CN108490950B - Lane changing method and system based on virtual track - Google Patents
Lane changing method and system based on virtual track Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The embodiment of the invention provides a lane changing method and system based on a virtual track, wherein the method comprises the following steps: when a preset lane change condition is met, a vehicle-mounted controller of a vehicle to be lane changed sends an inquiry request for whether lane change is allowed or not to a network controller; after receiving the inquiry request, if the road network controller does not detect that the vehicle runs in the target safety area, the road network controller sends a feedback signal for allowing lane change to the vehicle-mounted controller; after receiving the feedback signal, if the vehicle-mounted controller does not detect that the vehicle runs in the target safety area, sending a vehicle feedback signal which is not detected to the network controller; and after receiving the feedback signal, the network controller sends a lane change instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the vehicle to be lane changed to change lanes. When the method provided by the embodiment of the invention is applied to road changing, road network information on the whole range around the vehicle is considered, and a vehicle-mounted controller and a road network controller jointly make a road changing decision, so that the safety of the vehicle to be subjected to road changing is improved.
Description
Technical Field
The invention relates to the technical field of virtual tracks and unmanned vehicles, in particular to a lane changing method and system based on virtual tracks.
Background
With the development of automobile technology and artificial intelligence technology, unmanned automobile technology comes along. At present, for an unmanned vehicle running on a virtual track, when a vehicle-mounted navigator indicates that lane change is required, the vehicle-mounted navigator sends a lane change request to a vehicle-mounted controller, and the vehicle-mounted controller makes a lane change decision according to driving environment data obtained by a network controller by using a pressure sensor and a laser radar.
Although the prior art can meet the lane change requirement of a vehicle, in the decision process of vehicle lane change, only the driving environment data of the vehicle needing lane change is considered, and the driving environment data is only the road network information in the local range around the vehicle, and due to the limitation of the road network information in the local range, the safety of vehicle lane change is not high, for example, when other vehicles suddenly break into the local range, the safety of vehicle lane change is poor.
Disclosure of Invention
The embodiment of the invention aims to provide a lane changing method and system based on a virtual track so as to improve the safety of an unmanned vehicle during lane changing.
In order to achieve the above object, an embodiment of the present invention discloses a lane changing method based on a virtual track, where the lane changing method includes:
when a preset lane change condition is met, a vehicle-mounted controller of a vehicle to be lane changed sends an inquiry request for whether lane change is allowed or not to a network controller;
after receiving the inquiry request, the road network controller sends a feedback signal for allowing lane change to the vehicle-mounted controller if the vehicle running is not detected in the safety area of the target lane of the vehicle to be subjected to lane change;
after receiving the allowable lane change feedback signal, if no vehicle running is detected in a target safety area corresponding to the vehicle to be lane changed, the vehicle-mounted controller sends a vehicle undetected feedback signal to the network controller;
and after receiving the undetected vehicle feedback signal, the network controller sends a lane change instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the vehicle to be lane changed to change lanes.
Preferably, the preset lane change condition comprises: and when the situation that the lane change is required by the preset route indication of the vehicle-mounted navigator is detected, judging that the preset lane change condition is met.
Preferably, the target safety area is determined as follows:
the length of the target safety region is a + b + l, the width of the target safety region is d, and a connecting line of a central point Q of the target safety region and a central point P of the vehicle to be lane-changed is vertical to a lane line of a target lane; the method comprises the following steps of obtaining a vehicle to be lane-changed, obtaining a safety distance between the vehicle to be lane-changed and a front vehicle, obtaining a safety distance between the vehicle to be lane-changed and a rear vehicle, obtaining a vehicle body length of the vehicle to be lane-changed, and obtaining a lane line width inside a target lane.
Preferably, the step of detecting, by the network controller, whether the vehicle is traveling in a target safety area of a target lane after the inquiry request is received includes:
after receiving the inquiry request, the road network controller obtains first driving environment data of the vehicle to be lane changed by using a pressure sensor, a laser radar and a camera, and judges whether the vehicle runs in the target safety area or not according to the first driving environment data; wherein the first driving environment data at least comprises driving data of other vehicles except the vehicle to be lane-changed.
Preferably, the step of detecting whether the vehicle is running in the target safety area after the on-board controller receives the lane change permission feedback signal includes:
after receiving the allowable lane change feedback signal, the vehicle-mounted controller obtains second driving environment data of the vehicle to be lane changed by using a laser radar and a camera, and judges whether the vehicle runs in the target safety area or not according to the second driving environment data; the second driving environment data is driving data of other vehicles except the vehicle to be lane-changed in the local area range of the vehicle to be lane-changed.
Preferably, the lane changing method further includes, after the step of detecting that the vehicle is running in the target safety area of the target lane and before the step of sending the lane change permission feedback signal to the onboard controller, the step of sending the lane change permission feedback signal to the onboard controller:
the method comprises the steps that when a network controller receives a conflict inquiry request which is sent by a conflicting vehicle and whether lane changing is allowed or not, and a safe area of a target lane is not overlapped with a target safe area corresponding to the conflicting vehicle, the conflicting vehicle is judged to be in a lane changing allowing state; otherwise, judging that the conflict vehicle is in a state of not allowing lane change; the conflict vehicle is a vehicle which runs on a first side of a road and is opposite to the lane changing intention of the vehicle to be lane changed; the first side of the road is: and when the road takes the vehicle to be lane-changed as a dividing line, the target lane is located at one side.
Preferably, after the step of controlling the lane change of the vehicle to be lane changed by the vehicle-mounted controller, the lane change method further includes:
calculating the shortest safe distance m between the vehicle to be lane-changed and a rear vehicle based on the current speed of the vehicle to be lane-changed;
acquiring the current vehicle distance n between the vehicle to be lane-changed and the rear vehicle after lane change;
and judging whether the shortest safe distance m is greater than the current vehicle distance n, if so, sending a request for reducing the speed of the rear vehicle to the network controller, and if not, allowing the rear vehicle to run at the current speed.
Preferably, the network controller stores at least road signs of virtual roads and data on the travel of vehicles on the respective virtual tracks.
In order to achieve the above purpose, the embodiment of the invention discloses
A lane-changing system based on a virtual track, the lane-changing system comprising: a vehicle-mounted controller and a network controller; wherein,
the vehicle-mounted controller is used for sending an inquiry request for whether to allow lane changing to the network controller when a preset lane changing condition is met; after receiving a lane change permission feedback signal sent by the network controller, if no vehicle running is detected in a target safety area corresponding to the vehicle to be lane changed, sending a vehicle non-detection feedback signal to the network controller;
the road network controller is used for sending a lane change permission feedback signal to the vehicle-mounted controller after receiving the inquiry request and if the vehicle running is not detected in a target safety area of a target lane of the vehicle to be lane changed; and after receiving the undetected vehicle feedback signal sent by the vehicle-mounted controller, sending a lane changing instruction to the vehicle-mounted controller, and controlling the lane changing of the vehicle to be changed by the vehicle-mounted controller.
Preferably, the lane change system further comprises: the system comprises a vehicle-mounted navigator, a pressure sensor, a laser radar and a camera; wherein,
the vehicle-mounted navigator is used for forming a preset route according to the set starting place and the set destination;
the pressure sensor is used for detecting whether an object passes by the periphery of the vehicle to be lane-changed;
the laser radar is used for detecting the relative position and the speed of vehicles around the vehicle to be lane-changed;
the camera is used for collecting road marks in the virtual track.
The embodiment of the invention provides a virtual track-based lane changing method and system, and when the method provided by the embodiment of the invention is applied to lane changing, road network information on the whole range around a vehicle is considered, and a vehicle-mounted controller and a road network controller jointly make a lane changing decision, so that the safety of a vehicle to be subjected to lane changing is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic system architecture diagram of a lane change method based on a virtual track according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a lane change method based on a virtual track according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a vehicle traveling in a virtual track according to an embodiment of the present invention.
The reference numbers in the drawings:
10. vehicle-mounted controller
20. Network controller
30. Laser radar
40. Camera head
50. Pressure sensor
60. Vehicle-mounted navigator
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the safety of a vehicle to be lane-changed during lane changing, the embodiment of the invention provides a lane changing method and system based on a virtual track.
To understand the present invention as a whole, the lane-changing system provided by the embodiment of the present invention will be described first.
As shown in fig. 1, a lane change system based on a virtual track according to an embodiment of the present invention may include: an onboard controller 10 and a network controller 20.
The vehicle-mounted controller 10 is configured to send an inquiry request for whether to allow lane change to the network controller 20 when a preset lane change condition is met; and after receiving the lane change permission feedback signal sent by the network controller 20, if it is not detected that the vehicle runs in the target safety area corresponding to the vehicle to be lane changed, sending a vehicle non-detection feedback signal to the network controller 20.
The network controller 20 is configured to, after receiving the inquiry request, send a lane change permission feedback signal to the onboard controller 10 if no vehicle driving is detected in a safe area of a target lane of the vehicle to be lane changed; and after receiving the undetected vehicle feedback signal sent by the vehicle-mounted controller 10, sending a lane change instruction to the vehicle-mounted controller 10, and controlling the lane change of the vehicle to be changed by the vehicle-mounted controller 10.
Therefore, when changing lanes, the system provided by the embodiment of the invention not only considers the road network information in the local range around the vehicle to be changed, but also considers the road network information in the whole range around the vehicle, for example, considers the influence of the driving conditions of the vehicles on different lanes on the virtual track on the vehicle to be changed, that is, the scheme provided by the embodiment of the invention is that the vehicle-mounted controller and the road network controller jointly make a lane change decision, so that the safety of the vehicle to be changed during changing lanes is improved.
Specifically, the preset lane change condition may include: and when the situation that the lane change is required by the preset route indication of the vehicle-mounted navigator is detected, judging that the preset lane change condition is met. It should be noted that only one specific preset lane change condition is provided here, and there may be other possible lane change conditions, and those skilled in the art may make reasonable settings according to the actual situation, and these are not listed here.
Specifically, the network controller at least stores road signs of virtual roads and driving data of vehicles on each virtual track. For example, the road marking of the virtual road may include: indicator lights, zebra crossings, stop lines, lane markings, height limits, speed limits, and logos, to name but a few.
Referring to fig. 3, in a specific implementation, the target safety area may be determined as follows: the length of the target safety region is a + b + l, the width of the target safety region is d, and a connecting line of a central point Q of the target safety region and a central point P of the vehicle to be lane-changed is vertical to a lane line of a target lane; the method comprises the following steps of obtaining a vehicle to be lane-changed, obtaining a safety distance between the vehicle to be lane-changed and a front vehicle, obtaining a safety distance between the vehicle to be lane-changed and a rear vehicle, obtaining a vehicle body length of the vehicle to be lane-changed, and obtaining a lane line width inside a target lane.
It should be noted that, a specific implementation manner of determining the target safety zone of the vehicle to be lane-changed is merely illustrated herein, and should not be construed as limiting the present invention, and of course, there may be other feasible implementation manners to determine the target safety zone, and those skilled in the art need to make reasonable settings according to the specific situation in the practical application.
In a specific implementation manner of the present invention, the lane change system may further include: vehicle-mounted navigator 60, pressure sensor 50, laser radar 30, and camera 40.
Wherein the car navigator 60 is used for forming a preset route according to the set starting place and destination. It should be noted that, before the vehicle runs, the starting place and the destination of the vehicle running at this time are preset, and then the vehicle-mounted navigator 60 generates a corresponding navigation route; during the running of the vehicle, the car navigator 60 can give corresponding route instructions according to the running condition of the vehicle.
The pressure sensor 50 is used for detecting whether an object passes by around the vehicle to be lane-changed. It should be noted that, when an object passes through, the air pressure detected by the pressure sensor changes correspondingly, so that the passing of the object can be detected; when no object passes through, the air pressure detected by the pressure sensor is relatively stable, and then the object cannot pass through. It should be further noted that the number of pressure sensors to be arranged per square meter may be set according to actual needs, for example, 10 to 20 pressure sensors per square meter may be set in practical applications, which is only an example, and those skilled in the art need to arrange the number of pressure sensors according to specific situations in practical applications, and in addition, the embodiment of the present invention also does not need to limit the location of the pressure sensors, and those skilled in the art need to make reasonable settings according to specific situations in practical applications.
And the laser radar 30 is used for detecting the relative position and the speed of the vehicles around the vehicle to be lane-changed. It should be noted that the lidar may be used to detect the distance or relative position from an obstacle (such as another vehicle) in the laser direction to the vehicle to be lane-changed, the moving speed of the obstacle, such as the vehicle speed, and the like. It should be further noted that the lidar may be respectively disposed around the vehicle body, front, rear, left, and right according to the requirement, and of course, the number of the lidar may be increased or decreased according to the actual requirement, which should not constitute a limitation to the present invention, and those skilled in the art need to perform reasonable setting according to the specific situation in the actual application.
The camera 40 is used for collecting road signs in the virtual track. It should be noted that the camera is a kind of image capturing device, and the invention is not limited to what kind of image capturing device is used to capture the road sign in the virtual track. In addition, the image of the road sign collected by the camera can be subjected to image recognition or matching technology through a road network processor to obtain corresponding sign information.
The lane change method provided by the embodiment of the invention is described in detail in correspondence to the above lane change system.
As shown in fig. 2, a schematic flowchart of a lane change method based on a virtual track according to an embodiment of the present invention is provided, where the lane change method includes the following steps:
s101: when the preset lane change condition is met, the vehicle-mounted controller of the vehicle to be lane changed sends an inquiry request for whether lane change is allowed or not to the network controller.
S102: and after receiving the inquiry request, the road network controller sends a feedback signal for allowing lane change to the vehicle-mounted controller if the vehicle running is not detected in the safety area of the target lane of the vehicle to be subjected to lane change.
S103: after receiving the allowable lane change feedback signal, if no vehicle running is detected in the target safety area corresponding to the vehicle to be lane changed, the vehicle-mounted controller sends a vehicle undetected feedback signal to the network controller.
S104: and after receiving the undetected vehicle feedback signal, the network controller sends a lane change instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the vehicle to be lane changed to change lanes.
As can be seen from the above, when changing lanes by applying the method provided by the embodiment of the present invention, not only the road network information in the local range around the vehicle to be changed is considered, but also the road network information in the whole range around the vehicle is considered, for example, the influence of the driving conditions of the vehicles on different lanes on the virtual track on the vehicle to be changed is considered, that is, the scheme provided by the embodiment of the present invention is that the vehicle-mounted controller and the road network controller jointly make a lane change decision, so that the safety of the vehicle to be changed during changing lanes is improved.
Specifically, the preset lane change condition may include: and when the situation that the lane change is required by the preset route indication of the vehicle-mounted navigator is detected, judging that the preset lane change condition is met. It should be noted that only one specific preset lane change condition is provided here, and there may be other possible lane change conditions, and those skilled in the art may make reasonable settings according to the actual situation, and these are not listed here.
Referring to fig. 3, in a specific implementation, the target safety area may be determined as follows: the length of the target safety region is a + b + l, the width of the target safety region is d, and a connecting line of a central point Q of the target safety region and a central point P of the vehicle to be lane-changed is vertical to a lane line of a target lane; the method comprises the following steps of obtaining a vehicle to be lane-changed, obtaining a safety distance between the vehicle to be lane-changed and a front vehicle, obtaining a safety distance between the vehicle to be lane-changed and a rear vehicle, obtaining a vehicle body length of the vehicle to be lane-changed, and obtaining a lane line width inside a target lane.
Still taking fig. 3 as an example for explanation, wherein the first vehicle is a vehicle to be lane-changed, the vehicle-mounted navigator such as the beidou navigator indicates that a right turn needs to be made at the intersection in front of the lane 3, and the target lane is the lane 4. Accordingly, the target safety region (region c) may be determined in the following manner:
specifically, the length of the region c is a + b + l, the width of the region c is d, and a connecting line of a central point Q of the region c and a central point P of a vehicle to be lane-changed is perpendicular to a lane line of the lane 4; wherein, a is the shortest braking distance between the vehicle to be lane-changed and the front vehicle, b is the shortest safe distance between the vehicle to be lane-changed and the rear vehicle, l is the length of the vehicle body of the vehicle to be lane-changed, and d is the width of the inner lane line of the lane 4.
It should be noted that the distances a and b are set mainly in consideration of the safe distance between the vehicle to be lane-changed and the front and rear vehicles to avoid collision between the vehicle to be lane-changed and the front or rear vehicle after lane change, and specifically, a is mainly in consideration of the safe distance between the vehicle to be lane-changed such as a vehicle A and the front vehicle after lane change; and b, mainly considering the safe distance between a vehicle to be lane-changed such as a first vehicle and a vehicle behind the vehicle to be lane-changed such as a third vehicle.
It should be noted that, a specific implementation manner of determining the target safety zone of the vehicle to be lane-changed is merely illustrated herein, and should not be construed as limiting the present invention, and of course, there may be other feasible implementation manners to determine the target safety zone, and those skilled in the art should make reasonable settings according to the specific situation in the practical application.
Specifically, the step of the network controller detecting whether the vehicle is running in the target safety area of the target lane after receiving the inquiry request in step S102 may include:
after receiving the inquiry request, the network controller obtains first driving environment data of the vehicle to be lane-changed by using a pressure sensor, a laser radar and a camera, and judges whether the vehicle runs in the target safety area according to the first driving environment data.
Wherein the first driving environment data at least comprises driving data of other vehicles except the vehicle to be lane-changed.
Specifically, the step of detecting whether the vehicle is running in the target safety zone after the vehicle-mounted controller receives the lane change permission feedback signal in step S103 may include:
and after receiving the allowable lane change feedback signal, the vehicle-mounted controller obtains second driving environment data of the vehicle to be lane changed by using a laser radar and a camera, and judges whether the vehicle runs in the target safety area or not according to the second driving environment data.
The second driving environment data is driving data of other vehicles except the lane-changing vehicle in the local area range of the vehicle to be lane-changed.
It is emphasized that the above-mentioned "first driving environment data" is different from the "second driving environment data", specifically, the first driving environment data is data obtained by the routing controller after receiving the inquiry request for inquiring whether to allow lane change, and the first driving environment data reflects the road network information on the whole range around the vehicle; and the second driving environment data is data obtained by the vehicle-mounted controller after receiving the allowable lane change feedback signal sent by the road network controller, and reflects road network information in a local range around the vehicle to be changed.
It should be noted that the network controller stores at least road signs of virtual roads and data on the travel of vehicles on each virtual track. For example, the road marking of the virtual road may include: indicator lights, zebra crossings, stop lines, lane markings, height limits, speed limits, and logos, to name but a few.
Further, in another embodiment of the present invention, after the step of detecting that the vehicle is running in the target safety area of the target lane, the lane changing method may further include the following steps before the step of sending the lane change permission feedback signal to the on-board controller:
the method comprises the steps that when a network controller receives a conflict inquiry request which is sent by a conflicting vehicle and whether lane changing is allowed or not, and a safe area of a target lane is not overlapped with a target safe area corresponding to the conflicting vehicle, the conflicting vehicle is judged to be in a lane changing allowing state; otherwise, the conflict vehicle is judged to be in a state of not allowing lane change.
The conflict vehicle is a vehicle which runs on a first side of a road and is opposite to the lane changing intention of the vehicle to be lane changed; the first side of the road is: and when the road takes the vehicle to be lane-changed as a dividing line, the target lane is located at one side.
For example, still referring to fig. 3, when a vehicle a to be lane-changed needs to turn right at a front intersection, and a vehicle b happens to send an inquiry request to the network controller to inquire whether to allow lane changing to the lane 4, the vehicle b becomes a conflicting vehicle of the vehicle a, and the network controller needs to determine whether the vehicle a and the vehicle b respectively overlap (including partially overlapping or completely overlapping) in the safety area of the lane 4; if the judgment result shows that the lane change is not overlapped, the second vehicle is judged to be in a lane change permission state, and if the vehicle running is not detected in the target safety area corresponding to the lane 4 and the second vehicle, a lane change permission feedback signal can be sent to a vehicle-mounted controller of the second vehicle; and if the judgment result shows that the lane change is not allowed, judging that the second vehicle is in the state of not allowing the lane change, and even if the vehicle running is not detected in the target safety area corresponding to the second vehicle in the lane 4, not sending a feedback signal for allowing the lane change to the vehicle-mounted controller of the second vehicle.
It should be noted that, here, the influence of the lane change request of the conflicting vehicle on the lane change request of the vehicle to be lane changed is considered, and the lane change safety of the vehicle to be lane changed is further ensured.
Further, in another embodiment of the present invention, after the step of the on-board controller controlling the lane change of the vehicle to be lane-changed, the lane change method may further include:
(1) calculating the shortest safe distance m between the vehicle to be lane-changed and a rear vehicle based on the current speed of the vehicle to be lane-changed;
(2) acquiring the current vehicle distance n between the vehicle to be lane-changed and the rear vehicle after lane change;
(3) and judging whether the shortest safe distance m is greater than the current vehicle distance n, if so, sending a request for reducing the speed of the rear vehicle to the network controller, and if not, allowing the rear vehicle to run at the current speed.
For example, still referring to fig. 3, it is easy to understand that after the current vehicle speed of the vehicle to be lane-changed is obtained, the shortest safe distance m between the vehicle to be lane-changed and the rear vehicle can be obtained by using a calculation method between the speed and the displacement; in addition, the current vehicle distance n between the vehicle to be lane-changed and the vehicle behind the lane-change, such as a third vehicle, can be obtained. Thus, if m is 5, n is 3, it can be seen that m is greater than n, which indicates that the third car after lane change cannot brake the car at the current car distance of 3 meters, that is, the third car after lane change collides with the first car, which is not allowed, so that the first car needs to send a request for reducing the speed of the third car to the network controller before lane change, and then the network controller sends a command for reducing the speed to the third car; and if not, allowing the third vehicle to run at the current speed.
It should be noted that, here, the safety distance between the vehicle and the vehicle behind after lane changing is mainly considered, so as to avoid the collision of the vehicle and further ensure the lane changing safety of the vehicle to be lane changed.
For the system embodiment, since it is basically similar to the method embodiment, it is relatively simple to describe, and for related points, refer to the partial description of the method embodiment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (7)
1. A lane changing method based on a virtual track is characterized by comprising the following steps:
when a preset lane change condition is met, a vehicle-mounted controller of a vehicle to be lane changed sends an inquiry request for whether lane change is allowed or not to a network controller;
after receiving the inquiry request, the road network controller sends a feedback signal for allowing lane change to the vehicle-mounted controller if the vehicle running is not detected in the safety area of the target lane of the vehicle to be subjected to lane change;
after receiving the allowable lane change feedback signal, if no vehicle running is detected in a target safety area corresponding to the vehicle to be lane changed, the vehicle-mounted controller sends a vehicle undetected feedback signal to the network controller;
after receiving the undetected vehicle feedback signal, the network controller sends a lane change instruction to the vehicle-mounted controller, and the vehicle-mounted controller controls the vehicle to be lane changed to change lanes;
determining the target safety area as follows:
the length of the target safety region is a + b + l, the width of the target safety region is d, and a connecting line of a central point Q of the target safety region and a central point P of the vehicle to be lane-changed is vertical to a lane line of a target lane; the method comprises the following steps that a is the shortest braking distance between a vehicle to be lane-changed and a front vehicle, b is the shortest safety distance between the vehicle to be lane-changed and a rear vehicle, l is the length of a vehicle body of the vehicle to be lane-changed, and d is the width of an inner lane line of a target lane;
after receiving the inquiry request, the gateway controller detects whether the vehicle runs in a target safety area of a target lane of the vehicle to be lane-changed, and the method includes the following steps:
after receiving the inquiry request, the road network controller obtains first driving environment data of the vehicle to be lane changed by using a pressure sensor, a laser radar and a camera, and judges whether the vehicle runs in the target safety area or not according to the first driving environment data; wherein the first driving environment data at least comprises driving data of other vehicles except the vehicle to be lane-changed;
the step of detecting whether the vehicle runs in the target safety area after the vehicle-mounted controller receives the lane change permission feedback signal comprises the following steps:
after receiving the allowable lane change feedback signal, the vehicle-mounted controller obtains second driving environment data of the vehicle to be lane changed by using a laser radar and a camera, and judges whether the vehicle runs in the target safety area or not according to the second driving environment data; the second driving environment data is driving data of other vehicles except the vehicle to be lane-changed in the local area range of the vehicle to be lane-changed.
2. The lane change method according to claim 1, wherein the preset lane change condition comprises:
and when the situation that the lane change is required by the preset route indication of the vehicle-mounted navigator is detected, judging that the preset lane change condition is met.
3. The lane-changing method according to claim 1 or 2, wherein the lane-changing method further comprises, before the step of sending a lane-changing permission feedback signal to the on-board controller after the step of detecting that the vehicle is traveling in a target safety area of a target lane by the vehicle to be changed, the step of:
the method comprises the steps that when a network controller receives a conflict inquiry request which is sent by a conflicting vehicle and whether lane changing is allowed or not, and a safe area of a target lane is not overlapped with a target safe area corresponding to the conflicting vehicle, the conflicting vehicle is judged to be in a lane changing allowing state; otherwise, judging that the conflict vehicle is in a state of not allowing lane change; the conflict vehicle is a vehicle which runs on a first side of a road and is opposite to the lane changing intention of the vehicle to be lane changed; the first side of the road is: and the road is positioned on one side of the target lane when the vehicle to be lane-changed is taken as a dividing line.
4. The lane-changing method according to claim 1 or 2, wherein after the step of the on-board controller controlling the lane-changing of the vehicle to be lane-changed, the lane-changing method further comprises:
calculating the shortest safe distance m between the vehicle to be lane-changed and a rear vehicle based on the current speed of the vehicle to be lane-changed;
acquiring the current vehicle distance n between the vehicle to be lane-changed and the rear vehicle after lane change;
and judging whether the shortest safe distance m is greater than the current vehicle distance n, if so, sending a request for reducing the speed of the rear vehicle to the network controller, and if not, allowing the rear vehicle to run at the current speed.
5. The lane change method according to claim 1 or 2, wherein at least road signs of the virtual roads and data on the traveling of the vehicles on the respective virtual tracks are stored in the network controller.
6. A lane-changing system based on a virtual track, the lane-changing system comprising: a vehicle-mounted controller and a network controller; wherein,
the vehicle-mounted controller is used for sending an inquiry request for whether to allow lane changing to the network controller when a preset lane changing condition is met; after receiving the lane change permission feedback signal sent by the network controller, if the vehicle running is not detected in the target safety area corresponding to the lane change waiting vehicle, sending a vehicle non-detection feedback signal to the network controller;
the road network controller is used for sending a feedback signal for allowing lane change to the vehicle-mounted controller if the vehicle running is not detected in the safety area of the target lane of the vehicle to be subjected to lane change after receiving the inquiry request; and after receiving the undetected vehicle feedback signal sent by the vehicle-mounted controller, sending a lane changing instruction to the vehicle-mounted controller, and controlling the lane changing of the vehicle to be changed by the vehicle-mounted controller.
7. The lane-change system of claim 6, further comprising: the system comprises a vehicle-mounted navigator, a pressure sensor, a laser radar and a camera; wherein,
the vehicle-mounted navigator is used for forming a preset route according to the set starting place and the set destination;
the pressure sensor is used for detecting whether an object passes by the periphery of the vehicle to be lane-changed;
the laser radar is used for detecting the relative position and the speed of vehicles around the vehicle to be lane-changed;
the camera is used for collecting road marks in the virtual track.
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| CN110390839B (en) * | 2019-07-23 | 2020-06-30 | 哈尔滨工业大学 | Vehicle lane changing method considering overlapping area of multi-vehicle interaction area |
| CN112863249B (en) * | 2021-01-11 | 2022-08-16 | 广州小鹏自动驾驶科技有限公司 | Lane change early warning method and device for vehicle, vehicle and readable storage medium |
| CN115131988B (en) * | 2021-03-25 | 2024-06-18 | 长沙智能驾驶研究院有限公司 | Vehicle lane changing method, device, equipment and computer storage medium |
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