Automatic lane change collision avoidance control method, device, vehicle and storage medium

A control method and vehicle technology, applied in control devices, vehicle components, transportation and packaging, etc., can solve problems such as vehicle collision and danger, and achieve the goal of improving safety, reducing the severity of collisions, and reducing the possibility of collisions. Effect

Active Publication Date: 2021-09-17
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, during the automatic lane change process, information such as the driver's operating state and the vehicle's state attitude will have an impact on the lane change decision, and if the vehicle stops directly and returns to the original driving lane during the lane change process, it may also cause the vehicle to be different from the original driving lane. Collision of vehicles in the lane, which may pose greater danger

Method used

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  • Automatic lane change collision avoidance control method, device, vehicle and storage medium
  • Automatic lane change collision avoidance control method, device, vehicle and storage medium
  • Automatic lane change collision avoidance control method, device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] figure 1 It is a flow chart of an automatic lane change and collision avoidance control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where a vehicle encounters an abnormal lane change during automatic lane change and determines a collision avoidance strategy. The method It can be executed by an automatic lane change and collision avoidance control device. The automatic lane change and collision avoidance control device can be implemented by software and / or hardware. The automatic lane change and collision avoidance control device can be configured on a computing device, specifically including the following steps:

[0031] S101. Acquiring the driving parameters of the own vehicle, the driving parameters of the target vehicle and road information during the lane changing operation.

[0032] Among them, the driving parameters of the own vehicle can be understood as characteristic values ​​used to represent the dri...

Embodiment 2

[0045] figure 2 It is a flow chart of an automatic lane change control method provided by Embodiment 2 of the present invention. The technical solution of this embodiment is further refined on the basis of the above-mentioned technical solution, specifically including the following steps:

[0046] S201. Obtain the driving parameters of the own vehicle, the driving parameters of the target vehicle and road information during the lane changing operation.

[0047] S202. According to the longitudinal velocity value of the own vehicle, the longitudinal acceleration value of the own vehicle, the longitudinal velocity value of the target vehicle of each target vehicle, the longitudinal acceleration value of the target vehicle, and the longitudinal relative distance between each target vehicle and the vehicle, determine the collision between each target vehicle and the vehicle Security check time.

[0048] Specifically, the longitudinal velocity of the ego vehicle is denoted as V ...

Embodiment 3

[0092] Figure 4 It is a flow chart of a lane-changing collision avoidance control method provided by Embodiment 3 of the present invention. The technical solution of this embodiment is further refined on the basis of the above-mentioned technical solutions. In this embodiment, the details are specifically carried out before the vehicle enters the automatic lane change, which specifically includes the following steps:

[0093] S301. Determine whether the vehicle satisfies the automatic lane changing condition.

[0094] Wherein, the automatic lane changing condition includes that the lateral movement risk collision time is greater than the third preset threshold, and the vehicle's traveling collision safety detection time is greater than the first preset threshold.

[0095] Specifically, when it is determined that the vehicle needs to change lanes automatically, the radar installed on the vehicle body is used to determine whether there is a vehicle with a lateral overlap with ...

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Abstract

The embodiment of the invention discloses an automatic lane change collision avoidance control method, device, vehicle and storage medium. The method includes: obtaining the driving parameters of the self-vehicle, the driving parameters of the target vehicle and road information during the lane-changing operation; Detection time and virtual line of action for lane change; when an abnormal lane change is detected, the collision avoidance strategy is determined according to the positional relationship between the vehicle and the virtual line of action for lane change, the time of forward collision safety detection and the time of fallback collision safety detection, and the vehicle is controlled to execute Collision avoidance strategy. The technical solution of the embodiment of the present invention solves the problem that it is difficult to determine the lowest-risk collision avoidance strategy when the vehicle encounters an abnormal lane change during the automatic lane change process, reduces the possibility of collisions when the vehicle automatically changes lanes abnormally, and reduces the risk of collision avoidance. The seriousness of the collision in the case of unavoidable collision is reduced, and the safety of vehicle driving is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving control, and in particular to an automatic lane change and collision avoidance control method, device, vehicle and storage medium. Background technique [0002] The development of the vehicle's automatic driving function is in full swing. As the most cutting-edge technology, it can liberate the driver's hands and feet without even needing to look ahead. Once the navigation destination is set, the driver can realize the vehicle driving without taking over. Autonomous driving vehicles include a variety of autonomous decision-making and control tasks, including autonomous control centering, autonomous control lane change, autonomous navigation path planning, etc. Take the necessary steps to minimize the risk. [0003] At present, the active safety anti-collision processing method for automatic lane changing of vehicles mainly uses to determine whether the vehicle can ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W30/095B60W30/18B60W40/02B60W40/105B60W40/107B60W40/109B60W50/00B60W60/00
CPCB60W30/09B60W30/0956B60W30/0953B60W30/18163B60W40/02B60W40/105B60W40/107B60W40/109B60W50/0097B60W50/0098B60W60/0017B60W2520/10B60W2520/105B60W2520/125B60W2554/4041B60W2554/4042B60W2554/4043B60W2554/80B60W30/095B60W60/0015B60W2552/10B60W2552/53
Inventor 陶沛孙连明崔茂源厉健峰
Owner CHINA FIRST AUTOMOBILE
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