CN118135776A - Longitudinal control target selection method, device, equipment and storage medium during lane change - Google Patents
Longitudinal control target selection method, device, equipment and storage medium during lane change Download PDFInfo
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Abstract
The invention provides a longitudinal control target selection method, a longitudinal control target selection device, longitudinal control target selection equipment and a longitudinal control target selection storage medium during lane changing. The longitudinal control target selecting method during lane changing comprises the following steps: acquiring vehicle information of a vehicle lane and vehicle information of a target lane; judging whether the own vehicle can change lanes currently or not based on the own vehicle information and the vehicle information of the target lane; and selecting, if lane change can be performed currently, a front target lane vehicle and a rear target lane vehicle of the target lane as targets, and if lane change can not be performed currently, selecting a vehicle in a self lane where the self vehicle is located as a target.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a longitudinal control target selection method, a longitudinal control target selection device, longitudinal control target selection equipment and a longitudinal control target storage medium during lane changing.
Background
With the development of artificial intelligence, the automatic driving technology has been greatly developed in recent years, and the automatic driving vehicles are more and more accepted by people in the future and become main vehicles of people. In order to realize automatic driving, a plurality of key systems including positioning, environment sensing, fusion prediction, decision making, planning, bottom layer control and the like are needed, positioning and environment sensing are carried out through vehicle-mounted sensors, and road, vehicle position and obstacle information obtained according to sensing are used for fusion prediction, decision making and planning, and vehicles are further controlled to safely and reliably run on the road.
When a vehicle runs on a road, lane changing behavior is a main driving behavior, and because of the complex road conditions, complex running conditions of the vehicle, running states of surrounding vehicles and other various factors, the automatic lane changing behavior of the vehicle is a complex dynamic process, and longitudinal control and transverse control are involved. In an adaptive cruise system (ACC), a classical target selection algorithm may support the system to implement following distance control in a specific scene, however, following control implemented by such an algorithm can only cover forward targets of a self-lane, an automatic lane change process is a cross-lane behavior, and longitudinal control of the self-lane during the lane change process may be related to target movement states in front of and behind the self-lane and target movement states in front of and behind the target lane at the same time.
Disclosure of Invention
The invention aims to solve the problems, and aims to provide a longitudinal control target selection method, a device, equipment and a storage medium during lane changing, which can avoid collision risks in the automatic lane changing process of a vehicle, ensure the safety of the automatic lane changing process of the vehicle and improve the function experience of a driver.
According to an aspect of the present invention, there is provided a longitudinal control target selection method at the time of lane change, including: acquiring vehicle information of a vehicle lane and vehicle information of a target lane; judging whether the own vehicle can change lanes currently or not based on the own vehicle information and the vehicle information of the target lane; and selecting, if lane change can be performed currently, a front target lane vehicle and a rear target lane vehicle of the target lane as targets, and if lane change can not be performed currently, selecting a vehicle in a self lane where the self vehicle is located as a target.
Preferably, if lane change cannot be currently performed, selecting the vehicle in the lane where the own vehicle is located as the target includes: predicting whether the own vehicle can change lanes by maintaining the speed of the own vehicle, decelerating the own vehicle and accelerating the own vehicle in a short preset time; and selecting a front-of-a-lane vehicle and a rear-of-a-lane vehicle of the lane as targets if it is predicted that the lane change can be performed by maintaining the speed of the vehicle, decelerating the vehicle, accelerating the vehicle, and then enabling the lane change to be performed by the vehicle, and selecting a rear-of-a-lane vehicle of the lane as targets if it is predicted that the lane change cannot be performed by maintaining the speed of the vehicle, decelerating the vehicle, accelerating the vehicle, and then enabling the vehicle to be performed by the vehicle, within a short predetermined time.
Preferably, predicting whether the own vehicle can change lanes by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, and the like in a short predetermined time is performed sequentially with the following priorities: predicting whether the own vehicle can change lanes by maintaining the speed of the own vehicle in a short preset time; predicting whether the own vehicle can change lanes by decelerating the own vehicle in a shorter predetermined time; and predicting whether the own vehicle can make lane change by accelerating the own vehicle in a shorter predetermined time.
Preferably, the judging step includes: calculating a first lane change characteristic value based on the vehicle speed, the target lane rear vehicle speed and the distance between the vehicle and the target lane rear vehicle; calculating a second lane change characteristic value based on the speed of the own vehicle, the speed of the front vehicle of the target lane and the distance between the own vehicle and the front vehicle of the target lane; calculating to obtain a third lane change characteristic value based on the second lane change characteristic value; and judging whether lane change can be performed according to whether the first lane change characteristic value is smaller than or equal to a preset first threshold value and whether the third lane change characteristic value is larger than or equal to a preset second threshold value.
Preferably, predicting whether the lane change can be performed by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, and the like in a short predetermined time is performed by whether there is a solution satisfying the following conditions simultaneously: the predicted buffer time should be greater than or equal to a buffer time threshold calculated based on the first threshold; predicting that the remaining time interval should be greater than or equal to a remaining time interval threshold calculated based on the second threshold; the distance between the self-vehicle and the rear vehicle of the self-vehicle lane is larger than or equal to a first safety distance; the distance between the self-vehicle and the vehicle in front of the self-vehicle lane is greater than or equal to a second safety distance; and the moving distance of the vehicle is smaller than or equal to a preset moving distance threshold value.
Preferably, it is predicted whether the speed of the own vehicle can be maintained, the own vehicle is decelerated, and the own vehicle is accelerated to enable lane change within a short predetermined time, and it is assumed that the speed of the target lane front vehicle, the target lane rear vehicle, the own lane front vehicle, and the own lane rear vehicle is unchanged in the prediction process.
Preferably, it is predicted whether the vehicle can change lanes by maintaining the speed of the vehicle, decelerating the vehicle, accelerating the vehicle, and then assuming that the acceleration of the vehicle is constant in the prediction process.
Preferably, the following conditions are also satisfied in predicting whether the lane change of the own vehicle can be performed by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle in a short predetermined time: and under the condition that the speed of the self-vehicle is greater than a preset speed threshold value, the acceleration change rate of the self-vehicle is within a preset range.
Preferably, the first safety distance is set to be a distance traveled by the vehicle one second after the lane.
Preferably, the second safety distance is set to a distance traveled by the own vehicle for 0.6 seconds.
According to another aspect of the present invention, there is provided a longitudinal control target selecting apparatus at the time of lane change, comprising: the acquisition device is used for acquiring the vehicle information of the own vehicle, the own lane and the target lane; the judging device is used for judging whether the own vehicle can change lanes currently or not based on the own vehicle information and the vehicle information of the target lane; and the selecting device selects the front vehicle of the target lane and the rear vehicle of the target lane as targets if the lane change can be performed currently, and selects the vehicle in the self lane where the self vehicle is located as the targets if the lane change can not be performed currently.
According to another aspect of the present invention, there is provided an electronic device comprising a processor and a memory having stored therein at least one instruction or at least one program loaded by the processor and performing the method according to one aspect of the present invention described above.
According to another aspect of the present invention, there is provided a computer storage medium storing instructions for execution by a computing device, the computing device executing the instructions, the method according to one aspect of the present invention.
Drawings
Fig. 1 is a flow chart of a longitudinal control target selection method during lane changing according to an embodiment of the present invention.
Fig. 2 is an application scenario diagram of determining a current channel change in the longitudinal control target selection method during channel change according to the embodiment of the present invention.
Fig. 3 is an application scenario diagram of determining that a track cannot be changed currently in the longitudinal control target selection method during track changing provided in the embodiment of the present invention.
Fig. 4 is a block diagram of a longitudinal control target selecting device in lane changing according to an embodiment of the present invention.
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a portion related to the present invention is shown in the drawings.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Embodiments described herein may be described with reference to plan and/or cross-sectional views with the aid of idealized schematic diagrams of the present disclosure. Accordingly, the example illustrations may be modified in accordance with manufacturing techniques and/or tolerances. Thus, the embodiments are not limited to the embodiments shown in the drawings, but include modifications of the configuration formed based on the manufacturing process. Thus, the regions illustrated in the figures have schematic properties and the shapes of the regions illustrated in the figures illustrate the particular shapes of the regions of the elements, but are not intended to be limiting.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
When an autonomous driving vehicle is driving, lane changing behavior is a main driving behavior, and after analysis of a series of traffic environments such as the speed, the distance, the road use condition, the traffic management and the like of surrounding vehicles, the lane changing behavior is a driving behavior of changing the driving lane to an adjacent lane, which is adopted for reaching a desired driving target.
In the course of changing lanes, the autonomous vehicle needs to perform the lateral movements required for changing lanes on the one hand, and on the other hand, the longitudinal movements may be related to the front target movement state, the rear target movement state, the front target movement state and the rear target movement state of the own vehicle in the own lane at the same time. If the longitudinal control at the time of lane change is to take the following control only in consideration of the front target of the own lane, collision risk of the own vehicle and the front vehicle may be caused.
Therefore, the embodiment of the application provides a longitudinal control target selection method in lane changing, which can select a target vehicle to perform longitudinal control of a vehicle according to the motion states of the vehicle in front of the vehicle and the vehicle in back of the vehicle and the vehicle in front of and the vehicle in back of a target lane in the process of automatically changing the lane of the vehicle, avoid collision risk in the process of automatically changing the lane of the vehicle, ensure the safety in the process of automatically changing the lane of the vehicle and promote the functional experience of a driver.
Fig. 1 is a schematic flow chart of a longitudinal control target selecting method during lane changing according to an embodiment of the present invention, where the method may be performed by a longitudinal control target selecting device, and the device may be implemented by software and/or hardware. The present specification provides method operational steps as an example or a flowchart, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment).
As shown in fig. 1, the longitudinal control target selection method during lane changing provided in this embodiment includes the following steps.
S110: and acquiring vehicle information of the own vehicle, the own lane and the target lane.
Fig. 2 is an application scenario diagram of determining a current channel change in the longitudinal control target selection method during channel change according to the embodiment of the present invention. Fig. 3 is an application scenario diagram of determining that a track cannot be changed currently in the longitudinal control target selection method during track changing provided in the embodiment of the present invention. The longitudinal control target selection method at the time of lane change of the present embodiment will be described with reference to fig. 2 and 3. The application scenario shown in fig. 2 is a scenario in which the first lane 4 and the second lane 5 have an entry point, for example, a high-speed ramp and a high-speed main road have a lane entry point. Since the vehicle 1 travels in the first lane 4, the vehicle 1 traveling in the first lane 4 needs to change lanes into the second lane 5, and in this embodiment, the vehicle 1 is hereinafter referred to as a host vehicle 1, the second lane 5 is referred to as a target lane 5, and the lane in which the vehicle 1 is located is referred to as a host lane 4.
When changing lanes, firstly, the vehicle information of the own vehicle, the own lane and the target lane need to be acquired. Here, the own vehicle information may include positioning information, map information, planned trajectory information, speed information, and the like of the own vehicle 1. The need for lane change of the own vehicle 1 can be confirmed from the positioning information, map information, planned trajectory information, and the like of the own vehicle 1. The vehicle information of the own lane 4 includes: the speed of the vehicle 7 located in front of the host vehicle 1 in the host lane 4, and the distance between the vehicle 7 and the host vehicle 1; and the speed of the vehicle 8 located behind the host vehicle 1 in the host lane 4, and the distance of the vehicle 8 from the host vehicle 1. The vehicle information of the target lane 5 includes: the speed of the vehicle 2 located in front of the own vehicle 1 in the target lane 5, the distance between the vehicle 2 and the own vehicle 1; and the speed of the vehicle 3 located behind the own vehicle 1 in the target lane 5, and the distance between the vehicle 3 and the own vehicle 1. The distance here refers to the longitudinal distance from the vehicle to the vehicle, for example from the front end to the rear end, for example from the rear end to the rear end. In the present embodiment, hereinafter, the vehicle 2 located in front of the own vehicle 1 in the target lane 5 is referred to as a target lane front vehicle 2, the vehicle 3 located behind the own vehicle 1 in the target lane 5 is referred to as a target lane rear vehicle 3, the vehicle 7 located in front of the own vehicle 1 in the own lane 4 is referred to as an own lane front vehicle 7, and the vehicle 8 located behind the own vehicle 1 in the own lane 4 is referred to as an own lane rear vehicle 8.
S120: and judging whether the own vehicle can change lanes currently or not based on the own vehicle information and the vehicle information of the target lane.
In this step, first, a first lane change feature value is calculated based on the own vehicle speed, the target lane rear vehicle speed, and the distance between the own vehicle 1 and the target lane rear vehicle 3.
In this embodiment, the first lane change feature value is calculated in two cases.
(1) In the case where the speed of the rear vehicle 3 of the target lane is greater than the speed of the own vehicle 1
In the case where the speed of the vehicle 3 after the target lane is greater than the speed of the own vehicle 1, the first buffer time t buffer is calculated using the following equation (1).
S current represents the distance between the host vehicle 1 and the rear vehicle 3 of the target lane, v rear represents the speed of the rear vehicle 3 of the target lane 5, v ACSF represents the speed of the host vehicle 1, and t B、a、tG are all preset parameters.
A represents the deceleration of the following vehicle 3 of the target lane after the following vehicle 1 starts lane change. t B represents the time at which the following vehicle 3 of the target lane starts decelerating after the lane change of the vehicle 1 starts. t G represents the remaining time interval between the own vehicle 1 and the rear vehicle 3 of the target lane after the rear vehicle 3 of the target lane starts decelerating.
According to equation (1), the first buffer time t buffer may be calculated, and after the first buffer time t buffer is obtained, the first lane change feature value may be obtained by linear interpolation.
Specifically, a minimum reaction time, a value of a first lane change characteristic value corresponding to the minimum reaction time, a maximum reaction time, and a value of a first lane change characteristic value corresponding to the maximum reaction time may be set, whereby the first lane change characteristic value corresponding to the first buffer time is obtained by linear interpolation.
Wherein the minimum reaction time and the maximum reaction time respectively represent different reaction times of the driver of the vehicle 3 behind the target lane to the lane change behavior of the own vehicle 1. The minimum reaction time may be set to 2 seconds, for example, and the maximum reaction time may be set to 5 seconds, for example, both of which are considered to be safe.
In the linear interpolation, for example, the value of the first lane change characteristic value corresponding to the minimum reaction time may be set to 80, the value of the first lane change characteristic value corresponding to the maximum reaction time may be set to 0, the value of the first lane change characteristic value of 0 seconds may be set to 100, and the linear interpolation {0s,2s,5s;100,80,0 to obtain a first lane change characteristic corresponding to the first buffering time. It can be seen that the first lane change feature value is indicative of the degree of lane change urgency, the greater the first lane change feature value, the greater the degree of lane change urgency.
(2) When the speed of the vehicle 3 after the target lane is equal to or less than the speed of the own vehicle 1
Under the condition that the speed of the rear vehicle 3 of the target lane is smaller than or equal to the speed of the own vehicle 1, a first lane change characteristic value is obtained through linear interpolation calculation based on a preset minimum safety time interval, a preset maximum safety time interval, the speed of the rear vehicle 3 of the target lane and the longitudinal distance between the rear vehicle of the target lane and the own vehicle.
The minimum safe time interval may be set to t B above, indicating that the target lane rear truck 3 has no more reaction time to slow down. The maximum safety time interval may be set to 2.4 seconds, for example. Of course, this is merely an example, and other values may be used.
Then, based on the longitudinal distance between the rear vehicle and the own vehicle of the target lane, passing {0.4 x v rear,2.4*vrear; 100, 0) to obtain a first lane change feature value.
Then, a second lane change feature value is calculated based on the own vehicle speed, the target lane-ahead vehicle speed, and the distance between the own vehicle and the target lane-ahead vehicle.
Here, it can be considered that the calculation of the first lane change feature value between the own vehicle 1 and the target lane rear vehicle 3 is extended to between the own vehicle 1 and the target lane front vehicle 2, and the own vehicle 1 is changed from the front vehicle among the two vehicles to the rear vehicle among the two vehicles.
Thus, similarly, the second lane change feature value is calculated in two cases.
(1) In the case where the speed of the own vehicle 1 is greater than the speed of the preceding vehicle 2 of the target lane
In the case where the speed of the own vehicle 1 is greater than the speed of the target lane front vehicle 2, the second buffer time t buffer' is calculated using the following equation (2).
Where S current' represents the distance between the host vehicle 1 and the target lane front vehicle 2, v front represents the speed of the target lane front vehicle 2, and v ACSF represents the speed of the host vehicle 1. t B、a、tG is described above and will not be described here again.
A represents deceleration after the vehicle 1 starts lane change. t B represents the time at which the own vehicle 1 starts decelerating after the start of lane change. t G represents the remaining time interval between the own vehicle 1 and the target lane front vehicle 2 after the own vehicle 1 starts decelerating.
According to equation (2), the second buffer time t buffer 'may be calculated, and the second lane change feature value may be obtained by linear interpolation after the second buffer time t buffer' is obtained. The specific calculation method of the second lane change feature value is similar to that of the first lane change feature value, and thus will not be described herein.
(2) In the case where the speed of the own vehicle 1 is equal to or less than the speed of the target lane front vehicle 2
Under the condition that the speed of the own vehicle 1 is smaller than or equal to the speed of the front vehicle 2 of the target lane, the second lane change characteristic value is obtained through linear interpolation calculation based on the preset minimum safety time interval, the preset maximum safety time interval, the speed of the own vehicle 1 and the longitudinal distance between the front vehicles of the target lane and the own vehicle.
The minimum safe time interval may be set to t B above, indicating that the own vehicle 1 has no more reaction time to slow down. The maximum safety time interval may be set to 2.4 seconds, for example.
Then, based on the longitudinal distance between the front vehicle and the own vehicle of the target lane, passing {0.4 x v AGSF,2.4*vAGSF; 100, 0) to obtain a second lane change feature value.
And after the second lane change characteristic value is obtained, calculating and obtaining a third lane change characteristic value based on the second lane change characteristic value. Specifically, the third lane change characteristic value is calculated by subtracting the second lane change characteristic value from 100.
And judging whether lane change can be performed according to whether the first lane change characteristic value is smaller than or equal to a preset first threshold value and whether the third lane change characteristic value is larger than or equal to a preset second threshold value.
The first threshold and the second threshold may be set according to requirements, and in this embodiment, both the first threshold and the second threshold are set to 50.
If the first lane change feature value is smaller than or equal to the first threshold value and the third lane change feature value is larger than or equal to the second threshold value, the lane change of the own vehicle 1 can be performed currently, and if the first lane change feature value is larger than the first threshold value or the third lane change feature value is smaller than the second threshold value, the lane change can not be performed currently.
In the application scenario shown in fig. 2, the own vehicle 1 needs to change lanes to the target lane 5, and the first lane change feature value and the third lane change feature value are obtained through calculation. The first lane change feature value is smaller than the first threshold value and the third lane change feature value is larger than the second threshold value, so that it is determined that the own vehicle 1 is currently capable of lane change. In the application scenario shown in fig. 3, the own vehicle 1 also needs to change lanes to the target lane 5, the first lane change feature value is smaller than the first threshold value, and the third lane change feature value is smaller than the second threshold value, so that the own vehicle 1 cannot change lanes currently.
If it is determined in step S120 that the channel change is currently possible, the process proceeds to step S130, and if it is determined that the channel change is not currently possible, the process proceeds to step S140.
S130: the target lane front vehicle 2 and the target lane rear vehicle 3 of the target lane 5 are selected as targets.
This is the case in the scenario shown in fig. 2, and therefore the target lane front vehicle 2 and the target lane rear vehicle 3 of the target lane 5 are selected as targets. Wherein the selection as a target means that the longitudinal control is performed with the selection as a target when the track is changed later.
S140: the vehicle in the own lane in which the own vehicle 1 is located is selected as the target.
In this step, it is necessary to select the vehicle in the own lane in which the own vehicle 1 is located as the target. However, it is specifically which vehicle from the lane 4 is selected as the target that needs further confirmation.
Therefore, it is first predicted whether the own vehicle 1 can make a lane change by maintaining the speed of the own vehicle 1, decelerating the own vehicle 1, and accelerating the own vehicle 1 in a short predetermined time.
In the prediction process, predictions are made in order of priority as follows:
A) It is predicted whether the own vehicle 1 can make a lane change by maintaining the speed of the own vehicle 1 in a short predetermined time.
B) It is predicted whether the own vehicle 1 can make a lane change by decelerating the own vehicle 1 in a short predetermined time.
C) It is predicted whether the own vehicle 1 can make a lane change by accelerating the own vehicle 1 in a short predetermined time.
The prediction is performed by a prediction model that gives the range of the predicted speed and the predicted acceleration of the own vehicle 1, and if a valid range can be found, it is indicated that it is possible.
The prediction model can assume that the speeds of the target lane front vehicle 2, the target lane rear vehicle 3, the front vehicle 7, and the rear vehicle 8 are unchanged. In addition, in order to simplify the model, it may be further assumed that the acceleration of the own vehicle is constant.
In this case, the prediction model includes the following conditions:
1) The predicted buffer time should be greater than or equal to a buffer time threshold calculated based on the first threshold;
2) Predicting that the remaining time interval should be greater than or equal to a remaining time interval threshold calculated based on the second threshold;
3) The distance between the vehicle and the vehicle behind the vehicle lane is larger than or equal to the first safety distance;
4) The distance between the vehicles in front of the self-vehicle self-lane is larger than or equal to the second safety distance; and
5) The moving distance of the vehicle is smaller than or equal to a preset moving distance threshold value.
Here, the predicted buffer time means a buffer time predicted in the prediction model, and the predicted remaining time interval means a remaining time interval predicted in the prediction model. In this embodiment, the first threshold is set to 50, and thus the buffer time threshold calculated based on the first threshold is 3.125 seconds. The second threshold is set to 50, so the remaining time span threshold calculated based on the second threshold is 1.4 seconds. The first safety distance may be a distance traveled by the vehicle one second after the lane, the second safety distance may be a distance traveled by the vehicle 0.6 seconds, and the movement distance threshold may be 50m.
A set of equations can be obtained by combining all of the above conditions. If a solution exists in the equation set while maintaining the speed of the own vehicle 1, it means that the own vehicle 1 can make a lane change by maintaining the speed of the own vehicle 1 for a short predetermined time. Similarly, if the solution exists in the equation set when decelerating the own vehicle 1, it means that the own vehicle 1 can make a lane change by decelerating the own vehicle 1 in a shorter predetermined time. If the solution exists in the equation set in the case of accelerating the own vehicle 1, it means that the own vehicle 1 can make a lane change by accelerating the own vehicle 1 in a short predetermined time.
Of course, the acceleration of the vehicle may not be constant, in which case the predictive model includes the following conditions:
1) The predicted buffer time should be greater than or equal to a buffer time threshold calculated based on the first threshold;
2) Predicting that the remaining time interval should be greater than or equal to a remaining time interval threshold calculated based on the second threshold;
3) The distance between the vehicle and the vehicle behind the vehicle lane is larger than or equal to the first safety distance;
4) The distance between the vehicles in front of the self-vehicle self-lane is larger than or equal to the second safety distance; and
5) The moving distance of the vehicle is smaller than or equal to a preset moving distance threshold value.
6) And under the condition that the speed of the self-vehicle is greater than a preset speed threshold value, the acceleration change rate of the self-vehicle is within a preset range.
Similarly, the first threshold is set to 50, and thus the buffer time threshold calculated based on the first threshold is 3.125 seconds. The second threshold is set to 50 and the remaining time span threshold calculated based on the second threshold is 1.4 seconds. The first safety distance may be a distance traveled by the vehicle one second after the lane, the second safety distance may be a distance traveled by the vehicle 0.6 seconds, and the movement distance threshold may be 50m. The speed threshold may be set at 20kph and the preset range of acceleration rate may be set at [ -2.5,2.5] m/s 3.
A set of equations can be obtained by combining all of the above conditions. If a solution exists in the equation set while maintaining the speed of the own vehicle 1, it means that the own vehicle 1 can make a lane change by maintaining the speed of the own vehicle 1 for a short predetermined time. Similarly, if the solution exists in the equation set when decelerating the own vehicle 1, it means that the own vehicle 1 can make a lane change by decelerating the own vehicle 1 in a shorter predetermined time. If the solution exists in the equation set in the case of accelerating the own vehicle 1, it means that the own vehicle 1 can make a lane change by accelerating the own vehicle 1 in a short predetermined time.
If the prediction result of the prediction model enables the speed of the vehicle 1 to be maintained, the vehicle to be decelerated, and the vehicle to be accelerated and then the vehicle to be capable of lane changing within a short preset time, the vehicle before the vehicle and the vehicle after the vehicle is in the lane are selected as targets. This is the case in the scenario shown in fig. 3, and therefore the front-of-lane vehicle 7 and the rear-of-lane vehicle 8 of the lane are selected as targets.
If the prediction result of the prediction model is that the speed of the own vehicle cannot be maintained, the own vehicle is decelerated and accelerated, and then the own vehicle can change lanes within a short preset time, the own vehicle behind the own lane is selected as a target. This means that a long deceleration is required to wait for a suitable lane change timing, and therefore, a lane-rear vehicle is selected as a target.
Fig. 4 is a block diagram of a longitudinal control target selecting device in lane changing according to an embodiment of the present invention.
As shown in fig. 4, the longitudinal control target selecting device at the time of lane change includes: the device comprises an acquisition module 201, a judgment module 202 and a selection module 203.
The acquiring module 201 is configured to acquire vehicle information, such as positioning information, map information, planned trajectory information, speed information, and the like of the vehicle 1, and acquire vehicle information of the vehicle lane, such as positioning information, map information, planned trajectory information, speed information, and the like of the vehicle 7 located in front of the vehicle 1 in the vehicle lane 4, a distance between the vehicle 7 and the vehicle 1, a speed of the vehicle 8 located behind the vehicle 1 in the vehicle lane 4, a distance between the vehicle 8 and the vehicle 1, a speed of the vehicle 2 located in front of the vehicle 1 in the target lane 5, a distance between the vehicle 2 and the vehicle 1, a speed of the vehicle 3 located behind the vehicle 1 in the target lane 5, a distance between the vehicle 3 and the vehicle 1, and the like. The judging module 202 is configured to judge whether the own vehicle is currently capable of lane changing based on the own vehicle information and the vehicle information of the target lane. In the selecting module 203, if lane change is currently possible, the front target lane vehicle 2 and the rear target lane vehicle 3 of the target lane 5 are selected as targets, and if lane change is not currently possible, the vehicle in the own lane 4 in which the own vehicle is located is selected as a target.
Fig. 5 is a block diagram of an electronic device 300 according to an embodiment of the present invention. As shown in fig. 5, the present invention further provides an electronic device 300, where the electronic device 300 includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed by the local trajectory planning method described in the foregoing embodiments.
The invention also provides a computer storage medium, wherein at least one instruction or at least one section of program is stored in the storage medium, and the at least one instruction or the at least one section of program is loaded and executed by a processor to realize the lane structure fusion method described in the above embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The invention can also only fuse the first position information calculated according to the real-time image of the image acquisition unit and the second position information calculated by the ultra-wideband positioning unit, correct each other to obtain positioning information, and not add the information of the running direction and the vehicle outline of the vehicle to the positioning information.
Those of skill in the art will appreciate that the modules, elements, and method steps of a respective example described in connection with the embodiments disclosed herein may be preceded by electronic hardware, computer software, or a combination of both, and that the constituent elements and steps of the respective example have been generally described functionally in the foregoing description in order to clearly illustrate the interchangeability of electronic hardware and software. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not to be considered as outside the scope of the present invention.
Although the present invention has been described with reference to the present specific embodiment, it should be appreciated by those skilled in the art that the scope of the invention is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (13)
1. A longitudinal control target selection method during lane changing is characterized by comprising the following steps:
acquiring vehicle information of a vehicle lane and vehicle information of a target lane;
Judging whether the own vehicle can change lanes currently or not based on the own vehicle information and the vehicle information of the target lane; and
And selecting, namely selecting a front target lane vehicle and a rear target lane vehicle of the target lane as targets if lane changing can be performed currently, and selecting a vehicle in a self lane where the self vehicle is located as a target if lane changing cannot be performed currently.
2. The longitudinal control target selection method at the time of lane change according to claim 1, wherein selecting a vehicle in a lane where the own vehicle is located as a target if lane change is not currently possible, comprises:
predicting whether the own vehicle can change lanes by maintaining the speed of the own vehicle, decelerating the own vehicle and accelerating the own vehicle in a short preset time; and
And if the speed of the self-vehicle is predicted to be maintained in a short preset time, the self-vehicle is decelerated, and the self-vehicle is accelerated to enable the self-vehicle to change the lane, selecting the front vehicle and the rear vehicle of the self-vehicle lane as targets, and if the speed of the self-vehicle is predicted to be not maintained in a short preset time, the self-vehicle is decelerated, and the self-vehicle is accelerated to enable the self-vehicle to change the lane, selecting the rear vehicle of the self-vehicle lane as targets.
3. The longitudinal control target selecting method at the time of lane change according to claim 2, wherein it is predicted whether or not the lane change can be performed by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, in a short predetermined time,
The predictions are made in order with the following priorities:
predicting whether the own vehicle can change lanes by maintaining the speed of the own vehicle in a short preset time;
predicting whether the own vehicle can change lanes by decelerating the own vehicle in a shorter predetermined time; and
It is predicted whether the own vehicle can make a lane change by accelerating the own vehicle in a short predetermined time.
4. The longitudinal control target selection method at the time of lane change according to claim 3, wherein the judging step includes:
calculating a first lane change characteristic value based on the vehicle speed, the target lane rear vehicle speed and the distance between the vehicle and the target lane rear vehicle;
Calculating a second lane change characteristic value based on the speed of the own vehicle, the speed of the front vehicle of the target lane and the distance between the own vehicle and the front vehicle of the target lane;
calculating to obtain a third lane change characteristic value based on the second lane change characteristic value; and
And judging whether lane change can be performed according to whether the first lane change characteristic value is smaller than or equal to a preset first threshold value and whether the third lane change characteristic value is larger than or equal to a preset second threshold value.
5. The method for selecting a longitudinal control target at the time of lane change according to claim 4, wherein,
Predicting whether the own vehicle can change lanes by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, and predicting whether a solution satisfying the following conditions simultaneously exists in a short predetermined time:
the predicted buffer time should be greater than or equal to a buffer time threshold calculated based on the first threshold;
predicting that the remaining time interval should be greater than or equal to a remaining time interval threshold calculated based on the second threshold;
The distance between the self-vehicle and the rear vehicle of the self-vehicle lane is larger than or equal to a first safety distance;
the distance between the self-vehicle and the vehicle in front of the self-vehicle lane is greater than or equal to a second safety distance; and
The moving distance of the vehicle is smaller than or equal to a preset moving distance threshold value.
6. The longitudinal control target selecting method at the time of lane change according to claim 5, wherein it is predicted whether or not the lane change can be performed by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, and then enabling the own vehicle within a short predetermined time,
In the prediction process, the speeds of the target lane front vehicle, the target lane rear vehicle, the self-lane front vehicle and the self-lane rear vehicle are assumed to be unchanged.
7. The longitudinal control target selecting method at the time of lane change according to claim 5 or 6, wherein it is predicted whether or not the lane change can be performed by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, and then causing the own vehicle to perform the lane change within a short predetermined time,
The acceleration of the own vehicle is assumed to be constant in the prediction process.
8. The longitudinal control target selection method at the time of lane change according to claim 5 or 6, wherein it is predicted whether or not the following condition is satisfied by maintaining the speed of the own vehicle, decelerating the own vehicle, accelerating the own vehicle, and then enabling the own vehicle to change lanes in a short predetermined time:
and under the condition that the speed of the self-vehicle is greater than a preset speed threshold value, the acceleration change rate of the self-vehicle is within a preset range.
9. The method for selecting a longitudinal control target at the time of lane change according to claim 6, wherein,
The first safety distance is set to be a distance that the vehicle travels one second after the vehicle enters the lane.
10. The method for selecting a longitudinal control target at the time of lane change according to claim 6, wherein,
The second safety distance is set to be a distance traveled by the own vehicle for 0.6 seconds.
11. A longitudinal control target selecting device at the time of lane changing, characterized by comprising:
The acquisition device is used for acquiring the vehicle information of the own vehicle, the own lane and the target lane;
the judging device is used for judging whether the own vehicle can change lanes currently or not based on the own vehicle information and the vehicle information of the target lane; and
And the selecting device selects the front vehicle of the target lane and the rear vehicle of the target lane as targets if the lane change can be performed currently, and selects the vehicle in the own lane where the own vehicle is located as the targets if the lane change can not be performed currently.
12. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one instruction or at least one program that is loaded by the processor and that performs the method of any of claims 1 to 10.
13. A computer storage medium storing instructions for execution by a computing device which, when executing the instructions, implements the method of any one of claims 1 to 10.
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| CN202211491996.1A CN118135776A (en) | 2022-11-25 | 2022-11-25 | Longitudinal control target selection method, device, equipment and storage medium during lane change |
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| CN202211491996.1A CN118135776A (en) | 2022-11-25 | 2022-11-25 | Longitudinal control target selection method, device, equipment and storage medium during lane change |
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| CN202211491996.1A Pending CN118135776A (en) | 2022-11-25 | 2022-11-25 | Longitudinal control target selection method, device, equipment and storage medium during lane change |
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