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Vehicle lane change control method, vehicle control system, and vehicle

A control method and vehicle technology, applied in the fields of vehicles, vehicle control systems, and vehicle lane change control, can solve the problems of reducing the feasibility analysis reliability and low detection accuracy of vehicle crowding and lane change

Active Publication Date: 2019-10-08
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practice, it is found that the detection accuracy of this single detection method is low, which reduces the reliability of the feasibility analysis of vehicle congestion and lane change

Method used

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  • Vehicle lane change control method, vehicle control system, and vehicle
  • Vehicle lane change control method, vehicle control system, and vehicle
  • Vehicle lane change control method, vehicle control system, and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0089] see figure 1 , figure 1 It is a schematic flow chart of a vehicle lane change control method disclosed in an embodiment of the present invention. Such as figure 1 As shown, the method may include the following steps.

[0090] 101. When a vehicle lane change instruction is detected, the vehicle control system performs filtering and updating processing on the first motion information of the target vehicle collected by the vehicle's radar sensor to obtain the first processed data, and the target vehicle collected by the vehicle's visual sensor The second motion information of the vehicle is filtered and updated to obtain second processed data.

[0091] In the embodiment of the present invention, the target vehicle is driving on the target lane, and the target lane is any one of the adjacent lanes on both sides of the current lane where the vehicle is located.

[0092] In the embodiment of the present invention, the radar sensor may be an ultrasonic radar sensor or a mi...

Embodiment 2

[0184] see figure 2 , figure 2 It is a schematic flowchart of another vehicle lane change control method disclosed in the embodiment of the present invention. Such as figure 2 As shown, the method may include the following steps.

[0185] 201. The vehicle control system controls the vision sensor of the vehicle to shoot, so as to obtain a target video including the environment in front of the vehicle.

[0186] In the embodiment of the present invention, the visual sensor may include an image acquisition device, such as a camera, which is not limited in the embodiment of the present invention.

[0187] In the embodiment of the present invention, please refer to Figure 6 , Figure 6 It is an example diagram of a vehicle disclosed in the embodiment of the present invention. Such as Figure 6 As shown, the vehicle includes a front vision sensor 10, a side front vision sensor 11, a side rear vision sensor 12, a side front radar sensor 13, and a side rear radar sensor 14,...

Embodiment 3

[0227] see image 3 , image 3 It is a structural schematic diagram of a vehicle control system disclosed in an embodiment of the present invention. Such as image 3 As shown, the vehicle control system may include:

[0228] The processing unit 301 is configured to filter and update the first motion information of the target vehicle collected by the radar sensor of the vehicle to obtain first processed data when a vehicle lane change instruction is detected, and to process the first motion information collected by the visual sensor of the vehicle. The second motion information of the target vehicle is filtered and updated to obtain second processed data.

[0229] In the embodiment of the present invention, the target vehicle is driving on the target lane, and the target lane is any one of the adjacent lanes on both sides of the current lane where the vehicle is located.

[0230] In the embodiment of the present invention, the radar sensor may be an ultrasonic radar sensor ...

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PUM

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Abstract

The invention relates to a vehicle lane change control method, a vehicle control system, and a vehicle. The control method comprises the following steps: when a vehicle lane change instruction is detected, respectively performing filtering updating processing on first motion information of a target vehicle collected by a radar sensor and second motion information of the target vehicle collected bya visual sensor so as to obtain first processing data and second processing data; and then, performing fusion processing on transverse movement information included in the first processing data and transverse movement information included in the second processing data to obtain transverse fusion movement information of the target vehicle, performing fusion processing on longitudinal movement information included in the first processing data and longitudinal movement information included in the second processing data to obtain longitudinal fusion movement information of the target vehicle; andwhen both the transverse fusion movement information and the longitudinal fusion movement information show that the target lane is provided with a vehicle squeezing lane change condition, controllingthe vehicle to change from the current lane to a target lane. According to the vehicle lane change control method, the vehicle control system, and the vehicle in the invention, the detection accuracycan be improved, and the reliability of analysis of the vehicle squeezing lane change feasibility is further improved.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a control method for vehicle lane change, a vehicle control system and a vehicle. Background technique [0002] In the case of heavy traffic, if there is an abnormal vehicle in front of the vehicle (such as a vehicle with double flashing lights on for a long time and driving at a low speed), the lane change behavior of the vehicle by crowding the vehicles in the adjacent lane is called traffic jamming. road. At present, when a vehicle is squeezed and changed lanes, the vehicle's radar sensor or visual sensor is usually used to detect the vehicle driving conditions in the lanes on both sides of the vehicle, so as to conduct a feasibility analysis on whether the vehicle can safely squeeze and change lanes. However, in practice, it is found that the detection accuracy of this single detection method is low, which reduces the reliability of the feasibility analysis of vehicle conge...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W40/105B60W30/12
CPCB60W30/18163B60W40/105B60W30/12B60W2754/10
Inventor 谢兆夫王岩
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD