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A control method for vehicle lane change, a vehicle control system, and a vehicle

A vehicle and lane-changing technology, which is applied in the field of vehicles, vehicle control systems, and vehicle lane-changing control, can solve the problems of reducing the reliability of the feasibility analysis of vehicles crowding and changing lanes, and the detection accuracy is low.

Active Publication Date: 2020-09-11
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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  • A control method for vehicle lane change, a vehicle control system, and a vehicle
  • A control method for vehicle lane change, a vehicle control system, and a vehicle
  • A control method for vehicle lane change, a vehicle control system, and a vehicle

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Embodiment 1

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

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

Embodiment 2

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

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

[0186] In the embodiment of the present invention, the vision 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 embodiments of the present invention, please refer to Image 6 , Image 6 It is an example diagram of a vehicle disclosed in an embodiment of the present invention. Such as Image 6 As shown, the vehicle includes a front vision sensor 10, a front side vision sensor 11, a rear side vision sensor 12, a front side radar sensor 13, and a rear side radar sensor 14. The front vision sen...

Embodiment 3

[0227] See image 3 , image 3 It is a schematic structural 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 movement information of the target vehicle collected by the radar sensor of the vehicle to obtain the first processed data when the vehicle lane change instruction is detected 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 lane 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 or a millimeter wave radar sensor, which is not limited in the embodiment of the present inve...

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Abstract

A vehicle lane change control method, vehicle control system, and vehicle, comprising: when a vehicle lane change instruction is detected, first movement information of a target vehicle collected by a radar sensor and first movement information of a target vehicle collected by a visual sensor Perform filter update processing on the second motion information to obtain first processed data and second processed data; then perform fusion processing on the lateral motion information included in the first processed data and the lateral motion information included in the second processed data to obtain lateral fusion motion information of the target vehicle , performing fusion processing on the longitudinal motion information included in the first processing data and the longitudinal motion information included in the second processing data to obtain the longitudinal fusion motion information of the target vehicle; when both the horizontal fusion motion information and the longitudinal fusion motion information indicate that the target lane has traffic jam When changing lanes, control the vehicle to change lanes from the current lane to the target lane. The detection accuracy can be improved, thereby improving the reliability of the feasibility analysis of vehicle congestion and lane change.

Description

Technical field [0001] The present invention relates to the field of vehicle technology, in particular to a vehicle lane change control method, vehicle control system, and vehicle. Background technique [0002] When a vehicle is in heavy traffic, if there is an abnormal vehicle in front of the vehicle (such as a vehicle that has double flashing lights on for a long time and is driving at a low speed), the lane change behavior of the vehicle through the vehicle that crowds the adjacent lane is called the crowded change Tao. At present, when a vehicle changes lanes in a squeeze, the vehicle's radar sensors or visual sensors are usually used to detect the driving conditions of the vehicle in the lanes on both sides of the vehicle, so as to conduct a feasibility analysis on whether the vehicle can safely change lanes in a squeeze. However, in practice, it has been found that this single detection method has low detection accuracy, which reduces the credibility of the feasibility ana...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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