Shifting rod lane changing system and method based on quintic polynomial and storage medium

Abstract

The invention discloses a lifting lever lane changing system and method based on a quintic polynomial and a storage medium, relates to the technical field of automatic driving, and solves the technical problems that in the prior art, due to the fact that a driver operates longitudinally, the lane changing time and the lane changing speed are not controlled by an auxiliary driving controller, and the lifting lever lane changing effect is affected. A vehicle control function is activated, and vehicle information parameters are obtained through a plurality of sensors; judging whether the corresponding vehicle is subjected to shifting rod lane changing or not; constructing a lane center line model to obtain the transverse position of the updated lane center line; releasing the vehicle-following target of the current lane, and performing target screening by using the updated lane center line; keeping lane changing control through a transverse LCK, and controlling the vehicle to the position of a lane center line; judging whether the corresponding vehicle needs to change the speed or not through the ACC; if yes, changing the longitudinal speed of the vehicle; if not, driving according to the lane driving speed before updating; according to the invention, the control on shift lever lane changing is more accurate.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation and relates to automatic driving technology, and specifically to a lever lane changing system, method and storage medium based on a quintic polynomial. Background Art

[0002] The lane-changing trajectory of the quintic polynomial can accurately describe the motion trajectory of the vehicle. By adjusting the coefficients of the polynomial, the lane-changing curve of the vehicle can be precisely controlled to ensure that the vehicle remains smooth and stable during the lane-changing process; this accuracy helps to improve the success rate of lane-changing operations and reduce lane-changing failures or potential risks caused by trajectory deviation; the quintic polynomial-based lane-changing system that considers longitudinal control can comprehensively consider factors such as the vehicle's speed, acceleration, and surrounding traffic environment during the lane-changing process to generate a safe lane-changing trajectory; by accurately planning and tracking the lane-changing trajectory, the system helps to reduce the occurrence of traffic accidents and improve road capacity.

[0003] In the prior art, the ACC function is not turned on during the lever lane change, and the auxiliary driving controller only controls the lateral direction of the vehicle. When the LCK function is turned on, the driver operates the turn signal switch on one side, and the auxiliary driving controller controls the lateral direction of the vehicle to complete the lane change. During the lane change process, the longitudinal control is operated by the driver. Since the driver operates the longitudinal direction, the lane change time and speed are often not controlled by the auxiliary driving controller, affecting the effect of the lever lane change.

[0004] At the same time, after the paddle shift lane changing function ACC is turned on, the driver turns on the LCK and ACC functions, the driver operates the turn signal switch on one side, the auxiliary driving controller controls the vehicle's lateral direction to complete the lane change, and uses ACC to control the vehicle's longitudinal direction. ACC selects the following target according to the target screening algorithm, and does not perform separate processing on the target screening during the lane changing process; as a result, during the lane changing process, the ACC target is not switched to the target of the adjacent lane in advance, and the longitudinal control is still following the vehicle according to the target of the own lane, resulting in a technical problem that the longitudinal control effect of the paddle shift lane changing is not ideal because the target screening does not meet the driver's intention during the lane changing process.

[0005] The present invention provides a lever lane changing system, method and storage medium based on quintic polynomial to solve the above technical problems. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes a lever lane changing system, method and storage medium based on a quintic polynomial, which are used to solve the technical problem that during the lane changing process, the longitudinal control is operated by the driver, and the lane changing time and lane changing speed are often not controlled by the auxiliary driving controller due to the driver's longitudinal control, which affects the lane changing effect of the lever.

[0007] To achieve the above object, a first aspect of the present invention provides a lever lane change system based on a quintic polynomial, comprising:

[0008] Data acquisition module: activates the ACC longitudinal control function and LCK lateral control function of the vehicle, and obtains vehicle information parameters through several sensors; the vehicle information parameters include: the parameters of the current lane, the parameters of the adjacent lanes, and the status of the turn signal switch;

[0009] Lane determination module: determines whether the corresponding vehicle is changing lanes by lever; if yes, determines the direction of the lever changing lane; if no, continues to determine;

[0010] Construct a lane centerline model to obtain the lateral position of the updated lane centerline; release the following vehicle target in the current lane and use the updated lane centerline to perform target screening;

[0011] Speed ​​control module: Maintains lane change control through lateral LCK and controls the vehicle to the center line of the lane; determines through ACC whether the corresponding vehicle needs to change speed; if yes, changes the longitudinal speed of the vehicle; if not, drives at the lane speed before the update.

[0012] Preferably, the system also includes: a data storage module: used to store the parameters of the current lane, the parameters of the adjacent lanes and the status of the turn signal switch detected by several sensors; wherein the parameters of the current lane include: the following target in the current lane, the distance from the center of the vehicle's rear axle to the center line of the lane, the current position information of the vehicle, the lateral speed of the vehicle, the lateral acceleration, the speed and distance of the following target in the current lane, the clarity of the current lane line, the lane line distance and the reality of the lane line; the parameters of the adjacent lanes include: the distance from the center of the vehicle's rear axle to the center line of the lane for lane change, the clarity of the left and right lane lines, the left and right lane line distance and the reality of the left and right lane lines; the status of the turn signal switch includes: the left turn signal on / off status and the left turn signal on / off status.

[0013] Preferably, the determining whether the corresponding vehicle performs a lever-shift lane change comprises:

[0014] Retrieve vehicle information parameters, control the longitudinal direction of the vehicle through ACC through the auxiliary driving controller, control the lateral direction of the vehicle through LCK, and detect the input vehicle information parameters;

[0015] Determine whether the vehicles all meet the preset lever-shift lane change conditions; if yes, the corresponding vehicles perform the lever-shift lane change; if no, the corresponding vehicles cannot perform the lever-shift lane change;

[0016] The preset lever change lane conditions include the following:

[0017] Condition 1: The lane the vehicle is traveling in meets the lane-changing traffic rules requirements; the lane-changing traffic rules requirements include: the lane is a straight road, and the lane lines of the current lane and the left and right adjacent lanes are clear, the lane line distance is greater than the preset distance threshold, the left and right lane lines of the lane are both dotted lines, and the left and right lane line radii are within the set radius range;

[0018] Condition 2: The vehicle speed meets the set vehicle speed range;

[0019] Condition 3: The time between the current lever-operated lane change and the last lever-operated lane change exit time is greater than the set time threshold;

[0020] Condition 4: The speed and distance of the following target in the target lane are both within the set following speed range and distance range.

[0021] It should be noted that the radius range, the vehicle speed range, the time threshold, and the following vehicle speed range and distance range are set according to the accuracy required by different companies.

[0022] The present invention sets a condition that the distance of the current lever lane change is greater than the exit time of the last lever lane change than a set time threshold, which is helpful to prevent the lever lane change function from being frequently activated, thereby affecting the effect of the lever lane change; and sets a condition that the speed and distance of the following target in the target lane are both within the set speed range and distance range, which is helpful to ensure that the speed of the self-vehicle will not be reduced due to the influence of the target vehicle during the lever lane change process, thereby affecting the driving efficiency.

[0023] Preferably, the determining the direction state of the lever changing lanes includes:

[0024] Call up the LCK lateral control function to determine whether the left turn signal switch is on; if yes, ALC controls the vehicle to enter the left lane change state; if no, it enters the right lane change state.

[0025] The present invention allows the lane line to release the target of the lane in advance and identify the target of the adjacent lane according to the state of the turn signal switch, so that the target recognition in the lane changing process is more accurate, the vehicle deceleration caused by untimely recognition is avoided, the entire longitudinal control is more comfortable, and the number of times the driver turns on the lever lane changing function and the use efficiency are improved.

[0026] Preferably, constructing the lane centerline model to obtain the lateral position of the updated lane centerline includes:

[0027] Record the preset longitudinal position of the lane centerline after lane change as the independent variable, record the distance from the center of the rear axle of the vehicle to the lane centerline of the lane change as the first coefficient, and set the second coefficient, the third coefficient, the fourth coefficient and the fifth coefficient;

[0028] A quintic polynomial f(x) is constructed according to the independent variable, the first coefficient and a plurality of second coefficients to calculate the lateral position of the center line of the lane for lane change;

[0029] The first, second and third order derivatives of f(x) are respectively performed to obtain: f'(x), f" (x) and f"' (x); a cubic polynomial y is constructed according to the distance from the center of the rear axle of the vehicle to the center line of the lane, the quintic polynomial f(x), f" (0) / 2, f"' (0) / 6; where y is the lateral position of the center line of the lane.

[0030] It should be noted that the lane line fitting algorithm is the same for left and right lane changes. The only difference is the parameters corresponding to the center line of the left or right lane when changing lanes. Therefore, only one side of the lane change is used to illustrate the algorithm here. Since the starting point of the vehicle's motion planning is the vehicle's current point, the lateral position error of the vehicle is equal to 0.

[0031] The present invention uses the fitted lane center line for both lateral control and longitudinal control during the control process of the lever lane changing function, and uses the same lane center line, so that the lateral and longitudinal control of the lever lane changing is more comfortable and the lever lane changing process is safer.

[0032] Preferably, the first coefficient, the second coefficient, the third coefficient, the fourth coefficient and the fifth coefficient are obtained by:

[0033] Retrieve the preset vertical position, and take the first and second order derivatives of y to get: v y and a y ;

[0034] When the preset vertical position is 0;

[0035] Substitute f(x) to get the value of the first coefficient, and mark the value of the first coefficient as the lateral position error of the vehicle, which is y0;

[0036] Substitute f'(x) to get the value of the second coefficient, and mark the value of the second coefficient as the lateral velocity of the vehicle, denoted by v y0 ;

[0037] The double of the second coefficient is marked as the lateral acceleration of the vehicle and is recorded as a y0 ;

[0038] Let f'(x) = v y ,f”(x)=a y ; then the third coefficient, the fourth coefficient and the fifth coefficient are calculated.

[0039] Preferably, the target screening using the updated lane centerline includes:

[0040] The updated lateral position of the lane centerline and the preset longitudinal position are retrieved as the lane centerline for lane change. The lane width adopts the width of the current lane of the own vehicle. The vehicle closest to the own vehicle in the lane after the lever is changed is obtained, and the vehicle closest to the own vehicle is used as the following target.

[0041] It should be noted that when the vehicle just enters the corresponding adjacent lane, no judgment is made on the next lane change.

[0042] In the present invention, when the vehicle just enters the corresponding adjacent lane, the judgment of the next lane change is not performed in order to prevent the situation that the vehicle is judged to continue to change lanes due to the turn signal not returning to the center.

[0043] Preferably, judging whether the corresponding vehicle needs to change speed by ACC includes:

[0044] Determine whether there is a following target;

[0045] If yes, it determines whether the speed of the target vehicle is higher than the speed of the vehicle itself; if yes, ACC maintains the current longitudinal speed; if no, ACC controls the vehicle to slow down;

[0046] If not, the vehicle will maintain the original speed.

[0047] It should be noted that ACC does not control the vehicle to accelerate.

[0048] In the present invention, ACC does not control the vehicle to accelerate, so as to avoid longitudinal acceleration of the vehicle during the lane change process and to avoid a bad feeling of the vehicle.

[0049] To achieve the above object, a second aspect of the present invention provides a lever-shifting lane-changing method based on a quintic polynomial, comprising:

[0050] Activate the ACC longitudinal control function and LCK lateral control function of the vehicle, and obtain vehicle information parameters through a number of sensors; the vehicle information parameters include: the parameters of the current lane, the parameters of the adjacent lanes, and the state of the turn signal switch;

[0051] Determine whether the corresponding vehicle is changing lanes by lever; if yes, determine the direction state of the lever changing lane; if no, continue to determine;

[0052] Construct a lane centerline model to obtain the lateral position of the updated lane centerline; release the following vehicle target in the current lane and use the updated lane centerline to perform target screening;

[0053] The lane change control is maintained through the lateral LCK, and the vehicle is controlled to the center line of the lane; the ACC is used to determine whether the corresponding vehicle needs to change speed; if yes, the longitudinal speed of the vehicle is changed; if not, the vehicle is driven at the lane speed before the update.

[0054] A third aspect of the present invention provides a lane-changing lever storage medium based on a quintic polynomial, on which a computer-readable storage medium is stored. When the computer-readable storage medium is executed by a processor, a lane-changing lever system based on a quintic polynomial as described in the first aspect above is implemented.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] 1. The present invention uses a quintic polynomial to obtain the target lane line. Since the quintic polynomial has a smooth curve shape and can present different curvatures in different intervals, it is applied to real-time trajectory planning during vehicle operation, which enables it to adapt to different lane change operation requirements and improve traffic driving efficiency and safety. Secondly, as an important component of autonomous driving technology, the lever lane changing system involves vehicle control and navigation. The system triggers lane change instructions through lever operation, and performs intelligent decision-making and path planning in combination with the current state of the vehicle, road environment and traffic rules. The lever lane changing system based on the quintic polynomial that considers longitudinal control further considers the longitudinal motion control of the vehicle during the lane changing process on this basis to ensure the stability and safety of the lane changing process.

[0057] 2. The present invention has been verified by actual vehicles. After the ALC function is turned on, when the driver changes lanes, whether changing lanes to the left or to the right, the target of the corresponding lane can be accurately identified, and the target of the following vehicle in the adjacent lane can be screened out for following driving; when it is determined that the vehicle enters the lane change, the target of the following vehicle in the own lane is released, and the fitted lane line is used to perform target screening, and the target of the following vehicle in the corresponding adjacent lane is screened out; at the same time, the lateral direction of the vehicle is controlled to drive according to the fitted lane center line, making the lever-shift lane change more comfortable; at the same time, during the lever-shift lane change process, the same fitted lane center line is used for the lateral and longitudinal directions, making the lane change process safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 A schematic diagram of the relationship between modules included in the present invention;

[0060] Figure 2 A schematic diagram of the specific steps of the lever-shifting lane-changing condition of the present invention;

[0061] Figure 3A schematic diagram of the process of determining the center path of the present invention;

[0062] Figure 4 It is a schematic diagram of the steps of changing lanes by shifting the lever according to the present invention. DETAILED DESCRIPTION

[0063] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] See also Figure 1 , the first aspect of the present invention provides a lever lane changing system based on a quintic polynomial, comprising: a data acquisition module, a lane line determination module, a speed control module and a data storage module;

[0065] Data acquisition module: activates the ACC longitudinal control function and LCK lateral control function of the vehicle, and obtains vehicle information parameters through several sensors; the vehicle information parameters include: the parameters of the current lane, the parameters of the adjacent lanes, and the status of the turn signal switch;

[0066] Lane determination module: determines whether the corresponding vehicle is changing lanes by lever; if yes, determines the direction of the lever changing lane; if no, continues to determine;

[0067] Construct a lane centerline model to obtain the lateral position of the updated lane centerline; release the following vehicle target in the current lane and use the updated lane centerline to perform target screening;

[0068] Speed ​​control module: Maintains lane change control through lateral LCK and controls the vehicle to the center line of the lane; determines whether the corresponding vehicle needs to change speed through ACC; if yes, changes the longitudinal speed of the vehicle; if no, drives at the lane speed before the update;

[0069] Data storage module: used to store the detected parameters of the current lane, the parameters of the adjacent lanes and the status of the turn signal switch; wherein the parameters of the current lane include: the following target of the current lane, the distance from the center of the rear axle of the vehicle to the center line of the lane, the current position information of the vehicle, the lateral speed of the vehicle, the lateral acceleration, the speed and distance of the following target of the current lane, the clarity of the current lane line, the lane line distance and the reality of the lane line; the parameters of the adjacent lanes include: the distance from the center of the rear axle of the vehicle to the center line of the lane for lane change, the clarity of the left and right lane lines, the left and right lane line distance and the reality of the left and right lane lines; the status of the turn signal switch includes: the left turn signal on / off status and the left turn signal on / off status.

[0070] See also Figure 2 , the specific steps of the lever lane change conditions, calling up vehicle information parameters, controlling the longitudinal direction of the vehicle through ACC and the lateral direction of the vehicle through the auxiliary driving controller, and detecting the input vehicle information parameters;

[0071] Condition 1 for lane change by lever: The lane the vehicle is traveling in meets the traffic rules for lane change; the traffic rules for lane change include: the lane is a straight road, and the lane lines of the current lane and the left and right adjacent lanes are clear, the lane line distance is greater than the preset distance threshold, the left and right lane lines of the lane are both dotted lines, and the radius of the left and right lane lines is within the set radius range;

[0072] Lever lane change condition 2: The vehicle speed meets the set vehicle speed range;

[0073] Lever lane change condition three: The distance between the current lever lane change and the last lever lane change exit time is greater than the set time threshold;

[0074] Lane change condition 4: The speed and distance of the target vehicle in the target lane are both within the set following speed range and distance range;

[0075] Determine whether the vehicle satisfies the lever lane change conditions one, two, three and four; if yes, the corresponding vehicle performs the lever lane change; if no, the corresponding vehicle cannot perform the lever lane change.

[0076] For example, a vehicle A is currently on a fast road section. The first lever change condition is set as follows: the lane line quality of the lane meets the requirements (clear and the lane line distance is sufficient), the radius of the lane and the left and right lane lines meet the requirements (the lever change function is allowed only on straight roads, and the lever change function is not allowed on curves), the left lane line or the right lane line of the lane is a dotted line (traffic regulations require that only dotted lines are allowed to change lanes, and solid lines are not allowed to change lanes), and the lane line quality of the left adjacent lane or the right adjacent lane meets the requirements (the lane line is clear and the distance meets the requirements); the second lever change condition is: the vehicle speed meets the requirements (60km / h < vehicle speed < 1 20km / h), the driver wears the seat belt, the driver turns the turn signal switch on the corresponding side, the ACC function is activated (the following speed set by ACC is between 60km / h and 120km / h), and the LCK function is activated; the third lever lane change condition is: the time from the last lever lane change exit is greater than 5s (to prevent the lever lane change function from being activated frequently); the fourth lever lane change condition is: the speed of the following vehicle in the target lane is between 60km / h and 120km / h (to ensure that during the lever lane change process, the vehicle speed will not drop below 60km / h due to the influence of the target vehicle);

[0077] Now vehicle A meets the above four conditions, so vehicle A changes lanes by lever shifting.

[0078] See also Figure 3 , the specific steps of determining the center lane, the preset longitudinal position of the center line of the lane after lane change is recorded as x, the distance from the center of the rear axle of the vehicle to the center line of the lane of lane change is recorded as C0, and the first-order, second-order, third-order, fourth-order and fifth-order derivative correlation coefficients of the quintic polynomial of the center line of the lane of lane change are recorded as C1, C2, C3, C4, C5 respectively;

[0079] Construct a quintic polynomial f(x)=C0+C1x+C2x 2 +C3x 3 +C4x 4 +C5x 5 Calculate the lateral position of the center line of the lane for lane change;

[0080] Taking the first-order derivative of f(x) yields: f'(x) = C1 + 2C2x + 3C3x 2 +4C4x 3 +5C5x 4 ;

[0081] Taking the second-order derivative of f(x) yields: f”(x)=2C2+6C3x+12C4x 2 +20x 3 ;

[0082] The distance from the center of the rear axle of the vehicle to the center line of the lane is recorded as a0, the first-order derivative of the center line of the lane is recorded as a1, half of the second-order derivative at the zero point of the center line of the lane is recorded as a2, and 1 / 6 of the third-order derivative at the zero point of the center line of the lane is recorded as a3;

[0083] Construct a cubic polynomial y=a0+a1×x+a2×x 2 +a3×x 3 Calculate the lateral position of the lane centerline;

[0084] Taking the first-order derivative of y, we get: v y =a1+2×a2×x+3×a3×x 2 ;

[0085] Taking the second-order derivative of y, we get: a y =2×a2+6×a3×x;

[0086] Retrieve the preset longitudinal position x. When x = 0, substitute the motion parameters at the origin of the vehicle into f(x) to obtain f(0) = C0 = 0. C0 is taken as the lateral position error of the vehicle and recorded as y0.

[0087] Substituting the first-order derivative of f(x) into f'(0) = C1, C1 is taken as the lateral velocity of the vehicle and recorded as v y0 ;

[0088] Substituting the second-order derivative of f(x) yields f”(0)=2C2=a y0 ; Let 2C2 be the lateral acceleration of the vehicle and record it as a y0 ;

[0089] Let f'(x) = v y ,f”(x)=a y ;

[0090] but

[0091]

[0092]

[0093] Substitute C0, C1, C2, C3, C4, and C5 into f(x) to obtain the lateral position of the lane centerline for lane change.

[0094] For example, when vehicle A enters the right lane change state, when x = 0, the motion parameters at the origin of the vehicle are substituted into the equation:

[0095] f(0)=C0=y0=0(1)

[0096] f'(0)=C1=v y0 (2)

[0097] f”(0)=2C2=a y0 (3)

[0098] Where y0 represents the lateral position error of the vehicle. The starting point of the vehicle’s motion planning is the current point of the vehicle, so it is equal to 0;

[0099] For v y0 Represents the lateral speed of the vehicle, which can be obtained through the sensor test of the vehicle;

[0100] For a y0 Represents the lateral acceleration of the vehicle, which can also be obtained through the sensor test of the vehicle;

[0101] Set the preview point to x p =x ego_preview_final , substituting into the right lane centerline equation, we get:

[0102]

[0103] Derivative with respect to x:

[0104] Find the second derivative with respect to x:

[0105] where y pRepresents the lateral position of the centerline of the right lane at the preview point:

[0106]

[0107] For v yp Represents the first derivative of the center line of the right lane at the preview point:

[0108]

[0109] For a yp Represents the second derivative of the centerline of the right lane at the preview point:

[0110] a yp =2*a 2r +6*a 3r *x p (9)

[0111] The combined equations (1), (2), (3), (4), (5), (6), (7), (8), and (9) can be used to calculate C3, C4, and C5, as shown below:

[0112]

[0113] Then substitute the obtained parameters C0, C1, C2, C3, C4, C5 into the above formula f(x)=C0+C1x+C2x 2 +C3x 3 +C4x 4 +C5x 5 Get the lane centerline of the vehicle after changing lanes.

[0114] It should be noted that, since the vehicle's trajectory changes rapidly during lane change, in order to prevent misselection of the target ahead, the lane width is directly based on the vehicle width: W lane =W ego ;

[0115] During the lane change process, the following two moments need to be considered. One is when the front of the vehicle just crosses the lane line, that is, when the vehicle just enters the target lane, the left and right lane lines will jump. The absolute value of the difference between the lane centerline value of the self-lane and the value of the previous moment is judged to be greater than 0.5 times the lane width; if yes, the left and right lane lines will jump; if not, continue to judge. When the left and right lane lines jump, the lever lane change control is retained, and the lane line fitted by the current lane change is used for target screening and lateral control. This is helpful to avoid using the parameters at this time to calculate the lane change and calculate the vehicle as entering the right lane and then continuing to change lanes, resulting in misselection of the target; the auxiliary driving controller controls the lateral movement of the vehicle and moves to the center position of the target lane according to the fitted lane centerline; when the vehicle changes lanes to the right, there is a target vehicle in the right lane, and ACC can control the vehicle to respond in advance. During the lane change process, the longitudinal speed is controlled to avoid the lever lane change function, which controls the vehicle to enter the adjacent lane, select the target, and then decelerate suddenly, making the lever lane change function more intelligent.

[0116] See also Figure 4 A second aspect of the present invention provides a lever-shifting lane-changing method based on a quintic polynomial, comprising:

[0117] Activate the ACC longitudinal control function and LCK lateral control function of the vehicle, and obtain vehicle information parameters through a number of sensors; the vehicle information parameters include: the parameters of the current lane, the parameters of the adjacent lanes, and the state of the turn signal switch;

[0118] Determine whether the corresponding vehicle is changing lanes by lever; if yes, determine the direction state of the lever changing lane; if no, continue to determine;

[0119] Construct a lane centerline model to obtain the lateral position of the updated lane centerline; release the following vehicle target in the current lane and use the updated lane centerline to perform target screening;

[0120] The lane change control is maintained through the lateral LCK, and the vehicle is controlled to the center line of the lane; the ACC is used to determine whether the corresponding vehicle needs to change speed; if yes, the longitudinal speed of the vehicle is changed; if not, the vehicle is driven at the lane speed before the update.

[0121] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0122] The working principle of the present invention is as follows: the present invention activates the ACC longitudinal control function and the LCK lateral control function of the vehicle, obtains vehicle information parameters through a number of sensors; determines whether the corresponding vehicle performs a lever-shift lane change; if yes, determines the direction state of the lever-shift lane change; if no, continues to determine; constructs a lane centerline model to obtain the lateral position of the lane centerline after update; releases the following vehicle target in the current lane, and uses the updated lane centerline for target screening; maintains lane change control through the lateral LCK, and controls the vehicle to the position of the lane centerline; determines whether the corresponding vehicle needs to change speed through ACC; if yes, changes the longitudinal speed of the vehicle; if no, drives at the lane driving speed before the update.

[0123] The above embodiments are only used to illustrate the technical method 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 method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A lever-shift lane-changing system based on a quintic polynomial, characterized in that: include: Data acquisition module: activates the ACC longitudinal control function and LCK lateral control function of the vehicle, and obtains vehicle information parameters through several sensors; the vehicle information parameters include: the parameters of the current lane, the parameters of the adjacent lanes, and the status of the turn signal switch; Lane determination module: determines whether the corresponding vehicle is changing lanes by lever; if yes, determines the direction of the lever changing lane; if no, continues to determine; Construct a lane centerline model to obtain the lateral position of the updated lane centerline; release the following vehicle target in the current lane and use the updated lane centerline to perform target screening; Speed ​​control module: Maintains lane change control through lateral LCK and controls the vehicle to the center line of the lane; determines through ACC whether the corresponding vehicle needs to change speed; if yes, changes the longitudinal speed of the vehicle; if not, drives at the lane speed before the update.

2. The lever-shift lane-changing system based on a quintic polynomial according to claim 1, characterized in that: Also includes: Data storage module: used to store the detected parameters of the current lane, the parameters of the adjacent lanes and the status of the turn signal switch; wherein the parameters of the current lane include: the following target of the current lane, the distance from the center of the rear axle of the vehicle to the center line of the lane, the current position information of the vehicle, the lateral speed of the vehicle, the lateral acceleration, the speed and distance of the following target of the current lane, the clarity of the current lane line, the lane line distance and the reality of the lane line; the parameters of the adjacent lanes include: the distance from the center of the rear axle of the vehicle to the center line of the lane for lane change, the clarity of the left and right lane lines, the left and right lane line distance and the reality of the left and right lane lines; the status of the turn signal switch includes: the left turn signal on / off status and the left turn signal on / off status.

3. The lever-shift lane-changing system based on a quintic polynomial according to claim 1, characterized in that: The determining whether the corresponding vehicle performs a lever-shift lane change includes: Retrieve vehicle information parameters, control the longitudinal direction of the vehicle through ACC through the auxiliary driving controller, control the lateral direction of the vehicle through LCK, and detect the input vehicle information parameters; It is determined whether the vehicles all meet the preset lever-shift lane change conditions; if yes, the corresponding vehicles perform the lever-shift lane change; if no, the corresponding vehicles cannot perform the lever-shift lane change.

4. The lever-shift lane-changing system based on a quintic polynomial according to claim 2, characterized in that: Determining the direction state of the lever changing lanes includes: Call up the LCK lateral control function to determine whether the left turn signal switch is on; if yes, ALC controls the vehicle to enter the left lane change state; if no, it enters the right lane change state.

5. The lever-shift lane-changing system based on a quintic polynomial according to claim 1, characterized in that: The step of constructing a lane centerline model to obtain the updated lateral position of the lane centerline includes: Record the preset longitudinal position of the lane centerline after lane change as the independent variable, record the distance from the center of the rear axle of the vehicle to the lane centerline of the lane change as the first coefficient, and set the second coefficient, the third coefficient, the fourth coefficient and the fifth coefficient; A quintic polynomial f(x) is constructed according to the independent variable, the first coefficient and a plurality of second coefficients to calculate the lateral position of the center line of the lane for lane change; Taking the first, second and third order derivatives of f(x) we can get: f'(x), f"(x) and f"'(x); A cubic polynomial y is constructed based on the distance from the center of the vehicle's rear axle to the center line of the lane and the quintic polynomial f(x), f"(0) / 2, f"'(0) / 6; wherein y is the lateral position of the center line of the lane.

6. The lever-shift lane-changing system based on a quintic polynomial according to claim 5, characterized in that: The method for obtaining the first coefficient, the second coefficient, the third coefficient, the fourth coefficient and the fifth coefficient includes: Retrieve the preset vertical position, and take the first and second order derivatives of y to get: v y and a y ; When the preset vertical position is 0; Substitute f(x) to get the value of the first coefficient, and mark the value of the first coefficient as the lateral position error of the vehicle, which is y0; Substitute f'(x) to get the value of the second coefficient, and mark the value of the second coefficient as the lateral velocity of the vehicle, denoted by v y0 ; The double of the second coefficient is marked as the lateral acceleration of the vehicle and is recorded as a y0 ; Let f'(x) = v y ,f”(x)=a y ; then the third coefficient, the fourth coefficient and the fifth coefficient are calculated.

7. The lever-shift lane-changing system based on a quintic polynomial according to claim 1, characterized in that: The target screening using the updated lane centerline includes: The updated lateral position of the lane centerline and the preset longitudinal position are retrieved as the lane centerline for lane change. The lane width adopts the width of the current lane of the own vehicle. The vehicle closest to the own vehicle in the lane after the lever is changed is obtained, and the vehicle closest to the own vehicle is used as the following target.

8. The lever-shift lane-changing system based on a quintic polynomial according to claim 1, characterized in that: The determining whether the corresponding vehicle needs to change speed by ACC includes: Determine whether there is a following target; If yes, it determines whether the speed of the target vehicle is higher than the speed of the vehicle itself; if yes, ACC maintains the current longitudinal speed; if no, ACC controls the vehicle to decelerate; If not, the vehicle will maintain the original speed.

9. A lever-shift lane-changing method based on a quintic polynomial, adapted to a lever-shift lane-changing system based on a quintic polynomial according to claims 1-8, characterized in that: include: Activate the ACC longitudinal control function and LCK lateral control function of the vehicle, and obtain vehicle information parameters through a number of sensors; the vehicle information parameters include: the parameters of the current lane, the parameters of the adjacent lanes, and the state of the turn signal switch; Determine whether the corresponding vehicle is changing lanes by lever; if yes, determine the direction state of the lever changing lane; if no, continue to determine; Construct a lane centerline model to obtain the lateral position of the updated lane centerline; release the following vehicle target in the current lane and use the updated lane centerline to perform target screening; The lane change control is maintained through the lateral LCK, and the vehicle is controlled to the center line of the lane; the ACC is used to determine whether the corresponding vehicle needs to change speed; if yes, the longitudinal speed of the vehicle is changed; if not, the vehicle is driven at the lane speed before the update.

10. A storage medium for lever-shift lane change based on a quintic polynomial, on which a computer-readable storage medium is stored, characterized in that: When the computer-readable storage medium is executed by a processor, the lever-shift lane-changing system based on a quintic polynomial as claimed in any one of claims 1 to 8 is implemented.

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