in particular to a lane change method, a lane change device, computer equipment and a storage medium.
Background
Lane change is one of the most common and dangerous driving behaviors in the automatic driving process of intelligent vehicles. How to ensure that the test environment truly describes the actual road conditions remains a difficulty.
In general, verifying the safety of an autonomous driving strategy requires extensive simulation and road testing. This results in a large amount of time and labor cost, and it is difficult to predict the behavior of the vehicle for which the driver is a user, resulting in a lane change with a safety risk.
Disclosure of Invention
The embodiment of the invention provides a lane change method, a lane change device, computer equipment and a storage medium, which can reduce the labor cost of lane change and improve the lane change efficiency.
In a first aspect, an embodiment of the present invention provides a lane change method, including:
detecting vehicle driving data corresponding to a target lane;
detecting the lane change type of the current vehicle according to the vehicle driving data corresponding to the target lane;
and under the condition that the lane change type is determined to be a negotiation and convergence type, acquiring negotiation and convergence response information of a vehicle behind a target lane, and controlling the current vehicle to run.
In a second aspect, an embodiment of the present invention further provides a lane change device, including:
the vehicle driving data acquisition module is used for detecting vehicle driving data corresponding to the target lane;
the lane change type module is used for detecting the lane change type of the current vehicle according to the driving data of the target lane;
and the vehicle running control module is used for acquiring negotiation and convergence response information of a vehicle behind a target lane and controlling the current vehicle to run under the condition that the lane change type is determined to be the negotiation and convergence type.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the lane change method according to any embodiment of the present invention when executing the program.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the lane change method according to any embodiment of the present invention.
According to the embodiment of the invention, by detecting the vehicle driving data corresponding to the target lane and the lane change type of the current vehicle, when the lane change type is determined to be the negotiation convergence type, the negotiation convergence response information of the vehicle behind the target lane is obtained, and the current vehicle is controlled to drive, so that the problem of rapidly and accurately performing lane change is solved, the labor cost of lane change is reduced on the premise of ensuring safety, and the lane change efficiency is improved.
Drawings
Fig. 1 is a flowchart of a lane change method according to an embodiment of the present invention;
fig. 2 is a flowchart of a lane change method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a lane change method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lane changing device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a lane change method according to an embodiment of the present invention, where the embodiment is applicable to a situation where an autonomous vehicle detects whether to switch lane driving, and the method may be executed by a lane change device, and the lane change device may be implemented in a software and/or hardware manner. The device can be configured in a server and/or a vehicle-mounted controller, and the method specifically comprises the following steps:
and S110, detecting vehicle running data corresponding to the target lane.
The target lane refers to a lane into which the current vehicle is to be converged. The current vehicle refers to a vehicle that performs a lane change method, that is, a local device, and may specifically be a vehicle equipped with an automatic driving system, and is currently driven on a current lane using the automatic driving system. The vehicle running data refers to a series of data of the vehicle in the running process, and the running state of the vehicle can be known through the vehicle running data. The vehicle driving data corresponding to the target lane may refer to driving data of a vehicle that affects the current vehicle merging into the target lane. The driving data of the vehicle corresponding to the target lane may be detected by acquiring the driving data of the vehicle corresponding to the target lane using a sensor or other methods.
The vehicle driving data corresponding to the target lane comprises at least one of the following items: the first driving data of the vehicle in front of the same lane, the second driving data of the vehicle in front of the target lane and the third driving data of the vehicle behind the target lane.
The vehicle corresponding to the target lane is a vehicle which influences the current vehicle to merge into the target lane. The vehicle corresponding to the target lane may include at least one of: the front vehicle of the same lane, the front vehicle of the target lane, the rear vehicle of the target lane and the like. The vehicle ahead of the current vehicle in the same lane is a vehicle that is traveling ahead of the current vehicle and is traveling in the same lane as the current vehicle. The vehicle ahead of the target lane is a vehicle that travels ahead of the current vehicle and that travels in a lane into which the current vehicle is to merge. The target lane rear vehicle is a vehicle that travels behind the current vehicle and travels in a lane into which the current vehicle is to merge. The vehicle driving data at least comprises a longitudinal distance between the vehicle corresponding to the target lane and the current vehicle, an acceleration of the vehicle corresponding to the target lane and a forbidden zone distance of the vehicle corresponding to the target lane. The longitudinal distance refers to a distance in a current driving lane direction of the vehicle, and the longitudinal distance is opposite to a lateral distance, which is a distance in a direction perpendicular to the current driving lane direction. The forbidden zone distance of the vehicle corresponding to the target lane refers to the longitudinal length of a zone in which the vehicle is forbidden to merge in front of or behind the vehicle corresponding to the target lane, and is related to factors such as vehicle type parameters or comfort degree of the vehicle.
The multiple factors influencing the driving of the current vehicle switched to the target lane are determined by configuring multiple types of vehicle driving data corresponding to the target lane, so that the driving condition of the current vehicle is judged according to the factors influencing the driving of the current vehicle switched to the target lane, the accurate lane change of the vehicle is realized, and the driving safety of the current vehicle can be ensured.
And S120, detecting the lane change type of the current vehicle according to the vehicle driving data corresponding to the target lane. The lane change type is a type of a driving method in which the current vehicle changes lanes. According to the lane change type, the current vehicle adopts different corresponding driving modes to carry out lane change. The lane change types of the current vehicle may include a direct-entry type, a negotiation-entry type, and a non-entry type. The direct merge type is a condition that the current vehicle can change lanes without invading a restricted zone of the vehicle corresponding to the target lane and without invading a vehicle negotiation zone behind the target lane, and when the current vehicle is in the condition, the current vehicle can directly change lanes, that is, it is determined that no factor influencing the current vehicle to switch to the target lane for driving exists at the moment. The negotiation convergence type is a condition that the current vehicle does not invade a restricted zone of the vehicle corresponding to the target lane but invades a negotiation zone of a vehicle behind the target lane when the current vehicle changes lanes, and when the current vehicle is in the condition, the current vehicle needs to negotiate with the vehicle behind the target lane when the current vehicle changes lanes, namely, at the moment, factors influencing the current vehicle to switch to the target lane to run are determined, but whether the vehicle can be switched to the target lane to run or not can be further judged by negotiating with the vehicle behind the target lane. The negotiation region is a longitudinal distance of a region in front of the vehicle corresponding to the target lane, which needs to negotiate with the vehicle corresponding to the target lane when the vehicle is merged in. The non-convergence type refers to a situation that the current vehicle cannot perform lane change, and when the current vehicle is in the situation, the current vehicle needs to continue to travel along the current road to find the next opportunity capable of performing lane change. The step of detecting the lane change type of the current vehicle according to the vehicle driving data corresponding to the target lane is to judge whether factors influencing the driving of the current vehicle switched to the target lane exist according to the vehicle driving data corresponding to the target lane, and judge the lane change type of the current vehicle according to the conditions of the influencing factors.
And S130, under the condition that the lane change type is determined to be the negotiation convergence type, acquiring negotiation convergence response information of a vehicle behind the target lane, and controlling the current vehicle to run.
The negotiation remittance response information of the rear vehicle of the target lane refers to response information given by the rear vehicle of the target lane to a lane change request sent by the current vehicle, and may include information for agreeing to remittance and information for refusing to remit. And the negotiation converging response information is used for judging whether the rear vehicle of the target lane agrees to converge into the target lane with the current vehicle. A lane change request from the current vehicle means that the current vehicle sends a merge request signal before changing lanes, which may be communicated by explicit communication, which may be communicated by V2V technology, or implicit communication, which may be communicated by a turn signal, for example. The information of agreeing to be remitted is used for indicating that the vehicle agrees to change lanes of the current vehicle after the target lane. For example, the consent information sent by the vehicle behind the target lane may be determined to be remitted in the case where the vehicle decelerates or otherwise has been impermissibly unresponsive behind the target lane. And the information of refusing to be imported is used for indicating that the vehicle refuses the current vehicle to change lanes after the target lane. For example, the vehicle behind the target lane may determine, by means of V2V (veichle to veichle), acceleration, whistling, or double-flashing, that the vehicle behind the target lane has sent the information of refusal to merge, or when the vehicle behind the target lane has not successfully established communication with the current vehicle, that the vehicle behind the target lane has sent the information of refusal to merge. Here, V2V refers to a vehicle-to-vehicle information exchange technology system, and in general, when both vehicles are equipped with the same automatic driving system, the two vehicles can establish connection and communicate with each other by using a V2V technology. Controlling the current vehicle to run means controlling the current vehicle to perform lane change or continue running to find a next lane change opportunity. And under the condition that the lane change type is determined to be a negotiation remittance type, acquiring negotiation remittance response information of a vehicle behind a target lane, and controlling the current vehicle to run, wherein when the lane change type is determined to be the negotiation remittance type, negotiating with the vehicle behind the target lane and obtaining negotiation remittance response information, if the negotiation remittance response information is the agreement remittance information, controlling the current vehicle to remit into the target lane, and if the negotiation remittance response information is the remittance rejection information, controlling the current vehicle to continue running.
According to the technical scheme, the lane change type of the current vehicle is judged by obtaining the vehicle driving data corresponding to the target lane, and when the lane change type is the negotiation convergence type, the current vehicle is controlled to drive according to the negotiation convergence response information of the vehicle behind the target lane, so that the problem of rapidly and accurately performing lane change is solved, the labor cost of lane change is reduced on the premise of ensuring safety, and the lane change efficiency is improved.
On the basis of the above technical solution, optionally, the obtaining of the negotiation and convergence response information of the vehicle behind the target lane includes: under the condition that the type of the rear vehicle of the target lane is the same as that of the current vehicle, determining negotiation and convergence response information of the rear vehicle of the target lane according to communication connection between the current vehicle and the rear vehicle of the target lane;
and sending a negotiation remittance request to the rear vehicle of the target lane under the condition that the type of the rear vehicle of the target lane is different from that of the current vehicle, and determining negotiation remittance response information of the rear vehicle of the target lane according to a detected feedback result of the rear vehicle of the target lane.
The type of the vehicle behind the target lane is the same as that of the current vehicle, namely that the vehicle behind the target lane and the current vehicle are both automatic driving vehicles. The communication connection between the current vehicle and the vehicle behind the target lane means that when the vehicle behind the target lane and the current vehicle are both autonomous vehicles, the communication connection between the current vehicle and the vehicle behind the target lane can be established by using a V2V technology. Under the condition that the type of the rear vehicle of the target lane is the same as that of the current vehicle, determining the negotiation and import response information of the rear vehicle of the target lane according to the communication connection between the current vehicle and the rear vehicle of the target lane means that when the current vehicle and the rear vehicle of the target lane are both automatic driving vehicles, the communication connection between the two vehicles is established by using a V2V technology, and the current vehicle sends a negotiation and import request to the rear vehicle of the target lane and receives the negotiation and import response information of the rear vehicle of the target lane.
The type of the vehicle behind the target lane is different from that of the current vehicle, namely that the current vehicle is an automatic driving vehicle, and the vehicle behind the target lane is an artificial driving vehicle. And under the condition that the type of the rear vehicle of the target lane is different from that of the current vehicle, sending a negotiation and merging request to the rear vehicle of the target lane, and determining negotiation and merging response information of the rear vehicle of the target lane according to the detected feedback result of the rear vehicle of the target lane, namely, when the rear vehicle of the target lane is an artificially driven vehicle, the current vehicle sends a negotiation and merging request, such as a steering signal, to the rear vehicle of the target lane, and the negotiation and merging response information is determined according to the feedback result of the rear vehicle of the target lane.
By distinguishing the types of the vehicles behind the target lane and adopting different negotiation remittance request sending modes according to the types, the communication efficiency of the current vehicle and the vehicles behind the target lane is improved, and the labor cost of lane change is reduced.
On the basis of the above technical solution, optionally, the obtaining of negotiation and convergence response information of the vehicle behind the target lane and controlling the current vehicle to run include:
under the condition that the negotiation remittance response information is determined to be remittance refusal information, determining that the lane change type is a non-remittance type, and controlling the current vehicle to continue to run along the current lane;
and under the condition that the negotiation remittance response information is determined to be the remittance agreement information, controlling the current vehicle to move to the target lane for driving.
The type of the vehicle unable to be merged is that the vehicle behind the target lane refuses the vehicle of the current vehicle to be merged into the negotiation information, and the current vehicle cannot change lanes. Determining that the negotiation remittance response information is the remittance rejection information means that the current vehicle receives the negotiation remittance response information sent by the vehicle after the target lane, and the negotiation remittance response information is identified as the remittance rejection information. And when the negotiation and merging response information is determined to be the merging refusal information, determining that the lane change type is the non-merging type, and controlling the current vehicle to continuously run along the current lane, wherein the determining that the lane change type is the non-merging type when the negotiation and merging response information of the vehicle behind the target lane is the merging refusal information indicates that the vehicle behind the target lane refuses the current vehicle to perform lane change, and the current vehicle needs to continuously run along the current lane to find the next opportunity capable of performing lane change.
The step of determining that the negotiation remittance response information is the remittance agreement information means that the current vehicle receives the negotiation remittance response information sent by the vehicle after the target lane, and the negotiation remittance response information is identified as the remittance agreement information. And under the condition that the negotiation and convergence response information is determined to be the information of agreeing to converge, controlling the current vehicle to move to the target lane for running, namely, when the negotiation and convergence response information of the vehicle behind the target lane is the information of agreeing to converge, indicating that the current vehicle can carry out lane change, controlling the current vehicle to move to the target lane and to run along the target lane.
The type of the information is merged into the response information through negotiation to control the running of the current vehicle, and the efficiency of lane change is improved on the premise of ensuring safety.
Example two
Fig. 2 is a flowchart of a lane change method according to a second embodiment of the present invention, where in this embodiment, vehicle driving data corresponding to the target lane is further added on the basis of the foregoing embodiments, and the vehicle driving data includes at least one of the following: the method comprises the steps that first driving data of a vehicle in front of a same lane, second driving data of a vehicle in front of a target lane and third driving data of a vehicle behind the target lane are obtained, and a forbidden zone distance between the current vehicle and the vehicle in front of the same lane and a real-time distance between the current vehicle and the vehicle in front of the same lane are compared to obtain a first comparison result; comparing different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane with different front vehicle real-time distances to obtain a second comparison result; comparing different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with different real-time rear vehicle distances to obtain a third comparison result; calculating different rear vehicle negotiation distances between the current vehicle and the rear vehicle of the target lane according to different rear vehicle forbidden zone distances and the negotiation distance between the current vehicle and the rear vehicle of the target lane; comparing the different rear vehicle negotiation distance with the different rear vehicle real-time distance to obtain a fourth comparison result; and detecting whether the driving data of the target lane meets a negotiation convergence condition or not according to the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.
The specific method comprises the following steps:
s210, vehicle driving data corresponding to a target lane are detected, wherein the vehicle driving data corresponding to the target lane comprise at least one of the following items: the first driving data of the vehicle in front of the same lane, the second driving data of the vehicle in front of the target lane and the third driving data of the vehicle behind the target lane.
S220, comparing the forbidden zone distance between the current vehicle and the front vehicle on the same lane with the real-time distance between the front vehicles on the same lane to obtain a first comparison result.
The first comparison result is a comparison result of the length of the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle and the real-time same-lane front vehicle distance. The formula for comparing the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle with the same-lane front vehicle real-time distance is as follows:
Figure BDA0003401159020000091
Vegoindicating the current vehicle, Vl1The vehicle in front of the same lane is shown,
Figure BDA0003401159020000101
representing the real-time distance of the vehicle ahead on the same lane, namely the longitudinal distance between the current vehicle and the vehicle ahead on the same lane,
Figure BDA0003401159020000102
indicates the forbidden zone distance of the front vehicles on the same lane, al1Indicating the acceleration of the vehicle ahead of the same lane. Comparing the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle with the same-lane front vehicle real-time distance to obtain a first comparison result, namely judging whether the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle is smaller than or equal to the same-lane front vehicle real-time distance, and determining that the formula is met under the condition that the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle is smaller than or equal to the same-lane front vehicle real-time distance. If no front vehicle in the same lane exists in the actual situation, the formula can be satisfied by default.
It should be noted that it is preferable that,
Figure BDA0003401159020000103
Figure BDA0003401159020000104
wherein v isegoRepresenting the current vehicle speed; rho represents the reaction time of the automatic driving system, and the reaction time is preset according to the actual situation; a isego,brakeIndicating the current detected after exceeding the reaction time of the autonomous driving systemReal-time deceleration of the vehicle; a ismax1,brakeRepresenting the maximum deceleration of the preceding vehicle on the same lane, amin1,brakeThe minimum deceleration of the vehicle ahead of the same lane is shown, and a can be set according to the deceleration of the vehicle ahead of the same lane when the brake is stepped on to the bottom, the vehicle type parameters of the vehicle ahead of the same lane, the road condition, the road type, the user comfort and other parametersmax1,brakeAnd amin1,brake；vl1Representing the speed of the front vehicle on the same lane; v. ofmaxRepresenting the maximum speed allowed on the road. The plus sign means that the calculation result is a positive value, and if the calculation result is a negative value, the value is zero.
S230, comparing different distances of forbidden zones of the front vehicles between the current vehicle and the front vehicle of the target lane with different real-time distances of the front vehicles to obtain a second comparison result.
The second comparison result is the length comparison result of different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane and different front vehicle real-time distances. The calculation formula for comparing the different forbidden zone distances between the current vehicle and the front vehicle of the target lane with the real-time distances between the different front vehicles is as follows:
Figure BDA0003401159020000111
Vl2the vehicle ahead of the target lane is shown,
Figure BDA0003401159020000112
representing the real-time distance of different front vehicles, namely the longitudinal distance between the current vehicle and the front vehicle of the target lane,
Figure BDA0003401159020000113
representing different forbidden zone distances of the front vehicles, namely the forbidden zone distance of the front vehicles of the target lane, al2Representing the acceleration of the vehicle in front of the target lane. Comparing the different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane with the real-time distances between the different front vehicles to obtain a second comparison result, namely judging whether the different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane are smaller than or equal to the real-time distances between the different front vehiclesAnd the real-time distance is determined to meet the formula under the condition that the distance between the current vehicle and the front vehicle of the target lane in different front vehicle forbidden zones is smaller than or equal to the real-time distance between different front vehicles. If no vehicle ahead of the target lane exists in the actual situation, the formula can be satisfied by default.
It should be noted that it is preferable that,
Figure BDA0003401159020000114
Figure BDA0003401159020000115
wherein v isl2Representing the speed of the vehicle ahead of the target lane. a ismax2,brakeRepresenting the maximum deceleration of the vehicle ahead of the target lane, amin2,brakeRepresenting the minimum deceleration of the vehicle ahead of the target lane.
S240, comparing different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with different rear vehicle real-time distances to obtain a third comparison result.
And the third comparison result is the length comparison result of different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane and different real-time rear vehicle distances. The formula for comparing the different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with the different real-time rear vehicle distances is as follows:
Figure BDA0003401159020000121
Vf2the vehicle behind the target lane is shown,
Figure BDA0003401159020000122
representing the real-time distance of different rear vehicles, namely the longitudinal distance between the current vehicle and the rear vehicle of the target lane,
Figure BDA0003401159020000123
to representDifferent rear vehicle forbidden zone distances, i.e. forbidden zone distances of rear vehicles of the target lane, af2Representing the acceleration of the vehicle behind the target lane. Comparing the different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with the different real-time rear vehicle distances to obtain a third comparison result, namely judging whether the different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane are smaller than or equal to the different real-time rear vehicle distances, and determining that the formula is met under the condition that the different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane are smaller than or equal to the different real-time rear vehicle distances. In addition, if there is no rear vehicle of the target lane in the actual situation, the formula may be satisfied by default.
It should be noted that it is preferable that,
Figure BDA0003401159020000124
Figure BDA0003401159020000125
wherein v isf2Representing the speed of the vehicle behind the target lane; rhohumanRepresenting a reaction time of a driver manually driving the vehicle; a isf2,brakeRepresenting the real-time deceleration of the vehicle behind the target lane detected after the reaction time of the driver of the human-driven vehicle has passed. a ismax3,brakeRepresenting the maximum deceleration of the vehicle behind the target lane, amin3,brakeRepresenting the minimum deceleration of the vehicle behind the target lane. Since the rear vehicle of the target lane is behind the current vehicle, the reflecting side where emergency braking is generated when the current vehicle performs lane change is the rear vehicle of the target lane, and in order to ensure driving safety, the rear vehicle of the target lane is conservatively assumed to be a manually-driven vehicle with longer reaction time.
And S250, calculating different rear vehicle negotiation distances between the current vehicle and the rear vehicle of the target lane according to different rear vehicle forbidden zone distances and the negotiation distance between the current vehicle and the rear vehicle of the target lane.
The calculation formula of the different rear vehicle negotiation distances is as follows:
Figure BDA0003401159020000131
wherein the content of the first and second substances,
Figure BDA0003401159020000132
representing different rear vehicle negotiation distances; a ismax,accelThe maximum acceleration of the vehicle behind the target lane within the reaction time, namely the acceleration of the vehicle when the accelerator is stepped to the bottom, is represented, and the value can be set according to the conditions of vehicle type parameters, road conditions, types and the like of the vehicle behind the target lane.
And S260, comparing the different rear vehicle negotiation distances with the different rear vehicle real-time distances to obtain a fourth comparison result.
And the fourth comparison result is the length comparison result of the negotiation distance of different rear vehicles and the real-time distance of different rear vehicles. And the different rear vehicle negotiation distance is the sum of the negotiation distance between the current vehicle and the rear vehicle of the target lane and the distance of different rear vehicle forbidden zones. The formula for comparing the different rear vehicle negotiation distance with the different rear vehicle real-time distance is as follows:
Figure BDA0003401159020000133
comparing the different rear vehicle negotiation distances with the different rear vehicle real-time distances to obtain a fourth comparison result, namely judging whether the different rear vehicle negotiation distances are smaller than or equal to the different rear vehicle real-time distances, determining that the formula is met under the condition that the different rear vehicle negotiation distances are smaller than or equal to the different rear vehicle real-time distances, and if no target lane rear vehicle exists in the actual condition, defaulting to meet the formula.
And S270, detecting whether the driving data of the target lane meet a negotiation and convergence condition according to the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.
And detecting whether the driving data of the target lane meets the negotiation convergence condition according to the first comparison result, the second comparison result, the third comparison result and the fourth comparison result, wherein the detection that whether the driving data of the target lane meets the negotiation convergence condition means that the driving data of the vehicle corresponding to the target lane simultaneously meets an inequality formula of the first comparison result, the second comparison result, the third comparison result and the fourth comparison result, and the result indicates that the negotiation convergence condition is met, otherwise, the negotiation convergence condition is not met, and the current vehicle cannot perform lane change.
And S280, under the condition that the lane change type is determined to be the negotiation convergence type, acquiring negotiation convergence response information of a vehicle behind a target lane, and controlling the current vehicle to run.
According to the technical scheme, the forbidden zone distance and the real-time distance between the current vehicle and the vehicle corresponding to the target lane are calculated and compared, whether the current vehicle meets the negotiation remittance condition or not is judged according to the comparison result, the problem that the lane change type is judged to be negotiation remittance is solved, the labor cost of lane change is reduced on the premise that safety is guaranteed, and the lane change efficiency is improved.
On the basis of the foregoing embodiments, optionally, when the lane change type is the direct merge type, detecting whether the driving data of the target lane meets the direct merge type condition includes:
comparing the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle with the same-lane front vehicle real-time distance to obtain a first comparison result;
comparing different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane with different front vehicle real-time distances to obtain a second comparison result;
comparing different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with different real-time rear vehicle distances to obtain a fifth comparison result;
detecting whether the driving data of the target lane meets a direct entry condition or not according to the first comparison result, the second comparison result and the third comparison result;
controlling the current vehicle to travel if it is determined that the lane change type is a direct entry type.
When the lane change type is the direct merge type, the judgment conditions of the first comparison result and the second comparison result are the same as the judgment conditions of the first comparison result and the second comparison result of the negotiation merge type, and the formulas of the first comparison result and the second comparison result can refer to the formulas of the first comparison result and the second comparison result of the negotiation merge type. And the fifth comparison result is a comparison result of different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane and different real-time rear vehicle distances.
The formula for comparing the different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with the different real-time rear vehicle distances is as follows:
Figure BDA0003401159020000151
and under the condition that the lane change type is determined to be the direct integration type, controlling the current vehicle to run means that the current vehicle directly carries out lane change when the lane change type is the direct integration type.
By calculating and comparing the forbidden zone distance and the real-time distance between the current vehicle and the vehicle corresponding to the target lane and judging whether the current vehicle meets the condition of the direct import type according to the comparison result, the problem of judging whether the lane change type is the direct import type is solved, the labor cost of lane change is reduced on the premise of ensuring safety, and the lane change efficiency is improved.
EXAMPLE III
Fig. 3 is a flowchart of a lane change method according to a third embodiment of the present invention, where on the basis of the foregoing embodiments, optionally, the detecting a lane change type of a current vehicle according to driving data of a target lane includes:
determining the lane change type as a direct import type under the condition that the direct import condition is met according to the driving data of the target lane;
determining the lane change type as a negotiation remittance type under the condition that the direct remittance condition is not met and the negotiation remittance condition is met according to the driving data of the target lane;
and determining the lane change type as a non-convergence type under the condition that the negotiation convergence condition is not met according to the driving data of the target lane.
The specific method comprises the following steps:
and S310, detecting vehicle running data corresponding to the target lane.
S320, determining that the lane change type is a direct import type under the condition that the direct import condition is met according to the driving data of the target lane.
And determining whether the lane change type is the direct import type under the condition that the direct import condition is met according to the driving data of the target lane, wherein the step of determining whether the lane change type is the direct import type is judged according to the driving data of the target lane, if so, the lane change type is determined to be the direct import type, and if not, the next step of judgment is continued.
S330, determining that the lane change type is a negotiation remittance type under the condition that the direct remittance condition is not met and the negotiation remittance condition is met according to the driving data of the target lane.
Determining that the lane change type is the negotiation remittance type under the condition that the direct remittance condition is not met and the negotiation remittance condition is met according to the driving data of the target lane means that whether the lane change type meets the calculation formula of the negotiation remittance condition is judged if the driving data of the target lane does not meet the calculation formula of the direct remittance condition, the lane change type is determined to be the negotiation remittance type if the driving data of the target lane meets the calculation formula of the negotiation remittance condition, and the next step of judgment is continued if the driving data of the target lane does not meet the calculation formula of the negotiation remittance condition.
And S340, determining the lane change type as a non-convergence type under the condition that the negotiation convergence condition is not met according to the driving data of the target lane.
The lane change type is determined to be the type which cannot be merged under the condition that the negotiation merging condition is determined not to be met according to the driving data of the target lane, namely the lane change type is determined to be the type which cannot be merged when the driving data of the target lane neither meets the calculation formula of the direct merging condition nor the calculation formula of the negotiation merging condition.
And S350, under the condition that the lane change type is determined to be the negotiation convergence type, acquiring negotiation convergence response information of a vehicle behind the target lane, and controlling the current vehicle to run.
According to the technical scheme of the embodiment, the lane change type is distinguished according to the driving data of the target lane, and the method for controlling the current vehicle to drive is provided when the lane change type is the negotiation and convergence type, so that the driving safety of the vehicle is ensured, and the lane change efficiency is improved.
On the basis of the above embodiments, the method further includes: under the condition that the lane change type is determined to be a direct entry type, controlling the current vehicle to move to the target lane for driving; and controlling the current vehicle to continuously run along the current lane under the condition that the lane change type is determined to be the type which can not be merged.
When the lane change type is determined to be the direct merge type, the control of the current vehicle to move to the target lane means that when the lane change type is the direct merge type, the current vehicle can directly perform lane change, and therefore the current vehicle is controlled to move to the target lane to travel.
When the lane change type is determined to be the type which can not be merged, the control of the current vehicle to continue driving along the current lane means that when the lane change type is the type which can not be merged, the current vehicle cannot perform lane change, and needs to continue driving to find the next opportunity which can perform lane change, so that the current vehicle is controlled to continue driving along the current lane.
According to the driving method of the current vehicle under the conditions of the direct integration type and the type which can not be integrated, the process of negotiating with the rear vehicle of the target lane is omitted, the time of the lane change judging process is saved, and the lane change efficiency is improved.
Example four
Fig. 4 is a schematic structural diagram of a lane changing device according to a fourth embodiment of the present invention, which can execute the lane changing method according to the fourth embodiment of the present invention, and the lane changing device may include: a vehicle travel data acquisition module 401, a lane change type module 402, and a vehicle travel control module 403.
The vehicle driving data acquisition module 401 is configured to detect vehicle driving data corresponding to a target lane;
a lane change type module 402, configured to detect a lane change type of a current vehicle according to the driving data of the target lane;
and a vehicle driving control module 403, configured to, when it is determined that the lane change type is a negotiation convergence type, obtain negotiation convergence response information of a vehicle behind a target lane, and control the current vehicle to drive.
According to the technical scheme, the vehicle driving data acquisition module, the lane change type module and the vehicle driving control module are matched, the whole process of acquiring lane change from the vehicle driving data is completed, the problem of rapidly and accurately performing lane change is solved, the labor cost of lane change is reduced on the premise of ensuring safety, and the lane change efficiency is improved.
In the above apparatus, optionally, the vehicle driving data corresponding to the target lane includes at least one of: the first driving data of the vehicle in front of the same lane, the second driving data of the vehicle in front of the target lane and the third driving data of the vehicle behind the target lane.
In the above apparatus, the vehicle travel data acquisition module 401 may include:
the first comparison result unit is used for comparing the forbidden zone distance between the current vehicle and the front vehicle in the same lane with the real-time distance between the front vehicles in the same lane to obtain a first comparison result;
the second comparison result unit is used for comparing different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane with different front vehicle real-time distances to obtain a second comparison result;
the third comparison result unit is used for comparing different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with different real-time rear vehicle distances to obtain a third comparison result;
the negotiation distance calculation unit is used for calculating different rear vehicle negotiation distances between the current vehicle and the rear vehicle of the target lane according to different rear vehicle forbidden zone distances and the negotiation distance between the current vehicle and the rear vehicle of the target lane;
a fourth comparison result unit, configured to compare the different rear vehicle negotiation distances with the different real-time rear vehicle distances to obtain a fourth comparison result;
and the negotiation and convergence condition judging unit is used for detecting whether the driving data of the target lane meets the negotiation and convergence condition according to the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.
In the above apparatus, optionally, when the lane change type is a direct entry type, the vehicle driving data acquiring module 401 includes:
the first comparison result unit is used for comparing the forbidden zone distance between the current vehicle and the front vehicle in the same lane with the real-time distance between the front vehicles in the same lane to obtain a first comparison result;
the second comparison result unit is used for comparing different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane with different front vehicle real-time distances to obtain a second comparison result;
a fifth comparison result unit, configured to compare different rear vehicle forbidden zone distances between the current vehicle and a rear vehicle of the target lane with different real-time rear vehicle distances to obtain a fifth comparison result;
and the direct merging condition judging unit is used for detecting whether the driving data of the target lane meets the direct merging condition or not according to the first comparison result, the second comparison result and the third comparison result.
In the above apparatus, the vehicle travel control module 403 may include:
a response information determination first unit, configured to determine negotiation and convergence response information of the rear vehicle in the target lane according to communication connection between the current vehicle and the rear vehicle in the target lane when the type of the rear vehicle in the target lane is the same as the type of the current vehicle;
and the response information determination second unit is used for sending a negotiation remittance request to the rear vehicle of the target lane under the condition that the type of the rear vehicle of the target lane is different from that of the current vehicle, and determining negotiation remittance response information of the rear vehicle of the target lane according to the detected feedback result of the rear vehicle of the target lane.
In the above apparatus, optionally, the lane change type module 402 includes:
the direct merging type determining unit is used for determining that the lane change type is a direct merging type under the condition that the direct merging condition is met according to the driving data of the target lane;
the negotiation and remittance type determining unit is used for determining that the lane change type is a negotiation and remittance type under the condition that the direct remittance condition is not met and the negotiation and remittance condition is met according to the driving data of the target lane;
and the non-convergence unit determining unit is used for determining that the lane change type is a non-convergence type under the condition that the negotiation convergence condition is not met according to the driving data of the target lane.
In the above apparatus, optionally, the lane change type module 402 further includes:
the direct merging type driving module is used for controlling the current vehicle to move to the target lane for driving under the condition that the lane change type is determined to be the direct merging type;
and the non-convergence type driving module is used for controlling the current vehicle to continue driving along the current lane under the condition that the lane change type is determined to be the non-convergence type.
In the above apparatus, the vehicle travel control module 403 may include:
the negotiation driving refusal module is used for determining that the lane change type is a non-remittance type and controlling the current vehicle to continue driving along the current lane under the condition that the negotiation remittance response information is determined to be remittance refusal information;
and the negotiation driving agreement module is used for controlling the current vehicle to move to the target lane for driving under the condition that the negotiation remittance response information is determined to be the remittance information.
The apparatus provided by the present embodiment constitutes a module capable of implementing each step in the lane change apparatus. The lane change type is judged according to the vehicle driving data corresponding to the target lane, and the driving of the current vehicle is controlled according to the lane change type, so that the labor cost of lane change is reduced and the lane change efficiency is improved on the premise of ensuring safety.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer apparatus according to a fifth embodiment of the present invention, as shown in fig. 5, the computer apparatus includes a processor 50, a memory 51, an input device 52, and an output device 53; the number of processors 50 in the computer device may be one or more, and one processor 50 is taken as an example in fig. 5; the processor 50, the memory 51, the input device 52 and the output device 53 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 5.
The memory 51, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions and/or modules corresponding to the lane change method in the embodiment of the present invention (e.g., a vehicle travel data acquisition module 401, a lane change type module 402, and a vehicle travel control module 403). The processor 50 executes various functional applications of the computer device and data processing by running software programs, instructions, and modules stored in the memory 51, that is, implements the lane change method described above.
The memory 51 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 51 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 51 may further include memory located remotely from the processor 50, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 52 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the computer apparatus. The output device 53 may include a display device such as a display screen.
EXAMPLE six
An embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a computer processor, is configured to perform a lane change method, the method including:
detecting vehicle driving data corresponding to a target lane;
detecting the lane change type of the current vehicle according to the vehicle driving data corresponding to the target lane;
and under the condition that the lane change type is determined to be a negotiation and convergence type, acquiring negotiation and convergence response information of a vehicle behind a target lane, and controlling the current vehicle to run.
Of course, the computer program of the computer-readable storage medium provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the lane change method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the lane changing device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A lane change method, comprising:
detecting vehicle driving data corresponding to a target lane;
detecting the lane change type of the current vehicle according to the vehicle driving data corresponding to the target lane;
and under the condition that the lane change type is determined to be a negotiation and convergence type, acquiring negotiation and convergence response information of a vehicle behind a target lane, and controlling the current vehicle to run.
2. The method of claim 1, wherein the vehicle driving data corresponding to the target lane comprises at least one of: the first driving data of the vehicle in front of the same lane, the second driving data of the vehicle in front of the target lane and the third driving data of the vehicle behind the target lane.
3. The method of claim 2, further comprising:
comparing the same-lane front vehicle forbidden zone distance between the current vehicle and the same-lane front vehicle with the same-lane front vehicle real-time distance to obtain a first comparison result;
comparing different front vehicle forbidden zone distances between the current vehicle and the front vehicle of the target lane with different front vehicle real-time distances to obtain a second comparison result;
comparing different rear vehicle forbidden zone distances between the current vehicle and the rear vehicle of the target lane with different real-time rear vehicle distances to obtain a third comparison result;
calculating different rear vehicle negotiation distances between the current vehicle and the rear vehicle of the target lane according to different rear vehicle forbidden zone distances and the negotiation distance between the current vehicle and the rear vehicle of the target lane;
comparing the different rear vehicle negotiation distance with the different rear vehicle real-time distance to obtain a fourth comparison result;
and detecting whether the driving data of the target lane meets a negotiation convergence condition or not according to the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.
4. The method of claim 1, wherein the obtaining of the negotiation remittance response information of the vehicle behind the target lane comprises:
under the condition that the type of the rear vehicle of the target lane is the same as that of the current vehicle, determining negotiation and convergence response information of the rear vehicle of the target lane according to communication connection between the current vehicle and the rear vehicle of the target lane;
and sending a negotiation remittance request to the rear vehicle of the target lane under the condition that the type of the rear vehicle of the target lane is different from that of the current vehicle, and determining negotiation remittance response information of the rear vehicle of the target lane according to a detected feedback result of the rear vehicle of the target lane.
5. The method of claim 1, wherein the detecting a lane change type of a current vehicle from the driving data of the target lane comprises:
determining the lane change type as a direct import type under the condition that the direct import condition is met according to the driving data of the target lane;
determining the lane change type as a negotiation remittance type under the condition that the direct remittance condition is not met and the negotiation remittance condition is met according to the driving data of the target lane;
and determining the lane change type as a non-convergence type under the condition that the negotiation convergence condition is not met according to the driving data of the target lane.
6. The method of claim 5, further comprising:
under the condition that the lane change type is determined to be a direct entry type, controlling the current vehicle to move to the target lane for driving;
and controlling the current vehicle to continuously run along the current lane under the condition that the lane change type is determined to be the type which can not be merged.
7. The method of claim 1, wherein the obtaining of negotiation convergent response information of vehicles behind a target lane and controlling the current vehicle to run comprises:
under the condition that the negotiation remittance response information is determined to be remittance refusal information, determining that the lane change type is a non-remittance type, and controlling the current vehicle to continue to run along the current lane;
and under the condition that the negotiation remittance response information is determined to be the remittance agreement information, controlling the current vehicle to move to the target lane for driving.
8. A lane change device, comprising:
the vehicle driving data acquisition module is used for detecting vehicle driving data corresponding to the target lane;
the lane change type module is used for detecting the lane change type of the current vehicle according to the driving data of the target lane;
and the vehicle running control module is used for acquiring negotiation and convergence response information of a vehicle behind a target lane and controlling the current vehicle to run under the condition that the lane change type is determined to be the negotiation and convergence type.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the lane change method according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a lane change method according to any one of claims 1 to 7.
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