CN116750012A - Automatic driving vehicle control method, device, equipment and readable storage medium - Google Patents
Automatic driving vehicle control method, device, equipment and readable storage medium Download PDFInfo
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- CN116750012A CN116750012A CN202310866146.3A CN202310866146A CN116750012A CN 116750012 A CN116750012 A CN 116750012A CN 202310866146 A CN202310866146 A CN 202310866146A CN 116750012 A CN116750012 A CN 116750012A
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- 230000008859 change Effects 0.000 claims abstract description 142
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W30/18154—Approaching an intersection
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Abstract
The application provides an automatic driving vehicle control method, device and equipment and a readable storage medium, wherein the automatic driving vehicle control method comprises the following steps: if the time length for waiting for the traffic light to turn green is less than or equal to the preset time length, controlling the vehicle to select the nearest lane to run; if the time length for waiting for the traffic light to turn green is longer than the preset time length, determining an optimal lane according to the safety factor and the efficiency factor of each passable lane; if the optimal lane is not the lane where the vehicle is located, calculating to obtain a lane change safety score according to the lane change safety factor; and if the lane change safety score is greater than or equal to the preset score, controlling the vehicle to drive into the optimal lane. According to the application, when the automatic driving vehicle passes through the traffic light intersection, the optimal lane is selected for the vehicle from two aspects of safety and efficiency, the risk of lane changing is further considered, and then the vehicle is controlled to keep the current lane or drive into the optimal lane for driving, so that the efficient lane can be selected for the vehicle for driving on the basis of safety.
Description
Technical Field
The present application relates to the field of intelligent driving technologies, and in particular, to a method, an apparatus, a device, and a readable storage medium for controlling an automatic driving vehicle.
Background
When an automatic driving vehicle passes through a traffic light intersection, 2-3 traffic lanes are available in many cases, if the automatic driving vehicle runs only according to the current lane, the problems of high safety risk and low traffic efficiency exist, if the automatic driving vehicle selects a lane change, the traffic light intersection is large in normal traffic flow, the lane change and the jam are serious, and the risk of accidents is high, so that the automatic driving vehicle can safely and efficiently select the lane to run when passing through the traffic light intersection, and the problem of urgent need to be solved is solved by how to reduce the taking-over times of a driver.
Disclosure of Invention
The application mainly aims to provide an automatic driving vehicle control method, an automatic driving vehicle control device, automatic driving vehicle control equipment and a readable storage medium, and aims to solve the technical problem of how to safely and efficiently select a lane to run when an automatic driving vehicle passes through a traffic light intersection so as to reduce the taking-over times of a driver.
In a first aspect, the present application provides an autonomous vehicle control method including:
when the distance between the vehicle and the intersection of the front traffic light is a preset distance and the number of the front passable lanes is larger than or equal to the preset number, if the duration of waiting for the traffic light to turn green is smaller than or equal to the preset duration, controlling the vehicle to select the nearest lane to run, wherein the preset number is a positive integer larger than 1;
if the time length for waiting for the traffic light to turn green is longer than the preset time length, determining an optimal lane according to the safety factor and the efficiency factor of each passable lane;
if the optimal lane is the lane where the vehicle is located, controlling the vehicle to keep the current lane to run;
if the optimal lane is not the lane where the vehicle is located, calculating to obtain a lane change safety score according to the lane change safety factor;
if the lane change safety score is smaller than the preset score, controlling the vehicle to keep the current lane to run;
and if the lane change safety score is greater than or equal to the preset score, controlling the vehicle to drive into the optimal lane.
Optionally, the determining the optimal lane according to the safety factor and the efficiency factor of each passable lane includes:
the safety factors at least comprise two safety sub-factors, the score of each safety sub-factor is determined according to the actual performance of all the safety sub-factors of each passable lane and a first preset scoring rule, and the score of each safety sub-factor is calculated by integrating to obtain the safety factor score of each passable lane;
if all the passable lanes have the highest safety factor score, taking the passable lane with the highest safety factor score as an optimal lane;
the efficiency factors at least comprise two efficiency factors, if no safety factor score is uniquely highest in all the passable lanes, determining the score of each efficiency factor according to the actual performance of all the efficiency factors of each passable lane with the highest safety factor score in parallel and a second preset scoring rule, and carrying out integral calculation on the score of each efficiency factor to obtain the efficiency factor score of each passable lane with the highest safety factor score in parallel;
if the effective factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the lane with the only highest effective factor score as the optimal lane;
and if no efficiency factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the nearest lane as the optimal lane.
Optionally, the lane change safety factor includes at least two lane change safety sub-factors, and calculating the lane change safety score according to the lane change safety factor includes:
and determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, and carrying out product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score.
Optionally, when the lane change safety sub-factor is whether the lane change condition is satisfied, determining a score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain a lane change safety score, where before the step of obtaining the lane change safety score includes:
judging whether the longitudinal distance L between the own vehicle and the front vehicle is satisfied when the speed of the own vehicle after lane change is equal to the speed of the front vehicle of the optimal lane if the own vehicle changes to the optimal lane through the preset maximum average deceleration:
wherein V is ego The current speed of the bicycle, V tag The vehicle speed of the front vehicle of the optimal lane is the preset maximum average deceleration;
if yes, determining that the judging result meets the lane changing condition, and if not, determining that the judging result does not meet the lane changing condition.
Optionally, when the lane change safety sub-factor is an average deceleration of the vehicle during lane change, determining a score of each lane change safety sub-factor according to an actual performance of each lane change safety sub-factor and a third preset scoring rule, and calculating a product of the score of each lane change safety sub-factor to obtain a lane change safety score, where before the calculating comprises:
when the lane changing condition is met, calculating to obtain the average deceleration a of the vehicle during lane changing through a formula I, wherein the formula I is as follows:
wherein V is ego The current speed of the bicycle, V tag For the optimal speed of the front vehicle of the lane, L 1 The time interval for following the car is doubled.
Optionally, when the lane change safety sub-factor is an average deceleration of the rear vehicle during lane change, determining a score of each lane change safety sub-factor according to an actual performance of each lane change safety sub-factor and a third preset scoring rule, and calculating a product of the score of each lane change safety sub-factor to obtain a lane change safety score, where before the step of obtaining the lane change safety score includes:
when the lane changing condition is met, if the own vehicle changes lanes through speed reduction, the average speed reduction a of the rear vehicle during lane changing is obtained through calculation of a formula II 1 The formula II is as follows:
if the own vehicle changes the lane at a constant speed, the average deceleration a of the rear vehicle during lane changing is obtained through calculation of a formula III 1 The formula III is:
wherein a is the average deceleration of the own vehicle during lane changing, d is the longitudinal distance between the own vehicle and the rear vehicle, T is the time length for the own vehicle to finish lane changing, and V ego The current speed of the bicycle, V new For the speed of the vehicle after lane change, V 1 The speed of the rear vehicle is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.
In a second aspect, the present application also provides an autonomous vehicle control apparatus including:
the nearest lane selection module is used for controlling the vehicle to select nearest lanes to run if the duration of waiting for the traffic light to turn green is less than or equal to the preset duration when the distance between the vehicle and the intersection of the front traffic light is a preset distance and the number of the front passable lanes is more than or equal to the preset number, wherein the preset number is a positive integer greater than 1;
the optimal lane determining module is used for determining an optimal lane according to the safety factor and the efficiency factor of each passable lane if the time length for waiting for the traffic light to turn green is longer than the preset time length;
the first lane keeping module is used for controlling the vehicle to keep the current lane to run if the optimal lane is the lane where the vehicle is located;
the lane change safety calculation module is used for calculating a lane change safety score according to the lane change safety factor if the optimal lane is not the lane where the vehicle is located;
the second lane keeping module is used for controlling the vehicle to keep the current lane to run if the lane change safety score is smaller than the preset score;
and the vehicle lane change control module is used for controlling the vehicle to drive into the optimal lane if the lane change safety score is greater than or equal to the preset score.
Optionally, the optimal lane determining module is configured to:
the safety factors at least comprise two safety sub-factors, the score of each safety sub-factor is determined according to the actual performance of all the safety sub-factors of each passable lane and a first preset scoring rule, and the score of each safety sub-factor is calculated by integrating to obtain the safety factor score of each passable lane;
if all the passable lanes have the highest safety factor score, taking the passable lane with the highest safety factor score as an optimal lane;
the efficiency factors at least comprise two efficiency factors, if no safety factor score is uniquely highest in all the passable lanes, determining the score of each efficiency factor according to the actual performance of all the efficiency factors of each passable lane with the highest safety factor score in parallel and a second preset scoring rule, and carrying out integral calculation on the score of each efficiency factor to obtain the efficiency factor score of each passable lane with the highest safety factor score in parallel;
if the effective factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the lane with the only highest effective factor score as the optimal lane;
and if no efficiency factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the nearest lane as the optimal lane.
In a third aspect, the present application also provides an autonomous vehicle control apparatus comprising a processor, a memory, and an autonomous vehicle control program stored on the memory and executable by the processor, wherein the autonomous vehicle control program, when executed by the processor, implements the steps of the autonomous vehicle control method as described above.
In a fourth aspect, the present application also provides a readable storage medium having stored thereon an autonomous vehicle control program, wherein the autonomous vehicle control program, when executed by a processor, implements the steps of the autonomous vehicle control method as described above.
In the application, when the distance between a vehicle and a front traffic light intersection is a preset distance and the number of front passable lanes is more than or equal to a preset number, if the duration of waiting for a traffic light to turn green is less than or equal to a preset duration, controlling the vehicle to select a nearest lane to run, wherein the preset number is a positive integer greater than 1; if the time length for waiting for the traffic light to turn green is longer than the preset time length, determining an optimal lane according to the safety factor and the efficiency factor of each passable lane; if the optimal lane is the lane where the vehicle is located, controlling the vehicle to keep the current lane to run; if the optimal lane is not the lane where the vehicle is located, calculating to obtain a lane change safety score according to the lane change safety factor; if the lane change safety score is smaller than the preset score, controlling the vehicle to keep the current lane to run; and if the lane change safety score is greater than or equal to the preset score, controlling the vehicle to drive into the optimal lane. According to the application, when the automatic driving vehicle passes through the traffic light intersection, the optimal lane is selected for the vehicle from two aspects of safety and efficiency, the risk of lane changing is further considered, and then the vehicle is controlled to keep the current lane or drive into the optimal lane for driving, so that the efficient lane can be selected for the vehicle for driving on the basis of safety.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for controlling an autonomous vehicle according to the present application;
FIG. 2 is a schematic diagram of a refinement flow chart of step S20 in FIG. 1;
FIG. 3 is a schematic diagram illustrating functional blocks of an embodiment of an automatic driving vehicle control apparatus according to the present application;
fig. 4 is a schematic hardware configuration of an embodiment of the automatic driving vehicle control apparatus of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
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 application.
In a first aspect, an embodiment of the present application provides a method for controlling an autonomous vehicle.
In order to more clearly show the method for controlling the automatic driving vehicle provided by the embodiment of the application, an application scenario of the method for controlling the automatic driving vehicle provided by the embodiment of the application is introduced.
The automatic driving vehicle control method provided by the embodiment of the application is applied to the automatic driving vehicle, when the automatic driving vehicle passes through a traffic light intersection, 2-3 traffic lanes can be selected in many cases, if the automatic driving vehicle runs only according to the current lane, the problems of high safety risk and low traffic efficiency exist, if the automatic driving vehicle control method selects a lane change, because the traffic light intersection is large in general traffic flow, the lane change and the jam are serious, and the risk of accidents is high, therefore, the automatic driving vehicle control method is very necessary to select the safe and efficient lanes for the vehicle to run so as to reduce the taking over times of a driver.
In an embodiment, referring to fig. 1, fig. 1 is a flowchart of an embodiment of a method for controlling an automatic driving vehicle according to the present application, as shown in fig. 1, the method for controlling an automatic driving vehicle includes:
and S10, when the distance between the vehicle and the front traffic light intersection is a preset distance and the number of the front passable lanes is more than or equal to the preset number, if the duration of waiting for the traffic light to turn green is less than or equal to the preset duration, controlling the vehicle to select the nearest lane to run, wherein the preset number is a positive integer greater than 1.
In this embodiment, the preset distance may be set to 50 meters according to specific requirements, the preset number is a positive integer greater than 1, for example, 2, the preset duration is for example, 10 seconds, that is, when the vehicle is 50 meters away from the traffic light intersection in front and the number of the traffic lanes in front is greater than or equal to 2, if the duration of waiting for the traffic light to turn green is less than 10 seconds, the time left for lane change is too short, which is unfavorable for lane change completion, and the vehicle is controlled to select the nearest lane to run.
And step S20, if the duration of waiting for the traffic light to turn green is longer than the preset duration, determining an optimal lane according to the safety factor and the efficiency factor of each passable lane.
In this embodiment, if the duration of waiting for the traffic light to turn green is 10 seconds or longer, it is indicated that the time left for lane change is sufficient, and lane change can be performed, and first, from the two aspects of safety and traffic efficiency, the optimal lane is determined from the front traffic lane.
And step S30, if the optimal lane is the lane where the vehicle is located, controlling the vehicle to keep the current lane to run.
In this embodiment, after determining the optimal lane, if the lane in which the vehicle is currently located is the optimal lane, the vehicle is controlled to keep the current lane for driving.
And S40, if the optimal lane is not the lane where the vehicle is located, calculating to obtain a lane change safety score according to the lane change safety factor.
In this embodiment, after determining the optimal lane, if the lane in which the vehicle is currently located is not the optimal lane, it is stated that lane changing is required to be performed to drive into the optimal lane, because the traffic light intersection is usually large in traffic flow, the lane changing is serious in jam, and the risk of occurrence of an accident is high, so that the lane changing safety score needs to be calculated according to the lane changing safety factor, that is, the lane changing risk is evaluated according to the lane changing risk factor.
And S50, if the lane change safety score is smaller than the preset score, controlling the vehicle to keep the current lane to run.
In this embodiment, if the lane change safety score is smaller than the preset score, the preset score is, for example, 70%, which indicates that the risk of performing lane change is high, the vehicle is controlled to keep the current lane.
And S60, if the lane change safety score is greater than or equal to a preset score, controlling the vehicle to drive into the optimal lane.
In this embodiment, if the lane change security score is greater than or equal to the preset score, it is indicated that the risk of lane change is small, and the vehicle can be controlled to enter the optimal lane in a lane change manner, so as to improve the traffic efficiency.
In this embodiment, when an autonomous vehicle passes through a traffic light intersection, and the vehicle is 50 meters away from the traffic light intersection in front, and when the number of passable lanes in front is greater than or equal to 2, if the duration of waiting for the traffic light to turn green is greater than 10 seconds, firstly, from two aspects of safety and efficiency, an optimal lane is selected for the vehicle, further considering the risk of lane changing, and then the vehicle is controlled to keep the current lane or drive into the optimal lane for driving, so that a high-efficiency lane can be selected for the vehicle for driving on the basis of safety.
Further, referring to fig. 2, fig. 2 is a detailed flowchart of step S20 in fig. 1, and as shown in fig. 2, step S20 includes:
step S201, the safety factors at least comprise two safety sub-factors, the score of each safety sub-factor is determined according to the actual performance of all the safety sub-factors of each passable lane and a first preset scoring rule, and the score of each safety sub-factor is calculated by calculating the product of the score of each safety sub-factor to obtain the safety factor score of each passable lane;
step S202, if all the passable lanes have the highest safety factor score, taking the passable lane with the highest safety factor score as an optimal lane;
step S203, the efficiency factors at least comprise two efficiency factors, if no safety factor score is uniquely highest in all the passable lanes, determining the score of each efficiency factor according to the actual performance of all the efficiency factors of each passable lane with the highest safety factor score in parallel and a second preset scoring rule, and carrying out product calculation on the score of each efficiency factor to obtain the efficiency factor score of each passable lane with the highest safety factor score in parallel;
step S204, if the effective factor score is the only highest in the passable lanes with the highest safety factor scores in parallel, taking the lane with the only highest effective factor score as the optimal lane;
in step S205, if no efficiency factor score is uniquely highest in the passable lanes with all the security factor scores highest in parallel, the nearest lane is taken as the optimal lane.
In this embodiment, the safety factors include, but are not limited to, whether there is a large truck in front of and behind the lane, whether there is a non-motor vehicle beside the lane, whether there is a pedestrian beside the lane, whether there is a two-wheel vehicle waiting for traffic in the lane, whether the lane is the rightmost lane, whether merging is needed and changing is needed, if the actual performance of each safety sub-factor is no, the score of the safety sub-factor is 100%, if yes, the score of the safety sub-factor is determined according to a first preset scoring rule table, and the first preset scoring rule table is shown in table 1;
table 1.
The initial safety factor of each lane can be set as S 0 Security factor score LC for i-th lane =100 i The calculation formula of (2) isWherein k represents from the first to the seventh security sub-factor;
similarly, the efficiency factors include, but are not limited to, for example, the number of waiting vans in the lane, the length of the lane minus the length of the minimum lane, and whether the lane is a multiplexed lane, the determination of the score of each efficiency sub-factor is shown in Table 2, table 2 is a second preset scoring rule table, and the initial efficiency factor of each lane may be set to E 0 An efficiency factor score LC for the i-th lane =100 i The calculation formula of (2) isWherein k represents from the first to the third efficiency sub-factor;
table 2.
In the process of determining the optimal lane, the lane with the unique highest safety factor score is first selected, if no lane with the unique highest safety factor score exists, the lane with the unique highest efficiency factor score is selected from the lanes with the parallel highest safety factor scores as the optimal lane, and if the lane cannot be selected, the nearest lane is taken as the optimal lane.
Further, in an embodiment, the lane change safety factor includes at least two lane change safety sub-factors, and step S40 includes:
and determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, and carrying out product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score.
In this embodiment, the lane change safety factors include, but are not limited to, for example, whether the lane change condition is satisfied, the average deceleration of the own vehicle during lane change, the average deceleration of the following vehicle during lane change, and whether the adjacent lane has a risk target, the determination of the score of each lane change safety sub-factor is shown in table 3, table 3 is a third preset scoring rule table, and the initial lane change safety factor of each lane may be set to Q 0 Lane change safety score LC for i-th lane =100 i The calculation formula of (2) isWherein k represents a lane change safety sub-factor from first to fourth;
table 3.
Further, in an embodiment, when the lane change safety sub-factor is whether the lane change condition is satisfied, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, performing product calculation on the score of each lane change safety sub-factor to obtain a lane change safety score, the method includes:
judging whether the longitudinal distance L between the own vehicle and the front vehicle is satisfied when the speed of the own vehicle after lane change is equal to the speed of the front vehicle of the optimal lane if the own vehicle changes to the optimal lane through the preset maximum average deceleration:
wherein V is ego The current speed of the bicycle, V tag The vehicle speed of the front vehicle of the optimal lane is the preset maximum average deceleration;
if yes, determining that the judging result meets the lane changing condition, and if not, determining that the judging result does not meet the lane changing condition.
In this embodiment, in order to ensure safety, assuming that the own vehicle changes lanes to an optimal lane by a preset maximum average deceleration, the longitudinal distance L between the own vehicle and the front vehicle must satisfy a certain safety distance when the speed of the own vehicle after changing lanes and the speed of the front vehicle of the optimal lane are equal, wherein the preset maximum average deceleration X may be set to 4, when the vehicle changes lanes by decelerating, if the average deceleration exceeds-4 m/s 2 Often giving the passenger a greater discomfort.
Further, in an embodiment, when the lane change safety sub-factor is an average deceleration of the vehicle during lane change, before determining a score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, performing product calculation on the score of each lane change safety sub-factor to obtain a lane change safety score, the method includes:
when the lane changing condition is met, calculating to obtain the average deceleration a of the vehicle during lane changing through a formula I, wherein the formula I is as follows:
wherein V is ego The current speed of the bicycle, V tag For the optimal speed of the front vehicle of the lane, L 1 The time interval for following the car is doubled.
In this embodiment, according to the current speed of the own vehicle and the speed of the front vehicle of the optimal lane, the average deceleration of the own vehicle when the following time interval of the own vehicle and the front vehicle is doubled during lane changing is calculated, and if the average deceleration of the own vehicle is too large, a certain lane changing risk is brought.
Further, in an embodiment, when the lane change safety sub-factor is an average deceleration of the rear vehicle during lane change, before determining a score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, performing product calculation on the score of each lane change safety sub-factor to obtain a lane change safety score, the method includes:
when the lane changing condition is met, if the own vehicle changes lanes through speed reduction, the average speed reduction a of the rear vehicle during lane changing is obtained through calculation of a formula II 1 The formula II is as follows:
if the own vehicle changes the lane at a constant speed, the average deceleration a of the rear vehicle during lane changing is obtained through calculation of a formula III 1 The formula III is:
wherein, a is when changing trackThe average deceleration of the own vehicle, d is the longitudinal distance between the own vehicle and the rear vehicle, T is the time length for the own vehicle to finish lane change, and V ego The current speed of the bicycle, V new For the speed of the vehicle after lane change, V 1 The speed of the rear vehicle is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.
In this embodiment, the average deceleration of the rear vehicle is brought about by the lane change of the own vehicle, and the average deceleration of the rear vehicle is obtained by the formula calculation through the lane change of the own vehicle by decelerating and the lane change of the own vehicle by uniform speed in two cases, and if the average deceleration of the rear vehicle is too large, a certain lane change risk is brought.
In a second aspect, the embodiment of the application further provides an automatic driving vehicle control device.
Referring to fig. 3, fig. 3 is a schematic functional block diagram of an embodiment of an automatic driving vehicle control device according to the present application.
In this embodiment, the automatic driving vehicle control apparatus includes:
the nearest lane selecting module 10 is configured to control the vehicle to select a nearest lane to run if a duration of waiting for the traffic light to turn green is less than or equal to a preset duration when a distance between the vehicle and a front traffic light intersection is a preset distance and the number of front passable lanes is greater than or equal to a preset number, where the preset number is a positive integer greater than 1;
the optimal lane determining module 20 is configured to determine an optimal lane according to the safety factor and the efficiency factor of each passable lane if the duration of waiting for the traffic light to turn green is greater than the preset duration;
the first lane keeping module 30 is configured to control the vehicle to keep the current lane for driving if the optimal lane is the lane where the vehicle is located;
the lane change safety calculation module 40 is configured to calculate a lane change safety score according to the lane change safety factor if the optimal lane is not the lane where the vehicle is located;
the second lane keeping module 50 is configured to control the vehicle to keep running on the current lane if the lane change safety score is less than the preset score;
the vehicle lane change control module 60 is configured to control the vehicle to drive into the optimal lane if the lane change safety score is equal to or greater than the preset score.
Further, in an embodiment, the optimal lane determining module 20 is configured to:
the safety factors at least comprise two safety sub-factors, the score of each safety sub-factor is determined according to the actual performance of all the safety sub-factors of each passable lane and a first preset scoring rule, and the score of each safety sub-factor is calculated by integrating to obtain the safety factor score of each passable lane;
if all the passable lanes have the highest safety factor score, taking the passable lane with the highest safety factor score as an optimal lane;
the efficiency factors at least comprise two efficiency factors, if no safety factor score is uniquely highest in all the passable lanes, determining the score of each efficiency factor according to the actual performance of all the efficiency factors of each passable lane with the highest safety factor score in parallel and a second preset scoring rule, and carrying out integral calculation on the score of each efficiency factor to obtain the efficiency factor score of each passable lane with the highest safety factor score in parallel;
if the effective factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the lane with the only highest effective factor score as the optimal lane;
and if no efficiency factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the nearest lane as the optimal lane.
Further, in an embodiment, the lane change safety factor includes at least two lane change safety sub-factors, and the lane change safety calculation module 40 is configured to:
and determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, and carrying out product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score.
Further, in an embodiment, when the lane change safety sub-factor is whether the lane change condition is satisfied, the automatic driving vehicle control device further includes a judging module, configured to:
judging whether the longitudinal distance L between the own vehicle and the front vehicle is satisfied when the speed of the own vehicle after lane change is equal to the speed of the front vehicle of the optimal lane if the own vehicle changes to the optimal lane through the preset maximum average deceleration:
wherein V is ego The current speed of the bicycle, V tag The vehicle speed of the front vehicle of the optimal lane is the preset maximum average deceleration;
if yes, determining that the judging result meets the lane changing condition, and if not, determining that the judging result does not meet the lane changing condition.
Further, in an embodiment, when the lane change safety sub-factor is an average deceleration of the own vehicle during lane change, the automatic driving vehicle control device further includes an average deceleration calculating module for the own vehicle during lane change, where:
when the lane changing condition is met, calculating to obtain the average deceleration a of the vehicle during lane changing through a formula I, wherein the formula I is as follows:
wherein V is ego The current speed of the bicycle, V tag For the optimal speed of the front vehicle of the lane, L 1 The time interval for following the car is doubled.
Further, in an embodiment, when the lane change safety sub factor is an average deceleration of the rear vehicle during lane change, the automatic driving vehicle control device further includes an average deceleration calculating module for the rear vehicle during lane change, where:
when the lane changing condition is met, if the own vehicle changes lanes through speed reduction, the average speed reduction a of the rear vehicle during lane changing is obtained through calculation of a formula II 1 The formula II is as follows:
if the own vehicle changes the lane at a constant speed, the average deceleration a of the rear vehicle during lane changing is obtained through calculation of a formula III 1 The formula III is:
wherein a is the average deceleration of the own vehicle during lane changing, d is the longitudinal distance between the own vehicle and the rear vehicle, T is the time length for the own vehicle to finish lane changing, and V ego The current speed of the bicycle, V new For the speed of the vehicle after lane change, V 1 The speed of the rear vehicle is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.
The function implementation of each module in the automatic driving vehicle control device corresponds to each step in the automatic driving vehicle control method embodiment, and the function and implementation process of the function implementation are not described in detail herein.
In a third aspect, an embodiment of the present application provides an autonomous vehicle control apparatus.
Referring to fig. 4, fig. 4 is a schematic hardware configuration diagram of an embodiment of the automatic driving vehicle control apparatus of the present application. In an embodiment of the present application, the autonomous vehicle control apparatus may include a processor 1001 (e.g., central processor Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM) or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may alternatively be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration shown in fig. 4 is not limiting of the application and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
With continued reference to fig. 4, an operating system, a network communication module, a user interface module, and an autonomous vehicle control program may be included in the memory 1005 of fig. 4, which is a type of computer storage medium. The processor 1001 may invoke an autopilot control program stored in the memory 1005, and execute the autopilot control method provided in the embodiment of the present application.
In a fourth aspect, embodiments of the present application also provide a readable storage medium.
The readable storage medium of the present application stores an autonomous vehicle control program, wherein the autonomous vehicle control program, when executed by a processor, implements the steps of the autonomous vehicle control method as described above.
The method implemented when the autopilot control program is executed may refer to various embodiments of the autopilot control method of the present application, and will not be described herein.
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 the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. An automatic driving vehicle control method, characterized by comprising:
when the distance between the vehicle and the intersection of the front traffic light is a preset distance and the number of the front passable lanes is larger than or equal to the preset number, if the duration of waiting for the traffic light to turn green is smaller than or equal to the preset duration, controlling the vehicle to select the nearest lane to run, wherein the preset number is a positive integer larger than 1;
if the time length for waiting for the traffic light to turn green is longer than the preset time length, determining an optimal lane according to the safety factor and the efficiency factor of each passable lane;
if the optimal lane is the lane where the vehicle is located, controlling the vehicle to keep the current lane to run;
if the optimal lane is not the lane where the vehicle is located, calculating to obtain a lane change safety score according to the lane change safety factor;
if the lane change safety score is smaller than the preset score, controlling the vehicle to keep the current lane to run;
and if the lane change safety score is greater than or equal to the preset score, controlling the vehicle to drive into the optimal lane.
2. The method of automatically driving a vehicle according to claim 1, wherein the determining an optimal lane according to the safety factor and the efficiency factor of each navigable lane comprises:
the safety factors at least comprise two safety sub-factors, the score of each safety sub-factor is determined according to the actual performance of all the safety sub-factors of each passable lane and a first preset scoring rule, and the score of each safety sub-factor is calculated by integrating to obtain the safety factor score of each passable lane;
if all the passable lanes have the highest safety factor score, taking the passable lane with the highest safety factor score as an optimal lane;
the efficiency factors at least comprise two efficiency factors, if no safety factor score is uniquely highest in all the passable lanes, determining the score of each efficiency factor according to the actual performance of all the efficiency factors of each passable lane with the highest safety factor score in parallel and a second preset scoring rule, and carrying out integral calculation on the score of each efficiency factor to obtain the efficiency factor score of each passable lane with the highest safety factor score in parallel;
if the effective factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the lane with the only highest effective factor score as the optimal lane;
and if no efficiency factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the nearest lane as the optimal lane.
3. The method of controlling an autonomous vehicle of claim 1, wherein the lane-change safety factor comprises at least two lane-change safety sub-factors, and wherein calculating a lane-change safety score based on the lane-change safety factor comprises:
and determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and a third preset scoring rule, and carrying out product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score.
4. The method for controlling an automatic driving vehicle according to claim 3, wherein when the lane-change safety sub-factor is whether the lane-change condition is satisfied, before determining a score of each lane-change safety sub-factor according to the actual performance of each lane-change safety sub-factor and a third preset scoring rule, performing a product calculation on the score of each lane-change safety sub-factor to obtain the lane-change safety score, comprising:
judging whether the longitudinal distance L between the own vehicle and the front vehicle is satisfied when the speed of the own vehicle after lane change is equal to the speed of the front vehicle of the optimal lane if the own vehicle changes to the optimal lane through the preset maximum average deceleration:
wherein V is ego The current speed of the bicycle, V tag The vehicle speed of the front vehicle of the optimal lane is the preset maximum average deceleration;
if yes, determining that the judging result meets the lane changing condition, and if not, determining that the judging result does not meet the lane changing condition.
5. The method for controlling an automatic driving vehicle according to claim 4, wherein when the lane-change safety sub-factor is an average deceleration of the vehicle when the lane-change is performed, before determining a score of each lane-change safety sub-factor according to the actual performance of each lane-change safety sub-factor and a third preset scoring rule, performing a product calculation on the score of each lane-change safety sub-factor to obtain the lane-change safety score, comprising:
when the lane changing condition is met, calculating to obtain the average deceleration a of the vehicle during lane changing through a formula I, wherein the formula I is as follows:
wherein V is ego The current speed of the bicycle, V tag For the optimal speed of the front vehicle of the lane, L 1 The time interval for following the car is doubled.
6. The method for controlling an automatically driven vehicle according to claim 5, wherein when the lane-changing safety sub-factor is an average deceleration of the following vehicle when the lane-changing is performed, before determining a score of each lane-changing safety sub-factor according to the actual performance of each lane-changing safety sub-factor and a third preset scoring rule, performing a product calculation on the score of each lane-changing safety sub-factor to obtain the lane-changing safety score, comprising:
when the lane changing condition is met, if the own vehicle changes lanes through speed reduction, the average speed reduction a of the rear vehicle during lane changing is obtained through calculation of a formula II 1 The formula II is as follows:
if the own vehicle changes the lane at a constant speed, the average deceleration a of the rear vehicle during lane changing is obtained through calculation of a formula III 1 The formula III is:
wherein a is the average deceleration of the own vehicle during lane changing, d is the longitudinal distance between the own vehicle and the rear vehicle, T is the time length for the own vehicle to finish lane changing, and V ego The current speed of the bicycle, V new For the speed of the vehicle after lane change, V 1 The speed of the rear vehicle is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.
7. An autonomous vehicle control apparatus, characterized by comprising:
the nearest lane selection module is used for controlling the vehicle to select nearest lanes to run if the duration of waiting for the traffic light to turn green is less than or equal to the preset duration when the distance between the vehicle and the intersection of the front traffic light is a preset distance and the number of the front passable lanes is more than or equal to the preset number, wherein the preset number is a positive integer greater than 1;
the optimal lane determining module is used for determining an optimal lane according to the safety factor and the efficiency factor of each passable lane if the time length for waiting for the traffic light to turn green is longer than the preset time length;
the first lane keeping module is used for controlling the vehicle to keep the current lane to run if the optimal lane is the lane where the vehicle is located;
the lane change safety calculation module is used for calculating a lane change safety score according to the lane change safety factor if the optimal lane is not the lane where the vehicle is located;
the second lane keeping module is used for controlling the vehicle to keep the current lane to run if the lane change safety score is smaller than the preset score;
and the vehicle lane change control module is used for controlling the vehicle to drive into the optimal lane if the lane change safety score is greater than or equal to the preset score.
8. The autonomous vehicle control device of claim 7, wherein the optimal lane determination module is configured to:
the safety factors at least comprise two safety sub-factors, the score of each safety sub-factor is determined according to the actual performance of all the safety sub-factors of each passable lane and a first preset scoring rule, and the score of each safety sub-factor is calculated by integrating to obtain the safety factor score of each passable lane;
if all the passable lanes have the highest safety factor score, taking the passable lane with the highest safety factor score as an optimal lane;
the efficiency factors at least comprise two efficiency factors, if no safety factor score is uniquely highest in all the passable lanes, determining the score of each efficiency factor according to the actual performance of all the efficiency factors of each passable lane with the highest safety factor score in parallel and a second preset scoring rule, and carrying out integral calculation on the score of each efficiency factor to obtain the efficiency factor score of each passable lane with the highest safety factor score in parallel;
if the effective factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the lane with the only highest effective factor score as the optimal lane;
and if no efficiency factor score is the only highest in the passable lanes with the highest parallel safety factor scores, taking the nearest lane as the optimal lane.
9. An autonomous vehicle control apparatus comprising a processor, a memory, and an autonomous vehicle control program stored on the memory and executable by the processor, wherein the autonomous vehicle control program, when executed by the processor, implements the steps of the autonomous vehicle control method of any of claims 1 to 6.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon an autonomous vehicle control program, wherein the autonomous vehicle control program, when executed by a processor, implements the steps of the autonomous vehicle control method according to any one of claims 1 to 6.
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| CN117075526A (en) * | 2023-10-13 | 2023-11-17 | 江苏怀广智能交通科技有限公司 | Remote control method and device for automatic driving vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117075526A (en) * | 2023-10-13 | 2023-11-17 | 江苏怀广智能交通科技有限公司 | Remote control method and device for automatic driving vehicle |
| CN117075526B (en) * | 2023-10-13 | 2024-01-26 | 江苏怀广智能交通科技有限公司 | Remote control method and device for automatic driving vehicle |
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