CN114475606A - Control method for automatic emergency lane change and storage medium - Google Patents
Control method for automatic emergency lane change and storage medium Download PDFInfo
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- CN114475606A CN114475606A CN202210312264.5A CN202210312264A CN114475606A CN 114475606 A CN114475606 A CN 114475606A CN 202210312264 A CN202210312264 A CN 202210312264A CN 114475606 A CN114475606 A CN 114475606A
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- 230000008859 change Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims description 15
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000012508 change request Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a control method and a storage medium for automatic emergency lane change, which comprises the steps of S1, acquiring the state information of a vehicle and the surrounding environment information; s2, judging whether a collision risk exists according to the state information and the environment information; if yes, executing the next step; s3, judging whether the collision risk can be avoided according to the preset deceleration condition; if so, decelerating according to a preset deceleration condition, otherwise, executing the next step; s4, reminding a driver to take over driving, and judging whether lanes on two sides of the current lane of the vehicle meet lane changing conditions or not according to the environment information; if so, executing the next step, otherwise, decelerating according to a preset deceleration condition and continuously reminding the driver to take over the driving; and S5, if the driver does not manage the driving within the preset time, planning a lane change path and automatically changing the lane in an emergency. The invention can improve the driving safety and driving experience of the user under the condition of complex traffic flow.
Description
Technical Field
The invention belongs to the technical field of intelligent driving of automobiles, and particularly relates to a control method and a storage medium for automatic emergency lane change.
Background
With the increasing requirements of users on automobiles, the automobiles are not pure transportation tools, but are comprehensive products integrating functions of traveling, entertainment, office and the like. Among them, automobile intellectualization is the hottest technology in the current market. The intelligent driving ability also becomes one of the important indexes for measuring the quality of the automobile. Under the intelligent driving state, how to improve the safe and comfortable driving experience of users is the pursuit of the practitioners to be tired.
Chinese patent CN 109050533B relates to a method and a device for controlling automatic lane changing of vehicles, which comprises the following steps: judging whether the vehicle is in a lane-changing working condition or not; prompting a driver to activate an automatic lane changing mode under the condition that the vehicle is in the lane changing working condition; in response to activation of the auto-zapping mode performing the steps of: (a) selecting a target lane change track from a predetermined lane change track set according to the road condition and the estimated lane change time; (b) determining a steering wheel angle request based on a change in curvature of the target lane change trajectory; and (c) controlling the vehicle to switch the track along the target track according to the steering wheel turning angle request. In addition, the invention also provides a corresponding automatic lane changing control device for the vehicle, and the device reminds a driver to activate a lane changing mode by judging that the vehicle is in the lane changing working condition. The system plans a lane change track according to the road condition and the predicted lane change time, and finally responds to the lane change request according to the target track.
The prior art mainly focuses on a control method for automatically changing lanes, and is inconvenient to apply to a dangerous scene that normal braking cannot avoid collision in a following state, and provides a control method for automatically and emergently changing lanes.
Disclosure of Invention
In order to solve the above problems, the present invention provides a control method and a storage medium for automatic emergency lane change, which are advantageous for improving driving safety in a limit scene by determining longitudinal collision time, collision risk, lane line type of a target lane and traffic flow condition of the target lane of a host vehicle and a target vehicle in the host vehicle in a dangerous scene in which normal braking cannot avoid collision in a following state.
In order to solve the technical problems, the invention adopts the technical scheme that: a control method for automatic emergency lane change comprises the following steps,
s1, acquiring the state information of the vehicle and the surrounding environment information;
s2, judging whether a collision risk exists according to the state information and the environment information; if yes, executing the next step;
s3, judging whether the collision risk can be avoided according to the preset deceleration condition; if so, decelerating according to a preset deceleration condition, otherwise, executing the next step;
s4, reminding a driver to take over driving, and judging whether lanes on two sides of the current lane of the vehicle meet lane changing conditions or not according to the environment information; if so, executing the next step, otherwise, decelerating according to a preset deceleration condition and continuously reminding the driver to take over the driving;
and S5, if the driver does not manage the driving within the preset time, planning a lane change path and automatically changing the lane in an emergency.
As optimization, the state information includes a motion state of the host vehicle; the environmental information includes a motion state of the preceding vehicle, a longitudinal distance, and lane information around the own vehicle.
In step S2, it is determined whether the longitudinal distance between the host vehicle and the preceding vehicle and the collision time are less than predetermined values based on the motion state of the host vehicle, the motion state of the preceding vehicle, and the longitudinal distance.
In step S3, it is determined whether the host vehicle can avoid the collision risk after passing through a preset deceleration condition, based on the motion state of the host vehicle, the motion state of the preceding vehicle, and the longitudinal distance.
And optimizing, wherein the preset deceleration condition comprises the acceleration planned by the vehicle-mounted machine system according to the motion state of the vehicle, the motion state of the front vehicle and the longitudinal distance.
As an optimization, in step S4, the driver is reminded to take over driving by flashing a collision icon on the dashboard and/or shaking the steering wheel and/or in voice and/or text.
The lane information includes lane line information of two sides of a lane where the vehicle is located and traffic information of two sides of the lane where the vehicle is located, which are acquired by the vehicle-mounted camera.
As optimization, the lane change condition includes that lane lines on two sides of a lane where the vehicle is located are dotted lines, and traffic flows in the lanes on two sides of the lane where the vehicle is located meet the lane change requirement.
In step S5, before the emergency automatic lane change, the vehicle occupant is prompted by voice, and the emergency automatic lane change is performed according to the planned lane change path and the preset lateral acceleration.
A storage medium storing one or more programs which, when executed by a processor, perform the steps of the method for controlling an automatic emergency lane change.
Compared with the prior art, the invention has the following advantages:
the invention can optimize the strain capacity of the system in running under the condition of complex traffic flow and improve the driving experience of users. The method comprises the steps that through normal running of a vehicle, a system monitors the longitudinal distance and the collision time between the vehicle and a target vehicle right in front of the lane, judges whether longitudinal collision possibility exists between the two vehicles, and determines whether the collision possibility exists, the motion state (speed, acceleration and the like) of the front vehicle is monitored, and meanwhile, the motion state (speed, system planning acceleration, system acceleration response time, relative distance between the two vehicles and the like) of the vehicle is combined to judge whether the collision is unavoidable or not, and the system controls the vehicle to decelerate according to a set longitudinal acceleration value; the system reminds a driver to take over the vehicle immediately through modes of instrument sound, steering wheel vibration and the like, and meanwhile, monitors whether lane lines on two sides of the vehicle lane have dotted lines or not through the system, and if so, monitors whether traffic flow of lane change of the vehicle is influenced in lanes on the side of the dotted lines through a radar and a camera; if the lane lines on the two sides are broken lines, the system plans a lane with smaller risk through the real-time traffic flow condition, and simultaneously judges whether the lane influences the traffic flow of the lane change of the vehicle. And reminding the driver to take over the calculation, if the driver still does not take over the vehicle in time after the calculation lasts for 0.5s, sending out voice by the system in time to prompt the driver and passengers that the vehicle is about to automatically and emergently change the lane, and simultaneously controlling the vehicle to emergently change the lane according to the planned path by the system.
According to the invention, by monitoring the longitudinal states of the vehicle in front of the lane and the vehicle, when the two vehicles are judged to have collision risks, the intelligent driving auxiliary system adopts an automatic emergency lane change strategy according to the real-time relative position information of the two vehicles, so that the safety risks in the driving process are avoided as much as possible, a safe and comfortable driving experience is provided for a user, and the reliability and the safety of the intelligent driving auxiliary system are improved.
Drawings
FIG. 1 is a control flow chart of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
Example (b): with reference to figure 1 of the drawings,
a control method for automatic emergency lane change comprises the following steps,
s1, acquiring the state information of the vehicle and the surrounding environment information; the state information includes a motion state of the host vehicle; the environmental information includes a motion state of the preceding vehicle, a longitudinal distance, and lane information around the own vehicle. The lane information comprises lane line information of two sides of a lane where the vehicle is located and traffic flow information of the lanes of the two sides of the lane where the vehicle is located, which are acquired through the vehicle-mounted camera.
S2, judging whether a collision risk exists according to the state information and the environment information; if yes, executing the next step; specifically, whether the longitudinal distance between the vehicle and the front vehicle and the collision time are smaller than preset values or not is judged according to the motion state of the vehicle, the motion state of the front vehicle and the longitudinal distance.
S3, judging whether the collision risk can be avoided according to the preset deceleration condition; if so, decelerating according to a preset deceleration condition, otherwise, executing the next step; specifically, whether the collision risk can be avoided after the vehicle passes through a preset deceleration condition is judged according to the motion state of the vehicle, the motion state of the front vehicle and the longitudinal distance. The preset deceleration condition comprises the acceleration planned by the vehicle-mounted system according to the motion state of the vehicle, the motion state of the front vehicle and the longitudinal distance.
S4, reminding a driver to take over driving, and judging whether lanes on two sides of the current lane of the vehicle meet lane changing conditions or not according to the environment information; if so, executing the next step, otherwise, decelerating according to a preset deceleration condition and continuously reminding the driver to take over the driving; specifically, the driver is reminded to take over driving through collision icon flashing on an instrument panel and/or steering wheel vibration and/or voice and/or text forms. The lane changing condition comprises that lane lines on two sides of a lane where the vehicle is located are dotted lines, and traffic flows in the lanes on two sides of the lane where the vehicle is located meet the lane changing requirement.
And S5, if the driver does not manage the driving within the preset time, planning a lane change path and automatically changing the lane in an emergency. And prompting personnel in the vehicle through voice before the emergency automatic lane changing, and carrying out the emergency automatic lane changing according to a planned lane changing path according to a preset transverse acceleration.
The intelligent driving auxiliary system of the invention fuses and analyzes the motion states and real-time position information of the vehicle and the target vehicle for the information collected by the radar and the forward-looking camera, and sends the information to the domain controller, thereby controlling the vehicle to run according to the expected state in real time. According to the invention, the longitudinal distance between the adjacent road vehicle and the longitudinal collision time state are monitored, and a corresponding emergency lane change strategy is adopted, so that the potential collision risk can be effectively avoided, and the safe driving of the vehicle is realized.
A storage medium storing one or more programs which, when executed by a processor, perform the steps of the method for controlling an automatic emergency lane change.
As can be seen from the above embodiments, the present invention determines whether the longitudinal distance and the collision time between the host vehicle and the target vehicle directly in front of the host lane are smaller than the safety distance threshold value triggered by the logic; if the distance is not less than the safety distance threshold value, keeping the current lane to run in the center; if the distance is smaller than the safe distance threshold value, the system judges whether the collision is inevitable or not by combining the motion states of the two vehicles. If yes, the system reminds the driver to take over and simultaneously monitors whether the lane lines and traffic flow conditions on the two sides of the lane meet the emergency lane change condition. If the driver does not take over the lane change path in time, the vehicle automatically and emergently changes the lane according to the lane change path planned by the system. Meanwhile, the transverse speed and the transverse acceleration of the vehicle are reasonably controlled by sending instructions to the controller in the emergency lane changing process, so that the safety of the emergency lane changing process is ensured.
The invention can optimize the strain capacity of the system in running under the condition of complex traffic flow and improve the driving experience of users. The method comprises the steps that through normal running of a vehicle, a system monitors the longitudinal distance and the collision time between the vehicle and a target vehicle right in front of the lane, judges whether longitudinal collision possibility exists between the two vehicles, and determines whether the collision possibility exists, the motion state (speed, acceleration and the like) of the front vehicle is monitored, and meanwhile, the motion state (speed, system planning acceleration, system acceleration response time, relative distance between the two vehicles and the like) of the vehicle is combined to judge whether the collision is unavoidable or not, and the system controls the vehicle to decelerate according to a set longitudinal acceleration value; the system reminds a driver to take over the vehicle immediately through modes of instrument sound, steering wheel vibration and the like, and meanwhile, monitors whether lane lines on two sides of the vehicle lane have dotted lines or not through the system, and if so, monitors whether traffic flow of lane change of the vehicle is influenced in lanes on the side of the dotted lines through a radar and a camera; if the lane lines on the two sides are broken lines, the system plans a lane with smaller risk through the real-time traffic flow condition, and simultaneously judges whether the lane influences the traffic flow of the lane change of the vehicle. And reminding the driver to take over the calculation, if the driver still does not take over the vehicle in time after the calculation lasts for 0.5s, sending out voice by the system in time to prompt the driver and passengers that the vehicle is about to automatically and emergently change the lane, and simultaneously controlling the vehicle to emergently change the lane according to the planned path by the system.
According to the invention, by monitoring the longitudinal states of the vehicle in front of the lane and the vehicle, when the two vehicles are judged to have collision risks, the intelligent driving auxiliary system adopts an automatic emergency lane change strategy according to the real-time relative position information of the two vehicles, so that the safety risks in the driving process are avoided as much as possible, a safe and comfortable driving experience is provided for a user, and the reliability and the safety of the intelligent driving auxiliary system are improved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (10)
1. A control method for automatic emergency lane change is characterized by comprising the following steps,
s1, acquiring the state information of the vehicle and the surrounding environment information;
s2, judging whether a collision risk exists according to the state information and the environment information; if yes, executing the next step;
s3, judging whether the collision risk can be avoided according to the preset deceleration condition; if so, decelerating according to a preset deceleration condition, otherwise, executing the next step;
s4, reminding a driver to take over driving, and judging whether lanes on two sides of the current lane of the vehicle meet lane changing conditions or not according to the environment information; if so, executing the next step, otherwise, decelerating according to a preset deceleration condition and continuously reminding the driver to take over the driving;
and S5, if the driver does not manage the driving within the preset time, planning a lane change path and automatically changing the lane in an emergency.
2. The control method of automatic emergency lane change according to claim 1, wherein the status information includes a motion status of the host vehicle; the environmental information includes a motion state of the preceding vehicle, a longitudinal distance, and lane information around the own vehicle.
3. The method for controlling automatic emergency lane change according to claim 2, wherein in step S2, it is determined whether the longitudinal distance between the host vehicle and the preceding vehicle and the collision time are less than predetermined values according to the motion state of the host vehicle, the motion state of the preceding vehicle and the longitudinal distance, and whether there is a collision risk.
4. The method for controlling automatic emergency lane change according to claim 2, wherein in step S3, it is determined whether the collision risk can be avoided after the host vehicle passes through a preset deceleration condition based on the motion state of the host vehicle, the motion state of the leading vehicle, and the longitudinal distance.
5. The method according to claim 2, wherein the preset deceleration condition comprises an acceleration planned by the vehicle-mounted system according to a motion state of the vehicle, a motion state of a preceding vehicle, and a longitudinal distance.
6. The control method for automatic emergency lane change according to claim 2, wherein in step S4, the driver is reminded to take over driving by flashing a collision icon on an instrument panel and/or by shaking a steering wheel and/or by voice and/or by text.
7. The method according to claim 2, wherein the lane information includes lane line information on both sides of a lane in which the host vehicle is located and traffic information in lanes on both sides of the lane in which the host vehicle is located, which are acquired by a vehicle-mounted camera.
8. The method according to claim 7, wherein the lane change condition includes that lane lines on both sides of the lane where the host vehicle is located are dotted lines, and traffic flows in the lanes on both sides of the lane where the host vehicle is located meet the lane change requirement.
9. The method for controlling an automatic emergency lane-change according to any one of claims 1 to 8, wherein in step S5, the vehicle occupant is prompted by voice before the emergency automatic lane-change, and the emergency automatic lane-change is performed according to the planned lane-change path with a preset lateral acceleration.
10. A storage medium storing one or more programs which, when executed by a processor, perform the steps of the method for controlling automatic emergency lane change according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210312264.5A CN114475606A (en) | 2022-03-28 | 2022-03-28 | Control method for automatic emergency lane change and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210312264.5A CN114475606A (en) | 2022-03-28 | 2022-03-28 | Control method for automatic emergency lane change and storage medium |
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| CN114475606A true CN114475606A (en) | 2022-05-13 |
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| CN202210312264.5A Withdrawn CN114475606A (en) | 2022-03-28 | 2022-03-28 | Control method for automatic emergency lane change and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115071695A (en) * | 2022-05-17 | 2022-09-20 | 岚图汽车科技有限公司 | Automatic emergency braking control method and system for vehicle |
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2022
- 2022-03-28 CN CN202210312264.5A patent/CN114475606A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115071695A (en) * | 2022-05-17 | 2022-09-20 | 岚图汽车科技有限公司 | Automatic emergency braking control method and system for vehicle |
| CN115071695B (en) * | 2022-05-17 | 2024-05-28 | 岚图汽车科技有限公司 | Automatic emergency braking control method and system for vehicle |
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Application publication date: 20220513 |