Automatic driving vehicle control method, device, equipment and readable storage medium

Abstract

The present invention provides a method, device, equipment and readable storage medium for controlling an autonomous driving vehicle. The method comprises: if the waiting time for the traffic light to turn green is less than or equal to the preset time, the vehicle is controlled to select the nearest lane for driving; if the waiting time for the traffic light to turn green is greater than the preset time, the optimal lane is determined according to the safety factor and efficiency factor of each passable lane; if the optimal lane is not the lane where the vehicle is located, the lane change safety score is calculated according to the lane change safety factor; if the lane change safety score is greater than or equal to the preset score, the vehicle is controlled to drive into the optimal lane. Through the present invention, when the autonomous driving vehicle passes through a traffic light intersection, the optimal lane is first selected for the vehicle from the two aspects of safety and efficiency, and the risk of lane change is further considered, and then the vehicle is controlled to maintain the current lane or change lanes to drive into the optimal lane, so that an efficient lane can be selected for the vehicle on the basis of safety.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an autonomous driving vehicle control method, device, equipment and readable storage medium. Background Art

[0002] When an autonomous vehicle passes through a traffic light intersection, there are often 2 to 3 lanes to choose from. If it only drives in the current lane, there will be high safety risks and low traffic efficiency. If it chooses to change lanes, since traffic lights usually have heavy traffic, lane changing and congestion are more serious, and the risk of accidents is also high. Therefore, when an autonomous vehicle passes a traffic light intersection, how to safely and efficiently choose lanes to drive in order to reduce the number of times the driver takes over is an issue that needs to be addressed urgently. Summary of the invention

[0003] The main purpose of the present invention is to provide an autonomous driving vehicle control method, device, equipment and readable storage medium, aiming to solve the technical problem of how to safely and efficiently select lanes for autonomous driving vehicles when passing through traffic lights to reduce the number of times the driver takes over.

[0004] In a first aspect, the present invention provides an autonomous driving vehicle control method, the autonomous driving vehicle control method comprising:

[0005] When the distance between the vehicle and the traffic light intersection ahead is a preset distance, and the number of drivable lanes ahead is greater than or equal to a preset number, if the waiting time for the traffic light to turn green is less than or equal to a preset time, the vehicle is controlled to drive in the nearest lane, where the preset number is a positive integer greater than 1;

[0006] If the waiting time for the traffic light to turn green is longer than the preset time, the optimal lane is determined based on the safety factor and efficiency factor of each passable lane;

[0007] If the optimal lane is the lane where the vehicle is located, the vehicle is controlled to maintain the current lane;

[0008] If the optimal lane is not the lane where the vehicle is located, the lane change safety score is calculated based on the lane change safety factor;

[0009] If the lane change safety score is less than the preset score, the vehicle is controlled to maintain the current lane;

[0010] If the lane change safety score is greater than or equal to the preset score, the vehicle is controlled to enter the optimal lane.

[0011] Optionally, determining the optimal lane according to the safety factor and efficiency factor of each drivable lane includes:

[0012] The safety factor includes at least two safety sub-factors, and the score of each safety sub-factor is determined according to the actual performance of all safety sub-factors of each passable lane and the first preset scoring rule, and the score of each safety sub-factor is multiplied to obtain the safety factor score of each passable lane;

[0013] If there is a lane with the highest safety factor score among all passable lanes, the passable lane with the highest safety factor score will be taken as the optimal lane;

[0014] The efficiency factor includes at least two efficiency sub-factors. If there is no lane with the highest safety factor score among all passable lanes, the score of each efficiency sub-factor is determined according to the actual performance of all efficiency sub-factors of each passable lane with the highest safety factor score and the second preset scoring rule, and the score of each efficiency sub-factor is multiplied to obtain the efficiency factor score of each passable lane with the highest safety factor score.

[0015] If among all the passable lanes with the highest safety factor scores, the lane with the highest efficiency factor score is the best lane;

[0016] If there is no lane with the highest efficiency factor score among all drivable lanes with the highest safety factor scores, the nearest lane will be taken as the optimal lane.

[0017] Optionally, the lane change safety factor includes at least two lane change safety sub-factors, and the lane change safety score calculated according to the lane change safety factor includes:

[0018] According to the actual performance of each lane change safety sub-factor and the third preset scoring rule, the score of each lane change safety sub-factor is determined, and the score of each lane change safety sub-factor is multiplied to obtain a lane change safety score.

[0019] Optionally, when the lane change safety sub-factor is whether the lane change condition is met, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the following steps are included:

[0020] Determine whether the longitudinal distance L between the ego vehicle and the preceding vehicle satisfies the following condition when the ego vehicle changes lanes to the optimal lane by using the preset maximum average deceleration and the speed of the ego vehicle after the lane change is equal to the speed of the preceding vehicle in the optimal lane:

[0021]

[0022] Among them, V ego is the current speed of the vehicle, V tagis the speed of the vehicle ahead in the optimal lane, and X is the preset maximum average deceleration;

[0023] If so, it is determined that the lane change condition is met, and if not, it is determined that the lane change condition is not met.

[0024] Optionally, when the lane change safety sub-factor is the average deceleration of the vehicle when changing lanes, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the following steps are included:

[0025] When the lane change condition is met, the average deceleration a of the vehicle during lane change is calculated by formula 1, which is:

[0026]

[0027] Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle in front in the optimal lane, and L1 is one time interval between vehicles.

[0028] Optionally, when the lane change safety sub-factor is the average deceleration of the rear vehicle when changing lanes, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the following steps are included:

[0029] When the lane change condition is met, if the vehicle changes lanes by decelerating, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 2, which is:

[0030]

[0031] If the vehicle changes lanes at a constant speed, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 3, which is:

[0032]

[0033] Where a is the average deceleration of the ego vehicle when changing lanes, d is the longitudinal distance between the ego vehicle and the following vehicle, T is the time it takes for the ego vehicle to complete the lane change, and V ego is the current speed of the vehicle, V new is the speed of the vehicle after changing lanes, V1 is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.

[0034] In a second aspect, the present invention further provides an autonomous driving vehicle control device, the autonomous driving vehicle control device comprising:

[0035] A nearest lane selection module, used to control the vehicle to select the nearest lane to drive when the distance between the vehicle and the traffic light intersection ahead is a preset distance and the number of passable lanes ahead is greater than or equal to a preset number, if the waiting time for the traffic light to turn green is less than or equal to a preset time, wherein the preset number is a positive integer greater than 1;

[0036] An optimal lane determination module, used to determine the optimal lane based on the safety factor and efficiency factor of each passable lane if the waiting time for the traffic light to turn green is longer than a preset time;

[0037] A first lane keeping module, configured to control the vehicle to maintain the current lane if the optimal lane is the lane where the vehicle is located;

[0038] A lane change safety calculation module is used to calculate a lane change safety score based on a lane change safety factor if the optimal lane is not the lane where the vehicle is located;

[0039] The second lane keeping module is used to control the vehicle to keep driving in the current lane if the lane change safety score is less than a preset score;

[0040] The vehicle lane change control module is used to control the vehicle to enter the optimal lane if the lane change safety score is greater than or equal to a preset score.

[0041] Optionally, the optimal lane determination module is used to:

[0042] The safety factor includes at least two safety sub-factors, and the score of each safety sub-factor is determined according to the actual performance of all safety sub-factors of each passable lane and the first preset scoring rule, and the score of each safety sub-factor is multiplied to obtain the safety factor score of each passable lane;

[0043] If there is a lane with the highest safety factor score among all passable lanes, the passable lane with the highest safety factor score will be taken as the optimal lane;

[0044] The efficiency factor includes at least two efficiency sub-factors. If there is no lane with the highest safety factor score among all passable lanes, the score of each efficiency sub-factor is determined according to the actual performance of all efficiency sub-factors of each passable lane with the highest safety factor score and the second preset scoring rule, and the score of each efficiency sub-factor is multiplied to obtain the efficiency factor score of each passable lane with the highest safety factor score.

[0045] If among all the passable lanes with the highest safety factor scores, the lane with the highest efficiency factor score is the best lane;

[0046] If there is no lane with the highest efficiency factor score among all drivable lanes with the highest safety factor scores, the nearest lane will be taken as the optimal lane.

[0047] In a third aspect, the present invention also provides an autonomous driving vehicle control device, comprising a processor, a memory, and an autonomous driving vehicle control program stored in the memory and executable by the processor, wherein when the autonomous driving vehicle control program is executed by the processor, the steps of the autonomous driving vehicle control method as described above are implemented.

[0048] In a fourth aspect, the present invention also provides a readable storage medium, on which an autonomous driving vehicle control program is stored, wherein when the autonomous driving vehicle control program is executed by a processor, the steps of the autonomous driving vehicle control method as described above are implemented.

[0049] In the present invention, when the distance between the vehicle and the traffic light intersection ahead is a preset distance, and the number of passable lanes ahead is greater than or equal to the preset number, if the waiting time for the traffic light to turn green is less than or equal to the preset time, the vehicle is controlled to select the nearest lane for driving, and the preset number is a positive integer greater than 1; if the waiting time for the traffic light to turn green is greater than the preset time, the optimal lane is determined according to the safety factor and efficiency factor of each passable lane; if the optimal lane is the lane where the vehicle is located, the vehicle is controlled to maintain the current lane for driving; if the optimal lane is not the lane where the vehicle is located, the lane change safety score is calculated according to the lane change safety factor; if the lane change safety score is less than the preset score, the vehicle is controlled to maintain the current lane for driving; if the lane change safety score is greater than or equal to the preset score, the vehicle is controlled to drive into the optimal lane. Through the present invention, when the autonomous driving vehicle passes through the traffic light intersection, firstly, the optimal lane is selected for the vehicle from the two aspects of safety and efficiency, and the risk of lane change is further considered, and then the vehicle is controlled to maintain the current lane or change lanes to drive into the optimal lane for driving, so that the efficient lane can be selected for the vehicle on the basis of safety for driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a flow chart of an embodiment of an automatic driving vehicle control method of the present invention;

[0051] Figure 2 for Figure 1 Detailed flow chart of step S20;

[0052] Figure 3 This is a schematic diagram of functional modules of an embodiment of an automatic driving vehicle control device of the present invention;

[0053] Figure 4 Schematic diagram of the hardware structure of an embodiment of an autonomous driving vehicle control device of the present invention.

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0056] In a first aspect, an embodiment of the present invention provides a method for controlling an autonomous driving vehicle.

[0057] In order to more clearly demonstrate the autonomous driving vehicle control method provided in the embodiments of the present application, the application scenario of the autonomous driving vehicle control method provided in the embodiments of the present application is first introduced.

[0058] The autonomous driving vehicle control method provided in the embodiment of the present application is applied when the autonomous driving vehicle passes through a traffic light intersection. In many cases, there are 2 to 3 lanes to choose from. If the vehicle only drives in the current lane, there will be high safety risks and low traffic efficiency. If the vehicle chooses to change lanes, since the traffic volume at the traffic light intersection is usually large, lane changing and jamming are more serious, and the risk of accidents is also high. Therefore, it is very necessary to select a safe and efficient lane for the vehicle to drive in order to reduce the number of times the driver takes over.

[0059] In one embodiment, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of an automatic driving vehicle control method of the present invention. Figure 1 As shown, the automatic driving vehicle control method includes:

[0060] Step S10, when the distance between the vehicle and the traffic light intersection ahead is a preset distance, and the number of drivable lanes ahead is greater than or equal to a preset number, if the time for waiting for the traffic light to turn green is less than or equal to a preset time, the vehicle is controlled to select the nearest lane for driving, and the preset number is a positive integer greater than 1.

[0061] In this embodiment, the preset distance can be set to 50 meters according to specific needs, the preset number is a positive integer greater than 1, such as 2, and the preset duration is, for example, 10 seconds. That is, when the vehicle is 50 meters away from the traffic light intersection ahead and the number of passable lanes ahead is greater than or equal to 2, if the waiting time for the traffic light to turn green is less than 10 seconds, it means that the time left for changing lanes is too short, which is not conducive to completing the lane change. In this case, the vehicle is controlled to choose the nearest lane.

[0062] Step S20: If the waiting time for the traffic light to turn green is longer than the preset time, the optimal lane is determined based on the safety factor and efficiency factor of each passable lane.

[0063] In this embodiment, if the waiting time for the traffic light to turn green is greater than or equal to 10 seconds, it means that there is sufficient time for changing lanes, and the lane change can be made. First, from the perspectives of safety and traffic efficiency, the optimal lane is determined from the available lanes ahead.

[0064] Step S30: If the optimal lane is the lane where the vehicle is located, the vehicle is controlled to maintain driving in the current lane.

[0065] In this embodiment, after the optimal lane is determined, if the lane the vehicle is currently in is the optimal lane, then the vehicle can be controlled to maintain driving in the current lane.

[0066] Step S40: If the optimal lane is not the lane where the vehicle is located, a lane change safety score is calculated based on the lane change safety factor.

[0067] In this embodiment, after determining the optimal lane, if the lane the vehicle is currently in is not the optimal lane, it means that a lane change is required to enter the optimal lane. Since traffic volume is usually large at traffic light intersections, lane change and congestion are more serious, and the risk of accidents is also high. Therefore, it is necessary to calculate the lane change safety score based on the lane change safety factor, that is, to evaluate the lane change risk based on the lane change risk factor.

[0068] Step S50: If the lane change safety score is less than a preset score, the vehicle is controlled to maintain driving in the current lane.

[0069] In this embodiment, if the lane change safety score is less than a preset score, such as 70%, it means that the risk of changing lanes is relatively high, and the vehicle is controlled to maintain driving in the current lane.

[0070] Step S60: If the lane change safety score is greater than or equal to a preset score, the vehicle is controlled to enter the optimal lane.

[0071] In this embodiment, if the lane change safety score is greater than or equal to the preset score, it means that the risk of changing lanes is relatively small, and the vehicle can be controlled to change lanes into the optimal lane to improve traffic efficiency.

[0072] In this embodiment, when an autonomous driving vehicle passes through a traffic light intersection, when the vehicle is 50 meters away from the traffic light intersection ahead and the number of passable lanes ahead is greater than or equal to 2, if the waiting time for the traffic light to turn green is greater than 10 seconds, the optimal lane is first selected for the vehicle from the two aspects of safety and efficiency, and the risk of changing lanes is further considered. The vehicle is then controlled to maintain the current lane or change lanes to the optimal lane, thereby selecting an efficient lane for the vehicle to drive on the basis of safety.

[0073] Further, in one embodiment, referring to Figure 2 , Figure 2 for Figure 1The detailed flow chart of step S20 is as follows: Figure 2 As shown, step S20 includes:

[0074] Step S201, the safety factor includes at least two safety sub-factors, and the score of each safety sub-factor is determined according to the actual performance of all safety sub-factors of each passable lane and the first preset scoring rule, and the score of each safety sub-factor is multiplied to obtain the safety factor score of each passable lane;

[0075] Step S202: If there is a lane with the highest safety factor score among all the passable lanes, the passable lane with the highest safety factor score is used as the optimal lane;

[0076] Step S203, the efficiency factor includes at least two efficiency sub-factors. If there is no lane with the highest safety factor score among all passable lanes, then the score of each efficiency sub-factor is determined according to the actual performance of all efficiency sub-factors of each passable lane with the highest safety factor score and the second preset scoring rule, and the score of each efficiency sub-factor is multiplied to obtain the efficiency factor score of each passable lane with the highest safety factor score.

[0077] Step S204: if among all the passable lanes with the highest safety factor scores, the lane with the highest efficiency factor score is the one with the highest efficiency factor score, then the lane with the highest efficiency factor score is selected as the optimal lane;

[0078] Step S205: If there is no lane with the highest efficiency factor score among all the passable lanes with the highest safety factor scores, the nearest lane is used as the optimal lane.

[0079] In this embodiment, the safety factors include but are not limited to whether there are large trucks in front and behind the lane, whether there are non-motorized vehicles next to the lane, whether there are pedestrians next to the lane, whether there are two-wheeled vehicles waiting to pass in the lane, whether the lane is the rightmost lane, whether it is necessary to merge, and whether it is necessary to change lanes. If the actual performance of each safety sub-factor is no, it means it is safer, and the score of the safety sub-factor is 100%. If it is yes, the score of the safety sub-factor is determined according to the first preset scoring rule table. The first preset scoring rule table is shown in Table 1;

[0080] Table 1.

[0081]

[0082] The initial safety factor of each lane can be set to S0 = 100, and the safety factor score LC of the i-th lane is i The calculation formula is Where k represents the first to seventh safety sub-factors;

[0083] Similarly, the efficiency factor includes but is not limited to the number of large trucks waiting in the lane, the length of the lane minus the length of the minimum lane, and whether it is a reused lane. The determination of the score of each efficiency sub-factor is shown in Table 2. Table 2 is the second preset scoring rule table. The initial efficiency factor of each lane can be set to E0=100. The efficiency factor score LC of the i-th lane is i The calculation formula is Where k represents the first to third efficiency sub-factors;

[0084] Table 2.

[0085]

[0086]

[0087] In the process of determining the optimal lane, the lane with the highest safety factor score is preferred. If there is no lane with the highest safety factor score, the lane with the highest efficiency factor score is selected from the lanes with the highest safety factor scores as the optimal lane. If it still cannot be selected, the nearest lane is selected as the optimal lane.

[0088] Further, in one embodiment, the lane change safety factor includes at least two lane change safety sub-factors, and step S40 includes:

[0089] According to the actual performance of each lane change safety sub-factor and the third preset scoring rule, the score of each lane change safety sub-factor is determined, and the score of each lane change safety sub-factor is multiplied to obtain a lane change safety score.

[0090] In this embodiment, the lane change safety factor includes but is not limited to whether the lane change condition is met, the average deceleration of the vehicle when changing lanes, the average deceleration of the rear vehicle when changing lanes, and whether there is a risk target in the adjacent lane. The score of each lane change safety sub-factor is determined as shown in Table 3. Table 3 is a third preset scoring rule table. The initial lane change safety factor of each lane can be set to Q0=100, and the lane change safety score LC of the i-th lane is i The calculation formula is Where k represents the first to fourth lane change safety sub-factors;

[0091] Table 3.

[0092]

[0093]

[0094] Further, in one embodiment, when the lane change safety sub-factor is whether the lane change condition is satisfied, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the following steps are included:

[0095] Determine whether the longitudinal distance L between the ego vehicle and the preceding vehicle satisfies the following condition when the ego vehicle changes lanes to the optimal lane by using the preset maximum average deceleration and the speed of the ego vehicle after the lane change is equal to the speed of the preceding vehicle in the optimal lane:

[0096]

[0097] Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle ahead in the optimal lane, and X is the preset maximum average deceleration;

[0098] If so, it is determined that the lane change condition is met, and if not, it is determined that the lane change condition is not met.

[0099] In this embodiment, for safety reasons, it is assumed that the vehicle changes lanes to the optimal lane by using a preset maximum average deceleration. When the speed of the vehicle after the lane change is equal to the speed of the vehicle in front of the optimal lane, the longitudinal distance L between the vehicle and the vehicle in front must meet a certain safety distance. The preset maximum average deceleration X can be set to 4. When the vehicle changes lanes by decelerating, if the average deceleration exceeds -4m / s 2 It usually brings great discomfort to passengers.

[0100] Furthermore, in one embodiment, when the lane change safety sub-factor is the average deceleration of the vehicle when changing lanes, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the following steps are included:

[0101] When the lane change condition is met, the average deceleration a of the vehicle during lane change is calculated by formula 1, which is:

[0102]

[0103] Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle in front in the optimal lane, and L1 is one time interval between vehicles.

[0104] In this embodiment, based on the current speed of the vehicle and the speed of the vehicle in front of the optimal lane, the average deceleration of the vehicle is calculated when the vehicle and the vehicle in front maintain a double following distance when changing lanes. If the average deceleration of the vehicle is too large, it will bring certain lane changing risks.

[0105] Furthermore, in one embodiment, when the lane change safety sub-factor is the average deceleration of the rear vehicle when changing lanes, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the following steps are included:

[0106] When the lane change condition is met, if the vehicle changes lanes by decelerating, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 2, which is:

[0107]

[0108] If the vehicle changes lanes at a constant speed, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 3, which is:

[0109]

[0110] Where a is the average deceleration of the ego vehicle when changing lanes, d is the longitudinal distance between the ego vehicle and the following vehicle, T is the time it takes for the ego vehicle to complete the lane change, and V ego is the current speed of the vehicle, V new is the speed of the vehicle after changing lanes, V1 is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.

[0111] In this embodiment, the lane change of the vehicle will correspondingly bring about the average deceleration of the rear vehicle. There are two situations: the vehicle changes lanes by decelerating and the vehicle changes lanes at a constant speed. The average deceleration of the rear vehicle when changing lanes is calculated by a formula. If the average deceleration of the rear vehicle is too large, it will also bring certain lane change risks.

[0112] In a second aspect, an embodiment of the present invention also provides an autonomous driving vehicle control device.

[0113] Reference Figure 3 , Figure 3 Schematic diagram of functional modules of an embodiment of an automatic driving vehicle control device of the present invention.

[0114] In this embodiment, the automatic driving vehicle control device includes:

[0115] The nearest lane selection module 10 is used to control the vehicle to select the nearest lane to drive when the distance between the vehicle and the traffic light intersection ahead is a preset distance and the number of passable lanes ahead is greater than or equal to a preset number, if the waiting time for the traffic light to turn green is less than or equal to a preset time, and the preset number is a positive integer greater than 1;

[0116] The optimal lane determination module 20 is used to determine the optimal lane according to the safety factor and efficiency factor of each passable lane if the waiting time for the traffic light to turn green is greater than a preset time;

[0117] A first lane keeping module 30, configured to control the vehicle to maintain the current lane if the optimal lane is the lane where the vehicle is located;

[0118] A lane change safety calculation module 40 is used to calculate a lane change safety score according to a lane change safety factor if the optimal lane is not the lane where the vehicle is located;

[0119] A second lane keeping module 50, configured to control the vehicle to maintain driving in the current lane if the lane change safety score is less than a preset score;

[0120] The vehicle lane change control module 60 is used to control the vehicle to enter the optimal lane if the lane change safety score is greater than or equal to a preset score.

[0121] Furthermore, in one embodiment, the optimal lane determination module 20 is used to:

[0122] The safety factor includes at least two safety sub-factors, and the score of each safety sub-factor is determined according to the actual performance of all safety sub-factors of each passable lane and the first preset scoring rule, and the score of each safety sub-factor is multiplied to obtain the safety factor score of each passable lane;

[0123] If there is a lane with the highest safety factor score among all passable lanes, the passable lane with the highest safety factor score will be taken as the optimal lane;

[0124] The efficiency factor includes at least two efficiency sub-factors. If there is no lane with the highest safety factor score among all passable lanes, the score of each efficiency sub-factor is determined according to the actual performance of all efficiency sub-factors of each passable lane with the highest safety factor score and the second preset scoring rule, and the score of each efficiency sub-factor is multiplied to obtain the efficiency factor score of each passable lane with the highest safety factor score.

[0125] If among all the passable lanes with the highest safety factor scores, the lane with the highest efficiency factor score is the best lane;

[0126] If there is no lane with the highest efficiency factor score among all drivable lanes with the highest safety factor scores, the nearest lane will be taken as the optimal lane.

[0127] Furthermore, in one embodiment, the lane change safety factor includes at least two lane change safety sub-factors, and the lane change safety calculation module 40 is used to:

[0128] According to the actual performance of each lane change safety sub-factor and the third preset scoring rule, the score of each lane change safety sub-factor is determined, and the score of each lane change safety sub-factor is multiplied to obtain a lane change safety score.

[0129] Furthermore, in one embodiment, when the lane change safety sub-factor is whether the lane change condition is met, the automatic driving vehicle control device further includes a judgment module for:

[0130] Determine whether the longitudinal distance L between the ego vehicle and the preceding vehicle satisfies the following condition when the ego vehicle changes lanes to the optimal lane by using the preset maximum average deceleration and the speed of the ego vehicle after the lane change is equal to the speed of the preceding vehicle in the optimal lane:

[0131]

[0132] Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle ahead in the optimal lane, and X is the preset maximum average deceleration;

[0133] If so, it is determined that the lane change condition is met, and if not, it is determined that the lane change condition is not met.

[0134] Furthermore, in one embodiment, when the lane change safety sub-factor is the average deceleration of the vehicle when changing lanes, the automatic driving vehicle control device further includes an average deceleration calculation module for the vehicle when changing lanes, which is used to:

[0135] When the lane change condition is met, the average deceleration a of the vehicle during lane change is calculated by formula 1, which is:

[0136]

[0137] Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle in front in the optimal lane, and L1 is one time interval between vehicles.

[0138] Furthermore, in one embodiment, when the lane change safety sub-factor is the average deceleration of the rear vehicle when changing lanes, the automatic driving vehicle control device further includes an average deceleration calculation module of the rear vehicle when changing lanes, which is used to:

[0139] When the lane change condition is met, if the vehicle changes lanes by decelerating, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 2, which is:

[0140]

[0141] If the vehicle changes lanes at a constant speed, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 3, which is:

[0142]

[0143] Where a is the average deceleration of the ego vehicle when changing lanes, d is the longitudinal distance between the ego vehicle and the following vehicle, T is the time it takes for the ego vehicle to complete the lane change, and V ego is the current speed of the vehicle, V new is the speed of the vehicle after changing lanes, V1 is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.

[0144] Among them, the functional implementation of each module in the above-mentioned autonomous driving vehicle control device corresponds to the various steps in the above-mentioned autonomous driving vehicle control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0145] In a third aspect, an embodiment of the present invention provides an autonomous driving vehicle control device.

[0146] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of an embodiment of an autonomous driving vehicle control device of the present invention. In an embodiment of the present invention, the autonomous driving vehicle control device may include a processor 1001 (e.g., a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0147] Continue to refer to Figure 4 , Figure 4 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an autonomous driving vehicle control program. The processor 1001 may call the autonomous driving vehicle control program stored in the memory 1005 and execute the autonomous driving vehicle control method provided in the embodiment of the present invention.

[0148] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0149] An autonomous driving vehicle control program is stored on the readable storage medium of the present invention, wherein when the autonomous driving vehicle control program is executed by a processor, the steps of the autonomous driving vehicle control method as described above are implemented.

[0150] Among them, the method implemented when the autonomous driving vehicle control program is executed can refer to the various embodiments of the autonomous driving vehicle control method of the present invention, and will not be repeated here.

[0151] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0152] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0153] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0154] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling an automatic driving vehicle, characterized in that: The automatic driving vehicle control method comprises: When the distance between the vehicle and the traffic light intersection ahead is a preset distance, and the number of drivable lanes ahead is greater than or equal to a preset number, if the waiting time for the traffic light to turn green is less than or equal to a preset time, the vehicle is controlled to drive in the nearest lane, where the preset number is a positive integer greater than 1; If the waiting time for the traffic light to turn green is longer than the preset time, the optimal lane is determined based on the safety factor and efficiency factor of each passable lane; If the optimal lane is the lane where the vehicle is located, the vehicle is controlled to maintain the current lane; If the optimal lane is not the lane where the vehicle is located, the lane change safety score is calculated based on the lane change safety factor; If the lane change safety score is less than the preset score, the vehicle is controlled to maintain the current lane; If the lane change safety score is greater than or equal to the preset score, the vehicle is controlled to drive into the optimal lane; Determining the optimal lane according to the safety factor and efficiency factor of each passable lane includes: The safety factor includes at least two safety sub-factors, and the score of each safety sub-factor is determined according to the actual performance of all safety sub-factors of each passable lane and the first preset scoring rule, and the score of each safety sub-factor is multiplied to obtain the safety factor score of each passable lane; If there is a lane with the highest safety factor score among all passable lanes, the passable lane with the highest safety factor score will be taken as the optimal lane; The efficiency factor includes at least two efficiency sub-factors. If there is no lane with the highest safety factor score among all passable lanes, the score of each efficiency sub-factor is determined according to the actual performance of all efficiency sub-factors of each passable lane with the highest safety factor score and the second preset scoring rule, and the score of each efficiency sub-factor is multiplied to obtain the efficiency factor score of each passable lane with the highest safety factor score. If among all the passable lanes with the highest safety factor scores, the lane with the highest efficiency factor score is the best lane; If there is no lane with the highest efficiency factor score among all drivable lanes with the highest safety factor scores, the nearest lane will be taken as the optimal lane.

2. The automatic driving vehicle control method according to claim 1, characterized in that: The lane change safety factor includes at least two lane change safety sub-factors. The lane change safety score calculated according to the lane change safety factor includes: According to the actual performance of each lane change safety sub-factor and the third preset scoring rule, the score of each lane change safety sub-factor is determined, and the score of each lane change safety sub-factor is multiplied to obtain a lane change safety score.

3. The automatic driving vehicle control method according to claim 2, characterized in that: When the lane change safety sub-factor is whether the lane change condition is met, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the method includes: Determine whether the longitudinal distance L between the ego vehicle and the preceding vehicle satisfies the following condition when the ego vehicle changes lanes to the optimal lane by using the preset maximum average deceleration and the speed of the ego vehicle after the lane change is equal to the speed of the preceding vehicle in the optimal lane: Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle ahead in the optimal lane, and X is the preset maximum average deceleration; If so, it is determined that the lane change condition is met, and if not, it is determined that the lane change condition is not met.

4. The automatic driving vehicle control method according to claim 3, characterized in that: When the lane change safety sub-factor is the average deceleration of the vehicle when changing lanes, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the method includes: When the lane change condition is met, the average deceleration a of the vehicle during lane change is calculated by formula 1, which is: Among them, V ego is the current speed of the vehicle, V tag is the speed of the vehicle in front in the optimal lane, and L1 is one time interval between vehicles.

5. The automatic driving vehicle control method according to claim 4, characterized in that: When the lane change safety sub-factor is the average deceleration of the rear vehicle when changing lanes, before determining the score of each lane change safety sub-factor according to the actual performance of each lane change safety sub-factor and the third preset scoring rule, and performing product calculation on the score of each lane change safety sub-factor to obtain the lane change safety score, the method includes: When the lane change condition is met, if the vehicle changes lanes by decelerating, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 2, which is: If the vehicle changes lanes at a constant speed, the average deceleration a1 of the rear vehicle when changing lanes is calculated by Formula 3, which is: Where a is the average deceleration of the ego vehicle when changing lanes, d is the longitudinal distance between the ego vehicle and the following vehicle, T is the time it takes for the ego vehicle to complete the lane change, and V ego is the current speed of the vehicle, V new is the speed of the vehicle after changing lanes, V1 is the speed of the rear vehicle, and t is the reaction time of the driver of the rear vehicle.

6. An automatic driving vehicle control device, characterized in that: The automatic driving vehicle control device comprises: A nearest lane selection module, used to control the vehicle to select the nearest lane to drive when the distance between the vehicle and the traffic light intersection ahead is a preset distance and the number of passable lanes ahead is greater than or equal to a preset number, if the waiting time for the traffic light to turn green is less than or equal to a preset time, wherein the preset number is a positive integer greater than 1; An optimal lane determination module, used to determine the optimal lane based on the safety factor and efficiency factor of each passable lane if the waiting time for the traffic light to turn green is longer than a preset time; A first lane keeping module, configured to control the vehicle to maintain the current lane if the optimal lane is the lane where the vehicle is located; A lane change safety calculation module is used to calculate a lane change safety score based on a lane change safety factor if the optimal lane is not the lane where the vehicle is located; The second lane keeping module is used to control the vehicle to keep driving in the current lane if the lane change safety score is less than a preset score; A vehicle lane change control module, used to control the vehicle to enter the optimal lane if the lane change safety score is greater than or equal to a preset score; The optimal lane determination module is used to: The safety factor includes at least two safety sub-factors, and the score of each safety sub-factor is determined according to the actual performance of all safety sub-factors of each passable lane and the first preset scoring rule, and the score of each safety sub-factor is multiplied to obtain the safety factor score of each passable lane; If there is a lane with the highest safety factor score among all passable lanes, the passable lane with the highest safety factor score will be taken as the optimal lane; The efficiency factor includes at least two efficiency sub-factors. If there is no lane with the highest safety factor score among all passable lanes, the score of each efficiency sub-factor is determined according to the actual performance of all efficiency sub-factors of each passable lane with the highest safety factor score and the second preset scoring rule, and the score of each efficiency sub-factor is multiplied to obtain the efficiency factor score of each passable lane with the highest safety factor score. If among all the passable lanes with the highest safety factor scores, the lane with the highest efficiency factor score is the best lane; If there is no lane with the highest efficiency factor score among all drivable lanes with the highest safety factor scores, the nearest lane will be taken as the optimal lane.

7. An automatic driving vehicle control device, characterized in that: The autonomous driving vehicle control device includes a processor, a memory, and an autonomous driving vehicle control program stored in the memory and executable by the processor, wherein when the autonomous driving vehicle control program is executed by the processor, the steps of the autonomous driving vehicle control method as described in any one of claims 1 to 5 are implemented.

8. A readable storage medium, characterized in that: The readable storage medium stores an autonomous driving vehicle control program, wherein when the autonomous driving vehicle control program is executed by a processor, the steps of the autonomous driving vehicle control method as described in any one of claims 1 to 5 are implemented.

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