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Integrated control method and system for lane keeping and lane changing of self-driving automobile

A technology of automatic driving and lane keeping, which is applied in the field of control methods and systems for autonomous vehicles, can solve problems such as the complexity of the automatic driving control system, and achieve the effect of improving the adaptability of complex scenes, strong functions, and speeding up the development speed.

Pending Publication Date: 2022-07-15
WUHAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the current automatic driving control systems often only consider the planning or control tasks of lane keeping, following driving or lane changing behavior in a specific driving scene, so in order to cope with the complex and continuous driving control process, automatic driving control systems will be organized in a cumbersome hierarchical structure, which undoubtedly makes the automatic driving control system more complicated
In addition, the traffic environment is not static during the control process of autonomous vehicles, and the mapping relationship between traffic environment and control is not linearly changing. Current autonomous vehicles do not incorporate changes in the traffic environment into the automatic driving control system.

Method used

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  • Integrated control method and system for lane keeping and lane changing of self-driving automobile
  • Integrated control method and system for lane keeping and lane changing of self-driving automobile
  • Integrated control method and system for lane keeping and lane changing of self-driving automobile

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] Example 1: Lane Keeping Driving in Curves

[0079] In this scenario, the road consists of a straight section and an S-curve. The controlled autonomous vehicle starts from the far right lane of the straight road section at a speed of 16m / s. During the driving process, the on-board sensors collect the lane line information and the information of the vehicle ahead at a frequency of 20Hz and transmit it to the data processor. The set of coordinates of the lane center reference point in the next 2 seconds is obtained through the data processor, which is used as the reference trajectory of automatic driving, and then input into the integrated lane keeping and lane changing controller model for solving, and the steering angle of the automatic driving vehicle is obtained. Control commands and acceleration control commands. Finally, the steering angle control command is directly transmitted to the self-driving car, the acceleration control command is transmitted to the self-dri...

Embodiment 2

[0081] Example 2: Changing lanes on a straight road

[0082] In this scenario, the accused self-driving car is driving on a straight road with three lanes. The controlled self-driving car starts from the middle lane of the three lanes, and the initial speed is 16m / s. At the same time, there is a human-driven car in the same lane in front of it. The forward speed is 10m / s. The distance between the two cars is 250m at the initial moment. When the driving speed of the two cars is constant, the distance between the controlled self-driving car and the car in front will gradually decrease. In order to avoid collision with the car in front, the controlled self-driving car chooses to drive to the adjacent lane. During the driving process, the on-board sensor of the autonomous vehicle collects the lane line information and the information of the vehicle ahead at a frequency of 20Hz and transmits it to the data processor; The processor obtains the planned autonomous driving reference t...

Embodiment 3

[0084] Example 3: Overtaking

[0085] In this scenario, the controlled self-driving car is traveling at a speed of 16m / s in the middle lane, a car traveling in the same direction in the same lane ahead is traveling at a speed of 10m / s, and the distance between the two cars is 60m at the initial moment. At the same time, there is another car in the left lane driving forward at a speed of 10m / s. At this time, this car is outside the sensing range of the on-board sensors of the controlled self-driving car. In order not to collide with the car in front, the controlled self-driving car chooses to change lanes to the left lane to continue driving. During the driving process, the on-board sensor of the self-driving car collects the lane line information and the information of the vehicle ahead at a frequency of 20Hz and transmits it to the data processing. According to the second case of the automatic driving reference trajectory generation method when the automatic driving car needs...

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Abstract

The invention provides an integrated control method and system for lane keeping and lane changing of an automatic driving automobile, and the control method and system can generate a motion track reference point from a sensed traffic environment, thereby reducing a gap between an environment sensing system and a control system in an automatic driving system. The control method and system simultaneously have lane keeping and lane changing automatic control functions, can seamlessly solve the problem of lane keeping and lane changing control, do not need to be switched from one lane keeping control method and system to one lane changing control method and system, obviously increase the function integration level of the control system, and improve the control efficiency. The complex scene strain capacity of the control system is improved, the automatic driving automobile control system is simplified, the design difficulty of the control system is reduced, and the development speed of automatic driving automobile engineering is increased; the control method and system provided by the invention are simpler, more flexible and stronger in function, and can process driving behaviors of lane keeping and lane changing in different driving scenes.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicles, and relates to a control method and system for an automatic driving vehicle. Background technique [0002] Lane keeping and lane changing are two basic driving behaviors when people drive vehicles on structured roads, and are two basic control problems for autonomous vehicles. The automatic lane keeping controller keeps the vehicle in the same position while maintaining speed and avoiding collisions. within its lane, while the automatic lane change controller steers the vehicle smoothly and safely into the adjacent lane. However, currently, the two driving behaviors, lane keeping and lane changing, are controlled in different ways. Fully automated or highly automated vehicles need to be equipped with control modules that can automatically keep lanes and change lanes, and have the ability to switch seamlessly from one module. function to another module, which greatly increases the co...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/12B60W30/18B60W40/04B60W40/06B60W10/06B60W10/18B60W10/20
CPCB60W60/001B60W30/12B60W30/18163B60W10/06B60W10/18B60W10/20B60W40/04B60W40/06B60W2552/53
Inventor 刘伟张学全
Owner WUHAN UNIV OF TECH
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