WO2019114796A1 - 一种自动驾驶系统及其横向控制方法 - Google Patents

一种自动驾驶系统及其横向控制方法 Download PDF

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Publication number
WO2019114796A1
WO2019114796A1 PCT/CN2018/120940 CN2018120940W WO2019114796A1 WO 2019114796 A1 WO2019114796 A1 WO 2019114796A1 CN 2018120940 W CN2018120940 W CN 2018120940W WO 2019114796 A1 WO2019114796 A1 WO 2019114796A1
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Prior art keywords
lane
vehicle
host vehicle
speed information
overtaking
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Ceased
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PCT/CN2018/120940
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English (en)
French (fr)
Inventor
李军华
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NIO Nextev Ltd
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NIO Nextev Ltd
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Priority to EP18887242.8A priority Critical patent/EP3726326B1/en
Publication of WO2019114796A1 publication Critical patent/WO2019114796A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/4042—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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2710/202—Steering torque
    • 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
    • B60W2710/207—Steering angle of wheels

Definitions

  • the invention belongs to the technical field of vehicle intelligent driving, and relates to automatic driving of a vehicle, in particular to an automatic driving system of a vehicle and a lateral control method thereof.
  • the horizontal control of autonomous driving is one of the key steps to achieve fully automatic driving.
  • the current horizontal control technology of automatic driving stays in the lane departure warning (LDW) and lane keeping (LKA) phases, and it is difficult to automatically realize lane centering (LKS).
  • LLS lane centering
  • automatic lane change function especially difficult to achieve automatic lane change control during the overtaking process.
  • the driver is generally required to manually confirm whether the lane change condition is satisfied, and the lane change is triggered by the turn signal, thereby limiting the automatic driving degree of the automatic driving system.
  • the present invention provides the following technical solutions.
  • an automatic driving system comprising a lateral control subsystem, the lateral control subsystem comprising:
  • a signal processing module configured to determine whether there is an overtaking demand according to first speed information of a host vehicle of the automatic driving system and second speed information of a preceding vehicle traveling in front of the host vehicle;
  • a lane selection module for determining lane line information based on a side lane of the preceding vehicle in determining the presence of the overtaking demand, and a distance of the host vehicle relative to an onboard vehicle traveling in reverse with the host vehicle. The information and/or the distance information of the host vehicle relative to the following vehicle traveling in the same direction as the host vehicle determines whether the overtaking condition is satisfied and the corresponding side lane is selected as the target lane when the overtaking condition is satisfied.
  • An automatic driving system wherein the lane selection module is further configured to determine whether an overtaking condition is satisfied based on the third speed information of the coming vehicle and/or the fourth speed information of the following vehicle.
  • An automatic driving system according to an embodiment of the present invention, wherein the lateral control subsystem further comprises:
  • the lane selection module is further configured to select a current lane as a target lane when the overtaking condition is not satisfied;
  • the decision making module is further configured to output a target corner and/or a target steering torque for maintaining the current lane travel when the current lane is selected as the target lane.
  • decision making module is further configured to output a corresponding target corner and/or target steering torque according to lane line information of the current lane while maintaining the current lane running.
  • decision making module is further configured to output a corresponding turn signal trigger signal when the corresponding side lane is selected as the target lane.
  • An automatic driving system further comprising a warning output module
  • the decision making module is further configured to output a corresponding signal to trigger the warning output module to output an alert signal when the current lane driving is maintained and the left and right lane lines of the current lane are not present.
  • decision making module is further configured to:
  • An automatic driving system wherein the signal processing module is further configured to determine whether the front vehicle is present in front of the host vehicle, and to acquire the first vehicle if it is determined that the preceding vehicle is present Speed information and second speed information and/or third speed information of the incoming vehicle, and fourth speed information of the following vehicle.
  • the decision making module is further configured to: if the host vehicle is traveling in the current lane centering, if the host vehicle is substantially deviated from a lane line of left and right sides of the current lane The central position between the outputs, the corresponding lane departure warning signal.
  • the lane selection module is further configured to be clearly visible at least on lane lines on the left and right sides of the side lane and the distance information of the coming vehicle is greater than or equal to a corresponding predetermined value And if the distance information of the rear vehicle is greater than or equal to the corresponding predetermined value, it is determined that the overtaking condition is satisfied, otherwise it is determined that the overtaking condition is not satisfied.
  • the lane selection module is further configured to be clearly visible at least on lane lines on the left and right sides of the side lane and the distance information of the coming vehicle is greater than or equal to a corresponding predetermined value
  • the speed magnitude and the acceleration of the third speed information of the incoming vehicle are both less than or equal to a corresponding predetermined value
  • the distance information of the following vehicle is greater than or equal to a corresponding predetermined value
  • the speed of the fourth speed information of the following vehicle When the size and the acceleration are both less than or equal to the corresponding predetermined value, it is determined that the overtaking condition is satisfied, otherwise it is determined that the overtaking condition is not satisfied.
  • the lane selection module is further configured to use distance information of the host vehicle relative to a rear vehicle traveling in the same direction as the host vehicle and/or the rear vehicle relative to the host vehicle
  • the speed information determines whether there is an overtaking demand in the incoming vehicle, and generates a rear side incoming warning signal when it is determined that there is an overtaking demand.
  • the lane selection module is further configured to: at least the distance information of the host vehicle relative to the following vehicle is less than or equal to a corresponding predetermined value, and the rear vehicle
  • the speed of the fourth speed information is greater than or equal to the speed of the first speed information of the host vehicle or the acceleration of the fourth speed information of the following vehicle is greater than a predetermined value corresponding to the acceleration of the first speed information of the host vehicle. It is determined that there is an overtaking demand for the incoming vehicle.
  • first speed information, the second speed information, the third speed information, and the fourth speed information each include a speed magnitude and an acceleration.
  • a lateral control method for an automatic driving system comprising the steps of:
  • the corresponding side lane is selected as the target lane.
  • a lateral control method of an embodiment of the present invention in the step of determining whether the overtaking condition is satisfied, whether the overtaking is satisfied based on the third speed information of the incoming vehicle and/or the fourth speed information of the following vehicle condition.
  • a lateral control method further comprising the step of calculating a corresponding target corner and/or target steering torque when the corresponding side lane is selected as the target lane.
  • a lateral control method in which a corresponding turn signal trigger signal is output when a corresponding side lane is selected as a target lane.
  • a lateral control method further includes the steps of:
  • the target corner and/or the target steering torque for maintaining the current lane travel are output when the current lane is selected as the target lane.
  • a lateral control method wherein, in the step of outputting a target corner and/or a target steering torque for maintaining the current lane travel, the lane line information is output according to the current lane while maintaining the current lane travel Corresponding target angle and/or target steering torque.
  • a lateral control method further includes the steps of: outputting a corresponding signal to trigger an output warning signal while maintaining a current lane driving and when lane lines on both the left and right sides of the current lane are not present.
  • a lateral control method wherein, in the step of outputting a target corner and/or a target steering torque for maintaining the current lane travel, the method includes:
  • a lateral control method wherein a corresponding lane is output if the host vehicle is substantially deviated from a central position between lane lines on the left and right sides of the current lane when the host vehicle is traveling in the current lane centering Deviate from the warning signal.
  • a lateral control method further comprising the steps of: determining whether the front vehicle is present in front of the host vehicle, and acquiring the first speed information and determining that the preceding vehicle is present Two speed information and/or third speed information of the incoming vehicle, and fourth speed information of the following vehicle.
  • a lateral control method of an embodiment of the present invention in the step of determining whether the overtaking condition is satisfied, at least the lane lines on the left and right sides of the side lane are clearly visible and the distance information of the coming vehicle is greater than or equal to the corresponding If the predetermined value and/or the distance information of the following vehicle is greater than or equal to the corresponding predetermined value, it is determined that the overtaking condition is satisfied, otherwise it is determined that the overtaking condition is not satisfied.
  • a lateral control method of an embodiment of the present invention in the step of determining whether the overtaking condition is satisfied, at least the lane lines on the left and right sides of the side lane are clearly visible and the distance information of the coming vehicle is greater than or equal to the corresponding a predetermined value and the speed magnitude and acceleration of the third speed information of the incoming vehicle are both less than or equal to a corresponding predetermined value, the distance information of the following vehicle is greater than or equal to a corresponding predetermined value, and the fourth of the following vehicles When the speed information and the acceleration of the speed information are both less than or equal to the corresponding predetermined value, it is determined that the overtaking condition is satisfied, otherwise it is determined that the overtaking condition is not satisfied.
  • a lateral control method wherein the incoming vehicle is determined based on distance information of the host vehicle with respect to a rear vehicle traveling in the same direction as the host vehicle and/or speed information of the rear vehicle relative to the host vehicle Whether there is an overtaking demand, and when it is determined that there is an overtaking demand, a rear side incoming warning signal is generated.
  • a lateral control method wherein at least a distance information of the host vehicle with respect to the following vehicle is less than or equal to a corresponding predetermined value, and a speed of the fourth speed information of the following vehicle is greater than Or determining that the speed of the first speed information of the host vehicle or the acceleration of the fourth speed information of the following vehicle is greater than a predetermined value corresponding to the acceleration of the first speed information of the host vehicle: demand.
  • a lateral control method wherein the first speed information, the second speed information, the third speed information, and the fourth speed information each include a speed magnitude and an acceleration.
  • a computer apparatus includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement any of the above The steps of the lateral control method.
  • a computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the steps of any of the lateral control methods described above.
  • a vehicle is provided, using the automatic driving system of any of the above.
  • FIG. 1 is a block diagram showing the structure of an automatic driving system according to an embodiment of the present invention.
  • FIG. 2 is a flow chart of a lateral control method of an automatic driving system in accordance with an embodiment of the present invention.
  • FIG. 3 is a flow chart of a lateral control method of an automatic driving system in accordance with still another embodiment of the present invention.
  • the computer program instructions may be stored in a computer readable memory, which may instruct a computer or other programmable processor to perform functions in a particular manner such that the instructions stored in the computer readable memory comprise an implementation flow diagram and/or The production of the instruction part of the function/operation specified in one or more boxes of the block diagram.
  • a vehicle in which the automatic driving system of the embodiment of the present invention is installed is referred to as a "host vehicle", which may be, for example, an electric vehicle.
  • the automatic driving system 10 may be, for example, an Advanced Driver Assistant System (ADAS), and the automatic driving system 10 includes a longitudinal control subsystem 110 and a lateral control system 130.
  • ADAS Advanced Driver Assistant System
  • the following main examples illustrate the lateral control of the present invention.
  • Subsystem 140 The following main examples illustrate the lateral control of the present invention.
  • the autopilot system 10 can collect or collect correspondingly required data from various components installed on the host vehicle.
  • one or more of the following components may be mounted on the host vehicle: an image sensor 151, a radar sensor 152, a VCU (Vehicle Control Unit) 153, a BCU (Brake Control Unit) 154, SCM (Steering Column Unit) 155, ACM (Airbag Control Unit) 156, CDC (Cockpit Domain Controller) 161, EPS (Electric Power Steering) 162.
  • the automatic driving system 10 can be connected to sensors, actuators or controllers such as the image sensor 151, the radar sensor 152, the VCU 153, the BCU 154, the SCM 155, the ACM 156, the CDC 161, the EPS 162, etc. through a CAN bus, for example, to facilitate information interaction.
  • sensors actuators or controllers
  • the components mounted on the host vehicle are not limited to the above examples, and that corresponding components (e.g., sensors) may be selected depending on the lateral control requirements of the automated steering system 10.
  • the automatic driving system 10 can acquire road, road sign, and other vehicle information (such as speed, acceleration, etc.) in real time through various sensors such as image sensor 151, radar sensor 152, or a combination of various sensors.
  • vehicle information such as speed, acceleration, etc.
  • Various information such as information), lane information of the road, lane line of the lane, distance information of the vehicle, etc., can acquire the speed information of the host vehicle in real time by one or more of the VCU 153, the BCU 154, the SCM 155, the ACM 156, the CDC 161, and the EPS 162. (such as speed information, acceleration and other speed information), acceleration, gear, steering, mode selection, fault and other information.
  • the automatic driving system 10 can also let the driver know the working state of the vehicle and the information interaction with the vehicle based on the information of the CDC161 alarm, the current activation mode, the lane, and the like.
  • the automatic driving system 10 outputs a target corner or target steering torque request to an actuator such as the EPS 162, thereby controlling the steering of the host vehicle instead of the manual steering of the driver.
  • the autopilot system 10 is provided with a signal processing module 131 that can obtain data or signal data obtained by the autopilot system 10 from any of the above components on the host vehicle, as exemplarily
  • the speed information V1 of the speed and acceleration of the host vehicle can be obtained.
  • the speed information V2 and the distance information L2 of the preceding vehicle (if any) traveling in front of the host vehicle can also be acquired, for example, the vehicle can also be acquired relative to the host vehicle.
  • the distance information L3 of the reverse traveling vehicle and/or the speed information V3 of the incoming vehicle, the distance information L4 of the following vehicle traveling in the same direction as the host vehicle, and/or the speed information V4 of the following vehicle may, for example, also acquire the current
  • the lane line information on the left and right sides of the lane for example, can also obtain the lane line information of the lane adjacent to the preceding vehicle. Their access is not restrictive.
  • the signal processing module 131 can be based on at least the speed information V1 of the host vehicle and a preceding vehicle traveling in the same direction in front of the host vehicle (especially the vehicle in front of the same direction or the vehicle in the same lane).
  • the speed information V2 determines whether there is an overtaking demand; specifically, the corresponding overtaking demand condition may be set according to parameters such as the speed information V1 and V2 and the distance information L2 between the host vehicle and the preceding vehicle, so that it is possible to determine whether it is necessary based on the predetermined overtaking demand condition.
  • Overtaking for example, if there is and the vehicle speed of the preceding vehicle is below a certain threshold and the vehicle speed of the host vehicle is greater than a certain threshold, or the vehicle speed of the preceding vehicle is below a certain threshold relative to the vehicle speed of the host vehicle, then overtaking is considered necessary.
  • the setting of the predetermined overtaking demand condition is set to reflect the driver's overtaking demand as accurately as possible, and the specific setting thereof is not limitative.
  • the signal processing module 131 is further configured to determine whether there is a preceding vehicle in front of the host vehicle and acquire the speed information V1 and the second speed information V2 and/or the speed information V3 of the incoming vehicle if it is determined that the preceding vehicle exists. Even the speed information V4 of the rear car can be obtained. For example, it may be determined that there is a preceding vehicle in the case where the distance information L2 is less than 10-50 m. It will be understood that the preceding vehicle of the host vehicle herein is a vehicle that is in close proximity to the host vehicle and travels in the same direction in the forward direction. When the distance between the host vehicle and the preceding vehicle is less than or equal to the corresponding value, it may be understood as the presence of overtaking. Possible front car.
  • the signal processing module 131 can be implemented by, for example, a processor, which can also perform various signal processing such as filtering, validity judgment, fault diagnosis, and the like on the input signal.
  • the lateral control subsystem 130 is further provided with a lane selection module 133 for using the lane line of the side lane of the preceding vehicle in the case where it is determined that there is an overtaking demand.
  • the information, and the distance information L3 of the host vehicle with respect to the incoming vehicle traveling in the opposite direction to the host vehicle and/or the distance information L4 of the host vehicle with respect to the following vehicle traveling in the same direction as the host vehicle determine whether the overtaking condition is satisfied, and is satisfied In the overtaking condition, the corresponding side lane is selected as the target lane.
  • the overtaking condition is not satisfied; in yet another example, for example, there is no In the case of the rear vehicle, if the lane line information of the adjacent lane is clearly visible and the distance information L3 of the host vehicle with respect to the incoming vehicle is greater than or equal to the corresponding predetermined value, both of which are judged to satisfy the overtaking condition, If any of the conditions is not satisfied, it is determined that the overtaking condition is not satisfied; in yet another example, for example, the lane in which the two-way traveling is separated by the interval belt (the vehicle may not be considered at this time), if the lane of the side lane If the line information is clearly visible and the distance information L4 of the host vehicle relative to the following vehicle is greater than or equal to the corresponding predetermined value, both of which are determined to satisfy the overtaking condition, and
  • the lane control module 130 is further provided with a lane selection module 133, and the lane selection module 133 is configured to determine the presence of the overtaking demand based on the lane line information of the side lane of the preceding vehicle. Whether the distance information L3 of the incoming vehicle traveling in the opposite direction to the host vehicle and its speed information V3, and/or the distance information L4 of the following vehicle (the following vehicle traveling in the same direction as the host vehicle) and its speed information V4 determine whether the overtaking is satisfied Condition, and when the overtaking condition is satisfied, the corresponding side lane is selected as the target lane.
  • the overtaking condition is not satisfied; in an example, for example, there is no In the case of a vehicle, if the lane line information of the side lane is clearly visible, and the distance information L3 of the host vehicle with respect to the coming vehicle is greater than or equal to the corresponding predetermined value, and the speed magnitude and acceleration of the speed information V3 of the coming vehicle are respectively less than or equal to If all of the corresponding predetermined values are satisfied, it is determined that the overtaking condition is satisfied, and if any of the above conditions is not satisfied, it is determined that the overtaking condition is not satisfied; in yet another example, for example, the lanes of the two-way driving are separated.
  • the overtaking condition In order to satisfy the overtaking condition, if any of the above conditions is not satisfied, it is determined that the overtaking condition is not satisfied; in another example, for example, if there is a rear vehicle and the lanes of the two-way driving are not spaced apart by the interval, if The lane line information of the lane is clearly visible, and the distance information L3 of the host vehicle with respect to the incoming vehicle is greater than or equal to the corresponding predetermined value, and the speed of the speed information V3 of the coming vehicle is less than or equal to the corresponding predetermined value, the speed information of the incoming vehicle.
  • the acceleration of V3 is less than or equal to the corresponding predetermined value, and the distance information L4 of the host vehicle with respect to the following vehicle is greater than or equal to the corresponding predetermined value, and the speed of the speed information of the following vehicle is less than or equal to the corresponding predetermined value, and the vehicle is coming. If the acceleration of the speed information V4 is less than or equal to the corresponding predetermined value, all of them are satisfied, and then it is judged to be satisfied. Vehicle condition, in the case where any of the above conditions is not satisfied, it is determined that the condition is not satisfied overtaking.
  • the lane selection module 133 is further configured to determine whether the corresponding incoming vehicle is based on the distance information L4 of the host vehicle relative to the following vehicle traveling in the same direction as the host vehicle and/or the speed information of the following vehicle relative to the host vehicle. There is an overtaking requirement, and when it is determined that there is an overtaking demand, a rear side incoming warning signal is generated, and the rear side incoming warning signal may be sent to the warning output module 139.
  • the distance information L4 of the host vehicle relative to the following vehicle is less than the corresponding predetermined value, and the speed magnitude of the speed information V4 of the following vehicle is greater than or equal to the speed of the speed information V1 of the host vehicle, or the speed of the following vehicle
  • the acceleration of the information V4 is greater than a predetermined value corresponding to the acceleration of the speed information V1 of the host vehicle, and it is determined that there is an overtaking demand for the subsequent vehicle.
  • the warning signal of the rear side is triggered to be output, so that The warning output module 139 promptly reminds the driver that the user is paying attention to the safety of the vehicle.
  • the lane selection module 133 determines that the current lane (i.e., the current lane of travel, which may be the lane in which the host vehicle travels with the preceding vehicle) is selected when the overtaking condition is not satisfied, for example, making a selection to maintain the current lane.
  • the current lane i.e., the current lane of travel, which may be the lane in which the host vehicle travels with the preceding vehicle
  • the lane selection module 133 can relatively accurately determine whether the overtaking condition is satisfied, and avoid a dangerous accident when the automatic lateral control application overtakes.
  • a decision making module 135 is further disposed in the lateral control subsystem 130.
  • the decision making module 135 can be coupled or coupled to the lane selection module 133 and the signal processing module 131.
  • the output of the lane selection module 133 and the output of the signal processing module 131 can optionally be sent to the decision making module 135.
  • the decision making module 135 may calculate a corresponding target corner and/or target steering torque when the corresponding side lane is selected as the target lane (eg, receiving an instruction to select the corresponding side lane as the target lane from the lane selection module 133), and the decision making module is determined.
  • the 135 can also output the calculated target corner and/or target steering torque to the corresponding lateral execution module 137 to complete the steering action.
  • the decision making module 135 may calculate a corresponding target corner and/or target steering torque when selecting the current driving lane as the target lane (eg, receiving an instruction to select the current driving lane as the target lane from the lane selection module 133), for example, according to
  • the target angle and/or the target steering torque are calculated from the distance of the vehicle from the left and right lane lines, the curvature of the road, and the like. In this way, if there are multiple lanes in the same direction, the overtaking can be borrowed from the same side lane; if the reverse lane and the middle of the lane are dotted lines, the reverse side lane can be borrowed to achieve overtaking.
  • the decision making module 135 may also output a corresponding turn signal trigger signal when the corresponding side lane is selected as the target lane, and the turn signal trigger signal may be input to other components or systems.
  • the front and rear cars can know the intention of the lane change of the host vehicle in time.
  • the specific calculation principle of the target corner and/or the target steering is not limited, and it can be implemented by using various calculation methods known or occurring after the date of application.
  • the lateral control subsystem 130 is further provided with an alert output module 139, which can be used to output an alert signal, such as alerting the driver that active intervention or exiting the autopilot function is required.
  • the decision making module 135 can also be used to output a corresponding target corner and/or target steering torque based on lane line information (eg, left and/or right lane line information) of the current lane while maintaining the current lane travel.
  • the decision making module 135 outputs a corresponding signal to trigger the warning output module 139 to output an alert signal. It is relatively dangerous to maintain the current lane driving for full automatic driving at this time. It is necessary to alert the driver that active intervention is required and automatically exit the automatic driving function.
  • the warning signal may specifically be various sound signals, light signals or tactile signals (such as steering wheel shake or seat shake).
  • the decision making module 135 may output a corresponding target corner corresponding to the output. And/or the target steering torque to cause the host vehicle to travel in the current lane.
  • the signal processing module 131 may continue to obtain the lane line information of the left and right sides of the current lane. If the host vehicle is substantially deviated from the central position between the lane lines on the left and right sides of the current lane, the decision making module 135 may The corresponding lane departure warning signal is output.
  • the lane departure warning signal can be sent to, for example, the alert output module 139 to prompt the driver the user to intervene in the steering operation.
  • the decision making module 135 may output a corresponding target target corner and/or target steering.
  • the torque is such that the host vehicle travels along one side of the existing lane lane of the current lane, thus facilitating the safety of driving.
  • the automatic driving system of the above embodiment can automatically realize the lateral control of the overtaking process, and the safety is good, and the lateral control such as lane keeping and automatic lane changing can be realized, and the automation degree of the automatic driving system in the lateral control is improved.
  • FIG. 2 is a flow chart showing a method of lateral control of an automatic driving system in accordance with an embodiment of the present invention.
  • the lateral control method of the embodiment shown in Fig. 2 can be applied to the automatic driving system 10 shown in Fig. 1, which will be described in detail below with reference to Figs.
  • the automatic driving system first determines whether there is a preceding vehicle in front of the host vehicle, that is, step S21, if the determination is "No", The current lane can be selected, that is, step S262; if the determination is YES, it is necessary to further determine whether there is an overtaking demand, that is, step S23.
  • step S221 and step S222 are further included, that is, acquiring speed information V1 of the host vehicle (step S221) and acquiring speed information V2 of the preceding vehicle (step S222), for example, the host vehicle
  • the speed information V1 can be obtained, for example, from the VCU 153 or the like, and the speed information V2 of the preceding vehicle can be collected by the image sensor 151 and/or the radar sensor 152 and processed by the signal processing module 131 for signal processing.
  • the speed information V1 and V2 may include respective acceleration and speed magnitudes.
  • step S23 it can be determined whether there is an overtaking demand according to the speed information V1 of the host vehicle and the speed information V2 of the preceding vehicle; specifically, according to the speed information V1 and V2 and the parameter setting of the distance information L2 between the host vehicle and the preceding vehicle, etc.
  • Predetermined overtaking demand conditions so that it is possible to determine whether overtaking is required based on predetermined overtaking demand conditions, for example, if the vehicle speed of the preceding vehicle is below a certain threshold and the vehicle speed of the host vehicle is greater than a certain threshold, or the speed of the preceding vehicle is relative to the host If the vehicle's speed is lower than a certain threshold, it is considered that overtaking is required.
  • the setting of the predetermined overtaking demand condition is set to reflect the driver's overtaking demand as accurately as possible, and the specific setting thereof is not limitative.
  • step S262 that is, the current lane is selected, so that the preceding vehicle can continue to keep the lane driving; if the determination is "Yes", there is an overtaking demand, and further determination is needed whether The overtaking condition is satisfied, that is, step S25.
  • step S241 is further included, that is, the lane line information of the side lane of the preceding vehicle is acquired.
  • the lane line image of the side lane of the preceding vehicle can be collected by the image sensor 151 and analyzed by the signal processing module 131 to obtain a corresponding lane line image. If the lane line image is clearly visible, there is a clear safe overtaking lane.
  • step S242 is further included to acquire distance information of the host vehicle relative to the incoming vehicle traveling in the opposite direction to the host vehicle/the rear vehicle traveling in the same direction as the host vehicle.
  • the distance information L3 of the incoming vehicle and/or the distance information L4 of the following vehicle may be acquired by the image sensor 151 and/or the radar sensor 152 or the like. If the distance information L3 and/or L4 is sufficiently large, that is, the incoming and/or the rear vehicle is far enough, it indicates that there is a lane distance for safe overtaking.
  • step S243 may be further included to obtain the speed information V3 of the incoming/rear vehicle.
  • the speed information V3 of the incoming vehicle may be collected by the image sensor 151 and/or the radar sensor 152 and processed by the signal processing module 131, and the speed information V4 of the following vehicle may pass through the image sensor 151 and/or The radar sensor 152 collects data of the preceding vehicle and performs signal processing by the signal processing module 131.
  • the speed information V3 of the incoming vehicle and the speed information V4 of the following vehicle may include the speed magnitude and the acceleration. If the speed of the incoming/rear vehicle is appropriate and the acceleration is small, it further indicates that there is a lane distance for safe overtaking.
  • the information acquired in the above steps S221-S222 and S241-S243 are dynamically changed in real time, and the information needs to be continuously collected or calculated, and the type of the acquired information is not limited to the above embodiment. Depending on your needs, you can also choose to get other types of information.
  • step S25 in the case where it is determined that there is an overtaking demand (ie, the determination is YES in step S23), the lane line information based on the side lane of the preceding vehicle, and the distance information L3 of the incoming vehicle and/or the following vehicle
  • the distance information L4 is used to determine whether the overtaking condition is satisfied, and when the overtaking condition is satisfied, the determination is YES, and the corresponding side lane (for example, the side lane of the preceding vehicle) is selected as the target lane, that is, the process proceeds to step S261; otherwise, the selection continues.
  • the current lane (for example, the preceding vehicle and the lane in which the host vehicle is currently traveling) proceeds to step S262.
  • the overtaking condition is not satisfied; in yet another example, for example, there is no In the case of the rear vehicle, if the lane line information of the adjacent lane is clearly visible and the distance information L3 of the host vehicle with respect to the incoming vehicle is greater than or equal to the corresponding predetermined value, both of which are judged to satisfy the overtaking condition, In the case where any of the conditions is satisfied, it is determined that the overtaking condition is not satisfied; in yet another example, for example, the lane in which the two-way traveling is separated by the interval belt (the vehicle may not be considered at this time), if the lane lane of the side lane If the information is clearly visible and the distance information L4 of the host vehicle relative to the following vehicle is greater than or equal to the corresponding predetermined value, both of which are determined to satisfy the overtaking condition
  • step S25 it is also possible to determine whether the overtaking condition is satisfied based on the speed information V3 of the coming vehicle and/or the speed information V4 of the following vehicle, that is, the lane line information based on the side lane of the preceding vehicle in the case where it is determined that there is an overtaking demand,
  • the distance information L3 of the incoming vehicle (the incoming vehicle traveling in the opposite direction to the host vehicle) and its speed information V3, and/or the distance information L4 of the following vehicle (the following vehicle traveling in the same direction as the host vehicle) and its speed information V4 It is judged whether the overtaking condition is satisfied, and when the overtaking condition is satisfied, the corresponding side lane is selected as the target lane.
  • the overtaking condition is not satisfied; in an example, for example, there is no In the case of a vehicle, if the lane line information of the side lane is clearly visible, and the distance information L3 of the host vehicle with respect to the coming vehicle is greater than or equal to the corresponding predetermined value, and the speed magnitude and acceleration of the speed information V3 of the coming vehicle are respectively less than or equal to If all of the corresponding predetermined values are satisfied, it is determined that the overtaking condition is satisfied, and if any of the above conditions is not satisfied, it is determined that the overtaking condition is not satisfied; in yet another example, for example, the lanes of the two-way driving are separated.
  • the overtaking condition In order to satisfy the overtaking condition, if any of the above conditions is not satisfied, it is determined that the overtaking condition is not satisfied; in another example, for example, if there is a rear vehicle and the lanes of the two-way driving are not spaced apart by the interval, if The lane line information of the lane is clearly visible, and the distance information L3 of the host vehicle with respect to the incoming vehicle is greater than or equal to the corresponding predetermined value, and the speed of the speed information V3 of the coming vehicle is less than or equal to the corresponding predetermined value, the speed information of the incoming vehicle.
  • the acceleration of V3 is less than or equal to the corresponding predetermined value, and the distance information L4 of the host vehicle with respect to the following vehicle is greater than or equal to the corresponding predetermined value, and the speed of the speed information of the following vehicle is less than or equal to the corresponding predetermined value, and the vehicle is coming. If the acceleration of the speed information V4 is less than or equal to the corresponding predetermined value, all of them are satisfied, and then it is judged to be satisfied. Vehicle condition, in the case where any of the above conditions is not satisfied, it is determined that the condition is not satisfied overtaking.
  • Figure 2 above shows the selection process of the target lane during the overtaking process in the lateral control method.
  • FIG. 3 is a flow chart showing a method of lateral control of an automatic driving system in accordance with still another embodiment of the present invention.
  • the lateral control method of the embodiment shown in FIG. 3 can be applied to the automatic driving system 10 shown in FIG. 1, which will be described in detail below with reference to FIGS. 1 and 3.
  • the lateral control method of this embodiment may include a lateral control process as shown in FIG. 2, which shows a control process after receiving a lane selection instruction.
  • a lateral control process as shown in FIG. 2, which shows a control process after receiving a lane selection instruction.
  • step S321 the process proceeds to a step of making a change to the adjacent lane, that is, step S321, at which time, the target angle and/or the target steering torque for changing to the side lane driving are calculated and outputted, and the lane change is completed.
  • a corresponding turn signal trigger signal may be output when the corresponding side lane is selected as the target lane, and the turn signal trigger signal may be input to other components or systems. Drive the left turn signal or the right turn signal to work, so that the front and rear cars can know the intention of the lane change of the host vehicle in time.
  • step S322 a decision is made to maintain the current lane, that is, step S322, at which time, the target corner and/or the target steering torque for maintaining the current lane travel are calculated and output.
  • step S321 or S322 in the process of maintaining the current lane driving, the lane line information on both sides of the current lane is continuously collected, and it is determined whether the lane lines on the left and the right sides of the current lane are all present, that is, step S33; If it is "Yes", the decision of the centering travel can be made, that is, step S341; if the determination is "NO", the process proceeds to step S342 to further determine whether the left lane line of the current lane exists.
  • step S342 determines whether or not the right lane line of the current lane exists.
  • step S352 If the determination in step S352 is "YES”, the decision to travel along the right side of the current lane may be made, that is, step S361; if the determination in step S352 is "NO”, a decision is made to trigger the output of the warning signal, that is, step S362, thus, warning driving The crew needs to actively intervene and automatically exit the autopilot function.
  • the corresponding target angle and/or target steering torque is calculated, that is, step S37.
  • the calculated target angle and/or target steering torque may be output to the lateral execution module 137 to respond to the above determination.
  • the lane line information of the left and right sides of the current lane may continue to be obtained, and if the host vehicle is substantially deviated from the central position between the lane lines on the left and right sides of the current lane, the corresponding output may be output.
  • the lane deviates from the warning signal.
  • the lane departure warning signal can be sent to, for example, the alert output module 139 to prompt the driver the user to intervene in the steering operation.
  • determining whether the incoming vehicle has an overtaking requirement based on the distance information L4 of the host vehicle relative to the following vehicle traveling in the same direction as the host vehicle and/or the speed information of the following vehicle relative to the host vehicle, and determining Generate a warning signal for the rear side of the vehicle in case of overtaking demand.
  • the rear side incoming vehicle warning signal can be sent to the alert output module 139.
  • the distance information L4 of the host vehicle relative to the following vehicle is less than the corresponding predetermined value, and the speed magnitude of the speed information V4 of the following vehicle is greater than or equal to the speed of the speed information V1 of the host vehicle, or the speed of the following vehicle
  • the acceleration of the information V4 is greater than a predetermined value corresponding to the acceleration of the speed information V1 of the host vehicle, and it is determined that there is an overtaking demand for the subsequent vehicle.
  • the warning signal of the rear side is triggered to be output, so that The warning output module 139 promptly reminds the driver that the user is paying attention to the safety of the vehicle.
  • the lateral control method of the embodiment shown in Fig. 3 can further improve the safety and automation of maintaining the current lane.
  • the automated driving system 10 of the above embodiments and its lateral control method can be applied to various types of vehicles, particularly to electric vehicles, and to facilitate an improved driving experience.

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Abstract

一种自动驾驶系统（10）及其横向控制方法，属于车辆智能驾驶技术领域，该自动驾驶系统（10）包括横向控制子系统（130），其中横向控制子系统（130）包括：信号处理模块（131），用于根据自动驾驶系统（10）的宿主车辆的第一速度信息和在宿主车辆前面同向行驶的前车的第二速度信息判断是否存在超车需求；以及车道选择模块（133），用于在确定存在超车需求的情况下基于前车的旁边车道的车道线信息、以及宿主车辆相对于与宿主车辆反向行驶的来车的距离信息和/或与宿主车辆同向行驶的后车的距离信息判断是否满足超车条件以及在满足超车条件时选择相应的旁边车道为目标车道，因而提高了车辆在超车时的自动化驾驶程度，并且安全性好。

Description

一种自动驾驶系统及其横向控制方法 技术领域
本发明属于车辆智能驾驶技术领域，涉及车辆的自动驾驶，尤其涉及车辆的自动驾驶系统及其横向控制方法。
背景技术
人工智能技术在汽车中的重要应用体现为自动驾驶技术，其越来越被人们关注并且具有非常良好的应用前景。为实现自动驾驶，需要采集并获取大量的数据信息来进行处理分析，从而最终输出横向控制和纵向控制结构。
自动驾驶的横向控制是实现全自动驾驶的关键步骤之一，目前的自动驾驶的横向控制技术多停留在车道偏离预警(LDW)和车道保持(LKA)阶段，难以自动实现车道对中行驶(LKS)和自动变道功能，尤其难以实现在超车过程的自动变道控制。并且，为实现车辆变道，一般需要驾驶员人工确认是否满足变道条件，并通过转向灯触发变道，因此，限制了自动驾驶系统的自动化驾驶程度。
发明内容
本发明的目的在于，提高自动驾驶系统在横向控制方面的自动化程度。
为实现以上目的或者其他目的，本发明提供以下技术方案。
按照本发明的第一方面，提供一种自动驾驶系统，包括横向控制子系统，所述横向控制子系统包括：
信号处理模块，其用于根据所述自动驾驶系统的宿主车辆的第一速度信息和在所述宿主车辆前面同向行驶的前车的第二速度信息判断是否存在超车需求；以及
车道选择模块，其用于在确定存在所述超车需求的情况下基于所述前车的旁边车道的车道线信息、以及所述宿主车辆相对于与所述宿主车辆反向行驶的来车的距离信息和/或所述宿主车辆相对于与所述宿主车辆同向行驶的后车的距离信息判断是否满足超车条件以及在满足所述超车条件时选择相应的旁边车道为目标车道。
根据本发明一实施例的自动驾驶系统，其中，所述车道选择模块还用于基于所述来车的第三速度信息和/或所述后车的第四速度信息判断是否满足超车条件。根据本发明一实施例的自动驾驶系统，其中，所述横向控制子系统还包括：
决定作出模块，其用于在选择相应的旁边车道为目标车道时计算相应的目标转角和/或目标转向扭矩。
根据本发明一实施例的自动驾驶系统，其中，所述车道选择模块还用于在不满足所述超车条件时选择当前车道为目标车道；
所述决定作出模块还用于在选择当前车道为目标车道时输出用于保持当前车道行驶的目标转角和/或目标转向扭矩。
根据本发明一实施例的自动驾驶系统，其中，所述决定作出模块还用于在保持当前车道行驶时根据所述当前车道的车道线信息输出相应的目标转角和/或目标转向扭矩。
根据本发明一实施例的自动驾驶系统，其中，所述决定作出模块还用于在选择相应的旁边车道为目标车道时输出相应的转向灯触发信号。
根据本发明一实施例的自动驾驶系统，其中，还包括警示输出模块；
所述决定作出模块还用于在保持当前车道行驶时且所述当前车道的左右两边的车道线都不存在时输出相应的信号来触发所述警示输出模块输出警示信号。
根据本发明一实施例的自动驾驶系统，其中，所述决定作出模块还用于：
在保持当前车道行驶时且所述当前车道的左右两边的车道线都存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道对中行驶；和/或
在保持当前车道行驶时且所述当前车道的左右两边的任意一边的车道线不存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道的存在车道线的一边行驶。根据本发明一实施例的自动驾驶系统，其中，所述信号处理模块还用于判断所述宿主车辆的前面是否存在所述前车以及在确定存在所述前车的情况下获取所述第一速度信息以及第二速度信息和/或所述来车的第三速度信息、所述后车 的第四速度信息。
根据本发明一实施例的自动驾驶系统，其中，所述决定作出模块还用于：在所述宿主车辆沿当前车道对中行驶时如果所述宿主车辆大致偏离当前车道的左右两边的车道线之间的中央位置，输出相应的车道偏离预警信号。
根据本发明一实施例的自动驾驶系统，其中，所述车道选择模块还用于至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值和/或所述后车的距离信息大于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
根据本发明一实施例的自动驾驶系统，其中，所述车道选择模块还用于至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值且所述来车的第三速度信息的速度大小和加速度均小于或等于相应的预定值、所述后车的距离信息大于或等于相应的预定值且所述后车的第四速度信息的速度大小和加速度均小于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
根据本发明一实施例的自动驾驶系统，其中，所述车道选择模块还用于基于所述宿主车辆相对于与宿主车辆同向行驶的后车的距离信息和/或所述后车相对宿主车辆的速度信息判断所述来车是否存在超车需求、并且在判断为存在超车需求的情况下生成后侧来车预警信号。
根据本发明一实施例的自动驾驶系统，其中，所述车道选择模块还用于至少在所述宿主车辆相对于所述后车的距离信息小于或等于相应的预定值、并且所述后车的第四速度信息的速度大小大于或等于宿主车辆的第一速度信息的速度大小或者所述后车的第四速度信息的加速度比所述宿主车辆的第一速度信息的加速度大相应的预定值才判断为所述来车存在超车需求。
根据本发明一实施例的自动驾驶系统，其中，所述第一速度信息、所述第二速度信息、第三速度信息和第四速度信息均包括速度大小和加速度。
按照本发明的第二方面，提供一种自动驾驶系统的横向控制方法，其包括步骤：
根据所述自动驾驶系统的宿主车辆的第一速度信息和在所述宿主车辆前面同向行驶的前车的第二速度信息判断是否存在超车需求；
在确定存在所述超车需求的情况下，基于所述前车的旁边车道的车道线信息、以及所述宿主车辆相对于与所述宿主车辆反向行驶的来车的距离信息和/或所述宿主车辆相对于与所述宿主车辆同向行驶的后车的距离信息判断是否满足超车条件；以及
在满足所述超车条件时选择相应的旁边车道为目标车道。
根据本发明一实施例的横向控制方法，其中，在判断是否满足超车条件的步骤中，还基于所述来车的第三速度信息和/或所述后车的第四速度信息判断是否满足超车条件。
根据本发明一实施例的横向控制方法，其中，还包括步骤：在选择相应的旁边车道为目标车道时计算相应的目标转角和/或目标转向扭矩。
根据本发明一实施例的横向控制方法，其中，在选择相应的旁边车道为目标车道时输出相应的转向灯触发信号。
根据本发明一实施例的横向控制方法，其中，还包括步骤：
在不满足所述超车条件时选择当前车道为目标车道；以及
在选择当前车道为目标车道时输出用于保持当前车道行驶的目标转角和/或目标转向扭矩。
根据本发明一实施例的横向控制方法，其中，在输出用于保持当前车道行驶的目标转角和/或目标转向扭矩的步骤中，在保持当前车道行驶时根据所述当前车道的车道线信息输出相应的目标转角和/或目标转向扭矩。
根据本发明一实施例的横向控制方法，其中，还包括步骤：在保持当前车道行驶时且所述当前车道的左右两边的车道线都不存在时输出相应的信号来触发输出警示信号。
根据本发明一实施例的横向控制方法，其中，在输出用于保持当前车道行驶的目标转角和/或目标转向扭矩的步骤中，包括：
在保持当前车道行驶时且所述当前车道的左右两边的车道线都存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道对中行驶；和/或
在保持当前车道行驶时且所述当前车道的左右两边的任意一边的 车道线不存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道的存在车道线的一边行驶。
根据本发明一实施例的横向控制方法，其中，在所述宿主车辆沿当前车道对中行驶时如果所述宿主车辆大致偏离当前车道的左右两边的车道线之间的中央位置，输出相应的车道偏离预警信号。
根据本发明一实施例的横向控制方法，其中，还包括步骤：判断所述宿主车辆的前面是否存在所述前车以及在确定存在所述前车的情况下获取所述第一速度信息以及第二速度信息和/或所述来车的第三速度信息、所述后车的第四速度信息。
根据本发明一实施例的横向控制方法，其中，在判断是否满足超车条件的步骤中，至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值和/或所述后车的距离信息大于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
根据本发明一实施例的横向控制方法，其中，在判断是否满足超车条件的步骤中，至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值且所述来车的所述第三速度信息的速度大小和加速度均小于或等于相应的预定值、所述后车的距离信息大于或等于相应的预定值且所述后车的第四速度信息的速度大小和加速度均小于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
根据本发明一实施例的横向控制方法，其中，基于所述宿主车辆相对于与宿主车辆同向行驶的后车的距离信息和/或所述后车相对宿主车辆的速度信息判断所述来车是否存在超车需求、并且在判断为存在超车需求的情况下生成后侧来车预警信号。
根据本发明一实施例的横向控制方法，其中，至少在所述宿主车辆相对于所述后车的距离信息小于或等于相应的预定值、并且所述后车的第四速度信息的速度大小大于或等于宿主车辆的第一速度信息的速度大小或者所述后车的第四速度信息的加速度比所述宿主车辆的第一速度信息的加速度大相应的预定值才判断为所述来车存在超车需求。
根据本发明一实施例的横向控制方法，其中，所述第一速度信息、第二速度信息、第三速度信息和第四速度信息均包括速度大小和加速 度。
按照本发明的第三方面，提供一种计算机设备，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，其中，所述处理器执行所述程序时实现以上任一所述横向控制方法的步骤。
按照本发明的第四方面，提供一种计算机可读存储介质，其上存储有计算机程序，其中，该程序被处理器执行以实现以上任一所述横向控制方法的步骤。
按照本发明的第五方面，提供一种车辆，使用以上任一所述自动驾驶系统。
根据以下描述和附图本发明的以上特征和操作将变得更加显而易见。
附图说明
从结合附图的以下详细说明中，将会使本发明的上述和其他目的及优点更加完整清楚，其中，相同或相似的要素采用相同的标号表示。
图1是按照本发明一实施例的自动驾驶系统的模块结构示意图。
图2是按照本发明一实施例的自动驾驶系统的横向控制方法流程图。
图3是按照本发明又一实施例的自动驾驶系统的横向控制方法的流程图。
具体实施方式
下文是本发明示范实施例的描述，附图中图示了这些实施例的示例。
出于简洁和说明性目的，本文主要参考其示范实施例来描述本发明的原理。但是，本领域技术人员将容易地认识到相同的原理可等效地应用于所有类型的自动驾驶系统和其横向控制方法，并且可以在其中实施这些相同的原理，任何此类变化不背离本专利申请的真实精神和范围。而且，在下文描述中，参考了附图，这些附图图示特定的示范实施例。在不背离本发明的精神和范围的前提下可以对这些实施例进行电、机械、逻辑和结构上的更改。此外，虽然本发明的特征是结合若干实施/实施例的仅其中之一来公开的，但是如针对任何给定或可识别的功能可能是期望和/或有利的，可以将此特征与其他实施/实施例的一个或多个其他特征 进行组合。因此，下文描述不应视为在限制意义上的，并且本发明的范围由所附权利要求及其等效物来定义。
附图中所示的一些方框图是功能实体，不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体，或者在一个或多个硬件模块或集成电路中实现这些功能实体，或者在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
下文参考根据本发明实施例的方法、系统和装置的流程图说明、框图和/或流程图来描述本发明。将理解这些流程图说明和/或框图的每个框、以及流程图说明和/或框图的组合可以由计算机程序指令来实现。可以将这些计算机程序指令提供给通用计算机、专用计算机或其他可编程数据处理设备的处理器以构成机器，以便由计算机或其他可编程数据处理设备的处理器执行的这些指令创建用于实施这些流程图和/或框和/或一个或多个流程框图中指定的功能/操作的部件。
可以将这些计算机程序指令存储在计算机可读存储器中，这些指令可以指示计算机或其他可编程处理器以特定方式实现功能，以便存储在计算机可读存储器中的这些指令构成包含实施流程图和/或框图的一个或多个框中指定的功能/操作的指令部件的制作产品。
可以将这些计算机程序指令加载到计算机或其他可编程数据处理器上以使一系列的操作步骤在计算机或其他可编程处理器上执行，以便构成计算机实现的进程，以使计算机或其他可编程数据处理器上执行的这些指令提供用于实施此流程图和/或框图的一个或多个框中指定的功能或操作的步骤。还应该注意在一些备选实现中，框中所示的功能/操作可以不按流程图所示的次序来发生。例如，依次示出的两个框实际可以基本同时地执行或这些框有时可以按逆序执行，具体取决于所涉及的功能/操作。
在本文中，安装有本发明实施例的自动驾驶系统的车辆被称为“宿主车辆”，其例如可以是电动汽车。
图1所示为按照本发明一实施例的自动驾驶系统的模块结构示意图。自动驾驶系统10例如可以是先进驾驶辅助系统(Advanced Driver Assistant System，简称ADAS)，自动驾驶系统10包括纵向控制子系统110和横向控制(Lateral Control)统130，以下主要示例说明本发明的横向控制子系统140。
在自动驾驶系统10进行例如横向控制过程中，需要大量数据来支持其自动驾驶功能的实现，因此，自动驾驶系统10可以从宿主车辆上安装的各个部件中采集或收集相应所需的数据。示例地，宿主车辆上可以安装一下部件中的一个或多个：图像传感器151、雷达传感器152、VCU(Vehicle Control Unit，车辆控制单元)153、BCU(Brake Control Unit，制动控制单元)154、SCM(Steering Column Unit，转向柱模块)155、ACM(Airbag Control Unit，安全气囊控制单元)156、CDC(Cockpit Domain Controller，中控单元)161、EPS(Electric Power Steering，电动助力转向系统)162。自动驾驶系统10可以通过例如CAN总线与图像传感器151、雷达传感器152、VCU153、BCU154、SCM155、ACM156、CDC161、EPS162等传感器、执行器或控制器相连，从而方便地进行信息交互。将理解，宿主车辆上安装的部件并不限于以上示例，根据自动驾驶系统10的横向控制需要，可以选择设置相应的部件(例如传感器)。
继续如图1所示，自动驾驶系统10可以通过图像传感器151、雷达传感器152等各种传感器或各种传感器的组合来实时地获取道路、路标、其他车辆的信息(例如速度大小、加速度等速度信息)、道路的车道信息、车道的车道线、车辆的距离信息等各种信息，可以通过从VCU153、BCU154、SCM155、ACM156、CDC161、EPS162的一个或多个等实时地获取宿主车辆的速度信息(例如速度大小、加速度等速度信息)、加速度、档位、转向、模式选择、故障等信息。自动驾驶系统10还可以基于CDC161的报警、当前激活模式、车道等信息让驾驶员时刻了解本车的工作状态以及与车辆进行信息交互。当车辆横向控制子系统130，自动驾驶系统10输出目标转角或目标转向扭矩请求给EPS162等执行器，从而控制宿主车辆的转向，替代驾驶员的手动转向操纵。
在一实施例中，如图1所示，自动驾驶系统10中设置有信号处理模块131，其可以得到自动驾驶系统10从宿主车辆上的上述任一部件中获取的数据或信号数据，示例地，可以获取宿主车辆的速度大小、加速度等速度信息V1，例如还可以获取宿主车辆前面同向行驶的前车(如果有)的速度信息V2和距离信息L2，例如还可以获取相对于与宿主车辆反向行驶的来车的距离信息L3和/或该来车的速度信息V3、 与宿主车辆同向行驶的后车的距离信息L4和/或该后车的速度信息V4，例如还可以获取当前所在车道的左右两边的车道线信息，例如还可以获取前车的旁边车道的车道线信息。它们的获取方式不是限制性的。
在一实施例中，信号处理模块131至少可以根据宿主车辆的速度信息V1和在宿主车辆前面同向行驶的一前车(特别是同向行驶的正前方的车辆或同一车道上的车辆)的速度信息V2判断是否存在超车需求；具体地，可以根据速度信息V1和V2和宿主车辆与前车的距离信息L2等参数设置相应的预定超车需求条件，从而可以基于预定超车需求条件来确定是否需要超车，例如，若存在且前车的车速低于某一阈值且宿主车辆的车速大于某一阈值、或前车的车速相对宿主车辆的车速低过某一阈值，则认为需要超车。预定超车需求条件的设置以尽可能准确反映驾驶员的超车需求来设置，其具体设置不是限制性的。
在一实施例中，信号处理模块131还用于判断宿主车辆的前面是否存在前车以及在确定存在前车的情况下获取速度信息V1以及第二速度信息V2和/或来车的速度信息V3，甚至还可以获取后车的速度信息V4。示例地，可以在上述距离信息L2小于10-50m的情况下判断为存在前车。将理解，本文中的宿主车辆的前车是相对宿主车辆紧邻且基本在前方同向行驶的车辆，在宿主车辆与前车之间的距离小于或等于相应值时，其才可能理解为存在超车可能的前车。
具体地，信号处理模块131可以通过例如处理器实现，其还可以对输入的信号进行滤波、有效性判断、故障诊断等各种信号处理。
继续如图1所示，在一实施例中，横向控制子系统130中还设置有车道选择模块133，车道选择模块133用于在确定存在超车需求的情况下基于前车的旁边车道的车道线信息、以及宿主车辆相对于与宿主车辆反向行驶的来车的距离信息L3和/或宿主车辆相对于与宿主车辆同向行驶的后车的距离信息L4来判断是否满足超车条件，并且在满足所述超车条件时选择相应的旁边车道为目标车道。在一示例中，如果旁边车道的左右两边的车道线不可见或部分缺失，表示旁边车道不完整或旁边车道被前车部分占用，则判断为不满足超车条件；在又一示例中，例如没有后车的情况下，如果旁边车道的车道线信息清晰可见并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值二者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的 情况下，判断为不满足超车条件；在还一示例中，例如双向行驶的车道被间隔带间隔开的情况下(此时可以不考虑来车)，如果旁边车道的车道线信息清晰可见并且宿主车辆相对于后车的距离信息L4大于或等于相应的预定值二者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在再一示例中，例如存在后车且双向行驶的车道未被间隔带间隔开的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、宿主车辆相对于后车的距离信息L4大于或等于相应的预定值三者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件。
在又一实施例中，横向控制子系统130中还设置有车道选择模块133，车道选择模块133用于在确定存在超车需求的情况下基于前车的旁边车道的车道线信息、来车(宿与宿主车辆反向行驶的来车)的距离信息L3及其速度信息V3、和/或后车(与宿主车辆同向行驶的后车)的距离信息L4及其速度信息V4来判断是否满足超车条件，并且在满足所述超车条件时选择相应的旁边车道为目标车道。在一示例中，例如没有后车的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、并且来车的速度信息V3的速度大小小于或等于相应的预定值三者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在一示例中，例如没有后车的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、并且来车的速度信息V3的速度大小和加速度分别小于或等于相应的预定值四者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在又一示例中，例如双向行驶的车道被间隔带间隔开的情况下(此时可以不考虑来车)，如果前车的旁边车道的车道线信息清晰可见、并且宿主车辆相对于后车的距离信息L4大于或等于相应的预定值、并且后车的速度信息V4的速度大小和加速度分别小于或等于相应的预定值四者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在还一示例中，例如存在后车且双向行驶的车道未被间隔带间隔开的情况下，如果旁边车道 的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、并且来车的速度信息V3的速度大小小于或等于相应的预定值、来车的速度信息V3的加速度小于或等于相应的预定值、并且宿主车辆相对于后车的距离信息L4大于或等于相应的预定值、并且后车的速度信息V4的速度大小小于或等于相应的预定值、来车的速度信息V4的加速度小于或等于相应的预定值七者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件。
在又一实施例中，车道选择模块133还用于在基于宿主车辆相对于与宿主车辆同向行驶的后车的距离信息L4和/或后车相对宿主车辆的速度信息判断相应的来车是否存在超车需求，并且在判断为存在超车需求的情况下触发生成后侧来车预警信号，该后侧来车预警信号可以可以被发送至警示输出模块139。在一示例中，如果宿主车辆相对于后车的距离信息L4小于相应的预定值、并且后车的速度信息V4的速度大小大于或等于宿主车辆的速度信息V1的速度大小，或者后车的速度信息V4的加速度比宿主车辆的速度信息V1的加速度大相应的预定值，判断后续来车存在超车需求，此时，不管宿主车辆是否存在超车需求，均触发输出后侧来车预警信号，这样，警示输出模块139及时提醒驾驶员用户注意来车安全。
将理解，超车条件的具体设置并不限于以上示例。车道选择模块133判断为不满足超车条件时选择当前车道(即当前行驶车道，其可以是宿主车辆与前车共同行驶的车道)，例如作出保持当前车道的选择。
车道选择模块133可以相对准确地判断出是否满足超车条件，避免自动横向控制应用超车时发生危险事故。
继续如图1所示，在一实施例中，横向控制子系统130中还设置有决定作出(Decision Maker)模块135，决定作出模块135可以与车道选择模块133和信号处理模块131相连接或耦接，车道选择模块133的输出结果和信号处理模块131的输出结果可以可选地发送至决定作出模块135。决定作出模块135可以在选择相应的旁边车道为目标车道时(例如从车道选择模块133接收到选择相应的旁边车道为目标车道的指令)计算相应的目标转角和/或目标转向扭矩，决定作出模块135还可以将计算得到的目标转角和/或目标转向扭矩输出至相应的横向执 行模块137，从而完成转向动作。当然，决定作出模块135可以在选择当前行驶车道为目标车道时(例如从车道选择模块133接收到选择当前行驶车道为目标车道的指令)计算相应的目标转角和/或目标转向扭矩，例如，根据车辆离左右车道线的距离、道路曲率等计算出目标转角和/或目标转向扭矩。这样，如果同向多车道，可借用同向的旁边车道实现超车；如果反向车道和本车道中间是虚线也可以借用反向的旁边车道实现超车。
在一实施例中，为提高车道变换的安全性，决定作出模块135还可以在选择相应的旁边车道为目标车道时输出相应的转向灯触发信号，该转向灯触发信号可以输入至其他部件或系统以驱动左转向灯或右转向灯工作，让前车和后车都能及时获知宿主车辆的车道变换意图。
需要说明的是，目标转角和/或目标转向扭的具体计算原理不是限制性的，其可以应用已知的或本申请日之后出现的各种计算方式来实现。
继续如图1所示，在一实施例中，横向控制子系统130中还设置有还包括警示输出模块139，其可以用来输出警示信号，例如警示驾驶员需要进行主动干预或退出自动驾驶功能。决定作出模块135还可以用于在保持当前车道行驶时根据当前车道的车道线信息(例如左边和/或右边车道线信息)输出相应的目标转角和/或目标转向扭矩。
在一示例中，如果信号处理模块131基于当前车道的车道线信息判断出当前车道的左右两边的车道线都不存在时，决定作出模块135输出相应的信号来触发警示输出模块139输出警示信号，表示此时保持当前车道行驶进行完全自动驾驶是相对危险的，需要警示驾驶员需要进行主动干预，并自动退出自动驾驶功能。警示信号具体可以是各种声音信号、灯光信号或触觉信号(例如方向盘抖动或座椅抖动)等。
在一示例中，如果信号处理模块131基于当前车道的车道线信息判断出当前车道的左右两边的车道线都存在时(例如清晰可见时)，决定作出模块135可以输出相应的输出相应的目标转角和/或目标转向扭矩以使宿主车辆沿当前车道对中行驶。在对中行驶过程中，信号处理模块131可以继续获得当前车道的左右两边的车道线信息，如果所述宿主车辆大致偏离当前车道的左右两边的车道线之间的中央位置，决定作出模块135可以输出相应的车道偏离预警信号。该车道偏离预 警信号可以被发送至例如警示输出模块139，从而及时提醒驾驶员用户干预转向操作。
在一示例中，如果信号处理模块131基于当前车道的车道线信息判断出的左右两边的任意一边的车道线不存在时，决定作出模块135可以输出相应的输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道的存在车道线的一边行驶，这样，有利于保证行驶的安全性。
以上实施例的自动驾驶系统可以自动实现超车过程的横向控制，并且，安全性好，还可以实现车道保持、自动换道等横向控制，提高自动驾驶系统在横向控制方面的自动化程度。
图2所示为按照本发明一实施例的自动驾驶系统的横向控制方法流程图。图2所示实施例的横向控制方法可以应该于如图1所示的自动驾驶系统10中，以下结合图1和图2进行详细示例说明。
宿主车辆在某一道路上行驶的过程，存在前面有同向行驶的前车的情形，因此，自动驾驶系统首先判断宿主车辆的前面是否存在前车，即步骤S21，如果判断为“否”，可以选择当前车道，即步骤S262；如果判断为“是”，需要进一步判断是否存在超车需求，即步骤S23。
在一实施例中，在步骤S23完成前，还包括步骤S221和步骤S222，即获取宿主车辆的速度信息V1(步骤S221)以及获取前车的速度信息V2(步骤S222)，示例地，宿主车辆的速度信息V1例如可以从VCU153等获取，前车的速度信息V2可以通过图像传感器151和/或雷达传感器152采集前车的数据并通过信号处理模块131进行信号处理得到。速度信息V1和V2可以包括各自的加速度和速度大小。
在步骤S23中，可以根据宿主车辆的速度信息V1和前车的速度信息V2判断是否存在超车需求；具体地，可以根据速度信息V1和V2和宿主车辆与前车的距离信息L2等参数设置相应的预定超车需求条件，从而可以基于预定超车需求条件来确定是否需要超车，例如，若存在且前车的车速低于某一阈值且宿主车辆的车速大于某一阈值、或前车的车速相对宿主车辆的车速低过某一阈值，则认为需要超车。预定超车需求条件的设置以尽可能准确反映驾驶员的超车需求来设置，其具体设置不是限制性的。
如果判断为“否”，即不存在超车需求，那么，进入步骤S262， 即选择当前车道，从而可以跟随前车继续保持车道行驶；如果判断为“是”，即存在超车需求，需要进一步判断是否满足超车条件，即步骤S25。
在一实施例中，在步骤S24完成前，还包括步骤S241，即获取前车的旁边车道的车道线信息。示例地，可以通过图像传感器151采集前车的旁边车道的车道线图像并通过信号处理模块131进行分析处理后，获得相应的车道线图像。如果车道线图像清晰可见，表明存在明显的安全超车车道。
在一实施例中，在步骤S24完成前，还包括步骤S242，获取宿主车辆相对于与宿主车辆反向行驶的来车/与宿主车辆同向行驶的后车的距离信息。示例地，可以通过图像传感器151和/或雷达传感器152等采集来车的距离信息L3和/或后车的距离信息L4。如果距离信息L3和/或L4足够大，也即来车和/或后车足够远，表明存在安全超车的车道距离。
在一实施例中，在步骤S24完成前，还可以包括步骤S243，获取来车/后车的速度信息V3。示例地，来车的速度信息V3可以通过图像传感器151和/或雷达传感器152采集前车的数据并通过信号处理模块131进行信号处理得到，后车的速度信息V4可以通过图像传感器151和/或雷达传感器152采集前车的数据并通过信号处理模块131进行信号处理得到。来车的速度信息V3和后车的速度信息V4可以包括速度大小和加速度。如果来车/后车的速度大小合适且加速度小，那么，进一步表明存在安全超车的车道距离。
需要理解的是，以上步骤S221-S222、步骤S241-S243所获取的信息均是实时动态变化的，需要持续地采集或计算更新这些信息，并且，获取的信息的类型也不限于以上实施例，根据具体需要，还可以选择获取其他类型的信息。
步骤S25中，在确定存在超车需求的情况下(即步骤S23判断为“是”的情况下)，基于前车的旁边车道的车道线信息、以及来车的距离信息L3和/或后车的距离信息L4来判断是否满足超车条件，并且在满足所述超车条件时，判断为“是”，选择相应的旁边车道(例如前车的旁边车道)为目标车道，即进入步骤S261；否则继续选择当前车道(例如前车与宿主车辆当前行驶的车道)，即进入步骤S262。
在一示例中，如果旁边车道的左右两边的车道线不可见或部分缺失，表示旁边车道不完整或旁边车道被前车部分占用，则判断为不满足超车条件；在又一示例中，例如没有后车的情况下，如果旁边车道的车道线信息清晰可见并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值二者均满足的情况下，才判断为满足超车条件，在上述任一条件满足的情况下，判断为不满足超车条件；在还一示例中，例如双向行驶的车道被间隔带间隔开的情况下(此时可以不考虑来车)，如果旁边车道的车道线信息清晰可见并且宿主车辆相对于后车的距离信息L4大于或等于相应的预定值二者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在再一示例中，例如存在后车且双向行驶的车道未被间隔带间隔开的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、宿主车辆相对于后车的距离信息L4大于或等于相应的预定值三者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件。
步骤S25中，还可以基于来车的速度信息V3和/或后车的速度信息V4判断是否满足超车条件，也即，在确定存在超车需求的情况下基于前车的旁边车道的车道线信息、来车(宿与宿主车辆反向行驶的来车)的距离信息L3及其速度信息V3、和/或后车(与宿主车辆同向行驶的后车)的距离信息L4及其速度信息V4来判断是否满足超车条件，并且在满足所述超车条件时选择相应的旁边车道为目标车道。
在一示例中，例如没有后车的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、并且来车的速度信息V3的速度大小小于或等于相应的预定值三者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在一示例中，例如没有后车的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、并且来车的速度信息V3的速度大小和加速度分别小于或等于相应的预定值四者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在又一示例中，例如双向行驶的车道被间隔带 间隔开的情况下(此时可以不考虑来车)，如果前车的旁边车道的车道线信息清晰可见、并且宿主车辆相对于后车的距离信息L4大于或等于相应的预定值、并且后车的速度信息V4的速度大小和加速度分别小于或等于相应的预定值四者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件；在还一示例中，例如存在后车且双向行驶的车道未被间隔带间隔开的情况下，如果旁边车道的车道线信息清晰可见、并且宿主车辆相对于来车的距离信息L3大于或等于相应的预定值、并且来车的速度信息V3的速度大小小于或等于相应的预定值、来车的速度信息V3的加速度小于或等于相应的预定值、并且宿主车辆相对于后车的距离信息L4大于或等于相应的预定值、并且后车的速度信息V4的速度大小小于或等于相应的预定值、来车的速度信息V4的加速度小于或等于相应的预定值七者均满足的情况下，才判断为满足超车条件，在上述任一条件不满足的情况下，判断为不满足超车条件。
以上图2示出了横向控制方法中在超车过程中的目标车道的选择过程。
图3所示为按照本发明又一实施例的自动驾驶系统的横向控制方法的流程图。图3所示实施例的横向控制方法可以应该于如图1所示的自动驾驶系统10中，以下结合图1和图3进行详细示例说明。
该实施例的横向控制方法可以包括如图2所示的横向控制过程，其示出了接收到车道选择指令后的控制过程。首先，根据获取的选择指令，判断是否需要转向至宿主车辆的旁边车道，即步骤S31。
如果判断为“是”，进入步骤，作出改变至旁边车道的决定，即步骤S321，此时，计算并输出用于改变至旁边车道行驶的目标转角和/或目标转向扭矩，完成车道改变的横向控制过程；在一实施例中，为提高车道变换的安全性，还可以在选择相应的旁边车道为目标车道时输出相应的转向灯触发信号，该转向灯触发信号可以输入至其他部件或系统以驱动左转向灯或右转向灯工作，让前车和后车都能及时获知宿主车辆的车道变换意图。
如果判断为“否”，作出保持当前车道的决定，即步骤S322，此时，计算并输出用于保持当前车道行驶的目标转角和/或目标转向扭矩。
进一步，在上述步骤S321或S322完成后，在保持当前车道行驶 的过程中，进步采集当前车道的两旁的车道线信息，判断当前车道的左右两边的车道线是否都存在，即步骤S33；如果判断为“是”，可以作出对中行驶的决定，即步骤S341；如果判断为“否”，进入步骤S342，进一步判断当前车道的左边车道线是否存在。
如果步骤S342判断为“是”，可以作出沿当前车道的左边行驶的决定，即步骤S351；如果步骤S342判断为“否”，进入步骤S352，进一步判断当前车道的右边车道线是否存在。
如果步骤S352判断为“是”，可以作出沿当前车道的右边行驶的决定，即步骤S361；如果步骤S352判断为“否”，则作出触发输出警示信号的决定，即步骤S362，这样，警示驾驶员需要进行主动干预，并自动退出自动驾驶功能。
得到以上步骤S341、S351和S361的任一决定后，计算相应的目标转角和/或目标转向扭矩，即步骤S37。计算得到的目标转角和/或目标转向扭矩可以输出至横向执行模块137，从而响应执行上述决定。
在一实施例中，在对中行驶过程中，可以继续获得当前车道的左右两边的车道线信息，如果所述宿主车辆大致偏离当前车道的左右两边的车道线之间的中央位置，可以输出相应的车道偏离预警信号。该车道偏离预警信号可以被发送至例如警示输出模块139，从而及时提醒驾驶员用户干预转向操作。
在一实施例中，基于所述宿主车辆相对于与宿主车辆同向行驶的后车的距离信息L4和/或后车相对宿主车辆的速度信息来判断该来车是否存在超车需求,并且在判断为存在超车需求的情况下生成后侧来车预警信号。该后侧来车预警信号可以被发送至警示输出模块139。
在一示例中，如果宿主车辆相对于后车的距离信息L4小于相应的预定值、并且后车的速度信息V4的速度大小大于或等于宿主车辆的速度信息V1的速度大小，或者后车的速度信息V4的加速度比宿主车辆的速度信息V1的加速度大相应的预定值，判断后续来车存在超车需求，此时，不管宿主车辆是否存在超车需求，均触发输出后侧来车预警信号，这样，警示输出模块139及时提醒驾驶员用户注意来车安全。
图3所示实施例的横向控制方法进一步可以提高在保持当前车道行驶时的安全性和自动化程度。
将理解，以上实施例的自动驾驶系统10及其横向控制方法可以应 用于各种类型的车辆上，尤其可以应用电动车辆上，并且，有利于提高自动驾驶体验。
需要说明的是，本文公开和描绘的元件(包括附图中的流程图、方块图)意指元件之间的逻辑边界。然而，根据软件或硬件工程实践，描绘的元件及其功能可通过计算机可执行介质在机器上执行，计算机可执行介质具有能够执行存储在其上的程序指令的处理器，所述程序指令作为单片软件结构、作为独立软件模块或作为使用外部程序、代码、服务等的模块，或这些的任何组合，且全部这些执行方案可落入本公开的范围内。
虽然不同非限制性实施方案具有特定说明的组件，但本发明的实施方案不限于这些特定组合。可能使用来自任何非限制性实施方案的组件或特征中的一些与来自任何其它非限制性实施方案的特征或组件组合。
虽然示出、公开和要求了特定步骤顺序，但应了解步骤可以任何次序实施、分离或组合，除非另外指明，且仍将受益于本公开。
前述描述是示例性的而非定义成受限于其内。本文公开了各种非限制性实施方案，然而，本领域的一般技术人员将意识到根据上述教示，各种修改和变更将落入附属权利要求的范围内。因此，将了解在附属权利要求的范围内，可实行除了特定公开之外的公开内容。由于这个原因，应研读附属权利要求来确定真实范围和内容。

Claims (33)

  1. 一种自动驾驶系统，包括横向控制子系统，其特征在于，所述横向控制子系统包括：
    信号处理模块，其用于根据所述自动驾驶系统的宿主车辆的第一速度信息和在所述宿主车辆前面同向行驶的前车的第二速度信息判断是否存在超车需求；以及
    车道选择模块，其用于在确定存在所述超车需求的情况下基于所述前车的旁边车道的车道线信息、以及所述宿主车辆相对于与所述宿主车辆反向行驶的来车的距离信息和/或所述宿主车辆相对于与所述宿主车辆同向行驶的后车的距离信息判断是否满足超车条件，以及在满足所述超车条件时选择相应的旁边车道为目标车道。
  2. 如权利要求1所述的自动驾驶系统，其特征在于，所述车道选择模块还用于基于所述来车的第三速度信息和/或所述后车的第四速度信息判断是否满足超车条件。
  3. 如权利要求1所述的自动驾驶系统，其特征在于，所述横向控制子系统还包括：
    决定作出模块，其用于在选择相应的旁边车道为目标车道时计算相应的目标转角和/或目标转向扭矩。
  4. 如权利要求3所述的自动驾驶系统，其特征在于，所述决定作出模块还用于在选择相应的旁边车道为目标车道时输出相应的转向灯触发信号。
  5. 如权利要求3所述的自动驾驶系统，其特征在于，所述车道选择模块还用于在不满足所述超车条件时选择当前车道为目标车道；
    所述决定作出模块还用于在选择当前车道为目标车道时输出用于保持当前车道行驶的目标转角和/或目标转向扭矩。
  6. 如权利要求5所述的自动驾驶系统，其特征在于，所述决定作出模块还用于在保持当前车道行驶时根据所述当前车道的车道线信息输出相应的目标转角和/或目标转向扭矩。
  7. 如权利要求6所述的自动驾驶系统，其特征在于，还包括警示输出模块；
    所述决定作出模块还用于在保持当前车道行驶时且所述当前车道的左右两边的车道线都不存在时输出相应的信号来触发所述警示输出模块输出警示信号。
  8. 如权利要求6所述的自动驾驶系统，其特征在于，所述决定作出模块还用于：
    在保持当前车道行驶时且所述当前车道的左右两边的车道线都存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道对中行驶；和/或
    在保持当前车道行驶时且所述当前车道的左右两边的任意一边的车道线不存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道的存在车道线的一边行驶。
  9. 如权利要求8所述的自动驾驶系统，其特征在于，所述决定作出模块还用于：在所述宿主车辆沿当前车道对中行驶时如果所述宿主车辆大致偏离当前车道的左右两边的车道线之间的中央位置，输出相应的车道偏离预警信号。
  10. 如权利要求1所述的自动驾驶系统，其特征在于，所述信号处理模块还用于判断所述宿主车辆的前面是否存在所述前车以及在确定存在所述前车的情况下获取所述第一速度信息以及第二速度信息和/或所述来车的第三速度信息、所述后车的第四速度信息。
  11. 如权利要求1所述的自动驾驶系统，其特征在于，所述车道选择模块还用于至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值和/或所述后车的距离信息大于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
  12. 如权利要求2所述的自动驾驶系统，其特征在于，所述车道选择模块还用于至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值且所述来车的第三速度信息的速度大小和加速度均小于或等于相应的预定值、所述后车的距离信息大于或等于相应的预定值且所述后车的第四速度信息的速度大小和加速度均小于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
  13. 如权利要求1所述的自动驾驶系统，其特征在于，所述车道选 择模块还用于基于所述宿主车辆相对于与宿主车辆同向行驶的后车的距离信息和/或所述后车相对宿主车辆的速度信息判断所述来车是否存在超车需求、并且在判断为存在超车需求的情况下生成后侧来车预警信号。
  14. 如权利要求13所述的自动驾驶系统，其特征在于，所述车道选择模块还用于至少在所述宿主车辆相对于所述后车的距离信息小于或等于相应的预定值、并且所述后车的第四速度信息的速度大小大于或等于宿主车辆的第一速度信息的速度大小或者所述后车的第四速度信息的加速度比所述宿主车辆的第一速度信息的加速度大相应的预定值才判断为所述来车存在超车需求。
  15. 如权利要求2所述的自动驾驶系统，其特征在于，所述第一速度信息、所述第二速度信息、第三速度信息和第四速度信息均包括速度大小和加速度。
  16. 一种自动驾驶系统的横向控制方法，其特征在于，包括步骤：
    根据所述自动驾驶系统的宿主车辆的第一速度信息和在所述宿主车辆前面同向行驶的前车的第二速度信息判断是否存在超车需求；
    在确定存在所述超车需求的情况下，基于所述前车的旁边车道的车道线信息、以及所述宿主车辆相对于与所述宿主车辆反向行驶的来车的距离信息和/或所述宿主车辆相对于与所述宿主车辆同向行驶的后车的距离信息判断是否满足超车条件；以及
    在满足所述超车条件时选择相应的旁边车道为目标车道。
  17. 如权利要求16所述的横向控制方法，其特征在于，在判断是否满足超车条件的步骤中，还基于所述来车的第三速度信息和/或所述后车的第四速度信息判断是否满足超车条件。
  18. 如权利要求16所述的横向控制方法，其特征在于，还包括步骤：在选择相应的旁边车道为目标车道时计算相应的目标转角和/或目标转向扭矩。
  19. 如权利要求18所述的横向控制方法，其特征在于，在选择相应的旁边车道为目标车道时输出相应的转向灯触发信号。
  20. 如权利要求18所述的横向控制方法，其特征在于，还包括步骤：
    在不满足所述超车条件时选择当前车道为目标车道；以及
    在选择当前车道为目标车道时输出用于保持当前车道行驶的目标转角和/或目标转向扭矩。
  21. 如权利要求20所述的横向控制方法，其特征在于，在输出用于保持当前车道行驶的目标转角和/或目标转向扭矩的步骤中，在保持当前车道行驶时根据所述当前车道的车道线信息输出相应的目标转角和/或目标转向扭矩。
  22. 如权利要求21所述的横向控制方法，其特征在于，还包括步骤：在保持当前车道行驶时且所述当前车道的左右两边的车道线都不存在时输出相应的信号来触发输出警示信号。
  23. 如权利要求21所述的横向控制方法，其特征在于，在输出用于保持当前车道行驶的目标转角和/或目标转向扭矩的步骤中，包括：
    在保持当前车道行驶时且所述当前车道的左右两边的车道线都存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道对中行驶；和/或
    在保持当前车道行驶时且所述当前车道的左右两边的任意一边的车道线不存在时输出相应的目标转角和/或目标转向扭矩以使所述宿主车辆沿当前车道的存在车道线的一边行驶。
  24. 如权利要求23所述的横向控制方法，其特征在于，在所述宿主车辆沿当前车道对中行驶时如果所述宿主车辆大致偏离当前车道的左右两边的车道线之间的中央位置，输出相应的车道偏离预警信号。
  25. 如权利要求16所述的横向控制方法，其特征在于，还包括步骤：判断所述宿主车辆的前面是否存在所述前车以及在确定存在所述前车的情况下获取所述第一速度信息以及第二速度信息和/或所述来车的第三速度信息、所述后车的第四速度信息。
  26. 如权利要求16所述的横向控制方法，其特征在于，在判断是否满足超车条件的步骤中，至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值和/或所述后车的距离信息大于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
  27. 如权利要求17所述的横向控制方法，其特征在于，在判断是否满足超车条件的步骤中，至少在所述旁边车道的左右两边的车道线清晰可见且所述来车的距离信息大于或等于相应的预定值且所述来车 的第三速度信息的速度大小和加速度均小于或等于相应的预定值、所述后车的距离信息大于或等于相应的预定值且所述后车的第四速度信息的速度大小和加速度均小于或等于相应的预定值时才判断为满足超车条件，否则判断为不满足超车条件。
  28. 如权利要求16所述的横向控制方法，其特征在于，还包括步骤：
    基于所述宿主车辆相对于与宿主车辆同向行驶的后车的距离信息和/或所述后车相对宿主车辆的速度信息判断所述来车是否存在超车需求、并且在判断为存在超车需求的情况下生成后侧来车预警信号。
  29. 如权利要求28所述的横向控制方法，其特征在于，至少在所述宿主车辆相对于所述后车的距离信息小于或等于相应的预定值、并且所述后车的第四速度信息的速度大小大于或等于宿主车辆的第一速度信息的速度大小或者所述后车的第四速度信息的加速度比所述宿主车辆的第一速度信息的加速度大相应的预定值才判断为所述来车存在超车需求。
  30. 如权利要求17所述的横向控制方法，其特征在于，所述第一速度信息、第二速度信息、第三速度信息和第四速度信息均包括速度大小和加速度。
  31. 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，其特征在于，所述处理器执行所述程序时实现如权利要求16-30中任一项所述横向控制方法的步骤。
  32. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行以实现如权利要求16-30中任一项所述横向控制方法的步骤。
  33. 一种车辆，其特征在于，使用如权利要求1至15中任一项所述的自动驾驶系统。
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