An automatic driving active lane-changing method and system on a highway

Abstract

The application relates to an automatic driving active lane changing method and system on a highway, which comprises the following steps: T1. A vehicle travels on a highway, image data information of roads on both sides and in front of the vehicle is obtained based on a vehicle-mounted camera, road obstacle data information in front of the vehicle is obtained based on a vehicle-mounted laser radar, road traffic data information in front of the vehicle is obtained based on a high-precision map, and vehicle speed and acceleration data information is obtained based on a vehicle inertial navigation system; T2. Vehicle lane data information and adjacent lane data information are obtained according to the image data information of roads on both sides and in front of the vehicle, the vehicle lane data information is highest speed limit data information of a lane where the vehicle is located, and the adjacent lane data information is highest speed limit data information of an adjacent lane. The application not only avoids lane changing only when approaching a congestion point or a fault, thereby causing the lane changing to be unable to be completed at one time, but also can improve a lane changing success rate, system safety and final user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to an automatic driving active lane changing method and system on a highway. BACKGROUND

[0002] With the development of technology, the use rate of driving assistance and automatic driving products is getting higher and higher. The common driving assistance system on the market only has a lane changing assistance triggered by the driver, and does not have an active lane changing function.

[0003] The high-level automatic driving active lane changing is mainly based on high-precision map input, navigation lane changing prompt input and current lane front vehicle speed to generate a lane changing intention. In the case of having a lane changing intention, it is judged whether the lane changing condition is met. If the lane changing condition is met, the vehicle is controlled to perform the lane changing operation.

[0004] In addition to the navigation and high-precision map input information, the current active lane changing method only generates a lane changing intention when the front vehicle speed in the current lane is slow. The actual running effect is that when a congestion or accident occurs in front, the vehicle generates a lane changing intention when it is relatively close, and has to change lanes. The lane changing opportunity is late, and especially when there is a vehicle behind the adjacent lane, it is difficult to change lanes. SUMMARY

[0005] In view of the above problems, the present application provides an automatic driving active lane changing method and system on a highway, which not only avoids lane changing only when approaching a congestion point or a fault, thereby causing the lane changing to be completed at one time, but also improves the lane changing success rate, system safety and the final user experience.

[0006] In order to achieve the above object and other related objects, the technical scheme provided by the present application is as follows:

[0007] An automatic driving active lane changing method on a highway, comprising:

[0008] T1. The vehicle travels on a highway, obtains vehicle two-side and front road image data information based on a vehicle-mounted camera, obtains vehicle front road obstacle data information based on a vehicle-mounted laser radar, obtains vehicle front road traffic data information based on a high-precision map, and obtains vehicle speed and acceleration data information based on a vehicle inertial navigation system;

[0009] T2. Obtain vehicle lane data information and adjacent lane data information according to the vehicle two-side and front road image data information, wherein the vehicle lane data information is the highest speed limit data information of the vehicle lane, and the adjacent lane data information is the highest speed limit data information of the adjacent lane;

[0010] T3. According to the lane data information of the vehicle and the adjacent lane data information, coupling the vehicle speed and acceleration data information, output vehicle predicted lane change data information;

[0011] T4. According to the vehicle predicted lane change data information, judging the road obstacle data information in front of the vehicle and the road traffic data information in front of the vehicle, output vehicle lane change data information.

[0012] Further, in step T3, the output vehicle predicted lane change data information includes:

[0013] T31. According to the vehicle speed information, output the vehicle speed and the maximum speed limit value of the vehicle, according to the lane data information of the vehicle, output the maximum speed limit value of the current lane, and according to the adjacent lane data information, output the maximum speed limit value of the adjacent lane;

[0014] T32. If the vehicle speed is less than the maximum speed limit value of the vehicle, and the vehicle speed is equal to the maximum speed limit value of the current lane, and the maximum speed limit value of the adjacent lane is greater than the maximum speed limit value of the current lane, output the vehicle predicted lane change data information.

[0015] Further, the output vehicle predicted lane change data information also includes:

[0016] T33. If the maximum speed limit value of the current lane of the vehicle is greater than the maximum speed limit value of the vehicle, and the maximum speed limit value of the adjacent lane is less than the maximum speed limit value of the vehicle, output the vehicle lane change data information.

[0017] Further, the vehicle predicted lane change data information includes vehicle left lane change data information and vehicle right lane change data information.

[0018] Further, the judgment of the road obstacle data information in front of the vehicle is according to the distance between the vehicle and the obstacle, a preset threshold is set, if greater than the preset threshold, the lane is changed, if less than the preset threshold, the vehicle is slowed down or stopped.

[0019] Further, the road traffic data information in front of the vehicle is according to the front road congestion vehicle data information, a preset vehicle number threshold is set, if greater than the preset vehicle number threshold, the vehicle is slowed down or stopped, if less than the preset vehicle data threshold, the vehicle changes lane.

[0020] In order to achieve the above-mentioned purpose and other related purposes, the application also provides an automatic driving active lane changing system on a highway, which comprises:

[0021] An image perception module is used to obtain vehicle front road and both sides of the road image data information;

[0022] A laser radar perception module is configured to acquire road obstacle data and vehicle data information in front of the vehicle.

[0023] An active lane changing module is configured to change lane of the vehicle according to the lane changing data information.

[0024] A steering module is configured to perform steering operation of the vehicle.

[0025] A light module is configured to turn off the turn signal of the vehicle.

[0026] Further, the image perception module is connected to the active lane changing module, the laser radar perception module is connected to the active lane changing module, the steering module is connected to the active lane changing module, and the light module is connected to the active lane changing module.

[0027] Further, the active lane changing module comprises a lane changing intention judging unit, a lane changing decision unit and a lane changing control unit.

[0028] Further, the lane changing intention judging unit is connected to the lane changing decision unit, and the lane changing decision unit is connected to the lane changing control unit.

[0029] The present application has the following positive effects:

[0030] 1. The image perception module and the laser radar perception module of the vehicle on the highway are configured to acquire road data information and obstacle data information, so that lane changing is not performed only when approaching a congestion point or a fault, thereby avoiding the failure to complete lane changing at one time.

[0031] 2. The present application sets a threshold to judge the distance data information between the obstacle and the vehicle and to judge the number of vehicles in front of the road congestion, so as to obtain the lane changing intention of the vehicle, and can improve the lane changing success rate, system safety and the final user experience. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The present application is a method flowchart.

[0033] Figure 2 The present application is a system framework diagram. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1: As Figure 1 As shown, an autonomous driving active lane-changing method on a highway includes:

[0036] T1. When a vehicle is traveling on a highway, it acquires image data of the road on both sides and in front of the vehicle based on the on-board camera, acquires data of road obstacles in front of the vehicle based on the on-board lidar, acquires traffic data of the road in front of the vehicle based on the high-precision map, and acquires vehicle speed and acceleration data based on the vehicle inertial navigation system.

[0037] T2. Based on the image data of the road on both sides and in front of the vehicle, obtain the lane data information of the vehicle and the adjacent lane data information, wherein the lane data information of the vehicle is the maximum speed limit data information of the lane where the vehicle is located, and the adjacent lane data information is the maximum speed limit data information of the adjacent lane;

[0038] T3. Based on the vehicle's lane data information and the adjacent lane data information, coupled with the vehicle's speed and acceleration data information, output vehicle lane change prediction data information;

[0039] T4. Based on the vehicle lane change prediction data, determine the road obstacle data and road traffic data in front of the vehicle, and output the vehicle lane change data.

[0040] In this embodiment, in step T3, the output vehicle lane change prediction data information includes:

[0041] T31. Based on the vehicle speed information, output the vehicle speed and the maximum speed limit value; based on the lane data information of the vehicle, output the maximum speed limit value of the current lane; based on the adjacent lane data information, output the maximum speed limit value of the adjacent lane.

[0042] T32. If the vehicle speed is less than the maximum speed limit of the vehicle and the vehicle speed is equal to the maximum speed limit of the current lane and the maximum speed limit of the adjacent lane is greater than the maximum speed limit of the current lane, then output the vehicle lane change prediction data information.

[0043] In the embodiment, the output vehicle prediction lane change data information further comprises:

[0044] T33. If the vehicle current lane maximum speed limit value is greater than the vehicle maximum speed limit value and the adjacent lane maximum speed limit value is less than the vehicle maximum speed limit value, output vehicle lane change data information.

[0045] In the embodiment, the vehicle prediction lane change data information comprises vehicle left lane change data information and vehicle right lane change data information.

[0046] In the embodiment, the judgment vehicle front road obstacle data information is according to the distance between the vehicle and the obstacle, a preset threshold is set, if greater than the preset threshold, lane change is performed, if less than the preset threshold, speed reduction or parking is performed.

[0047] In the embodiment, the vehicle front road traffic data information is according to the front road congestion vehicle data information, a preset vehicle quantity threshold is set, if greater than the preset vehicle quantity threshold, speed reduction or parking is performed, if less than the preset vehicle data threshold, vehicle lane change is performed.

[0048] Embodiment 2: On the basis of the automatic driving active lane change method of the highway in embodiment 1, the present application is further described as follows.

[0049] 1) Receive front traffic information input from lane, position information, front obstacle information, map;

[0050] 2) Lane change scene 1: according to the front traffic information input from the map, including the congestion situation of the specific lane, the accident situation of the specific lane, etc., if there is congestion or accident in the front M meters of the lane, lane change intention is generated, see step 6;

[0051] 3) Lane change scene 2: the front same lane vehicle turn signal is on and the lane change action is completed, when the front vehicle is found to change lane within XX seconds, when the number of lane change vehicles and the duration meet the requirements, the ego vehicle starts active lane change intention, see step 6;

[0052] 4) If steps 2) and 3) are not met, receive ego vehicle speed and lane speed limit information, if the ego vehicle speed is less than the automatic driving maximum speed limit value && the ego vehicle speed = the current lane maximum speed && the adjacent lane speed limit value is greater than the lane speed limit value, generate lane change intention of the corresponding lane, otherwise do not generate lane change intention;

[0053] 5) If steps 2) and 3) are not met, receive ego vehicle speed and lane speed limit information, if the lane speed limit value is greater than the ego vehicle automatic driving maximum speed limit value && the adjacent lane speed limit value is less than or equal to the ego vehicle automatic driving maximum speed limit value, generate active lane change intention to the adjacent lane, otherwise do not generate lane change intention;

[0054] 6) After the lane change intention is generated, if the ego vehicle is in the left lane, the right lane change intention is generated; if the ego vehicle is in the rightmost lane, the left lane change intention is generated; if neither condition is met, the two-side lane change intention is generated, which is finally input to the lane change decision module for judgment.

[0055] As Figure 2 shown in order to achieve the above object and other related objects, the present application also provides an automatic driving active lane changing system on a highway, which comprises:

[0056] an image perception module for acquiring road image data information in front of the vehicle and on both sides of the vehicle;

[0057] a laser radar perception module for acquiring road obstacle and vehicle data information in front of the vehicle;

[0058] an active lane changing module for changing the lane of the vehicle according to the lane change data information of the vehicle;

[0059] a steering module for steering operation of the vehicle;

[0060] a light module for turning off the turn signal of the vehicle.

[0061] In the embodiment, the image perception module is connected to the active lane changing module, the laser radar perception module is connected to the active lane changing module, the steering module is connected to the active lane changing module, and the light module is connected to the active lane changing module.

[0062] In the embodiment, the active lane changing module comprises a lane change intention judgment unit, a lane change decision unit and a lane change control unit.

[0063] In the embodiment, the lane change intention judgment unit is connected to the lane change decision unit, and the lane change decision unit is connected to the lane change control unit.

[0064] In summary, the present application not only avoids changing lanes only when approaching a congestion point or a fault, thus failing to complete the lane change at one time, but also improves the lane change success rate, system safety and the final user experience.

[0065] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not limited to them; under the idea of the present application, the technical features of the above examples or different examples can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for simplicity; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic driving active lane changing method on a high-speed road, characterized by, Comprising: T1. The vehicle is driving on the highway, based on the vehicle-mounted camera to obtain the vehicle's two sides and front road image data information, based on the vehicle-mounted laser radar to obtain the vehicle's front road obstacle data information, based on the high-precision map to obtain the vehicle's front road traffic data information, based on the vehicle's inertial navigation system to obtain the vehicle's speed and acceleration data information; T2. According to the vehicle's two sides and front road image data information, the vehicle's lane data information and adjacent lane data information are obtained, the vehicle's lane data information is the vehicle's lane maximum speed limit data information, and the adjacent lane data information is the adjacent lane maximum speed limit data information; T3. According to the vehicle's lane data information and the adjacent lane data information, the vehicle's speed and acceleration data information are coupled to output the vehicle's predicted lane change data information; T4. According to the vehicle's predicted lane change data information, the vehicle's front road obstacle data information and the vehicle's front road traffic data information are judged to output the vehicle's lane change data information; In step T3, the output vehicle's predicted lane change data information includes: T31. According to the vehicle's speed information, the vehicle's speed and the vehicle's maximum speed limit value are output, according to the vehicle's lane data information, the current lane maximum speed limit value is output, and according to the adjacent lane data information, the adjacent lane maximum speed limit value is output; T32. If the vehicle's speed is less than the vehicle's maximum speed limit value, the vehicle's speed is equal to the current lane maximum speed limit value, and the adjacent lane maximum speed limit value is greater than the current lane maximum speed limit value, the vehicle's predicted lane change data information is output.

2. The method of claim 1, wherein: The vehicle's predicted lane change data information includes vehicle's left lane change data information and vehicle's right lane change data information.

3. The method of claim 1, wherein: The judgment of the vehicle's front road obstacle data information is based on the distance between the vehicle and the obstacle, a preset threshold is set, if it is greater than the preset threshold, the lane change is performed, if it is less than the preset threshold, the vehicle is decelerated or stopped.

4. The method of claim 1, wherein: The vehicle's front road traffic data information is based on the front road congestion vehicle data information, a preset vehicle number threshold is set, if it is greater than the preset vehicle number threshold, the vehicle is decelerated or stopped, if it is less than the preset vehicle data threshold, the vehicle changes lane.

5. An automatic driving active lane changing system on a high-speed road, characterized by, The system for realizing the automatic driving active lane change method on the highway of any one of claims 1-4, comprising: An image perception module for obtaining vehicle's front road and two sides road image data information; A laser radar perception module for obtaining vehicle's front road obstacle and vehicle data information; An active lane change module for vehicle lane change according to vehicle lane change data information; A steering module for vehicle steering operation; A light module for vehicle turn signal off.

6. The automatic driving active lane changing system on the expressway of claim 5, wherein: The image perception module is connected with the active lane change module, the laser radar perception module is connected with the active lane change module, the steering module is connected with the active lane change module, and the light module is connected with the active lane change module.

7. The automatic driving active lane changing system on the expressway of claim 5, wherein, The active lane change module includes a lane change intention judgment unit, a lane change decision unit and a lane change control unit.

8. The automatic driving active lane changing system on the expressway of claim 7, wherein: The lane-changing intention judging unit is connected with the lane-changing decision unit, and the lane-changing decision unit is connected with the lane-changing control unit.

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