An Adaptive Control Method and System for Automatic Driving Overtaking and Lane Changing

Abstract

The present invention relates to an adaptive control method and system for automatic driving overtaking and lane changing, which can select different control strategies according to the lane-changing driving environment and lane-changing progress, ensure the reliability of the lane-changing process, ensure good vehicle control and a comfortable lane-changing experience during overtaking and lane-changing driving, and also ensure good acceleration response after the vehicle changes lanes; adaptively optimize the second overtaking and lane-changing acceleration according to the straight driving environment, and adaptively adjust the second vehicle longitudinal acceleration according to the lane-changing stage, heading angle and lane line included angle; adaptively optimize the third overtaking and lane-changing acceleration according to the curved driving environment, and adaptively adjust the third vehicle longitudinal acceleration according to the lane-changing direction, curve direction and curve radius; perform an automatic overtaking and lane-changing redundant control strategy in real time according to different lane-changing driving scenarios to ensure the safety and flexibility of the vehicle during the lane-changing process.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving planning and control, and particularly to an adaptive control method and system for autonomous driving overtaking lane change. Background Art

[0002] In recent years, with the rapid development of automotive electrification, intelligence, and networking, high-level autonomous driving functions have been continuously iterated and updated, and driving scenarios have been continuously expanded. When a vehicle is driving with NOA (Navigate on Autopilot), it can trigger a lane change through the steering lever or the system can automatically change lanes to replace the driver to complete the detection of the vehicle's surrounding environment and the longitudinal and lateral control of the vehicle, so as to reduce the driver's fatigue intensity.

[0003] Generally, the ALC (Automated Lane Change) system will judge the lane change environment through the sensors carried by the vehicle. If the lane change conditions are met, it will control the vehicle to complete the longitudinal and lateral movement of the lane change; otherwise, no lane change operation will be performed. However, for autonomous driving overtaking lane change, when the target of the vehicle in front is lost during the lane change process, the vehicle will judge whether the lane change requirements are met according to the lane change conditions to activate the lane change function. If the set speed is greater than the vehicle speed of the self-vehicle before the lane change, during the lane change process, it will accelerate the lane change according to the deviation between the set speed of the NOA function and the actual vehicle speed. And excessive longitudinal and lateral accelerations during the lane change will cause discomfort and tension to the driver, and are prone to cause lateral control failure and safety accidents. Summary of the Invention

[0004] The present invention aims at the technical problems existing in the prior art, and provides an adaptive control method and system for autonomous driving overtaking lane change, so as to solve the problems that excessive longitudinal and lateral accelerations during autonomous driving overtaking lane change will cause discomfort and tension to the driver, and are prone to cause lateral control failure and safety accidents.

[0005] According to the first aspect of the present invention, an adaptive control method for autonomous driving overtaking lane change is provided, including: after determining that the vehicle is about to perform an overtaking lane change, when the set lane change speed Vset is greater than the vehicle speed V before the lane change, judging whether the current driving scenario of the vehicle is a straight road;

[0006] If so, calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V; otherwise, calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane change direction;

[0007] Controlling the vehicle to perform an overtaking lane change according to the calculated longitudinal acceleration of the vehicle.

[0008] On the basis of the above technical solutions, the present invention can also be improved as follows.

[0009] Optionally, the process of determining that the vehicle is about to execute a lane change includes:

[0010] When it is determined that the vehicle has a need to overtake and change lanes, it is judged whether the lane change conditions are met according to the environmental information and the driving state of the host vehicle:

[0011] If so, execute overtaking and lane change;

[0012] Otherwise, it is judged whether the lane change conditions are met after adjusting the driving speed of the vehicle within a set range: if so, execute overtaking and lane change; otherwise, wait for overtaking and lane change. When the waiting time exceeds the set duration and the lane change conditions are not met after adjusting the driving speed within the set range, it is determined not to execute overtaking and lane change.

[0013] Optionally, after it is determined that the vehicle is about to execute overtaking and lane change, when the set lane change speed Vset is not greater than the speed V before lane change, the vehicle is controlled to perform a uniform overtaking and lane change.

[0014] Optionally, when it is determined that the current driving scenario of the vehicle is a straight road, during the process of calculating the longitudinal acceleration of the vehicle based on the deviation between Vset and V, the lane line, and the heading angle of the host vehicle, the lane change process is divided into two stages: a same-direction lane change and a reverse return to the original position:

[0015] During the same-direction lane change stage, the vehicle maintains the speed of the driving path before lane change;

[0016] During the reverse return to the original position stage, the second longitudinal acceleration of the vehicle is calculated based on the included angle α between the heading angle of the host vehicle and the lane line and the first longitudinal acceleration, and the vehicle is controlled to drive using the second longitudinal acceleration; the determination process of the first longitudinal acceleration includes: using the deviation between Vset and V as the input of the PID controller, and calculating the acceleration required for the vehicle to reach Vset in combination with the vehicle dynamics model and the PID control method.

[0017] Optionally, the method for calculating the second longitudinal acceleration of the vehicle based on the included angle α between the heading angle of the host vehicle and the lane line and the first longitudinal acceleration includes:

[0018] Establish a correspondence table between the included angle α between the heading angle of the host vehicle and the lane line and the value of the driving environment coefficient of the first longitudinal acceleration;

[0019] Determine the corresponding driving environment coefficient of the first longitudinal acceleration according to the current value of the included angle α;

[0020] Multiply the first longitudinal acceleration by the driving environment coefficient of the first longitudinal acceleration to obtain the second longitudinal acceleration.

[0021] Optionally, when it is determined that the current driving scenario of the vehicle is not a straight road, the process of calculating the longitudinal acceleration of the vehicle based on the deviation between Vset and V, the curve radius, the curve direction, and the lane change direction includes:

[0022] When it is determined that the curve direction and the lane change direction are opposite, set the longitudinal acceleration of the vehicle to 0;

[0023] When it is determined that the curve direction and the lane change direction are the same, establish a correspondence table between the curve radius and the value of the second longitudinal acceleration driving environment coefficient; determine the corresponding second longitudinal acceleration driving environment coefficient according to the value of the current curve radius; multiply the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient to obtain a third longitudinal acceleration, and use the third longitudinal acceleration to control the vehicle to drive.

[0024] Optionally, during the process of controlling the vehicle to overtake and change lanes according to the calculated longitudinal acceleration of the vehicle, it is continuously determined whether there is a new collision risk during the lane change process;

[0025] If not, continue to change lanes until the lane change is completed and the lane change process ends;

[0026] If so, perform real vehicle control according to the current lane change progress of the vehicle: if the vehicle crosses the lane line on the lane change side by less than the set ratio at this time, determine whether the vehicle can return to the original lane. If it can return, interrupt the lane change progress and control the vehicle to return to the original lane. If it cannot return to the original lane, adjust the vehicle to drive parallel to the lane line and then end the lane change process; if the vehicle crosses the lane line on the lane change side by greater than or equal to the set ratio at this time, adjust the vehicle to drive parallel to the lane line and then end the lane change process.

[0027] According to the second aspect of the present invention, there is provided an automatic driving overtaking and lane change adaptive control system, including: a perception input layer, a decision control layer, and an execution layer;

[0028] The perception input layer is used to obtain environmental perception information of the environment where the vehicle is located;

[0029] The decision control layer is configured to, based on the environmental perception information, after determining that the vehicle is about to perform an overtaking lane change, when the set lane change speed Vset is greater than the speed V before the lane change, determine whether the current driving scenario of the vehicle is a straight road; if so, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V; otherwise, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane change direction;

[0030] The execution layer is used to control the vehicle to overtake and change lanes according to the calculated longitudinal acceleration of the vehicle.

[0031] According to a third aspect of the present invention, there is provided an electronic device including a memory and a processor. When the processor executes a computer management program stored in the memory, the steps of an adaptive control method for automatic driving overtaking and lane changing are implemented.

[0032] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon. When the computer management program is executed by a processor, the steps of an adaptive control method for automatic driving overtaking and lane changing are implemented.

[0033] An adaptive control method, system, electronic device, and storage medium for automatic driving overtaking and lane changing provided by an embodiment of the present invention optimize longitudinal control parameters for overtaking and lane changing in combination with the driving state of the host vehicle and the road environment, and adopt different lane-changing control strategies according to different lane-changing scenarios, ensuring good vehicle control safety and a comfortable lane-changing experience during overtaking and lane changing. Description of the Drawings

[0034] Figure 1 It is a schematic diagram of an embodiment of the process of automatic driving overtaking and lane changing;

[0035] Figure 2 It is a flowchart of an embodiment of an adaptive control method for automatic driving overtaking and lane changing provided by the present invention;

[0036] Figure 3 It is a flowchart of an embodiment of a redundant control strategy for automatic overtaking and lane changing provided by the present invention;

[0037] Figure 4 It is a structural block diagram of an adaptive control system for automatic driving overtaking and lane changing provided by the present invention;

[0038] Figure 5 It is a schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0039] Figure 6 It is a schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Detailed Embodiments

[0040] The principles and features of the present invention are described below in conjunction with 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.

[0041] As Figure 1The figure shows a schematic diagram of an embodiment of the process of an autonomous vehicle overtaking and changing lanes. The ALC system optimizes the lateral and longitudinal control parameters of the vehicle during overtaking and lane changing by judging the state of the first driving target in front of the vehicle, the state of the second driving target in front of the adjacent lane, the state of the third driving target behind the adjacent lane, the road environment, and the driving state information of the vehicle itself. Different lane-changing control strategies are adopted according to different lane-changing scenarios to ensure better vehicle control safety and a comfortable lane-changing experience during overtaking and lane changing. At the same time, it can also ensure better acceleration response after the vehicle changes lanes.

[0042] Figure 2 The figure is a flowchart of an autonomous vehicle overtaking and lane-changing adaptive control method provided by the present invention. As Figure 2 shown, the method includes: after determining that the vehicle is about to perform an overtaking and lane-changing maneuver, when the set lane-changing speed Vset is greater than the speed V before lane changing, it is judged whether the current driving scenario of the vehicle is a straight road.

[0043] If so, the longitudinal acceleration of the vehicle is calculated according to the deviation between Vset and V; otherwise, the longitudinal acceleration of the vehicle is calculated according to the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of lane change.

[0044] The vehicle is controlled to perform overtaking and lane changing according to the calculated longitudinal acceleration of the vehicle.

[0045] The present invention provides an autonomous vehicle overtaking and lane-changing assisted adaptive control method, which optimizes the longitudinal control parameters of overtaking and lane changing by combining the driving state of the vehicle itself and the road environment, and adopts different lane-changing control strategies according to different lane-changing scenarios to ensure better vehicle control safety and a comfortable lane-changing experience during overtaking and lane changing.

[0046] Embodiment 1

[0047] Embodiment 1 provided by the present invention is an embodiment of an autonomous vehicle overtaking and lane-changing adaptive control method provided by the present invention. Combining Figure 2 it can be seen that the embodiment of this adaptive control method includes:

[0048] Step 1, when it is determined that the vehicle has a need for overtaking and lane changing, it is judged whether the lane-changing conditions are met according to the environmental information and the driving state of the vehicle itself. If so, go to Step 2; otherwise, execute Step 3.

[0049] In specific implementation, after the vehicle starts to drive with the NOA function, if the NOA system determines that there is an overtaking and lane-changing request or the driver requests overtaking and lane changing through the steering lever, the ALC system judges the lane-changing conditions according to the environmental information input by the sensor and the driving state of the vehicle itself; otherwise, it executes stable following driving and does not perform lane-changing operations.

[0050] If the ALC determines that the lane change condition is met, the ALC system plans the lane change path and determines the deviation between the cruise speed Vset set by the NOA function and the vehicle speed V before the lane change. If the NOA set speed Vset is greater than the vehicle speed V before the lane change, the overtaking control parameters are adaptively optimized according to the driving scenario. If the driving scenario is a straight road, the straight road overtaking lane change control is started; otherwise, the curved road overtaking lane change control is performed. If the NOA set speed Vset is less than the vehicle speed V before the lane change, a uniform speed lane change is achieved according to the lane change path. Specifically, it includes:

[0051] Step 2: Execute the overtaking lane change, and determine whether the set lane change speed Vset is greater than the vehicle speed V before the lane change. Otherwise, go to step 201; if yes, go to step 202.

[0052] Step 201: Control the vehicle to perform a uniform speed overtaking lane change.

[0053] Step 202: Determine whether the current driving scenario of the vehicle is a straight road. If yes, go to step 20201; otherwise, go to step 20202.

[0054] Step 20201: Calculate the vehicle longitudinal acceleration according to the deviation between Vset and V, and control the vehicle to perform an overtaking lane change according to the calculated vehicle longitudinal acceleration.

[0055] In a possible embodiment, when determining that the current driving scenario of the vehicle is a straight road and calculating the vehicle longitudinal acceleration according to the deviation between Vset and V, the lane lines, and the vehicle heading angle, the lane change process is divided into two stages: the same-direction lane change and the reverse return to the original lane:

[0056] In the same-direction lane change stage, the vehicle maintains the speed of the driving path before the lane change.

[0057] In the reverse return to the original lane stage, the second longitudinal acceleration of the vehicle is calculated according to the angle α between the vehicle heading angle and the lane lines and the first longitudinal acceleration, and the second longitudinal acceleration is used to control the vehicle to drive; the determination process of the first longitudinal acceleration includes: using the deviation between Vset and V as the input of the PID controller, and calculating the acceleration required for the vehicle to reach Vset in combination with the vehicle dynamics model and the PID control method.

[0058] In a possible embodiment, the method for calculating the second longitudinal acceleration of the vehicle according to the angle α between the vehicle heading angle and the lane lines and the first longitudinal acceleration includes:

[0059] Establish a correspondence table between the angle α between the vehicle heading angle and the lane lines and the value of the first longitudinal acceleration driving environment coefficient.

[0060] Determine the corresponding first longitudinal acceleration driving environment coefficient according to the current value of the angle α.

[0061] Multiply the first longitudinal acceleration by the first longitudinal acceleration driving environment coefficient to obtain the second longitudinal acceleration.

[0062] Specifically, during a straight - lane overtaking process, when the cruise speed Vset set by the NOA function is greater than the speed V of the host vehicle before lane - change, the longitudinal acceleration of the vehicle is adaptively calculated based on information such as the deviation between Vset and V, lane lines, and the heading angle of the host vehicle. First, use the deviation between the vehicle's Vset and V as the input of the PID controller, and combine the vehicle dynamics model and the PID control method to calculate the first longitudinal acceleration required for the vehicle to reach the set speed. Then, divide the lane - change process into two stages: the same - direction lane - change stage and the reverse - return stage. In the first half of the same - direction lane - change stage, the vehicle maintains the speed of the driving path before lane - change, that is, the longitudinal acceleration is 0 (longitudinal acceleration 1 * 0%). In the reverse - return stage of the second half of the lane - change, the second longitudinal acceleration of the vehicle is adaptively adjusted according to the angle α between the heading angle of the host vehicle and the lane line and the first longitudinal acceleration. That is, multiply the set value in the table by the first driving environment coefficient on the basis of the required first longitudinal acceleration to obtain the actual second longitudinal acceleration of the vehicle. The actuator layer calculates the motor torque output based on the second longitudinal acceleration to complete the actual longitudinal control of the vehicle during lane - change.

[0063] As shown in Table 1 below, it is a corresponding relationship table of the values of the angle α between the heading angle of the host vehicle and the lane line and the first longitudinal acceleration driving environment coefficient provided by the embodiment of the present invention.

[0064] Table 1: Corresponding relationship table of the values of the angle α between the heading angle of the host vehicle and the lane line and the first longitudinal acceleration driving environment coefficient

[0065]

[0066]

[0067] For other values of the angle α between the heading angle of the host vehicle and the lane line outside Table 1, the corresponding first longitudinal acceleration driving environment coefficient is calculated by the interpolation method.

[0068] Step 20102: Calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of lane - change, and control the vehicle to overtake and change lanes according to the calculated longitudinal acceleration of the vehicle.

[0069] In a possible embodiment, when it is determined that the current driving scenario of the vehicle is not a straight lane, the process of calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of lane - change includes:

[0070] When it is determined that the direction of the curve and the direction of lane - change are opposite, set the longitudinal acceleration of the vehicle to 0.

[0071] When it is determined that the curve direction and the lane change direction are the same, establish a corresponding relationship table between the curve radius and the value of the second longitudinal acceleration driving environment coefficient; determine the corresponding second longitudinal acceleration driving environment coefficient according to the value of the current curve radius; multiply the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient to obtain the third longitudinal acceleration, and use the third longitudinal acceleration to control the vehicle driving.

[0072] During the optimization control process of overtaking on a curve, when overtaking and changing lanes on a curve, the longitudinal acceleration control is optimized by adding the curve curvature, the curve direction and the lane change direction to the straight lane changing and overtaking control. The third longitudinal acceleration of the actual vehicle in the curve scenario is obtained by multiplying the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient. When the curve direction and the lane change direction are opposite, the second longitudinal acceleration driving environment coefficient is 0%, and at this time, the third longitudinal acceleration of the actual vehicle is the second longitudinal acceleration * 0%, that is, keep changing lanes at a constant speed; when the curve direction and the lane change direction are the same, at this time, according to the size of the curve radius, multiply the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient to obtain the actual third longitudinal acceleration, and the actuator layer calculates the motor torque output according to the third longitudinal acceleration to complete the actual lane change control of the vehicle.

[0073] As shown in Table 2 below, it is a corresponding relationship table between the curve radius and the value of the second longitudinal acceleration driving environment coefficient provided by the embodiment of the present invention.

[0074] Table 2: Corresponding relationship table between curve radius and value of second longitudinal acceleration driving environment coefficient

[0075]

[0076] For other values of the curve radius m outside Table 2, the corresponding second longitudinal acceleration driving environment coefficient is calculated by using the interpolation method.

[0077] In a possible embodiment, to ensure the safety and flexibility during the vehicle lane change process, the present invention makes an automatic overtaking and lane change redundancy control strategy according to different lane change driving scenarios in real time. As Figure 3 shown is the flowchart of the embodiment of the automatic overtaking and lane change redundancy control strategy provided by the present invention. Combining Figure 3 it can be seen that the automatic overtaking and lane change redundancy control strategy includes:

[0078] In step 2, during the process of controlling the vehicle to overtake and change lanes according to the calculated vehicle longitudinal acceleration, it is continuously determined whether there is a new collision risk during the lane change process.

[0079] If not, continue to change lanes until the lane change is completed and the lane change process ends.

[0080] When it exists, real vehicle control is performed according to the lane change progress of the current vehicle: If the vehicle crosses the lane line on the lane change side by less than the set ratio at this time, it is judged whether the vehicle can return to the original lane. If it can return, the lane change progress is interrupted and the vehicle is controlled to return to the original lane. If it cannot return to the original lane, the vehicle is adjusted to drive parallel to the lane line and then the lane change process ends; If the vehicle crosses the lane line on the lane change side by greater than or equal to the set ratio at this time, the vehicle is adjusted to drive parallel to the lane line and then the lane change process ends.

[0081] In specific implementation, first, safe lane change is performed according to the target lane and the vehicle's own information. If the lane change is completed at this time, the overtaking lane change function exits. If the lane change is not completed, it is judged whether there is a new collision risk during the lane change. If not, the lane change continues until the lane change is completed. If there is a collision risk, real vehicle control is performed according to the lane change progress of the vehicle at this time. If the vehicle crosses the lane line on the lane change side by less than 70%, it is judged whether the vehicle can return to the original lane. If it can return, the lane change progress is interrupted and the vehicle is controlled to return to the original lane. If it cannot return to the original lane, the vehicle is adjusted to drive parallel to the lane line for 2s. If the vehicle crosses the lane line on the lane change side by greater than 70%, the vehicle is adjusted to drive parallel to the lane line for 2s.

[0082] There are safety risks during lane change, including scenarios such as the vehicle behind in the target lane suddenly accelerating during overtaking lane change, the vehicle in front in the target lane suddenly decelerating during overtaking lane change, the vehicle in the adjacent lane suddenly driving towards the target lane during overtaking lane change, and there being a stationary vehicle in front of the target lane, etc.

[0083] The condition for judging across the line is to calculate the position of the vehicle body and the lane line according to vehicle kinematics and the geometric dimensions of the vehicle body.

[0084] Step 3, judge whether the lane change condition is met after adjusting the vehicle driving speed within the set range: If yes, execute step 2; Otherwise, go to step 301.

[0085] Step 301, wait for overtaking lane change. When the waiting time exceeds the set duration and the lane change condition is not met after adjusting the vehicle driving speed within the set range, it is determined that the overtaking lane change is not executed.

[0086] Specifically, when it is judged in step 1 that the lane change condition is not met, the ALC system judges whether it can meet the lane change condition by adjusting the vehicle's own driving speed (within the range of +-10%). If the lane change condition can be met by adjusting the vehicle's own driving speed before the lane change, the lane change operation continues. Otherwise, the ALC system judges whether the waiting time for the lane change exceeds 10s. If the waiting time exceeds 10s, the lane change function exits and stable following driving is executed. Otherwise, it continues to judge whether the lane change condition can be met by changing the vehicle driving state.

[0087] Embodiment 2

[0088] Embodiment 2 provided by the present invention is an embodiment of an adaptive control system for automatic driving overtaking and lane changing provided by the present invention. Figure 4 It is a structural diagram of an adaptive control system for automatic driving overtaking and lane changing provided by an embodiment of the present invention. Combining Figure 4 it can be seen that the embodiment of this adaptive control system includes three major parts: a perception input layer, a decision-making control layer, and an execution layer. The embodiment of the present invention mainly aims to provide innovative ideas for the decision-making control layer, mainly including lane-changing strategies in different lane-changing driving scenarios and horizontal and vertical control parameters during the lane-changing process.

[0089] The perception input layer is used to obtain environmental perception information of the environment where the vehicle is located.

[0090] In specific implementation, the perception input layer uses a front-view camera to output information about the lane lines in front of the vehicle and the distance / speed / category information of the first target in front, a forward millimeter-wave radar to output the speed / distance / azimuth angle information of the first target in front of the self-lane, and front and rear corner radars to output the distance / speed / azimuth angle information of the second target in front of the adjacent lane and the third target behind the adjacent lane, and completes the perception of the driving environment around the self-vehicle through a multi-sensor fusion method.

[0091] The decision-making control layer is used to, based on the environmental perception information, determine that the vehicle is about to perform an overtaking lane change. When the set lane-changing speed Vset is greater than the speed V before lane change, it is judged whether the current driving scenario of the vehicle is a straight road; if so, the longitudinal acceleration of the vehicle is calculated according to the deviation between Vset and V; otherwise, the longitudinal acceleration of the vehicle is calculated according to the deviation between Vset and V, the radius of the curve, the direction of the curve, and the direction of the lane change.

[0092] In specific implementation, the decision-making control layer adaptively selects a lane-changing control strategy according to the environmental perception information output by the perception input layer, in combination with the driving state of the self-vehicle and the NOA function state, and calculates the longitudinal acceleration of the vehicle and the control parameters of the lateral angle.

[0093] The execution layer is used to control the vehicle to perform an overtaking lane change according to the calculated longitudinal acceleration of the vehicle.

[0094] In specific implementation, the execution layer calculates the actual acceleration motor drive torque or deceleration braking force and the lateral control torque of the steering wheel of the vehicle according to the horizontal and vertical control parameters and the vehicle dynamics model to complete the overtaking lane change driving of the vehicle.

[0095] It can be understood that an adaptive control system for automatic driving overtaking and lane changing provided by the present invention corresponds to the adaptive control method for automatic driving overtaking and lane changing provided by the foregoing embodiments. The relevant technical features of the adaptive control system for automatic driving overtaking and lane changing can refer to the relevant technical features of the adaptive control method for automatic driving overtaking and lane changing, and will not be elaborated herein.

[0096] Please refer to Figure 5 ,Figure 5 Schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 5 shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: after determining that the vehicle is about to perform an overtaking lane change, when the set lane change speed Vset is greater than the vehicle speed V before the lane change, determine whether the current driving scenario of the vehicle is a straight road; if so, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V; otherwise, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane change direction; control the vehicle to perform an overtaking lane change according to the calculated longitudinal acceleration of the vehicle.

[0097] Please refer to Figure 6 , Figure 6 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 6 shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented: after determining that the vehicle is about to perform an overtaking lane change, when the set lane change speed Vset is greater than the vehicle speed V before the lane change, determine whether the current driving scenario of the vehicle is a straight road; if so, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V; otherwise, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane change direction; control the vehicle to perform an overtaking lane change according to the calculated longitudinal acceleration of the vehicle.

[0098] An adaptive control method, system, electronic device, and storage medium for autonomous driving overtaking lane change provided by an embodiment of the present invention adaptively calculate the magnitude of the acceleration for overtaking lane change according to the deviation between the cruise speed set by the NOA function and the vehicle speed of the host vehicle before the lane change, and the included angle between the heading angle of the host vehicle and the lane line during the overtaking lane change process, ensuring a better vehicle control and a comfortable lane change experience during the overtaking lane change, and at the same time, it can also ensure a better acceleration response after the vehicle changes lanes. The straight road overtaking lane change control mainly adaptively optimizes the overtaking lane change acceleration according to the straight road driving environment, and adaptively adjusts the longitudinal acceleration of the vehicle according to the lane change stage, the heading angle, and the included angle between the lane lines; the curve overtaking lane change control mainly adaptively optimizes the overtaking lane change acceleration according to the curve driving environment, and adaptively adjusts the longitudinal acceleration of the vehicle according to the lane change direction, the curve direction, and the curve radius; it can select different control strategies according to the lane change driving environment and the lane change progress, ensuring the reliability of the lane change process.

[0099] It should be noted that in the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0100] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0101] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more of the processes Figure 1 or a plurality of processes and / or blocks

[0102] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one or more of the processes Figure 1 or a plurality of processes and / or blocks

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one or more of the processes Figure 1 or a plurality of processes and / or blocks

[0104] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once they learn the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0105] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An adaptive control method for an autonomous driving overtaking lane change, characterized in that, The adaptive control method includes: After determining that the vehicle is about to perform an overtaking lane change, when the set lane-changing speed Vset is greater than the speed V before the lane change, it is judged whether the current driving scenario of the vehicle is a straight road; If so, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V; otherwise, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane-changing direction; Control the vehicle to perform an overtaking lane change according to the calculated longitudinal acceleration of the vehicle; When it is judged that the current driving scenario of the vehicle is not a straight road, the process of calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane-changing direction includes: When it is judged that the curve direction and the lane-changing direction are in the opposite direction, set the longitudinal acceleration of the vehicle to 0; When it is judged that the curve direction and the lane-changing direction are in the same direction, establish a correspondence table between the curve radius and the value of the second longitudinal acceleration driving environment coefficient; determine the corresponding second longitudinal acceleration driving environment coefficient according to the current value of the curve radius; multiply the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient to obtain the third longitudinal acceleration, and use the third longitudinal acceleration to control the vehicle to drive.

2. The adaptive control method according to claim 1, wherein The process of determining that the vehicle is about to perform a lane change includes: When it is determined that the vehicle has a demand for overtaking lane change, judge whether the lane-changing condition is satisfied according to the environmental information and the driving state of the vehicle itself: If so, perform an overtaking lane change; Otherwise, judge whether the lane-changing condition is satisfied after adjusting the driving speed of the vehicle within the set range: if so, perform an overtaking lane change; otherwise, wait for the overtaking lane change. When the waiting time exceeds the set duration and the lane-changing condition is not satisfied after adjusting the driving speed within the set range, it is determined not to perform the overtaking lane change.

3. The adaptive control method according to claim 1, wherein After determining that the vehicle is about to perform an overtaking lane change, when the set lane-changing speed Vset is not greater than the speed V before the lane change, control the vehicle to perform a uniform overtaking lane change.

4. The adaptive control method according to claim 1, characterized in that, When it is judged that the current driving scenario of the vehicle is a straight road, in the process of calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the lane lines, and the heading angle of the vehicle itself, the lane-changing process is divided into two stages: a same-direction lane change and a reverse return to the original path: In the same-direction lane change stage, the vehicle maintains the speed of the driving path before the lane change unchanged; In the reverse return to the original path stage, calculate the second longitudinal acceleration of the vehicle according to the included angle α between the heading angle of the vehicle itself and the lane lines and the first longitudinal acceleration, and use the second longitudinal acceleration to control the vehicle to drive; the determination process of the first longitudinal acceleration includes: using the deviation between Vset and V as the input of the PID controller, and calculating the acceleration required for the vehicle to reach Vset in combination with the vehicle dynamics model and the PID control method.

5. The adaptive control method according to claim 4, wherein The method for calculating the second longitudinal acceleration of the vehicle according to the included angle α between the heading angle of the vehicle itself and the lane lines and the first longitudinal acceleration includes: Establish a correspondence table between the included angle α between the heading angle of the vehicle itself and the lane lines and the value of the first longitudinal acceleration driving environment coefficient; Determine the corresponding first longitudinal acceleration driving environment coefficient according to the current value of the included angle α; Multiply the first longitudinal acceleration by the first longitudinal acceleration driving environment coefficient to obtain the second longitudinal acceleration.

6. The adaptive control method according to claim 1, characterized in that During the process of controlling the vehicle to overtake and change lanes based on the calculated longitudinal acceleration of the vehicle, it is determined in real time whether there is a new collision risk during the lane-changing process; If not, continue to complete the lane change until the lane-changing process ends after the lane change is completed; If so, real vehicle control is performed according to the lane-changing progress of the current vehicle: If the vehicle has crossed the lane line on the lane-changing side by less than a set ratio at this time, it is determined whether the vehicle can return to the original lane. If it can return, the lane-changing progress is interrupted and the vehicle is controlled to return to the original lane. If it cannot return to the original lane, the vehicle is adjusted to drive parallel to the lane line and then the lane-changing process ends; If the vehicle has crossed the lane line on the lane-changing side by greater than or equal to the set ratio at this time, the vehicle is adjusted to drive parallel to the lane line and then the lane-changing process ends.

7. An adaptive control system for automatic driving overtaking and lane change, characterized in that, The adaptive control system includes: a perception input layer, a decision-making control layer, and an execution layer; The perception input layer is used to obtain environmental perception information of the environment where the vehicle is located; The decision-making control layer is used to, based on the environmental perception information, after determining that the vehicle is about to perform an overtaking lane change, when the set lane-changing speed Vset is greater than the speed V before the lane change, determine whether the current driving scenario of the vehicle is a straight road; if so, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V; otherwise, calculate the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane-changing direction; The execution layer is used to control the vehicle to overtake and change lanes according to the calculated longitudinal acceleration of the vehicle; The process of determining that the current driving scenario of the vehicle is not a straight road and calculating the longitudinal acceleration of the vehicle according to the deviation between Vset and V, the curve radius, the curve direction, and the lane-changing direction includes: When it is determined that the curve direction and the lane-changing direction are in the reverse direction, the longitudinal acceleration of the vehicle is set to 0; When it is determined that the curve direction and the lane-changing direction are in the same direction, establish a correspondence table between the curve radius and the value of the second longitudinal acceleration driving environment coefficient; determine the corresponding second longitudinal acceleration driving environment coefficient according to the value of the current curve radius; multiply the second longitudinal acceleration by the second longitudinal acceleration driving environment coefficient to obtain a third longitudinal acceleration, and use the third longitudinal acceleration to control the vehicle to drive.

8. An electronic device, characterized in that, It includes a memory and a processor, and the processor is used to implement the steps of the autonomous driving overtaking lane change adaptive control method according to any one of claims 1-6 when executing the computer management program stored in the memory.

9. A computer-readable storage medium, characterized in that, A computer management program is stored thereon, and the computer management program is used to implement the steps of the autonomous driving overtaking lane change adaptive control method according to any one of claims 1-6 when executed by the processor.

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