Lane changing longitudinal acceleration planning, control method, system, vehicle and storage medium

Abstract

The present invention discloses a lane-changing longitudinal acceleration planning and control method, system, vehicle and storage medium, including: if there is no collision risk target vehicle in the original lane and the current lane, the target acceleration A in the cruising state is used. t3 As the acceleration of the lane change process A t Otherwise, obtain the vehicle speed Vh and the speed Vh of the collision risk target vehicle in the original lane. t1 , the collision risk of the target lane, the speed of the target vehicle V t2 , the longitudinal distance D between the vehicle and the target vehicle with collision risk in the original lane r1 The longitudinal distance D between the target vehicle and the collision risk target vehicle in the target lane r2 ; Calculate the minimum safe distance D between the vehicle and the target vehicle with collision risk in the original lane s1 ; Calculate the minimum safe distance D between the vehicle and the target vehicle in the target lane s2 ; Calculate the target acceleration A of the vehicle in the original lane t1 , calculate the target acceleration A of the vehicle in the target lane t2 , A t1 , A t2 and A t3 The minimum value of is taken as the acceleration A of the lane changing process. t The present invention ensures both high efficiency of the lane-changing process and riding comfort.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle lane changing, and specifically relates to a lane changing longitudinal acceleration planning, control method, system, vehicle and storage medium. Background Art

[0002] In the process of developing the lane-changing function of an autonomous driving vehicle, when the lane-changing conditions are met, how to drive smoothly, quickly and safely to the target lane is the core problem to be solved in the planning. At present, the solution for the autonomous driving lane-changing function scenario is usually to achieve the lane-changing of the autonomous driving vehicle by planning a feasible trajectory. For example, the patent document CN111260956B discloses a vehicle automatic lane-changing planning and control method based on model predictive control, the patent document CN108445886B discloses a lane-changing planning method and system for an autonomous driving vehicle based on the Gaussian equation, and the patent document CN111016898B discloses a smart vehicle trajectory lane-changing planning method. All three methods use trajectory planning, but the difference is that there are differences in the trajectory planning algorithms. However, if you want to plan an efficient driving trajectory in real time through these methods of predicting the vehicle's driving trajectory, the problem is that the amount of code running is huge, and the comfort of the vehicle's lane-changing process cannot be guaranteed.

[0003] Therefore, it is necessary to develop a lane-changing longitudinal acceleration planning, control method, system, vehicle and storage medium. Summary of the invention

[0004] The purpose of the present invention is to provide a lane-changing longitudinal acceleration planning, control method, system, vehicle and storage medium, which can ensure both the high efficiency of the lane-changing process and the riding comfort.

[0005] In a first aspect, a lane change longitudinal acceleration planning method according to the present invention comprises the following steps:

[0006] Obtain information about the target of interest and determine whether there is a target vehicle with a collision risk in the original lane and the target lane;

[0007] If there is no collision risk target vehicle in the original lane and the target lane, the target acceleration A in the cruising state is used. t3 As the acceleration of the lane change process A t ;

[0008] If there is a collision risk target vehicle in the original lane and / or the target lane, obtain the vehicle speed Vh of the host vehicle and the speed Vh of the collision risk target vehicle in the original lane. t1 , the collision risk of the target lane, the speed of the target vehicle V t2 , the longitudinal distance D between the vehicle and the target vehicle with collision risk in the original lane r1The longitudinal distance D between the target vehicle and the collision risk target vehicle in the target lane r2 ;

[0009] Based on Vh, V t1 and D r1 Calculate the minimum safe distance D between the vehicle and the target vehicle with collision risk in the original lane s1 ;

[0010] Based on Vh, V t2 and D r2 Calculate the minimum safe distance D between the vehicle and the target vehicle in the target lane. s2 ;

[0011] When V t1 When Vh is less than or equal to Vh, calculate the target acceleration A of the vehicle in the original lane. t1 :

[0012]

[0013] When V t2 When Vh is less than or equal to Vh, calculate the target acceleration A of the vehicle in the target lane t2 :

[0014]

[0015] When V t1 When it is greater than Vh, calculate the target acceleration A of the vehicle in the original lane t1 :

[0016] A t1 =a(V t1 -Vh)+b∫(V t1 -Vh)dt (3)

[0017] When V t2 When it is greater than Vh, calculate the target acceleration A of the vehicle in the target lane t2 :

[0018] A t2 =a(V t2 -Vh)+b∫(V t2 -Vh)dt (4)

[0019] Where: a and b are calibration constants;

[0020] A t1 , A t2 and A t3 The minimum value of is taken as the acceleration A of the lane changing process t .

[0021] Optionally, for V t1 Calibrate to get Vt1 ', specifically:

[0022] Assume that the collision time between the vehicle and the target vehicle with collision risk in the original lane is TTC, and the lateral position between the vehicle and the target vehicle with collision risk in the original lane is D y ,

[0023] V t1 '=f(TTC,D y )V t1 (5)

[0024] Where: f(TTC,D y ) is about TTC and D y Two-dimensional calibration table;

[0025] By changing V in formula (1) and (3) t1 Replace with V t1 ', calculate A t1 ';

[0026] A t1 '、A t2 and A t3 The minimum value of is taken as the acceleration A during lane change t .

[0027] In a second aspect, an automatic lane change control method according to the present invention comprises the following steps:

[0028] Step 1: Obtain target information and lane line information around the vehicle;

[0029] Step 2: Identify the objects of interest in the original lane and the target lane based on the information obtained in step 1;

[0030] Step 3: Decide whether to execute lane change according to the lane line information and the identified target of interest. If the lane change is to be executed, proceed to step 4; otherwise, the lane change is not executed.

[0031] Step 4, planning the longitudinal acceleration of the vehicle according to the steps of the lane change longitudinal acceleration planning method of the present invention;

[0032] Step 5: The vehicle performs a lane change operation based on the longitudinal acceleration planned in step 4.

[0033] Optionally, the step 3 is specifically:

[0034] When the following four conditions are met at the same time, the output decision result is to execute the lane change; otherwise, the lane change is not executed;

[0035] (1) There is no object of interest in the target lane within the parallel region with the vehicle. The parallel region refers to the length of the vehicle plus the front and rear offset distance Δa, where Δa is a calibration value.

[0036] (2) The collision time of the target of interest in the target lane, except for the parallel area, relative to the vehicle is greater than t1, where t1 is a calibration value;

[0037] (3) The lane lines are clear;

[0038] (4) A lane change request is received.

[0039] In a third aspect, a lane change longitudinal acceleration planning system described in the present invention includes a memory and a controller, wherein the memory stores a computer-readable program, and when the computer-readable program is executed and called by the controller, it can execute the steps of the lane change longitudinal acceleration planning method described in the present invention.

[0040] In a fourth aspect, an automatic lane changing control system described in the present invention comprises a memory and a controller, wherein the memory stores a computer-readable program, and when the computer-readable program is executed and called by the controller, the steps of the automatic lane changing control method described in the present invention can be executed.

[0041] In a fifth aspect, a vehicle described in the present invention adopts the lane changing longitudinal acceleration planning system described in the present invention.

[0042] In a sixth aspect, a vehicle described in the present invention adopts the automatic lane changing control system described in the present invention.

[0043] In a seventh aspect, a storage medium according to the present invention stores a computer-readable program therein, and when the computer-readable program is called, the steps of the lane change longitudinal acceleration planning method according to the present invention can be executed.

[0044] In an eighth aspect, a storage medium described in the present invention stores a computer-readable program therein, and when the computer-readable program is called, it can execute the steps of the automatic lane changing control method described in the present invention.

[0045] The present invention has the following advantages: The present invention provides a longitudinal acceleration planning method with lateral and longitudinal decoupling in a lane-changing process, which ensures both high efficiency of the lane-changing process and riding comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of this embodiment. DETAILED DESCRIPTION

[0047] The present invention will be described in detail below with reference to the accompanying drawings.

[0048] In this embodiment, a lane change longitudinal acceleration planning method includes the following steps:

[0049] Obtain information about the target of interest and determine whether there is a target vehicle with a collision risk in the original lane and the target lane;

[0050] If there is no collision risk target vehicle in the original lane and the target lane, the target acceleration A in the cruising state is used. t3 As the acceleration of the lane change process A t ;

[0051] If there is a collision risk target vehicle in the original lane and / or the target lane, obtain the vehicle speed Vh of the host vehicle and the speed Vh of the collision risk target vehicle in the original lane. t1 , the collision risk of the target lane, the speed of the target vehicle V t2 , the longitudinal distance D between the vehicle and the target vehicle with collision risk in the original lane r1 The longitudinal distance D between the target vehicle and the collision risk target vehicle in the target lane r2 ;

[0052] Based on Vh, V t1 and D r1 Calculate the minimum safe distance D between the vehicle and the target vehicle with collision risk in the original lane s1 ;

[0053] Based on Vh, V t2 and D r2 Calculate the minimum safe distance D between the vehicle and the target vehicle in the target lane. s2 ;

[0054] When V t1 When Vh is less than or equal to Vh, calculate the target acceleration A of the vehicle in the original lane. t1 :

[0055]

[0056] When V t2 When Vh is less than or equal to Vh, calculate the target acceleration A of the vehicle in the target lane t2 :

[0057]

[0058] When V t1 When it is greater than Vh, calculate the target acceleration A of the vehicle in the original lane t1 :

[0059] A t1 =a(V t1 -Vh)+b∫(V t1 -Vh)dt (3)

[0060] When V t2 When it is greater than Vh, calculate the target acceleration A of the vehicle in the target lane t2:

[0061] A t2 =a(V t2 -Vh)+b∫(V t2 -Vh)dt (4)

[0062] Where: a and b are calibration constants;

[0063] A t1 , A t2 and A t3 The minimum value of is taken as the acceleration A of the lane changing process t .

[0064] In this embodiment, V t1 Calibrate to get V t1 ', specifically:

[0065] Assume that the collision time between the vehicle and the target vehicle with collision risk in the original lane is TTC, and the lateral position between the vehicle and the target vehicle with collision risk in the original lane is D y ,

[0066] V t1 '=f(TTC,D y )V t1 (5)

[0067] Where: f(TTC,D y ) is about TTC and D y Two-dimensional calibration table;

[0068] By changing V in formula (1) and (3) t1 Replace with V t1 , 'Calculate A t1 ';

[0069] A t1 '、A t2 and A t3 The minimum value of is taken as the acceleration A during lane change t .

[0070] In this embodiment, an automatic lane-changing control method, the entire lane-changing process: first, the perception module provides surrounding target information and lane line information, and then the cognitive module identifies the target of interest (including following vehicles and vehicles of interest) within a certain distance range of the target lane and inputs it to the decision-making planning module, and then the decision-making planning module decides whether to change lanes based on the target of interest and lane line information, and inputs the decision result to the planning layer. If the lane-changing conditions are met, reasonable steering angular velocity and longitudinal acceleration are planned in the horizontal and longitudinal directions respectively, and the results are sent to the execution layer to realize the lane change. The improvement of this method lies in the planning method part of the longitudinal acceleration during the lane-changing process, and the steering angular velocity is the prior art.

[0071] When the lane-changing conditions are met, the following conditions can be roughly divided into the following conditions: 1) There is no collision risk target vehicle in this lane, and there is no collision risk target vehicle in the target lane; 2) There is a collision risk target vehicle in this lane, and there is no collision risk target vehicle in the target lane; 3) There is no collision risk target vehicle in this lane, and there is a collision risk target vehicle in the target lane; 4) There is a collision risk target vehicle in this lane, and there is also a collision risk target in the target lane. For condition 1), normal driving acceleration can be used to change lanes, and no special processing is required. For conditions 2), 3), and 4), the longitudinal target acceleration needs to be processed based on the collision time and relative position of the collision risk target.

[0072] The following is a detailed description of the automatic lane changing control method:

[0073] like Figure 1 As shown, in this embodiment, an automatic lane change control method includes the following steps:

[0074] Step 1: Obtain target information and lane line information around the vehicle. In this step, the perception module provides the surrounding target information and lane line information. This process mainly processes the original information provided by different sensors, fuses it and outputs it to the downstream to ensure the reliability and stability of the information.

[0075] Step 2: Identify the objects of interest in the original lane and the target lane based on the information obtained in step 1; in this step, the cognitive module identifies the objects of interest in the target lane (including the following vehicle and the vehicle of interest). During the change process, the corresponding following vehicle target (if any) and other targets in the target lane need to be selected according to the lane change command and lane change direction issued by the decision-making.

[0076] Step 3: Decide whether to change lanes based on the lane information and the identified target of interest. If the lane change is to be performed, proceed to step 4; otherwise, the lane change is not performed. This step is specifically as follows:

[0077] When the following four conditions are met at the same time, the output decision result is to execute the lane change; otherwise, the lane change is not executed;

[0078] (1) There is no object of interest in the target lane within the parallel region with the vehicle. The parallel region refers to the length of the vehicle plus the front and rear offset distance Δa, where Δa is a calibration value.

[0079] (2) The collision time of the target of interest in the target lane, except for the parallel area, relative to the vehicle is greater than t1, where t1 is a calibration value;

[0080] (3) The lane lines are clear;

[0081] (4) A lane change request is received.

[0082] Step 4, planning the longitudinal acceleration of the vehicle according to the steps of the lane change longitudinal acceleration planning method of the present invention;

[0083] Step 5: The vehicle performs a lane change operation based on the longitudinal acceleration planned in step 4. This step is specifically as follows:

[0084] After receiving the instructions from the planning layer, the corresponding vehicle actuator is controlled to respond according to the planned target value and the vehicle information is fed back to the decision-making planning layer.

[0085] In this embodiment, a lane change longitudinal acceleration planning system includes a memory and a controller. The memory stores a computer-readable program. When the computer-readable program is executed and called by the controller, it can execute the steps of the lane change longitudinal acceleration planning method described in this embodiment.

[0086] In this embodiment, an automatic lane change control system includes a memory and a controller. The memory stores a computer-readable program. When the computer-readable program is executed and called by the controller, it can execute the steps of the automatic lane change control method described in this embodiment.

[0087] In this embodiment, a vehicle adopts the lane change longitudinal acceleration planning system as described in this embodiment.

[0088] In this embodiment, a vehicle adopts the automatic lane change control system as described in this embodiment.

[0089] In this embodiment, a storage medium stores a computer-readable program, and when the computer-readable program is called, the steps of the lane change longitudinal acceleration planning method described in this embodiment can be executed.

[0090] In this embodiment, a storage medium stores a computer-readable program, and when the computer-readable program is called, the steps of the automatic lane change control method described in this embodiment can be executed.

[0091] The above embodiments are preferred implementation modes of the method of the present invention, but the implementation modes of the method of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement modes and shall be included in the protection scope of the present invention.

Claims

1. A lane-changing longitudinal acceleration planning method, characterized in that: The following steps are involved: Obtain information about the target of interest and determine whether there is a target vehicle with a collision risk in the original lane and the target lane; If there is no collision risk target vehicle in the original lane and the target lane, the target acceleration A in the cruising state is used. t3 As the acceleration of the lane change process A t ; If there is a collision risk target vehicle in the original lane and / or the target lane, obtain the vehicle speed Vh of the host vehicle and the speed Vh of the collision risk target vehicle in the original lane. t1 , the collision risk of the target lane, the speed of the target vehicle V t2 , the longitudinal distance D between the vehicle and the target vehicle with collision risk in the original lane r1 The longitudinal distance D between the target vehicle and the collision risk target vehicle in the target lane r2 ; Based on Vh, V t1 and D r1 Calculate the minimum safe distance D between the vehicle and the target vehicle with collision risk in the original lane s1 ; Based on Vh, V t2 and D r2 Calculate the minimum safe distance D between the vehicle and the target vehicle in the target lane. s2 ; When V t1 When Vh is less than or equal to Vh, calculate the target acceleration A of the vehicle in the original lane. t1 : When V t2 When Vh is less than or equal to Vh, calculate the target acceleration A of the vehicle in the target lane t2 : When V t1 When it is greater than Vh, calculate the target acceleration A of the vehicle in the original lane t1 : A t1 =a(V t1 -Vh)+b∫(V t1 -Vh)dt(3) When V t2 When it is greater than Vh, calculate the target acceleration A of the vehicle in the target lane t2 : A t2 =a(V t2 -Vh)+b∫(V t2 -Vh)dt (4) Where: a and b are calibration constants; A t1 , A t2 and A t3 The minimum value of is taken as the acceleration A of the lane changing process. t .

2. The lane-changing longitudinal acceleration planning method according to claim 1, characterized in that: V t1 Calibrate to get V t1 ', specifically: Assume that the collision time between the vehicle and the target vehicle in the original lane is TTC, and the lateral position between the vehicle and the target vehicle in the original lane is D y ; V t1 '=f(TTC,D y )V t1 (5) Where: f(TTC,D y ) is about TTC and D y Two-dimensional calibration table; By changing V in formula (1) and (3) t1 Replace with V t1 ', calculate A t1 '; A t1 '、A t2 and A t3 The minimum value of is taken as the acceleration A during lane change t .

3. An automatic lane changing control method, characterized in that: The following steps are involved: Step 1: Obtain target information and lane line information around the vehicle; Step 2: Identify the objects of interest in the original lane and the target lane based on the information obtained in step 1; Step 3: Decide whether to execute lane change according to the lane line information and the identified target of interest. If the lane change is to be executed, proceed to step 4; otherwise, the lane change is not executed. Step 4, planning the longitudinal acceleration of the vehicle according to the steps of the lane change longitudinal acceleration planning method according to claim 1 or 2; Step 5: The vehicle performs a lane change operation based on the longitudinal acceleration planned in step 4.

4. The automatic lane-changing control method according to claim 3, characterized in that: The step 3 is specifically as follows: When the following four conditions are met at the same time, the output decision result is to execute the lane change; otherwise, the lane change is not executed; (1) There is no object of interest in the target lane within the parallel region with the vehicle. The parallel region refers to the length of the vehicle plus the front and rear offset distance Δa, where Δa is a calibration value. (2) The collision time of the target of interest in the target lane, except for the parallel area, relative to the vehicle is greater than t1, where t1 is a calibration value; (3) The lane lines are clear; (4) A lane change request is received.

5. A lane-changing longitudinal acceleration planning system, characterized in that: The method comprises a memory and a controller, wherein a computer-readable program is stored in the memory, and when the computer-readable program is executed and called by the controller, the steps of the lane-changing longitudinal acceleration planning method as claimed in claim 1 or 2 can be executed.

6. An automatic lane change control system, characterized in that: The invention comprises a memory and a controller, wherein a computer-readable program is stored in the memory, and when the computer-readable program is executed and called by the controller, the steps of the automatic lane-changing control method as claimed in claim 3 or 4 can be executed.

7. A vehicle, characterized in that: The lane changing longitudinal acceleration planning system as claimed in claim 5 is adopted.

8. A vehicle, characterized in that: An automatic lane changing control system as claimed in claim 6 is adopted.

9. A storage medium, characterized in that: A computer-readable program is stored therein, and when the computer-readable program is called, the steps of the lane-changing longitudinal acceleration planning method as claimed in claim 1 or 2 can be executed.

10. A storage medium, characterized in that: A computer-readable program is stored therein, and when the computer-readable program is called, the steps of the automatic lane-changing control method as claimed in claim 3 or 4 can be executed.

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