CN115837912B - Track tracking-based instruction lane changing method and system - Google Patents
Track tracking-based instruction lane changing method and system Download PDFInfo
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Abstract
The invention discloses a track-following-based instruction lane-changing method and a track-following-based instruction lane-changing system, wherein the method comprises the following steps: acquiring a control rate offline lookup table; carrying out lane line identification and tracking on each frame of image shot by the vehicle-mounted camera, and obtaining a lane line equation in each frame of image; obstacle information of left and right adjacent lanes of the vehicle is obtained through a vehicle-mounted sensor; acquiring instruction information, vehicle speed information and yaw rate information of a driver requesting lane change; obtaining a target tracking track according to the lane line equation, the instruction information, the vehicle speed information and the yaw rate information; deciding whether to respond to the lane change according to the lane line information, and deciding lane change starting time according to the left and right lane barrier information; and obtaining the state quantity of the LQR control algorithm, searching a control rate offline lookup table according to the current vehicle speed, determining the value of a corresponding control rate parameter K (v), and obtaining the optimal steering angle of the front wheel of the bicycle. The invention can control the lane change of the vehicle under the condition of no map information and has small calculation power.
Description
Technical Field
The invention belongs to the technical field of intelligent auxiliary driving, and particularly relates to a track-tracking-based instruction lane change method and system.
Background
The method for controlling the active lane change of the vehicle in automatic driving generally performs path planning and speed planning based on map information to control the lane change of the vehicle, and has higher calculation power requirement on a calculation unit when the path planning and the speed planning are performed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an instruction lane changing method and system based on track tracking, which aim to solve the problem that the calculation force requirement on a calculation unit is higher when path planning and speed planning are carried out in the prior art.
The invention provides an instruction lane changing method based on track tracking, which comprises the following steps:
s1: acquiring a control rate off-line lookup table corresponding to the vehicle speed and the LQR control rate parameters one by one;
s2: carrying out lane line identification and tracking on each frame of image shot by the vehicle-mounted camera, and obtaining a lane line equation in each frame of image;
s3: obstacle information of left and right adjacent lanes of the vehicle is obtained through a vehicle-mounted sensor;
s4: acquiring instruction information, vehicle speed information and yaw rate information of a driver requesting lane change;
s5: obtaining a target tracking track according to the lane line equation, the instruction information, the vehicle speed information and the yaw rate information;
s6: deciding whether to respond to the lane change according to the lane line information, and deciding lane change starting time according to the left and right lane barrier information;
s7: and obtaining the state quantity of the LQR control algorithm, searching the control rate offline lookup table according to the current vehicle speed, and determining the value of the corresponding control rate parameter K (v) to obtain the optimal steering angle of the front wheel of the bicycle.
Further, the step S1 specifically includes:
s11: establishment of
Is the relation of: />
；
；
，/>
，
，/>
；
Wherein Cf and Cr are respectively the front wheel cornering stiffness and the rear wheel cornering stiffness of the two-degree-of-freedom vehicle dynamics model of the vehicle, iz is the moment of inertia of the two-degree-of-freedom vehicle dynamics model of the vehicle, which rotates around the Z axis of the vehicle body coordinate system, lf is the distance from the center of mass of the vehicle to the front axis, lr is the distance from the center of mass of the vehicle to the rear axis, m is the mass of the vehicle, and Ts is the control period;
s12: selecting the values of Q (v) and R (v) matrixes corresponding to each v sampling point;
s13: and calculating the value of a K (v) matrix corresponding to each v sampling point.
Further, in step S2, for any lane line, the lane line equation is
The method comprises the steps of carrying out a first treatment on the surface of the Where k is the number of the module to the lane line, x is the x-axis coordinate value of the vehicle body coordinate system of a certain point on the lane line, c0 is the transverse distance from the origin of the lane line to the coordinate system, c1 is the slope of the lane line, c2 is the curvature of the lane line, and c3 is the first derivative of the curvature of the lane line.
Further, in step S5, the target tracking track is
The method comprises the steps of carrying out a first treatment on the surface of the Where x is an x-axis coordinate value of a vehicle body coordinate system of a certain point on the lane line, c0 represents a lateral distance of the target tracking track from an origin of the coordinate system, c1 represents a target tracking track slope, c2 represents a target tracking track curvature, and c3 represents a first-order derivative of the target tracking track curvature.
When the lane needs to be changed leftwards, a target tracking track fdes (x) is calculated by a curve equation of left and right 2 lane lines of a lane adjacent to the left side of the vehicle.
When the lane needs to be changed to the right, a target tracking track fdes (x) is calculated by a curve equation of left and right 2 lane lines of a lane adjacent to the right side of the vehicle.
Further, the step S6 specifically includes:
s61, judging whether a lane change request exists, if yes, entering a step S62, and if not, ending;
s62, judging whether a target tracking track exists, if so, entering a step S63, and if not, ending;
s63, judging whether the obstacle avoidance condition is met, if yes, entering a step S64, and if not, ending;
s64, calculating an expected front wheel rotation angle;
s65, obtaining a desired steering wheel angle according to the desired front wheel steering angle, and outputting the desired steering wheel angle to an EPS actuator for controlling the vehicle through a CAN bus. Wherein, according to the formula
And calculating the steering wheel angle, wherein the steering wheel angle is the expected front wheel angle, the steering transmission ratio of the front wheels of the vehicle to the steering wheel is controlled, and the steering wheel angle is the expected steering wheel angle.
Further, the step S7 specifically includes:
s71: calculating a lateral deviation error of the self-vehicle centroid relative to the target tracking trajectory fdes (x); wherein X0 is an X-axis coordinate value of the self-vehicle centroid in a vehicle body coordinate system;
s72: calculating an angle deviation error of the self-vehicle course angle relative to the target tracking track fdes (x); wherein,
；
s73: calculating lateral deviation error
Rate of change of>
； wherein ,/>
；
S74: calculating an angle deviation error
Rate of change of>
； wherein ,/>
，/>
For the current yaw rate of the vehicle, +.>
A desired yaw rate when tracking the trajectory fdes (x) for the target; for->
The method comprises the following steps:
rdes is the radius of curvature of the target tracking trajectory fdes (x);
s75: searching the control rate off-line lookup table according to the current vehicle speed v to obtain a value of a control rate parameter K (v);
s76: calculating an optimal steering angle of front wheels of a bicycle
。
The invention also provides an instruction lane changing system based on track tracking, which comprises:
the control rate off-line lookup table module is used for acquiring a control rate off-line lookup table corresponding to the LQR control rate parameters one by one;
the lane line recognition and tracking module is used for recognizing and tracking lane lines of each frame of image shot by the vehicle-mounted camera and obtaining a lane line equation in each frame of image;
the obstacle recognition and tracking module is used for obtaining obstacle information of left and right adjacent lanes of the vehicle through the vehicle-mounted sensor;
the vehicle information acquisition module is used for acquiring instruction information, vehicle speed information and yaw rate information of a driver requesting lane change;
the tracking track acquisition module is used for acquiring a target tracking track according to the lane line equation, the instruction information, the vehicle speed information and the yaw rate information;
the decision control module is used for deciding whether to respond to the lane change according to lane line information and deciding lane change starting time according to left and right lane barrier information;
the turning angle control quantity calculation module is used for obtaining the state quantity of the LQR control algorithm, searching the control rate offline lookup table according to the current vehicle speed, determining the value of the corresponding control rate parameter K (v), and obtaining the optimal steering angle of the front wheels of the bicycle.
The invention also provides a program execution device, which comprises a processor and a memory, wherein the memory stores an execution program, the processor is used for acquiring the execution program from the memory, and processing is carried out according to the execution program, and the specific processing method comprises the instruction lane changing method.
Compared with the prior art, the invention has the following technical advantages:
(1) Compared with track planning based on a map, the track planning method based on the side lane central line establishes a tracking track, does not need map information, namely can control the vehicle to change lanes under the condition of no map information, and has lower cost.
(2) In the control process, the tracking error of the target tracking track of the vehicle is only required to be updated in real time, a path curve and a speed curve are not required to be planned, and the required calculation force is smaller.
(3) The LQR controller based on the off-line lookup table is designed, a large number of matrix operations are avoided, and the required calculation force is smaller.
Drawings
FIG. 1 is a flowchart of an implementation of an instruction lane change method based on track tracking according to an embodiment of the present invention;
fig. 2 is a flowchart of implementation of determining a lane change start timing according to acquired information in the track-based instruction lane change method according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention can control the lane change of the vehicle under the condition of no map information, has small calculation amount, and can complete lane change control in a calculation unit with lower calculation force.
The specific implementation flow of the instruction lane change method based on the track tracking provided by the embodiment of the invention is shown in fig. 1, and specifically comprises the following steps:
s1: acquiring a control rate off-line lookup table corresponding to the vehicle speed and the LQR control rate parameters one by one;
s2: carrying out lane line identification and tracking on each frame of image shot by the vehicle-mounted camera, and obtaining a lane line equation in each frame of image;
s3: obstacle information of left and right adjacent lanes of the vehicle is obtained through a vehicle-mounted sensor;
s4: acquiring instruction information, vehicle speed information and yaw rate information of a driver requesting lane change;
s5: obtaining a target tracking track according to the lane line equation, the instruction information, the vehicle speed information and the yaw rate information;
s6: deciding whether to respond to the lane change according to the lane line information, and deciding lane change starting time according to the left and right lane barrier information;
s7: and obtaining the state quantity of the LQR control algorithm, searching the control rate offline lookup table according to the current vehicle speed, and determining the value of the corresponding control rate parameter K (v) to obtain the optimal steering angle of the front wheel of the bicycle.
The control rate off-line lookup table manufacturing method comprises the following steps:
s11: establishing a relation between a control rate K and a vehicle speed v:
wherein there are
（2）；
S12: calculating the vehicle speed range by taking vs as the speed resolution
And the value of the control rate K of each speed sampling point is obtained, and a lookup table of the vehicle speed v and the control rate K is formed. When the vehicle speed is lower than vs, the vehicle speed vs is used as the corresponding control rate K.
In the embodiment of the present invention, step S2 specifically includes:
s21: identifying lane lines in each frame of image shot by the vehicle-mounted camera, and fitting a curve equation of the lane lines in the following form according to the identification result:
the method comprises the steps of carrying out a first treatment on the surface of the Where k is the number of the lane line, and x is the x-axis coordinate value of the vehicle body coordinate system at a certain point on the lane line.
S22: and tracking the identified lane lines. The main tracking method is to carry out relevant parameters of lane line curve equation by Kalman filtering algorithm
、/>
、/>
and />
Is a tracking of (a).
In the embodiment of the invention, the obstacle information of the left and right adjacent lanes of the vehicle is perceived by the vehicle-mounted sensor. The obstacle information includes, but is not limited to, the following information: the lateral distance of the obstacle from the vehicle, the longitudinal distance of the obstacle from the vehicle, the direction of travel of the obstacle, the longitudinal speed of the obstacle relative to the vehicle and the lateral speed of the obstacle relative to the vehicle.
In the embodiment of the present invention, in step S4, the following information may be obtained through the CAN bus: a driver's request lane change command, a vehicle speed, and a vehicle yaw rate.
In the embodiment of the present invention, step S5 specifically includes:
s51: and tracking a request lane change instruction of a driver, and judging the lane change direction.
S52: and calculating a target tracking track fdes (x) according to the track changing direction.
(1) If the lane changes to the left, there are:
； wherein ,/>
Is the curve equation of the left lane line of the adjacent lane on the left side of the own vehicle>
Is a curve equation of a right lane line of a neighboring lane on the left side of the own vehicle.
(2) If the direction is changed from channel to channel, there are:
； wherein ,
is the curve equation of the left lane line of the adjacent lane on the right side of the own vehicle>
Is a curve equation of a right lane line of a neighboring lane on the right side of the own vehicle.
In the embodiment of the present invention, step S6 specifically includes:
s61, judging whether a lane change request exists, if yes, entering a step S62, and if not, ending;
s62, judging whether a target tracking track exists or not, wherein a lane line shared by a target lane and the lane is a broken line, if yes, entering a step S63, and if not, ending;
s63, judging whether the obstacle avoidance condition is met, if yes, entering a step S64, and if not, ending;
s64, calculating an expected front wheel rotation angle;
s65, obtaining a desired steering wheel angle according to the desired front wheel steering angle, and outputting the desired steering wheel angle to an EPS actuator for controlling the vehicle through a CAN bus. Wherein, can be according to the formula
Calculating steering wheel angle, & lt & gt>
For the desired front wheel angle->
For controlling the steering gear ratio of the front wheels of the vehicle to the steering wheel,/->
Is the desired steering wheel angle.
In the embodiment of the invention, the corner control quantity calculation module is used for calculating the state quantity of the LQR control algorithm, then looking up a table according to the current vehicle speed v to determine the value of the corresponding control rate parameter K (v), and finally calculating the optimal steering angle of the front wheel of the bicycle.
The method specifically comprises the following steps:
step 7-1: calculating the lateral deviation error of the centroid of the vehicle relative to the target tracking trajectory fdes (x)
。
The method comprises the steps of carrying out a first treatment on the surface of the Where X0 is the X-axis coordinate value of the vehicle centroid in the vehicle body coordinate system.
Step 7-2: calculating an angle deviation error of a self-vehicle course angle relative to a target tracking track fdes (x)
。
；
Step 7-3: calculating lateral deviation error
Rate of change of>
。/>
；
Step 7-4: calculating an angle deviation error
Rate of change of>
。/>
, wherein ,/>
For the current yaw rate of the vehicle, +.>
Is the desired yaw rate when tracking the trajectory fdes (x) for the target. For->
The method comprises the following steps:
wherein Rdes is a radius of curvature of the target tracking trajectory fdes (x).
Step 7-5: and searching an offline lookup table according to the current vehicle speed v to obtain the value of the control rate parameter K (v).
Step 7-6: calculating an optimal steering angle of front wheels of a bicycle
。
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The instruction lane changing method based on the track tracking is characterized by comprising the following steps:
s1: acquiring a control rate off-line lookup table corresponding to the vehicle speed and the LQR control rate parameters one by one;
s2: carrying out lane line identification and tracking on each frame of image shot by the vehicle-mounted camera, and obtaining a lane line equation in each frame of image;
s3: obstacle information of left and right adjacent lanes of the vehicle is obtained through a vehicle sensor;
s4: acquiring instruction information, vehicle speed information and yaw rate information of a driver requesting lane change;
s5: obtaining a target tracking track according to the lane line equation, the instruction information, the vehicle speed information and the yaw rate information;
s6: deciding whether to respond to the lane change according to the lane line information, and deciding lane change starting time according to the left and right lane barrier information;
s7: obtaining state quantity of an LQR control algorithm, searching the control rate offline lookup table according to the current vehicle speed, and determining corresponding control rate parametersK(v) Obtaining an optimal steering angle of the front wheels of the bicycle;
the step S1 specifically comprises the following steps:
s11: establishment ofv-KIs the relation of:
；
wherein ,Q(v)、R(v) For each selectedvA parameter matrix of sampling points;C f andC r the front wheel cornering stiffness and the rear wheel cornering stiffness of the two-degree-of-freedom vehicle dynamics model of the bicycle are respectively,I z around-car body coordinate system of two-degree-of-freedom dynamics model for self-carZThe moment of inertia of the rotation of the shaft,l f for the distance from the center of mass to the front axle,l r for the distance from the center of mass to the rear axle,mis the mass of the self-vehicle and is the mass of the self-vehicle,T s is a control period;
s12: to be used forv s Calculating a vehicle speed range as a speed resolution
Control rate of each speed sampling pointKAnd forms the vehicle speedvAnd control rateKA look-up table.
2. The method of claim 1, wherein in step S2, for any one of the followingLane lines, lane line equation is
；
wherein ,kis the number of the module to the lane line,xis the vehicle body coordinate system of a certain point on the lane linexThe coordinate value of the axis,c 0 represents the lateral distance of the lane line from the origin of the coordinate system,c 1 indicating the slope of the lane line,c 2 indicating the curvature of the lane line,c 3 a first derivative representing the curvature of the lane line.
3. The method of claim 1, wherein in step S5, the target tracking track is
；
wherein ,xis the vehicle body coordinate system of a certain point on the lane linexThe coordinate value of the axis,c 0 represents the lateral distance of the target tracking trajectory from the origin of the coordinate system,c 1 representing the slope of the target tracking trajectory,c 2 representing the curvature of the tracking trajectory of the object,c 3 representing a first derivative of the curvature of the target tracking trajectory.
4. A method of changing track according to claim 3, wherein when a left change of track is required, a target tracking trajectory is calculated by a curve equation of left and right 2 lane lines taken from a left adjacent lane of the vehiclef des (x)。
5. The commanded lane-change method of claim 3, wherein when a right lane-change is required, a target tracking trajectory is calculated from a curve equation of left and right 2 lane lines taken from a right-side adjacent lane of the vehiclef des (x)。
6. The method of instruction lane change according to any one of claims 1 to 5, wherein step S6 is specifically:
s61, judging whether a lane change request exists, if yes, entering a step S62, and if not, ending;
s62, judging whether a target tracking track exists or not, wherein a lane line shared by a target lane and the lane is a broken line, if yes, entering a step S63, and if not, ending;
s63, judging whether the obstacle avoidance condition is met, if yes, entering a step S64, and if not, ending;
s64, calculating an expected front wheel rotation angle;
s65, obtaining a desired steering wheel angle according to the desired front wheel steering angle, and outputting the desired steering wheel angle to an EPS actuator for controlling the vehicle through a CAN bus.
7. The method of instruction lane change according to any one of claims 1 to 5, wherein step S7 is specifically:
s71: calculating tracking trajectory of self-vehicle centroid relative to targetf des (x) Lateral deviation error of (2)
；
S72: calculating tracking track of course angle of self-vehicle relative to targetf des (x) Angle deviation error of (2)
；
S73: calculating lateral deviation error
Rate of change of>
；
S74: calculating an angle deviation error
Rate of change of>
；
S75: according to the current speed of the vehiclevSearching the control rate off-line lookup table to obtain a control rate parameterK(v) Is a value of (2);
s76: calculating an optimal steering angle of front wheels of a bicycle
。
8. A track-based instruction lane-changing system for implementing the instruction lane-changing method of any one of claims 1 to 7, comprising:
the control rate off-line lookup table module is used for acquiring a control rate off-line lookup table corresponding to the LQR control rate parameters one by one;
the lane line recognition and tracking module is used for recognizing and tracking lane lines of each frame of image shot by the vehicle-mounted camera and obtaining a lane line equation in each frame of image;
the obstacle recognition and tracking module is used for obtaining obstacle information of left and right adjacent lanes of the vehicle through the vehicle-mounted sensor;
the vehicle information acquisition module is used for acquiring instruction information, vehicle speed information and yaw rate information of a driver requesting lane change;
the tracking track acquisition module is used for acquiring a target tracking track according to the lane line equation, the instruction information, the vehicle speed information and the yaw rate information;
the decision control module is used for deciding whether to respond to the lane change according to lane line information and deciding lane change starting time according to left and right lane barrier information;
the corner control quantity calculation module is used for obtaining the state quantity of the LQR control algorithm, searching the control rate offline lookup table according to the current vehicle speed and determining the corresponding control rate parameterK(v) To obtain an optimal steering angle of the front wheels of the bicycle.
9. A program execution device, comprising a processor and a memory, wherein the memory stores an execution program, the processor is configured to obtain the execution program from the memory, and perform processing according to the execution program, and a specific processing method includes the instruction lane changing method according to any one of claims 1 to 7.
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