An automatic lane-changing method and system for a vehicle

Abstract

The present invention relates to an automatic lane-changing method and system for a vehicle. The method includes: obtaining in real time vehicle information of a forward vehicle in the lane where the own vehicle is located and one or more vehicles in an adjacent lane, where the vehicle information includes vehicle speed and longitudinal distance from the own vehicle; constructing a lane-changing evaluation function for a cruise target vehicle and a vehicle in the adjacent lane according to the vehicle information of the one or more vehicles; calculating an integral value of the lane-changing evaluation function according to the own vehicle and the vehicle in the adjacent lane, and determining whether the own vehicle changes lanes based on the integral value. The present invention constructs a lane-changing function by sensing the target information of the own lane and the target information of the adjacent lane input by the information, and realizes automatic lane-changing of the vehicle according to the lane-changing function.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle intelligent driving or assisted driving, and particularly relates to an automatic lane-changing method and system for a vehicle. Background Art

[0002] In existing intelligent driving systems, many manufacturers have gradually added an automatic lane-changing function to the intelligent driving pilot function. When the intelligent driving pilot function is turned on in a highway environment, the vehicle can autonomously change lanes and overtake, greatly reducing the manual operation of the driver. The automatic lane-changing decision-making process requires a decision result obtained by comprehensively considering the road environment, target vehicle information, and the information of the vehicle itself. The automatic lane-changing needs to ensure the safety and smoothness of the whole process. Currently, in the decision-making system, the fuzzy theory is used to identify the lane-changing intention, but the construction of the expert database requires data verification. There is also a lane-changing decision-making through machine learning, which requires training with a large amount of data sets to obtain a high lane-changing success rate. Summary of the Invention

[0003] In order to reduce the dependence on machine learning during the automatic lane-changing process of a vehicle and improve the problem of the lane-changing success rate, in the first aspect of the present invention, an automatic lane-changing method for a vehicle is provided, including: obtaining in real time the vehicle information of the forward vehicle in the lane where the vehicle itself is located and one or more vehicles in the adjacent lane, where the vehicle information includes the vehicle speed and the longitudinal distance from the vehicle itself; constructing a lane-changing evaluation function for the cruise target vehicle and the vehicle in the adjacent lane according to the vehicle information of the one or more vehicles; calculating the integral value of the lane-changing evaluation function according to the vehicle itself and the vehicle in the adjacent lane, and judging whether the vehicle itself changes lanes according to it.

[0004] In some embodiments of the present invention, the lane-changing evaluation function of the cruise target vehicle is expressed as:

[0005]

[0006] where LC1 represents the lane-changing evaluation function of the cruise target vehicle, v cruiseTarget is the cruise target vehicle speed of the vehicle itself, v obj1 represents the vehicle speed of the cruise target vehicle in the lane where the vehicle itself is located, D obj1 represents the longitudinal distance between the vehicle itself and the forward vehicle in its lane, δD target is the expected distance, where δ is the expected distance coefficient, and: D target =v cruiseTarget *TimeDistance, TimeDistance represents the time interval; ω1 is the vehicle speed evaluation weight coefficient, and ω2 is the distance evaluation weight coefficient.

[0007] Furthermore, the lane-changing evaluation function of the vehicle in the adjacent lane is expressed as:

[0008]

[0009] Among them, LC2 represents the lane - changing evaluation function of the vehicle in the adjacent lane, and v obj2 represents that of the vehicle in the adjacent lane, and D obj2 represents the longitudinal distance between the host vehicle and the vehicle in the adjacent lane.

[0010] In some embodiments of the present invention, the judging whether the host vehicle changes lanes according to the integral value of the lane - changing evaluation function of the host vehicle and the vehicle in the adjacent lane includes:

[0011] If the integral value of the lane - changing evaluation function of the host vehicle within the evaluation period is greater than the integral value of the lane - changing evaluation function of the vehicle in the adjacent lane, then: judge that the host vehicle changes lanes; otherwise, it does not change lanes.

[0012] Further, if the lane - changing condition is met, the lane - changing evaluation function of the host vehicle and the lane - changing evaluation function of the vehicle in the adjacent lane are reset.

[0013] In the above - mentioned embodiment, it further includes changing lanes for the host vehicle according to the motion planning method.

[0014] In a second aspect of the present invention, there is provided an automatic lane - changing system for a vehicle, including: an acquisition module for real - time acquiring vehicle information of the vehicle ahead in the lane where the host vehicle is located and one or more vehicles in the adjacent lane, the vehicle information including vehicle speed and the longitudinal distance from the host vehicle; a construction module for constructing a lane - changing evaluation function of the cruise target vehicle and the vehicle in the adjacent lane according to the vehicle information of the one or more vehicles; a judgment module for calculating the integral value of the lane - changing evaluation function of the host vehicle and the vehicle in the adjacent lane and judging whether the host vehicle changes lanes according to it.

[0015] Further, the construction module includes:

[0016] A first construction unit for constructing a lane - changing evaluation function of the cruise target vehicle according to the vehicle information of the one or more vehicles;

[0017] A second construction unit for constructing a lane - changing evaluation function of the vehicle in the adjacent lane according to the vehicle information of the one or more vehicles.

[0018] In a third aspect of the present invention, there is provided an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the automatic lane - changing method for a vehicle provided in the first aspect of the present invention.

[0019] In a fourth aspect of the present invention, there is provided a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the automatic lane-changing method for a vehicle provided in the first aspect of the present invention.

[0020] The beneficial effects of the present invention are as follows:

[0021] The present invention constructs a evaluation function to evaluate the lane-changing of the vehicle in front in the current lane and the vehicle in front in the adjacent lane, and changes lanes when the lane-changing conditions are met, realizing the automatic lane-changing process with a relatively small amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the basic process of the automatic lane-changing method for a vehicle in some embodiments of the present invention;

[0023] Figure 2 It is a schematic diagram of the specific process of the automatic lane-changing method for a vehicle in some embodiments of the present invention;

[0024] Figure 3 It is a schematic diagram of the positional relationship between the host vehicle and the forward vehicle and the adjacent vehicle in some embodiments of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the automatic lane-changing system for a vehicle in some embodiments of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of an electronic device in some embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0028] Refer to Figure 1 or Figure 2 , in a first aspect of the present invention, there is provided an automatic lane-changing method for a vehicle, including: S100. obtaining in real time vehicle information of the forward vehicle in the lane where the host vehicle is located and one or more vehicles in the adjacent lane, where the vehicle information includes vehicle speed and the longitudinal distance from the host vehicle; S200. constructing a lane-changing evaluation function for the cruise target vehicle and the vehicle in the adjacent lane according to the vehicle information of the one or more vehicles; S300. calculating the integral value of the lane-changing evaluation function according to the host vehicle and the vehicle in the adjacent lane, and judging whether the host vehicle changes lanes according to it.

[0029] Refer to Figure 3, which shows the positional relationship between the host vehicle and the forward vehicle and adjacent vehicle on the highway, where A is the host vehicle, B is the vehicle in front in the same lane, and C is the vehicle in front in the adjacent lane. Through the perception system and vehicle information, the following information can be obtained: the cruise target speed v of vehicle A cruiseTarget , the target time headway D target . The information of vehicle B includes the longitudinal distance D between vehicle B and the host vehicle A obj1 , the actual speed v of vehicle B obj1 . The information of vehicle C includes the longitudinal distance D between vehicle C and the host vehicle obj2 , the actual speed v of vehicle C obj2 . It can be understood that, without loss of generality, although the above schematic diagram shows the positional relationship between the host vehicle and the forward vehicle and adjacent vehicle on the highway, it does not affect the expression of the forward vehicle and adjacent vehicle in other one-way lanes.

[0030] It can be understood that the reason for the host vehicle to generate a lane change intention is to obtain more driving space and improve the passing efficiency of the road. Therefore, a timely and accurate lane change can meet the driver's psychological expectation for road driving. There are many factors that cause lane changes, including the driving conditions of the host vehicle, the driving conditions of the vehicle in front, and the driving conditions in the adjacent lane.

[0031] In view of this, a lane change intention function is constructed based on the adjacent lane target and the driving conditions of the host vehicle. When certain conditions are met, a lane change intention is generated. In step S200 or S300 of some embodiments of the present invention, the lane change evaluation function of the cruise target vehicle is expressed as:

[0032]

[0033] where LC1 represents the lane change evaluation function of the cruise target vehicle, v cruiseTarget is the cruise target speed of the host vehicle, v obj1 represents the speed of the cruise target vehicle in the lane where the host vehicle is located, D obj1 represents the longitudinal distance between the host vehicle and the forward vehicle in its lane, δD target is the expected distance, where δ is the expected distance coefficient, and: D target =v cruiseTarget *TimeDistance, TimeDistance represents the time headway; ω1 is the speed evaluation weight coefficient, and ω2 is the distance evaluation weight coefficient.

[0034] Furthermore, the lane change evaluation function of the adjacent lane vehicle is expressed as:

[0035]

[0036] where LC2 represents the lane change evaluation function of the adjacent lane vehicle, v obj2 represents that of the adjacent lane vehicle, Dobj2 Indicates the longitudinal distance between the host vehicle and the vehicle in the adjacent lane.

[0037] In some embodiments of the present invention, determining whether the host vehicle changes lanes according to the magnitude of the integral value of the lane-changing evaluation function of the host vehicle and the vehicle in the adjacent lane includes: if the integral value of the lane-changing evaluation function of the host vehicle within the evaluation period is greater than the integral value of the lane-changing evaluation function of the vehicle in the adjacent lane, then: determine that the host vehicle changes lanes; otherwise, do not change lanes.

[0038] Specifically, integrate the evaluation functions of steps S200 and S300.

[0039]

[0040] Where T is the evaluation time period. Integrating the above functions gives LC1 and LC2. If LC1 > LC2, an intention to switch to the target lane is generated, and the lane-changing intention is sent to the lane-changing feasibility module. If the lane-changing conditions are met, the lane-changing planning and control module implements the lane change and resets the evaluation functions of LC1 and LC2. If the lane-changing feasibility conditions are not met, continue to follow the vehicle. If LC1 ≤ LC2, follow the vehicle. When following the vehicle reaches the evaluation period, reset the evaluation functions of LC1 and LC2.

[0041] Further, if the lane-changing conditions are met, reset the lane-changing evaluation function of the host vehicle and the lane-changing evaluation function of the vehicle in the adjacent lane.

[0042] In the above embodiments, it further includes changing lanes for the host vehicle according to the motion planning method.

[0043] Embodiment 2

[0044] Reference Figure 4 , in a second aspect of the present invention, there is provided an automatic lane-changing system 1 for a vehicle, including: an acquisition module 11 for real-time acquiring vehicle information of the forward vehicle in the lane where the host vehicle is located and one or more vehicles in the adjacent lane, the vehicle information including vehicle speed and the longitudinal distance from the host vehicle; a construction module 12 for constructing a lane-changing evaluation function of a cruise target vehicle and a vehicle in the adjacent lane according to the vehicle information of the one or more vehicles; a judgment module 13 for calculating the integral value of the lane-changing evaluation function according to the host vehicle and the vehicle in the adjacent lane, and judging whether the host vehicle changes lanes according to it.

[0045] Further, the construction module includes:

[0046] A first construction unit for constructing a lane-changing evaluation function of a cruise target vehicle according to the vehicle information of the one or more vehicles;

[0047] A second construction unit, configured to construct a lane-changing evaluation function for adjacent-lane vehicles according to the vehicle information of the one or more vehicles.

[0048] Embodiment 3

[0049] Reference Figure 5 In a third aspect of the present invention, there is provided an electronic device, including: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method of the first aspect of the present invention.

[0050] The electronic device 500 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 501, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0051] Generally, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 5 shows the electronic device 500 having various devices, it should be understood that it is not required to implement or include all the shown devices. More or fewer devices may be alternatively implemented or included. Figure 5 Each block shown in may represent one device or, as required, multiple devices.

[0052] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program code for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network via the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-described functions defined in the methods of the embodiments of the present disclosure are performed. It should be noted that the computer-readable medium described in the embodiments of the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiments of the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the embodiments of the present disclosure, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable signal medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0053] The above computer-readable medium can be included in the above electronic device; or it can exist separately and not be assembled into the electronic device. The above computer-readable medium carries one or more computer programs, and when the above one or more programs are executed by the electronic device, the electronic device is caused to:

[0054] Computer program code for performing the operations of the embodiments of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, Python, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0055] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0056] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic lane-changing method for a vehicle, characterized in that including: Obtaining in real time vehicle information of a forward vehicle in the lane where the own vehicle is located and one or more vehicles in an adjacent lane, where the vehicle information includes vehicle speed and longitudinal distance from the own vehicle; Constructing a lane-changing evaluation function for a cruising target vehicle and vehicles in the adjacent lane according to the vehicle information of the one or more vehicles; Calculating an integral value of the lane-changing evaluation function according to the own vehicle and the vehicles in the adjacent lane, and determining whether the own vehicle changes lanes based on it; The lane-changing evaluation function of the cruising target vehicle is expressed as: Among them, LC1 represents the lane - changing evaluation function of the cruising target vehicle, v cruiseTarget is the cruising target vehicle speed of its own vehicle, v obj1 represents the vehicle speed of the cruising target vehicle in the lane where its own vehicle is located, D obj1 represents the longitudinal distance between its own vehicle and the forward vehicle in its lane, δD target is the expected distance, where δ is the expected distance coefficient, and: , TimeDistance represents the time - distance; ω1 is the vehicle - speed evaluation weight coefficient, and ω2 is the distance evaluation weight coefficient.

2. The automatic lane-changing method for a vehicle according to claim 1, characterized in that The lane-changing evaluation function of the vehicles in the adjacent lane is expressed as: Among them, LC2 represents the lane - changing evaluation function of adjacent - lane vehicles, v obj2 represents the vehicle speed of adjacent - lane vehicles, and D obj2 represents the longitudinal distance between the host vehicle and adjacent - lane vehicles.

3. The automatic lane-changing method for a vehicle according to claim 1, characterized in that Determining whether the own vehicle changes lanes according to the magnitude of the integral value of the lane-changing evaluation function according to the own vehicle and the vehicles in the adjacent lane includes: If the integral value of the lane-changing evaluation function of the own vehicle within the evaluation period is greater than the integral value of the lane-changing evaluation function of the vehicles in the adjacent lane, then: determine that the own vehicle changes lanes; otherwise, do not change lanes.

4. The automatic lane-changing method for a vehicle according to claim 3, characterized in that It further includes: If the lane-changing condition is satisfied, reset the lane-changing evaluation function of the own vehicle and the lane-changing evaluation function of the vehicles in the adjacent lane.

5. The automatic lane-changing method for a vehicle according to any one of claims 1 to 4, characterized in that It further includes changing lanes for the own vehicle according to a motion planning method.

6. An automatic lane-changing system for a vehicle, characterized in that including: An obtaining module, configured to obtain in real time vehicle information of a forward vehicle in the lane where the own vehicle is located and one or more vehicles in an adjacent lane, where the vehicle information includes vehicle speed and longitudinal distance from the own vehicle; A constructing module, configured to construct a lane-changing evaluation function for a cruising target vehicle and vehicles in the adjacent lane according to the vehicle information of the one or more vehicles; A determining module, configured to calculate an integral value of the lane-changing evaluation function according to the own vehicle and the vehicles in the adjacent lane, and determine whether the own vehicle changes lanes based on it; The lane-changing evaluation function of the cruising target vehicle is expressed as: Among them, LC1 represents the lane-changing evaluation function of the cruising target vehicle, and v cruiseTarget is the cruising target vehicle speed of the host vehicle, and v obj1 represents the speed of the cruising target vehicle in the lane where the host vehicle is located, and D obj1 represents the longitudinal distance between the host vehicle and the forward vehicle in its lane, and δD target is the expected distance, where δ is the expected distance coefficient, and: , TimeDistance represents the time headway; ω1 is the vehicle speed evaluation weight coefficient, and ω2 is the distance evaluation weight coefficient.

7. The automatic lane-changing system for a vehicle according to claim 6, characterized in that The constructing module includes: A first constructing unit, configured to construct a lane-changing evaluation function for a cruising target vehicle according to the vehicle information of the one or more vehicles; A second constructing unit, configured to construct a lane-changing evaluation function for vehicles in the adjacent lane according to the vehicle information of the one or more vehicles.

8. An electronic device, comprising one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors cause the one or more processors to implement the automatic lane-changing method for a vehicle according to any one of claims 1 to 5.

9. A computer-readable medium, on which a computer program is stored, wherein When the computer program is executed by a processor, it implements the automatic lane-changing method of the vehicle according to any one of claims 1 to 5.

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