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Automatic lane changing control method and device and vehicle

A control method and vehicle technology, which are applied to control devices, vehicle components, transportation and packaging, etc., can solve the problems that vehicles cannot effectively change target lanes and have potential safety hazards, and achieve the effect of meeting the needs of automatic driving.

Active Publication Date: 2019-11-22
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Even if some manufacturers can realize automatic lane change, but at the initial stage of lane change, there is a large sudden change in the lateral deviation, so that the current vehicle cannot effectively change to the target lane, and there are even potential safety hazards

Method used

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  • Automatic lane changing control method and device and vehicle
  • Automatic lane changing control method and device and vehicle
  • Automatic lane changing control method and device and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] figure 1 It is a flow chart of an automatic lane change control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where an automatic driving vehicle can automatically change lanes when it needs to change lanes. The control device can be implemented by means of software and / or hardware, and can be integrated in the vehicle. Specifically, the method includes the following steps:

[0036] S110. Determine the target lane to be changed by the current vehicle according to the obtained lane change request.

[0037] A lane change request is a request to make the current vehicle change lanes to the left or right. It can be determined whether there is a lane change request based on the state of the turn signal. For example, when the turn signal is on, it means that there is a lane change request, that is, there is a lane change request If the left turn signal is on, it means that you need to change lanes to the left; if the...

Embodiment 2

[0049] image 3 It is a flow chart of an automatic lane change control method provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above embodiments. Specifically, the method includes the following steps:

[0050] S210. Determine the target lane to be changed by the current vehicle according to the obtained lane change request.

[0051] S220. Acquire lane line information of the target lane output by the vehicle-mounted camera on the current vehicle.

[0052] S230. Determine parameter information of a target point on the target lane according to the lane line information.

[0053] Optionally, the lane line information includes: the first lateral deviation and the first heading angle between the current vehicle and the first lane line corresponding to the target lane in the vehicle coordinate system, and the second lane line corresponding to the target lane The second lateral deviation and the second heading angle of . The vehicl...

Embodiment 3

[0100] Figure 8 It is a structural diagram of a control device for automatic lane change provided by Embodiment 3 of the present invention. The device can execute the control method for automatic lane change described in the above embodiment. Specifically, the device includes:

[0101] The target lane determination module 310 is configured to determine the target lane to be changed by the current vehicle according to the obtained lane change request;

[0102] An information acquisition module 320, configured to acquire the lane line information of the target lane output by the vehicle-mounted camera on the current vehicle;

[0103] A rotation angle determination module 330, configured to determine the rotation angle of the steering wheel on the current vehicle according to the lane line information;

[0104] The control module 340 is configured to control the steering wheel according to the turning angle so that the current vehicle drives into the target lane.

[0105] Embo...

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PUM

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Abstract

The embodiment of the invention discloses an automatic lane changing control method and device and a vehicle. The method comprises the following steps: according to an obtained lane changing request,determining a to-be-changed target lane of a current vehicle, and obtaining lane line information, output by a vehicle-mounted camera on the current vehicle, of the target lane; determining a turningangle of a steering wheel on the current vehicle according to the lane line information; and controlling the steering wheel according to the turning angle to enable the current vehicle to drive into the target lane. Compared with the prior art, the steering angle of the steering wheel is determined according to the lane line information of the target lane, and then the steering wheel is controlledaccording to the steering angle, so that the current vehicle is enabled to drive into the target lane, automatic lane changing is achieved, manual control is not needed, and the automatic driving requirement is met.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving, and in particular to a control method, device and vehicle for automatic lane change. Background technique [0002] In recent years, autonomous driving technology has received widespread attention. Automatic lane changing is a relatively complex driving behavior and one of the core issues of autonomous driving. At present, most manufacturers focus on the automatic driving behavior of self-driving vehicles following cars in this lane, and there are relatively few studies on automatic lane changing. When it is necessary to change lanes, manual control is still required. [0003] Even if some manufacturers can realize automatic lane change, but in the initial stage of the lane change, there is a large sudden change in the lateral deviation, so that the current vehicle cannot effectively change to the target lane, and there are even potential safety hazards. Contents...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W10/20G06K9/00
CPCB60W30/18163B60W10/20B60W2540/18G06V20/588
Inventor 陈志新尚秉旭刘洋王洪峰李宇寂
Owner CHINA FIRST AUTOMOBILE
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