WO2021109165A1 - Prediction method in automatic driving for performing lane change to overtake leading vehicle in target lane - Google Patents

Prediction method in automatic driving for performing lane change to overtake leading vehicle in target lane Download PDF

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WO2021109165A1
WO2021109165A1 PCT/CN2019/123928 CN2019123928W WO2021109165A1 WO 2021109165 A1 WO2021109165 A1 WO 2021109165A1 CN 2019123928 W CN2019123928 W CN 2019123928W WO 2021109165 A1 WO2021109165 A1 WO 2021109165A1
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vehicle
lane
willingness
lane change
distance
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PCT/CN2019/123928
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French (fr)
Chinese (zh)
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杜光辉
经建峰
袁雁城
张尧文
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格物汽车科技(苏州)有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed

Definitions

  • the present invention relates to the technical field of automatic driving, and in particular to a method for predicting a vehicle before a vehicle in front of a target lane when a vehicle changes lanes during automatic driving.
  • Autonomous driving includes four modules: prediction, decision-making, planning, and control.
  • the prediction module predicts whether the vehicle will change lanes in the future and the lane change trajectory in the case of lane changes based on the vehicle driving state data and lane environment data in each lane.
  • Lane change includes left lane change and right lane change.
  • Left and right lane changes include lane change before the vehicle in front of the target lane and lane change after the vehicle in front of the target lane.
  • the decision-making module calculates the next expected state of the vehicle based on the predicted output results of the prediction module, environmental information, navigation information, the driver's behavior module, the vehicle dynamics model, etc.; the planning module plans the current state and the next expected state Vehicle driving trajectory; the control module calculates the corresponding accelerator, braking and steering according to the planned driving trajectory.
  • the present invention provides a method for predicting before a vehicle changes lanes to a target lane in automatic driving, which combines the pre-lane change vehicle, the first vehicle in front of the lane where the pre-lane change vehicle is located, and the first vehicle in the target lane in front of the pre-change vehicle.
  • the driving state data of a car and the second car in front of the pre-changing vehicle in the target lane calculates the willingness of the pre-changing vehicle to change lanes to the target lane before the first car in front of the pre-changing vehicle , According to the degree of willingness, predict whether the pre-lane change vehicle will change lanes to the first vehicle in front of the target lane in the future, effectively eliminate the factors that interfere with the decision of the vehicle by surrounding vehicles, and improve the confidence of the decision of the vehicle; at the same time, it is effective Reduce the amount of data analysis and calculation of the prediction module in the automatic driving system, reduce the operating difficulty and operating cost of the automatic driving system, and effectively improve the lag time of decision-making.
  • the present invention provides a method for predicting a vehicle before it changes lanes to a target lane in automatic driving, which includes the following steps:
  • the vehicle one is the first vehicle in front of the lane where the pre-lane change vehicle is located; and the vehicle two is in the target lane The first car located in front of the pre-changing vehicle; said vehicle three is the second vehicle in front of the pre-changing vehicle in the target lane;
  • the willingness exceeds the willingness threshold it is predicted that the pre-lane change vehicle will change lanes before the second vehicle at a future time.
  • it further includes that when the lateral speed of the pre-lane change vehicle in the direction of the target lane is less than zero and maintains for a certain period of time, the willingness of the pre-lane change vehicle to change to the target lane is zero .
  • calculating the willingness ⁇ includes:
  • calculating the willingness ⁇ includes:
  • it further includes: calculating the willingness ⁇ 1 according to formula 1,
  • A represents the actual acceleration of the pre-lane change vehicle
  • k 1 represents the linear slope of the functional relationship between the actual acceleration of the pre-lane change vehicle and the willingness ⁇ 1;
  • a 1 represents a fixed acceleration value on the acceleration axis where the actual acceleration of the pre-lane change vehicle is located
  • ⁇ represents the increase in willingness that the actual acceleration of the pre-lane change vehicle exceeds the acceleration threshold for a certain period of time.
  • A characterizes the distance that the pre-lane change vehicle needs to keep from the vehicle 1 when it is traveling at a driving speed of V2;
  • B represents the driving distance of the pre-lane change vehicle decelerating from the driving speed V1 to the driving speed V2 at a deceleration a x;
  • L1 is the initial distance between the pre-lane change vehicle and vehicle one
  • V1 is the traveling speed of the pre-lane change vehicle
  • S2 is the braking distance from braking to stop of the vehicle one
  • a represents the difference between the preset comfortable braking deceleration a Thres of the pre-lane change vehicle and the deceleration a x ;
  • k 3 represents the linear slope of the functional relationship between the relative speed of the pre-lane change vehicle and vehicle one and the willingness ⁇ 3;
  • X1 represents a fixed speed value on the speed axis where the relative speed of the pre-lane change vehicle and vehicle one is located.
  • V2 is the driving speed of vehicle one
  • S1 is the braking distance from pre-lane change vehicle braking to stop
  • S1 is the braking distance from pre-lane change vehicle braking to stop
  • L1 is the initial distance between the pre-lane change vehicle and vehicle one
  • ⁇ 2 represents a fixed distance value
  • Fig. 3a is a graph of calculating willingness ⁇ 1 in a preferred embodiment of the present invention.
  • Fig. 7 is a graph of calculating willingness ⁇ 6 in a preferred embodiment of the present invention.
  • a 1 represents a fixed acceleration value on the abscissa axis, for example, A 1 takes 0.1g.
  • a 1 is the standard amount that can be adjusted.
  • the duration of the vehicle 4’s actual acceleration exceeding the acceleration threshold is taken as the abscissa, and the willingness increment ⁇ is the ordinate axis to establish a coordinate system.
  • the actual acceleration of the vehicle 4 exceeds the acceleration threshold for the duration of time and The functional relationship between the willingness increment ⁇ is shown in Fig. 3(b).
  • A represents the distance that the vehicle 4 needs to keep from the vehicle 1 when it is running at the driving speed V2;
  • Table B The travel distance of vehicle 4 decelerating from travel speed V1 to travel speed V2 at a deceleration a x;
  • L1 is the initial distance between vehicle 4 and vehicle one
  • V1 is the traveling speed of vehicle 4.
  • V2 is the driving speed of vehicle one
  • S1 is the braking distance from vehicle 4 to stop
  • S2 is the braking distance from braking to stop of the vehicle one
  • T r is the reaction time of the braking of the vehicle 4.
  • D is the safe stopping distance between vehicle 4 and vehicle 1 when they both brake to a stop
  • the comfortable braking deceleration a Thres is preset according to the driver's characteristics. As shown in Figure 4, the difference between the deceleration a Thres and the deceleration a x is the abscissa, and the willingness ⁇ 2 is the ordinate to establish a coordinate system.
  • the functional relationship between ⁇ 2 and the difference between deceleration a Thres and deceleration a x is:
  • a represents the difference between the preset comfortable braking deceleration a Thres of the vehicle 4 and the deceleration a x ;
  • k 2 represents the linear slope of the functional relationship between the difference between the deceleration a Thres and the deceleration a x and the degree of willingness ⁇ 2;
  • a 1 represents a fixed deceleration value on the abscissa axis, for example, a 1 takes 0.5g. It is a standard amount that can be adjusted.
  • X represents the relative speed of vehicle 4 and vehicle one
  • k 3 represents the linear slope of the functional relationship between the relative speed of vehicle 4 and vehicle one and the degree of willingness ⁇ 3;
  • X1 represents a fixed speed value on the abscissa axis, for example, X1 takes V1, and V1 is the driving speed of the vehicle 4.
  • X1 is a variable that can be calibrated.
  • ⁇ 1 represents the degree of congestion in front of the lane where the pre-changing vehicle is located
  • ⁇ 2 represents the degree of congestion in front of the lane where the second vehicle is located.
  • the congestion level When calculating the congestion level here, it is characterized by the number of cars within a certain distance. For example, if there are 6 cars within 100mm ahead, the calculated congestion level is
  • the calculation of the willingness ⁇ 5 includes:
  • A characterizes the distance that the vehicle 4 needs to keep from the vehicle one when it is traveling at the driving speed V2;
  • V1 is the traveling speed of vehicle 4.
  • V2 is the driving speed of vehicle one
  • S1 is the braking distance from vehicle 4 to stop
  • S2 is the braking distance from braking to stop of the vehicle one
  • T r is the reaction time of the braking of the vehicle 4.
  • D is the safe stopping distance between vehicle 4 and vehicle 1 when they both brake to a stop
  • L1 is the initial distance between vehicle 4 and vehicle one
  • ⁇ 1 represents a fixed distance value, which is a standard amount that can be adjusted.
  • the degree of willingness ⁇ 5 is related to the distance along the lane line between vehicle 1 and vehicle 3.
  • the distance between vehicle 1 and vehicle 3 along the lane line is used as the abscissa, and the degree of willingness ⁇ 5 is the ordinate to establish the coordinates.
  • System the functional relationship between the willingness ⁇ 5 and the distance along the lane line between the vehicle one and the vehicle three is shown in Fig. 6,
  • E represents the distance along the lane line between vehicle one and vehicle three;
  • k 4 represents the linear slope of the functional relationship between the distance along the lane line between vehicle one and vehicle three and the degree of willingness ⁇ 5;
  • E1 and E2 represent two fixed distance values on the abscissa axis, E1 takes 2m, and E2 takes 0.5s*V1; E1 and E2 are both calibrated quantities that can be adjusted.
  • the calculation of the willingness ⁇ 6 includes:
  • A characterizes the distance that the vehicle 4 needs to keep from the vehicle one when it is traveling at the driving speed V2;
  • V1 is the traveling speed of vehicle 4.
  • V2 is the driving speed of vehicle one
  • S1 is the braking distance from vehicle 4 to stop
  • S2 is the braking distance from braking to stop of the vehicle one
  • T r is the reaction time of the braking of the vehicle 4.
  • D is the safe stopping distance between vehicle 4 and vehicle 1 when they both brake to a stop
  • L1 is the initial distance between vehicle 4 and vehicle one
  • ⁇ 2 represents a fixed distance value, which is a standard amount that can be adjusted.
  • the degree of willingness ⁇ 6 is related to the speed ratio F of vehicle three to vehicle one.
  • the speed ratio of vehicle three to vehicle one is used as the abscissa and the degree of willingness ⁇ 6 is used as the ordinate to establish a coordinate system.
  • the functional relationship between the willingness ⁇ 6 and the speed ratio F of vehicle three to vehicle one is:
  • F represents the ratio of the speed of the vehicle three to the speed of the vehicle one
  • F1 and F2 represent two fixed values on the abscissa. For example, F1 takes 1, and F2 takes 1.5. Here, both F1 and F2 are standard amounts that can be adjusted.
  • k 5 represents the linear slope of the functional relationship between the speed ratio of vehicle three to vehicle one and the degree of willingness ⁇ 6;
  • ⁇ * represents a fixed value greater than zero and less than or equal to 1, which is a standard amount that can be adjusted.
  • the first car in front of the lane where the pre-lane change vehicle is located the first car in the target lane in front of the pre-lane change vehicle, and the second car in the target lane in front of the pre-lane change vehicle.
  • the driving state data of the vehicle calculates the willingness of the pre-lane-changing vehicle to change lanes to the target lane before the first car in front of the pre-lane-changing vehicle, and predicts whether the pre-lane-changing vehicle will change lanes to the target in the future based on the willingness Before the first car in front of the lane, it effectively eliminates the factors that interfere with the decision of the vehicle by surrounding vehicles, and improves the confidence of the decision of the vehicle; at the same time, it effectively reduces the amount of data analysis and calculation of the prediction module in the automatic driving system, and reduces the operation of the automatic driving system. Difficulty and operating cost, effectively improving the lag in decision-making.

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  • Automation & Control Theory (AREA)
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Abstract

Disclosed is a prediction method in automatic driving for performing lane change to overtake a leading vehicle in a target lane. Said method comprises: acquiring driving state data, in a current sampling period, of a vehicle preparing to perform lane change, a vehicle I, a vehicle II and a vehicle III, the vehicle I being the vehicle just in front of the vehicle preparing to perform lane change in the current lane of the vehicle preparing to perform lane change, and the vehicle II and the vehicle III being respectively the first nearest vehicle and the second nearest vehicle in front of the vehicle preparing to perform lane change in a target lane; calculating, by using the driving state data of the vehicles, the willingness to perform lane change of the vehicle preparing to perform lane change to overtake the vehicle II; and when the willingness exceeds a willingness threshold, predicting that the vehicle preparing to perform lane change will perform lane change to overtake the vehicle II at a future time. In the present invention, the prediction method in automatic driving for performing lane change to overtake a leading vehicle in a target lane effectively excludes factors of surrounding vehicles interfering with a vehicle's decision making, improves the decision certainty of the vehicle, effectively reduces the data analysis and calculation amount of a prediction module in an automatic driving system, reduces the operation difficulty and operation costs of the automatic driving system, and effectively improves the lag and delay of decision making.

Description

自动驾驶中车辆变道至目标车道前车之前的预测方法Prediction method before the vehicle changes lanes to the target lane before the vehicle in automatic driving 技术领域Technical field
本发明涉及自动驾驶技术领域，具体涉及一种自动驾驶中车辆变道至目标车道前车之前的预测方法。The present invention relates to the technical field of automatic driving, and in particular to a method for predicting a vehicle before a vehicle in front of a target lane when a vehicle changes lanes during automatic driving.
背景技术Background technique
自动驾驶包括预测、决策、规划和控制四大模块，预测模块根据各车道的车辆行驶状态数据和车道环境数据预测车辆在未来时刻是否会变道，以及变道情况下的变道轨迹。变道包括左变道、右变道，左、右变道又包括变道至目标车道前车之前和变道至目标车道前车之后。决策模块根据预测模块的预测输出结果、环境信息、导航信息、本车驾驶员行为模块、本车动力学模型等计算本车的下一个期望状态；规划模块根据当前状态以及下一个期望状态规划本车行驶轨迹；控制模块根据规划的行驶轨迹计算相应的油门、制动和转向。Autonomous driving includes four modules: prediction, decision-making, planning, and control. The prediction module predicts whether the vehicle will change lanes in the future and the lane change trajectory in the case of lane changes based on the vehicle driving state data and lane environment data in each lane. Lane change includes left lane change and right lane change. Left and right lane changes include lane change before the vehicle in front of the target lane and lane change after the vehicle in front of the target lane. The decision-making module calculates the next expected state of the vehicle based on the predicted output results of the prediction module, environmental information, navigation information, the driver's behavior module, the vehicle dynamics model, etc.; the planning module plans the current state and the next expected state Vehicle driving trajectory; the control module calculates the corresponding accelerator, braking and steering according to the planned driving trajectory.
目前，一些互联网企业和汽车厂商的自动驾驶***中，将预测出的所有感兴趣车辆(定义为可能对本车行驶带来干扰的周围车辆)均默认为在未来时刻会发生变道。这些车辆中不排除有部分车辆变道的意愿度较低的车辆，这里的意愿度为变道的意愿程度。这些变道意愿度较低的周围感兴趣车辆会干扰本车决策，还会增加本车对各车行驶状态时护具分析的计算量，增加自动驾驶***运行难度和运行成本。At present, in the automated driving systems of some Internet companies and auto manufacturers, all predicted vehicles of interest (defined as surrounding vehicles that may interfere with the driving of the vehicle) are assumed to change lanes in the future. Among these vehicles, some vehicles with low willingness to change lanes are not excluded, where the willingness is the willingness to change lanes. These nearby vehicles of interest with low willingness to change lanes will interfere with the decision-making of the vehicle, increase the amount of calculations for the analysis of the protective gear of each vehicle when the vehicle is driving, and increase the operating difficulty and operating cost of the automatic driving system.
发明内容Summary of the invention
本发明提供一种自动驾驶中车辆变道至目标车道前车之前的预测方法，结合预变道车辆、预变道车辆所在车道的前方第一辆车、目标车道内位于预变道 车辆前方第一辆车和目标车道内位于预变道车辆前方第二辆车这四辆车的行驶状态数据计算出预变道车辆变道至目标车道位于预变道车辆前方第一辆车之前的意愿度，根据意愿度来预测预变道车辆在未来时刻是否会变道至目标车道位前方第一辆车之前，有效排除周围车辆干扰本车决策的因素，提高本车决策的确信度；同时，有效降低自动驾驶***中预测模块的数据分析计算量，降低自动驾驶***的运行难度和运行成本，有效改善决策的滞后延时。The present invention provides a method for predicting before a vehicle changes lanes to a target lane in automatic driving, which combines the pre-lane change vehicle, the first vehicle in front of the lane where the pre-lane change vehicle is located, and the first vehicle in the target lane in front of the pre-change vehicle. The driving state data of a car and the second car in front of the pre-changing vehicle in the target lane calculates the willingness of the pre-changing vehicle to change lanes to the target lane before the first car in front of the pre-changing vehicle , According to the degree of willingness, predict whether the pre-lane change vehicle will change lanes to the first vehicle in front of the target lane in the future, effectively eliminate the factors that interfere with the decision of the vehicle by surrounding vehicles, and improve the confidence of the decision of the vehicle; at the same time, it is effective Reduce the amount of data analysis and calculation of the prediction module in the automatic driving system, reduce the operating difficulty and operating cost of the automatic driving system, and effectively improve the lag time of decision-making.
为了解决上述技术问题，本发明提供了一种自动驾驶中车辆变道至目标车道前车之前的预测方法，包括以下步骤，In order to solve the above-mentioned technical problems, the present invention provides a method for predicting a vehicle before it changes lanes to a target lane in automatic driving, which includes the following steps:
获取预变道车辆、车辆一、车辆二、车辆三当前采样周期的行驶状态数据；其中，所述车辆一为预变道车辆所在车道的前方第一辆车；所述车辆二为目标车道内位于预变道车辆前方的第一辆车；所述车辆三为目标车道内位于预变道车辆前方的第二辆车；Obtain the driving state data of the current sampling period of the pre-lane change vehicle, vehicle one, vehicle two, and vehicle three; wherein, the vehicle one is the first vehicle in front of the lane where the pre-lane change vehicle is located; and the vehicle two is in the target lane The first car located in front of the pre-changing vehicle; said vehicle three is the second vehicle in front of the pre-changing vehicle in the target lane;
结合各车辆的所述行驶状态数据计算出所述预变道车辆变道至所述车辆二之前的意愿度λ，0≤λ≤1；Calculate the willingness λ of the pre-lane-changing vehicle before changing lanes to the second vehicle in combination with the driving state data of each vehicle, 0≤λ≤1;
当所述意愿度超过意愿度阈值时，预测出所述预变道车辆将在未来时刻变道至所述车辆二之前。When the willingness exceeds the willingness threshold, it is predicted that the pre-lane change vehicle will change lanes before the second vehicle at a future time.
本发明一个较佳实施例中，进一步包括，所述预变道车辆向目标车道方向的横向速度小于零、且维持一定时间时，所述预变道车辆变道至目标车道的意愿度为零。In a preferred embodiment of the present invention, it further includes that when the lateral speed of the pre-lane change vehicle in the direction of the target lane is less than zero and maintains for a certain period of time, the willingness of the pre-lane change vehicle to change to the target lane is zero .
本发明一个较佳实施例中，进一步包括，计算所述意愿度λ包括，In a preferred embodiment of the present invention, it further includes that calculating the willingness λ includes:
存在一个时间t∈[0，t Thres]，t Thres为能够调整的标定量； There is a time t∈[0, t Thres ], and t Thres is the standard amount that can be adjusted;
存在一个时间t 1，该时间内预变道车辆的行驶速度大于车辆一的行驶速度； There is a time t 1 during which the traveling speed of the pre-lane change vehicle is greater than the traveling speed of vehicle one;
存在一个时间t 2，该时间内所述车辆三位于车辆一的前方； There is a time t 2 during which the vehicle three is in front of the vehicle one;
存在一个时间t 3，该时间内所述车辆一位于车辆二的前方； There is a time t 3 , during which time the first vehicle is located in front of the second vehicle;
存在一个时间t 4，该时间内所述预变道车辆位于车辆二的前方； There is a time t 4 during which the pre-lane change vehicle is located in front of the second vehicle;
当时间t 1、时间t 2、时间t 3和时间t 4四者在时间t内有交集、且预变道车辆的行驶速度大于车辆二的行驶速度时，计算所述意愿度λ考虑预变道车辆实际加速度、预变道车辆和车辆一之间沿车道线方向间隔距离和预变道车辆与车辆一之间相对速度的影响、车道拥堵程度的影响、车辆三和车辆一之间纵向距离的影响、车辆三与车辆一两者行驶速度比的影响；否则，所述意愿度λ为零。 When time t 1 , time t 2 , time t 3 and time t 4 have an intersection within time t and the speed of the pre-change vehicle is greater than the speed of vehicle two, calculate the willingness λ to consider the pre-change The actual acceleration of the lane vehicle, the distance along the lane line between the pre-changing vehicle and vehicle 1, the relative speed between the pre-changing vehicle and vehicle 1, the influence of lane congestion, the longitudinal distance between vehicle three and vehicle one The influence of the speed ratio between the vehicle three and the vehicle one; otherwise, the degree of willingness λ is zero.
本发明一个较佳实施例中，进一步包括，计算所述意愿度λ包括，In a preferred embodiment of the present invention, it further includes that calculating the willingness λ includes:
计算预变道车辆实际加速度影响下的意愿度λ1；Calculate the willingness λ1 under the influence of actual acceleration of the pre-lane change vehicle;
计算预变道车辆和车辆一之间沿车道线方向间隔距离影响下的意愿度λ2；Calculate the degree of willingness λ2 between the pre-lane-changing vehicle and the distance between the vehicle one along the lane line direction;
计算预变道车辆与车辆一之间相对速度影响下的意愿度λ3；Calculate the willingness λ3 between the pre-lane-changing vehicle and vehicle one under the influence of the relative speed;
计算车道拥堵程度影响下的意愿度λ4；Calculate the willingness λ4 under the influence of lane congestion;
计算车辆三和车辆一之间纵向距离的影响下的意愿度λ5；Calculate the degree of willingness λ5 under the influence of the longitudinal distance between vehicle three and vehicle one;
计算车辆三与车辆一两者行驶速度比影响下的意愿度λ6；Calculate the willingness λ6 under the influence of the speed ratio of vehicle three and vehicle one;
λ＝max{λ1，λ2，λ3，λ4，λ5，λ6}   (式一)；λ=max{λ1,λ2,λ3,λ4,λ5,λ6} (Equation 1);
根据式一计算预变道车辆变道至车辆二之前的意愿度λ。Calculate the willingness λ of the pre-lane-changing vehicle before it changes lanes to the second vehicle according to Equation 1.
本发明一个较佳实施例中，进一步包括，根据公式一计算所述意愿度λ1，In a preferred embodiment of the present invention, it further includes: calculating the willingness λ1 according to formula 1,
Figure PCTCN2019123928-appb-000001
Figure PCTCN2019123928-appb-000001
A表征预变道车辆的实际加速度；A represents the actual acceleration of the pre-lane change vehicle;
k 1表征预变道车辆实际加速度与意愿度λ1之间函数关系的直线斜率； k 1 represents the linear slope of the functional relationship between the actual acceleration of the pre-lane change vehicle and the willingness λ1;
A 1表征预变道车辆实际加速度所在加速度轴上的一个固定加速度值； A 1 represents a fixed acceleration value on the acceleration axis where the actual acceleration of the pre-lane change vehicle is located;
Δλ表征预变道车辆的实际加速度超出加速度阈值持续一定时间的意愿度增量。Δλ represents the increase in willingness that the actual acceleration of the pre-lane change vehicle exceeds the acceleration threshold for a certain period of time.
本发明一个较佳实施例中，进一步包括，计算所述意愿度λ2包括，In a preferred embodiment of the present invention, it further includes that calculating the willingness λ2 includes:
计算L1＝A+B、A＝S1-S2+V1*T r+D； Calculate L1=A+B, A=S1-S2+V1*T r +D;
A表征预变道车辆以行驶速度V2行驶时与车辆一需要保持的距离；A characterizes the distance that the pre-lane change vehicle needs to keep from the vehicle 1 when it is traveling at a driving speed of V2;
B表征预变道车辆以减速度a x从行驶速度V1减速至行驶速度V2的行驶距离； B represents the driving distance of the pre-lane change vehicle decelerating from the driving speed V1 to the driving speed V2 at a deceleration a x;
L1为预变道车辆和车辆一之间的初始间距；L1 is the initial distance between the pre-lane change vehicle and vehicle one;
V1为预变道车辆的行驶速度；V1 is the traveling speed of the pre-lane change vehicle;
V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
S1为预变道车辆制动至停止的制动距离；S1 is the braking distance from pre-lane change vehicle braking to stop;
S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
T r为预变道车辆的制动反应时间； T r is the braking reaction time of the pre-lane change vehicle;
D为预变道车辆和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between the pre-changing vehicle and the vehicle when they both brake to a stop;
当B＝(L1-A)≤0时，意愿度λ2＝1；When B=(L1-A)≤0, the willingness λ2=1;
当B＝(L1-A)＞0，且V1≤V2时，意愿度λ2＝0；When B=(L1-A)>0, and V1≤V2, the willingness λ2=0;
当B＝(L1-A)＞0，且V1＞V2时，根据式二计算预变道车辆的减速度a x： When B=(L1-A)>0, and V1>V2, calculate the deceleration a x of the pre-lane change vehicle according to Equation 2:
Figure PCTCN2019123928-appb-000002
Figure PCTCN2019123928-appb-000002
根据公式二计算所述意愿度λ2：Calculate the degree of willingness λ2 according to formula 2:
Figure PCTCN2019123928-appb-000003
Figure PCTCN2019123928-appb-000003
其中，a表征预变道车辆的预设舒适制动减速度a Thres与减速度a x的差值； Among them, a represents the difference between the preset comfortable braking deceleration a Thres of the pre-lane change vehicle and the deceleration a x ;
k 2表征减速度a Thres与减速度a x的差值与意愿度λ2之间函数关系的直线斜率； k 2 represents the linear slope of the functional relationship between the difference between the deceleration a Thres and the deceleration a x and the willingness λ2;
a 1表征减速度a Thres与减速度a x的差值所在减速度轴上的一个固定减速度值。 a 1 represents a fixed deceleration value on the deceleration axis where the difference between the deceleration a Thres and the deceleration a x is located.
本发明一个较佳实施例中，进一步包括，根据公式三计算所述意愿度λ3，In a preferred embodiment of the present invention, it further includes: calculating the willingness λ3 according to formula 3,
Figure PCTCN2019123928-appb-000004
Figure PCTCN2019123928-appb-000004
其中，X表征预变道车辆与车辆一的相对速度；Among them, X represents the relative speed of the pre-lane change vehicle and vehicle one;
k 3表征预变道车辆与车辆一的相对速度与意愿度λ3之间函数关系的直线斜率； k 3 represents the linear slope of the functional relationship between the relative speed of the pre-lane change vehicle and vehicle one and the willingness λ3;
X1表征预变道车辆与车辆一的相对速度所在速度轴上的一个固定速度值。X1 represents a fixed speed value on the speed axis where the relative speed of the pre-lane change vehicle and vehicle one is located.
本发明一个较佳实施例中，进一步包括，根据公式四计算所述意愿度λ4，In a preferred embodiment of the present invention, it further includes: calculating the willingness λ4 according to formula 4,
Figure PCTCN2019123928-appb-000005
Figure PCTCN2019123928-appb-000005
其中，ρ1表征预变道车辆所在车道前方拥堵程度；Among them, ρ1 represents the degree of congestion in front of the lane where the pre-changing vehicle is located;
ρ2表征车辆二所在车道前方拥堵程度。ρ2 represents the degree of congestion in front of the lane where the second vehicle is located.
本发明一个较佳实施例中，进一步包括，计算所述意愿度λ5包括，计算A＝S1-S2+V1*T r+D In a preferred embodiment of the present invention, it further includes that calculating the willingness λ5 includes: calculating A=S1-S2+V1*T r +D
A表征预变道车辆以行驶速度V2行驶时需要与车辆一保持的距离；V1为预变道车辆的行驶速度；A represents the distance that the pre-lane change vehicle needs to maintain from vehicle one when it is traveling at the driving speed V2; V1 is the traveling speed of the pre-lane change vehicle;
V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
S1为预变道车辆制动至停止的制动距离；S1 is the braking distance from pre-lane change vehicle braking to stop;
S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
T r为预变道车辆的制动反应时间； T r is the braking reaction time of the pre-lane change vehicle;
D为预变道车辆和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between the pre-changing vehicle and the vehicle when they both brake to a stop;
L1为预变道车辆和车辆一之间的初始间距；L1 is the initial distance between the pre-lane change vehicle and vehicle one;
当L1＞A+Δ1时，λ5＝0；When L1>A+Δ1, λ5=0;
当L1≤A+Δ1时，根据公式五计算所述意愿度λ5，When L1≤A+Δ1, calculate the willingness λ5 according to formula 5.
Figure PCTCN2019123928-appb-000006
Figure PCTCN2019123928-appb-000006
其中，Δ1表征一个固定的距离值；Among them, Δ1 represents a fixed distance value;
E表征车辆一与车辆三之间的沿车道线距离；E represents the distance along the lane line between vehicle one and vehicle three;
k 4表征车辆一与车辆三之间沿车道线距离与意愿度λ5之间函数关系的直线斜率； k 4 represents the linear slope of the functional relationship between the distance along the lane line between vehicle one and vehicle three and the degree of willingness λ5;
E1和E2表征车辆一与车辆三之间沿车道线距离所在距离轴上的两个固定距离值。E1 and E2 represent two fixed distance values on the distance axis along the lane line between vehicle one and vehicle three.
本发明一个较佳实施例中，进一步包括，计算所述意愿度λ6包括，In a preferred embodiment of the present invention, it further includes that calculating the willingness λ6 includes:
计算A＝S1-S2+V1*T r+D Calculate A=S1-S2+V1*T r +D
A表征预变道车辆以行驶速度V2行驶时需要与车辆一保持的距离；A represents the distance that the pre-lane-changing vehicle needs to maintain with vehicle one when it is traveling at a speed of V2;
V1为预变道车辆的行驶速度；V1 is the traveling speed of the pre-lane change vehicle;
V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
S1为预变道车辆制动至停止的制动距离；S1 is the braking distance from pre-lane change vehicle braking to stop;
S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
T r为预变道车辆的制动反应时间； T r is the braking reaction time of the pre-lane change vehicle;
D为预变道车辆和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between the pre-changing vehicle and the vehicle when they both brake to a stop;
L1为预变道车辆和车辆一之间的初始间距；L1 is the initial distance between the pre-lane change vehicle and vehicle one;
当L1＞A+Δ2时，λ6＝0；When L1>A+Δ2, λ6=0;
当L1≤A+Δ2时，根据公式六计算所述意愿度λ6，When L1≤A+Δ2, calculate the willingness λ6 according to formula 6,
Figure PCTCN2019123928-appb-000007
Figure PCTCN2019123928-appb-000007
其中，Δ2表征一个固定的距离值；Among them, Δ2 represents a fixed distance value;
F表征车辆三行驶速度与车辆一行驶速度的比值；F represents the ratio of the speed of the vehicle three to the speed of the vehicle one;
F1和F2表征车辆三和车辆一两者行驶速度比所在轴上的两个固定值；F1 and F2 represent two fixed values on the axle where the speed ratio of vehicle three and vehicle one is located;
k 5表征车辆三与车辆一行驶速度比与意愿度λ6之间函数关系的直线斜率； k 5 represents the linear slope of the functional relationship between the speed ratio of vehicle three to vehicle one and the degree of willingness λ6;
λ *表征大于零小于等于1的一个固定值。 λ * represents a fixed value greater than zero and less than or equal to 1.
本发明的有益效果：The beneficial effects of the present invention:
本发明自动驾驶中车辆变道至目标车道前车之前的预测方法，结合预变道车辆、预变道车辆所在车道的前方第一辆车、目标车道内位于预变道车辆前方第一辆车和目标车道内位于预变道车辆前方第二辆车这四辆车的行驶状态数据计算出预变道车辆变道至目标车道位于预变道车辆前方第一辆车之前的意愿度，根据意愿度来预测预变道车辆在未来时刻是否会变道至目标车道位于预变道车辆前方第一辆车之前，有效排除周围车辆干扰本车决策的因素，提高本车决策的确信度；同时，有效降低自动驾驶***中预测模块的数据分析计算量，降低自动驾驶***的运行难度和运行成本，有效改善决策的滞后延时。The method for predicting before the vehicle changes lanes to the target lane in the automatic driving of the present invention combines the pre-lane change vehicle, the first vehicle in front of the lane where the pre-lane vehicle is located, and the first vehicle in the target lane in front of the pre-change vehicle Calculate the willingness of the pre-lane change vehicle to change lanes to the target lane before the first car in front of the pre-change vehicle based on the driving state data of the four vehicles in the target lane and the second vehicle in front of the pre-change vehicle. It can predict whether the pre-changing vehicle will change lanes in the future until the target lane is before the first car in front of the pre-changing vehicle, effectively eliminating the factors that interfere with the decision of the vehicle by surrounding vehicles, and improving the confidence of the decision of the vehicle; at the same time, Effectively reduce the amount of data analysis and calculation of the prediction module in the automatic driving system, reduce the operating difficulty and operating cost of the automatic driving system, and effectively improve the lag time of decision-making.
附图说明Description of the drawings
图1是本发明优选实施例中预测方法的流程图；Fig. 1 is a flowchart of a prediction method in a preferred embodiment of the present invention;
图2是本发明优选实施例中计算被预测车辆变道至目标车道前方第一辆车之前的路况示意图；2 is a schematic diagram of road conditions before calculating the predicted vehicle to change lanes to the first vehicle in front of the target lane in the preferred embodiment of the present invention;
图3a是本发明优选实施例中计算意愿度λ1的曲线图；Fig. 3a is a graph of calculating willingness λ1 in a preferred embodiment of the present invention;
图3b是本发明优选实施例中计算意愿度增量Δλ的曲线图；Fig. 3b is a graph of calculating willingness increment Δλ in a preferred embodiment of the present invention;
图4是本发明优选实施例中计算意愿度λ2的曲线图；Fig. 4 is a graph of calculating willingness λ2 in a preferred embodiment of the present invention;
图5是本发明优选实施例中计算意愿度λ3的曲线图；Fig. 5 is a graph of calculating willingness λ3 in a preferred embodiment of the present invention;
图6是本发明优选实施例中计算意愿度λ5的曲线图；Fig. 6 is a graph of calculating willingness λ5 in a preferred embodiment of the present invention;
[根据细则91更正 14.04.2020]　
图7是本发明优选实施例中计算意愿度λ6的曲线图。[Corrected 14.04.2020 according to Rule 91]
Fig. 7 is a graph of calculating willingness λ6 in a preferred embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention, but the examples cited are not intended to limit the present invention.
实施例一Example one
本实施例公开一种自动驾驶中车辆变道至目标车道前车之前的预测方法，参照图1所示，其包括以下步骤，This embodiment discloses a method for predicting before a vehicle changes lanes to a target lane in automatic driving. As shown in FIG. 1, it includes the following steps:
获取预变道车辆、车辆一、车辆二、车辆三当前采样周期的行驶状态数据，其中，上述车辆一为预变道车辆所在车道的前方第一辆车；上述车辆二为目标车道内位于预变道车辆前方的第一辆车；上述车辆三为目标车道内位于预变道车辆前方的第二辆车。参照图2所示，车辆4表征预变道车辆，车辆1表征车辆一，车辆2表征车辆二，车辆3表征车辆三。各车的行驶状态数据包括行驶速度、横向速度、各车之间沿车道线方向的距离(或称“纵向距离”)、加速度、减速度、横向加减速度等。当图2中某辆车不存在时，认为与该车相关的距离为无穷远。Obtain the driving state data of the current sampling period of the pre-lane change vehicle, vehicle one, vehicle two, and vehicle three, where the above-mentioned vehicle one is the first vehicle in front of the lane where the pre-change vehicle is located; the above-mentioned vehicle two is the target lane located in the pre- The first vehicle in front of the lane-changing vehicle; the above-mentioned vehicle 3 is the second vehicle in front of the pre-lane-changing vehicle in the target lane. Referring to FIG. 2, vehicle 4 represents a pre-lane change vehicle, vehicle 1 represents vehicle one, vehicle 2 represents vehicle two, and vehicle 3 represents vehicle three. The driving state data of each car includes the driving speed, the lateral speed, the distance between the cars along the lane line direction (or "longitudinal distance"), acceleration, deceleration, lateral acceleration and deceleration, etc. When a certain car does not exist in Figure 2, the distance related to the car is considered to be infinite.
结合预变道车辆、车辆一、车辆二、车辆三的行驶状态数据计算出车辆4变道至车辆二之前的意愿度λ，0≤λ≤1；Combining the driving state data of the pre-lane-changing vehicle, vehicle 1, vehicle 2, and vehicle 3 to calculate the willingness λ of vehicle 4 before changing lane to vehicle 2, 0≤λ≤1;
当意愿度λ超过意愿度阈值时，预测出车辆4将在未来时刻变道至车辆二之前。此处，根据驾驶员特性预设意愿度阈值，比如，预设意愿度阈值为0.6，或者0.65，或者0.7等。When the willingness λ exceeds the willingness threshold, it is predicted that the vehicle 4 will change lanes before the vehicle 2 at a future time. Here, the willingness threshold is preset according to the characteristics of the driver, for example, the preset willingness threshold is 0.6, or 0.65, or 0.7.
计算上述意愿度λ包括排除以下否定项：Calculating the above willingness λ includes excluding the following negative items:
否定项1：车辆4向目标车道方向的横向速度v y小于零、且维持一定时间时，车辆4变道至车辆二所在车道的意愿度为零。比如，车辆4向车辆二所在 车道方向的横向速度v y小于等于零、且持续2s时，车辆4变道至车辆二所在车道的意愿度为零。此处的持续时间为能够调整的标定量。需要说明的有：横向速度v y大于0，表征车辆4偏向目标车道；横向速度v y小于0，表征车辆4偏离目标车道。 Negative item 1: When the lateral velocity v y of the vehicle 4 in the direction of the target lane is less than zero and maintained for a certain period of time, the willingness of the vehicle 4 to change lanes to the lane where the vehicle 2 is located is zero. For example, when the lateral speed v y of the vehicle 4 in the direction of the lane where the vehicle 2 is located is less than or equal to zero and lasts for 2 s, the willingness of the vehicle 4 to change lanes to the lane where the vehicle 2 is located is zero. The duration here is the standard amount that can be adjusted. It should be noted that: the lateral speed v y is greater than 0, which indicates that the vehicle 4 is deviating from the target lane; the lateral velocity v y is less than 0, which indicates that the vehicle 4 deviates from the target lane.
否定项2：存在一个时间t∈[0，t Thres]，t Thres为能够调整的时间标定量，比如，标定t Thres为20s，或者25s； Negative item 2: There is a time t ∈ [0, t Thres ], t Thres is a time calibration amount that can be adjusted, for example, t Thres is calibrated to 20s or 25s;
存在一个时间t 1，该时间内预变道车辆的行驶速度大于车辆一的行驶速度； There is a time t 1 during which the traveling speed of the pre-lane change vehicle is greater than the traveling speed of vehicle one;
存在一个时间t 2，该时间内所述车辆三位于车辆一的前方； There is a time t 2 during which the vehicle three is in front of the vehicle one;
存在一个时间t 3，该时间内所述车辆一位于车辆二的前方； There is a time t 3 , during which time the first vehicle is located in front of the second vehicle;
存在一个时间t 4，该时间内所述预变道车辆位于车辆二的前方； There is a time t 4 during which the pre-lane change vehicle is located in front of the second vehicle;
上述时间t 1、时间t 2、时间t 3和时间t 4四者在时间t内有交集、且车辆4的行驶速度大于车辆二的行驶速度时，计算上述意愿度λ考虑车辆4实际加速度、车辆4和车辆一之间沿车道线方向间隔距离和车辆4与车辆一之间相对速度的影响、车道拥堵程度的影响、车辆三和车辆一之间纵向距离的影响、车辆三与车辆一两者行驶速度比的影响；否则，上述意愿度λ为零。 When the above-mentioned time t 1 , time t 2 , time t 3 and time t 4 have an intersection within time t, and the traveling speed of vehicle 4 is greater than the traveling speed of vehicle two, the above-mentioned willingness λ is calculated considering the actual acceleration of vehicle 4, The distance between vehicle 4 and vehicle one along the lane line and the relative speed between vehicle 4 and vehicle one, the influence of lane congestion, the influence of longitudinal distance between vehicle three and vehicle one, the influence of vehicle three and vehicle one or two Otherwise, the above-mentioned degree of willingness λ is zero.
计算意愿度λ包括，The calculated willingness λ includes,
计算车辆4实际加速度影响下的意愿度λ1；Calculate the willingness λ1 under the influence of the actual acceleration of the vehicle 4;
计算车辆4和车辆一之间沿车道线方向间隔距离影响下的意愿度λ2；Calculate the degree of willingness λ2 under the influence of the distance between vehicle 4 and vehicle 1 along the lane line direction;
计算车辆4与车辆一之间相对速度影响下的意愿度λ3；Calculate the willingness λ3 under the influence of the relative speed between vehicle 4 and vehicle one;
计算车道拥堵程度影响下的意愿度λ4；Calculate the willingness λ4 under the influence of lane congestion;
计算车辆三和车辆一之间纵向距离的影响下的意愿度λ5；Calculate the degree of willingness λ5 under the influence of the longitudinal distance between vehicle three and vehicle one;
计算车辆三与车辆一两者行驶速度比影响下的意愿度λ6；Calculate the willingness λ6 under the influence of the speed ratio of vehicle three and vehicle one;
λ＝max{λ1，λ2，λ3，λ4，λ5，λ6}  (式一)；λ=max{λ1,λ2,λ3,λ4,λ5,λ6} (Equation 1);
根据式一计算车辆4至车辆二之前的意愿度λ。Calculate the willingness λ between vehicle 4 and vehicle 2 according to formula 1.
本实施例技术方案中，优选通过以下方式计算获得意愿度λ1、λ2、λ3、λ4、λ5和λ6：In the technical solution of this embodiment, the willingness degrees λ1, λ2, λ3, λ4, λ5, and λ6 are preferably calculated in the following manner:
(1)先根据车辆4当前的实际加速度A计算一个意愿度，然后根据加速度A持续的时间计算一个意愿度的增量Δλ，该增量随持续时间的增加变化，并且不同加速度A对应的增量曲线斜率不同，加速度A值越大，斜率越大，意愿度λ4为实际加速度A对应的意愿度和意愿度增量之和，但两者之和应与1取小。(1) First calculate a willingness degree according to the current actual acceleration A of the vehicle 4, and then calculate an increase Δλ of the willingness degree according to the duration of the acceleration A. The increase changes with the increase in duration, and the increase corresponding to different acceleration A The slope of the quantity curve is different. The larger the value of acceleration A, the greater the slope. The willingness λ4 is the sum of the willingness and willingness increments corresponding to the actual acceleration A, but the sum of the two should be less than 1.
以车辆4当前的实际加速度A为横坐标，意愿度λ1为纵坐标建立坐标系，意愿度λ1与车辆4当前实际加速度A的函数关系参照图3(a)所示，Take the current actual acceleration A of the vehicle 4 as the abscissa and the willingness λ1 as the ordinate to establish a coordinate system. The functional relationship between the willingness λ1 and the current actual acceleration A of the vehicle 4 is shown in Figure 3(a).
Figure PCTCN2019123928-appb-000008
Figure PCTCN2019123928-appb-000008
A表征车辆4的实际加速度；A represents the actual acceleration of the vehicle 4;
k 1表征车辆4实际加速度与意愿度λ4之间函数关系的直线斜率； k 1 represents the linear slope of the functional relationship between the actual acceleration of the vehicle 4 and the willingness λ4;
A 1表征横坐标轴上的一个固定加速度值，比如，A 1取0.1g。此处A 1为能够调整的标定量。 A 1 represents a fixed acceleration value on the abscissa axis, for example, A 1 takes 0.1g. Here A 1 is the standard amount that can be adjusted.
Δλ表征车辆4的实际加速度超出加速度阈值持续一定时间的意愿度增量。Δλ represents the increase in willingness that the actual acceleration of the vehicle 4 exceeds the acceleration threshold for a certain period of time.
参照图3(b)所示，以车辆4的实际加速度超出加速度阈值持续的时间为横坐标，意愿度增量Δλ为纵坐标轴建立坐标系，车辆4的实际加速度超出加速度阈值持续的时间与意愿度增量Δλ之间的函数关系参照图3(b)所示。Referring to Figure 3(b), the duration of the vehicle 4’s actual acceleration exceeding the acceleration threshold is taken as the abscissa, and the willingness increment Δλ is the ordinate axis to establish a coordinate system. The actual acceleration of the vehicle 4 exceeds the acceleration threshold for the duration of time and The functional relationship between the willingness increment Δλ is shown in Fig. 3(b).
图3(a)和图3(b)中，除纵轴坐标最大值为1外，直线的折点横坐标值、纵坐标值、直线斜率均为能够调整的标定参数。In Fig. 3(a) and Fig. 3(b), except for the maximum value of the ordinate axis, the abscissa value, ordinate value and slope of the straight line are all calibration parameters that can be adjusted.
(2)计算所述意愿度λ2包括，(2) The calculation of the willingness λ2 includes:
计算L1＝A+B、A＝S1-S2+V1*T r+D； Calculate L1=A+B, A=S1-S2+V1*T r +D;
A表征车辆4以行驶速度V2行驶时与车辆一需要保持的距离；A represents the distance that the vehicle 4 needs to keep from the vehicle 1 when it is running at the driving speed V2;
B表车辆4以减速度a x从行驶速度V1减速至行驶速度V2的行驶距离； Table B: The travel distance of vehicle 4 decelerating from travel speed V1 to travel speed V2 at a deceleration a x;
L1为车辆4和车辆一之间的初始间距；L1 is the initial distance between vehicle 4 and vehicle one;
V1为车辆4的行驶速度；V1 is the traveling speed of vehicle 4;
V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
S1为车辆4制动至停止的制动距离；S1 is the braking distance from vehicle 4 to stop;
S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
T r为车辆4的制动反应时间； T r is the reaction time of the braking of the vehicle 4;
D为车辆4和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between vehicle 4 and vehicle 1 when they both brake to a stop;
当B＝(L1-A)≤0时，意愿度λ2＝1；When B=(L1-A)≤0, the willingness λ2=1;
当B＝(L1-A)＞0，且V1≤V2时，意愿度λ2＝0；When B=(L1-A)>0, and V1≤V2, the willingness λ2=0;
当B＝(L1-A)＞0，且V1＞V2时，根据式二计算预变道车辆的减速度a x： When B=(L1-A)>0, and V1>V2, calculate the deceleration a x of the pre-lane change vehicle according to Equation 2:
Figure PCTCN2019123928-appb-000009
Figure PCTCN2019123928-appb-000009
根据驾驶员特性预设舒适制动的减速度a Thres，参照图4所示，以减速度a Thres 和减速度a x的差值为横坐标，意愿度λ2为纵坐标建立坐标系，意愿度λ2与减速度a Thres和减速度a x的差值之间的函数关系为： The comfortable braking deceleration a Thres is preset according to the driver's characteristics. As shown in Figure 4, the difference between the deceleration a Thres and the deceleration a x is the abscissa, and the willingness λ2 is the ordinate to establish a coordinate system. The functional relationship between λ2 and the difference between deceleration a Thres and deceleration a x is:
Figure PCTCN2019123928-appb-000010
Figure PCTCN2019123928-appb-000010
其中，a表征车辆4的预设舒适制动减速度a Thres与减速度a x的差值； Among them, a represents the difference between the preset comfortable braking deceleration a Thres of the vehicle 4 and the deceleration a x ;
k 2表征减速度a Thres与减速度a x的差值与意愿度λ2之间函数关系的直线斜率； k 2 represents the linear slope of the functional relationship between the difference between the deceleration a Thres and the deceleration a x and the degree of willingness λ2;
a 1表征横坐标轴上的一个固定减速度值，比如，a 1取0.5g。其为能够调整的标定量。 a 1 represents a fixed deceleration value on the abscissa axis, for example, a 1 takes 0.5g. It is a standard amount that can be adjusted.
图4中，除纵轴坐标最大值为1外，直线的折点横坐标值、纵坐标值、直线斜率均为能够调整的标定参数。In Fig. 4, except for the maximum value of the vertical axis coordinate being 1, the abscissa value, the vertical coordinate value and the slope of the straight line are all calibration parameters that can be adjusted.
(3)以车辆4与车辆一的相对速度为横坐标，意愿度λ3为纵坐标建立坐标系，车辆4与车辆一的相对速度与λ3之间的函数关系参照图5所示，(3) Take the relative speed of vehicle 4 and vehicle one as the abscissa, and the degree of willingness λ3 as the ordinate to establish a coordinate system. Refer to Figure 5 for the functional relationship between the relative speed of vehicle 4 and vehicle one and λ3.
Figure PCTCN2019123928-appb-000011
Figure PCTCN2019123928-appb-000011
其中，X表征车辆4与车辆一的相对速度；Among them, X represents the relative speed of vehicle 4 and vehicle one;
k 3表征车辆4与车辆一的相对速度与意愿度λ3之间函数关系的直线斜率； k 3 represents the linear slope of the functional relationship between the relative speed of vehicle 4 and vehicle one and the degree of willingness λ3;
X1表征横坐标轴上的一个固定速度值，比如，X1取V1，V1为车辆4的行驶速度。此处X1为能够标定的变量。X1 represents a fixed speed value on the abscissa axis, for example, X1 takes V1, and V1 is the driving speed of the vehicle 4. Here X1 is a variable that can be calibrated.
图5中，除纵轴坐标最大值为1外，直线的折点横坐标值、纵坐标值、直线斜率均为能够调整的标定参数。In Figure 5, except for the maximum value of the vertical axis coordinate being 1, the abscissa value, the vertical coordinate value and the slope of the straight line are all calibration parameters that can be adjusted.
(4)根据公式四计算所述意愿度λ4，(4) Calculate the degree of willingness λ4 according to formula 4.
Figure PCTCN2019123928-appb-000012
Figure PCTCN2019123928-appb-000012
其中，ρ1表征预变道车辆所在车道前方拥堵程度；Among them, ρ1 represents the degree of congestion in front of the lane where the pre-changing vehicle is located;
ρ2表征车辆二所在车道前方拥堵程度。ρ2 represents the degree of congestion in front of the lane where the second vehicle is located.
此处计算拥堵程度时，以一定距离内的车数量表征，比如，前方100mm内有6辆车，计算出来的拥堵程度为
Figure PCTCN2019123928-appb-000013
When calculating the congestion level here, it is characterized by the number of cars within a certain distance. For example, if there are 6 cars within 100mm ahead, the calculated congestion level is
Figure PCTCN2019123928-appb-000013
(5)计算所述意愿度λ5包括，(5) The calculation of the willingness λ5 includes:
计算A＝S1-S2+V1*T r+D Calculate A=S1-S2+V1*T r +D
A表征车辆4以行驶速度V2行驶时需要与车辆一保持的距离；A characterizes the distance that the vehicle 4 needs to keep from the vehicle one when it is traveling at the driving speed V2;
V1为车辆4的行驶速度；V1 is the traveling speed of vehicle 4;
V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
S1为车辆4制动至停止的制动距离；S1 is the braking distance from vehicle 4 to stop;
S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
T r为车辆4的制动反应时间； T r is the reaction time of the braking of the vehicle 4;
D为车辆4和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between vehicle 4 and vehicle 1 when they both brake to a stop;
L1为车辆4和车辆一之间的初始间距；L1 is the initial distance between vehicle 4 and vehicle one;
当L1＞A+Δ1时，λ5＝0；此处，Δ1表征一个固定的距离值，其为能够调整的标定量。When L1>A+Δ1, λ5=0; here, Δ1 represents a fixed distance value, which is a standard amount that can be adjusted.
当L1≤A+Δ1时，意愿度λ5与车辆一和车辆三之间的沿车道线距离相关，以车辆一和车辆三之间沿车道线距离为横坐标，意愿度λ5为纵坐标建立坐标系，意愿度λ5与车辆一和车辆三之间的沿车道线距离相关之间的函数关系参照图6所示，When L1≤A+Δ1, the degree of willingness λ5 is related to the distance along the lane line between vehicle 1 and vehicle 3. The distance between vehicle 1 and vehicle 3 along the lane line is used as the abscissa, and the degree of willingness λ5 is the ordinate to establish the coordinates. System, the functional relationship between the willingness λ5 and the distance along the lane line between the vehicle one and the vehicle three is shown in Fig. 6,
Figure PCTCN2019123928-appb-000014
Figure PCTCN2019123928-appb-000014
其中，E表征车辆一与车辆三之间的沿车道线距离；Among them, E represents the distance along the lane line between vehicle one and vehicle three;
k 4表征车辆一与车辆三之间沿车道线距离与意愿度λ5之间函数关系的直线斜率； k 4 represents the linear slope of the functional relationship between the distance along the lane line between vehicle one and vehicle three and the degree of willingness λ5;
E1和E2表征横坐标轴上的两个固定距离值，E1取2m，E2取0.5s*V1；E1和E2均为能够能够调整的标定量。E1 and E2 represent two fixed distance values on the abscissa axis, E1 takes 2m, and E2 takes 0.5s*V1; E1 and E2 are both calibrated quantities that can be adjusted.
图6中，除纵轴坐标最大值为1外，直线的折点横坐标值、纵坐标值、直线斜率均为能够调整的标定参数.In Figure 6, except for the maximum value of the ordinate axis, the abscissa value, ordinate value and slope of the straight line are all calibration parameters that can be adjusted.
(6)计算所述意愿度λ6包括，(6) The calculation of the willingness λ6 includes:
计算A＝S1-S2+V1*T r+D Calculate A=S1-S2+V1*T r +D
A表征车辆4以行驶速度V2行驶时需要与车辆一保持的距离；A characterizes the distance that the vehicle 4 needs to keep from the vehicle one when it is traveling at the driving speed V2;
V1为车辆4的行驶速度；V1 is the traveling speed of vehicle 4;
V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
S1为车辆4制动至停止的制动距离；S1 is the braking distance from vehicle 4 to stop;
S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
T r为车辆4的制动反应时间； T r is the reaction time of the braking of the vehicle 4;
D为车辆4和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between vehicle 4 and vehicle 1 when they both brake to a stop;
L1为车辆4和车辆一之间的初始间距；L1 is the initial distance between vehicle 4 and vehicle one;
当L1＞A+Δ2时，λ6＝0。此处，Δ2表征一个固定的距离值，其为能够调整的标定量。When L1>A+Δ2, λ6=0. Here, Δ2 represents a fixed distance value, which is a standard amount that can be adjusted.
当L1≤A+Δ2时，意愿度λ6与车辆三与车辆一的行驶速度比F相关，以车辆三与车辆一的行驶速度比为横坐标，意愿度λ6为纵坐标建立坐标系，参照图7所示，意愿度λ6与车辆三与车辆一的行驶速度比F的函数关系为：When L1≤A+Δ2, the degree of willingness λ6 is related to the speed ratio F of vehicle three to vehicle one. The speed ratio of vehicle three to vehicle one is used as the abscissa and the degree of willingness λ6 is used as the ordinate to establish a coordinate system. Refer to the figure As shown in 7, the functional relationship between the willingness λ6 and the speed ratio F of vehicle three to vehicle one is:
Figure PCTCN2019123928-appb-000015
Figure PCTCN2019123928-appb-000015
其中，F表征车辆三行驶速度与车辆一行驶速度的比值；Among them, F represents the ratio of the speed of the vehicle three to the speed of the vehicle one;
F1和F2表征横坐标上的两个固定值。比如，F1取1，F2取1.5。此处，F1和F2均为能够调整的标定量。F1 and F2 represent two fixed values on the abscissa. For example, F1 takes 1, and F2 takes 1.5. Here, both F1 and F2 are standard amounts that can be adjusted.
k 5表征车辆三与车辆一行驶速度比与意愿度λ6之间函数关系的直线斜率； k 5 represents the linear slope of the functional relationship between the speed ratio of vehicle three to vehicle one and the degree of willingness λ6;
λ *表征大于零小于等于1的一个固定值,其为能够调整的标定量。 λ * represents a fixed value greater than zero and less than or equal to 1, which is a standard amount that can be adjusted.
图6中，除纵轴坐标最大值为1外，直线的折点横坐标值、纵坐标值、直线斜率均为能够调整的标定参数。In Fig. 6, except for the maximum value of the vertical axis coordinate being 1, the abscissa value, the vertical coordinate value, and the slope of the straight line are all calibration parameters that can be adjusted.
以上，结合预变道车辆、预变道车辆所在车道的前方第一辆车、目标车道内位于预变道车辆前方第一辆车和目标车道内位于预变道车辆前方第二辆车这四辆车的行驶状态数据计算出预变道车辆变道至目标车道位于预变道车辆前方第一辆车之前的意愿度，根据意愿度来预测预变道车辆在未来时刻是否会变道 至目标车道位前方第一辆车之前，有效排除周围车辆干扰本车决策的因素，提高本车决策的确信度；同时，有效降低自动驾驶***中预测模块的数据分析计算量，降低自动驾驶***的运行难度和运行成本，有效改善决策的滞后延时。The above, combined with the four pre-lane change vehicles, the first car in front of the lane where the pre-lane change vehicle is located, the first car in the target lane in front of the pre-lane change vehicle, and the second car in the target lane in front of the pre-lane change vehicle. The driving state data of the vehicle calculates the willingness of the pre-lane-changing vehicle to change lanes to the target lane before the first car in front of the pre-lane-changing vehicle, and predicts whether the pre-lane-changing vehicle will change lanes to the target in the future based on the willingness Before the first car in front of the lane, it effectively eliminates the factors that interfere with the decision of the vehicle by surrounding vehicles, and improves the confidence of the decision of the vehicle; at the same time, it effectively reduces the amount of data analysis and calculation of the prediction module in the automatic driving system, and reduces the operation of the automatic driving system. Difficulty and operating cost, effectively improving the lag in decision-making.
以上所述实施例仅是为充分说明本发明而所举的较佳的实施例，本发明的保护范围不限于此。本技术领域的技术人员在本发明基础上所作的等同替代或变换，均在本发明的保护范围之内。本发明的保护范围以权利要求书为准。The above-mentioned embodiments are only preferred embodiments for fully explaining the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or alterations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention is subject to the claims.

Claims (10)

  1. 一种自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：包括以下步骤，A method for predicting before a vehicle changes lanes to a target lane before a vehicle in automatic driving is characterized in that it includes the following steps:
    获取预变道车辆、车辆一、车辆二、车辆三当前采样周期的行驶状态数据；其中，所述车辆一为预变道车辆所在车道的前方第一辆车；所述车辆二为目标车道内位于预变道车辆前方的第一辆车；所述车辆三为目标车道内位于预变道车辆前方的第二辆车；Obtain the driving state data of the current sampling period of the pre-lane change vehicle, vehicle one, vehicle two, and vehicle three; wherein, the vehicle one is the first vehicle in front of the lane where the pre-lane change vehicle is located; and the vehicle two is in the target lane The first car located in front of the pre-changing vehicle; said vehicle three is the second vehicle in front of the pre-changing vehicle in the target lane;
    结合各车辆的所述行驶状态数据计算出所述预变道车辆变道至所述车辆二之前的意愿度λ，0≤λ≤1；Calculate the willingness λ of the pre-lane-changing vehicle before changing lanes to the second vehicle in combination with the driving state data of each vehicle, 0≤λ≤1;
    当所述意愿度超过意愿度阈值时，预测出所述预变道车辆将在未来时刻变道至所述车辆二之前。When the willingness exceeds the willingness threshold, it is predicted that the pre-lane change vehicle will change lanes before the second vehicle at a future time.
  2. 如权利要求1所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：所述预变道车辆向目标车道方向的横向速度小于零、且维持一定时间时，所述预变道车辆变道至目标车道的意愿度为零。The method for predicting the vehicle before the vehicle in front of the target lane in automatic driving according to claim 1, characterized in that: when the lateral velocity of the pre-lane-changing vehicle in the direction of the target lane is less than zero and maintained for a certain period of time, It is stated that the willingness of the pre-changing vehicle to change lanes to the target lane is zero.
  3. 如权利要求1所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：计算所述意愿度λ包括，The method for predicting before a vehicle changes lanes to a target lane before a vehicle in automatic driving according to claim 1, wherein calculating the willingness λ comprises:
    存在一个时间t∈[0，t Thres]，t Thres为能够调整的标定量； There is a time t∈[0, t Thres ], and t Thres is the standard amount that can be adjusted;
    存在一个时间t 1，该时间内预变道车辆的行驶速度大于车辆一的行驶速度； There is a time t 1 during which the traveling speed of the pre-lane change vehicle is greater than the traveling speed of vehicle one;
    存在一个时间t 2，该时间内所述车辆三位于车辆一的前方； There is a time t 2 during which the vehicle three is in front of the vehicle one;
    存在一个时间t 3，该时间内所述车辆一位于车辆二的前方； There is a time t 3 , during which time the first vehicle is located in front of the second vehicle;
    存在一个时间t 4，该时间内所述预变道车辆位于车辆二的前方； There is a time t 4 during which the pre-lane change vehicle is located in front of the second vehicle;
    当时间t 1、时间t 2、时间t 3和时间t 4四者在时间t内有交集、且预变道车辆的行驶速度大于车辆二的行驶速度时，计算所述意愿度λ考虑预变道车辆实际加速度、预变道车辆和车辆一之间沿车道线方向间隔距离和预变道车辆与车辆一之间相对速度的影响、车道拥堵程度的影响、车辆三和车辆一之间纵向距离的影响、车辆三与车辆一两者行驶速度比的影响；否则，所述意愿度λ为零。 When time t 1 , time t 2 , time t 3 and time t 4 have an intersection within time t, and the speed of the pre-changing vehicle is greater than the speed of vehicle two, calculate the willingness λ to consider the pre-change The actual acceleration of the lane vehicle, the distance along the lane line between the pre-changing vehicle and vehicle 1, the relative speed between the pre-changing vehicle and vehicle 1, the influence of lane congestion, the longitudinal distance between vehicle three and vehicle one The influence of the speed ratio between the vehicle three and the vehicle one; otherwise, the degree of willingness λ is zero.
  4. 如权利要求3所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：计算所述意愿度λ包括，The method for predicting before the vehicle changes lanes to the target lane before the vehicle in automatic driving according to claim 3, characterized in that: calculating the willingness λ comprises:
    计算预变道车辆实际加速度影响下的意愿度λ1；Calculate the willingness λ1 under the influence of actual acceleration of the pre-lane change vehicle;
    计算预变道车辆和车辆一之间沿车道线方向间隔距离影响下的意愿度λ2；Calculate the degree of willingness λ2 between the pre-lane-changing vehicle and the distance between the vehicle one along the lane line direction;
    计算预变道车辆与车辆一之间相对速度影响下的意愿度λ3；Calculate the willingness λ3 between the pre-lane-changing vehicle and vehicle one under the influence of the relative speed;
    计算车道拥堵程度影响下的意愿度λ4；Calculate the willingness λ4 under the influence of lane congestion;
    计算车辆三和车辆一之间纵向距离的影响下的意愿度λ5；Calculate the degree of willingness λ5 under the influence of the longitudinal distance between vehicle three and vehicle one;
    计算车辆三与车辆一两者行驶速度比影响下的意愿度λ6；Calculate the willingness λ6 under the influence of the speed ratio of vehicle three and vehicle one;
    λ＝max{λ1，λ2，λ3，λ4，λ5，λ6}  (式一)；λ=max{λ1,λ2,λ3,λ4,λ5,λ6} (Equation 1);
    根据式一计算预变道车辆变道至车辆二之前的意愿度λ。Calculate the willingness λ of the pre-lane-changing vehicle before it changes lanes to the second vehicle according to Equation 1.
  5. 如权利要求4所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：根据公式一计算所述意愿度λ1，The method for predicting before the vehicle changes lanes to the target lane before the vehicle in automatic driving according to claim 4, characterized in that: the willingness λ1 is calculated according to formula 1,
    Figure PCTCN2019123928-appb-100001
    Figure PCTCN2019123928-appb-100001
    A表征预变道车辆的实际加速度；A represents the actual acceleration of the pre-lane change vehicle;
    k 1表征预变道车辆实际加速度与意愿度λ1之间函数关系的直线斜率； k 1 represents the linear slope of the functional relationship between the actual acceleration of the pre-lane change vehicle and the willingness λ1;
    A 1表征预变道车辆实际加速度所在加速度轴上的一个固定加速度值； A 1 represents a fixed acceleration value on the acceleration axis where the actual acceleration of the pre-lane change vehicle is located;
    Δλ表征预变道车辆的实际加速度超出加速度阈值持续一定时间的意愿度增量。Δλ represents the increase in willingness that the actual acceleration of the pre-lane change vehicle exceeds the acceleration threshold for a certain period of time.
  6. 如权利要求4所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：计算所述意愿度λ2包括，The method for predicting before the vehicle changes lanes to the target lane before the vehicle in automatic driving according to claim 4, characterized in that: calculating the willingness λ2 comprises:
    计算L1＝A+B、A＝S1-S2+V1*T r+D； Calculate L1=A+B, A=S1-S2+V1*T r +D;
    A表征预变道车辆以行驶速度V2行驶时与车辆一需要保持的距离；A characterizes the distance that the pre-lane change vehicle needs to keep from the vehicle 1 when it is traveling at a driving speed of V2;
    B表征预变道车辆以减速度a x从行驶速度V1减速至行驶速度V2的行驶距离； B represents the driving distance of the pre-lane change vehicle decelerating from the driving speed V1 to the driving speed V2 at a deceleration a x;
    L1为预变道车辆和车辆一之间的初始间距；L1 is the initial distance between the pre-lane change vehicle and vehicle one;
    V1为预变道车辆的行驶速度；V1 is the traveling speed of the pre-lane change vehicle;
    V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
    S1为预变道车辆制动至停止的制动距离；S1 is the braking distance from pre-lane change vehicle braking to stop;
    S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
    T r为预变道车辆的制动反应时间； T r is the braking reaction time of the pre-lane change vehicle;
    D为预变道车辆和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between the pre-changing vehicle and the vehicle when they both brake to a stop;
    当B＝(L1-A)≤0时，意愿度λ2＝1；When B=(L1-A)≤0, the willingness λ2=1;
    当B＝(L1-A)＞0，且V1≤V2时，意愿度λ2＝0；When B=(L1-A)>0, and V1≤V2, the willingness λ2=0;
    当B＝(L1-A)＞0，且V1＞V2时，根据式二计算预变道车辆的减速度a x： When B=(L1-A)>0, and V1>V2, calculate the deceleration a x of the pre-lane change vehicle according to Equation 2:
    Figure PCTCN2019123928-appb-100002
    Figure PCTCN2019123928-appb-100002
    根据公式二计算所述意愿度λ2：Calculate the degree of willingness λ2 according to formula 2:
    Figure PCTCN2019123928-appb-100003
    Figure PCTCN2019123928-appb-100003
    其中，a表征预变道车辆的预设舒适制动减速度a Thres与减速度a x的差值； Among them, a represents the difference between the preset comfortable braking deceleration a Thres of the pre-lane change vehicle and the deceleration a x ;
    k 2表征减速度a Thres与减速度a x的差值与意愿度λ2之间函数关系的直线斜率； k 2 represents the linear slope of the functional relationship between the difference between the deceleration a Thres and the deceleration a x and the degree of willingness λ2;
    a 1表征减速度a Thres与减速度a x的差值所在减速度轴上的一个固定减速度值。 a 1 represents a fixed deceleration value on the deceleration axis where the difference between the deceleration a Thres and the deceleration a x is located.
  7. 如权利要求4所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：根据公式三计算所述意愿度λ3，The method for predicting before the vehicle changes lanes to the target lane in automatic driving according to claim 4, characterized in that: the willingness degree λ3 is calculated according to formula three,
    Figure PCTCN2019123928-appb-100004
    Figure PCTCN2019123928-appb-100004
    其中，X表征预变道车辆与车辆一的相对速度；Among them, X represents the relative speed of the pre-lane change vehicle and vehicle one;
    k 3表征预变道车辆与车辆一的相对速度与意愿度λ3之间函数关系的直线斜率； k 3 represents the linear slope of the functional relationship between the relative speed of the pre-lane change vehicle and vehicle one and the willingness λ3;
    X1表征预变道车辆与车辆一的相对速度所在速度轴上的一个固定速度值。X1 represents a fixed speed value on the speed axis where the relative speed of the pre-lane change vehicle and vehicle one is located.
  8. 如权利要求4所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：根据公式四计算所述意愿度λ4，The method for predicting before the vehicle changes lanes to the target lane in automatic driving according to claim 4, characterized in that: the willingness degree λ4 is calculated according to formula 4,
    Figure PCTCN2019123928-appb-100005
    Figure PCTCN2019123928-appb-100005
    其中，ρ1表征预变道车辆所在车道前方拥堵程度；Among them, ρ1 represents the degree of congestion in front of the lane where the pre-changing vehicle is located;
    ρ2表征车辆二所在车道前方拥堵程度。ρ2 represents the degree of congestion in front of the lane where the second vehicle is located.
  9. 如权利要求4所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：计算所述意愿度λ5包括，The method for predicting before the vehicle changes lanes to the target lane before the vehicle in automatic driving according to claim 4, characterized in that: calculating the willingness λ5 comprises:
    计算A＝S1-S2+V1*T r+D Calculate A=S1-S2+V1*T r +D
    A表征预变道车辆以行驶速度V2行驶时需要与车辆一保持的距离；A represents the distance that the pre-lane-changing vehicle needs to maintain with vehicle one when it is traveling at a speed of V2;
    V1为预变道车辆的行驶速度；V1 is the traveling speed of the pre-lane change vehicle;
    V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
    S1为预变道车辆制动至停止的制动距离；S1 is the braking distance from pre-lane change vehicle braking to stop;
    S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
    T r为预变道车辆的制动反应时间； T r is the braking reaction time of the pre-lane change vehicle;
    D为预变道车辆和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between the pre-changing vehicle and the vehicle when they both brake to a stop;
    L1为预变道车辆和车辆一之间的初始间距；L1 is the initial distance between the pre-lane change vehicle and vehicle one;
    当L1＞A+Δ1时，λ5＝0；When L1>A+Δ1, λ5=0;
    当L1≤A+Δ1时，根据公式五计算所述意愿度λ5，When L1≤A+Δ1, calculate the willingness λ5 according to formula 5.
    Figure PCTCN2019123928-appb-100006
    Figure PCTCN2019123928-appb-100006
    其中，Δ1表征一个固定的距离值；Among them, Δ1 represents a fixed distance value;
    E表征车辆一与车辆三之间的沿车道线距离；E represents the distance along the lane line between vehicle one and vehicle three;
    k 4表征车辆一与车辆三之间沿车道线距离与意愿度λ5之间函数关系的直线斜率； k 4 represents the linear slope of the functional relationship between the distance along the lane line between vehicle one and vehicle three and the degree of willingness λ5;
    E1和E2表征车辆一与车辆三之间沿车道线距离所在距离轴上的两个固定距离值。E1 and E2 represent two fixed distance values on the distance axis along the lane line between vehicle one and vehicle three.
  10. 如权利要求4所述的自动驾驶中车辆变道至目标车道前车之前的预测方法，其特征在于：计算所述意愿度λ6包括，The method for predicting before the vehicle changes lanes to the target lane before the vehicle in automatic driving according to claim 4, characterized in that: calculating the willingness λ6 comprises:
    计算A＝S1-S2+V1*T r+D Calculate A=S1-S2+V1*T r +D
    A表征预变道车辆以行驶速度V2行驶时需要与车辆一保持的距离；A represents the distance that the pre-lane-changing vehicle needs to maintain with vehicle one when it is traveling at a speed of V2;
    V1为预变道车辆的行驶速度；V1 is the traveling speed of the pre-lane change vehicle;
    V2为车辆一的行驶速度；V2 is the driving speed of vehicle one;
    S1为预变道车辆制动至停止的制动距离；S1 is the braking distance from pre-lane change vehicle braking to stop;
    S2为车辆一制动至停止的制动距离；S2 is the braking distance from braking to stop of the vehicle one;
    T r为预变道车辆的制动反应时间； T r is the braking reaction time of the pre-lane change vehicle;
    D为预变道车辆和车辆一均制动至停止时两者之间的安全停车距离；D is the safe stopping distance between the pre-changing vehicle and the vehicle when they both brake to a stop;
    L1为预变道车辆和车辆一之间的初始间距；L1 is the initial distance between the pre-lane change vehicle and vehicle one;
    当L1＞A+Δ2时，λ6＝0；When L1>A+Δ2, λ6=0;
    当L1≤A+Δ2时，根据公式六计算所述意愿度λ6，When L1≤A+Δ2, calculate the willingness λ6 according to formula 6,
    Figure PCTCN2019123928-appb-100007
    Figure PCTCN2019123928-appb-100007
    其中，Δ2表征一个固定的距离值；Among them, Δ2 represents a fixed distance value;
    F表征车辆三行驶速度与车辆一行驶速度的比值；F represents the ratio of the speed of the vehicle three to the speed of the vehicle one;
    F1和F2表征车辆三和车辆一两者行驶速度比所在轴上的两个固定值；F1 and F2 represent two fixed values on the axle where the speed ratio of vehicle three and vehicle one is located;
    k 5表征车辆三与车辆一行驶速度比与意愿度λ6之间函数关系的直线斜率； k 5 represents the linear slope of the functional relationship between the speed ratio of vehicle three to vehicle one and the degree of willingness λ6;
    λ *表征大于零小于等于1的一个固定值。 λ * represents a fixed value greater than zero and less than or equal to 1.
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