CN115503718B

CN115503718B - A curve-based vehicle lane-changing assistance system

Info

Publication number: CN115503718B
Application number: CN202211314574.7A
Authority: CN
Inventors: 赵志国; 万小康; 庞敏; 毛康康; 王瑞; 魏晓倩
Original assignee: Huaiyin Institute of Technology
Current assignee: Huaiyin Institute of Technology
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2024-11-29
Anticipated expiration: 2042-10-25
Also published as: CN115503718A

Abstract

A vehicle auxiliary lane-changing system based on curves includes a controller, which includes a single-chip microcomputer module, a laser radar module connected to the single-chip microcomputer module, a buzzer alarm module, a curve module and a power module; the laser radar module is connected to the laser radar signal installed at the bottom of the vehicle, and the laser probe of the laser radar periodically emits lasers to the surroundings. According to the unified reference coordinates, the returned data is analyzed, and the distance from the vehicle to the shoulders on both sides can be measured to determine the lane where the vehicle is located, as well as the surrounding environmental vehicle information; the curve analysis module safely plans a curved overtaking lane-changing path according to the relative distance between the vehicle's own position and the target position, as well as the relative speed of the vehicle. The system of the present invention is simple and easy to implement, reduces the occurrence of traffic accidents, avoids unsafe traffic behaviors caused by fatigue driving, and ensures the life safety of drivers.

Description

Vehicle auxiliary lane changing system based on curve

Technical Field

The invention relates to the technical field of intelligent driving and active safety, in particular to a curve-based vehicle auxiliary lane changing system.

Background

Overtaking is a common driving behavior in the running process of a vehicle, and related statistics show that road traffic accidents caused by overtaking account for about 20% of the total number of accidents each year, wherein most accidents are caused by human factors. In the overtaking process, the human driver is difficult to accurately acquire surrounding driving environment information due to the limitation of self-perception capability, and the overtaking track cannot be reasonably planned, so that traffic accidents are caused. The unmanned vehicle can acquire rich environmental information through the vehicle-mounted sensing sensor, and a safe driving track is planned in real time by combining the driving condition change of the unmanned vehicle and surrounding vehicles.

The invention provides a method for planning smooth tracks of intelligent vehicles on a structured road, which is characterized in that the invention has the application number 201810337901.8, the invention provides a method for planning smooth tracks of intelligent vehicles on a structured road, whether vehicles exist in front of a current driving lane of the vehicle or not is detected through a sensor, the collision time is taken as an overtaking condition, the driving state of the vehicles on a target lane is detected on the premise that the overtaking condition is met, a local grid map is established, all possible tracks are planned, and finally track evaluation and optimal track screening are carried out.

However, the above patent of the invention makes an overtaking condition and can dynamically generate an overtaking track, but ignores whether the vehicle of the rear vehicle can form a potential safety hazard in the overtaking process, and does not consider the rear and rear situations of the vehicle to form the potential safety hazard.

Disclosure of Invention

Aiming at the technical problems, the technical scheme provides the curve-based vehicle auxiliary lane changing system, which correspondingly adjusts according to the relative speed and distance between vehicles in the driving environment and the change information of other environments around the vehicles to meet driving requirements, and the vehicles can accurately evaluate the passing requirements of safety lane changing so as to ensure safe driving of the vehicles, thereby effectively solving the problems.

The invention is realized by the following technical scheme:

the curve-based auxiliary lane change system for the vehicle comprises a controller, wherein the controller comprises a single chip microcomputer module, a laser radar module, a buzzing alarm module, a curve module and a power module, wherein the laser radar module, the buzzing alarm module, the curve module and the power module are connected with the single chip microcomputer module, the laser radar module is connected with a laser radar signal installed at the bottom of the vehicle, a laser probe of the laser radar periodically emits laser to the periphery, the transmitted data are analyzed according to uniformly referenced coordinates, the distance from the vehicle to two sides of the road shoulders is taken as reference coordinates to determine the lane where the vehicle is located, and surrounding environment vehicle information, and the specific formula for analyzing the transmitted data is as follows:

3.75+3.75+3.5>l_i1>3.75+3.5_;

3.75+3.5>l_i2>3.5

Wherein T is the time from the emission to the return of the laser, C is the speed of the laser, l _i is the laser length emitted by the probe of the laser radar to the rightmost road shoulder, the laser length emitted at the same time is greatly different because the laser radar scans the surrounding 360-degree plane emission laser, the length range is optimized more precisely for the result, the length range is more or less than the length range, l _a is the average length of all the laser lengths in the optimized range, and the lane on which the vehicle runs can be judged after the average length of the laser returned after reaching the road shoulder is provided, wherein the formula is as follows:

wherein Wc is the width of the vehicle itself, and the driving lanes where D1 and D2 are located are the first lane and the second lane.

The laser radar comprises a laser probe, a laser radar, a target vehicle, a safety distance point formula and a speed sensor, wherein the laser probe of the laser radar can determine the distance between the laser probe and the front vehicle, then the overtaking acceleration of the laser probe can be determined by utilizing the cooperation of time and the distance, the tail of the laser radar belongs to a dangerous area when the laser probe exceeds a target vehicle and turns left and right, the width of the laser radar and the safety distance required by the laser radar when the laser probe turns left and right are used as radiuses to form a circle, the circle range is a determined dangerous area, the minimum turning angle during turning is the tangential angle of a point on the circle area, and the latest starting point during turning is the minimum safety distance, and the minimum safety distance point formula is as follows:

where vi is the instantaneous speed within one second at a certain time, si is the distance between the moment ti and the preceding vehicle, ti is the time parameter with 1 second per interval time, and can be arbitrarily more, deltav is the relative speed, v1 is the speed within the moment t1, v2 is the speed within the moment t2, v3 is the speed within the moment t3, as long as vi is enough, the relative speed is more accurate, a is the acceleration of the own vehicle, deltat is the relative time, the sum of ti in the time range is divided by i, t is the running time of the own vehicle when the own vehicle starts to get overtake and the preceding vehicle, S is the running distance of the preceding vehicle, xmin is the minimum safe distance of the own vehicle when the own vehicle gets overtake, the latest steering starting point when the vehicle overtakes the preceding vehicle can be determined by the minimum safe distance, the distance from the point to the preceding vehicle is equal to Xmin, and then the curve of the auxiliary lane change is generated according to the specific latest steering starting point and limiting point.

And when the distance between the vehicle position and the front vehicle position is smaller than the safe distance when the vehicle is ready to overtake the lane change, the buzzer alarm module sends an alarm through the voice broadcasting device after receiving the command to prompt that the lane cannot be overtaken at the moment.

Further, the singlechip module adopts an STM32 singlechip, is connected with a main controller of the automobile, receives command signals of the main controller, and performs information interaction with a laser radar and a voice broadcasting device respectively through the laser radar module and the buzzer alarm module.

Further, the curve module safely plans a curve-shaped overtaking lane change path according to the relative distance between the position of the vehicle and the target position and the relative speed of the vehicle.

Advantageous effects

Compared with the prior art, the curve-based vehicle auxiliary lane changing system provided by the invention has the following beneficial effects:

(1) According to the technical scheme, the driving requirements are met by correspondingly adjusting according to the relative speed and distance between vehicles in the driving environment and the change information of other environments around the vehicles, the vehicles can accurately evaluate the passing requirements of safety lane changing, the reliability is high, the system is stable, the driving of the vehicles by the drivers is assisted under certain road conditions, the driving speed and the safety distance of the drivers are assisted to be warned, and the driving safety of the drivers is improved.

(2) According to the technical scheme, the distance between the laser radar and a front vehicle is determined through the laser probe of the laser radar, the overtaking acceleration of the vehicle can be determined through the cooperation of time and distance, when the vehicle passes through a target vehicle and turns left and right to change a lane, the width of the vehicle and the safety distance required by the vehicle when turning left and right are taken as radiuses to make a circle, the circle range is a determined dangerous area, the minimum turning angle in lane changing is the tangential direction angle of one point on the circular area, the latest starting point in lane changing is the minimum safety distance, the curve result of auxiliary lane changing is generated according to two specific points, the safety distance behind the vehicle is considered, the dangerous area at the rear of the vehicle is avoided, and the safety of the vehicle in overspeed is further improved.

Drawings

Fig. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic coverage diagram of laser emitted by the laser radar in the present invention.

Fig. 3 is a schematic diagram of a curve-changing road line planned in the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some, but not all, embodiments of the invention. Various modifications and improvements of the technical scheme of the invention, which are made by those skilled in the art, are included in the protection scope of the invention without departing from the design concept of the invention.

Example 1:

As shown in FIG. 1, the curve-based vehicle auxiliary lane change system comprises a controller, wherein the controller comprises a single chip microcomputer module, and a laser radar module, a buzzer alarm module, a curve module and a power module which are connected with the single chip microcomputer module.

The SCM module adopts an STM32 SCM, is connected with a master controller of the automobile, receives command signals of the master controller, and performs information interaction with a laser radar and a voice broadcasting device through the laser radar module and the buzzer alarm module.

The buzzer alarm module is connected with a voice broadcasting device arranged in the vehicle, and sends out an alarm prompt when the distance between the vehicle and the front vehicle is smaller than the safety distance, and sends out an alarm through the voice broadcasting device after receiving a command when the distance between the vehicle and the front vehicle is smaller than the safety distance when the vehicle is ready to overtake and change the lane, so that the vehicle cannot overtake and change the lane at the moment.

The curve module safely plans a curve-shaped overtaking lane change path according to the relative distance between the position of the vehicle and the target position and the relative speed of the vehicle.

The laser radar module is connected with a laser radar signal installed in the center of the vehicle bottom, a laser probe of the laser radar periodically emits laser to the periphery, the transmitted data are analyzed according to the uniformly referenced coordinates, the distance from the vehicle to the shoulders at two sides can be obtained by taking the rightmost shoulders as the referenced coordinates to determine the lane where the vehicle is located and surrounding vehicle information, and the specific formula for analyzing the transmitted data is as follows:

3.75+3.75+3.5>l_i1>3.75+3.5_;

3.75+3.5>l_i2>3.5

wherein W _c is the width of the vehicle, and the driving lanes where D1 and D2 are located are the first lane and the second lane.

The laser radar laser probe is characterized in that the laser probe of the laser radar can determine the distance between the laser probe and a front vehicle, and then determine the overtaking acceleration of the laser radar by utilizing the cooperation of time and distance, wherein the tail part of the laser radar is in a dangerous area when the laser radar is overtaken by a target vehicle and turns left and right, the width of the laser radar and the safety distance required by the laser radar when the laser radar is turned left and right are used as radiuses to form a circle, the circle range is a determined dangerous area, the minimum turning angle during turning is the tangential direction angle of a point on the circle area, the latest starting point during turning is the minimum safety distance, and the minimum safety distance point formula is as follows:

Where v _i is the instantaneous speed within a second at a certain time, S _i is the distance between the time t _i and the preceding vehicle, t _i is a time parameter with 1 second per time interval, Δv is the relative speed, v ₁ is the speed within the time t ₁, v ₂ is the speed within the time t ₂, v ₃ is the speed within the time t ₃, as long as v _i is sufficiently high, the more accurate the relative speed is, a is the acceleration of the vehicle, Δt is the relative time, the sum of t _i in the time range is divided by i, t is the travel time of the vehicle in common with the preceding vehicle when the vehicle starts to get overtaking, S _{Self-supporting} is the travel distance of the vehicle, S _{Front part} is the travel distance of the vehicle in front, X _min is the minimum safe distance of the vehicle when the vehicle overtakes the vehicle in front, the latest steering start point when the vehicle overtaking the lane is determined by the minimum safe distance, the distance from the point to the vehicle in front vehicle is equal to X _min, and then the curve steering assist point is generated according to the specific latest and auxiliary lane change point. As shown in fig. 3.

Claims

1. A curve-based vehicle lane-changing assistance system, comprising a controller; characterized in that: the controller comprises a single-chip microcomputer module, and a laser radar module, a buzzer alarm module, a curve module and a power module connected to the single-chip microcomputer module; the curve module safely plans a curved overtaking lane-changing path according to the relative distance between the vehicle's own position and the target position, as well as the relative speed of the vehicle; the laser radar module is connected to the laser radar signal installed at the bottom of the vehicle; the laser probe of the laser radar periodically emits lasers to the surroundings, and analyzes the returned data according to the unified reference coordinates, and takes the rightmost shoulder as the reference coordinate, and can determine the lane where the vehicle is located, as well as the surrounding environmental vehicle information by obtaining the distance from the vehicle to the shoulders on both sides; the specific formula for analyzing the returned data is:

3.75+3.75+3.5＞l _i1 ＞3.75+3.5;

3.75+3.5＞l _i2 ＞3.5;

Where, T is the time from laser emission to return; C is the speed of the laser; l _i is the length of the laser emitted by the laser radar probe to the rightmost shoulder. Since the laser radar scans the surrounding 360° plane, the length of the laser emitted at the same time varies greatly. In order to optimize the length range more accurately, the lengths exceeding or below the range are discarded. l _a is the average length of all laser lengths within the optimization range. With the average length of the laser returned after reaching the shoulder, the lane the vehicle is traveling in can be determined. The formula is:

Where _Wc is the width of the vehicle, D1 and D2 are the first and second lanes respectively;

The laser probe of the laser radar can determine the distance to the vehicle in front by emitting laser light, and then determine the acceleration of overtaking by using the combination of time and distance; when the vehicle overtakes the target vehicle and changes lanes left or right, the rear of the vehicle belongs to the danger zone; a circle is made with the width of the vehicle and the safety distance required for the vehicle to turn left or right as the radius, and the circular range is the determined danger zone. The minimum steering angle when changing lanes is the tangent direction angle of a point on the circular area, and the latest starting point when changing lanes is the minimum safety distance. The formula for the minimum safety distance point is:

Wherein, _vi is the instantaneous speed within one second at a certain moment, _Si is the distance to the front vehicle at moment _ti , _ti is a time parameter with each interval of 1 second, which can be any number; Δv is the relative speed, _v1 is the speed at moment _t1 , _v2 is the speed at moment _t2 , and _v3 is the speed at moment _t3 . As long as there are enough _vi , the relative speed will be more accurate; a is the acceleration of the own vehicle, Δt is the relative time, which is obtained by adding _ti within the time range and dividing it by i, t is the common driving time between the own vehicle and the front vehicle when the own vehicle starts to prepare for overtaking, _Sself is the distance traveled by the own vehicle, _Sfront is the distance traveled by the front vehicle, and _Xmin is the minimum safe distance for the own vehicle when overtaking the front vehicle;

The minimum safety distance can be used to determine the latest turning starting point when the vehicle overtakes and changes lanes. The distance from this point to the vehicle in front is equal to X _min . Then, the curve result of the auxiliary lane change is generated based on this specific latest turning starting point and the restriction point.

2. According to claim 1, a curve-based vehicle assisted lane changing system is characterized in that: the buzzer alarm module is connected to a voice announcer installed in the vehicle, and an alarm is issued when the distance between the vehicle and the vehicle in front is less than a safe distance; and when the vehicle is preparing to overtake and change lanes, when the distance between the vehicle and the vehicle in front is less than a safe distance, the buzzer alarm module receives the command and issues an alarm through the voice announcer, prompting that overtaking and lane changing is not possible at this time.

3. According to claim 2, a curve-based vehicle assisted lane changing system is characterized in that: the single-chip microcomputer module adopts an STM32 single-chip microcomputer, the single-chip microcomputer module is connected to the main controller of the car, receives the command signal of the main controller, and interacts with the laser radar and the voice announcer through the laser radar module and the buzzer alarm module respectively.