CN117284297B

CN117284297B - Vehicle control method and device and domain controller

Info

Publication number: CN117284297B
Application number: CN202311590926.6A
Authority: CN
Inventors: 胡艳明; 孙凌旭; 李子扬; 朱科引
Original assignee: Foss Hangzhou Intelligent Technology Co Ltd
Current assignee: Foss Hangzhou Intelligent Technology Co Ltd
Priority date: 2023-11-27
Filing date: 2023-11-27
Publication date: 2024-02-27
Anticipated expiration: 2043-11-27
Also published as: CN117284297A

Abstract

The application discloses a vehicle control method, a vehicle control device and a domain controller. Wherein the method comprises the following steps: obtaining a lane change track of a self-vehicle, a first moving track of a first vehicle which does not allow the self-vehicle, and a second moving track of the first vehicle when the first vehicle gives way; determining a rear-end collision simulation result according to the lane change track of the own vehicle, the first moving track and the second moving track, wherein the rear-end collision simulation result is used for indicating whether rear-end collision occurs between the own vehicle and the first vehicle in the process of lane change of the own vehicle to the target lane; and controlling the self-vehicle to execute the operation corresponding to the rear-end collision simulation result, wherein the corresponding operation comprises the self-vehicle to execute the lane change operation or the self-vehicle to continuously run on the current lane. The method and the device solve the technical problem that the success rate of lane changing of the vehicle in dense traffic flow is low.

Description

Vehicle control method and device and domain controller

Technical Field

The application relates to the field of vehicle controller software development, in particular to a vehicle control method, a vehicle control device and a domain controller.

Background

In order to improve the driving efficiency of a vehicle, driving conditions are generally improved by a vehicle lane change method during automatic driving of the vehicle.

The existing vehicle lane change method mainly judges whether collision risk exists in lane change behaviors according to the speed and the position of surrounding vehicles, and determines whether to trigger subsequent lane change decisions based on the collision risk. However, in a driving scene with dense vehicles, small vehicle distance and high lane change priority, such as upper and lower ramps or intersections with larger traffic flow, the conditions for judging whether to make lane change decisions and lane change heuristics according to the current state are very strict, which can lead to lower lane change trigger frequency, thereby causing the technical problem of lower lane change success rate of vehicles in dense traffic flow.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a vehicle control device and a domain controller, which are used for at least solving the technical problem that the success rate of lane changing of a vehicle in dense traffic flow is low.

According to an aspect of an embodiment of the present application, there is provided a vehicle control method including: the method comprises the steps that a lane change track of a self-vehicle, a first movement track of a first vehicle which does not allow the self-vehicle to run and a second movement track of the first vehicle which gives way to run are obtained, wherein the lane change track is used for describing the longitudinal movement speed of the self-vehicle in the process of changing from a current lane to a target lane, the first vehicle runs on the target lane and is positioned at the rear of a target lane change position, and the target lane change position is a position from the self-vehicle to the rear of the target lane under the condition that the self-vehicle and the first vehicle do not have rear-end collision; determining a rear-end collision simulation result according to the lane change track of the own vehicle, the first moving track and the second moving track, wherein the rear-end collision simulation result is used for indicating whether rear-end collision occurs between the own vehicle and the first vehicle in the process of lane change of the own vehicle to the target lane; and controlling the self-vehicle to execute the operation corresponding to the rear-end collision simulation result, wherein the corresponding operation comprises the self-vehicle to execute the lane change operation or the self-vehicle to continuously run on the current lane.

Optionally, the controlling the vehicle to perform an operation corresponding to the rear-end collision simulation result includes: executing game operation under the condition that the first vehicle does not make the self-vehicle and the rear-end collision simulation result indicates that the self-vehicle and the first vehicle do not make the rear-end collision, wherein the game operation is used for moving the self-vehicle from a current lane to an initial position in a target lane according to a set of transverse decision speeds and a set of longitudinal decision speeds; and moving the vehicle from an initial position to a target lane change position, wherein the target lane change position is positioned at the center of the target lane, and the initial position is positioned on one boundary line adjacent to the current lane in boundary lines on two sides of the target lane.

Optionally, the executing the game operation under the condition that the first vehicle does not let the self-vehicle and the rear-end collision simulation result indicates that the self-vehicle and the first vehicle have a rear-end collision, and the first vehicle gives up the self-vehicle and the rear-end collision simulation result indicates that the self-vehicle and the first vehicle do not have a rear-end collision includes: performing a gaming operation on the own vehicle in an ith period by: acquiring a first abscissa of the own vehicle in the ith period at the ith initial position, wherein the ith initial position is positioned on a current lane, the first abscissa is an abscissa under a pre-established road coordinate system, and the road coordinate system is a coordinate system established by using a central line of a road as a reference line and using a tangent vector and a normal vector of the reference line; and moving the vehicle from an i-th initial position to an i-th adjustment position according to an i-th transverse predicted speed in the set of transverse predicted speeds and an i-th longitudinal moving speed in the set of longitudinal predicted speeds, wherein the i-th adjustment position is a position determined according to a first abscissa.

Optionally, before moving the own vehicle from the i-th initial position to the i-th adjustment position, the method further includes: acquiring a first time when the vehicle returns to the current lane from the ith initial position, wherein the first time is equal to 0 or more than 0; acquiring second time of rear-end collision with the first vehicle in the process of replacing the lane from the ith initial position to the target lane; the ith adjustment position is determined based on the first abscissa, the first time, and the second time.

Optionally, determining the ith adjustment position according to the first abscissa, the first time and the second time includes: calculating a first difference between the second time and the first time; calculating a target ratio between the first difference and N, wherein N is a preset value and N is a positive integer greater than or equal to 2; calculating the product between the target ratio and the absolute value of the ith lateral movement speed; and summing the value of the first abscissa and the product to obtain the abscissa of the ith adjustment position.

Optionally, determining the rear-end collision simulation result according to the lane change track, the first movement track and the second movement track of the vehicle includes: under the condition that the first vehicle does not let the self-vehicle travel, determining a rear-end collision simulation result according to the lane change track and the first movement track of the self-vehicle; or under the condition that the first vehicle gives way to the own vehicle, determining a rear-end collision simulation result according to the lane change track and the second movement track of the own vehicle.

Optionally, the track change track of the self-vehicle, the first movement track of the first vehicle without letting the self-vehicle, and the second movement track of the first vehicle letting the self-vehicle, include: obtaining a lane changing track of the own vehicle according to the target lane changing model; acquiring a first moving track of a first vehicle which does not allow the vehicle to travel according to the target model; and acquiring a second movement track of the first vehicle yielding vehicle according to the target yielding model.

Optionally, the obtaining the lane change track of the own vehicle according to the target lane change model includes: acquiring a first set of predicted state information of a second vehicle and a second set of predicted state information of a third vehicle, wherein each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N moments, each predicted state information in the second set of predicted state information is predicted state information corresponding to each of N moments, the first set of predicted state information comprises a first set of moving speeds, the second set of predicted state information comprises a second set of moving speeds, the N moments are a set of moments after the current moment, the second vehicle is on a driving target lane and is positioned in front of a target lane change position, and the third vehicle is driven on the current vehicle and is positioned in front of a vehicle; determining N predicted positions of the own vehicle at N moments according to the first group of moving speeds and the second group of moving speeds, wherein an Nth position in the N positions is a position on a target lane; and determining the lane change track of the own vehicle according to the predicted positions of the own vehicle at N moments.

Optionally, the obtaining the first movement track of the first vehicle for preventing the first vehicle from traveling according to the target preventing model includes: acquiring a first set of predicted state information of a second vehicle, wherein each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N moments, the first set of predicted state information comprises a first set of moving speeds, the N moments are a set of moments after the current moment, and the second vehicle is on a driving target lane and is positioned in front of a target lane change position; predicting a first set of longitudinal movement speeds of the first vehicle at N moments according to the first set of movement speeds; determining N simulated positions of the first vehicle at N times according to the first set of longitudinal movement speeds; and determining a first movement track according to the N simulated positions of the first vehicle at the N moments.

Optionally, the obtaining, according to the target yielding model, the second movement track of the first vehicle yielding vehicle includes: acquiring a group of state information of the own vehicle according to the lane change track of the own vehicle, wherein each state information in the group of state information is the state information corresponding to each moment in N moments respectively, and the group of state information comprises a third group of moving speeds; predicting a second set of longitudinal movement speeds of the first vehicle at N times according to the third set of movement speeds; determining N simulated positions of the first vehicle at N times based on the second set of longitudinal movement speeds; and determining a second movement track according to the N simulated positions of the first vehicle at the N moments.

Optionally, the controlling the vehicle to perform an operation corresponding to the rear-end collision simulation result includes: and under the condition that the first vehicle does not let the first vehicle run and the first vehicle does not make a rear-end collision, controlling the self vehicle to move from the current lane to the target lane according to the preset lane change track.

Optionally, the controlling the vehicle to execute an operation corresponding to the rear-end collision simulation result further includes: and controlling the self-vehicle to continuously run in the current lane and sending lane changing prompt information to other vehicles except the self-vehicle in the continuous running process of the current lane under the condition that the rear-end collision simulation result shows that the first vehicle gives way and the self-vehicle and the first vehicle have rear-end collision.

According to still another aspect of the embodiments of the present application, there is also provided a vehicle control apparatus including: the system comprises a first acquisition unit, a second acquisition unit and a first control unit, wherein the first acquisition unit is used for acquiring a lane change track of a self-vehicle, a first movement track of a first vehicle which does not allow the self-vehicle to run and a second movement track of the first vehicle when the first vehicle gives way, the lane change track is used for describing the longitudinal movement speed of the self-vehicle in the process of changing from a current lane to a target lane, the first vehicle runs on the target lane and is positioned at the rear of a target lane change position, and the target lane change position is a position after the self-vehicle changes lanes to the target lane under the condition that the self-vehicle and the first vehicle do not have rear-end collision; the first processing unit is used for determining a rear-end collision simulation result according to the lane change track, the first movement track and the second movement track of the own vehicle, wherein the rear-end collision simulation result is used for indicating whether the own vehicle and the first vehicle are in rear-end collision or not in the process of lane change of the own vehicle to a target lane; and the second processing unit is used for controlling the vehicle to execute the operation corresponding to the rear-end collision simulation result, wherein the corresponding operation comprises the operation of executing lane changing of the vehicle or the continuous running of the vehicle in the current lane.

According to still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program that causes the computer device to execute the vehicle control method as above.

According to still another aspect of the embodiments of the present application, there is also provided a domain controller including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the vehicle control method described above by the computer program.

The lane change state is gradually improved by executing game operation under the condition that the self-vehicle is predicted to rear-end with the first vehicle in the process of lane change from the current lane to the target lane through obtaining the lane change track of the self-vehicle, the first movement track of the first vehicle without letting the self-vehicle run and the second movement track of the first vehicle letting the self-vehicle run, so that the self-vehicle is successfully changed to the target lane. In other words, under the condition that the lane change condition is severe, the game operation is executed, so that the vehicle can successfully change lanes to the target lane on the premise of not colliding with the first vehicle, the driving efficiency is improved, and the success rate of lane change of the vehicle in dense traffic flow is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is a schematic view of an application environment of an alternative vehicle control method according to an embodiment of the present application.

FIG. 2 is a flow chart of an alternative vehicle control method according to an embodiment of the present application.

FIG. 3 is an overall schematic of an alternative vehicle control method according to an embodiment of the present application.

FIG. 4 is a schematic diagram of an alternative target lane change location according to an embodiment of the present application.

FIG. 5 is a schematic illustration of the calculation of an alternative maximum collision-free relative braking distance according to an embodiment of the present application.

Fig. 6 is an alternative first vehicle-to-vehicle spacing at corresponding simulation moments in accordance with an embodiment of the present application.

FIG. 7 is a schematic illustration of alternative simulated trajectories according to an embodiment of the application.

Fig. 8 is an overall schematic of an alternative gaming operation according to an embodiment of the present application.

FIG. 9 is an alternative position of individual vehicles in a Frenet coordinate system according to an embodiment of the present application.

FIG. 10 is an alternative vehicle position comparison at the start and end of a simulation in accordance with an embodiment of the present application.

FIG. 11 is an alternative rear end collision point when a first vehicle is not traveling in accordance with an embodiment of the present application.

Fig. 12 is a schematic illustration of gaming behavior of an alternative vehicle according to an embodiment of the present application.

Fig. 13 is a schematic view of an alternative vehicle control device according to an embodiment of the present application.

Fig. 14 is a schematic structural view of an alternative electronic device according to an embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an aspect of the embodiments of the present application, there is provided a vehicle control method, optionally, as an alternative implementation, the above vehicle control method may be applied, but not limited to, in the environment as shown in fig. 1. The system may include, but is not limited to, a vehicle-mounted terminal 102 and a server 104, wherein the vehicle-mounted terminal 102 may include, but is not limited to, a display, a processor, and a memory, and the server 104 includes a database and a processing engine.

The specific process comprises the following steps:

in step S102, the server 104 sends the acquired lane change track of the own vehicle, the first movement estimate of the first vehicle not letting the own vehicle, and the second movement track of the first vehicle letting the own vehicle to the in-vehicle terminal 102 via the network 110.

Step S104-S106, the vehicle-mounted terminal 102 determines a rear-end collision simulation result according to the lane change track, the first movement track and the second movement track of the vehicle, wherein the rear-end collision simulation result is used for indicating whether the vehicle and the first vehicle are in rear-end collision or not in the process of lane change of the vehicle to the target lane; and controlling the self-vehicle to execute the operation corresponding to the rear-end collision simulation result, wherein the corresponding operation comprises the self-vehicle to execute the lane change operation or the self-vehicle to continuously run on the current lane.

In addition to the example shown in fig. 1, the above steps may be performed by the vehicle-mounted terminal or the server independently, or by the vehicle-mounted terminal and the server cooperatively, such as by the vehicle-mounted terminal 102 directly acquiring the first signature information verification passing instruction, thereby reducing the processing pressure of the server 104. The present application is not limited to a specific implementation of the in-vehicle terminal 102. The server 104 may be a single server or a server cluster composed of a plurality of servers, or may be a cloud server.

Optionally, as an alternative embodiment, as shown in fig. 2, the vehicle control method may be performed by an electronic device, such as the user device or the server shown in fig. 1, and the specific steps include the following steps S202 to S206.

S202, a lane change track of the self-vehicle, a first movement track of the first vehicle without letting the self-vehicle run and a second movement track of the first vehicle giving the self-vehicle run are acquired, wherein the lane change track is used for describing the longitudinal movement speed of the self-vehicle in the process of changing the self-vehicle from a current lane to a target lane, the first vehicle runs on the target lane and is positioned at the rear of a target lane change position, and the target lane change position is a position from the self-vehicle to the rear of the target lane under the condition that the self-vehicle and the first vehicle do not have rear-end collision.

S204, determining a rear-end collision simulation result according to the lane change track, the first movement track and the second movement track of the own vehicle, wherein the rear-end collision simulation result is used for indicating whether the own vehicle and the first vehicle are in rear-end collision or not in the process of lane change of the own vehicle to the target lane.

S206, controlling the vehicle to execute an operation corresponding to the rear-end collision simulation result, wherein the corresponding operation comprises the vehicle executing lane change operation or the vehicle continuously driving in the current lane.

As shown in fig. 4, the host vehicle is a vehicle ego traveling on the current lane at the present time, and the first vehicle is a vehicle SB traveling on the target lane behind the vehicle ego.

In order to facilitate understanding of the technical solution in the embodiments of the present application, an explanation is first given to the overall framework of the vehicle control method described above.

Firstly, obtaining a lane changing track of a self-vehicle according to a target lane changing model, obtaining a first moving track of a first vehicle which does not let the self-vehicle run according to a target non-let-down model, and obtaining a second moving track of the first vehicle which gives the self-vehicle run according to the target let-down model; then, determining different rear-end collision simulation results based on the lane change track, the first moving track and the second moving track of the vehicle; finally, according to different rear-end collision simulation results, the own vehicle adopts three different decision results (which can be understood as three different operations).

As an alternative example, the above-described decision making from the vehicle based on different rear-end collision simulation results may include, but is not limited to, at least one of the following:

(1) When the first vehicle simulation does not enable the running vehicle to have rear-end collision, a traditional lane change track generating method is adopted to generate a complete lane change track for lane change;

(2) Executing lane change game operation when the first vehicle simulation does not allow the running vehicle to carry out rear-end collision and the first vehicle simulation does not allow the running vehicle to carry out rear-end collision;

(3) When the first vehicle simulates the running vehicle to make a rear-end collision, the running and lane changing reminding actions in the lane are kept, wherein the game lane changing operation can be, but is not limited to, calculating the displacement of the transverse invasion target lane according to the time when the first vehicle simulates the running vehicle and the self vehicle do not make a rear-end collision.

The three different decision results are described below in connection with specific embodiments.

As an optional implementation manner, the controlling the vehicle to execute an operation corresponding to the rear-end collision simulation result includes: executing game operation under the condition that the first vehicle does not make the self-vehicle and the rear-end collision simulation result indicates that the self-vehicle and the first vehicle do not make the rear-end collision, wherein the game operation is used for moving the self-vehicle from a current lane to an initial position in a target lane according to a set of transverse decision speeds and a set of longitudinal decision speeds; and moving the vehicle from an initial position to a target lane change position, wherein the target lane change position is positioned at the center of the target lane, and the initial position is positioned on one boundary line adjacent to the current lane in boundary lines on two sides of the target lane.

In order to facilitate understanding of the above-described vehicle control method, the following description will be given with reference to an overall schematic diagram of the vehicle lane change method shown in fig. 3.

As shown in fig. 3, the vehicle lane change method includes 4 stages: 1) Channel changing triggering; 2) Prompting the lane change intention; 3) Channel-changing game based on intervention simulation; 4) And (3) finishing the channel change, wherein the specific steps are as follows S31-S34.

S31, the self-vehicle calculates the current optimal target lane according to the navigation route, the traffic flow rate of each lane and other information, and then determines whether to trigger a lane change decision according to the relation between the target lane and the current lane.

S32, the host vehicle receives the lane change trigger signal, determines the optimal expected slot, turns on the corresponding steering lamp, adjusts the vehicle body to approach but not cross the lane line on one side of the target lane to run, and indicates the lane change intention of the host vehicle to other vehicles on the target lane.

And S33, generating lane changing behavior by adopting a lane changing game model based on intervention simulation, and continuously interacting with other vehicles until the lane is successfully changed to a target lane.

S34, adjusting the car body and the course to be close to the center line of the target lane, and ending the whole lane change process.

Wherein the decision vehicle (own vehicle) is in accordance with the decision periodThe steps S31-S34 are executed to update the lane change intention and the lane change game behavior of the own vehicle (the decision period is generally n times the control period of the vehicle,/-, and the like) >）。

The step S33 may be implemented by, but not limited to, the following substeps S33-1 to S33-7.

S33-1, simulating the lane change track of the own vehicle based on the lane change model in the forward direction.

S33-2, simulating the yielding track of the other vehicle based on the yielding model in the forward direction.

S33-3, simulating the non-yielding track of the other vehicle based on the non-yielding model in the forward direction.

S33-4, calculating rear-end collision situations when the vehicle is in a driving state according to the lane change track of the vehicle and the driving-giving track of the other vehicle, wherein the rear-end collision situations are respectively as follows: yielding rear-end collision and yielding no rear-end collision.

S33-5, calculating the rear-end collision situation when the vehicle does not get out of the way according to the lane change track of the vehicle and the non-yielding track of the other vehicle, and determining a game active party and a game passive party according to the responsibility division of the rear-end collision in the traffic method.

S33-6, determining the adopted behavior according to the rear-end collision condition in the yielding process and whether the own vehicle is a game master.

S33-7, if the vehicle does not enter the target lane completely, the process jumps to step S33-1.

In order to facilitate understanding of the vehicle lane changing method, referring to fig. 5, a longitudinal motion model F considering safety braking and a maximum collision-free relative braking distance d during lane changing process are described below _free Explanation is made.

1) As shown in fig. 5, it is assumed that the vehicle geometric lengths of the decision-making vehicle (e.g., own vehicle) and the preceding vehicle (vehicle a shown in fig. 4) are respectively And->The coordinate positions of the decision vehicle and the front vehicle in the road direction under the road Frenet coordinate system at the time t are respectively +.>And->The formula for calculating the maximum collision-free relative braking distance is as follows formula (1):

2) Assume that the speed of the preceding vehicle A at the current time isThe longitudinal movement model F taking into account the safety braking is shown in the following formula (2):

wherein, the front vehicle H of the decision-making vehicle is ensured to be in a size ofDeceleration brake slave speed of (2)To stop, while deciding that vehicle D is braked max security +.>(calibration value) from speed->When decelerating to a stop, the decision vehicle and the preceding vehicle can still be kept +.>Is a safe distance from the vehicle; wherein (1)>As a conservative coefficient, +.>The larger the value, the more conservative the lane change behavior is obtained.

Meaning of (2): when the current deceleration estimated value of the vehicle H is greater than +.>Then based on the estimated value ∈ ->Calculating the desired speed of the vehicle D for the period>The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, it is assumed that it is possible for vehicle H to be +.>Braking is performed to calculate +.>。

3) Considering the maximum braking capacity of a decision vehicleAcceleration ability->Other speed constraints->(including but not limited to road speed limit, track curvature versus speed constraints, etc.), the speed calculation method of the decision vehicle after correction with respect to the preceding vehicle is realized by the following formula (3):

Wherein,is the speed of the vehicle Decipder at time t.

4) Return to。

In an embodiment of the present application, according to whether the first vehicle gives way or the first vehicle does not give way, the result of predicting whether the vehicle collides with the first vehicle in the course of lane change includes at least one of the following:

the first step of calculating the rear-end collision condition when the vehicle is in a collision state according to the lane change track of the vehicle and the vehicle yielding track (second moving track) of the first vehicle, and the second step of calculating the rear-end collision condition when the vehicle is in a collision state comprises the following steps: yielding rear-end collision and yielding no rear-end collision.

The list of longitudinal coordinate values extracted from the lane change track of the vehicle ego and the list of longitudinal coordinate values extracted from the yielding track of the vehicle SB are respectively:

if presentMake->Judging that the vehicle SB gives way to the vehicle ego and then making a rear-end collision; otherwise, it is determined that the vehicle SB does not rear-end collision when letting the vehicle. As shown in FIG. 6, the vehicle SB and the vehicle ego at the same simulation time are selected, and +.>Calculating the distance between two vehicles at the corresponding simulation time according to a calculation formula>. Wherein (1)>Is game friendly.

And secondly, calculating the rear-end collision situation when the vehicle does not get out of the way according to the lane change track of the vehicle and the non-yielding track of the other vehicle, and determining a game active party and a game passive party according to the responsibility division of the rear-end collision in the traffic method.

The list of longitudinal coordinate values extracted from the lane change track of the vehicle ego and the list of longitudinal coordinate values extracted from the vehicle SB's non-permitted track are respectively:

If presentMake->The vehicle SB is determined not to give way to the vehicle ego and then the vehicle SB is knocked into the rear; otherwise, it is determined that the vehicle SB does not give way to the vehicle without rear-end collision.

If the vehicle SB does not let the vehicle ego run out of the way, the game master is vehicle ego and vehicle ego has greater initiative; otherwise, the game master is the vehicle SB, and the vehicle SB has larger initiative.

Determining the adopted behavior according to the rear-end collision condition during the yielding and whether the own vehicle is a game active party or not; if the vehicle ego is a game master, ego executes lane change operation by taking the lane change track as a reference track; if the vehicle SB is a game master and the vehicle SB lets the vehicle ego travel without rear-end collision, performing a game operation at ego; otherwise, the process goes to S32.

It should be noted that, the lane change track of the own vehicle is shown as # 1 in fig. 7, the first movement track is shown as # 2 in fig. 7, and the second movement track is shown as # 3 in fig. 7.

In the event that it is determined to perform a gaming operation, the gaming operation is performed by: it is assumed that the vehicle ego determines a trigger lane change decision from the navigation route and the traffic flow rate and the like of each lane via step S31 in the scene shown in fig. 4, and starts to determine an optimal lane change slot (desired slot shown in fig. 4) from the traffic participant position and speed and the like of the target lane at step S32 in each decision period. After the optimal lane-change slot is determined, the vehicle in front of the desired slot (target lane-change position) is marked as SA, the vehicle in rear of the desired slot (target lane-change position) is marked as SB, and the vehicle in front of the same lane as the vehicle ego is marked as a.

The vehicle ego will make a lane change decision after receiving the lane change trigger information, and the entire lane change process is divided into three stages as shown in fig. 8.

The first stage: this stage may be, but is not limited to being, included in the above-described step S32, in which the vehicle ego needs to adjust the position from 1 to 2 near the lane line on the side close to the target lane, and the first stage may also include an act of turning on the turn signal or the like, which indicates the intention to change the lane.

And a second stage: this is driven in the above step S33, and the vehicle ego is caused to change the lane change state by the game with the vehicle SB, so that the vehicle can be safely and efficiently adjusted from the position 2 to the position 3 (the vehicle body completely enters the target lane).

And a third stage: the vehicle ego is driven by the above step S34 to adjust the position from 3 to 4 near the lane center line, thereby completing the lane change process.

By adopting the method, the lane change state is gradually improved by executing game operation under the condition that the self-vehicle is expected to rear-end collision with the first vehicle in the process of lane change from the current lane to the target lane through obtaining the lane change track of the self-vehicle, the first movement track of the first vehicle without letting the self-vehicle run and the second movement track of the first vehicle give way, so that the self-vehicle is successfully changed to the target lane. In other words, under the condition that the lane change condition is severe, the game operation is executed, so that the vehicle can successfully change lanes to the target lane on the premise of not colliding with the first vehicle, the driving efficiency is improved, and the success rate of lane change of the vehicle is improved.

As an optional implementation manner, the executing the game operation when the first vehicle does not let the self-vehicle and the rear-end collision simulation result indicates that the self-vehicle and the first vehicle have a rear-end collision, and the first vehicle gives the self-vehicle and the rear-end collision simulation result indicates that the self-vehicle and the first vehicle do not have a rear-end collision, includes: performing a gaming operation on the own vehicle in an ith period by: acquiring a first abscissa of the own vehicle in the ith period at the ith initial position, wherein the ith initial position is positioned on a current lane, the first abscissa is an abscissa under a pre-established road coordinate system, and the road coordinate system is a coordinate system established by using a central line of a road as a reference line and using a tangent vector and a normal vector of the reference line; and moving the vehicle from an i-th initial position to an i-th adjustment position according to an i-th transverse predicted speed in the set of transverse predicted speeds and an i-th longitudinal moving speed in the set of longitudinal predicted speeds, wherein the i-th adjustment position is a position determined according to a first abscissa.

In the embodiment of the present application, two cases of performing the gaming operation include: (1) when the first vehicle gives way to the vehicle and no rear-end collision occurs; (2) when the first vehicle does not let the vehicle run and a rear-end collision occurs. The specific procedure of the game operation will be described below taking the case (1) as an example.

The basic process of game operation is as follows: assume that the lateral coordinates of the vehicle ego in the road Frenet coordinate system during the decision period areThe method comprises the steps of carrying out a first treatment on the surface of the Vehicle slave->At a lateral speed +.>The time for returning the whole car body to the current lane isThe method comprises the steps of carrying out a first treatment on the surface of the When finding the vehicle SB without letting the vehicle ego go, let +.>The minimum t where the condition is satisfied, the vehicle is from +.>At a lateral speed +.>The time to reach the collision point is +.>The +.A is obtained by the following formula (4)>：

The gaming operation uses the longitudinal speed of the ego lane change trajectory as the longitudinal desired speed in the transverse motionAs a result of the desired transverse position a transverse desired speed is obtained (which is of a magnitude which ensures that no more than +.>When reaching +.>) Wherein the longitudinal desired speed may in turn be understood as a set of longitudinal predicted speeds, and the transverse desired speed may in turn be understood as a set of transverse predicted speeds.

The vehicle ego is moved from the i-th initial position at the present time to a plurality of predicted adjustment positions based on the set of lateral predicted speeds and the set of longitudinal predicted speeds, and the operation is repeatedly performed until the vehicle ego is moved to the target lane.

It should be noted that in the embodiment of the present application, it may be necessary to perform multiple rounds of operations to determine the own vehicle as the game master and perform the formal lane-changing operation. Therefore, the embodiment of the application can enable the vehicle to calculate safe game operation through the designed conservative braking model in a unfavorable environment, form a more direct game with the rear vehicle on the target lane, and improve the condition of changing the lane (changing the lane) with higher probability, thereby improving the lane changing success rate and the traffic efficiency in the scene that the upper ramp and the lower ramp have to change the lane and are jammed.

As another optional implementation manner, the controlling the vehicle to perform an operation corresponding to the rear-end collision simulation result includes: and under the condition that the first vehicle does not let the first vehicle run and the first vehicle does not make a rear-end collision, controlling the self vehicle to move from the current lane to the target lane according to the preset lane change track.

The preset track change track may be, but not limited to, a track change track generated by a track change track generation method in the related art, and because the probability of rear-end collision between the own vehicle and the first vehicle in the track change process is almost zero under the condition of the rear-end collision simulation result, the track change operation can be directly executed.

As still another optional implementation manner, the controlling the vehicle to perform an operation corresponding to a rear-end collision simulation result includes: and controlling the self-vehicle to continuously run in the current lane and sending lane changing prompt information to other vehicles except the self-vehicle in the continuous running process of the current lane under the condition that the rear-end collision simulation result shows that the first vehicle gives way and the self-vehicle and the first vehicle have rear-end collision.

In the case of the rear-end collision simulation result, that means that the lane changing condition cannot be met, the own vehicle can keep in a state of continuing running in the current lane, and meanwhile, the lane changing intention of the own vehicle is indicated to other vehicles on the target lane, for example, the intention of lane changing of the own vehicle of the other vehicles on the target lane is indicated through an electrically-lighted turn signal.

As an optional implementation manner, before the moving the vehicle from the i-th initial position to the i-th adjustment position, the method further includes: acquiring a first time when the vehicle returns to the current lane from the ith initial position, wherein the first time is equal to 0 or more than 0; acquiring second time of rear-end collision with the first vehicle in the process of replacing the lane from the ith initial position to the target lane; the ith adjustment position is determined based on the first abscissa, the first time, and the second time.

In a specific embodiment, as shown in fig. 9, vehicle ego is in the same lane as vehicle a, at which time ego needs to transition to the left adjacent lane of ego the direction of travel (as indicated by the arrow) according to step S1. Assume at this point that the lane-change slot selected in step S2 is between vehicle SB and vehicle SA. The state of each vehicle is represented by a transverse coordinate (l), a longitudinal coordinate(s) and a longitudinal speed under the Frenet coordinate system) Lateral speed->Equal-quaternary group<l,s,v ₁ ,v _s >The composition is formed. In the present embodiment, the state of the vehicle ego is<-1.5,5.0,0.0,5.0>The state of the vehicle A is<-1.5,20.0,0.0,6.0>The state of the vehicle SA is<1.5,17.0,0.0,8.0>The state of the vehicle SB is<1.5,-2.0,0.0,8.0>。

Assuming safe braking capabilityAcceleration ability->Road speed limit is +.>Fixed lateral movement rate- >(in this example, the moving direction is positive, the lateral moving speed of the vehicle ego at the time of lane change is obtained +.>) The one-step simulation step size was 0.1s, the length of all vehicles was 4m, and the width was 2m. The lane change trajectory simulation of the vehicle ego mainly goes from position 2 to position 3 in the second stage of fig. 8, that is, is shifted laterally by 2m in the vehicle width direction, and the total simulation time period is 2s and the total simulation step length is 20 according to the lateral shift speed.

According to the lane change track (1#) of the vehicle obtained by simulation in the embodiment, the first moving track (3#) of the first vehicle without letting the vehicle run and the second moving track (2#) of the first vehicle letting the vehicle run, the time t corresponding to the abscissa s of each track point and each point is extracted, and the s-t diagram shown in fig. 7 is obtained.

Fig. 10 is obtained from the positions of the vehicles ego (own vehicles), a, SA, SB in the road Frenet coordinate system at t=0s and t=2s. As shown in fig. 10, the dashed box indicates the position of each vehicle at t=2s, that is, the position of each vehicle at the end of the simulation, for example, the dashed box where the vehicle ego is located indicates the position of the vehicle ego at the end of the simulation, the position of the SB vehicle at the end of the simulation where the vehicle SB lets go of the vehicle ego, the vehicle SB does not let go of the vehicle ego, the position of the SB vehicle at the end of the simulation, and the like.

As can be seen from fig. 10, when SB is actively letting it, the distance between the vehicle ego and SB after the end of the simulation is greater than when SB is not letting it. In this embodiment, vehicles ego and SB overlap at the end of the simulation when vehicle SB is not running, indicating that vehicle ego must be knocked back by vehicle SB during lane change if vehicle SB is not running.

As can be seen from the description of the above embodiments, the vehicle SB allows the traveling vehicle ego to avoid rear-end collision, and the game friendliness is achievedThe method comprises the steps of carrying out a first treatment on the surface of the The vehicle SB does not let the traveling vehicle ego collide with the other vehicle, so that the game master is determined to be the vehicle SB, and the time point for determining the collision is 0.7s, i.e., the 7 th simulation step, specifically, refer to the time point for the collision shown in fig. 11.

The current host vehicle (vehicle ego) may take a gaming action assuming that the abscissa of the host vehicle's current time (e.g., at the i-th initial position) is-1m, the own vehicle is driven from-1 at transverse speed +.>The time for returning the vehicle body to the current lane is +.>Because the vehicle ego is now in the current lane; vehicle slave->The time to reach the collision point at a lateral speed of 1.0m/s is +.>。

Wherein, the abscissa of the current moment of the bicycleAnd can be understood as the first abscissa, again>And can be understood as the first time,/- >And may be understood as a second time.

As an optional implementation manner, determining the ith adjustment position according to the first abscissa, the first time and the second time includes: calculating a first difference between the second time and the first time; calculating a target ratio between the first difference and N, wherein N is a preset value and N is a positive integer greater than or equal to 2; calculating the product between the target ratio and the absolute value of the ith lateral movement speed; and summing the value of the first abscissa and the product to obtain the abscissa of the ith adjustment position.

According to、/>、/>And can calculate by using the above formula (4)。

The specific process of the game operation is as follows: the longitudinal speed of ego lane change track is adopted as the longitudinal expected speed to move transverselyA transverse desired speed is obtained as the desired transverse position (the transverse desired speed is of a magnitude which ensures that no more than +.>When it reaches as soon as possibleUp to->) Reference may be made specifically to fig. 12.

The position of the vehicle ego is continually adjusted in the manner described above for gaming operations until the vehicle ego is adjusted to the centerline of the target lane.

As can be seen from the description of the above embodiment, although the current conditions are not suitable for executing the lane change operation, the technical solution of the present application still enables the vehicle ego to invade the target lane by a distance that can ensure safety and form a direct game with the vehicle SB (as shown in fig. 10). Successful lane change of the vehicle may require multiple rounds of similar gaming operations until the vehicle ego is determined to be the gaming master, performing a formal lane change operation.

When the first vehicle does not let the vehicle run and the prediction result is that no rear-end collision occurs, the lane is changed directly according to the lane change track.

As an optional example, the determining the rear-end collision simulation result according to the lane-changing track, the first moving track and the second moving track of the vehicle includes: under the condition that the first vehicle does not let the self-vehicle travel, determining a rear-end collision simulation result according to the lane change track and the first movement track of the self-vehicle; or under the condition that the first vehicle gives way to the own vehicle, determining a rear-end collision simulation result according to the lane change track and the second movement track of the own vehicle.

Under the condition that the first vehicle does not let the vehicle run, two prediction results are obtained: (1) not letting rows and not rear-end collision; (2) not letting rows and rear-end collisions. Similarly, in the case of the first vehicle yielding, two prediction results are also obtained: (1) give way without rear-end collision; and (2) letting rows and rear-end collision.

Under the conditions of no yielding and no rear-end collision, the lane can be directly changed to the target lane according to the preset lane changing track; in the case of a collision or a rear-end collision, the lane change is not considered for a while, but the lane change intention of the own vehicle is indicated to the other vehicles, and the timing of the lane change game condition is satisfied.

As an optional implementation manner, the track change track obtained from the vehicle, the first movement track of the first vehicle when the first vehicle does not let the vehicle run, and the second movement track of the first vehicle when the first vehicle gives the vehicle run include: obtaining a lane changing track of the own vehicle according to the target lane changing model; acquiring a first moving track of a first vehicle which does not allow the vehicle to travel according to the target model; and acquiring a second movement track of the first vehicle yielding vehicle according to the target yielding model.

The following describes a method for determining the lane change track, the first movement track, and the second movement track of the own vehicle with reference to specific embodiments.

Example 1

The lane change trajectory of the own vehicle is determined by: acquiring a first set of predicted state information of a second vehicle and a second set of predicted state information of a third vehicle, wherein each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N moments, each predicted state information in the second set of predicted state information is predicted state information corresponding to each of N moments, the first set of predicted state information comprises a first set of moving speeds, the second set of predicted state information comprises a second set of moving speeds, the N moments are a set of moments after the current moment, the second vehicle is on a driving target lane and is positioned in front of a target lane change position, and the third vehicle is driven on the current vehicle and is positioned in front of a vehicle; determining N simulation positions of the vehicle at N moments according to the first group of moving speeds and the second group of moving speeds, wherein an Nth position in the N positions is a position on a target lane; and determining the lane change track of the own vehicle according to the simulation positions of the own vehicle at N moments.

The specific steps are as follows S41-S44.

S41, as shown in fig. 4, the target lane front vehicle is marked as SA, the own lane front vehicle is marked as a, and the prediction module obtains the predicted trajectories of SA and a, so that t=0 represents the current decision time of the vehicle.

S42, obtaining state information of the target front vehicle (SA) and the front vehicle (A) at the time t from the predicted track.

S43, the lane change model obtains expected transverse and longitudinal speeds of the vehicle t+1 at the simulation moment according to the state information of SA and A, and obtains the position of the vehicle t+1 at the moment based on the expected transverse and longitudinal speeds.

S44, updating t=t+1, if the vehicle ego does not enter the target lane completely, jumping to step S42, and continuing forward simulation; otherwise, the expected transverse speed, the expected longitudinal speed and the expected position at all simulation moments are collected, and the lane change track of the vehicle is obtained and returned.

For step S43, the lane change model obtains expected transverse and longitudinal speeds of the vehicle t+1 at the simulation moment according to the state information of SA and A, and obtains the position of the vehicle t+1 at the moment based on the expected transverse and longitudinal speeds, and the specific implementation process is as follows S43-1-S43-5.

S43-1, taking the vehicle ego as a decision vehicle, taking the vehicle A as a decision vehicle front vehicle, and calculating the longitudinal speed of the vehicle ego when the vehicle A is considered according to the longitudinal motion model considering safety braking 。

S43-2, taking the vehicle ego as a decision vehicle and the vehicle SA as a decision vehicle front vehicle, calculating the longitudinal speed of the vehicle ego when the vehicle A is considered according to the longitudinal motion model considering the safety braking。

S43-3, fetch，/>As a minimum value of the longitudinal speed of the vehicle at time t+1 +>。

S43-4, taking the transverse speed asThe sign is taken when the target lane is on the left and the sign is taken when the target lane is on the right.

S43-5, utilization ofAnd->Updating the lateral and longitudinal position of the vehicle ego at time t+1, ">,Wherein->For the transverse and longitudinal position coordinates of ego at time t,/->For each step of the simulation cycle.

Example 2

The first movement trajectory is determined by: acquiring a first set of predicted state information of a second vehicle, wherein each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N moments, the first set of predicted state information comprises a first set of moving speeds, the N moments are a set of moments after the current moment, and the second vehicle is on a driving target lane and is positioned in front of a target lane change position; predicting a first set of longitudinal movement speeds of the first vehicle at N moments according to the first set of movement speeds; determining N simulated positions of the first vehicle at N times according to the first set of longitudinal movement speeds; and determining a first movement track according to the N simulated positions of the first vehicle at the N moments.

The specific steps are as follows S51-S54.

S51, let t=0 denote SB current decision time.

S52, obtaining state information of the vehicle SA at the time t from the predicted track.

S53, the expected longitudinal speed of SB at the time of t+1 simulation is not obtained by the row model according to the state information of SA, and the position of SB at the time of t+1 is obtained based on the expected longitudinal speed.

S54, updating t=t+1, if t < N, jumping to step S52 to continue forward simulation; otherwise, the expected longitudinal speeds and positions at all simulation moments are collected, and the non-yielding track of SB is obtained and returned.

For the above step S53, the expected longitudinal speed of SB at the time of t+1 simulation is obtained according to the state information of SA without letting the model go, and the position of SB at the time of t+1 is obtained based on the expected longitudinal speed, which specifically includes the following steps: taking the vehicle SB as a decision vehicle, taking the vehicle SA as a decision vehicle front vehicle, and calculating the longitudinal speed of the vehicle SB when the vehicle SA is considered according to a longitudinal motion model F considering safety brakingThe method comprises the steps of carrying out a first treatment on the surface of the Then, use +.>Updating the longitudinal position of the vehicle SB at time t+1。

Example 3

The second movement trajectory is determined by: acquiring a group of state information of the own vehicle according to the lane change track of the own vehicle, wherein each state information in the group of state information is the state information corresponding to each moment in N moments respectively, and the group of state information comprises a third group of moving speeds; predicting a second set of longitudinal movement speeds of the first vehicle at N times according to the third set of movement speeds; determining N simulated positions of the first vehicle at N times based on the second set of longitudinal movement speeds; and determining a second movement track according to the N simulated positions of the first vehicle at the N moments.

The specific steps are as follows S61-S64.

S61, the target lane rear vehicle is marked SB, let t=0 denote SB current decision time.

S62, obtaining state information of the own vehicle ego at the time t from the simulated lane change track.

S63, obtaining the expected longitudinal speed of SB at the t+1 simulation time according to the state information of ego by the yield model, and obtaining the position of SB at the t+1 time based on the expected longitudinal speed.

S64, updating t=t+1, if t < N, jumping to step S62 to continue forward simulation; otherwise, the expected transverse speed, the expected longitudinal speed and the expected position at all simulation moments are collected, and the yielding track of SB is obtained and returned. Wherein N is ego, which is the step length of the analog track.

Obtaining expected transverse and longitudinal speeds of SB at the t+1 simulation moment according to the state information of ego for the yield model in the step S63, and obtaining the position of SB at the t+1 moment based on the expected transverse and longitudinal speeds; the method comprises the following steps: with the vehicle SB as the decision vehicle and the vehicle ego as the decision vehicle lead, the longitudinal speed of the vehicle SB when the vehicle ego is considered is calculated according to the longitudinal motion model considering the safety brakingThe method comprises the steps of carrying out a first treatment on the surface of the Then, use +.>Updating the longitudinal position of the vehicle SB at time t+1。

By the vehicle control method, the safe game operation of the vehicle is calculated through the designed conservative braking model in a unfavorable environment, a more direct game is formed with the rear vehicle on the target lane, and the conditions of lane change are improved with higher probability, so that the lane change success rate and the traffic efficiency in the scene of the on-off ramp, which is necessary to change lanes and is congested, can be improved.

It will be appreciated that in the specific embodiments of the present application, related data such as user information may be relevant, and that when the above embodiments of the present application are applied to specific products or technologies, user permissions or consents may need to be obtained.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

According to another aspect of the embodiments of the present application, there is also provided a vehicle control apparatus for implementing the above-described vehicle control method. As shown in fig. 13, the apparatus includes: a first obtaining unit 1302, configured to obtain a lane change track of the host vehicle, a first movement track of the first vehicle that does not let the host vehicle travel, and a second movement track of the first vehicle that gives the host vehicle, where the lane change track is used to describe a longitudinal movement speed of the host vehicle in a process of changing from a current lane to a target lane, the first vehicle travels on the target lane and is located at a rear of a target lane change position, and the target lane change position is a position after the host vehicle changes lanes to the target lane under a condition that the host vehicle and the first vehicle do not have a rear-end collision; a first processing unit 1304, configured to determine a rear-end collision simulation result according to the lane change track, the first movement track, and the second movement track of the own vehicle, where the rear-end collision simulation result is used to indicate whether a rear-end collision occurs between the own vehicle and the first vehicle in the process of changing lanes of the own vehicle to the target lane; the second processing unit 1306 is configured to control the vehicle to perform an operation corresponding to the rear-end collision simulation result, where the corresponding operation includes performing a lane change operation by the vehicle or continuously driving the vehicle in the current lane.

Optionally, the second processing unit 1306 includes: the first processing module is used for executing game operation under the condition that the first vehicle does not let the self-vehicle and the rear-end collision simulation result indicate that the self-vehicle and the first vehicle are in rear-end collision, and the first vehicle gives way the self-vehicle and the rear-end collision simulation result indicate that the self-vehicle and the first vehicle are not in rear-end collision, wherein the game operation is used for moving the self-vehicle from the current lane to the initial position in the target lane according to a set of transverse decision speeds and a set of longitudinal decision speeds; and the moving module is used for moving the vehicle from an initial position to a target lane change position, wherein the target lane change position is positioned at the center of the target lane, and the initial position is positioned on one boundary line adjacent to the current lane in boundary lines on two sides of the target lane.

Optionally, the first processing module includes: a first processing sub-module, configured to execute a game operation in an ith period on the own vehicle, where i is a positive integer greater than or equal to 1, by: acquiring a first abscissa of the own vehicle in the ith period at the ith initial position, wherein the ith initial position is positioned on a current lane, the first abscissa is an abscissa under a pre-established road coordinate system, and the road coordinate system is a coordinate system established by using a central line of a road as a reference line and using a tangent vector and a normal vector of the reference line; and moving the vehicle from an i-th initial position to an i-th adjustment position according to an i-th transverse predicted speed in the set of transverse predicted speeds and an i-th longitudinal moving speed in the set of longitudinal predicted speeds, wherein the i-th adjustment position is a position determined according to a first abscissa.

Optionally, the first processing module includes: the first acquisition sub-module is used for acquiring a first time when the self-vehicle returns to the current lane from the ith initial position, wherein the first time is equal to or more than 0; the second acquisition sub-module is used for acquiring second time of rear-end collision with the first vehicle in the process of replacing the lane from the ith initial position to the target lane; and the second processing sub-module is used for determining an ith adjustment position according to the first abscissa, the first time and the second time.

Optionally, the first processing module includes: a first calculation sub-module for calculating a first difference between the second time and the first time; the second calculating sub-module is used for calculating a target ratio between the first difference value and N, wherein N is a preset value and N is a positive integer greater than or equal to 2; a third calculation sub-module for calculating a product between the target ratio and the absolute value of the i-th lateral movement speed; and the summation sub-module is used for summing the value of the first abscissa and the product to obtain the abscissa of the ith adjustment position.

Optionally, the first processing unit 1304 includes: the second processing module is used for determining a rear-end collision simulation result according to the lane change track and the first movement track of the own vehicle under the condition that the first vehicle does not let the own vehicle travel; or under the condition that the first vehicle gives way to the own vehicle, determining a rear-end collision simulation result according to the lane change track and the second movement track of the own vehicle.

Optionally, the first obtaining unit 1302 includes: the first acquisition module is used for acquiring a lane change track of the own vehicle according to the target lane change model; the second acquisition module is used for acquiring a first movement track of the first vehicle which does not allow the vehicle to travel according to the target model which does not allow the vehicle to travel; and the third acquisition module is used for acquiring a second movement track of the first vehicle yielding bicycle according to the target yielding model.

Optionally, the first obtaining module includes: a third obtaining submodule, configured to obtain a first set of predicted state information of a second vehicle and a second set of predicted state information of a third vehicle, where each of the first set of predicted state information is predicted state information corresponding to each of N times, each of the second set of predicted state information is predicted state information corresponding to each of N times, the first set of predicted state information includes a first set of moving speeds, the second set of predicted state information includes a second set of moving speeds, the N times are a set of times after a current time, the second vehicle travels on a target lane and is located in front of a target lane change position, and the third vehicle travels on the current vehicle and is located in front of the own vehicle; the third processing sub-module is used for determining N simulation positions of the vehicle at N moments according to the first group of moving speeds and the second group of moving speeds, wherein the Nth position in the N positions is a position on the target lane; and the fourth processing sub-module is used for determining the lane change track of the own vehicle according to the simulation positions of the own vehicle at N moments.

Optionally, the second obtaining module includes: a fourth obtaining submodule, configured to obtain a first set of predicted state information of a second vehicle, where each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N times, and the first set of predicted state information includes a first set of movement speeds, and the N times are a set of times after a current time, on a second vehicle driving target lane and located in front of a target lane change position; the first prediction submodule is used for predicting a first group of longitudinal moving speeds of the first vehicle at N moments according to the first group of moving speeds; a fifth processing sub-module for determining N simulated positions of the first vehicle at N times based on the first set of longitudinal movement speeds; and the sixth processing sub-module is used for determining the first movement track according to N simulated positions of the first vehicle at N moments.

Optionally, the third obtaining module includes: a fifth obtaining sub-module, configured to obtain a set of state information of the own vehicle according to a lane change track of the own vehicle, where each state information in the set of state information is state information corresponding to each of N times, and the set of state information includes a third set of movement speeds; the second prediction submodule is used for predicting a second group of longitudinal moving speeds of the first vehicle at N moments according to a third group of moving speeds; a seventh processing sub-module for determining N simulated positions of the first vehicle at N times based on the second set of longitudinal movement speeds; and the eighth processing submodule is used for determining a second movement track according to N simulated positions of the first vehicle at N moments.

Optionally, the second processing unit 1306 includes: and the third processing module is used for controlling the self-vehicle to move from the current lane to the target lane according to a preset lane change track under the condition that the rear-end collision simulation result indicates that the first vehicle does not let the self-vehicle run and the self-vehicle and the first vehicle do not rear-end collision.

Optionally, the second processing unit 1306 further includes: the fourth processing module is used for controlling the own vehicle to continuously run on the current lane and sending channel changing prompt information to other vehicles except the own vehicle in the continuous running process of the current lane under the condition that the rear-end collision simulation result indicates that the first vehicle gives way and the own vehicle and the first vehicle have rear-end collision.

By applying the device to the situation that the self-vehicle is about to rear-end with the first vehicle in the process of changing lanes from the current lane to the target lane through the lane changing track obtained by the self-vehicle, the first moving track of the first vehicle without letting the self-vehicle travel and the second moving track of the first vehicle letting the self-vehicle travel, the lane changing state is gradually improved through executing game operation, so that the self-vehicle is successfully changed to the target lane. In other words, under the condition that the lane change condition is severe, the game operation is executed, so that the vehicle can successfully change lanes to the target lane on the premise of not colliding with the first vehicle, the driving efficiency is improved, and the success rate of lane change of the vehicle is improved.

According to yet another aspect of the embodiment of the present application, there is further provided an electronic device for implementing the above-mentioned vehicle control method, which may be, but is not limited to, the in-vehicle terminal 102 or the server 104 shown in fig. 1, the embodiment being exemplified by the electronic device as the in-vehicle terminal 102, further as shown in fig. 14, the electronic device includes a memory 1402 and a processor 1404, the memory 1402 storing a computer program, and the processor 1404 is configured to execute the steps in any of the above-mentioned method embodiments by means of the computer program.

Alternatively, in this embodiment, the electronic device may be located in at least one network device of a plurality of network devices of the computer network.

Alternatively, in the present embodiment, the above-mentioned processor may be configured to execute the following steps S1 to S3 by a computer program.

S1, acquiring a lane change track of a self-vehicle, a first movement track of the first vehicle without letting the self-vehicle run and a second movement track of the first vehicle giving the self-vehicle run, wherein the lane change track is used for describing the longitudinal movement speed of the self-vehicle in the process of changing from a current lane to a target lane, the first vehicle runs on the target lane and is positioned at the rear of a target lane change position, and the target lane change position is the position from the self-vehicle to the rear of the target lane under the condition that the self-vehicle and the first vehicle do not have rear-end collision.

S2, determining a rear-end collision simulation result according to the lane change track, the first movement track and the second movement track of the own vehicle, wherein the rear-end collision simulation result is used for indicating whether the own vehicle and the first vehicle are in rear-end collision or not in the process of lane change of the own vehicle to the target lane.

And S3, controlling the own vehicle to execute an operation corresponding to the rear-end collision simulation result, wherein the corresponding operation comprises the execution of lane changing operation by the own vehicle or continuous running of the own vehicle on the current lane.

Alternatively, it will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 14 is merely illustrative, and that fig. 14 is not intended to limit the configuration of the electronic device described above. For example, the electronic device may also include more or fewer components (e.g., network interfaces, etc.) than shown in FIG. 14, or have a different configuration than shown in FIG. 14.

The memory 1402 may be used to store software programs and modules, such as program instructions/modules corresponding to the vehicle control methods and apparatuses in the embodiments of the present application, and the processor 1404 executes the software programs and modules stored in the memory 1402 to perform various functional applications and data processing, i.e., implement the vehicle control methods described above. Memory 1402 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 1402 may further include memory located remotely from processor 1404, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. Wherein the memory 1402 may be specifically but not limited to storing a track change trajectory, a first movement trajectory, and a target prediction result. As an example, as shown in fig. 14, the memory 1402 may include, but is not limited to, the first acquisition unit 1302, the first processing unit 1304, and the second processing unit 1306 in the vehicle control device described above. In addition, other module units in the vehicle control device may be included, but are not limited to, and are not described in detail in this example.

Optionally, the transmission device 1406 is used to receive or transmit data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 1406 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices and routers via a network cable to communicate with the internet or a local area network. In one example, the transmission device 1406 is a Radio Frequency (RF) module that is used to communicate wirelessly with the internet.

In addition, the electronic device further includes: a display 1408 for displaying information such as the lane change track, the rear-end collision simulation result, and the first movement track of the own vehicle; and a connection bus 1410 for connecting the respective module parts in the above-described electronic device.

In other embodiments, the user device or the server may be a node in a distributed system, where the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the plurality of nodes through a network communication. Among them, the nodes may form a Peer-To-Peer (P2P) network, and any type of computing device, such as a server, a user device, and other electronic devices, may become a node in the blockchain system by joining the Peer-To-Peer network.

According to one aspect of the present application, a computer program product is provided, comprising a computer program/instructions containing program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by a central processing unit, performs the various functions provided by the embodiments of the present application.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

It should be noted that the computer system of the electronic device is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

The computer system includes a central processing unit (Central Processing Unit, CPU) which can execute various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage section into a random access Memory (Random Access Memory, RAM). In the random access memory, various programs and data required for the system operation are also stored. The CPU, the ROM and the RAM are connected to each other by bus. An Input/Output interface (i.e., I/O interface) is also connected to the bus.

The following components are connected to the input/output interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage section including a hard disk or the like; and a communication section including a network interface card such as a local area network card, a modem, and the like. The communication section performs communication processing via a network such as the internet. The drive is also connected to the input/output interface as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed.

In particular, according to embodiments of the present application, the processes described in the various method flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. The computer program, when executed by a central processing unit, performs the various functions defined in the system of the present application.

According to one aspect of the present application, there is provided a computer-readable storage medium, from which a processor of a computer device reads the computer instructions, the processor executing the computer instructions, causing the computer device to perform the methods provided in the various alternative implementations described above.

Alternatively, in the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for executing the following steps S1 to S3.

Alternatively, in this embodiment, it will be understood by those skilled in the art that all or part of the steps in the methods of the above embodiments may be performed by a program for instructing electronic equipment related hardware, and the program may be stored in a computer readable storage medium, where the storage medium may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods of the various embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided in the present application, it should be understood that the disclosed user equipment may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and are merely a logical functional division, and there may be other manners of dividing the apparatus in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims

1. A vehicle control method characterized by comprising:

the method comprises the steps that a lane change track of a self vehicle, a first movement track of a first vehicle which does not allow the self vehicle to move and a second movement track of the first vehicle which does not allow the self vehicle to move are obtained, wherein the lane change track is used for describing the longitudinal movement speed of the self vehicle in the process of changing from a current lane to a target lane, the lane change track is obtained by collecting expected transverse speeds, expected longitudinal speeds and positions at all simulation moments, the first vehicle runs on the target lane and is positioned behind a target lane change position, and the target lane change position is a position after the self vehicle changes lanes to the target lane under the condition that rear-end collision does not occur between the self vehicle and the first vehicle;

Determining a rear-end collision simulation result according to the lane change track of the own vehicle, the first movement track and the second movement track, wherein the rear-end collision simulation result is used for indicating whether rear-end collision occurs between the own vehicle and the first vehicle in the process of lane change of the own vehicle to the target lane;

and controlling the self-vehicle to execute operations corresponding to the rear-end collision simulation result, wherein the corresponding operations comprise the replacement of the self-vehicle from the current lane to the target lane according to the lane change track, the execution of lane change game operation by the self-vehicle and continuous running of the self-vehicle in the current lane.

2. The method of claim 1, wherein the controlling the host vehicle to perform an operation corresponding to the rear-end collision simulation result comprises:

executing a game operation under the condition that the first vehicle does not let the own vehicle and the rear-end collision simulation result indicate that the rear-end collision occurs between the own vehicle and the first vehicle, and the first vehicle gives way to the own vehicle and the rear-end collision simulation result indicates that the rear-end collision does not occur between the own vehicle and the first vehicle, wherein the game operation is used for moving the own vehicle from the current lane to an initial position in the target lane according to a set of transverse decision speeds and a set of longitudinal decision speeds;

And moving the self-vehicle from the initial position to the target lane change position, wherein the target lane change position is positioned at the center of the target lane, and the initial position is positioned on one boundary line adjacent to the current lane in boundary lines on two sides of the target lane.

3. The method of claim 2, wherein the performing the gaming operation if the first vehicle does not let the host vehicle and the rear-end collision simulation result indicate that the host vehicle and the first vehicle have a rear-end collision, and the first vehicle lets the host vehicle and the rear-end collision simulation result indicate that the host vehicle and the first vehicle do not have a rear-end collision, comprises:

executing a game operation in an ith period on the own vehicle by the following steps:

acquiring a first abscissa of the own vehicle at an ith initial position in the ith period, wherein the ith initial position is positioned on the current lane, the first abscissa is an abscissa under a pre-established road coordinate system, and the road coordinate system is a coordinate system established by using a central line of a road as a reference line and using a tangent vector and a normal vector of the reference line;

And moving the vehicle from the i initial position to an i adjustment position according to the i transverse predicted speed in the set of transverse predicted speeds and the i longitudinal predicted speed in the set of longitudinal predicted speeds, wherein the i adjustment position is a position determined according to the first abscissa.

4. A method according to claim 3, wherein before said moving the host vehicle from the i-th initial position to the i-th adjusted position, the method further comprises:

acquiring a first time when the own vehicle returns to the current lane from the ith initial position, wherein the first time is equal to 0 or more than 0;

acquiring a second time of rear-end collision with the first vehicle in the process of changing the lane from the ith initial position to the target lane;

and determining the ith adjustment position according to the first abscissa, the first time and the second time.

5. The method of claim 4, wherein said determining said ith adjustment location based on said first abscissa, said first time and said second time comprises:

calculating a first difference between the second time and the first time;

Calculating a target ratio between the first difference and N, wherein N is a preset value and N is a positive integer greater than or equal to 2;

calculating the product between the target ratio and the absolute value of the ith lateral movement speed;

and summing the value of the first abscissa and the product to obtain the abscissa of the ith adjustment position.

6. The method of claim 1, wherein the determining the rear-end collision simulation result according to the lane-change trajectory, the first movement trajectory, and the second movement trajectory of the host vehicle comprises:

determining the rear-end collision simulation result according to the lane change track of the own vehicle and the first movement track under the condition that the first vehicle does not let the own vehicle travel; or alternatively

And under the condition that the first vehicle gives way to the own vehicle, determining the rear-end collision simulation result according to the lane change track of the own vehicle and the second movement track.

7. The method of any one of claims 1 to 6, wherein the obtaining a lane-change trajectory of a host vehicle, a first movement trajectory of a first vehicle not letting go of the host vehicle, and a second movement trajectory of the first vehicle letting go of the host vehicle, comprises:

Obtaining a lane changing track of the own vehicle according to the target lane changing model;

acquiring the first movement track of the first vehicle which does not let go of the own vehicle according to a target not let go model;

and acquiring the second movement track of the first vehicle for yielding the own vehicle according to the target yielding model.

8. The method of claim 7, wherein the obtaining the lane-change trajectory of the host vehicle according to the target lane-change model comprises:

acquiring a first set of predicted state information of a second vehicle and a second set of predicted state information of a third vehicle, wherein each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N moments, each predicted state information in the second set of predicted state information is predicted state information corresponding to each of the N moments, the first set of predicted state information comprises a first set of moving speeds, the second set of predicted state information comprises a second set of moving speeds, the N moments are a set of moments after a current moment, the second vehicle runs on the target lane and is positioned in front of the target lane change position, and the third vehicle runs on the current vehicle and is positioned in front of the own vehicle;

Determining N simulated positions of the vehicle at the N moments according to the first group of moving speeds and the second group of moving speeds, wherein an Nth position in the N positions is a position on the target lane;

and determining the lane change track of the own vehicle according to the simulation positions of the own vehicle at the N moments.

9. The method of claim 7, wherein the obtaining the first movement trajectory of the first vehicle not letting the own vehicle according to the target not letting model comprises:

acquiring a first set of predicted state information of a second vehicle, wherein each predicted state information in the first set of predicted state information is predicted state information corresponding to each of N moments respectively, the first set of predicted state information comprises a first set of moving speeds, the N moments are a set of moments after the current moment, and the second vehicle runs on the target lane and is positioned in front of the target lane change position;

predicting a first set of longitudinal movement speeds of the first vehicle at the N times according to the first set of movement speeds;

determining N simulated positions of the first vehicle at the N times based on the first set of longitudinal movement speeds;

And determining the first movement track according to N simulated positions of the first vehicle at the N moments.

10. The method of claim 8, wherein the obtaining the second movement trajectory of the first vehicle yielding the host vehicle according to a target yielding model comprises:

acquiring a group of state information of the own vehicle according to the lane change track of the own vehicle, wherein each state information in the group of state information is the state information corresponding to each moment in the N moments respectively, and the group of state information comprises a third group of moving speeds;

predicting a second set of longitudinal movement speeds of the first vehicle at the N times based on the third set of movement speeds;

determining N simulated positions of the first vehicle at the N times based on the second set of longitudinal movement speeds;

and determining the second movement track according to N simulated positions of the first vehicle at the N moments.

11. The method of claim 1, wherein the controlling the host vehicle to perform an operation corresponding to the rear-end collision simulation result comprises:

and under the condition that the rear-end collision simulation result indicates that the first vehicle does not let the self-vehicle travel and the self-vehicle and the first vehicle do not rear-end collision, controlling the self-vehicle to move from the current lane to the target lane according to a preset lane change track.

12. The method of claim 1, wherein the controlling the host vehicle to perform an operation corresponding to the rear-end collision simulation result further comprises:

and controlling the self-vehicle to continuously run on the current lane and sending lane changing prompt information to other vehicles except the self-vehicle in the continuous running process of the current lane under the condition that the rear-end collision simulation result indicates that the self-vehicle is yielded by the first vehicle and the rear-end collision occurs between the self-vehicle and the first vehicle.

13. A vehicle control apparatus characterized by comprising:

the system comprises a first acquisition unit, a second acquisition unit and a first lane changing unit, wherein the first acquisition unit is used for acquiring a lane changing track of a self-vehicle, a first moving track of a first vehicle which does not allow the self-vehicle to travel and a second moving track of the first vehicle which does not allow the self-vehicle to travel, wherein the lane changing track is used for describing the longitudinal moving speed of the self-vehicle in the process of changing from a current lane to a target lane, the lane changing track is obtained by collecting expected transverse speeds, expected longitudinal speeds and positions at all simulation moments, the first vehicle runs on the target lane and is positioned behind a target lane changing position, and the target lane changing position is a position after the self-vehicle changes lanes to the target lane under the condition that rear-end collision does not occur between the self-vehicle and the first vehicle;

The first processing unit is used for determining a rear-end collision simulation result according to the lane change track of the self-vehicle, the first movement track and the second movement track, wherein the rear-end collision simulation result is used for indicating whether the self-vehicle and the first vehicle are in rear-end collision or not in the process of lane change of the self-vehicle to the target lane;

and the second processing unit is used for controlling the self-vehicle to execute operations corresponding to the rear-end collision simulation result, wherein the corresponding operations comprise the replacement of the self-vehicle from the current lane to the target lane according to the lane change track, the execution of lane change game operation by the self-vehicle and continuous running of the self-vehicle in the current lane.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run by an electronic device, performs the method of any one of claims 1 to 12.