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Vehicle control method, lane switching system and vehicle

A vehicle control and vehicle technology, applied in vehicle control methods, lane switching systems and vehicle fields, can solve problems such as poor comfort of personnel and collisions with other vehicles

Active Publication Date: 2021-08-17
SANY SPECIAL PURPOSE VEHICLE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the LKA system in the prior art will switch the vehicle to the diversion lane very abruptly when passing through the discontinuous area of ​​the lane line, resulting in poor comfort for the personnel and extremely easy to collide with other vehicles, the first aspect of the present invention provides a vehicle control method

Method used

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

Examples

Experimental program
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Embodiment 1

[0064] An embodiment of the first aspect of the present invention provides a vehicle control method, figure 1 A schematic flowchart of a vehicle control method according to an embodiment of the present invention is shown. Among them, the method includes:

[0065] S11, when the vehicle is driving in an area without lane markings, determine whether there are lane markings ahead of the vehicle to be driven;

[0066] S12, when it is determined that there is a lane line ahead to be driven, select a target lane according to preset rules, and select a preview point on the target lane;

[0067] S13. Calculate the steering control amount according to the current vehicle position and the preview point, calculate the steering wheel angle control amount according to the steering control amount, and control the vehicle to cut into the target lane based on the calculated steering wheel angle control amount.

[0068] In this embodiment, after the vehicle enters the area without lane markin...

Embodiment 2

[0070] figure 2 A schematic flowchart of the vehicle control method showing another step of the present invention. Wherein, the specific steps of the vehicle control method include:

[0071] S21, in the area of ​​normal lane markings, implement lane keeping based on lane markings;

[0072] S22, the end of the normal lane line area, driving along the current heading and speed of the vehicle;

[0073] S23, at the end of the area without lane markings, re-capture the lane markings; in this step, when determining the target lane, if there are multiple selectable lanes ahead, you can first select a lane with a more appropriate distance as an alternative lane according to the distance, Then, the perception system can be used to determine the vehicle traffic state adjacent to the candidate lanes, so that the final target lane can be determined from at least two candidate lanes. This method of selecting the target lane not only depends on the distance, but also refers to the commu...

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Abstract

The invention relates to a vehicle control method, a lane switching system and a vehicle. The control method comprises the steps of judging whether there is a lane line in front of a to-be-driven vehicle when the vehicle is driven in an area without the lane line; when it is determined that the lane line exists in front, selecting a target lane, and selecting a preview point on the target lane; and calculating a steering control quantity according to the current vehicle position and the preview point, calculating a steering wheel angle control quantity according to the steering control quantity, and controlling the vehicle to cut into the target lane based on the calculated steering wheel angle control quantity. In the scheme, after the vehicle runs to the tail end of the lane-line-free area, the preview point is set on the target lane, and the steering control quantity is fed back and controlled through the error between the current position of the vehicle and the preview point on the target lane line, so that the steering angle control quantity of the steering wheel is controlled, the constraint of the control quantity is realized, stable transition of lane switching can be achieved in this way, the feeling of being forcibly dragged cannot be brought to people, and then the comfort of passengers can be enhanced.

Description

technical field [0001] The present application belongs to the technical field of vehicle control, and in particular relates to a vehicle control method, a lane switching system and a vehicle. Background technique [0002] The lane lines of urban roads are generally not continuous all the time, and there will be lane line discontinuities at certain distances. For example, there is no lane line in the middle area of ​​the intersection, and there is generally no lane line connection between the diversion lane and the normal driving lane before the traffic lights. The following describes the discontinuous area between the diversion lane and the normal driving lane before the traffic lights. In order to utilize the road space as much as possible, the width of diversion lanes in front of traffic lights is narrower than normal lanes, and the number of diversion lanes is more than normal lanes. There is a discontinuous area between diversion lanes and normal driving lanes, and ther...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W30/095
CPCB60W30/18163B60W30/0956
Inventor 贺志国胡海龙邹晓楠
Owner SANY SPECIAL PURPOSE VEHICLE CO LTD