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CN110920622A - Prediction method before vehicle changes lane to target lane in automatic driving - Google Patents

Prediction method before vehicle changes lane to target lane in automatic driving Download PDF

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Publication number
CN110920622A
CN110920622A CN201911242709.1A CN201911242709A CN110920622A CN 110920622 A CN110920622 A CN 110920622A CN 201911242709 A CN201911242709 A CN 201911242709A CN 110920622 A CN110920622 A CN 110920622A
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vehicle
lane
changing
distance
willingness degree
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CN110920622B (en
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杜光辉
经建峰
袁雁城
张尧文
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Gewu Automotive Technology (suzhou) Co Ltd
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Gewu Automotive Technology (suzhou) Co Ltd
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Priority to PCT/CN2019/123928 priority patent/WO2021109165A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a prediction method before a vehicle changes lane to a front vehicle of a target lane in automatic driving, which comprises the steps of obtaining running state data of a pre-lane-changing vehicle, a vehicle I, a vehicle II and a vehicle III in a current sampling period; the first vehicle is a first vehicle in front of a lane where the lane-changing vehicle is located; the second vehicle and the third vehicle are respectively a first vehicle and a second vehicle which are positioned in front of the pre-lane-changing vehicle in the target lane; calculating the willingness degree of the pre-lane-changing vehicle before changing lanes to the second vehicle by combining the driving state data of each vehicle; when the willingness degree exceeds the willingness degree threshold value, the lane-changing-predicted vehicle is predicted to change the lane to be ahead of the second vehicle at the future moment. The prediction method before the vehicle changes the lane to the front vehicle of the target lane effectively eliminates the factors that the surrounding vehicles interfere the decision of the vehicle, improves the certainty factor of the decision of the vehicle, effectively reduces the data analysis calculation amount of a prediction module in an automatic driving system, reduces the operation difficulty and the operation cost of the automatic driving system, and effectively improves the delay of the decision.

Description

Prediction method before vehicle changes lane to target lane in automatic driving
Technical Field
The invention relates to the technical field of automatic driving, in particular to a prediction method before a vehicle changes lane to a target lane in automatic driving.
Background
The automatic driving comprises four modules of prediction, decision, planning and control, wherein the prediction module predicts whether the vehicle will change the lane at the future moment and the lane changing track under the lane changing condition according to the vehicle driving state data and the lane environment data of each lane. The lane change comprises left lane change and right lane change, and the left lane change and the right lane change comprise the steps of changing lanes to the front of a vehicle in a target lane and changing lanes to the back of the vehicle in the target lane. The decision-making module calculates the next expected state of the vehicle according to the prediction output result, the environmental information, the navigation information, the driver behavior module of the vehicle, the vehicle dynamics model and the like of the prediction module; the planning module plans the running track of the vehicle according to the current state and the next expected state; the control module calculates corresponding throttle, brake and steering according to the planned driving track.
Currently, in the automatic driving systems of some internet enterprises and automobile manufacturers, all vehicles of interest (defined as surrounding vehicles which may interfere with the driving of the vehicle) are predicted to default to lane change at a future time. Some vehicles with low willingness degree of lane changing are not excluded from the vehicles, and the willingness degree is the willingness degree of lane changing. The interested vehicles around with low lane change willingness degree can interfere the decision of the vehicle, the calculation amount of the protector analysis when the vehicle drives each vehicle is increased, and the operation difficulty and the operation cost of the automatic driving system are increased.
Disclosure of Invention
The invention provides a method for predicting before a vehicle changes lane to a vehicle in front of a target lane in automatic driving, which combines the running state data of four vehicles, namely a pre-lane-changing vehicle, a first vehicle in front of the lane where the pre-lane-changing vehicle is located, a first vehicle in front of the pre-lane-changing vehicle in the target lane and a second vehicle in front of the pre-lane-changing vehicle in the target lane, to calculate the willingness of the pre-lane-changing vehicle to the target lane in front of the first vehicle in front of the pre-lane-changing vehicle, predicts whether the pre-lane-changing vehicle will change lane to the front of the first vehicle in front of the target lane at the future moment according to the willingness, effectively eliminates the factor that the surrounding vehicles interfere with the decision of the vehicle, and improves the decision reliability of the vehicle; meanwhile, the data analysis calculation amount of a prediction module in the automatic driving system is effectively reduced, the operation difficulty and the operation cost of the automatic driving system are reduced, and the delay time of decision making is effectively improved.
In order to solve the above technical problems, the present invention provides a method for predicting before a vehicle changes lane to a target lane in automatic driving, comprising the steps of,
acquiring running state data of a pre-lane-changing vehicle, a vehicle I, a vehicle II and a vehicle III in a current sampling period; the first vehicle is a first vehicle in front of a lane where the lane pre-changing vehicle is located; the second vehicle is a first vehicle positioned in front of the pre-lane-changing vehicle in the target lane; the third vehicle is a second vehicle which is positioned in front of the pre-lane-changing vehicle in the target lane;
calculating the willingness degree lambda of the pre-lane-changing vehicle before changing the lane to the second vehicle by combining the driving state data of each vehicle, wherein lambda is more than or equal to 0 and less than or equal to 1;
and when the willingness degree exceeds a willingness degree threshold value, predicting that the pre-lane changing vehicle will change lanes to be ahead of the second vehicle at a future moment.
In a preferred embodiment of the present invention, the method further includes that when the lateral speed of the pre-lane-changing vehicle in the direction of the target lane is less than zero and is maintained for a certain time, the willingness of the pre-lane-changing vehicle to change lane to the target lane is zero.
In a preferred embodiment of the present invention, further comprising, calculating the willingness degree λ comprises,
there is a time t e 0, tThres]，tThresIs an adjustable standard quantity;
exists for a time t1The running speed of the pre-lane-changing vehicle is greater than that of the first vehicle within the time;
exists for a time t2The vehicle three is positioned in front of the vehicle one in the time period;
exists for a time t3The first vehicle is positioned in front of the second vehicle during the time;
exists for a timet4The pre-lane-changing vehicle is positioned in front of the second vehicle within the time;
when time t is1Time t2Time t3And time t4When intersection exists in the time t and the running speed of the pre-lane changing vehicle is greater than that of the vehicle II, calculating the willingness degree lambda and considering the actual acceleration of the pre-lane changing vehicle, the distance between the pre-lane changing vehicle and the vehicle I in the lane line direction, the influence of the relative speed between the pre-lane changing vehicle and the vehicle I, the influence of the lane congestion degree, the influence of the longitudinal distance between the vehicle III and the vehicle I, and the influence of the running speed ratio between the vehicle III and the vehicle I; otherwise, the willingness degree lambda is zero.
In a preferred embodiment of the present invention, the calculating the willingness degree λ further includes calculating a willingness degree λ 1 under the influence of an actual acceleration of the pre-lane-changing vehicle;
calculating the willingness degree lambda 2 between the pre-lane-changing vehicle and the first vehicle under the influence of the spacing distance along the lane line direction;
calculating the willingness degree lambda 3 under the influence of the relative speed between the pre-lane-changing vehicle and the first vehicle;
calculating the willingness degree lambda 4 under the influence of the traffic lane congestion degree;
calculating the willingness degree lambda 5 under the influence of the longitudinal distance between the vehicle III and the vehicle I;
calculating the willingness degree lambda 6 under the influence of the running speed ratio of the vehicle III to the vehicle I;
λ ═ max { λ 1, λ 2, λ 3, λ 4, λ 5, λ 6} (formula one);
and calculating the willingness degree lambda of the pre-lane-changing vehicle before changing the lane to the vehicle II according to the formula I.
In a preferred embodiment of the present invention, the method further comprises calculating the willingness factor λ 1 according to formula one,
Figure RE-GDA0002365098350000041
a represents the actual acceleration of the pre-lane-changing vehicle;
k1characterizing pre-lane-change vehiclesThe slope of a straight line of a functional relation between the actual acceleration and the willingness degree lambda 1;
A1representing a fixed acceleration value of an acceleration axis of the actual acceleration of the pre-lane-changing vehicle;
Δ λ represents the willingness increment of the pre-lane-change vehicle for a certain time period when the actual acceleration exceeds the acceleration threshold.
In a preferred embodiment of the present invention, further comprising, calculating the willingness factor λ 2 comprises,
calculating L1 ═ a + B, A ═ S1-S2+ V1 × (T)r+D；
A represents the distance which needs to be kept between the pre-lane changing vehicle and the vehicle when the pre-lane changing vehicle runs at a running speed V2;
b characterizes the pre-lane change vehicle at deceleration axA travel distance decelerated from the travel speed V1 to the travel speed V2;
l1 is the initial spacing between the pre-lane changing vehicle and vehicle one;
v1 is the running speed of the pre-lane changing vehicle;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the pre-lane changing vehicle to the stopping;
s2 is the braking distance from braking to stopping of the vehicle;
Trthe brake reaction time of the pre-lane-change vehicle;
d is a safe parking distance between the pre-lane-changing vehicle and the first vehicle when the first vehicle is braked to stop;
when B is equal to (L1-A) less than or equal to 0, the willingness degree lambda 2 is equal to 1;
when B ═ L1-a) > 0 and V1 ≦ V2, the desirability λ 2 is 0;
when B ═ L1-a) > 0, and V1 > V2, deceleration a of the pre-track vehicle is calculated according to equation twox：
Figure RE-GDA0002365098350000051
Calculating the willingness degree lambda 2 according to a formula II:
Figure RE-GDA0002365098350000061
wherein a represents a preset comfort braking deceleration a of the pre-track-changing vehicleThresAnd deceleration axA difference of (d);
k2characterizing deceleration aThresAnd deceleration axThe slope of a straight line of a functional relation between the difference value of (a) and the willingness degree lambda 2;
a1characterizing deceleration aThresAnd deceleration axA fixed deceleration value on the deceleration axis.
In a preferred embodiment of the present invention, the method further comprises calculating the willingness factor λ 3 according to formula three,
Figure RE-GDA0002365098350000062
the method comprises the following steps that X represents the relative speed of a pre-lane-changing vehicle and a first vehicle;
k3representing the slope of a straight line of a functional relation between the relative speed of the pre-lane-changing vehicle and the first vehicle and the willingness degree lambda 3;
x1 represents a fixed speed value on the speed axis of the relative speed of the pre-lane changing vehicle to the first vehicle.
In a preferred embodiment of the present invention, the method further comprises calculating the willingness factor λ 4 according to formula four,
Figure RE-GDA0002365098350000071
the rho 1 represents the congestion degree in front of the lane where the pre-lane-changing vehicle is located;
and rho 2 represents the congestion degree in front of the lane where the second vehicle is located.
In a preferred embodiment of the present invention, further comprising, calculating the willingness factor λ 5 comprises,
calculating A ═ S1-S2+ V1 ═ Tr+D
A represents the distance which needs to be kept with the vehicle when the pre-lane-changing vehicle runs at the running speed V2;
v1 is the running speed of the pre-lane changing vehicle;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the pre-lane changing vehicle to the stopping;
s2 is the braking distance from braking to stopping of the vehicle;
Trthe brake reaction time of the pre-lane-change vehicle;
d is a safe parking distance between the pre-lane-changing vehicle and the first vehicle when the first vehicle is braked to stop;
l1 is the initial spacing between the pre-lane changing vehicle and vehicle one;
when L1 > a + Δ 1, λ 5 ═ 0;
when L1 is less than or equal to A + delta 1, calculating the willingness degree lambda 5 according to the formula five,
Figure RE-GDA0002365098350000081
wherein Δ 1 represents a fixed distance value;
e, representing the distance between the first vehicle and the third vehicle along the lane line;
k4representing the slope of a straight line of a functional relation between the distance between the first vehicle and the third vehicle along the lane line and the willingness degree lambda 5;
e1 and E2 characterize two fixed distance values between vehicle one and vehicle three on the distance axis along the lane line distance.
In a preferred embodiment of the present invention, further comprising, calculating the willingness factor λ 6 comprises,
calculating A ═ S1-S2+ V1 ═ Tr+D
A represents the distance which needs to be kept with the vehicle when the pre-lane-changing vehicle runs at the running speed V2;
v1 is the running speed of the pre-lane changing vehicle;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the pre-lane changing vehicle to the stopping;
s2 is the braking distance from braking to stopping of the vehicle;
Trthe brake reaction time of the pre-lane-change vehicle;
d is a safe parking distance between the pre-lane-changing vehicle and the first vehicle when the first vehicle is braked to stop;
l1 is the initial spacing between the pre-lane changing vehicle and vehicle one;
when L1 > a + Δ 2, λ 6 ═ 0;
when L1 is less than or equal to A + delta 2, the willingness degree lambda 6 is calculated according to the formula six,
Figure RE-GDA0002365098350000091
wherein Δ 2 represents a fixed distance value;
f represents the ratio of the three driving speeds of the vehicle to the one driving speed of the vehicle;
f1 and F2 represent two fixed values on an axis of a running speed ratio of the third vehicle and the first vehicle;
k5the slope of a straight line representing the functional relation between the driving speed ratio of the vehicle III and the vehicle and the willingness degree lambda 6;
λ*a fixed value greater than zero and less than or equal to 1 is characterized.
The invention has the beneficial effects that:
the invention discloses a method for predicting before a vehicle changes lane to a vehicle in front of a target lane in automatic driving, which is characterized in that the method combines the running state data of four vehicles, namely a pre-lane-changing vehicle, a first vehicle in front of the lane where the pre-lane-changing vehicle is located, a first vehicle in front of the pre-lane-changing vehicle in the target lane and a second vehicle in front of the pre-lane-changing vehicle in the target lane, to calculate the willingness degree of the pre-lane-changing vehicle to the target lane in front of the first vehicle in front of the pre-lane-changing vehicle, predicts whether the pre-lane-changing vehicle will change lane to the target lane in front of the first vehicle in front of the pre-lane-changing vehicle at the future moment according to the willingness degree, effectively eliminates the factor that peripheral vehicles interfere with the decision of; meanwhile, the data analysis calculation amount of a prediction module in the automatic driving system is effectively reduced, the operation difficulty and the operation cost of the automatic driving system are reduced, and the delay time of decision making is effectively improved.
Drawings
FIG. 1 is a flow chart of a prediction method in a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the road condition before the predicted vehicle changes lane to the first vehicle in front of the target lane according to the preferred embodiment of the present invention;
FIG. 3a is a graph of the willingness factor λ 1 calculated in the preferred embodiment of the present invention;
FIG. 3b is a graph of the calculated desirability increment Δ λ in the preferred embodiment of the present invention;
FIG. 4 is a graph of the willingness factor λ 2 calculated in the preferred embodiment of the present invention;
FIG. 5 is a graph of the willingness factor λ 3 calculated in the preferred embodiment of the present invention;
FIG. 6 is a graph of the willingness factor λ 5 calculated in the preferred embodiment of the present invention;
fig. 7 is a graph of the calculation willingness degree λ 6 in the preferred embodiment of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example one
The present embodiment discloses a method for predicting a vehicle ahead of a target lane before a lane change in an autonomous driving system, as shown in fig. 1, which includes the steps of,
acquiring running state data of a pre-lane-changing vehicle, a first vehicle, a second vehicle and a third vehicle in a current sampling period, wherein the first vehicle is a first vehicle in front of a lane where the pre-lane-changing vehicle is located; the second vehicle is a first vehicle positioned in front of the pre-lane-changing vehicle in the target lane; and the third vehicle is a second vehicle positioned in front of the pre-lane-changing vehicle in the target lane. Referring to FIG. 2, vehicle 4 represents a pre-lane change vehicle, vehicle 1 represents vehicle one, vehicle 2 represents vehicle two, and vehicle 3 represents vehicle three. The traveling state data of each vehicle includes a traveling speed, a lateral speed, a distance between vehicles in a lane line direction (or "longitudinal distance"), an acceleration, a deceleration, a lateral acceleration/deceleration, and the like. When a vehicle is not present in fig. 2, the distance associated with the vehicle is considered to be infinite.
Calculating the willingness degree lambda of the vehicle 4 before changing the lane to the vehicle II by combining the running state data of the pre-lane changing vehicle, the vehicle I, the vehicle II and the vehicle III, wherein the lambda is more than or equal to 0 and less than or equal to 1;
when the willingness degree λ exceeds the willingness degree threshold, it is predicted that the vehicle 4 will change lane to before the vehicle two at a future time. Here, the willingness degree threshold is preset according to the characteristics of the driver, for example, the willingness degree threshold is 0.6, 0.65, 0.7, or the like.
Calculating the above willingness λ includes excluding the following negatives:
negative term 1: lateral velocity v of the vehicle 4 in the direction of the target laneyAnd when the lane change is smaller than zero and the certain time is maintained, the willingness degree of the vehicle 4 to change the lane to the lane where the vehicle two is located is zero. For example, the lateral velocity v of the vehicle 4 in the direction of the lane in which the vehicle two is locatedyAnd when the time is less than or equal to zero and lasts for 2s, the willingness degree of the vehicle 4 to change the lane to the lane where the vehicle two is located is zero. The duration here is a calibrated quantity that can be adjusted. The following are to be mentioned: transverse velocity vyIf the value is larger than 0, the vehicle 4 is represented to be deviated to the target lane; transverse velocity vyLess than 0, indicating that the vehicle 4 is off the target lane.
Negative term 2: there is a time t e 0, tThres]，tThresFor adjustable time scaling, e.g. scaling tThresIs 20s, or 25 s;
exists for a time t1The running speed of the pre-lane-changing vehicle is greater than that of the first vehicle within the time;
exists for a time t2The vehicle three is positioned in front of the vehicle one in the time period;
exists for a time t3The first vehicle is positioned in front of the second vehicle during the time;
exists for a time t4The pre-lane-changing vehicle is positioned in front of the second vehicle within the time;
the above time t1Time t2Time t3And time t4When the intersection exists in the time t and the running speed of the vehicle 4 is greater than that of the vehicle II, calculating the willingness degree lambda by considering the actual acceleration of the vehicle 4, the influence of the spacing distance between the vehicle 4 and the vehicle I in the direction of the lane line and the relative speed between the vehicle 4 and the vehicle I, the influence of the degree of traffic jam of the lane, the influence of the longitudinal distance between the vehicle III and the vehicle I and the influence of the running speed ratio between the vehicle III and the vehicle I; otherwise, the willingness λ is zero.
The calculation will degree lambda includes,
calculating the willingness degree lambda 1 of the vehicle 4 under the influence of the actual acceleration;
calculating the willingness degree lambda 2 under the influence of the spacing distance between the vehicle 4 and the vehicle I along the lane line direction;
calculating the willingness degree lambda 3 under the influence of the relative speed between the vehicle 4 and the first vehicle;
calculating the willingness degree lambda 4 under the influence of the traffic lane congestion degree;
calculating the willingness degree lambda 5 under the influence of the longitudinal distance between the vehicle III and the vehicle I;
calculating the willingness degree lambda 6 under the influence of the running speed ratio of the vehicle III to the vehicle I;
λ ═ max { λ 1, λ 2, λ 3, λ 4, λ 5, λ 6} (formula one);
and calculating the willingness degree lambda from the vehicle 4 to the vehicle II according to the formula I.
In the technical solution of this embodiment, the willingness degrees λ 1, λ 2, λ 3, λ 4, λ 5, and λ 6 are preferably obtained by the following calculation:
(1) firstly, a will degree is calculated according to the current actual acceleration A of the vehicle 4, then an increment delta lambda of the will degree is calculated according to the duration time of the acceleration A, the increment changes along with the increase of the duration time, the slope of an increment curve corresponding to different accelerations A is different, the larger the value of the acceleration A is, the larger the slope is, the more the will degree lambda 4 is the sum of the will degree corresponding to the actual acceleration A and the increment of the will degree, but the sum of the two and 1 should be small.
A coordinate system is established by taking the current actual acceleration A of the vehicle 4 as an abscissa and the willingness degree lambda 1 as an ordinate, and the functional relationship between the willingness degree lambda 1 and the current actual acceleration A of the vehicle 4 is shown in FIG. 3(a),
Figure RE-GDA0002365098350000131
a represents the actual acceleration of the vehicle 4;
k1the slope of a straight line representing the functional relationship between the actual acceleration of the vehicle 4 and the willingness factor lambda 4;
A1characterised by a fixed acceleration value on the axis of abscissa, e.g. A10.1g was taken. Where A is1To be able to adjust the amount of calibration.
Δ λ represents the increase in willingness of the actual acceleration of the vehicle 4 to exceed the acceleration threshold for a certain time.
Referring to fig. 3(b), a coordinate system is established with the abscissa as the time during which the actual acceleration of the vehicle 4 exceeds the acceleration threshold value, and the ordinate as the willingness degree increment Δ λ, and the functional relationship between the time during which the actual acceleration of the vehicle 4 exceeds the acceleration threshold value and the willingness degree increment Δ λ is shown in fig. 3 (b).
In fig. 3(a) and 3(b), the maximum value of the ordinate is 1, and the abscissa value, the ordinate value, and the slope of the straight line of the break point are adjustable calibration parameters.
(2) The calculation of said willingness degree a 2 includes,
calculating L1 ═ a + B, A ═ S1-S2+ V1 × (T)r+D；
A represents the distance to be kept from the vehicle 4 when the vehicle runs at a running speed V2;
b denotes the deceleration a of the vehicle 4xA travel distance decelerated from the travel speed V1 to the travel speed V2;
l1 is the initial spacing between vehicle 4 and vehicle one;
v1 is the running speed of the vehicle 4;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the vehicle 4 to the stop;
s2 is the braking distance from braking to stopping of the vehicle;
Tris the brake reaction time of the vehicle 4;
d is the safe parking distance between the vehicle 4 and the first vehicle when the two vehicles are braked to stop;
when B is equal to (L1-A) less than or equal to 0, the willingness degree lambda 2 is equal to 1;
when B ═ L1-a) > 0 and V1 ≦ V2, the desirability λ 2 is 0;
when B ═ L1-a) > 0, and V1 > V2, deceleration a of the pre-track vehicle is calculated according to equation twox：
Figure RE-GDA0002365098350000151
Presetting the deceleration a of the comfort braking according to the driver characteristicsThresReferring to FIG. 4, at a deceleration aThresAnd deceleration axThe difference value of (A) is an abscissa, the willingness degree lambda 2 is an ordinate to establish a coordinate system, the willingness degree lambda 2 and the deceleration aThresAnd deceleration axThe functional relationship between the difference values of (a) and (b) is:
Figure RE-GDA0002365098350000152
wherein a represents a preset comfort braking deceleration a of the vehicle 4ThresAnd deceleration axA difference of (d);
k2characterizing deceleration aThresAnd deceleration axThe slope of a straight line of a functional relation between the difference value of (a) and the willingness degree lambda 2;
a1characterised by a fixed value of deceleration on the axis of abscissa, e.g. a10.5g was taken. Which is an adjustable calibration quantity.
In fig. 4, the maximum value of the ordinate of the vertical axis is 1, and the abscissa value, the ordinate value, and the slope of the straight line of the break point are all adjustable calibration parameters.
(3) A coordinate system is established by taking the relative speed of the vehicle 4 and the first vehicle as an abscissa and the willingness degree lambda 3 as an ordinate, and the functional relation between the relative speed of the vehicle 4 and the first vehicle and the lambda 3 is shown in figure 5,
Figure RE-GDA0002365098350000161
wherein X represents the relative speed of the vehicle 4 and the first vehicle;
k3a slope of a straight line representing a functional relation between the relative speed of the vehicle 4 and the first vehicle and the willingness degree lambda 3;
x1 represents a fixed speed value on the axis of abscissa, for example, X1 is V1, and V1 is the running speed of the vehicle 4. Here X1 is a variable that can be calibrated.
In fig. 5, the maximum value of the ordinate of the vertical axis is 1, and the abscissa value, the ordinate value, and the slope of the straight line of the break point are all adjustable calibration parameters.
(4) The willingness degree lambda 4 is calculated according to the formula four,
Figure RE-GDA0002365098350000162
the rho 1 represents the congestion degree in front of the lane where the pre-lane-changing vehicle is located;
and rho 2 represents the congestion degree in front of the lane where the second vehicle is located.
When calculating the congestion degree, the congestion degree is represented by the number of vehicles within a certain distance, for example, 6 vehicles within 100mm in front, and the calculated congestion degree is
Figure RE-GDA0002365098350000171
(5) The calculation of said willingness degree a 5 includes,
calculating A ═ S1-S2+ V1 ═ Tr+D
A represents a distance that the vehicle 4 needs to keep from the vehicle when traveling at a traveling speed V2;
v1 is the running speed of the vehicle 4;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the vehicle 4 to the stop;
s2 is the braking distance from braking to stopping of the vehicle;
Tris the brake reaction time of the vehicle 4;
d is the safe parking distance between the vehicle 4 and the first vehicle when the two vehicles are braked to stop;
l1 is the initial spacing between vehicle 4 and vehicle one;
when L1 > a + Δ 1, λ 5 ═ 0; here, Δ 1 represents a fixed distance value, which is an adjustable calibration quantity.
When L1 is less than or equal to a + Δ 1, the desirability λ 5 is related to the distance between the first vehicle and the third vehicle along the lane line, a coordinate system is established with the distance between the first vehicle and the third vehicle along the lane line as an abscissa and the desirability λ 5 as an ordinate, the functional relationship between the desirability λ 5 and the distance between the first vehicle and the third vehicle along the lane line is shown in fig. 6,
Figure RE-GDA0002365098350000181
e represents the distance between the first vehicle and the third vehicle along the lane line;
k4representing the slope of a straight line of a functional relation between the distance between the first vehicle and the third vehicle along the lane line and the willingness degree lambda 5;
e1 and E2 represent two fixed distance values on the abscissa axis, wherein E1 takes 2m, and E2 takes 0.5s V1; both E1 and E2 are calibrated quantities that can be adjusted.
In fig. 6, the maximum value of the ordinate of the vertical axis is 1, and the abscissa value, the ordinate value, and the slope of the straight line of the break point are all adjustable calibration parameters.
(6) The calculation of said willingness degree a 6 includes,
calculating A ═ S1-S2+ V1 ═ Tr+D
A represents a distance that the vehicle 4 needs to keep from the vehicle when traveling at a traveling speed V2;
v1 is the running speed of the vehicle 4;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the vehicle 4 to the stop;
s2 is the braking distance from braking to stopping of the vehicle;
Tris the brake reaction time of the vehicle 4;
d is the safe parking distance between the vehicle 4 and the first vehicle when the two vehicles are braked to stop;
l1 is the initial spacing between vehicle 4 and vehicle one;
when L1 > a + Δ 2, λ 6 ═ 0. Here, Δ 2 represents a fixed distance value, which is an adjustable calibration quantity.
When L1 is less than or equal to a + Δ 2, the willingness degree λ 6 is related to the running speed ratio F of the vehicle three to the vehicle one, a coordinate system is established with the running speed ratio of the vehicle three to the vehicle one as an abscissa and the willingness degree λ 6 as an ordinate, and referring to fig. 7, the functional relationship between the willingness degree λ 6 and the running speed ratio F of the vehicle three to the vehicle one is as follows:
Figure RE-GDA0002365098350000191
f represents the ratio of the three driving speeds of the vehicle to the one driving speed of the vehicle;
f1 and F2 characterize two fixed values on the abscissa. For example, F1 is 1, and F2 is 1.5. Here, F1 and F2 are both adjustable calibration amounts.
k5The slope of a straight line representing the functional relation between the driving speed ratio of the vehicle III and the vehicle and the willingness degree lambda 6;
λ*the characterization is a fixed value which is greater than zero and less than or equal to 1 and is an adjustable calibration quantity.
In fig. 6, the maximum value of the ordinate of the vertical axis is 1, and the abscissa value, the ordinate value, and the slope of the straight line of the break point are all adjustable calibration parameters.
The willingness degree of the pre-lane changing vehicle to the target lane before the first vehicle in front of the pre-lane changing vehicle is calculated by combining the running state data of the pre-lane changing vehicle, the first vehicle in front of the pre-lane changing vehicle in the target lane and the running state data of the four vehicles in front of the second vehicle in front of the pre-lane changing vehicle in the target lane, and whether the pre-lane changing vehicle can change to the place in front of the first vehicle in front of the target lane is predicted according to the willingness degree, so that the factor that the surrounding vehicles interfere with the decision-making vehicle is effectively eliminated, and the decision-making reliability of the vehicle is improved; meanwhile, the data analysis calculation amount of a prediction module in the automatic driving system is effectively reduced, the operation difficulty and the operation cost of the automatic driving system are reduced, and the delay time of decision making is effectively improved.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims (10)

1. A prediction method before a vehicle changes lane to a target lane in automatic driving is characterized in that: comprises the following steps of (a) carrying out,
acquiring running state data of a pre-lane-changing vehicle, a vehicle I, a vehicle II and a vehicle III in a current sampling period; the first vehicle is a first vehicle in front of a lane where the lane pre-changing vehicle is located; the second vehicle is a first vehicle positioned in front of the pre-lane-changing vehicle in the target lane; the third vehicle is a second vehicle which is positioned in front of the pre-lane-changing vehicle in the target lane;
calculating the willingness degree lambda of the pre-lane-changing vehicle before changing the lane to the second vehicle by combining the driving state data of each vehicle, wherein lambda is more than or equal to 0 and less than or equal to 1;
and when the willingness degree exceeds a willingness degree threshold value, predicting that the pre-lane changing vehicle will change lanes to be ahead of the second vehicle at a future moment.
2. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 1, characterized in that: and when the transverse speed of the pre-lane-changing vehicle towards the target lane direction is less than zero and is maintained for a certain time, the willingness degree of the pre-lane-changing vehicle to change the lane to the target lane is zero.
3. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 1, characterized in that: the calculation of the willingness degree lambda includes,
there is a time t e 0, tThres]，tThresIs an adjustable standard quantity;
exists for a time t1The running speed of the pre-lane-changing vehicle is greater than that of the first vehicle within the time;
exists for a time t2The vehicle three is positioned in front of the vehicle one in the time period;
exists for a time t3The first vehicle is positioned in front of the second vehicle during the time;
exists for a time t4The pre-lane-changing vehicle is positioned in front of the second vehicle within the time;
when time t is1Time t2Time t3And time t4When intersection exists in the time t and the running speed of the pre-lane changing vehicle is greater than that of the vehicle II, calculating the willingness degree lambda and considering the actual acceleration of the pre-lane changing vehicle, the distance between the pre-lane changing vehicle and the vehicle I in the lane line direction, the influence of the relative speed between the pre-lane changing vehicle and the vehicle I, the influence of the lane congestion degree, the influence of the longitudinal distance between the vehicle III and the vehicle I, and the influence of the running speed ratio between the vehicle III and the vehicle I; otherwise, the willingness degree lambda is zero.
4. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 3, characterized in that: the calculation of the willingness degree lambda includes,
calculating the willingness degree lambda 1 of the pre-lane-changing vehicle under the influence of the actual acceleration;
calculating the willingness degree lambda 2 between the pre-lane-changing vehicle and the first vehicle under the influence of the spacing distance along the lane line direction;
calculating the willingness degree lambda 3 under the influence of the relative speed between the pre-lane-changing vehicle and the first vehicle;
calculating the willingness degree lambda 4 under the influence of the traffic lane congestion degree;
calculating the willingness degree lambda 5 under the influence of the longitudinal distance between the vehicle III and the vehicle I;
calculating the willingness degree lambda 6 under the influence of the running speed ratio of the vehicle III to the vehicle I;
λ ═ max { λ 1, λ 2, λ 3, λ 4, λ 5, λ 6} (formula one);
and calculating the willingness degree lambda of the pre-lane-changing vehicle before changing the lane to the vehicle II according to the formula I.
5. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 4, characterized in that: the willingness degree lambda 1 is calculated according to the formula one,
Figure FDA0002306703440000021
a represents the actual acceleration of the pre-lane-changing vehicle;
k1representing the slope of a straight line of a functional relation between the actual acceleration of the pre-lane-changing vehicle and the willingness degree lambda 1;
A1representing a fixed acceleration value of an acceleration axis of the actual acceleration of the pre-lane-changing vehicle;
Δ λ represents the willingness increment of the pre-lane-change vehicle for a certain time period when the actual acceleration exceeds the acceleration threshold.
6. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 4, characterized in that: the calculation of said willingness degree a 2 includes,
calculating L1 ═ a + B, A ═ S1-S2+ V1 × (T)r+D；
A represents the distance which needs to be kept between the pre-lane changing vehicle and the vehicle when the pre-lane changing vehicle runs at a running speed V2;
b characterizes the pre-lane change vehicle at deceleration axA travel distance decelerated from the travel speed V1 to the travel speed V2;
l1 is the initial spacing between the pre-lane changing vehicle and vehicle one;
v1 is the running speed of the pre-lane changing vehicle;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the pre-lane changing vehicle to the stopping;
s2 is the braking distance from braking to stopping of the vehicle;
Trthe brake reaction time of the pre-lane-change vehicle;
d is a safe parking distance between the pre-lane-changing vehicle and the first vehicle when the first vehicle is braked to stop;
when B is equal to (L1-A) less than or equal to 0, the willingness degree lambda 2 is equal to 1;
when B ═ L1-a) > 0 and V1 ≦ V2, the desirability λ 2 is 0;
when B ═ L1-a) > 0, and V1 > V2, deceleration a of the pre-track vehicle is calculated according to equation twox：
Figure FDA0002306703440000041
Calculating the willingness degree lambda 2 according to a formula II:
Figure FDA0002306703440000042
wherein a represents a preset comfort braking deceleration a of the pre-track-changing vehicleThresAnd deceleration axA difference of (d);
k2characterizing deceleration aThresAnd deceleration axThe slope of a straight line of a functional relation between the difference value of (a) and the willingness degree lambda 2;
a1characterizing deceleration aThresAnd deceleration axA fixed deceleration value on the deceleration axis.
7. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 4, characterized in that: the willingness degree lambda 3 is calculated according to the formula three,
Figure FDA0002306703440000043
the method comprises the following steps that X represents the relative speed of a pre-lane-changing vehicle and a first vehicle;
k3representing the slope of a straight line of a functional relation between the relative speed of the pre-lane-changing vehicle and the first vehicle and the willingness degree lambda 3;
x1 represents a fixed speed value on the speed axis of the relative speed of the pre-lane changing vehicle to the first vehicle.
8. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 4, characterized in that: the willingness degree lambda 4 is calculated according to the formula four,
Figure FDA0002306703440000044
the rho 1 represents the congestion degree in front of the lane where the pre-lane-changing vehicle is located;
and rho 2 represents the congestion degree in front of the lane where the second vehicle is located.
9. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 4, characterized in that: the calculation of said willingness degree a 5 includes,
calculating A ═ S1-S2+ V1 ═ Tr+D
A represents the distance which needs to be kept with the vehicle when the pre-lane-changing vehicle runs at the running speed V2;
v1 is the running speed of the pre-lane changing vehicle;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the pre-lane changing vehicle to the stopping;
s2 is the braking distance from braking to stopping of the vehicle;
Trthe brake reaction time of the pre-lane-change vehicle;
d is a safe parking distance between the pre-lane-changing vehicle and the first vehicle when the first vehicle is braked to stop;
l1 is the initial spacing between the pre-lane changing vehicle and vehicle one;
when L1 > a + Δ 1, λ 5 ═ 0;
when L1 is less than or equal to A + delta 1, calculating the willingness degree lambda 5 according to the formula five,
Figure FDA0002306703440000051
wherein Δ 1 represents a fixed distance value;
e, representing the distance between the first vehicle and the third vehicle along the lane line;
k4representing the slope of a straight line of a functional relation between the distance between the first vehicle and the third vehicle along the lane line and the willingness degree lambda 5;
e1 and E2 characterize two fixed distance values between vehicle one and vehicle three on the distance axis along the lane line distance.
10. The prediction method before a vehicle changes lane to a target lane ahead in autonomous driving according to claim 4, characterized in that: the calculation of said willingness degree a 6 includes,
calculating A ═ S1-S2+ V1 ═ Tr+D
A represents the distance which needs to be kept with the vehicle when the pre-lane-changing vehicle runs at the running speed V2;
v1 is the running speed of the pre-lane changing vehicle;
v2 is the running speed of the first vehicle;
s1 is the braking distance from the braking of the pre-lane changing vehicle to the stopping;
s2 is the braking distance from braking to stopping of the vehicle;
Trthe brake reaction time of the pre-lane-change vehicle;
d is a safe parking distance between the pre-lane-changing vehicle and the first vehicle when the first vehicle is braked to stop;
l1 is the initial spacing between the pre-lane changing vehicle and vehicle one;
when L1 > a + Δ 2, λ 6 ═ 0;
when L1 is less than or equal to A + delta 2, the willingness degree lambda 6 is calculated according to the formula six,
Figure FDA0002306703440000061
wherein Δ 2 represents a fixed distance value;
f represents the ratio of the three driving speeds of the vehicle to the one driving speed of the vehicle;
f1 and F2 represent two fixed values on an axis of a running speed ratio of the third vehicle and the first vehicle;
k5the slope of a straight line representing the functional relation between the driving speed ratio of the vehicle III and the vehicle and the willingness degree lambda 6;
λ*a fixed value greater than zero and less than or equal to 1 is characterized.
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