CN116279445A - Control method, device and equipment for vehicle starting lane change - Google Patents
Control method, device and equipment for vehicle starting lane change Download PDFInfo
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
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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
- 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
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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
- 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
- B60W2050/143—Alarm means
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Abstract
The application discloses a control method, a device and equipment for vehicle starting lane change, wherein after a self vehicle is determined to be in a starting lane change state, the acceleration of a moving object is determined according to the speed change rate of the moving object on the side surface of the self vehicle; calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object; setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving object; the collision early warning is sent out according to the collision time and the early warning starting time, the self-vehicle is controlled to brake according to the collision time and the braking starting time, the situation that a moving object near the self-vehicle is monitored to avoid an observation blind area is achieved, the self-vehicle is controlled to early warn and brake according to the state of the moving object, traffic accidents caused by the blind area of a driver or great intention when the self-vehicle starts to change lanes can be effectively avoided, and accordingly life and property safety of the self-vehicle and other passers on a road are protected.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, and a device for controlling a vehicle start lane change.
Background
With the popularization of vehicles, daily travel of people is more and more convenient, and driving scenes of the vehicles are more and more. In daily driving, due to the limitation of road conditions, a situation may often be encountered in which a lane change is required immediately when the vehicle starts. At this time, because the vehicle is in an inclined state, a driver often cannot comprehensively observe the running states of other vehicles nearby, and it is difficult to accurately judge whether an accident-causing target exists in an adjacent lane or not only if starting lane change is continued through the rearview mirror, and a series of safety accidents caused by the vehicle starting lane change often occur.
Therefore, how to improve the safety in the course of starting and changing the lane of the vehicle is a technical problem to be solved.
Disclosure of Invention
The main aim of the application is to provide a control method, a device and equipment for vehicle starting lane change, which aim to solve the technical problem that traffic accidents are easy to occur when vehicles start lane change.
In a first aspect, the present application provides a vehicle launch lane change control method, the method including the steps of:
after determining that the vehicle is in a starting lane change state, determining the acceleration of a moving object according to the speed change rate of the moving object on the side surface of the vehicle;
calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object;
setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving object;
and controlling the self-vehicle to send out collision early warning according to the collision time and the early warning starting time, and controlling the self-vehicle to brake according to the collision time and the braking starting time.
In some embodiments, the setting the early warning start time and the brake start time of the own vehicle according to the acceleration of the moving object includes:
setting the longitudinal early warning starting time and the longitudinal braking starting time of the vehicle according to the acceleration of the moving object;
setting the transverse early warning starting time and the transverse braking starting time of the vehicle according to the acceleration of the moving object;
the longitudinal early warning starting time is earlier than the longitudinal braking starting time, and the transverse early warning starting time is earlier than the transverse braking starting time.
In some embodiments, the setting the longitudinal early warning start time and the longitudinal braking start time of the own vehicle according to the acceleration of the moving object includes:
when the acceleration of the moving object is in a preset acceleration interval, setting a first longitudinal early warning starting time and a first longitudinal braking starting time;
when the acceleration of the moving object is larger than the acceleration interval, setting a second longitudinal early warning starting time and a second longitudinal braking starting time;
when the acceleration of the moving object is smaller than the acceleration interval, setting a third longitudinal early warning starting time and a third longitudinal starting braking time;
the second longitudinal early warning start time is earlier than the first longitudinal early warning start time, the third longitudinal early warning start time is later than the first longitudinal early warning start time, the second longitudinal braking start time is earlier than the first longitudinal braking start time, and the third longitudinal braking start time is later than the first longitudinal braking start time.
In some embodiments, the setting the lateral early warning start time and the lateral braking start time of the own vehicle according to the acceleration of the moving object further includes:
when the acceleration of the moving object is in a preset acceleration interval, the acceleration of the moving object is larger than the acceleration interval or the acceleration of the moving object is smaller than the acceleration interval, setting a first transverse early warning starting time and a first transverse braking starting time.
In some embodiments, the calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object includes:
calculating the longitudinal collision time of the moving object and the self-vehicle according to the longitudinal speed of the moving object and the longitudinal relative distance between the moving object and the self-vehicle;
and calculating the transverse collision time of the moving object and the self-vehicle according to the transverse speed of the moving object and the transverse relative distance between the moving object and the self-vehicle.
In some embodiments, the controlling the self-vehicle to send out the collision early warning according to the collision time and the early warning start time, and controlling the self-vehicle to brake according to the collision time and the brake start time includes:
if the longitudinal collision time is smaller than the longitudinal early warning starting time or the transverse collision time is smaller than the transverse early warning starting time, controlling a vehicle to send out collision early warning, and judging whether the longitudinal collision time is smaller than the longitudinal braking starting time or whether the transverse collision time is smaller than the transverse braking starting time;
and if the longitudinal collision time is smaller than the longitudinal braking starting time or the transverse collision time is smaller than the transverse braking starting time, controlling the vehicle to brake.
In some embodiments, the method further comprises:
if the self-vehicle is in a forward gear, the steering wheel angle is larger than a preset angle, and the brake pedal is in an unbraked state, the self-vehicle is determined to be in a starting and lane changing state.
In some embodiments, the method further comprises:
after the self-vehicle is determined to be in a starting lane change state, if the turn signal lamp of the self-vehicle is in an off state, the turn signal lamp corresponding to the rotation direction of the steering wheel is controlled to be turned on.
In a second aspect, the present application further provides a control device for vehicle start lane change, the device including:
the determining module is used for determining the acceleration of the moving object according to the speed change rate of the moving object on the side surface of the self-vehicle after determining that the self-vehicle is in a starting and lane changing state;
the calculation module is used for calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object;
the setting module is used for setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving object;
and the control module is used for controlling the self-vehicle to send out collision early warning according to the collision time and the early warning starting time and controlling the self-vehicle to brake according to the collision time and the braking starting time.
In some embodiments, the setting module is further configured to:
setting the longitudinal early warning starting time and the longitudinal braking starting time of the vehicle according to the acceleration of the moving object;
setting the transverse early warning starting time and the transverse braking starting time of the vehicle according to the acceleration of the moving object;
the longitudinal early warning starting time is earlier than the longitudinal braking starting time, and the transverse early warning starting time is earlier than the transverse braking starting time.
In some embodiments, the setting module is further configured to:
when the acceleration of the moving object is in a preset acceleration interval, setting a first longitudinal early warning starting time and a first longitudinal braking starting time;
when the acceleration of the moving object is larger than the acceleration interval, setting a second longitudinal early warning starting time and a second longitudinal braking starting time;
when the acceleration of the moving object is smaller than the acceleration interval, setting a third longitudinal early warning starting time and a third longitudinal starting braking time;
the second longitudinal early warning start time is earlier than the first longitudinal early warning start time, the third longitudinal early warning start time is later than the first longitudinal early warning start time, the second longitudinal braking start time is earlier than the first longitudinal braking start time, and the third longitudinal braking start time is later than the first longitudinal braking start time.
In some embodiments, the setting module is further configured to:
when the acceleration of the moving object is in a preset acceleration interval, the acceleration of the moving object is larger than the acceleration interval or the acceleration of the moving object is smaller than the acceleration interval, setting a first transverse early warning starting time and a first transverse braking starting time.
In some embodiments, the computing module is further to:
calculating the longitudinal collision time of the moving object and the self-vehicle according to the longitudinal speed of the moving object and the longitudinal relative distance between the moving object and the self-vehicle;
and calculating the transverse collision time of the moving object and the self-vehicle according to the transverse speed of the moving object and the transverse relative distance between the moving object and the self-vehicle.
In some embodiments, the control module is further to:
if the longitudinal collision time is smaller than the longitudinal early warning starting time or the transverse collision time is smaller than the transverse early warning starting time, controlling a vehicle to send out collision early warning, and judging whether the longitudinal collision time is smaller than the longitudinal braking starting time or whether the transverse collision time is smaller than the transverse braking starting time;
and if the longitudinal collision time is smaller than the longitudinal braking starting time or the transverse collision time is smaller than the transverse braking starting time, controlling the vehicle to brake.
In some embodiments, the determining module is further configured to:
if the self-vehicle is in a forward gear, the steering wheel angle is larger than a preset angle, and the brake pedal is in an unbraked state, the self-vehicle is determined to be in a starting and lane changing state.
In some embodiments, the apparatus is further for:
after the self-vehicle is determined to be in a starting lane change state, if the turn signal lamp of the self-vehicle is in an off state, the turn signal lamp corresponding to the rotation direction of the steering wheel is controlled to be turned on.
In a third aspect, the present application further provides a computer device, where the computer device includes a processor, a memory, and a computer program stored on the memory and executable by the processor, where the computer program when executed by the processor implements the steps of the vehicle launch lane change control method as described above.
The application provides a control method, a device and equipment for starting and changing a lane of a vehicle, wherein after a self-vehicle is determined to be in a starting and changing lane state, the acceleration of a moving target is determined according to the speed change rate of the moving target on the side surface of the self-vehicle; calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object; setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving object; the collision early warning is sent out according to the collision time and the early warning starting time, the self-vehicle is controlled to brake according to the collision time and the braking starting time, the situation that a moving object near the self-vehicle is monitored to avoid an observation blind area is achieved, the self-vehicle is controlled to early warn and brake according to the state of the moving object, traffic accidents caused by the blind area of a driver or great intention when the self-vehicle starts to change lanes can be effectively avoided, and accordingly life and property safety of the self-vehicle and other passers on a road are protected.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle starting lane change control method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for controlling a vehicle start lane change;
FIG. 3 is a schematic block diagram of a vehicle launch lane change control;
fig. 4 is a schematic block diagram of a computer device according to an embodiment of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The embodiment of the application provides a control method, a device and equipment for vehicle starting lane change. The vehicle starting lane change control method can be applied to computer equipment, and the computer equipment can be an advanced driving assistance system ADAS controller.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a flow chart of a vehicle start lane change control method according to an embodiment of the present application.
As shown in fig. 1, the method includes steps S1 to S4.
And S1, after the fact that the vehicle is in a starting and lane changing state is determined, determining the acceleration of the moving object according to the speed change rate of the moving object on the side surface of the vehicle.
Specifically, if the own vehicle is in a forward gear, the steering wheel angle is larger than a preset angle, and the brake pedal is in an unbraked state, the own vehicle is determined to be in a starting and lane changing state. Wherein, the self-vehicle refers to the self-vehicle.
For example, as shown in fig. 2, the ADAS controller on the host vehicle determines whether the host vehicle is going to make a start lane change based on the gear position, steering wheel angle, and brake pedal opening of the host vehicle. When the self-vehicle is in a forward gear or a D gear and the brake pedal is in an unbraked state, the driver is informed of releasing the brake pedal, the self-vehicle is currently provided with a starting intention, and when the steering angle of the steering wheel is more than or equal to alpha, the self-vehicle is informed of a lane changing intention, so that the self-vehicle can be comprehensively judged to be in a starting lane changing state at present. Wherein alpha is a preset angle.
Preferably, after determining that the own vehicle is in the starting lane change state, if the turn signal lamp of the own vehicle is in the off state, the turn signal lamp corresponding to the turning direction of the steering wheel is controlled to be turned on. If the own vehicle does not turn on the corresponding turn signal, the ADAS controller requests to turn on the corresponding side turn signal to transmit the lane change driving intention of the own vehicle to the outside, thereby reducing the risk of collision.
It is worth to say that, through the front angle radar and the rear angle radar carried on the self-vehicle and the side front view camera and the side rear view camera, the moving targets on the same-direction side surface and the opposite-direction side surface of the self-vehicle can be perceived and tracked, so that the longitudinal speed and the transverse speed of the moving targets, and the longitudinal distance and the transverse distance between the moving targets and the self-vehicle can be obtained. And the ADAS controller carries out fitting calculation on the longitudinal speed and the transverse speed of the obtained moving target to calculate the change rate of the speed, so as to calculate the acceleration of the moving target. The moving object in the present embodiment includes a vehicle, a pedestrian, and the like.
And S2, calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object.
Specifically, the calculating the collision time of the moving object and the own vehicle according to the speed and the relative distance of the moving object includes: calculating the longitudinal collision time of the moving object and the self-vehicle according to the longitudinal speed of the moving object and the longitudinal relative distance between the moving object and the self-vehicle; and calculating the transverse collision time of the moving object and the self-vehicle according to the transverse speed of the moving object and the transverse relative distance between the moving object and the self-vehicle.
It is worth to say that, the ADAS controller calculates the longitudinal collision time TTC1 of the moving object and the self-vehicle according to the received longitudinal speed and longitudinal relative distance of the moving object, and calculates the transverse collision time TTC2 of the moving object and the self-vehicle according to the received transverse speed and transverse relative distance of the moving object.
And step S3, setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving target.
Specifically, the setting the early warning start time and the braking start time of the own vehicle according to the acceleration of the moving object includes: setting the longitudinal early warning starting time and the longitudinal braking starting time of the vehicle according to the acceleration of the moving object; setting the transverse early warning starting time and the transverse braking starting time of the vehicle according to the acceleration of the moving object; the longitudinal early warning starting time is earlier than the longitudinal braking starting time, and the transverse early warning starting time is earlier than the transverse braking starting time.
Further, the setting of the longitudinal early warning start time and the longitudinal braking start time of the own vehicle according to the acceleration of the moving object includes: when the acceleration of the moving object is in a preset acceleration interval, setting a first longitudinal early warning starting time and a first longitudinal braking starting time; when the acceleration of the moving object is larger than the acceleration interval, setting a second longitudinal early warning starting time and a second longitudinal braking starting time; when the acceleration of the moving object is smaller than the acceleration interval, setting a third longitudinal early warning starting time and a third longitudinal starting braking time; the second longitudinal early warning start time is earlier than the first longitudinal early warning start time, the third longitudinal early warning start time is later than the first longitudinal early warning start time, the second longitudinal braking start time is earlier than the first longitudinal braking start time, and the third longitudinal braking start time is later than the first longitudinal braking start time.
The step of setting the transverse early warning starting time and the transverse braking starting time of the vehicle according to the acceleration of the moving object further comprises the following steps: when the acceleration of the moving object is in a preset acceleration interval, the acceleration of the moving object is larger than the acceleration interval or the acceleration of the moving object is smaller than the acceleration interval, setting a first transverse early warning starting time and a first transverse braking starting time.
For example, the early warning start time and the brake start time in the present application can be calibrated manually. The longitudinal early warning starting time Tv1, the longitudinal braking starting time Tv2, the transverse early warning starting time Th1 and the transverse braking starting time Th2 are set to serve as reference time to control the starting early warning and braking of the bicycle.
The preset acceleration interval in this embodiment is-1 m/s 2 <A<1m/s 2 Where a is the acceleration of the moving object. When the acceleration of the moving object is-1 m/s 2 <A<1m/s 2 In the time, the longitudinal early warning start time Tv1 is set as a first longitudinal early warning start time T1, and the longitudinal brake start time Tv2 is set as a first longitudinal brake start time T2. The first longitudinal early warning starting time T1 is the default early warning starting time, the first longitudinal braking starting time T2 is the default braking starting time, and when the acceleration of the moving target is-1 m/s 2 <A<1m/s 2 When the moving object approaches the vehicle in a uniform speed state, the lane change intention of the vehicle may be perceived.
When the acceleration of the moving object is A is more than or equal to 1m/s 2 When the longitudinal early warning starting time Tv1 is set to be the second longitudinal early warning starting time T1 x 1.2, and the longitudinal braking starting time Tv2 is set to be the first longitudinal braking starting time T2 x 1.2. When the acceleration A of the moving object is more than or equal to 1m/s 2 When the moving object is indicated to accelerate passing by the vehicle, the risk of collision is increased, so that the longitudinal early warning starting time and the longitudinal early warning starting time are required to be advanced to reduce the collision risk.
When transportingThe acceleration of the moving target is A less than or equal to-1 m/s 2 When the longitudinal early warning starting time Tv1 is set to be 0.8 of the second longitudinal early warning starting time T1, and the longitudinal braking starting time Tv2 is set to be 0.8 of the first longitudinal braking starting time T2. In this embodiment, the transverse early warning start time Th1 is set to be T3, and the transverse braking start time Th2 is set to be T4. When the acceleration A of the moving object is less than or equal to-1 m/s 2 When the vehicle starts and changes the lane, the intention of the moving target possibly concerned is indicated, the collision risk is low, and therefore, the longitudinal early warning starting time and the longitudinal early warning starting time delay are set so as to reduce the interference of early warning and braking on the normal driving of the driver of the vehicle.
It should be understood that the early warning start time and the brake start time herein are times at which early warning or braking is started in advance before the time at which the moving object is expected to collide with the own vehicle. For example, the first longitudinal early warning start time T1 is 5 seconds, that is, the early warning is started 5 seconds before the moving object is about to collide with the vehicle, and then the second longitudinal early warning start time T1 x 1.2 is 5 x 1.2=6 seconds, that is, the early warning is started 6 seconds before the moving object is about to collide with the vehicle, and early warning is started.
In this embodiment, when the acceleration of the moving object is in a preset acceleration interval, the acceleration of the moving object is greater than the acceleration interval, or the acceleration of the moving object is less than the acceleration interval, the lateral early warning start time Th1 may be set to a first lateral early warning start time T3, and the lateral braking start time Th2 may be set to a first lateral braking start time T4. The transverse early warning start time and the transverse braking start time can also be set by adopting the same setting method as the longitudinal early warning start time and the longitudinal braking start time, and are not described in detail herein.
Thus when the acceleration of the moving object is-1 m/s 2 <A<At 1m/s, setting longitudinal early warning starting time Tv1=T1, longitudinal braking starting time Tv2=T2, transverse early warning starting time Tv1=T3 and transverse braking starting time Tv2=T4.
When the acceleration of the moving object is more than or equal to 1m/s 2 When the longitudinal early warning starting time Tv1=T1.2 is set, and when the longitudinal braking is startedInter tv2=t2×1.2, lateral warning start time th1=t3, and lateral braking start time th2=t4.
When the acceleration of the moving object is less than or equal to-1 m/s 2 When the vehicle is started, the longitudinal early warning start time tv1=t1×0.8, the longitudinal braking start time tv2=t2×0.8, the transverse early warning start time th1=t3, and the transverse braking start time th2=t4 are set.
And S4, controlling the own vehicle to send out collision early warning according to the collision time and the early warning starting time, and controlling the own vehicle to brake according to the collision time and the braking starting time.
Specifically, if the longitudinal collision time is smaller than the longitudinal early warning starting time or the transverse collision time is smaller than the transverse early warning starting time, controlling a vehicle to send out collision early warning, and judging whether the longitudinal collision time is smaller than the longitudinal braking starting time or whether the transverse collision time is smaller than the transverse braking starting time; and if the longitudinal collision time is smaller than the longitudinal braking starting time or the transverse collision time is smaller than the transverse braking starting time, controlling the vehicle to brake.
For example, when TTC1 is less than or equal to Tv1 or TTC2 is less than or equal to Th1, the ADAS controller can judge that a certain collision risk exists at the moment, the ADAS controller sends out an alarm request, the instrument responds to the request and sends out alarm sound to remind a driver, when TTC1 is less than or equal to Tv2 or TTC2 is less than or equal to Th2, the system considers that the collision risk is higher at the moment, the ADAS controller sends out a brake request, and the self-vehicle is controlled not to continue to move, so that accidents are avoided.
The embodiment provides a vehicle starting lane change control method, which is characterized in that different early warning starting time and braking starting time are set according to the acceleration of a target vehicle, and early warning starting and braking starting are triggered according to the collision time of a moving target and a self-vehicle, so that traffic accidents caused by blind areas or great intention of a driver in starting lane change can be effectively avoided, and the life and property safety of self and road traffic users is protected. And different early warning starting time and braking starting time are set according to the acceleration of the target vehicle, so that early warning and braking can be started in advance when the collision risk is large, the safety of starting lane change is improved, early warning and braking are delayed to be started when the collision risk is small, and the interference to a driver is reduced.
The embodiment of the application also provides a control device for vehicle starting lane change, as shown in fig. 3, the device comprises:
the determining module is used for determining the acceleration of the moving object according to the speed change rate of the moving object on the side surface of the self-vehicle after determining that the self-vehicle is in a starting and lane changing state;
the setting module is used for setting early warning starting time and braking starting time of the bicycle according to the acceleration of the moving object;
a calculation module for calculating collision time of the moving object and the own vehicle according to the speed and the relative distance of the moving object;
and the control module is used for controlling the self-vehicle to send out collision early warning according to the collision time and the early warning starting time and controlling the self-vehicle to brake according to the collision time and the braking starting time.
Wherein, the setting module is further used for:
setting the longitudinal early warning starting time and the longitudinal braking starting time of the vehicle according to the acceleration of the moving object;
setting the transverse early warning starting time and the transverse braking starting time of the vehicle according to the acceleration of the moving object;
the longitudinal early warning starting time is earlier than the longitudinal braking starting time, and the transverse early warning starting time is earlier than the transverse braking starting time.
Wherein, the setting module is further used for:
when the acceleration of the moving object is in a preset acceleration interval, setting a first longitudinal early warning starting time and a first longitudinal braking starting time;
when the acceleration of the moving object is larger than the acceleration interval, setting a second longitudinal early warning starting time and a second longitudinal braking starting time;
when the acceleration of the moving object is smaller than the acceleration interval, setting a third longitudinal early warning starting time and a third longitudinal starting braking time;
the second longitudinal early warning start time is earlier than the first longitudinal early warning start time, the third longitudinal early warning start time is later than the first longitudinal early warning start time, the second longitudinal braking start time is earlier than the first longitudinal braking start time, and the third longitudinal braking start time is later than the first longitudinal braking start time.
Wherein, the setting module is further used for:
when the acceleration of the moving object is in a preset acceleration interval, the acceleration of the moving object is larger than the acceleration interval or the acceleration of the moving object is smaller than the acceleration interval, setting a first transverse early warning starting time and a first transverse braking starting time.
Wherein the computing module is further configured to:
calculating the longitudinal collision time of the moving object and the self-vehicle according to the longitudinal speed of the moving object and the longitudinal relative distance between the moving object and the self-vehicle;
and calculating the transverse collision time of the moving object and the self-vehicle according to the transverse speed of the moving object and the transverse relative distance between the moving object and the self-vehicle.
Wherein, the control module is further for:
if the longitudinal collision time is smaller than the longitudinal early warning starting time or the transverse collision time is smaller than the transverse early warning starting time, controlling a vehicle to send out collision early warning, and judging whether the longitudinal collision time is smaller than the longitudinal braking starting time or whether the transverse collision time is smaller than the transverse braking starting time;
and if the longitudinal collision time is smaller than the longitudinal braking starting time or the transverse collision time is smaller than the transverse braking starting time, controlling the vehicle to brake.
Wherein the determining module is further configured to:
if the self-vehicle is in a forward gear, the steering wheel angle is larger than a preset angle, and the brake pedal is in an unbraked state, the self-vehicle is determined to be in a starting and lane changing state.
Wherein the device is further for:
after the self-vehicle is determined to be in a starting lane change state, if the turn signal lamp of the self-vehicle is in an off state, the turn signal lamp corresponding to the rotation direction of the steering wheel is controlled to be turned on.
It should be noted that, for convenience and brevity of description, specific working procedures of the above-described apparatus and each module and unit may refer to corresponding procedures in the foregoing embodiments, and are not repeated herein.
The control device for vehicle start lane change provided in the above embodiment may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 4.
Referring to fig. 4, fig. 4 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device may be an ADAS controller.
As shown in fig. 4, the computer device includes a processor, a memory, and a network interface connected by a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program comprises program instructions which, when executed, cause the processor to execute any one of a plurality of vehicle launch lane change control methods.
The processor is used to provide computing and control capabilities to support the operation of the entire computer device.
The internal memory provides an environment for the execution of a computer program in the non-volatile storage medium that, when executed by the processor, causes the processor to perform any one of a number of vehicle launch lane change control methods.
The network interface is used for network communication such as transmitting assigned tasks and the like. Those skilled in the art will appreciate that the structures shown in FIG. 4 are block diagrams only and do not constitute a limitation of the computer device on which the present aspects apply, and that a particular computer device may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The computer readable storage medium may be an internal storage unit of the computer device according to the foregoing embodiment, for example, a hard disk or a memory of the computer device. The computer readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are provided on the computer device.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments. While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A control method for vehicle start lane change, comprising:
after determining that the vehicle is in a starting lane change state, determining the acceleration of a moving object according to the speed change rate of the moving object on the side surface of the vehicle;
calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object;
setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving object;
and controlling the self-vehicle to send out collision early warning according to the collision time and the early warning starting time, and controlling the self-vehicle to brake according to the collision time and the braking starting time.
2. The method for controlling a vehicle start lane change according to claim 1, wherein the setting of the early warning start time and the brake start time of the own vehicle according to the acceleration of the moving object comprises:
setting the longitudinal early warning starting time and the longitudinal braking starting time of the vehicle according to the acceleration of the moving object;
setting the transverse early warning starting time and the transverse braking starting time of the vehicle according to the acceleration of the moving object;
the longitudinal early warning starting time is earlier than the longitudinal braking starting time, and the transverse early warning starting time is earlier than the transverse braking starting time.
3. The vehicle start lane change control method according to claim 2, wherein the setting of the longitudinal pre-warning start time and the longitudinal brake start time of the own vehicle according to the acceleration of the moving object includes:
when the acceleration of the moving object is in a preset acceleration interval, setting a first longitudinal early warning starting time and a first longitudinal braking starting time;
when the acceleration of the moving object is larger than the acceleration interval, setting a second longitudinal early warning starting time and a second longitudinal braking starting time;
when the acceleration of the moving object is smaller than the acceleration interval, setting a third longitudinal early warning starting time and a third longitudinal starting braking time;
the second longitudinal early warning start time is earlier than the first longitudinal early warning start time, the third longitudinal early warning start time is later than the first longitudinal early warning start time, the second longitudinal braking start time is earlier than the first longitudinal braking start time, and the third longitudinal braking start time is later than the first longitudinal braking start time.
4. The method for controlling a vehicle start lane change according to claim 2, wherein the setting of the lateral pre-warning start time and the lateral braking start time of the own vehicle according to the acceleration of the moving object further comprises:
when the acceleration of the moving object is in a preset acceleration interval, the acceleration of the moving object is larger than the acceleration interval or the acceleration of the moving object is smaller than the acceleration interval, setting a first transverse early warning starting time and a first transverse braking starting time.
5. The method for controlling a vehicle start lane change according to claim 2, wherein the calculating the collision time of the moving object with the own vehicle according to the speed and the relative distance of the moving object comprises:
calculating the longitudinal collision time of the moving object and the self-vehicle according to the longitudinal speed of the moving object and the longitudinal relative distance between the moving object and the self-vehicle;
and calculating the transverse collision time of the moving object and the self-vehicle according to the transverse speed of the moving object and the transverse relative distance between the moving object and the self-vehicle.
6. The method for controlling a vehicle start lane change according to claim 5, wherein the controlling the vehicle to send out a collision early warning according to the collision time and the early warning start time, and controlling the vehicle to brake according to the collision time and the brake start time, comprises:
if the longitudinal collision time is smaller than the longitudinal early warning starting time or the transverse collision time is smaller than the transverse early warning starting time, controlling a vehicle to send out collision early warning, and judging whether the longitudinal collision time is smaller than the longitudinal braking starting time or whether the transverse collision time is smaller than the transverse braking starting time;
and if the longitudinal collision time is smaller than the longitudinal braking starting time or the transverse collision time is smaller than the transverse braking starting time, controlling the vehicle to brake.
7. The vehicle start lane-changing control method according to claim 1, further comprising:
if the self-vehicle is in a forward gear, the steering wheel angle is larger than a preset angle, and the brake pedal is in an unbraked state, the self-vehicle is determined to be in a starting and lane changing state.
8. The vehicle start lane-changing control method according to claim 1, further comprising:
after the self-vehicle is determined to be in a starting lane change state, if the turn signal lamp of the self-vehicle is in an off state, the turn signal lamp corresponding to the rotation direction of the steering wheel is controlled to be turned on.
9. A vehicle start lane change control apparatus, comprising:
the determining module is used for determining the acceleration of the moving object according to the speed change rate of the moving object on the side surface of the self-vehicle after determining that the self-vehicle is in a starting and lane changing state;
the calculation module is used for calculating the collision time of the moving object and the vehicle according to the speed and the relative distance of the moving object;
the setting module is used for setting early warning starting time and braking starting time of the vehicle according to the acceleration of the moving object;
and the control module is used for controlling the self-vehicle to send out collision early warning according to the collision time and the early warning starting time and controlling the self-vehicle to brake according to the collision time and the braking starting time.
10. A computer device, characterized in that it comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, realizes the steps of the vehicle launch lane change control method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310247039.2A CN116279445A (en) | 2023-03-10 | 2023-03-10 | Control method, device and equipment for vehicle starting lane change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310247039.2A CN116279445A (en) | 2023-03-10 | 2023-03-10 | Control method, device and equipment for vehicle starting lane change |
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| Publication Number | Publication Date |
|---|---|
| CN116279445A true CN116279445A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310247039.2A Pending CN116279445A (en) | 2023-03-10 | 2023-03-10 | Control method, device and equipment for vehicle starting lane change |
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| Country | Link |
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| CN (1) | CN116279445A (en) |
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2023
- 2023-03-10 CN CN202310247039.2A patent/CN116279445A/en active Pending
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