A high-speed pilot active lane change strategy method and system based on driver settings

Abstract

The present invention discloses a high-speed pilot active lane change strategy method and system based on driver settings, which relates to the field of high-speed pilot technology, including: sensing the speed of the vehicle in front; comparing the speed of the vehicle, the set cruising speed, and the set time interval with the state of the vehicle in front; sensing the speed of the traffic in the target lane for lane change; comparing the speed of the vehicle, the set cruising speed, and the set time interval with the traffic state of the target lane. Beneficial effects of the present invention: The high-speed pilot active lane change strategy method based on driver settings provided by the present invention realizes intelligent overtaking and lane changing according to the driver's set cruising speed in the high-speed pilot function, thereby improving the commuting efficiency during high-speed piloting.

Description

Technical Field

[0001] The present invention relates to the field of high-speed navigation technology, and in particular to a high-speed navigation active lane changing strategy method and system based on driver settings. Background Art

[0002] At present, intelligent driving has been increasingly widely used in the field of new energy vehicles. Among them, the highway pilot assistance function can realize automatic navigation on the highway based on the transparent transmission of navigation information. In the highway pilot assistance function, there are often scenes where lane changes are required. In the scenario where there is a low-speed vehicle in front, the system will choose to follow the vehicle in front. In this scenario, if the driver needs to overtake, he often needs to manually initiate a lane change to overtake. This makes the takeover rate of the highway pilot function relatively high, and the commuting efficiency is low.

[0003] Currently, there are few active overtaking strategies initiated by the highway pilot assist system of mass-produced models. Therefore, it is necessary to define a set of active lane change strategies based on driver settings, which can realize active lane change and overtaking initiated by the system in some scenarios. Summary of the invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problem solved by the present invention is that the existing technology is unable to realize the active lane change strategy based on the driver's settings, and can realize the active lane change and overtaking initiated by the system in some scenarios.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a high-speed pilot active lane change strategy method based on driver settings, comprising:

[0007] Sense the speed of the vehicle ahead;

[0008] Compare the vehicle speed, cruise speed setting, and headway setting with the status of the vehicle ahead;

[0009] Sense the speed of the traffic in the target lane;

[0010] The vehicle speed, the set cruising speed, and the set time interval are combined and compared with the traffic status of the target lane.

[0011] As a preferred solution of the high-speed pilot active lane change strategy method based on driver setting described in the present invention, wherein: the sensing of the speed of the vehicle in front includes: the vehicle following the vehicle in front is traveling in the lane, and within the speed limit, the current speed is lower than the cruising speed set by the driver by a certain value and lasts for a period of time, and it is judged that the speed of the traffic in the lane is too low, and the system initiates an overtaking lane change judgment.

[0012] As a preferred solution of the high-speed pilot active lane changing strategy method based on driver setting described in the present invention, wherein: the vehicle speed, the set cruising speed, and the set time interval are combined to include the judgment of the lane changing conditions: before changing lanes, in order to ensure safety, the lane changing conditions should be judged, and when the vehicle speed is too low or too high, the lane change should not be performed.

[0013] As a preferred solution of the high-speed pilot active lane change strategy method based on driver setting of the present invention, wherein: the comparison with the state of the preceding vehicle includes, when there is a vehicle in the target lane at a close distance, waiting for the vehicle to move away before changing lanes, and if the vehicle does not move away within a period of time, canceling the lane change;

[0014] When the lane line in the target direction is a solid line, lane changing should not be performed.

[0015] As a preferred solution of the high-speed pilot active lane change strategy method based on driver setting of the present invention, wherein: the comparison with the state of the preceding vehicle also includes that when the lane line in the target direction is unclear or the observation is limited, the lane change should be performed after the lane line is clearly observed;

[0016] Cancel the lane change after observation is restricted for a certain period of time.

[0017] As a preferred solution of the high-speed pilot active lane change strategy method based on driver setting of the present invention, wherein: the sensing of the speed of the traffic flow in the target lane of lane change includes judging the speed of the traffic flow in the target lane;

[0018] By measuring the speed with surround and rear-view cameras, it is determined that the speed of traffic in the target lane is much higher than that of the lane in which the vehicle is traveling;

[0019] No vehicles are detected in front or behind the target lane. When any of the above conditions is met, it is determined that the lane can be changed. According to the navigation information, lane changes are prohibited at ramps and service area intersections.

[0020] As a preferred solution of the high-speed pilot active lane change strategy method based on driver setting of the present invention, wherein: the comparison with the traffic flow state of the target lane includes setting a lane change cooling mechanism, when the system actively changes lanes, in order to ensure safety, after the lane change is completed, it should be prohibited to execute the lane change again within a certain period of time;

[0021] The system inhibits lane changes when navigating route points.

[0022] Another object of the present invention is to provide a high-speed pilot active lane change strategy system based on driver settings, which can solve the problem that the current high-speed pilot technology cannot automatically judge overtaking and changing lanes through one of the solution smoothing modules.

[0023] As a preferred solution of the high-speed pilot active lane change strategy system based on driver setting of the present invention, it includes: a path planning module, a control module, and a smoothing processing module;

[0024] The path planning module is used to identify the current road conditions, the conditions of the vehicle ahead, and the vehicle's own driving parameters, and determine whether the lane change conditions are met;

[0025] The control module is used to control the vehicle to perform a lane change operation;

[0026] The smoothing processing module is used to handle emergency situations, set a lane change cooling mechanism, and assist the vehicle in changing lanes safely.

[0027] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement a high-speed pilot active lane change strategy method based on driver settings.

[0028] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a high-speed pilot active lane change strategy method based on driver settings.

[0029] Beneficial effects of the invention: The high-speed navigation active lane changing strategy method based on the driver's setting provided by the invention realizes intelligent overtaking and lane changing according to the cruising speed set by the driver in the high-speed navigation function, thereby improving the commuting efficiency during the high-speed navigation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0031] Figure 1 An overall flow chart of a high-speed pilot active lane change strategy method based on driver settings is provided for the first embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0033] Example 1, reference Figure 1 , which is an embodiment of the present invention, provides a high-speed pilot active lane change strategy method based on driver settings, including:

[0034] S1: Sense the speed of the vehicle ahead.

[0035] Furthermore, the vehicle follows the vehicle in front in the lane according to the speed limit information provided by the navigation.

[0036] Furthermore, if the vehicle's speed is within the speed limit, and the system detects that the vehicle's current speed is more than 20 km / h lower than the cruising speed set by the driver and lasts for more than 5 seconds, it is judged that the speed of the traffic in this lane is too low, and the system initiates an overtaking lane change judgment.

[0037] It should be noted that a high-speed pilot lane change strategy based on driver settings includes: sensing the speed of the vehicle in front; comparing the speed of the vehicle, the set cruising speed, and the set time interval with the status of the vehicle in front; sensing the speed of the traffic in the target lane of lane change based on the camera; comparing the speed of the vehicle, the set cruising speed, and the set time interval with the traffic status of the target lane.

[0038] S2: Compare the vehicle speed, the set cruising speed, and the set time interval with the status of the preceding vehicle.

[0039] Furthermore, the lane changing conditions should be judged before changing lanes to ensure safety: when the vehicle speed is too low, that is, lower than 30km / h; when the vehicle speed is too high, that is, higher than 130km / h, the system should suppress the lane change.

[0040] Furthermore, if the camera senses that there is a vehicle in the target lane of the lane change, resulting in insufficient safety distance, the system should monitor the vehicle status of the target lane in real time based on the camera: if it is sensed that the speed of the vehicle is greater than or less than 20km / h of the speed of the vehicle, and the vertical distance is greater than 100m, it is judged that the vehicle has moved away and the lane change continues.

[0041] Furthermore, if the vehicle does not move away within 10 seconds, the lane change is canceled; when the lane line in the target direction is a solid line, the lane change should not be performed.

[0042] It should be noted that when the lane line in the target direction is unclear or observation is limited, you should wait until the lane line is clearly observed before changing lanes, or cancel the lane change after observation is limited for more than 10 seconds.

[0043] S3: Sense the speed of the vehicle in the target lane for lane change.

[0044] Furthermore, the speed of the traffic in the target lane is judged: by measuring the speed with the surround and rear-view cameras, it is judged that the speed of the traffic in the target lane is much higher than that of the lane (more than 20 km / h); the camera vision does not detect any vehicle in the target lane.

[0045] It should be noted that when any of the above conditions is met, it is determined that the lane can be changed. According to the navigation information, lane changes are prohibited at ramps and service area intersections.

[0046] S4: Compare the vehicle speed, the set cruising speed, and the set time interval with the traffic state of the target lane.

[0047] Furthermore, the lane change cooling mechanism: when the system actively changes lanes, in order to ensure safety, after the lane change is completed, it should be prohibited to change lanes again within 45 seconds. The system should suppress lane change behavior when it is at a navigation routing point (such as a ramp, auxiliary road, etc.).

[0048] Embodiment 2 is an embodiment of the present invention, which provides a high-speed pilot active lane change strategy method based on driver settings. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through economic benefit calculation and simulation experiments.

[0049] First, the purpose of the experiment: This experiment aims to verify the effectiveness of a high-speed pilot active lane change strategy method based on driver settings. This strategy method achieves safe and efficient active lane change operations by sensing the speed of the vehicle in front, judging the lane change conditions, and comparing the status of the vehicle in front and the traffic status of the target lane.

[0050] Test environment: Test vehicle: SUV equipped with active lane change assist system Test section: Expressway. Weather conditions: Sunny, good visibility. Traffic flow: Medium.

[0051] Test preparation: set the cruising speed to 100km / h, set the headway to 2 seconds, set the lane change cooldown time to 30 seconds, sensor calibration: calibrate the vehicle's front radar, surround-view camera, and rear-view camera to ensure that they can accurately sense the speed and position of surrounding vehicles.

[0052] Data recording: Use a data logger to record vehicle driving data, including speed, acceleration, steering angle, speed and position of surrounding vehicles, etc.

[0053] Test steps: The driver starts the active lane change assist system and sets the cruising speed and distance. The system continuously monitors the speed and position of the vehicle ahead and compares it with the vehicle's speed, cruising speed and distance.

[0054] Determine lane change conditions: If the current vehicle speed is lower than the cruising speed by 10 km / h and lasts for more than 5 seconds, the system will determine that the traffic speed in the current lane is too low and initiate overtaking lane change judgment.

[0055] The system determines whether the vehicle's speed is too low or too high to ensure the safety of lane change operations. The system uses the surround and rear-view cameras to perceive the speed and position of the target lane's traffic flow.

[0056] If the traffic speed in the target lane is much higher than that in this lane, and no vehicles are detected in front or behind the target lane, it is judged as a changeable lane.

[0057] Lane change operation: The system controls the vehicle to change lanes and maintain the set time distance from the vehicle in front. After the lane change is completed, the system enters the lane change cooling time and prohibits the execution of lane changes again. Emergency handling: If an emergency occurs during the lane change process, such as an obstacle in the target lane, the system will cancel the lane change operation and take emergency braking and other measures to ensure safety.

[0058] Table 1 Test data table

[0059]

[0060]

[0061] The test results show that the active lane change strategy method proposed in the present invention can effectively judge the lane change conditions and safely perform lane change operations.

[0062] Compared with the prior art, the present invention has the following advantages: Higher safety: The present invention ensures the safety of lane changing operations through multi-sensor fusion and complex judgment logic.

[0063] Higher efficiency: The present invention can select the best lane-changing time according to the real-time road conditions and traffic flow status, thereby improving the lane-changing efficiency. Better comfort: The present invention can smoothly control the vehicle to perform lane-changing operations, thereby improving driving comfort.

[0064] Embodiment 3 is an embodiment of the present invention, which provides a high-speed pilot active lane change strategy system based on driver settings, including: a path planning module, a control module, and a smoothing processing module.

[0065] The path planning module is used to identify the current road conditions, the conditions of the vehicle ahead, and the vehicle's own driving parameters, and determine whether the conditions for changing lanes are met.

[0066] The control module is used to control the vehicle to perform lane changing operations.

[0067] The smoothing processing module is used to handle emergency situations, set a lane change cooling mechanism, and assist the vehicle in changing lanes safely.

[0068] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0069] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0070] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0071] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc. It should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and are not limited. Although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0072] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A high-speed pilot active lane change strategy method based on driver settings, characterized in that: include: Sense the speed of the vehicle ahead; Compare the vehicle speed, cruise speed setting, and headway setting with the status of the vehicle ahead; Sense the speed of the traffic in the target lane; The vehicle speed, the set cruising speed, and the set time interval are combined and compared with the traffic status of the target lane.

2. The high-speed pilot active lane change strategy method based on driver settings as claimed in claim 1, characterized in that: The sensing of the speed of the vehicle ahead includes: when the vehicle follows the vehicle ahead in the lane, and within the speed limit, the current speed is lower than the cruising speed set by the driver for a certain period of time, and it is judged that the speed of the traffic in the lane is too low, and the system initiates an overtaking lane change judgment.

3. The high-speed pilot active lane change strategy method based on driver settings as claimed in claim 2, characterized in that: The combination of the vehicle speed, the cruise speed setting, and the time interval setting includes the judgment of the lane changing condition: before changing lanes, in order to ensure safety, the lane changing condition should be judged, and when the vehicle speed is too low or too high, the lane change should not be performed.

4. The high-speed pilot active lane change strategy method based on driver settings as claimed in claim 3, characterized in that: The comparison with the state of the preceding vehicle includes that when there is a vehicle in the target lane at a close distance, the lane change should be performed after the vehicle moves away, and if the vehicle does not move away within a period of time, the lane change should be cancelled; When the lane line in the target direction is a solid line, lane changing should not be performed.

5. The high-speed pilot active lane change strategy method based on driver settings as claimed in claim 4, characterized in that: The comparison with the state of the preceding vehicle also includes that, when the lane line in the target direction is unclear or the observation is limited, the lane change should be performed after the lane line is clearly observed; Cancel the lane change after observation is restricted for a certain period of time.

6. The high-speed pilot active lane change strategy method based on driver settings as claimed in claim 5, characterized in that: The sensing of the speed of the traffic flow in the target lane of lane change includes determining the speed of the traffic flow in the target lane; By measuring the speed with surround and rear-view cameras, it is determined that the speed of traffic in the target lane is much higher than that of the lane in which the vehicle is traveling; No vehicle is detected in front of or behind the target lane; when any of the above conditions is met, it is judged as a changeable lane; According to the navigation information, lane changing is prohibited at ramps and service area intersections.

7. The high-speed pilot active lane change strategy method based on driver settings as claimed in claim 6, characterized in that: The comparison with the traffic flow state of the target lane includes setting a lane change cooling mechanism. When the system actively changes lanes, in order to ensure safety, after the lane change is completed, the lane change should be prohibited within a certain period of time; The system inhibits lane changes when navigating route points.

8. A system using the high-speed pilot active lane change strategy method based on driver settings as claimed in any one of claims 1 to 7, characterized in that: Including path planning module, control module and smoothing processing module; The path planning module is used to identify the current road conditions, the conditions of the vehicle ahead, and the vehicle's own driving parameters, and determine whether the lane change conditions are met; The control module is used to control the vehicle to perform a lane change operation; The smoothing processing module is used to handle emergency situations, set a lane change cooling mechanism, and assist the vehicle in changing lanes safely.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the high-speed pilot active lane change strategy method based on driver settings are implemented as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the high-speed pilot active lane change strategy method based on driver settings are implemented as described in any one of claims 1 to 7.

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