Vehicle lane changing control method, device, equipment and computer readable storage medium

Abstract

The application provides a vehicle lane changing control method, device, equipment and computer readable storage medium, the method comprises: obtaining the longitudinal boundary point of the target lane changing gap; calculating the expected longitudinal speed of the target vehicle according to the longitudinal boundary point and the preset acceleration; the preset acceleration is designed based on the time optimization principle; and the expected lateral speed is determined through the Bezier curve; based on the expected longitudinal speed and the expected lateral speed, the target vehicle is controlled to complete lane changing, so that the target vehicle enters the target lane changing gap. Based on the longitudinal boundary point of the target lane changing gap and the preset acceleration, the expected longitudinal speed of the target vehicle is calculated, and the expected lateral speed is determined through the Bezier curve, so that the target vehicle is controlled to complete lane changing and enter the target lane changing gap. Compared with the prior art, the success rate and stability of the target vehicle lane changing can be effectively improved, and the probability of collision with surrounding vehicles can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, and in particular to a vehicle lane changing control method, device, equipment and computer readable storage medium. BACKGROUND

[0002] In the automatic driving or assisted driving scene, some specific application scenarios often need to be forced to change lanes, for example, after passing through a toll station, it is necessary to merge from a secondary road into a main road, and the secondary road is generally a disappearing road section, at this time, it is necessary to change lanes to the main road. Common lane changing game algorithms include leader-following model, POMDP model, etc., but these methods focus on solving the interaction uncertainty caused by different cooperation intentions of other vehicles, that is, mainly improving the success rate of lane changing from the probability level, but often ignoring the properties of the target lane changing gap, which is usually directly related to whether the vehicle successfully changes lanes, so there is an urgent need for a vehicle lane changing control method to solve the problem that the small space of the target lane changing gap affects the success rate of lane changing. SUMMARY

[0003] The present application provides a vehicle lane changing control method, device, equipment and computer readable storage medium, which can effectively improve the success rate and stability of vehicle lane changing and reduce the probability of collision.

[0004] To solve the above technical problems, the present application provides a vehicle lane changing control method, comprising:

[0005] obtaining a longitudinal boundary point of a target lane changing gap;

[0006] calculating an expected longitudinal speed of a target vehicle according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on the time optimization principle; and determining an expected lateral speed through a Bezier curve;

[0007] controlling the target vehicle to complete lane changing based on the expected longitudinal speed and the expected lateral speed, so that the target vehicle enters the target lane changing gap.

[0008] By implementing the present application, the expected longitudinal speed of the target vehicle is calculated based on the longitudinal boundary point of the target lane changing gap and the preset acceleration, and the expected lateral speed is determined through the Bezier curve, so as to control the target vehicle to complete lane changing and enter the target lane changing gap. Compared with the prior art of lane changing control based on probability, by considering the properties of the target lane changing gap for vehicle lane changing control, the timing of lane changing can be grasped, the success rate and stability of target vehicle lane changing are effectively improved, and the probability of collision with surrounding vehicles is reduced.

[0009] As a preferred scheme, the obtaining of the longitudinal boundary point of the target lane changing gap comprises:

[0010] obtaining a current longitudinal speed of the target vehicle, a longitudinal coordinate of a front vehicle of the target lane-changing gap, a current longitudinal speed of the front vehicle of the target lane-changing gap, a longitudinal coordinate of a rear vehicle of the target lane-changing gap, and a current longitudinal speed of the rear vehicle of the target lane-changing gap;

[0011] a front side boundary point of the target lane-changing gap is calculated according to a preset vehicle length, a preset following time interval, the current longitudinal speed of the target vehicle, the longitudinal coordinate of the front vehicle, and the current longitudinal speed of the front vehicle, and a rear side boundary point of the target lane-changing gap is calculated according to the vehicle length, the following time interval, the current longitudinal speed of the target vehicle, the longitudinal coordinate of the rear vehicle, and the current longitudinal speed of the rear vehicle;

[0012] the longitudinal boundary point is obtained based on the front side boundary point and the rear side boundary point.

[0013] As a preferred solution, the preset acceleration includes a first acceleration and a second acceleration, the first acceleration is a positive value, and the second acceleration is a negative value.

[0014] The calculating the expected longitudinal speed of the target vehicle according to the longitudinal boundary point and the preset acceleration includes:

[0015] When the target lane-changing gap is located in front of the target vehicle, the expected longitudinal speed is calculated according to the following formula:

[0016]

[0017] When the target lane-changing gap is located behind the target vehicle, the expected longitudinal speed is calculated according to the following formula:

[0018]

[0019] wherein f1(x) is the expected longitudinal speed when the target lane-changing gap is located in front of the target vehicle, f2(x) is the expected longitudinal speed when the target lane-changing gap is located behind the target vehicle, k1 is the first acceleration, k2 is the second acceleration, x is the current longitudinal displacement of the target vehicle, X1 is the longitudinal coordinate of the front side boundary point of the target lane-changing gap, X2 is the longitudinal coordinate of the rear side boundary point of the target lane-changing gap, V2 is the speed of the target vehicle at the longitudinal coordinate of the front side boundary point, V1 is the speed of the target vehicle at the longitudinal coordinate of the rear side boundary point, and x m is the longitudinal displacement of the target vehicle when the acceleration is zero.

[0020] As a preferred solution, the controlling the target vehicle to complete lane changing so as to make the target vehicle enter the target lane-changing gap includes:

[0021] When the number of the target lane-changing gaps is greater than one, a preset cost function is used to calculate the cost of each target lane-changing gap, and the target vehicle is controlled to complete lane changing so as to enter the target lane-changing gap with the minimum cost.

[0022] As a preferred solution, the cost function comprises:

[0023] F cost = w1 x cost safe + w2 x cost efficiency + w3 x cost comfort ;

[0024] Wherein, F cost is the cost function, cost safe represents the safety cost, cost efficiency represents the execution efficiency cost, cost comfort represents the comfort cost, and w1, w2 and w3 are the weights of the safety cost, the execution efficiency cost and the comfort cost respectively.

[0025] As a preferred solution, the safety cost is calculated according to the distance between the target vehicle and the front vehicle of the target vehicle and the longitudinal length of the target lane-changing gap; the execution efficiency cost is calculated according to the position of the lane-changing starting point, the position of the lane-changing ending point, the speed of the target vehicle at the lane-changing starting point, the speed of the target vehicle at the lane-changing ending point and the speed of the target vehicle at the initial time; and the comfort cost is calculated according to the variance of the target vehicle, the front vehicle of the target lane-changing gap and the rear vehicle of the target lane-changing gap at the same time.

[0026] As a preferred solution, before the longitudinal boundary points of the target lane-changing gap are obtained, the vehicle lane-changing control method further comprises:

[0027] Obtaining an initial lane-changing gap;

[0028] When the distance between the target vehicle and the front vehicle of the target vehicle, the longitudinal length of the initial lane-changing gap, the acceleration of the front vehicle of the initial lane-changing gap and the acceleration of the rear vehicle of the initial lane-changing gap satisfy a preset condition, the initial lane-changing gap is determined as the target lane-changing gap.

[0029] Correspondingly, the application also provides a vehicle lane-changing control device, which comprises an obtaining module, a speed determining module and a control module; wherein,

[0030] The obtaining module is used to obtain the longitudinal boundary points of a target lane-changing gap;

[0031] The speed determination module is configured to calculate a desired longitudinal speed of the target vehicle according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on a time optimization principle; and a desired lateral speed is determined by a Bezier curve;

[0032] The control module is configured to control the target vehicle to complete lane changing based on the desired longitudinal speed and the desired lateral speed, so that the target vehicle enters the target lane gap.

[0033] As a preferred solution, the acquisition module acquires the longitudinal boundary point of the target lane gap, including:

[0034] The acquisition module acquires the current longitudinal speed of the target vehicle, the longitudinal coordinate of the front vehicle of the target lane gap, the current longitudinal speed of the front vehicle of the target lane gap, the longitudinal coordinate of the rear vehicle of the target lane gap, and the current longitudinal speed of the rear vehicle of the target lane gap;

[0035] According to a preset vehicle length and a preset following time distance, the front side boundary point of the target lane gap is calculated in combination with the current longitudinal speed of the target vehicle, the longitudinal coordinate of the front vehicle, and the current longitudinal speed of the front vehicle; and the rear side boundary point of the target lane gap is calculated in combination with the vehicle length and the following time distance, the current longitudinal speed of the target vehicle, the longitudinal coordinate of the rear vehicle, and the current longitudinal speed of the rear vehicle;

[0036] The longitudinal boundary point is obtained based on the front side boundary point and the rear side boundary point.

[0037] As a preferred solution, the preset acceleration includes a first acceleration and a second acceleration, the first acceleration is a positive value, and the second acceleration is a negative value;

[0038] The speed determination module calculates a desired longitudinal speed of the target vehicle according to the longitudinal boundary point and a preset acceleration, including:

[0039] When the target lane gap is located in front of the target vehicle, the speed determination module calculates the desired longitudinal speed according to the following formula:

[0040]

[0041] When the target lane gap is located behind the target vehicle, the speed determination module calculates the desired longitudinal speed according to the following formula:

[0042]

[0043] wherein, f1(x) is the expected longitudinal velocity when the target lane gap is in front of the target vehicle, f2(x) is the expected longitudinal velocity when the target lane gap is behind the target vehicle, k1 is the first acceleration, k2 is the second acceleration, x is the current longitudinal displacement of the target vehicle, X1 is the longitudinal coordinate of the front boundary point of the target lane gap, X2 is the longitudinal coordinate of the rear boundary point of the target lane gap, V2 is the speed of the target vehicle at the longitudinal coordinate of the front boundary point, V1 is the speed of the target vehicle at the longitudinal coordinate of the rear boundary point, x m is the longitudinal displacement of the target vehicle when the acceleration is zero.

[0044] As a preferred solution, the control module controls the target vehicle to complete lane changing so that the target vehicle enters the target lane gap, comprising:

[0045] When the number of target lane gaps is greater than one, the control module calculates the cost of each target lane gap by using a preset cost function, and controls the target vehicle to complete lane changing so that the target vehicle enters the target lane gap with the minimum cost.

[0046] As a preferred solution, the cost function comprises:

[0047] F cost = w1 x cost safe + w2 x cost efficiency + w3 x cost comfort ;

[0048] wherein, F cost is the cost function, cost safe represents the safety cost, cost efficiency represents the execution efficiency cost, cost comfort represents the comfort cost, and w1, w2 and w3 are the weights of the safety cost, the execution efficiency cost and the comfort cost, respectively.

[0049] As a preferred solution, the safety cost is calculated according to the distance between the target vehicle and the front vehicle of the target vehicle and the longitudinal length of the target lane gap; the execution efficiency cost is calculated according to the position of the lane changing starting point, the position of the lane changing ending point, the speed of the target vehicle at the lane changing starting point, the speed of the target vehicle at the lane changing ending point and the speed of the target vehicle at the initial time; and the comfort cost is calculated according to the variance of the target vehicle, the front vehicle of the target lane gap and the rear vehicle of the target lane gap at the same time.

[0050] As a preferred solution, the vehicle lane changing control device further comprises a target lane changing gap determination module, which is configured to determine the target lane changing gap before the acquisition module acquires the longitudinal boundary point of the target lane changing gap.

[0051] acquire an initial lane changing gap;

[0052] determine the initial lane changing gap as the target lane changing gap when the target vehicle, the distance between the target vehicle and the front vehicle, the longitudinal length of the initial lane changing gap, the front vehicle acceleration of the initial lane changing gap, and the rear vehicle acceleration of the initial lane changing gap satisfy a preset condition.

[0053] Correspondingly, the present application further provides a terminal device, which comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle lane changing control method when executing the computer program.

[0054] Correspondingly, the present application further provides a computer readable storage medium, which comprises a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the vehicle lane changing control method when the computer program runs. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 Fig. 1 is a flowchart of an embodiment of the vehicle lane changing control method provided by the present application.

[0056] Figure 2 Fig. 2 is a scene diagram of an embodiment of the vehicle lane changing control method provided by the present application.

[0057] Figure 3 Fig. 3 is a scene diagram of another embodiment of the vehicle lane changing control method provided by the present application.

[0058] Figure 4 Fig. 4 is a desired longitudinal speed curve diagram of an embodiment of the target lane changing gap between the E vehicle and the F vehicle provided by the present application.

[0059] Figure 5 Fig. 5 is a desired longitudinal speed curve diagram of an embodiment of the target lane changing gap between the E vehicle and the D vehicle provided by the present application.

[0060] Figure 6 Fig. 6 is a lane changing path diagram of an embodiment of the target lane changing gap between the E vehicle and the F vehicle provided by the present application.

[0061] Figure 7 Fig. 7 is a lane changing path diagram of an embodiment of the target lane changing gap between the E vehicle and the D vehicle provided by the present application.

[0062] Figure 8 Fig. 1 is a schematic view of an embodiment of a vehicle lane change control device according to the present application. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0064] Embodiment one

[0065] Please refer to Figure 1 , Figure 1 A vehicle lane change control method provided by the present application comprises steps S101 to S103, wherein,

[0066] In step S101, a longitudinal boundary point of a target lane change gap is obtained.

[0067] In this step, the target lane change gap adjacent to the target vehicle is determined, and the longitudinal boundary point thereof is obtained. The target lane change gap refers to a gap in the adjacent lane available for lane change. The longitudinal boundary point refers to the rear position of the front vehicle (front boundary point) of the target lane change gap and the front position of the rear vehicle (rear boundary point) of the target lane change gap.

[0068] By determining the front boundary point and the rear boundary point, the longitudinal reachable area of the target lane change gap can be obtained.

[0069] Exemplarily, as shown in Figure 2 , A is the target vehicle, or the ego vehicle, and vehicle C is in front of the target vehicle. The target lane change gap between vehicle D and vehicle E is located behind the target vehicle, and the target lane change gap between vehicle E and vehicle F is located in front of the target vehicle. In order to pass normally, vehicle A needs to change lanes to the target lane change gap in front of vehicle E or the target lane change gap behind vehicle E.

[0070] As shown in Figure 3 , A is the target vehicle, and the target lane change gap slot1 is the gap between vehicle E and vehicle F, and the target lane change gap slot2 is the gap between vehicle E and vehicle D. The FLU coordinate system is constructed with the center of the target vehicle A as the origin coordinate. It is assumed that the length of all vehicles is l obs , the width is w obs , the longitudinal coordinate of the center of the target vehicle A is x obsA , and the lateral coordinate is y obsA, the longitudinal velocity is v xobsA , the lateral velocity is v yobsA , the longitudinal acceleration is a xobsA , the lateral acceleration is a yobsA .

[0071] The vehicle state parameters of the target vehicle, such as speed, acceleration, etc., can be obtained by the body sensor, and the vehicle state parameters of the remaining vehicles can be obtained by the perception system of the target vehicle. The physical position and safety distance of the vehicle need to be considered during the lane changing process, and the actual reachable space of the target vehicle is the yellow area, and the red dot represents the center point of the longitudinal boundary of the reachable space.

[0072] In some preferred embodiments, the longitudinal boundary point of the target lane-changing gap is obtained by:

[0073] obtaining the current longitudinal velocity of the target vehicle, the longitudinal coordinate of the front vehicle of the target lane-changing gap, the current longitudinal velocity of the front vehicle of the target lane-changing gap, the longitudinal coordinate of the rear vehicle of the target lane-changing gap, and the current longitudinal velocity of the rear vehicle of the target lane-changing gap;

[0074] According to the preset vehicle length and the preset following time distance, and in combination with the current longitudinal velocity of the target vehicle, the longitudinal coordinate of the front vehicle, and the current longitudinal velocity of the front vehicle, the front side boundary point of the target lane-changing gap is calculated; according to the vehicle length and the following time distance, and in combination with the current longitudinal velocity of the target vehicle, the longitudinal coordinate of the rear vehicle, and the current longitudinal velocity of the rear vehicle, the rear side boundary point of the target lane-changing gap is calculated;

[0075] The longitudinal boundary point is obtained based on the front side boundary point and the rear side boundary point.

[0076] Exemplarily, each boundary point longitudinal coordinate comprises:

[0077] X FE1 =x obsF -l obs -max((v xobsA -v xobsF )×ttc slot ,0);

[0078] X FE2 =x obsE +l obs +max((v xobsE -v xobsA )×ttc slot ,0);

[0079] X ED1 =x obsE -l obs -max((v xobsA-v xobsE ) x ttc slot , 0) ;

[0080] X ED2 = x obsD - l obs - max((v xobsD -v xobsA ) x ttc slot , 0) ;

[0081] X CA = x obsC + l obs + max((v xobsA -v xobsC ) x ttc slot , 0) ;

[0082] X AB = x obsB - l obs - max((v xobsB -v xobsA ) x ttc slot , 0) ;

[0083] wherein ttc slot denotes time to collision (calculated as relative distance divided by relative speed, in seconds), which can take a value of 2; X FE1 , X FE2 , X ED1 , X ED2 , X CA and X AB are the longitudinal coordinates of the points FE1, FE2, ED1, ED2, CA and AB, respectively; v xobsF , v xobsE , v xobsD , v xobsC and v xobsB are the longitudinal speeds of the F, E, D, C and B vehicles, respectively.

[0084] In this way, the longitudinal coordinates of the front side boundary point and the rear side boundary point of the target lane-changing gap can be calculated, which lays a foundation for calculating the expected longitudinal speed of the target vehicle in the subsequent step.

[0085] In step S102, an expected longitudinal speed of the target vehicle is calculated according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on the time-optimal principle; and a Bezier curve is used to determine an expected lateral speed.

[0086] In some implementations, the preset acceleration includes a first acceleration and a second acceleration, wherein the first acceleration is a positive value and the second acceleration is a negative value.

[0087] The step of calculating the desired longitudinal velocity of the target vehicle based on the longitudinal boundary point and the preset acceleration includes:

[0088] When the target lane clearance is in front of the target vehicle, the desired longitudinal speed is calculated according to the following formula:

[0089]

[0090] When the target lane change clearance is located behind the target vehicle, the desired longitudinal speed is calculated according to the following formula:

[0091]

[0092] Where f1(x) is the desired longitudinal velocity when the target lane change gap is in front of the target vehicle, f2(x) is the desired longitudinal velocity when the target lane change gap is behind the target vehicle, k1 is the first acceleration, k2 is the second acceleration, x is the current longitudinal displacement of the target vehicle, X1 is the longitudinal coordinate of the front boundary point of the target lane change gap, X2 is the longitudinal coordinate of the rear boundary point of the target lane change gap, V2 is the velocity of the target vehicle at the longitudinal coordinate of the front boundary point, V1 is the velocity of the target vehicle at the longitudinal coordinate of the rear boundary point, and x m This represents the longitudinal displacement of the target vehicle when its acceleration is zero.

[0093] For example, such as Figure 4 and 5 As shown, Figure 4 This is a schematic diagram of the expected longitudinal velocity curve for the target lane change gap slot 1 in this embodiment. Figure 5 This is a schematic diagram of the expected longitudinal speed curve for a lane change in slot 2, which is the target lane change gap in this embodiment.

[0094] In the figure, the horizontal axis represents longitudinal displacement, and the vertical axis represents longitudinal velocity. The slope k2 corresponds to the second acceleration in this embodiment, and the slope k1 corresponds to the first acceleration in this embodiment. Figure 4 The target lane change clearance FE lane change desired longitudinal speed can be specifically expressed as:

[0095]

[0096] Among them, f desireFE (x) is Figure 4 The desired speed of the target lane change clearance FE shown is X. mLet x be the longitudinal displacement of the target vehicle when the acceleration is zero (this is the position corresponding to the maximum longitudinal velocity of the target vehicle), and let V be the current longitudinal displacement of the target vehicle. xFE1 For the target vehicle in X FE1 Vehicle speed at that time, V xFE2 For the target vehicle in X FE2 The vehicle speed at that time.

[0097] Correspondingly, Figure 5 Specifically, it can be calculated using the following formula:

[0098]

[0099] Among them, f desireED (x) is Figure 5 The desired speed of the target lane change clearance ED shown is X. m Let x be the longitudinal displacement of the target vehicle when the acceleration is zero (this is the position corresponding to the minimum longitudinal velocity of the target vehicle), and let V be the current longitudinal displacement of the target vehicle. xED1 For the target vehicle in X ED1 Vehicle speed at that time, V xED2 For the target vehicle in X ED2 The vehicle speed at that time.

[0100] like Figure 6 and 7 As shown, it can be understood that for the target lane change gap between car E and car F, the target vehicle, starting from the initial moment, first accelerates with a first acceleration k1 to reach the lane change starting point sPoint, and then decelerates with a second acceleration k2 to reach the lane change ending point ePoint. Figure 4 ZhongX FE1 With X FE2 The corresponding speeds are the longitudinal speeds of the target vehicles. For the target lane change gap between vehicles E and D, the target vehicles first decelerate with a second acceleration k2 to reach the lane change starting point sPoint, then accelerate with a first acceleration k1 until they reach the lane change ending point ePoint. Figure 5 ZhongX ED1 With X ED2 The corresponding speeds are the longitudinal speeds of the target vehicle. Among them, the value range of k1 is [0.5, 1.5], and the value range of k2 is [-1.5, -0.5], both of which are calibrable values ​​and can be calibrated according to the degree of aggression.

[0101] The desired lateral velocity can be determined using Bézier curves from existing technologies.

[0102] Assume the first acceleration k1 = 1 m / s² 2 The second acceleration k2 = -1 m / s² 2The longitudinal coordinates of sPoint and ePoint and the corresponding longitudinal velocities can be obtained for the target lane-changing gap between the E vehicle and the F vehicle:

[0103] X sPoint = min((X CA + X FE1 ) / 2, (X FE1 + X FE2 ) / 2);

[0104] X ePoint = min((X CA + X FE2 ) / 2, X FE2 );

[0105] V ePoint = f desireFE (X ePoint );

[0106]

[0107] wherein X sPoint is the longitudinal coordinate of point sPoint, X ePoint is the longitudinal coordinate of point ePoint, V ePoint is the longitudinal velocity of point ePoint, and V sPoint is the longitudinal velocity of point sPoint.

[0108] Similarly, the longitudinal coordinates of sPoint and ePoint and the corresponding longitudinal velocities can be obtained for the target lane-changing gap between the E vehicle and the D vehicle:

[0109] X sPoint = min((X AB + X ED1 ) / 2, (X ED1 + X ED2 ) / 2);

[0110] X ePoint = min((X AB + X ED2 ) / 2, X ED2 );

[0111] V ePoint = f desireED (X ePoint );

[0112]

[0113] Based on the expected longitudinal velocity and the expected lateral velocity determined above, the control parameters of the target vehicle for step S103 can be determined.

[0114] Step S103, based on the expected longitudinal speed and the expected lateral speed, controlling the target vehicle to complete lane changing so as to make the target vehicle enter the target lane gap.

[0115] In this step, when the number of target lane gaps is greater than one, the cost of each target lane gap can be calculated by a preset cost function, and the target vehicle is controlled to complete lane changing so as to make the target vehicle enter the target lane gap with the minimum cost.

[0116] Exemplarily, the cost function includes:

[0117] F cost =w1×cost safe +w2×cost efficiency +w3×cost comfort ;

[0118] Wherein, F cost is the cost function, cost safe represents the safety cost, cost efficiency represents the execution efficiency cost, cost comfort represents the comfort cost, w1, w2 and w3 are weights of the safety cost, the execution efficiency cost and the comfort cost respectively, and the weights can be calibration values.

[0119] The safety cost is calculated according to the distance between the target vehicle and the front vehicle of the target vehicle and the longitudinal length of the target lane gap; the execution efficiency cost is calculated according to the position of the lane changing starting point, the position of the lane changing ending point, the speed of the target vehicle at the lane changing starting point, the speed of the target vehicle at the lane changing ending point and the speed of the target vehicle at the initial time; and the comfort cost is calculated according to the variance of the target vehicle, the front vehicle of the target lane gap and the rear vehicle of the target lane gap at the same time.

[0120] For example, taking the target lane gap between E and F as an example, the safety cost can be:

[0121] cost safe =0.2×(X CA -X FE1 )+0.1×(X FE2 -X CA )+0.3×X CA +0.4×(X FE2 -X FE1 );

[0122] Wherein, cost safeFor the safety cost, it can indicate the safety of the target lane-changing gap, Figure 3 The larger the space between E and F (or the longitudinal length of the target lane-changing gap EF) is, the safer it represents.

[0123] The execution efficiency cost can be represented as:

[0124] cost efficiency =|2×X sPoint / (V0+V sPoint )|+|2×(X ePoint -X sPoint ) / (V sPoint +V ePoint )|;

[0125] Wherein, cost efficiency represents the execution efficiency cost, and V0 represents the speed of the target vehicle at the initial time of lane changing. The execution efficiency cost mainly refers to the time consumption in the whole lane-changing process.

[0126] The comfort cost can be represented as:

[0127] cost comfort =D(V A ,V F ,V E );

[0128] Wherein, V A , V F and V E represent the speeds of the target vehicle, the F vehicle and the E vehicle respectively, cost comfort represents the comfort cost, and D represents the variance.

[0129] The calculation method of the safety cost, the execution efficiency cost and the comfort cost of the target lane-changing gap between the D vehicle and the E vehicle is the same as that of the target lane-changing gap between the E vehicle and the F vehicle, and the embodiment will not be described again.

[0130] After the cost of each target lane-changing gap is calculated by the cost function, the target lane-changing gap with the minimum cost can be selected for the lane changing of the target vehicle.

[0131] In some preferred embodiments, before step S101, the vehicle lane-changing control method can further include: obtaining an initial lane-changing gap; and determining the initial lane-changing gap as the target lane-changing gap when the distance between the target vehicle and the front vehicle of the target vehicle, the longitudinal length of the initial lane-changing gap, the acceleration of the front vehicle of the initial lane-changing gap and the acceleration of the rear vehicle of the initial lane-changing gap meet a preset condition.

[0132] Exemplarily, for the target lane-changing gap between the E vehicle and the F vehicle, the conditions satisfied can be specifically expressed as:

[0133] X FE2 -X FE1 > 15 (unit: m);

[0134] X CA >X FE1 ;

[0135] a F + 0.3x (X FE2 -X sPoint )>-0.5 (unit: m / s 2 );

[0136] a E + 0.3x (X xPoint -X FE1 )<0.5 (unit: m / s 2 );

[0137] Wherein, a E and a F are the accelerations of the E vehicle and the F vehicle respectively. The conditions required to be satisfied for the remaining lane-changing gaps can be similarly derived from the expression of the target lane-changing gap between the E vehicle and the F vehicle, and the embodiment will not be described again. By screening the initial lane-changing gap through the preferred embodiment, the target lane-changing gap meeting the requirements can be obtained, and the safety of lane changing can be further improved.

[0138] Correspondingly, as shown in Figure 8 , the application further provides a vehicle lane-changing control device 800, which comprises an acquisition module 801, a speed determination module 802 and a control module 803; wherein,

[0139] The acquisition module 801 is configured to acquire a longitudinal boundary point of a target lane-changing gap;

[0140] The speed determination module 802 is configured to calculate a desired longitudinal speed of a target vehicle according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on the time optimization principle; and a desired lateral speed is determined through a Bezier curve;

[0141] The control module 803 is configured to control the target vehicle to complete lane changing based on the desired longitudinal speed and the desired lateral speed, so that the target vehicle enters the target lane-changing gap.

[0142] As a preferred solution, the acquisition module 801 acquires the longitudinal boundary point of the target lane-changing gap, comprising:

[0143] The acquisition module 801 acquires the current longitudinal speed of the target vehicle, the longitudinal coordinate of the front vehicle of the target lane-changing gap, the current longitudinal speed of the front vehicle of the target lane-changing gap, the longitudinal coordinate of the rear vehicle of the target lane-changing gap, and the current longitudinal speed of the rear vehicle of the target lane-changing gap;

[0144] According to the preset vehicle length and the preset following time distance, and in combination with the current longitudinal speed of the target vehicle, the longitudinal coordinate of the front vehicle, and the current longitudinal speed of the front vehicle, a front side boundary point of the target lane-changing gap is calculated; according to the vehicle length and the following time distance, and in combination with the current longitudinal speed of the target vehicle, the longitudinal coordinate of the rear vehicle, and the current longitudinal speed of the rear vehicle, a rear side boundary point of the target lane-changing gap is calculated.

[0145] Based on the front side boundary point and the rear side boundary point, the longitudinal boundary point is obtained.

[0146] As a preferred solution, the preset acceleration includes a first acceleration and a second acceleration, the first acceleration is a positive value, and the second acceleration is a negative value.

[0147] The speed determination module 802 calculates the expected longitudinal speed of the target vehicle according to the longitudinal boundary point and the preset acceleration, including:

[0148] When the target lane-changing gap is located in front of the target vehicle, the speed determination module 802 calculates the expected longitudinal speed according to the following formula:

[0149]

[0150] When the target lane-changing gap is located behind the target vehicle, the speed determination module 802 calculates the expected longitudinal speed according to the following formula:

[0151]

[0152] Wherein, f1(x) is the expected longitudinal speed when the target lane-changing gap is located in front of the target vehicle, f2(x) is the expected longitudinal speed when the target lane-changing gap is located behind the target vehicle, k1 is the first acceleration, k2 is the second acceleration, x is the current longitudinal displacement of the target vehicle, X1 is the longitudinal coordinate of the front side boundary point of the target lane-changing gap, X2 is the longitudinal coordinate of the rear side boundary point of the target lane-changing gap, V2 is the speed of the target vehicle at the longitudinal coordinate of the front side boundary point, V1 is the speed of the target vehicle at the longitudinal coordinate of the rear side boundary point, and x m is the longitudinal displacement of the target vehicle when the acceleration is zero.

[0153] As a preferred solution, the control module 803 controls the target vehicle to complete lane changing so as to make the target vehicle enter the target lane gap, comprising:

[0154] When the number of the target lane gaps is greater than one, the control module 803 calculates the cost of each target lane gap by using a preset cost function, and controls the target vehicle to complete lane changing so as to make the target vehicle enter the target lane gap with the minimum cost.

[0155] As a preferred solution, the cost function comprises:

[0156] F cost = w1 x cost safe + w2 x cost efficiency + w3 x cost comfort ;

[0157] Wherein, F cost is the cost function, cost safe represents the safety cost, cost efficiency represents the execution efficiency cost, and cost comfort represents the comfort cost, w1, w2 and w3 are the weights of the safety cost, the execution efficiency cost and the comfort cost respectively.

[0158] As a preferred solution, the safety cost is calculated according to the distance between the target vehicle and the front vehicle of the target vehicle and the longitudinal length of the target lane gap; the execution efficiency cost is calculated according to the position of the lane changing starting point, the position of the lane changing ending point, the speed of the target vehicle at the lane changing starting point, the speed of the target vehicle at the lane changing ending point and the speed of the target vehicle at the initial time; and the comfort cost is calculated according to the variance of the target vehicle, the front vehicle of the target lane gap and the rear vehicle of the target lane gap at the same time.

[0159] As a preferred solution, the vehicle lane changing control device 800 further comprises a target lane gap determination module, which is configured to, before the acquisition module 801 acquires the longitudinal boundary points of the target lane gap:

[0160] acquire an initial lane gap;

[0161] When the distance between the target vehicle and the front vehicle of the target vehicle, the longitudinal length of the initial lane gap, the acceleration of the front vehicle of the initial lane gap and the acceleration of the rear vehicle of the initial lane gap satisfy a preset condition, the initial lane gap is determined as the target lane gap.

[0162] Correspondingly, the application further provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle lane changing control method when executing the computer program.

[0163] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is a control center of the terminal, and is connected with various parts of the terminal through various interfaces and lines.

[0164] The memory can be used to store the computer program, and the processor realizes various functions of the terminal by running or executing the computer program stored in the memory and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the terminal (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0165] Correspondingly, the application further provides a computer readable storage medium, comprising a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the vehicle lane changing control method when the computer program runs.

[0166] The modules integrated in the vehicle lane changing control device, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0167] Compared with the prior art, the embodiments of the present application have at least the following beneficial effects:

[0168] The embodiments of the present application provide a vehicle lane changing control method, device, equipment and computer readable storage medium, the method comprising: obtaining a longitudinal boundary point of a target lane changing gap; calculating a desired longitudinal speed of a target vehicle according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on the time optimization principle; and determining a desired lateral speed through a Bezier curve; based on the desired longitudinal speed and the desired lateral speed, controlling the target vehicle to complete lane changing, so that the target vehicle enters the target lane changing gap. By implementing the embodiments of the present application, the desired longitudinal speed of the target vehicle is calculated based on the longitudinal boundary point of the target lane changing gap and the preset acceleration, and the desired lateral speed is determined through a Bezier curve, so as to control the target vehicle to complete lane changing and enter the target lane changing gap. Compared with the prior art of lane changing control based on probability, by considering the properties of the target lane changing gap for vehicle lane changing control, the timing of lane changing can be grasped, the success rate and stability of target vehicle lane changing are effectively improved, and the probability of collision with surrounding vehicles is reduced.

[0169] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described specific embodiments are only examples of the present application and do not limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle lane change control method characterized by, The method comprises: obtaining a longitudinal boundary point of a target lane-changing gap; calculating a desired longitudinal speed of a target vehicle according to the longitudinal boundary point and a preset acceleration; the preset acceleration is designed based on a time optimization principle; and a desired lateral speed is determined by a Bezier curve; controlling the target vehicle to complete lane changing based on the desired longitudinal speed and the desired lateral speed, so that the target vehicle enters the target lane-changing gap; the preset acceleration comprises a first acceleration and a second acceleration, the first acceleration is positive, and the second acceleration is negative; the calculation of the desired longitudinal speed of the target vehicle according to the longitudinal boundary point and the preset acceleration comprises: when the target lane-changing gap is located in front of the target vehicle, the desired longitudinal speed is calculated according to the following formula: ； when the target lane-changing gap is located behind the target vehicle, the desired longitudinal speed is calculated according to the following formula: ； wherein f1(x) is a desired longitudinal velocity when the target lane-changing gap is located in front of the target vehicle, f2(x) is a desired longitudinal velocity when the target lane-changing gap is located behind the target vehicle, k1 is a first acceleration, k2 is a second acceleration, x is a current longitudinal displacement of the target vehicle, X1 is a longitudinal coordinate of a front-side boundary point of the target lane-changing gap, X2 is a longitudinal coordinate of a rear-side boundary point of the target lane-changing gap, V2 is a speed of the target vehicle at the longitudinal coordinate of the front-side boundary point, V1 is a speed of the target vehicle at the longitudinal coordinate of the rear-side boundary point, x m is a longitudinal displacement of the target vehicle when the acceleration is zero.

2. The vehicle lane change control method of claim 1, wherein the obtaining of the longitudinal boundary point of the target lane-changing gap comprises: obtaining a current longitudinal speed of the target vehicle, a longitudinal coordinate of a front vehicle of the target lane-changing gap, a current longitudinal speed of the front vehicle of the target lane-changing gap, a longitudinal coordinate of a rear vehicle of the target lane-changing gap, and a current longitudinal speed of the rear vehicle of the target lane-changing gap; obtaining a front boundary point of the target lane-changing gap according to a preset vehicle length and a preset following time interval, and combining the current longitudinal speed of the target vehicle, the longitudinal coordinate of the front vehicle, and the current longitudinal speed of the front vehicle; and obtaining a rear boundary point of the target lane-changing gap according to the vehicle length and the following time interval, and combining the current longitudinal speed of the target vehicle, the longitudinal coordinate of the rear vehicle, and the current longitudinal speed of the rear vehicle; obtaining the longitudinal boundary point based on the front boundary point and the rear boundary point.

3. The vehicle lane change control method of claim 1, wherein the control of the target vehicle to complete lane changing so that the target vehicle enters the target lane-changing gap comprises: when the number of the target lane-changing gaps is greater than one, calculating the cost of each target lane-changing gap by a preset cost function; and controlling the target vehicle to complete lane changing so that the target vehicle enters the target lane-changing gap with the minimum cost.

4. The vehicle lane change control method of claim 3, wherein the cost function comprises: F cost = w1 x cos t safe + w2 x cos t efficiency + w3 x cos t comfort ; wherein F cost is the cost function, cost safe represents a safety cost, cost efficiency represents an execution efficiency cost, cost comfort represents a comfort cost, w1, w2, and w3 are weights of the safety cost, the execution efficiency cost, and the comfort cost, respectively.

5. The vehicle lane change control method of claim 4, wherein the safety cost is calculated according to the distance between the target vehicle and the front vehicle of the target lane-changing gap and the longitudinal length of the target lane-changing gap; the execution efficiency cost is calculated according to the position of a lane-changing starting point, the position of a lane-changing ending point, the speed of the target vehicle at the lane-changing starting point, the speed of the target vehicle at the lane-changing ending point, and the speed of the target vehicle at an initial time; the comfort cost is calculated according to the variance of the target vehicle, the front vehicle of the target lane-changing gap, and the rear vehicle of the target lane-changing gap at the same time.

6. The vehicle lane change control method of claim 1, wherein before the obtaining of the longitudinal boundary point of the target lane-changing gap, the vehicle lane-changing control method further comprises: obtaining an initial lane-changing gap; When the target vehicle and the front vehicle distance of the target vehicle, the longitudinal length of the initial lane-changing gap, the front vehicle acceleration of the initial lane-changing gap, and the rear vehicle acceleration of the initial lane-changing gap satisfy preset conditions, the initial lane-changing gap is determined as the target lane-changing gap.

7. A vehicle lane change control device characterized by comprising: The vehicle lane-changing control device comprises an acquisition module, a speed determination module, and a control module, wherein, The acquisition module is configured to acquire a longitudinal boundary point of a target lane-changing gap. The speed determination module is configured to calculate a desired longitudinal speed of a target vehicle according to the longitudinal boundary point and a preset acceleration, wherein the preset acceleration is designed based on a time optimization principle; and a desired lateral speed is determined through a Bezier curve. The control module is configured to control the target vehicle to complete lane-changing based on the desired longitudinal speed and the desired lateral speed, so that the target vehicle enters the target lane-changing gap. The preset acceleration comprises a first acceleration and a second acceleration, wherein the first acceleration is positive, and the second acceleration is negative. The speed determination module calculates a desired longitudinal speed of a target vehicle according to the longitudinal boundary point and a preset acceleration, comprising: When the target lane-changing gap is located in front of the target vehicle, the speed determination module calculates the desired longitudinal speed according to the following formula: ； When the target lane-changing gap is located behind the target vehicle, the speed determination module calculates the desired longitudinal speed according to the following formula: ； wherein f1(x) is a desired longitudinal velocity when the target lane-changing gap is located in front of the target vehicle, f2(x) is a desired longitudinal velocity when the target lane-changing gap is located behind the target vehicle, k1 is a first acceleration, k2 is a second acceleration, x is a current longitudinal displacement of the target vehicle, X1 is a longitudinal coordinate of a front-side boundary point of the target lane-changing gap, X2 is a longitudinal coordinate of a rear-side boundary point of the target lane-changing gap, V2 is a speed of the target vehicle at the longitudinal coordinate of the front-side boundary point, V1 is a speed of the target vehicle at the longitudinal coordinate of the rear-side boundary point, x m is a longitudinal displacement of the target vehicle when the acceleration is zero.

8. A terminal device, comprising: The computer readable storage medium comprises a stored computer program, wherein the computer program, when executed, controls a device in which the computer readable storage medium is located to perform the vehicle lane-changing control method.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored computer program, wherein the computer program, when executed, controls a device in which the computer readable storage medium is located to perform the vehicle lane-changing control method.

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