Vehicle adaptive driving method to avoid parallel operation of large vehicles

Abstract

The invention discloses a vehicle adaptive driving method for avoiding large vehicles in parallel, comprising the following steps: S1, dividing lanes for target vehicles identified by sensors, and marking area IDs for vehicles at corresponding positions; S2, observing vehicles corresponding to the corresponding area IDs, judging whether the target vehicles are about to be in a parallel state with the vehicle, and marking all target vehicles that meet the parallel condition; when judging, if there is no close-running vehicle in front of the lane where the vehicle is driving, and vehicles in other lanes simultaneously meet the following conditions for more than 5S, it is judged that a parallel state will occur: the vertical distance between the target vehicle and the front of the vehicle or the parking space is small; the target vehicle is a large vehicle; the absolute value of the relative speed between the target vehicle and the vehicle is less than 5kph; the vehicle speed of the vehicle is higher than 60kph; S3, taking the maximum and minimum values ​​of the speeds of all vehicles that meet the parallel condition, and adjusting the vehicle speed by comparing the relative relationship between the set speed of the vehicle and the speed of the target vehicle.

Description

Technical Field

[0001] The present invention belongs to the field of autonomous driving, and in particular relates to a vehicle adaptive driving method for avoiding large vehicles in parallel. Background Art

[0002] Adaptive cruise control (ACC) is a system that automatically adjusts the vehicle speed according to the following distance set by the driver and the vehicle conditions on the road ahead, so as to obtain a stable following distance and achieve a comfortable following function. When there is no vehicle ahead, the function will drive at the fixed speed set by the driver. At this time, if there is a large vehicle driving parallel to the vehicle, the target speed set by the driver remains unchanged, which will cause the vehicle to be parallel to it for a long time, giving the driver a greater sense of pressure and increasing the risk of collision with the large vehicle.

[0003] In order to solve the problem that vehicles running in parallel in adaptive cruise mode are prone to safety accidents, a Chinese patent with announcement number 110040138 discloses a vehicle parallel assisted driving method and system, including: first, the vehicle status and environmental information around the vehicle are obtained by the on-board sensor, mainly including the vehicle speed and the position and speed information of the surrounding vehicles; then, the on-board computing unit calculates the acceleration and deceleration requirements of the vehicle to avoid the parallel state based on the acquired vehicle and environmental information; finally, after receiving the acceleration and deceleration requirements, the vehicle control unit actively controls the vehicle throttle and braking system to adjust the vehicle speed, thereby realizing the parallel assistance function, so that when encountering a parallel state, the vehicle speed can be actively adjusted, and then the position with the adjacent lane vehicles in the longitudinal direction can be staggered, which can avoid the vehicle from entering a long-term parallel state, improve driving safety and meet human driving habits.

[0004] Although the above scheme can solve the problem of vehicle parallelism, it needs to calculate the future driving trajectory of the vehicle based on the vehicle's driving data, and at the same time, calculate the future driving trajectory of the target vehicle in the adjacent lane. Finally, by comparing the future driving trajectories between the two vehicles, it is determined whether the two vehicles will be in a parallel state. If so, the following distance is recalculated so that the vehicle and the target vehicle will not be parallel for a long time. This method needs to calculate the future driving trajectories of the vehicle and the target vehicle when judging and adjusting the speed, and the calculation data is relatively large. At the same time, if it is driving on the main road of the city or there is a traffic jam, it will continue to calculate and judge. At this time, the judgment of vehicle parallelism is not very meaningful. In addition, if the target vehicle is a non-automatic driving vehicle, that is, a large vehicle, the above method is obviously not suitable for avoiding the vehicle and the large vehicle. Based on this, there is an urgent need for a vehicle adaptive driving method that can be applied to the parallel avoidance of the vehicle and the large vehicle, and the avoidance method is simple and fast. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a vehicle adaptive driving method that can be applicable to parallel avoidance of the vehicle and a large vehicle, and the avoidance method is simple and fast.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A vehicle adaptive driving method for avoiding large vehicles in parallel is characterized in that it includes the following steps: S1, lane division for target vehicles identified by sensors, and marking area IDs for vehicles at corresponding positions; S2, observing vehicles corresponding to corresponding area IDs, judging whether the target vehicle is about to be in parallel with the vehicle, and marking all target vehicles that meet the parallel conditions; when judging, if there is no close-running vehicle in front of the lane where the vehicle is driving, and vehicles in other lanes simultaneously meet the following conditions for more than 5S, then it is judged that the target vehicle is about to be in parallel with the vehicle: a, the vertical distance between the rear end of the target vehicle and the front end of the vehicle is less than 3m, and the vertical distance between the front end of the target vehicle and the rear end of the vehicle is greater than -3m; b, the target vehicle type is a large vehicle; c, the absolute value of the relative speed between the target vehicle and the vehicle is less than 5kph; d, the vehicle speed of the vehicle is higher than 60kph; S3, taking the maximum and minimum values ​​of the speeds of all vehicles that meet the parallel conditions, and adjusting the vehicle speed by comparing the relative relationship between the set speed of the vehicle and the speed of the target vehicle.

[0008] In this way, the lane vehicles are first calibrated, and then it is determined whether the large vehicle is about to be in a parallel state with the vehicle. Finally, the maximum and minimum values ​​are taken according to the speed of the vehicle that meets the parallel condition, and the speed of the vehicle is adjusted after being compared with the set speed of the vehicle. When determining whether the target vehicle meets the parallel condition with the vehicle, the position of the vehicle and the target vehicle, as well as the speed of the target vehicle and the vehicle are mainly referred to. There is no need to calculate and judge, and the judgment method is simpler. The above judgment conditions only need to be directly obtained from the sensor, and the judgment is fast and simple. In the judgment condition, the vehicle position includes the vertical distance between the front of the vehicle and the rear of the target vehicle, and the front of the target vehicle and the rear of the vehicle. This distance is the distance between the vehicle and the target vehicle, and it is easy to produce parallel. Under this condition, the speed of the vehicle is large, indicating that there is no traffic jam, and it can be determined that the speed of the vehicle and the target vehicle is stable. Under this condition, there will be no repeated judgment of conditions and large changes in vehicle speed, which can effectively prevent the vehicle from repeatedly jumping between parallel and non-parallel. When the parallel avoidance function is turned on, the relative relationship between the set speed of the vehicle and the speed of the target vehicle is taken into consideration, so the speed of the vehicle can be adjusted more reasonably to avoid paralleling with the large vehicle again after being staggered with it for a certain period of time.

[0009] Furthermore, when dividing the lanes of the target vehicle, the area IDs of the adjacent vehicles and the next adjacent vehicles in the lanes in front of the vehicle and on the left and right sides of the vehicle are marked. In this way, the target vehicle is the vehicle that is adjacent to the vehicle and may be parallel, which can effectively improve the efficiency of parallel judgment.

[0010] Furthermore, when determining whether the target vehicle is about to be in parallel with the vehicle, the determination condition also includes that the confidence level of the target vehicle is greater than 80. When the confidence level is high, there will be no misjudgment, effectively ensuring the accuracy of the vehicle's decision.

[0011] Furthermore, the specific method of adjusting the speed of the vehicle by comparing the relative relationship between the set speed of the vehicle and the speed of the target vehicle is as follows: if the target speed set by the vehicle is higher than the maximum longitudinal speed of the vehicle, the speed of the vehicle is adjusted to be 10kph higher than the original target speed; if the target speed set by the vehicle is lower than the minimum longitudinal speed of the vehicle, the set speed of the vehicle is adjusted to be 10kph lower than the original target speed; if the target speed set by the vehicle is between the maximum and minimum longitudinal speeds of the vehicle, the set speed of the vehicle is preferentially adjusted to be 10kph higher than the original target speed. In this way, the adjustment value of the vehicle speed is small, and it can effectively avoid the parallel phenomenon after the parallel avoidance function is turned on, when the vehicle catches up with the vehicle, or is caught up by the vehicle behind. This setting can effectively reduce the probability of parallel recurrence and improve the driving experience.

[0012] Furthermore, after taking the maximum and minimum values ​​of the speeds of all vehicles that meet the parallel conditions and adjusting the speed of the vehicle by comparing the relative relationship between the set speed of the vehicle and the speed of the target vehicle, the method further includes: continuously observing the state of the vehicle and the state of surrounding vehicles, and when the set conditions are met, the parallel avoidance function can be released and the vehicle can be driven at the original set speed. In this way, after the avoidance is completed, the parallel avoidance function is released and the adaptive cruise mode is returned.

[0013] Furthermore, the parallel avoidance function is released when any of the following conditions are met: 1) the distance between the target vehicle's rear end and the vehicle's front end is greater than 10m, or the distance between the target vehicle's front end and the vehicle's rear end is less than -10m; 2) the target type is not a large vehicle; 3) the target's existence confidence is less than 80; 4) the absolute value of the relative speed between the target and the vehicle is greater than 20kph; 5) the vehicle's speed is less than 40kph; 6) the parallel avoidance function has been turned on for more than 15s; 7) the driver takes over the vehicle or adjusts the set speed. In this way, after a long period of parallel avoidance, the probability of parallel driving is greatly reduced. At this time, releasing the function can improve the driving experience. When the target type is not a large vehicle, when a small vehicle or other non-motor vehicle is parallel, the driver and passengers of the vehicle do not feel strongly oppressed. At this time, releasing the function will not cause driving risks. When the target's existence confidence is low, it means that the confidence of the large vehicle in the current driving environment is low, so the function can be released. When the vehicle's speed is low, it means that it is on a city road or there is a traffic jam. At this time, releasing the parallel avoidance function can effectively prevent the vehicle from repeatedly jumping between parallel and non-parallel states.

[0014] Furthermore, when determining the type of the target vehicle, the length and height of the target vehicle are mainly detected by sensors, and then a comprehensive judgment is made.

[0015] Compared with the prior art, the vehicle adaptive driving method for avoiding parallel operation of large vehicles obtained by the present invention has the following advantages: before judging whether the vehicles are parallel, the vehicles are first divided into area IDs, which can greatly improve the efficiency of judging whether they are parallel; the thresholds such as target distance and relative speed for entering and exiting the parallel state are different, which can effectively prevent the vehicle from repeatedly jumping between parallel and non-parallel; when the parallel avoidance function is turned on, the relative relationship between the set speed of the vehicle and the speed of the target vehicle is considered, so the speed of the vehicle can be adjusted more reasonably to avoid parallel operation with the large vehicle again after being staggered with the large vehicle for a certain period of time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of lane area division in the embodiment;

[0017] Figure 2 This is a schematic diagram of the target vehicle area ID marking in the embodiment;

[0018] Figure 3 A schematic diagram of parallel regions in the embodiment;

[0019] Figure 4 The figure is a flow chart of the vehicle adaptive driving method for avoiding large vehicles in parallel in the embodiment. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0021] Example:

[0022] As shown in the figure, the vehicle adaptive driving method for avoiding parallel operation of large vehicles provided in this embodiment includes the following steps:

[0023] Step 1, such as Figure 1 , Figure 2 As shown, according to the detected lane line information and surrounding vehicle information, a region ID is defined for each vehicle, with a focus on vehicles with region IDs 3, 4, 7, 8, 9, and 10, which may have parallel behaviors with this vehicle.

[0024] Step 2: If there is no close target No. 1 in front of the vehicle, and targets No. 3, 4, 7, 8, 9, and 10 meet the following conditions for more than 5 seconds at the same time, the parallel avoidance function needs to be enabled:

[0025] Condition 1: The distance between the target vehicle's rear end and the vehicle's front end is less than 3m, and the distance between the target vehicle's front end and the vehicle's rear end is greater than -3m (e.g. Figure 3 shown);

[0026] Condition 2: The confidence level of the target is higher than 80. In statistics, the confidence interval of a probability sample is a probability of a population parameter of the sample. Interval Estimation . Specifically, the confidence interval shows the degree to which the true value of the parameter has a certain probability of falling around the measurement result. The confidence interval gives the degree of credibility of the measured value of the measured parameter, that is, the "certain probability" required above, and this probability is called the confidence level.

[0027] Condition 3: the target vehicle type is a large vehicle; specifically, the height and length of the target vehicle are detected by a camera or radar provided in the vehicle, and then the type of the target vehicle is comprehensively determined based on the height and length of the target vehicle.

[0028] Condition 4: The absolute value of the relative speed between the target vehicle and the host vehicle is less than 5 kph;

[0029] Condition 5: The vehicle speed is higher than 60 kph.

[0030] Step 3, take the maximum and minimum values ​​of the speeds of all vehicles that meet the parallel conditions, and adjust the speed of the vehicle by comparing the relative relationship between the set speed of the vehicle and the speed of the target vehicle. Specifically, take the maximum value MAX_SPEED and the minimum value MIN_SPEED of the longitudinal speed of all vehicles that meet the parallel conditions. If the target speed set by the vehicle is slightly higher than MAX_SPEED, the set speed is adjusted to 10kph higher than the original target speed, which can avoid slowly catching up with the front vehicle after the function ends and paralleling again; if the target speed set by the vehicle is slightly lower than MIN_SPEED, the set speed is adjusted to 10kph lower than the original target speed, which can avoid being slowly caught up by the rear vehicle after the function ends; if the target speed set by the vehicle is between MIN_SPEED and MAX_SPEED, the set speed is preferentially adjusted to 10kph higher than the original target speed, which can improve the driving experience of the driver.

[0031] Step 4, continue to observe the status of the vehicle and the surrounding vehicles. When the set conditions are met, the parallel avoidance function can be released and the vehicle can be driven at the original set speed. Specifically, after the parallel avoidance function starts running, always observe the distance and speed of the surrounding vehicles. When targets 3, 4, 7, 8, 9, and 10 all meet any of the following conditions, the vehicle should exit the parallel avoidance function state: 1), the distance between the target vehicle's rear end and the vehicle's front end is greater than 10m, or the distance between the target vehicle's front end and the vehicle's rear end is less than -10m; 2), the target type is not a large vehicle; 3), the target existence confidence is less than 80; 4), the absolute value of the relative speed between the target and the vehicle is greater than 20kph; 5), the vehicle's speed is less than 40kph; 6), the parallel avoidance function has been turned on for more than 15s; 7), the driver takes over the vehicle or adjusts the set speed.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Although the applicant has described the present invention in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that those modifications or equivalent substitutions of the technical solution of the present invention without departing from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A vehicle adaptive driving method for avoiding large vehicles in parallel, characterized in that: It includes the following steps: S1, dividing the lanes of the target vehicles identified by the sensor, and marking the area id of the vehicles at the corresponding positions; S2, observing the vehicles corresponding to the corresponding area id, judging whether the target vehicles are about to be in a parallel state with the vehicle, and marking all target vehicles that meet the parallel conditions; when judging, if there is no close-running vehicle in front of the lane of the vehicle, and the vehicles in other lanes meet the following conditions for more than 5S at the same time, it is judged that the target vehicle is about to be in a parallel state with the vehicle: a, the vertical distance between the rear end of the target vehicle and the front end of the vehicle is less than 3m, and the vertical distance between the front end of the target vehicle and the rear end of the vehicle is greater than -3m; b, the target vehicle type is a large vehicle; c, the absolute value of the relative speed between the target vehicle and the vehicle is less than 5kph; d , the speed of this vehicle is higher than 60kph; S3, take the maximum and minimum values ​​of the speeds of all vehicles that meet the parallel conditions, and adjust the speed of this vehicle by comparing the relative relationship between the set speed of this vehicle and the speed of the target vehicle; the specific method of adjusting the speed of this vehicle by comparing the relative relationship between the set speed of this vehicle and the speed of the target vehicle is as follows: if the target speed set by this vehicle is higher than the maximum value of the longitudinal speed of the large vehicle, the speed of this vehicle is adjusted to be 10kph higher than the original target speed; if the target speed set by this vehicle is lower than the minimum value of the longitudinal speed of the large vehicle, the speed set by this vehicle is adjusted to be 10kph lower than the original target speed; if the target speed set by this vehicle is between the maximum and minimum values ​​of the longitudinal speed of the large vehicle, the speed set by this vehicle is preferentially adjusted to be 10kph higher than the original target speed.

2. The vehicle adaptive driving method for avoiding large vehicles in parallel according to claim 1 is characterized in that: When dividing the lanes of the target vehicle, the area IDs of the adjacent vehicles and the next adjacent vehicles in the lanes in front of the vehicle, on the left and right sides of the vehicle are mainly marked.

3. The vehicle adaptive driving method for avoiding large vehicles in parallel according to claim 1 is characterized in that: When determining whether the target vehicle is about to be in a parallel state with the vehicle, the determination condition also includes that the confidence level of the target vehicle is greater than 80.

4. The vehicle adaptive driving method for avoiding parallel driving of large vehicles according to any one of claims 1, 2 or 3, characterized in that: After taking the maximum and minimum values ​​of the speeds of all vehicles that meet the parallel conditions and adjusting the speed of the vehicle by comparing the relative relationship between the set speed of the vehicle and the speed of the target vehicle, the method also includes: continuously observing the state of the vehicle and the state of surrounding vehicles, and when the set conditions are met, the parallel avoidance function can be released and the vehicle can travel at the original set speed.

5. The vehicle adaptive driving method for avoiding parallel operation of large vehicles according to claim 4 is characterized in that: The parallel avoidance function will be released when any of the following conditions is met: 1) the distance between the rear of the target vehicle and the front of the vehicle is greater than 10m, or the distance between the front of the target vehicle and the rear of the vehicle is less than -10m; 2) the target type is not a large vehicle; 3) the target existence confidence is less than 80; 4) the absolute value of the relative speed between the target and the vehicle is greater than 20kph; 5) the vehicle speed is less than 40kph; 6) the parallel avoidance function has been enabled for more than 15s; 7) the driver takes over the vehicle or adjusts the set speed.

6. The vehicle adaptive driving method for avoiding parallel operation of large vehicles according to any one of claims 1, 2, 3 or 5, characterized in that: When determining the type of target vehicle, the length and height of the target vehicle are detected mainly by sensors, and then a comprehensive judgment is made.

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