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WO2022007655A1 - 一种自动换道方法、装置、设备及存储介质 - Google Patents

一种自动换道方法、装置、设备及存储介质 Download PDF

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Publication number
WO2022007655A1
WO2022007655A1 PCT/CN2021/102704 CN2021102704W WO2022007655A1 WO 2022007655 A1 WO2022007655 A1 WO 2022007655A1 CN 2021102704 W CN2021102704 W CN 2021102704W WO 2022007655 A1 WO2022007655 A1 WO 2022007655A1
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Prior art keywords
current vehicle
vehicle
adjacent
lane
current
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PCT/CN2021/102704
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English (en)
French (fr)
Inventor
张航
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中国第一汽车股份有限公司
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Publication of WO2022007655A1 publication Critical patent/WO2022007655A1/zh

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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—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
    • B60W2520/10—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Definitions

  • the embodiments of the present application relate to vehicle technologies, for example, to an automatic lane changing method, apparatus, device, and storage medium.
  • This strategy only considers self-vehicle travel and trajectory planning, and does not consider how to implement the automatic driving lane change strategy in complex scenarios.
  • Embodiments of the present application provide an automatic lane changing method, device, device, and storage medium, so as to realize an automatic lane changing function by adding an active avoidance strategy to a vehicle driving scenario in an actual automatic driving design operation domain (Operational Design Domain, ODD).
  • ODD Operaational Design Domain
  • an embodiment of the present application provides an automatic lane changing method, including:
  • the current vehicle adjacent vehicles are behind the current vehicle, and the current vehicle parameter information, the current vehicle adjacent vehicle information and the current vehicle environment information satisfy In the preset condition, the current vehicle changes lanes to the adjacent right lane.
  • an embodiment of the present application also provides an automatic lane changing device, the device comprising:
  • an acquisition module set to acquire the current vehicle parameter information, the current vehicle adjacent vehicle information and the current vehicle environment information
  • the lane changing module is configured to respond that the adjacent vehicle of the current vehicle is in the same lane as the current vehicle, the adjacent vehicle of the current vehicle is behind the current vehicle, and the current vehicle parameter information, the current vehicle adjacent vehicle information and the current vehicle are in the same lane.
  • the environmental information of the vehicle meets the preset conditions, and the current vehicle changes lanes to the adjacent right lane.
  • an embodiment of the present application further provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor, the processor implementing the program as described in the present application when the processor executes the program.
  • a computer device including a memory, a processor, and a computer program stored in the memory and running on the processor, the processor implementing the program as described in the present application when the processor executes the program. The method of any one of the embodiments.
  • an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the method described in any one of the embodiments of the present application.
  • Fig. 1 is the flow chart of a kind of automatic lane changing method in the first embodiment of the present application
  • FIG. 1a is a schematic diagram of a control system module in Embodiment 1 of the present application.
  • FIG. 1b is a schematic diagram of the distribution of sensors outside the vehicle in Embodiment 1 of the present application.
  • Fig. 1c is the flow chart of active avoidance and lane change in Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of an automatic lane changing device in Embodiment 2 of the present application.
  • FIG. 3 is a schematic structural diagram of a computer device in Embodiment 3 of the present application.
  • Embodiment 1 is a flowchart of an automatic lane changing method provided in Embodiment 1 of the present application. This embodiment is applicable to the situation of automatic lane changing.
  • the method can be executed by the automatic lane changing device in the embodiment of the present application.
  • the device It can be implemented in software and/or hardware. As shown in FIG. 1 , the method includes steps S110 to S120.
  • S110 Acquire current vehicle parameter information, information on adjacent vehicles of the current vehicle, and information on the environment where the current vehicle is located.
  • the current vehicle parameter information includes at least one of: the speed of the current vehicle, the acceleration of the preceding vehicle, the route indicated by the map of the current vehicle, and the size of the vehicle.
  • the adjacent vehicle information of the current vehicle includes at least one of the speed of the adjacent vehicle, the acceleration of the adjacent vehicle, the type of the adjacent vehicle, and the size of the adjacent vehicle.
  • the information about the environment where the current vehicle is located includes: the road segment where the current vehicle is located (for example, an urban expressway segment or a high-speed road segment), the lane where the current vehicle is located, the lane lines on both sides of the lane where the current vehicle is located, visibility, horizontal At least one of a slope slope, a longitudinal slope slope, and a curve radius of curvature.
  • the distance between the current vehicle and the adjacent vehicle, the speed of the adjacent vehicle, the acceleration of the adjacent vehicle, etc. are collected by the millimeter-wave radar set on the vehicle, and the The camera collects information about the current environment where the vehicle is located. It is also possible to collect images of adjacent vehicles of the current vehicle through the rear-view camera, and query the database according to the images of the adjacent vehicles to obtain the types of adjacent vehicles.
  • the preset condition may be that the adjacent vehicle of the current vehicle is the target vehicle and the collision time distance between the adjacent vehicle of the current vehicle and the current vehicle is less than a first threshold; it may also be that the adjacent vehicle of the current vehicle and the current vehicle The vehicle collision time distance is less than the first threshold, and the relative acceleration rate of change between the adjacent vehicles of the current vehicle and the current vehicle is greater than the second threshold; it may also be that the current vehicle is in an urban expressway section or a high-speed road section, and the current vehicle is located in the lane of the two lanes.
  • the side lane lines are clear and unobstructed, the visibility is greater than the visibility threshold, the slope of the cross slope where the current vehicle is located is less than or equal to the first slope threshold, the slope of the longitudinal slope where the current vehicle is located is less than or equal to the second slope threshold, and the curvature of the curve where the current vehicle is located
  • the radius is greater than or equal to the curvature radius threshold, the adjacent vehicles of the current vehicle are in the same lane as the current vehicle, the adjacent vehicles of the current vehicle are behind the current vehicle, the adjacent vehicles of the current vehicle are the target vehicles, and the current vehicle is in the same lane.
  • the collision time between the adjacent vehicle and the current vehicle is less than the first threshold; or it may be that the current vehicle is on an urban expressway section or a high-speed road section, the lane lines on both sides of the lane where the current vehicle is located are clear and unobstructed, the visibility is greater than the visibility threshold, and the current vehicle is in
  • the slope of the transverse slope is less than or equal to the first slope threshold
  • the slope of the vertical slope where the current vehicle is located is less than or equal to the second slope threshold
  • the curvature radius of the curve where the current vehicle is located is greater than or equal to the curvature radius threshold
  • the adjacent vehicles of the current vehicle are different from the current vehicle.
  • the vehicle is in the same lane, the adjacent vehicle of the current vehicle is behind the current vehicle, the collision time distance between the adjacent vehicle of the current vehicle and the current vehicle is less than the first threshold, and the relative acceleration of the adjacent vehicle of the current vehicle and the current vehicle changes The rate is greater than the second threshold, which is not limited in this embodiment of the present application.
  • the embodiments of the present application describe an active avoidance strategy with an active lane change function.
  • the vehicle recognizes that the vehicle needs to change lanes during the driving process, it autonomously completes the issuance and execution of lane-changing instructions.
  • special vehicles such as ambulances, fire trucks, police cars, etc.
  • the vehicle needs to give up the lane to meet the above-mentioned higher priority traffic demand.
  • the active avoidance is explained as follows: Under the principle of traffic laws, the vehicle in front does not need to avoid the vehicle behind.
  • the adjacent vehicles of the current vehicle and the current vehicle are in the same lane, the adjacent vehicles of the current vehicle are behind the current vehicle, and the current vehicle parameter information, the information of the adjacent vehicles of the current vehicle, and the current vehicle are located in the same lane.
  • the environmental information meets the preset conditions, and the current vehicle changes lanes to the adjacent right lane, including:
  • the vehicle adjacent to the current vehicle is in the same lane as the current vehicle, the vehicle adjacent to the current vehicle is behind the current vehicle, the vehicle adjacent to the current vehicle is the target vehicle, and the vehicle adjacent to the current vehicle collides with the current vehicle If the distance is less than the first threshold, then determine the path information for the current vehicle to change lanes to the adjacent right lane according to the current vehicle speed, the speed of adjacent vehicles of the current vehicle, the distance between the current vehicle and the adjacent vehicles of the current vehicle, and the environment information where the current vehicle is located;
  • the adjacent vehicles of the current vehicle and the current vehicle are in the same lane, the adjacent vehicles of the current vehicle are behind the current vehicle, and the current vehicle parameter information, the information of the adjacent vehicles of the current vehicle, and the current vehicle are located in the same lane.
  • the environmental information meets the preset conditions, and the current vehicle changes lanes to the adjacent right lane, including:
  • the adjacent vehicle of the current vehicle and the current vehicle are in the same lane, the adjacent vehicle of the current vehicle is behind the current vehicle, the collision time distance between the adjacent vehicle of the current vehicle and the current vehicle is less than the first threshold, and the current vehicle The relative acceleration rate of change between the adjacent vehicle and the current vehicle is greater than the second threshold, and the current vehicle is determined according to the current vehicle speed, the speed of the current vehicle adjacent to the vehicle, the distance between the current vehicle and the adjacent vehicle of the current vehicle, and the environmental information where the current vehicle is located.
  • the current vehicle parameter information includes: a map indicating route of the current vehicle;
  • Changing lanes to the adjacent right lane according to the path information includes:
  • changing lanes to the adjacent right lane according to the path information includes:
  • the target time is the time from the time when the current vehicle performs a lane change until the center point of the head of the current vehicle is at the lane line;
  • the target lane is the right lane of the lane where the current vehicle is located;
  • the current vehicle continues to perform the lane changing operation.
  • the adjacent vehicle of the current vehicle is in the same lane as the current vehicle, and the adjacent vehicle of the current vehicle is behind the current vehicle, the adjacent vehicle of the current vehicle is the target vehicle and the adjacent vehicle of the current vehicle is the same as the current vehicle.
  • the current vehicle collision time is less than the first threshold, the current vehicle is determined to change lanes to the adjacent right lane according to the current vehicle speed, the speed of the current vehicle adjacent to the vehicle, the distance between the current vehicle and the current vehicle adjacent vehicles, and the environment information of the current vehicle.
  • the path information includes:
  • the lane lines on both sides of the lane where the current vehicle is located are clear and unobstructed, the visibility is greater than the visibility threshold, the slope of the cross slope where the current vehicle is located is less than or equal to the first slope threshold, the current vehicle is located The slope of the longitudinal slope is less than or equal to the second slope threshold, the curvature radius of the curve where the current vehicle is located is greater than or equal to the curvature radius threshold, the adjacent vehicles of the current vehicle are in the same lane as the current vehicle, and the adjacent vehicles of the current vehicle are in the current vehicle.
  • the adjacent vehicle of the current vehicle is the target vehicle and the collision time between the adjacent vehicle of the current vehicle and the current vehicle is less than the first threshold, then according to the speed of the current vehicle, the speed of the adjacent vehicles of the current vehicle, and the distance between the current vehicle and the current vehicle. The distance of the adjacent vehicle and the environment information of the current vehicle determine the path information of the current vehicle to change lanes to the adjacent right lane.
  • the collision time distance between the vehicle adjacent to the current vehicle and the current vehicle is less than a first threshold, and If the relative acceleration rate of change between the current vehicle and the current vehicle is greater than the second threshold, it is determined according to the current vehicle speed, the current vehicle's adjacent vehicle speed, the distance between the current vehicle and the current vehicle's adjacent vehicles, and the environment information where the current vehicle is located.
  • the path information of the current vehicle changing to the adjacent right lane includes:
  • the lane lines on both sides of the lane where the current vehicle is located are clear and unobstructed, the visibility is greater than the visibility threshold, the slope of the cross slope where the current vehicle is located is less than or equal to the first slope threshold, the current vehicle is located The slope of the longitudinal slope is less than or equal to the second slope threshold, the curvature radius of the curve where the current vehicle is located is greater than or equal to the curvature radius threshold, the adjacent vehicles of the current vehicle are in the same lane as the current vehicle, and the adjacent vehicles of the current vehicle are in the current vehicle.
  • the collision time between the adjacent vehicle of the current vehicle and the current vehicle is less than the first threshold, and the relative acceleration rate of change between the adjacent vehicle of the current vehicle and the current vehicle is greater than the second threshold, then according to the current vehicle speed, the current vehicle phase The speed of the adjacent vehicle, the distance between the current vehicle and the adjacent vehicle of the current vehicle, and the information on the environment where the current vehicle is located determine the path information for the current vehicle to change lanes to the adjacent right lane.
  • FIG. 1a is a block diagram of a control system, which is divided into sensing, processing, and execution blocks.
  • the perception module is divided into two parts: external information perception and in-vehicle information perception.
  • External information perception includes: 6 millimeter wave radars, front-view camera, rear-view camera and high-precision map, vehicle positioning module;
  • in-vehicle information perception includes: driver fatigue detection camera, steering wheel hand torque sensor, accelerator pedal (accelerator pedal) Signal sensor and brake pedal signal sensor.
  • the processing module includes a data fusion unit, a trajectory planning unit, and a decision control unit; the execution module includes an electronic power steering system (Electric Power Steering, EPS), an automotive electronic stability control system (Electronic Stability Program, ESP), and turn signals.
  • EPS Electronic Power Steering
  • ESP Electronic Stability Program
  • the millimeter-wave radar, the front-view camera, and the rear-view camera are set to collect target information and lane line information in the front and rear of the lane. These information will be transmitted to the data fusion unit, and the output is the front and rear target information. and line information.
  • For the output target signal behind the lane it needs to include categories such as pedestrians, bicycles, motorcycles, ordinary cars, trucks, fire engines, police cars, ambulances, and special-shaped vehicles.
  • the trajectory planning unit will combine the in-vehicle information and the outside information to plan the lane-changing trajectory of the vehicle.
  • the decision control unit will comprehensively judge based on the driver's request and the automatic driving request
  • Definition of active lane change avoidance function When the surrounding scene meets the conditions for automatic driving, the driver can choose to set the navigation destination to make the vehicle follow the navigation planning route; The staff can take off their hands, take off their feet, and can take off their eyes for a certain period of time. Keep the vehicle centered in this lane.
  • the vehicle When the rear view camera and rear radar detect that the target behind the lane is a police car, fire truck and other rescue vehicles (based on the shape of the vehicle and the flashing warning light above the vehicle), and calculate the collision time between the vehicle and the rear vehicle TTC ( When the Time to collision) reaches the threshold T, the vehicle will plan the lane-changing trajectory based on the route indicated by the high-precision map and the surrounding traffic conditions, implement the lane-changing strategy, and actively avoid the rear police cars, fire trucks and other emergency rescue vehicles. In another case, when the TTC of the rear target vehicle is detected, and the relative acceleration change with the vehicle meets a certain range, active lane change and avoidance are also performed.
  • the applicable speed range of this function is 60km/h-120km/h.
  • the autonomous driving scenario that can activate the active avoidance strategy should include but not be limited to the following requirements:
  • the slope of the transverse slope is less than or equal to 3%
  • the active avoidance function should be triggered in the following two events (the target vehicle is a vehicle that meets the following two conditions):
  • the vehicle is in compliance with the requirements of the autonomous driving scenario.
  • the multiple electronic and electrical systems of the vehicle have completed the self-checking work without failure; the Driver Monitor System (DSM) camera is not blocked, the radar is not blocked, and the front-view camera and the rear-view camera are not blocked.
  • the driver is awake. Meet the entry conditions for entering the automatic driving L3 level function, and enable the automatic driving L3 function.
  • DSM Driver Monitor System
  • the vehicle positioning module and the high-precision map can obtain the vehicle's lane positioning information and the geo-fence information of the passing road in real time; the front-view camera and the rear-view camera can obtain the front and rear of the vehicle. Lane line information, target information, traffic speed limit information, etc.; millimeter wave radar detects the lane guardrail, the position and speed of the front and rear and lateral targets of the vehicle. Common input data fusion unit.
  • the first lane change scenario 1) It is recognized that the target vehicles behind the lane are rescue vehicles such as fire trucks and police cars; 2) The TTC of the vehicle is less than T; 3) The expected lane change avoidance time ⁇ T does not affect the map route ( If the map navigation is not turned on, there is no need to judge); 4) Passable within the planned lane change trajectory; 5) Perform lane change deceleration to center the target lane.
  • the second lane change scenario 1) Identify the target vehicle behind the lane that is not an emergency rescue vehicle such as a fire truck or a police car; 2) TTC with the vehicle is less than T and the relative acceleration rate of change of the second vehicle is greater than ⁇ D; 3) Expected The lane change avoidance time ⁇ T does not affect the map route (if the map navigation is not turned on, there is no need to judge); 4) The planned lane change trajectory is passable; 5) The lane change deceleration is performed to center the target lane.
  • the TTC is calculated by combining the radar sensing information and the vehicle speed information, and assuming that the target vehicle and the vehicle travel according to the current vehicle speed and acceleration, the estimated collision time between the target vehicle and the vehicle is calculated. Combined with regulations and experience, the value of T can be around 2.5s.
  • Expected lane change avoidance time ⁇ T refers to the calculated time from when the vehicle starts to change lanes until the center point of the front of the vehicle crosses the lane line when no unexpected event occurs. If the vehicle lane change within this time will not cause the route to deviate, then the lane change will be performed; if the vehicle lane change within this time will cause the route deviation, the lane change will be interrupted, and the system will wait.
  • the active avoidance lane change strategy refers to a deceleration lane change method that only changes lanes to the adjacent right lane, so that the rear vehicle can pass quickly and safely while avoiding.
  • the vehicle can automatically perform the deceleration and lane-changing action to the adjacent lane on the right.
  • the decision-making control unit sends horizontal and vertical control commands to the horizontal and vertical actuators EPS and ESP respectively, and sends the corresponding right turn signal signal to coordinately control the vehicle to change lanes, in the target lane. Centered.
  • the vehicle can automatically change lanes back and keep in the center of the lane; during the lane change process, when there are other vehicles (ie, the first vehicle), change lanes to the target lane at the same time , if the center point of the front of the vehicle crosses the lane line before other vehicles, the vehicle continues to perform the lane change action; if the center point of the front of the vehicle crosses the line later than the center point of the front of the other vehicle, the vehicle performs the lane change and rollback process, and Stay centered in this lane.
  • other vehicles ie, the first vehicle
  • the driver can perform driver control at any time by turning the steering wheel, stepping on the accelerator pedal or stepping on the brake pedal.
  • the driving right of the vehicle is returned to the driver by the system at any time, and the action is responded to according to the driver's intention.
  • the technical solution of this embodiment is to obtain the current vehicle parameter information, the current vehicle adjacent vehicle information and the current vehicle environment information; if the current vehicle adjacent vehicles are behind the current vehicle, and the current vehicle parameter information, current The information of the adjacent vehicles and the environment information of the current vehicle meet the preset conditions, then the current vehicle changes lanes to the adjacent right lane to realize the vehicle driving scene in the operating domain designed for the actual automatic driving ODD, and the active avoidance strategy is added to the automatic change. Road function.
  • FIG. 2 is a schematic structural diagram of an automatic lane changing device according to Embodiment 2 of the present application. This embodiment can be applied to the situation of automatic lane changing, the device can be implemented in software and/or hardware, and the device can be integrated into any device that provides automatic lane changing function, as shown in FIG. 2 , the automatic lane changing
  • the lane device includes: an acquisition module 210 and a lane change module 220 .
  • the obtaining module 210 is configured to obtain the current vehicle parameter information, the current vehicle adjacent vehicle information and the current vehicle environment information;
  • the lane changing module 220 is set to if the adjacent vehicles of the current vehicle and the current vehicle are in the same lane, the adjacent vehicles of the current vehicle are behind the current vehicle, and the parameter information of the current vehicle, the information of the adjacent vehicles of the current vehicle and the current vehicle are in the same lane. If the environmental information of the vehicle meets the preset conditions, the current vehicle changes lanes to the adjacent right lane.
  • the above product can execute the method provided by any embodiment of the present application, and has functional modules corresponding to the execution method.
  • the technical solution of this embodiment is to obtain the current vehicle parameter information, the information of the adjacent vehicles of the current vehicle and the information of the environment where the current vehicle is located; if the adjacent vehicles of the current vehicle and the current vehicle are in the same lane, the adjacent vehicles of the current vehicle are in the same lane.
  • the current vehicle is behind the current vehicle, and the current vehicle parameter information, the current vehicle adjacent vehicle information and the current vehicle environment information meet the preset conditions, then the current vehicle changes lanes to the adjacent right lane to achieve ODD for actual automatic driving.
  • the vehicle driving scene in the operating domain is designed, and the active avoidance strategy is added to the automatic lane changing function.
  • FIG. 3 is a schematic structural diagram of a computer device in Embodiment 3 of the present application.
  • FIG. 3 shows a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present application.
  • the computer device 12 shown in FIG. 3 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.
  • computer device 12 takes the form of a general-purpose computing device.
  • Components of computer device 12 may include, but are not limited to, at least one processor or processing unit 16, system memory 28, and a bus 18 connecting various system components including system memory 28 and processing unit 16.
  • the bus 18 represents at least one of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures.
  • these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association) Association, VESA) local bus and Peripheral Component Interconnect (PCI) bus.
  • Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including both volatile and nonvolatile media, removable and non-removable media.
  • System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32 .
  • Computer device 12 may include other removable/non-removable, volatile/non-volatile computer system storage media.
  • storage system 34 may be configured to read and write to a non-removable, non-volatile magnetic medium (not shown in FIG. 3, commonly referred to as a "hard drive”).
  • disk drives may be provided for reading and writing to removable non-volatile magnetic disks (eg "floppy disks"), as well as removable non-volatile optical disks (eg Portable Compact Disk Read-Only Memory).
  • Memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present application.
  • a program/utility 40 having a set (at least one) of program modules 42, which may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, at least one application program, other program modules, and Program data, each or some combination of these examples may include an implementation of a network environment.
  • Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
  • the computer device 12 may also communicate with at least one external device 14 (eg, keyboard, pointing device, display 24, etc.), may also communicate with at least one device that enables a user to interact with the computer device 12, and/or communicate with the computer device 12 communicates with any device (eg, network card, modem, etc.) capable of communicating with at least one other computing device. Such communication may take place through an input/output (I/O) interface 22 .
  • the display 24 does not exist as an independent entity, but is embedded in the mirror surface. When the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated.
  • the computer device 12 can communicate with at least one network (eg, a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) through a network adapter 20.
  • network adapter 20 communicates with other modules of computer device 12 via bus 18 .
  • other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.
  • the processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, for example, to realize the automatic lane changing method provided by the embodiments of the present application:
  • the adjacent vehicles of the current vehicle and the current vehicle are in the same lane, the adjacent vehicles of the current vehicle are behind the current vehicle, and the current vehicle parameter information, the information of the adjacent vehicles of the current vehicle, and the environment information of the current vehicle meet the predetermined requirements. If the conditions are set, the current vehicle changes lanes to the adjacent right lane.
  • the fourth embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, realizes the automatic lane changing methods provided by all the application embodiments of the present application:
  • the adjacent vehicles of the current vehicle and the current vehicle are in the same lane, the adjacent vehicles of the current vehicle are behind the current vehicle, and the current vehicle parameter information, the information of the adjacent vehicles of the current vehicle, and the environment information of the current vehicle meet the predetermined requirements. If the conditions are set, the current vehicle changes lanes to the adjacent right lane.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections having at least one conductor, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM or flash memory), optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • RF radio frequency
  • Computer program code for performing the operations of the present application may be written in at least one programming language, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional procedural languages, or a combination thereof.
  • Programming Language such as the "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a LAN or WAN, or may be connected to an external computer (eg, using an Internet service provider to connect through the Internet).

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Abstract

一种自动换道方法、装置、设备及存储介质。该方法包括：获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道。

Description

一种自动换道方法、装置、设备及存储介质
本申请要求在2020年7月8日提交中国专利局、申请号为202010652647.8的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及车辆技术，例如涉及一种自动换道方法、装置、设备及存储介质。
背景技术
目前对于L3级别的自动驾驶车辆而言，存在主动换道功能。即在自动驾驶功能开启状态下，本车探测到前方车辆行驶速度低于设定车速，或者是在即将并入主路、驶入匝道的场景下，主动向规划车道进行换道。
此策略仅考虑自车行进与轨迹规划，并未考虑到复杂场景下自动驾驶换道策略该如何执行。
发明内容
本申请实施例提供一种自动换道方法、装置、设备及存储介质，以实现针对实际自动驾驶设计运作域(Operational Design Domain，ODD)内车辆行驶场景，将主动避让策略加入自动换道功能。
第一方面，本申请实施例提供了一种自动换道方法，包括：
获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；
响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道。
第二方面，本申请实施例还提供了一种自动换道装置，该装置包括：
获取模块，设置为获取当前车辆参数信息、当前车辆相邻车辆信息和当前 车辆所处环境信息；
换道模块，设置为响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道。
第三方面，本申请实施例还提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如本申请实施例中任一所述的方法。
第四方面，本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请实施例中任一所述的方法。
附图说明
图1是本申请实施例一中的一种自动换道方法的流程图；
图1a是本申请实施例一中的控制系统模块图示；
图1b是本申请实施例一中的车外传感器分布示意图；
图1c是本申请实施例一中的主动避让换道的流程图；
图2是本申请实施例二中的一种自动换道装置的结构示意图；
图3是本申请实施例三中的一种计算机设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作详细说明。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
实施例一
图1为本申请实施例一提供的一种自动换道方法的流程图，本实施例可适用于自动换道的情况，该方法可以由本申请实施例中的自动换道装置来执行，该装置可采用软件和/或硬件的方式实现，如图1所示，该方法包括步骤S110至S120。
S110，获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息。
其中，所述当前车辆参数信息包括：当前车辆的车速、前车辆的加速度、当前车辆的地图指示路线以及车辆的大小中的至少一种。
其中，所述当前车辆相邻车辆信息包括：相邻车辆的车速、相邻车辆的加速度、相邻车辆类型以及相邻车辆的大小中的至少一种。
其中，所述当前车辆所处环境信息包括：当前车辆所处路段(例如可以是，城市高速路段或者高速路段)、当前车辆所处车道、当前车辆所处车道的双侧车道线、能见度、横坡斜率、纵坡斜率以及弯道曲率半径中的至少一种。
示例性的，通过设置于车辆的毫米波雷达采集当前车辆与相邻车辆之间的距离、相邻车辆的车速、相邻车辆的加速度等，通过设置于当前车辆上的前视摄像头和后视摄像头采集当前车辆所处环境信息。也可以通过后视摄像头采集当前车辆相邻车辆的图像，根据相邻车辆的图像查询数据库得到相邻车辆的类型。
S120，若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，则向相邻右侧车道换道。
其中，所述预设条件可以为所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值；也可以为所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，且所述当前车辆相邻车辆与当前车辆的相对加速度变化率大于第二阈值；还可以为当前车辆处于城市快速路段或者高速路段，当前车辆所处车道的双侧车道线清晰且无遮挡，能见度大于能见度 阈值，当前车辆所处横坡斜率小于或者等于第一斜率阈值，当前车辆所处纵坡斜率小于或者等于第二斜率阈值，当前车辆所处弯道曲率半径大于或者等于曲率半径阈值，当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值；或者可以为当前车辆处于城市快速路段或者高速路段，当前车辆所处车道的双侧车道线清晰且无遮挡，能见度大于能见度阈值，当前车辆所处横坡斜率小于或者等于第一斜率阈值，当前车辆所处纵坡斜率小于或者等于第二斜率阈值，当前车辆所处弯道曲率半径大于或者等于曲率半径阈值，当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，且所述当前车辆相邻车辆与当前车辆的相对加速度变化率大于第二阈值，本申请实施例对此不进行限制。
本申请实施例所述为一种主动换道功能下的主动避让策略。车辆行驶过程中识别到本车需要换道时，自主完成换道指令发布与执行。在实际的道路交通场景下，存在着特殊车辆(例如救护车，消防车，警车等)在本车道后方的紧急通行需求；或者后车道车辆以较大相对速度(加速度)接近本车。在此场景下，需要本车让出车道，满足上述更高优先级的通行需求。对于此处的主动避让有以下说明：在交通法规原则下，前车并不需要避让后方车辆。但是考虑在自动驾驶技术不断发展的背景下，假定某一场景下，车道上正在行驶着大部分进入了自动驾驶功能的车辆，此时后方的应急救援类车辆正在执行任务，有着更高优先级的需求，那么主动避让功能即能够在不违背安全原则的情况下主动避让出救援道路，实现协同换道。
可选的，若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道，包括：
若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，则根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息；
根据所述路径信息向相邻右侧车道换道。
可选的，若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道，包括：
若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，且所述当前车辆相邻车辆与当前车辆的相对加速度变化率大于第二阈值，则根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息；
根据所述路径信息向相邻右侧车道换道。
可选的，所述当前车辆参数信息包括：当前车辆的地图指示路线；
根据所述路径信息向相邻右侧车道换道包括：
若所述当前车辆的地图指示路线与所述路径信息匹配，则根据所述路径信息向相邻右侧车道换道。
可选的，若所述当前车辆的地图指示路线与所述路径信息匹配，则根据所述路径信息向相邻右侧车道换道包括：
计算目标时间，其中，所述目标时间为从当前车辆执行换道开始直至当前车辆车头中心点处于车道线的时间；
若在所述目标时间内，所述当前车辆的地图指示路线与所述路径信息匹配，则根据所述路径信息向相邻右侧车道换道。
可选的，还包括：
获取目标车道，其中，所述目标车道为当前车辆所处车道的右侧车道；
若获取到第一车辆向所述目标车道换道，则当前车辆的车头中心点处于车道线时，所述第一车辆的车头中心点未达到车道线，则当前车辆继续执行换道操作。
可选的，若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，则根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息包括：
若当前车辆处于城市快速路段或者高速路段，当前车辆所处车道的双侧车道线清晰且无遮挡，能见度大于能见度阈值，当前车辆所处横坡斜率小于或者等于第一斜率阈值，当前车辆所处纵坡斜率小于或者等于第二斜率阈值，当前车辆所处弯道曲率半径大于或者等于曲率半径阈值，当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，则根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息。
可选的，若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，且所述当前车辆相邻车辆与当前车辆的相对加速度变化率大于第二阈值，则根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息包括：
若当前车辆处于城市快速路段或者高速路段，当前车辆所处车道的双侧车 道线清晰且无遮挡，能见度大于能见度阈值，当前车辆所处横坡斜率小于或者等于第一斜率阈值，当前车辆所处纵坡斜率小于或者等于第二斜率阈值，当前车辆所处弯道曲率半径大于或者等于曲率半径阈值，当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，且所述当前车辆相邻车辆与当前车辆的相对加速度变化率大于第二阈值，则根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息。
在一实施例中，如图1a所示，图1a为控制系统模块图，分为感知、处理、执行模块。其中，感知模块分为外界信息感知与车内信息感知两部分。外界信息感知包含：6颗毫米波雷达，前视摄像头，后视摄像头与高精地图，车辆定位模块；车内信息感知包含：驾驶员疲劳探测摄像头，方向盘手力矩传感器，加速踏板(油门踏板)信号传感器和制动踏板信号传感器。处理模块包括数据融合单元，轨迹规划单元，决策控制单元；执行模块包括电子助力转向系统(Electric Power Steering，EPS)，汽车电子稳定控制系统(Electronic Stability Program，ESP)，转向灯。如图1b所示，所述毫米波雷达与前视摄像头、后视摄像头设置为采集本车道前后目标信息与道线信息，这些信息会传递到数据融合单元中，输出为前、后目标物信息与道线信息。对于输出的本车道后方的目标信号，需要包括行人，自行车，摩托车，普通轿车，卡车，消防车，警车，救护车，异型车辆等类别。轨迹规划单元将结合车内信息与外界信息进行车辆的换道轨迹规划。决策控制单元将基于驾驶员请求与自动驾驶请求综合判断，输出执行模块的请求指令。
主动换道避让功能定义：在周边场景满足自动驾驶进入条件时，驾驶员可以选择设定导航目的地使车辆按照导航规划路线行进；或者无目的地设定，车辆进入L3级自动驾驶功能，驾驶员可以脱手，脱脚，并在一定时间内可以脱眼。车辆保持本车道居中行驶。当后视摄像头与后雷达检测到本车道后方出现 目标物为警车、消防车等救援车辆时(基于车辆外形与车上方的闪烁警报灯)，且计算出本车与后车碰撞时距TTC(Time to collision)到达阈值T时，本车将结合高精地图指示的路线与周边交通状况，规划换道轨迹，执行换道策略，主动避让后方警车、消防车等应急救援车辆。另一种情况为检测到后方目标车辆TTC，与本车相对加速度变化均满足一定范围时，同样执行主动换道避让。该功能的适用车速范围是60km/h-120km/h。
首先，能够激活主动避让策略的自动驾驶场景应包含且不限于如下要求：
1.城市快速路段或者高速路段
2.双侧车道线清晰无遮挡(虚线)
3.能见度>100m
4.横坡斜率≤3％
5.纵坡斜率≤5％
6.弯道曲率半径≥300m
所述的主动避让功能，应该在以下两种事件中触发(目标车辆为满足以下两种情况的车辆):
1.本车道后方有快速接近的警车，消防车或救护车等应急救援车辆；
2.本车道后方有过快相对加速度行驶车辆。
a)首先，车辆处于符合自动驾驶场景要求。车辆的多个电子电器系统完成自检工作，无故障；驾驶员状态监测(Driver Monitor System，DSM)摄像头无遮挡，雷达无遮挡，前视摄像头和后视摄像头无遮挡。驾驶员清醒。满足进入自动驾驶L3级别功能进入条件，开启自动驾驶L3功能。
b)当车辆进入L3自动驾驶功能时，车辆定位模块及高精地图可以实时获取到车辆的车道定位信息和通行路段的地理围栏信息；前视摄像头与后视摄像头获取本车前方和本车后方的车道线信息、目标物信息、交通限速信息等；毫米波雷达探测车道护栏，本车前后方和侧向目标物的位置、速度等信息。共同输入数据融合单元。
c)本车在当前车道正常行驶，后视摄像头探测到本车道后方出现目标车辆时，即进入判断流程，如图1c所示，避让换道流程图：
第一种换道情景：1)识别到本车道后方目标车辆类型为消防车与警车等救援车辆；2)与本车TTC小于T；3)预期换道避让时间△T内不影响地图路线(若未开启地图导航，则无须判断)；4)规划换道轨迹内可通行；5)执行换道减速在目标车道居中。
第二种换道情景：1)识别到本车道后方目标车辆类型非消防车与非警车等应急救援车辆；2)与本车TTC小于T且二车相对加速度变化率大于△D；3)预期换道避让时间△T内不影响地图路线(若未开启地图导航，则无须判断)；4)规划换道轨迹内可通行；5)执行换道减速在目标车道居中。
所述TTC是结合雷达传感信息和自车车速信息计算得到，假定目标车和本车按照当前车速与加速度行进，运算得出的目标车与本车的预计碰撞时间。结合法规与经验，T取值可在2.5s附近。
预期换道避让时间△T：是指在无预期外事件发生时，计算出的本车开始执行换道到本车车头中心点跨越车道线时间。如果该时间内车辆换道不会导致路线偏离，则进行换道；如果该时间内车辆换道会导致路线偏离，换道中断，进入等待。
基于道路交通法规与日常交通习惯，最左侧一般为快车道或超车道。因此所述主动避让换道策略，指一种仅向相邻右侧车道换道的减速换道方法，以实现在避让的同时，后方车辆能够快速、安全地通过。
满足各项功能开启条件后，车辆可以自动执行向右侧相邻车道的减速换道动作。
按照轨迹规划单元规划出的换道轨迹，决策控制单元分别发出横纵向控制指令至横向执行器EPS与纵向执行器ESP，并发送对应的右转向灯信号，协同控制车辆进行换道，在目标车道居中。在此期间，如果存在预期外事件发生，则车辆能够进行自动换道回退，并于本车道居中保持；在换道过程中，当存在 其他车辆(即第一车辆)同时向目标车道换道，若本车车头中心点先于其他车辆越过车道线，则本车继续执行换道动作；若本车车头中心点比其他车辆车头中心点越线晚，则车辆进行换道回退流程，并于本车道居中保持。
此外，在主动换道避让的整个流程中，驾驶员可以随时通过转动方向盘，踩油门踏板或者踩制动踏板其中任一操作，进行驾驶员操控。使车辆的驾驶权随时由系统交还给驾驶员，按照驾驶员意图响应动作。
本实施例的技术方案，通过获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；若当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，则当前车辆向相邻右侧车道换道，以实现针对实际自动驾驶ODD设计运行域内车辆行驶场景，将主动避让策略加入自动换道功能。
实施例二
图2为本申请实施例二提供的一种自动换道装置的结构示意图。本实施例可适用于自动换道的情况，该装置可采用软件和/或硬件的方式实现，该装置可集成在任何提供自动换道功能的设备中，如图2所示，所述自动换道装置包括：获取模块210和换道模块220。
其中，获取模块210，设置为获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；
换道模块220，设置为若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，则当前车辆向相邻右侧车道换道。
上述产品可执行本申请任意实施例所提供的方法，具备执行方法相应的功能模块。
本实施例的技术方案，通过获取当前车辆参数信息、当前车辆相邻车辆信 息和当前车辆所处环境信息；若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，则当前车辆向相邻右侧车道换道，以实现针对实际自动驾驶ODD设计运行域内车辆行驶场景，将主动避让策略加入自动换道功能。
实施例三
图3为本申请实施例三中的一种计算机设备的结构示意图。图3示出了适于用来实现本申请实施方式的示例性计算机设备12的框图。图3显示的计算机设备12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图3所示，计算机设备12以通用计算设备的形式表现。计算机设备12的组件可以包括但不限于：至少一个处理器或者处理单元16，系统存储器28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。
总线18表示几类总线结构中的至少一种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Standard Architecture，ISA)总线，微通道体系结构(Micro Channel Architecture，MCA)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及外围组件互连(Peripheral Component Interconnect，PCI)总线。
计算机设备12典型地包括多种计算机系统可读介质。这些介质可以是任何能够被计算机设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(Random Access Memory，RAM)30和/或高速缓存存储器32。 计算机设备12可以包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以设置为读写不可移动的、非易失性磁介质(图3未显示，通常称为“硬盘驱动器”)。尽管图3中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如便携式紧凑磁盘只读存储器(Compact Disc-Read Only Memory，CD-ROM),数字视盘(Digital Video Disc-Read Only Memory，DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过至少一个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括——但不限于——操作系统、至少一个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。
计算机设备12也可以与至少一个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与至少一个使得用户能与该计算机设备12交互的设备通信，和/或与使得该计算机设备12能与至少一个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(Input/Output，I/O)接口22进行。另外，本实施例中的计算机设备12，显示器24不是作为独立个体存在，而是嵌入镜面中，在显示器24的显示面不予显示时，显示器24的显示面与镜面从视觉上融为一体。并且，计算机设备12还可以通过网络适配器20与至少一个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器20通过总线18与计算机设备12的其它模块通信。应当明白，尽管图中未示出，可以结合计算机设备12使用其它硬件和/或软件 模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)系统、磁带驱动器以及数据备份存储系统等。
处理单元16通过运行存储在系统存储器28中的程序，从而执行各种功能应用以及数据处理，例如实现本申请实施例所提供的自动换道方法：
获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；
若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，则当前车辆向相邻右侧车道换道。
实施例四
本申请实施例四提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请所有申请实施例提供的自动换道方法：
获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；
若当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，则当前车辆向相邻右侧车道换道。
可以采用至少一个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有至少一个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器((Erasable Programmable Read-Only Memory，EPROM)或闪存)、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、 装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以至少一种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括LAN或WAN—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (10)

  1. 一种自动换道方法，包括：
    获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；
    响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道。
  2. 根据权利要求1所述的方法，其中，响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道，包括：
    响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息；
    根据所述路径信息向相邻右侧车道换道。
  3. 根据权利要求1所述的方法，其中，响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道，包括：
    响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，且所述当前车辆相邻车辆与当前车辆的相对加速度变化率大于第二阈值，根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息；
    根据所述路径信息向相邻右侧车道换道。
  4. 根据权利要求2或3所述的方法，其中，所述当前车辆参数信息包括： 当前车辆的地图指示路线；
    根据所述路径信息向相邻右侧车道换道包括：
    响应于所述当前车辆的地图指示路线与所述路径信息匹配，根据所述路径信息向相邻右侧车道换道。
  5. 根据权利要求4所述的方法，其中，响应于所述当前车辆的地图指示路线与所述路径信息匹配，根据所述路径信息向相邻右侧车道换道，包括：
    计算目标时间，其中，所述目标时间为从当前车辆执行换道开始直至当前车辆车头中心点处于车道线的时间；
    响应于在所述目标时间内，所述当前车辆的地图指示路线与所述路径信息匹配，根据所述路径信息向相邻右侧车道换道。
  6. 根据权利要求5所述的方法，还包括：
    获取目标车道，其中，所述目标车道为当前车辆所处车道的右侧车道；
    响应于获取到第一车辆向所述目标车道换道，当前车辆的车头中心点处于车道线时，所述第一车辆的车头中心点未达到车道线，当前车辆继续执行换道操作，其中，第一车辆为与当前车辆同时向目标车道换道的车辆。
  7. 根据权利要求2所述的方法，其中，响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息，包括：
    响应于当前车辆处于城市快速路段或者高速路段，当前车辆所处车道的双侧车道线清晰且无遮挡，能见度大于能见度阈值，当前车辆所处横坡斜率小于或者等于第一斜率阈值，当前车辆所处纵坡斜率小于或者等于第二斜率阈值，当前车辆所处弯道曲率半径大于或者等于曲率半径阈值，当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，所述 当前车辆相邻车辆为目标车辆且所述当前车辆相邻车辆与当前车辆碰撞时距小于第一阈值，根据当前车辆车速、当前车辆相邻车辆车速、当前车辆与当前车辆相邻车辆距离和当前车辆所处环境信息确定当前车辆向相邻右侧车道换道的路径信息。
  8. 一种自动换道装置，包括：
    获取模块，设置为获取当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息；
    换道模块，设置为响应于当前车辆相邻车辆与所述当前车辆处于同一车道，当前车辆相邻车辆处于所述当前车辆后方，且所述当前车辆参数信息、当前车辆相邻车辆信息和当前车辆所处环境信息满足预设条件，当前车辆向相邻右侧车道换道。
  9. 一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1-7中任一所述的方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-7中任一所述的方法。
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