WO2020187257A1 - 车辆异常换道控制方法、装置及系统 - Google Patents

车辆异常换道控制方法、装置及系统 Download PDF

Info

Publication number
WO2020187257A1
WO2020187257A1 PCT/CN2020/079958 CN2020079958W WO2020187257A1 WO 2020187257 A1 WO2020187257 A1 WO 2020187257A1 CN 2020079958 W CN2020079958 W CN 2020079958W WO 2020187257 A1 WO2020187257 A1 WO 2020187257A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
steering wheel
target
line
wheel angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/079958
Other languages
English (en)
French (fr)
Inventor
葛建勇
张凯
和林
甄龙豹
王天培
鲁宁
高健
张健
刘洪亮
曹增
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Great Wall Motor Co Ltd
Original Assignee
Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to EP20773154.8A priority Critical patent/EP3932761A4/en
Publication of WO2020187257A1 publication Critical patent/WO2020187257A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • 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 present invention relates to the field of intelligent transportation, in particular to a vehicle ALC (Abnormal Lane Change, abnormal lane change) control method, device and system.
  • ALC Abnormal Lane Change, abnormal lane change
  • the self-driving vehicle perceives the external environment information and the information of the vehicle itself through various sensor systems installed around the body, and then fusion and decision-making (corresponding to the fusion system and the decision system) of the input information, according to different driving processes
  • the situation plans a safe route that can be driven by himself, and monitors and controls the safe driving of the vehicle in real time through the control system to realize the highly automated driving of the vehicle.
  • the control system is the core part of the self-driving vehicle, and its performance directly determines the safety and automation standards of the vehicle. Therefore, it has always been the focus and difficulty of various companies' research and development.
  • the control system is divided into two parts: the lateral control system and the longitudinal control system.
  • the lateral control system mainly realizes the real-time steering control of the autonomous vehicle through a series of control algorithms, so that the vehicle can perform abnormal lane changes according to the known planned driving route. Automatic lane change, dynamic obstacle avoidance, U-turn and turning, etc.
  • the longitudinal control system mainly controls the acceleration and deceleration of the vehicle, so that the self-driving vehicle can drive longitudinally at a certain safe driving speed, and realize automatic start-stop, follow and cruise Wait. Through the coupling of horizontal and vertical control, the entire control system can realize automatic control of the steering and speed of the vehicle at the same time.
  • the present invention aims to propose a vehicle abnormal lane changing control method to solve the problem of dealing with abnormal vehicle lane changing conditions.
  • a vehicle abnormal lane change control method including: acquiring the current lateral state value of an automatic driving vehicle and a target line that the autonomous vehicle will move to corresponding to the current lateral state value, wherein each lateral state value is predicted Be configured to correspond to different target lines; determine the desired trajectory of the autonomous vehicle according to the target line; perform preview tracking control on the autonomous vehicle based on the desired trajectory to obtain a target steering wheel angle, wherein The target steering wheel angle requirement is capable of minimizing the error between the actual driving trajectory of the autonomous vehicle and the expected trajectory; and the automatic driving vehicle is controlled to perform abnormal vehicle lane changes according to the target steering wheel angle.
  • each lateral state value to correspond to a different target line includes: when the lateral state value is a first value, the target line is the center line of the current lane; When the value is the second value, the target line is the centerline of the left lane; when the lateral state value is the third value, the target line is the centerline of the right lane; when the lateral state value is the fourth value , The target line is the current lane dynamic offset line; when the lateral state value is the fifth value, the target line is the cross-lane dynamic offset line; when the lateral state value is the sixth value, the The target line is a left safety deviation line; and when the lateral state value is a seventh value, the target line is a right safety deviation line.
  • the performing preview tracking control of the self-driving vehicle based on the desired trajectory to obtain a target steering wheel angle includes: determining a preview point; calculating the point closest to the preview point in the desired trajectory and the preview The distance between the aiming points, and the distance is used as the preview error; the transfer function relationship between the preview error and the steering wheel angle is determined; and the target steering wheel corresponding to the current preview error is calculated according to the transfer function relationship Corner.
  • the determining the transfer function relationship between the preview error and the steering wheel angle includes: determining the preview error and the vehicle speed according to the vehicle dynamics model, motion law, preview distance, and vehicle speed of the autonomous vehicle Transfer function relationship between steering wheel angles.
  • the method for controlling abnormal lane change of the vehicle further includes: obtaining the difference between the current heading angle of the self-driving vehicle and the target heading angle PID calculation of the heading angle deviation to obtain a control increment for the steering wheel angle; and correcting the target steering wheel angle based on the control increment, wherein the corrected target steering wheel angle requirement enables the The heading angle deviation is 0.
  • the vehicle abnormal lane changing control method of the present invention has the following advantages: the vehicle abnormal lane changing control method of the present invention is self-adaptive, enabling the autonomous vehicle to cope with various abnormal road conditions.
  • the working conditions covered are more comprehensive, in line with the driving scene, to avoid safety accidents caused by the inability of autonomous vehicles to cope with complex working conditions, and to meet the vehicle's handling stability and safety requirements.
  • Another object of the present invention is to provide a vehicle abnormal lane changing control device to solve the problem of dealing with abnormal vehicle lane changing conditions.
  • a vehicle abnormal lane change control device comprising: a target line acquisition module for acquiring the current lateral state value of an automatic driving vehicle and the target line to which the automatic driving vehicle will move corresponding to the current lateral state value, wherein: Each lateral state value is pre-configured to correspond to a different target line; a desired trajectory determination module is used to determine the desired trajectory of the autonomous vehicle according to the target line; a steering wheel angle calculation module is used to The trajectory performs preview tracking control on the autonomous vehicle to obtain a target steering wheel angle, wherein the target steering wheel angle is required to minimize the error between the actual driving trajectory of the autonomous vehicle and the expected trajectory; and a control module, It is used to control the automatic driving vehicle to change lanes abnormally according to the target steering wheel angle.
  • each lateral state value to correspond to a different target line includes: when the lateral state value is a first value, the target line is the center line of the current lane; When the value is the second value, the target line is the centerline of the left lane; when the lateral state value is the third value, the target line is the centerline of the right lane; when the lateral state value is the fourth value , The target line is the current lane dynamic offset line; when the lateral state value is the fifth value, the target line is the cross-lane dynamic offset line; when the lateral state value is the sixth value, the The target line is a left safety deviation line; and when the lateral state value is a seventh value, the target line is a right safety deviation line.
  • the steering wheel angle calculation module includes: a first calculation sub-module for determining a preview point, and calculating the distance between the point closest to the preview point in the desired trajectory and the preview point, and Use the distance as the preview error; and a second calculation sub-module for determining the transfer function relationship between the preview error and the steering wheel angle, and calculate the target corresponding to the current preview error according to the transfer function relationship Steering wheel corner.
  • the second calculation sub-module determines the transfer function relationship between the preview error and the steering wheel angle according to the vehicle dynamics model, motion law, preview distance, and vehicle speed of the autonomous vehicle.
  • the vehicle abnormal lane change control device further includes: a steering wheel angle correction module for acquiring the heading angle deviation between the current heading angle of the autonomous vehicle and the target heading angle, and performing PID calculation on the heading angle deviation Obtain a control increment for the steering wheel angle, and correct the target steering wheel angle based on the control increment, wherein the corrected target steering wheel angle requires that the heading angle deviation is zero.
  • the device for controlling abnormal lane changing of a vehicle has the same advantages as the foregoing method for controlling abnormal lane changing of a vehicle with respect to the prior art, which is not repeated here.
  • Another object of the present invention is to provide a machine-readable storage medium, a processor, and a vehicle abnormal lane changing control system to solve the problem of dealing with abnormal vehicle lane changing conditions.
  • a machine-readable storage medium has instructions stored on the machine-readable storage medium, and the instructions are used to make a machine execute the aforementioned method for controlling abnormal lane changing of a vehicle.
  • a processor is used to run a program, and when the program is run, it is used to execute the aforementioned vehicle abnormal lane changing control method.
  • a vehicle abnormal lane changing control system includes: a collection device for collecting lane line information and vehicle surrounding information; and any of the above-mentioned abnormal vehicle lane changing control devices or processors.
  • the vehicle abnormal lane change control device or the processor is configured to obtain the lane line information and the vehicle surrounding information from the acquisition device, and determine according to the lane line information and the vehicle surrounding information Whether the autonomous vehicle is in an abnormal lane change state, and control the abnormal lane change of the vehicle according to the judgment result.
  • the processor is the above-mentioned processor for running a program, or the processor is configured to execute instructions stored in the machine-readable storage medium according to claim 11.
  • the machine-readable storage medium, the processor, and the vehicle abnormal lane changing control system have the same advantages as the aforementioned vehicle abnormal lane changing control method over the prior art, and will not be repeated here.
  • FIG. 1 is a schematic flowchart of a method for controlling abnormal lane changing of a vehicle according to an embodiment of the present invention
  • Figure 2 is a schematic diagram of abnormal lane changing conditions of vehicles
  • FIG. 3 is a schematic flowchart of preview tracking control of an autonomous vehicle in an embodiment of the present invention.
  • Figure 4 is a schematic diagram of a circular arc movement of a vehicle with a curvature R along a desired trajectory
  • Fig. 5 is a schematic diagram of a heading angle deviation according to an embodiment of the present invention.
  • Fig. 6 is a schematic flow chart of the course angle deviation control in an embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of a vehicle abnormal lane changing control device according to an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a vehicle abnormal lane changing control system according to an embodiment of the present invention.
  • Fig. 9 is a communication schematic diagram of a vehicle abnormal lane changing control system according to an embodiment of the present invention.
  • Target line acquisition module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 100.
  • desired trajectory determination module 300, steering wheel angle calculation module; 400, control module; 500, steering wheel angle correction module; 810, acquisition device, 820, processor.
  • control module 500, steering wheel angle correction module
  • 810 acquisition device, 820, processor.
  • FIG. 1 is a schematic flowchart of a method for controlling abnormal lane changing of a vehicle according to an embodiment of the present invention, which is applied to a control system of an automatic driving vehicle.
  • Figure 2 is a schematic diagram of the abnormal lane change (ALC) condition of the vehicle. It can be seen that the ALC includes the vehicle entering the target ramp under the forced cut-in condition, the abnormal driving in the own lane, the obstacle ahead or the cross-lane under the condition of road repair Working conditions such as abnormal driving.
  • ALC abnormal lane change
  • the method for controlling abnormal lane changing of a vehicle may include the following steps:
  • Step S110 acquiring the current lateral state value of the autonomous driving vehicle and the target line to which the autonomous driving vehicle will move corresponding to the current lateral state value.
  • different lateral state values are used to show different lateral states. For example, it can be defined that when the lateral state value is 0, the vehicle is in a lane keeping state.
  • the lateral state value is output by the decision-making system of the autonomous vehicle, and the control system of the autonomous vehicle can complete corresponding actions according to the lateral state value output by the decision-making system of the vehicle.
  • each lateral state value is pre-configured to correspond to a different target line, for example, including: when the lateral state value is the first value, the target line is the center line of the current lane; when the lateral state value When the value is the second value, the target line is the center line of the left lane; when the lateral state value is the third value, the target line is the center line of the right lane; when the lateral state value is the fourth value, The target line is the current lane dynamic offset line; when the lateral state value is the fifth value, the target line is the cross-lane dynamic offset line; when the lateral state value is the sixth value, the The target line is the left safety deviation line; and when the lateral state value is the seventh value, the target line is the right safety deviation line.
  • the first to seventh values are different and can be set arbitrarily, which is not limited in the embodiment of the present invention.
  • Table 1 gives examples of the first to seventh values and their correspondence with the target line.
  • Horizontal state value horizontal state Target line 0: Keep in the lane Center line of this lane 1: Change lane left Left lane centerline -1: Change lanes right Right lane centerline
  • Step S120 Determine a desired trajectory of the autonomous vehicle according to the target line.
  • the desired trajectory of the vehicle when its current lateral state and target line are known.
  • the target line is the dynamic offset line of the current lane, it is easy to determine the vehicle from the center of the lane The desired trajectory of the line offset to the target line.
  • Step S130 Perform preview tracking control on the autonomous vehicle based on the desired trajectory to obtain a target steering wheel angle.
  • the target steering wheel angle requirement can minimize the error between the actual driving trajectory of the autonomous vehicle and the expected trajectory.
  • the preview tracking control is based on the preview follow theory.
  • the vehicle-driver forms a closed-loop system, and the driver looks at the future before taking action when driving, which is commonly referred to as "preview" This describes the characteristics of a system that performs follow-up control based on future information.
  • Fig. 3 is a schematic diagram of a flow chart of preview tracking control of an autonomous vehicle in an embodiment of the present invention. As shown in FIG. 3, step S130 may further include the following steps:
  • Step S131 Determine the preview point.
  • the driver When driving, the driver often pays attention to the distance in front of the driving direction of the car in order to grasp the next position of the vehicle.
  • the distance from the current position to the next position selected by the driver is the preview distance, and the corresponding The next position is the preview point.
  • the road ahead information can be estimated to preview along the direction of travel of the vehicle, and a reasonable preview distance can be selected according to the current vehicle state. And determine the preview point accordingly.
  • Step S132 Calculate the distance between the point closest to the preview point in the desired trajectory and the preview point, and use the distance as the preview error.
  • Step S133 Determine the transfer function relationship between the preview error and the steering wheel angle.
  • the difference between the preview error and the steering wheel angle can be determined according to the vehicle dynamics model, motion law, preview distance and vehicle speed of the autonomous vehicle. Transfer function relationship.
  • Figure 4 is a schematic diagram of the vehicle moving along a desired trajectory with a circular arc of curvature R.
  • d is the preview distance
  • l is the preview error
  • h is the distance from the preview point to the center of the curve
  • R is the desired trajectory.
  • w is the yaw rate
  • u is the longitudinal speed of the vehicle
  • v is the lateral speed.
  • the embodiment of the present invention adopts a two-degree-of-freedom vehicle dynamics model, ignoring the effects of the steering system and suspension, assuming that the vehicle's displacement around the z-axis and the pitch angle around the y-axis and the roll angle around the x-axis are all zero.
  • the forward speed of the vehicle along the x-axis is regarded as unchanged. Therefore, the vehicle includes two degrees of freedom, lateral and yaw, and its dynamic differential equation is as follows:
  • ⁇ is the front wheel angle
  • I z is the moment of inertia of the vehicle around the z axis
  • m is the mass of the vehicle
  • a is the distance from the center of mass of the vehicle to the front axle
  • b is the distance from the center of mass of the vehicle to the rear axle
  • Kaf is the front wheel Cornering stiffness
  • K ar is the cornering stiffness of the rear wheel.
  • the vehicle model equation can be obtained as:
  • the lateral speed ⁇ of the vehicle in the steady state can be expressed as a relational expression expressed by the yaw rate w:
  • e is a matrix formula that can be calculated according to formula (3).
  • V R ⁇ w (6)
  • V is the speed of the circular motion of the vehicle. Due to the complexity of road conditions, the selection of preview distance has a great impact on the preview following effect. When the vehicle speed is low, if the preview distance is too large, the road ahead information cannot be used well; when the vehicle speed is high, if If the preview distance is too short, the road ahead information will be lost. Based on the above situation, select the preview distance as:
  • K is the preview coefficient
  • u is the longitudinal speed of the vehicle (in km/h)
  • d 0 is the fixed preview distance, which is generally 4m according to road test experience
  • 3.6 is the relevant conversion parameter.
  • Step S134 Calculate the target steering wheel angle corresponding to the current preview error according to the transfer function relationship.
  • the corresponding target steering wheel angle can be calculated.
  • the target steering wheel angle may also be obtained according to the preview road curvature of the vehicle, which specifically includes:
  • the current preview road curvature ⁇ can be calculated by the following formula:
  • a1 and a2 are conventional parameters, such as 6 and 2, respectively, (x, y) represent the lane line coordinates, c0-c3 represent undetermined parameters, and different parameter values represent different types of roads, when c2 and c3 are 0 , It means a straight line segment. Among them, the value of c0-c3 can be extracted in the lane line fitting.
  • the target steering wheel angle can also be obtained.
  • Step S140 controlling the autonomous vehicle to perform an abnormal lane change according to the target steering wheel angle.
  • a steering wheel angle command can be generated according to the target steering wheel angle, and the steering wheel angle command can be sent to the steering wheel controller.
  • the steering wheel controller receives the steering wheel angle command and parses out the corresponding target steering wheel angle, and adjusts the steering wheel angle accordingly. And direction, so that the autonomous vehicle can safely and stably drive to the target line.
  • the method for controlling abnormal lane change of a vehicle in the embodiment of the present invention also adds feedback control based on the deviation of the heading angle.
  • Fig. 5 is a schematic diagram of the heading angle deviation of the embodiment of the present invention. It can be seen that the heading angle refers to the angle between the current heading of the vehicle and the lane line where it is located, and the heading angle deviation ⁇ is the angle deviation between the current heading angle and the target heading angle.
  • the heading angle of the vehicle reflects the tangent direction of the vehicle tracking path. Because the driving direction of the vehicle is always expected to be consistent with the direction of the selected target line, the target heading angle should be 0 degrees.
  • the method for controlling abnormal lane changing of a vehicle may further include the following steps:
  • Step S151 Obtain the heading angle deviation between the current heading angle of the autonomous vehicle and the target heading angle.
  • the target heading angle is 0 degrees
  • the current heading angle is represented by HeadingAngle
  • the heading angle deviation e(t) -HeadingAngle.
  • Step S152 Perform PID calculation on the heading angle deviation to obtain a control increment for the steering wheel angle.
  • the PID parameter table is obtained through calibration and correction of actual vehicle test, and it shows the best kp value corresponding to different vehicle speeds.
  • Step S153 Correct the target steering wheel angle based on the control increment. Wherein, the corrected target steering wheel angle requirement can make the heading angle deviation 0.
  • step S153 it is necessary to determine whether the heading angle deviation is 0 (e(t)) before step S153. If e(t) is 0, execute step S153 to correct the target steering wheel angle; otherwise, return to step S152 to adjust the control increment y until the heading angle deviation is 0.
  • the preview tracking control is performed on the preview error to obtain the initial target steering wheel angle y1, and the heading angle deviation is calculated by P to obtain the control increment y2.
  • the heading angle deviation by P, it not only ensures that the heading angle deviation is controlled to 0, but also enables the PID controller to achieve a rapid response effect, and the target steering wheel angle is corrected by the control increment for the heading angle deviation , which is beneficial to reduce the influence of model errors and various external disturbances on the control effect.
  • the autonomous driving vehicle will be affected by a variety of complex working conditions and different road scenes during the driving process
  • the abnormal lane changing control method of the vehicle provided by the embodiment of the present invention is self-adaptive, enabling the autonomous vehicle to cope with
  • the various abnormal road conditions that appear cover more comprehensive working conditions, conform to the driving scene, and avoid safety accidents caused by the inability of autonomous vehicles to cope with complex working conditions.
  • the vehicle abnormal lane change control method according to the embodiment of the present invention adaptively selects the corresponding safety offset line, the dynamic target line in the lane, the dynamic target line across the lane, etc., according to the abnormal road conditions, and controls the vehicle according to the lateral decision state.
  • the vehicle abnormal lane changing control method of the embodiment of the present invention has a wide application range, can be applied to automatic driving systems on curved roads and straight roads with different curvatures, and meets the vehicle's handling stability and safety requirements.
  • FIG. 7 is a schematic structural diagram of a vehicle abnormal lane changing control device according to another embodiment of the present invention.
  • the vehicle abnormal lane changing control device is based on the same inventive idea as the aforementioned vehicle abnormal lane changing control method.
  • the vehicle abnormal lane change control device may include: a target line acquisition module 100 for acquiring the current lateral state value of the autonomous vehicle and the autonomous vehicle will move corresponding to the current lateral state value The target line to the target line, where each lateral state value is pre-configured to correspond to a different target line; the desired trajectory determination module 200 is used to determine the desired trajectory of the autonomous vehicle according to the target line; steering wheel angle calculation
  • the module 300 is configured to perform preview tracking control of the autonomous vehicle based on the desired trajectory to obtain a target steering wheel angle, wherein the target steering wheel angle is required to enable the actual driving trajectory of the autonomous vehicle to be consistent with the desired The error of the trajectory is the smallest; and the control module 400 is configured to control the autonomous vehicle to perform abnormal lane changes according to the target steering wheel angle.
  • the pre-configuration of each lateral state value to correspond to a different target line includes: when the lateral state value is the first value, the target line is the center line of the current lane; When the lateral state value is the second value, the target line is the center line of the left lane; when the lateral state value is the third value, the target line is the center line of the right lane; when the lateral state value is When the fourth value, the target line is the current lane dynamic offset line; when the lateral state value is the fifth value, the target line is the cross-lane dynamic offset line; when the lateral state value is the sixth When a numerical value, the target line is a left safety deviation line; and when the lateral state value is a seventh numerical value, the target line is a right safety deviation line.
  • the steering wheel angle calculation module 300 may include: a first calculation sub-module for determining a preview point, and calculating the point closest to the preview point in the desired trajectory and the preview point And the second calculation sub-module for determining the transfer function relationship between the preview error and the steering wheel angle, and calculating the current transfer function relationship based on the transfer function relationship The target steering wheel angle corresponding to the preview error.
  • the second calculation sub-module determines the transfer function relationship between the preview error and the steering wheel angle according to the vehicle dynamics model, motion law, preview distance and vehicle speed of the autonomous vehicle.
  • the vehicle abnormal lane change control device may further include: a steering wheel angle correction module 500, configured to obtain the heading angle deviation between the current heading angle of the autonomous vehicle and the target heading angle, and to compare the PID calculation is performed on the heading angle deviation to obtain a control increment for the steering wheel angle, and the target steering wheel angle is corrected based on the control increment.
  • the corrected target steering wheel angle requirement can make the heading angle deviation 0.
  • the machine-readable storage medium includes, but is not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), Read memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (Flash Memory) or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disc (DVD) ) Or other optical storage, magnetic cassette tape, magnetic tape magnetic disk storage or other magnetic storage devices and other media that can store program codes.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM Read memory
  • EEPROM electrically erasable programmable read-only memory
  • flash Memory flash memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disc
  • Another embodiment of the present invention further provides a processor for running a program, which is used to execute the vehicle abnormal lane changing control method of the foregoing embodiment when the program is run.
  • the vehicle abnormal lane changing control system includes: a collection device 810 for collecting lane line information and vehicle surrounding information; the above-mentioned machine A readable storage medium (not shown in the figure); and a processor 820 for acquiring the lane line information and the vehicle surrounding information from the collecting device 810, and according to the lane line information and the vehicle surroundings The information determines whether the autonomous vehicle is in an abnormal lane changing state, and executes the instructions stored in the machine-readable storage medium according to the determination result.
  • the acquisition device 810 is a device that provides real-time lane line information and information about the surrounding environment of the vehicle when the vehicle changes lanes in an abnormal state. It is preferably a device that can detect and extract objects and targets that appear within a 360° range around the autonomous vehicle, for example,
  • the all-weather sensor detection equipment can not only meet the detection requirements, but also avoid false detection and missed detection of objects and targets caused by rain, snow, fog, and light.
  • the collection device 810 in the embodiment of the present invention is not limited to the current installation position nor the current number.
  • several radar sensors lidar or millimeter wave radar equipment, etc.
  • vision sensors are arranged around the vehicle body. Redundancy improves the accuracy and stability of object detection.
  • the camera may include an optical system and an image processing system to accurately extract lane line information and vehicle surrounding information, and after obtaining accurate information, it can be provided to the processor 820 Realize lane change control.
  • the processor 820 may be an ECU (Electronic Control Unit, electronic control unit) of the vehicle, or an independently configured conventional controller, such as a CPU, a single-chip microcomputer, a DSP (Digital Signal Processor), and a SOC (System On a Chip, system on a chip), etc., and it is understood that these independent controllers can also be integrated into the ECU.
  • the processor 820 is preferably configured with a controller with a faster computing speed and rich I/O port devices, and requires an input and output port that can communicate with the entire vehicle CAN, an input and output port for switching signals, and a network cable interface.
  • the processor 820 may be a processor for running a program involved in the foregoing embodiment, wherein the program is used to execute the abnormal lane change control method of the vehicle in the foregoing embodiment when the program is run.
  • the abnormal lane change control system for the vehicle may not additionally include a machine-readable storage medium.
  • the abnormal lane change control system of the vehicle may also include, for example, ABS (Antilock Brake System), EPS (Electric Power Steering, electric power steering system), etc., which can provide vehicle speed information.
  • ABS Antilock Brake System
  • EPS Electronic Power Steering, electric power steering system
  • the relevant system is used to obtain vehicle speed information from the vehicle-related system to perform the parameter tuning of the fuzzy PID controller mentioned above.
  • the vehicle speed-related system here may not be included in the abnormal lane-changing control system of the vehicle. Instead, it communicates with the abnormal lane-changing control system of the vehicle through CAN communication to obtain vehicle speed information.
  • An abnormal vehicle lane changing control system may include: a collecting device 810 for collecting lane line information and vehicle surrounding information; and the vehicle abnormal lane changing control device described in the foregoing embodiment.
  • the vehicle abnormal lane changing control system includes a sensor group (corresponding to the aforementioned acquisition device 810), ECU (corresponding to the aforementioned processor 820), and a vehicle speed related system three parts.
  • the sensor group provides real-time lane line information and object target information needed in the detection area for autonomous vehicles, including output object horizontal and vertical distances, lane line types, lane line widths, lane line credibility and other relevant information , And output real-time relevant information to ECU for processing through CAN communication.
  • ECU adopts CPU configuration and has readable storage media such as ROM, RAM, Flash Memory, etc.
  • readable storage media are stored in the algorithm program of the above-mentioned vehicle abnormal lane changing method; vehicle speed related systems such as ABS and EPS, where ABS can pass AD-CAN communication method communicates with ECU, EPS can communicate with ECU through PT-CAN communication method.
  • vehicle speed related systems such as ABS and EPS
  • ABS can pass AD-CAN communication method communicates with ECU
  • EPS can communicate with ECU through PT-CAN communication method.
  • the various parts of the vehicle's abnormal lane change control system communicate and interact with various CANs, and respond to lane line changes in real time according to the control signal output by the ECU and the vehicle speed information, so that the entire automatic driving system forms a closed-loop control to adjust the vehicle attitude in real time. Make the vehicle drive along the target line.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

一种车辆异常换道控制方法、装置及系统，该车辆异常换道控制方法包括：获取自动驾驶车辆的当前横向状态值及对应于所述当前横向状态值而将要运动至的目标线，其中，每一横向状态值被预配置为对应不同的目标线；根据目标线确定自动驾驶车辆的期望轨迹；基于所述期望轨迹对自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角，其中，目标方向盘转角要求能使车辆的实际行驶轨迹与期望轨迹的误差最小；以及根据目标方向盘转角控制车辆进行异常换道。该车辆异常换道控制方法具有自适应性，能使自动驾驶车辆应对多种异常道路工况，避免自动驾驶车辆因无法应对复杂工况而导致安全事故。

Description

车辆异常换道控制方法、装置及系统 技术领域
本发明涉及智能交通领域，特别涉及一种车辆ALC(Abnormal Lane Change，异常换道)控制方法、装置及系统。
背景技术
自动驾驶车辆是通过安装在车身周围的各种传感系统来感知外部环境信息和车辆本身的信息，然后对输入的信息进行融合、决策(对应有融合系统和决策系统)，按照不同的行驶工况自行规划出一条可行驶的安全路线，并通过控制系统实时监测和控制车辆安全行驶，实现车辆的高度自动化行驶。其中，控制系统作为自动驾驶车辆的核心部分，其性能的好坏直接决定着车辆的安全行驶和自动化程度标准，因此一直以来是各个公司研发和攻克的重点和难点。控制系统分为横向控制系统和纵向控制系统两个部分，横向控制系统主要是通过一系列控制算法实现对自动驾驶车辆的实时转向控制，使车辆按照已知规划的行驶路线进行车辆异常换道、自动换道、动态避障、掉头和转弯等，纵向控制系统主要是通过对车辆加、减速度的控制，使自动驾驶车辆能够以一定的安全行驶速度纵向行驶，实现自动启停、跟随和巡航等。通过对横纵向控制的耦合，使整个控制系统能够同时对车辆的转向和速度实现自动控制。
在车辆行驶过程中，车道保持、自动换道等功能占据了大部分的行驶时间，而且涵盖了大部分常见的行车工况，使自动驾驶车辆能够按照规划的行驶路径安全行驶。但在车辆实际运行中，还需应对车道异常状态等复杂工况，例如在强制切入的工况下驶入目标匝道、本车道内异常行驶、前方有障碍物或修路状况下的跨车道异常行驶等。因此，自动驾驶车辆的控制系统还需要设计ALC控制。
发明内容
有鉴于此，本发明旨在提出一种车辆异常换道控制方法，以解决应对车辆异常换道工况的问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆异常换道控制方法，包括：获取自动驾驶车辆的当前横向状态值及该自动驾驶车辆对应于所述当前横向状态值而将要运动至的目标线，其中，每一横向状态值被预配置为对应不同的所述目标线；根据所述目标线确定所述自动驾驶车辆的期望轨迹；基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角，其中，所述目标方向盘转角要求能够使所述自动驾驶车辆的实际行驶轨迹与所述期望轨迹的误差最小；以及根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道。
进一步的，所述每一横向状态值被预配置为对应不同的所述目标线包括：当所述横向状态值为第一数值时，所述目标线为当前车道中心线；当所述横向状态值为第二数值时，所述目标线为左车道中心线；当所述横向状态值为第三数值时，所述目标线为右车道中心线；当所述横向状态值为第四数值时，所述目标线为当前车道动态偏移线；当所述横向状态值为第五数值时，所述目标线为跨车道动态偏移线；当所述横向状态值为第六数值时，所述目标线为左侧安全偏移线；以及当所述横向状态值为第七数值时，所述目标线为右侧安全偏移线。
进一步的，所述基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角包括：确定预瞄点；计算所述期望轨迹中离预瞄点最近的点与所述预瞄点之间的距离，并将该距离作为预瞄误差；确定所述预瞄误差与方向盘转角之间的传递函数关系；以及根据所述传递函数关系，计算与当前预瞄误差对应的目标方向盘转角。
进一步的，所述确定所述预瞄误差与方向盘转角之间的传递函数关系包括：根据所述自动驾驶车辆的车辆动力学模型、运动规律、预瞄距离及车速来确定所述预瞄误差与方向盘转角之间的传递函数关系。
进一步的，在所述根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道之前，所述车辆异常换道控制方法还包括：获取自动驾驶车辆的当前航向角与目标航向角之间的航向角偏差；对所述航向角偏差进行PID运算得到针对方向盘转角的控制增量；以及基于 所述控制增量修正所述目标方向盘转角，其中，修正后的目标方向盘转角要求能够使所述航向角偏差为0。
相对于现有技术，本发明所述的车辆异常换道控制方法具有以下优势：本发明的车辆异常换道控制方法具有自适应性，能使自动驾驶车辆应对出现的多种异常道路工况，涵盖的工况更加全面，符合驾驶场景，避免自动驾驶车辆因无法应对复杂工况无法而导致安全事故，满足车辆的操纵稳定性和安全性要求。
本发明的另一目的在于提出一种车辆异常换道控制装置，以解决应对车辆异常换道工况的问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆异常换道控制装置，包括：目标线获取模块，用于获取自动驾驶车辆的当前横向状态值及该自动驾驶车辆对应于所述当前横向状态值而将要运动至的目标线，其中，每一横向状态值被预配置为对应不同的所述目标线；期望轨迹确定模块，用于根据所述目标线确定所述自动驾驶车辆的期望轨迹；方向盘转角计算模块，用于基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角，其中，所述目标方向盘转角要求能够使所述自动驾驶车辆的实际行驶轨迹与所述期望轨迹的误差最小；以及控制模块，用于根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道。
进一步的，所述每一横向状态值被预配置为对应不同的所述目标线包括：当所述横向状态值为第一数值时，所述目标线为当前车道中心线；当所述横向状态值为第二数值时，所述目标线为左车道中心线；当所述横向状态值为第三数值时，所述目标线为右车道中心线；当所述横向状态值为第四数值时，所述目标线为当前车道动态偏移线；当所述横向状态值为第五数值时，所述目标线为跨车道动态偏移线；当所述横向状态值为第六数值时，所述目标线为左侧安全偏移线；以及当所述横向状态值为第七数值时，所述目标线为右侧安全偏移线。
进一步的，所述方向盘转角计算模块包括：第一计算子模块，用于确定预瞄点，并计算所述期望轨迹中离预瞄点最近的点与所述预瞄点之间的距离，并将该距离作为预瞄误差；以及第二计算子模块，用 于确定所述预瞄误差与方向盘转角之间的传递函数关系，并根据所述传递函数关系，计算与当前预瞄误差对应的目标方向盘转角。
进一步的，所述第二计算子模块根据所述自动驾驶车辆的车辆动力学模型、运动规律、预瞄距离及车速来确定所述预瞄误差与方向盘转角之间的传递函数关系。
进一步的，所述车辆异常换道控制装置还包括：方向盘转角修正模块，用于获取自动驾驶车辆的当前航向角与目标航向角之间的航向角偏差，并对所述航向角偏差进行PID运算得到针对方向盘转角的控制增量，以及基于所述控制增量修正所述目标方向盘转角，其中，修正后的目标方向盘转角要求能够使所述航向角偏差为0。
所述车辆异常换道控制装置与上述车辆异常换道控制方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的另一目的还在于提出一种机器可读存储介质、一种处理器及一种车辆异常换道控制系统，以解决应对车辆异常换道工况的问题。
为达到上述目的，本发明的技术方案是这样实现的：
一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述的车辆异常换道控制方法。
一种处理器，用于运行程序，所述程序被运行时用于执行上述的车辆异常换道控制方法。
一种车辆异常换道控制系统，包括：采集装置，用于采集车道线信息及车辆周边信息；以及上述任意的车辆异常换道控制装置或者处理器。其中，所述车辆异常换道控制装置或所述处理器，用于从所述采集装置获取所述车道线信息及所述车辆周边信息，并根据所述车道线信息及所述车辆周边信息判断自动驾驶车辆是否处于异常换道状态，并根据判断结果进行车辆异常换道控制。
进一步的，所述处理器为上述用于运行程序的处理器，或者所述处理器被配置为执行权利要求11所述的机器可读存储介质中存储的指令。所述机器可读存储介质、所述处理器及所述车辆异常换道控制系统与上述车辆异常换道控制方法相对于现有技术所具有的优势相 同，在此不再赘述。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施方式及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是本发明实施例的一种车辆异常换道控制方法的流程示意图；
图2是是车辆异常换道工况的示意图；
图3是本发明实施例中对自动驾驶车辆进行预瞄跟踪控制的流程示意图；
图4为车辆沿着期望轨迹为曲率R的圆弧运动示意图；
图5是本发明实施例的航向角偏差示意图；
图6是本发明实施例中进行航向角偏差控制的流程示意图；
图7是本发明实施例的一种车辆异常换道控制装置的结构示意图；
图8是本发明实施例的一种车辆异常换道控制系统的结构示意图；以及
图9是本发明实施例的车辆异常换道控制系统的通讯示意图。
附图标记说明：
100、目标线获取模块；200、期望轨迹确定模块；300、方向盘转角计算模块；400、控制模块；500、方向盘转角修正模块；810、采集装置；820、处理器。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施方式及实施方式中的特征可以相互组合。
下面将参考附图并结合实施方式来详细说明本发明。
图1是本发明实施例的一种车辆异常换道控制方法的流程示意图，其应用于自动驾驶车辆的控制系统。其中图2是车辆异常换道(ALC)工况的示意图，可知ALC包括车辆在强制切入的工况下驶入目标匝道、本车道内异常行驶、前方有障碍物或修路状况下的跨车道异常行驶等工况。
参考图1，本发明实施例的车辆异常换道控制方法可以包括以下步骤：
步骤S110，获取自动驾驶车辆的当前横向状态值及该自动驾驶车辆对应于所述当前横向状态值而将要运动至的目标线。
其中，不同的横向状态值用于示出不同的横向状态，例如可定义横向状态值为0时，车辆处于车道保持状态。此外，参考本文背景技术部分，横向状态值是由自动驾驶车辆的决策系统所输出的，而自动驾驶车辆的控制系统可根据车辆的决策系统所输出的横向状态值完成相应的动作。
其中，每一横向状态值被预配置为对应不同的所述目标线，例如包括：当所述横向状态值为第一数值时，所述目标线为当前车道中心线；当所述横向状态值为第二数值时，所述目标线为左车道中心线；当所述横向状态值为第三数值时，所述目标线为右车道中心线；当所述横向状态值为第四数值时，所述目标线为当前车道动态偏移线；当所述横向状态值为第五数值时，所述目标线为跨车道动态偏移线；当所述横向状态值为第六数值时，所述目标线为左侧安全偏移线；以及当所述横向状态值为第七数值时，所述目标线为右侧安全偏移线。
其中，第一至第七数值是不同的，且可任意进行设置，本发明实施例对此并不限制。例如，表1给出第一至第七数值的示例以及它们与目标线的对应关系。
表1，横向状态值与目标线的对应关系
横向状态值：横向状态 目标线
0：车道内保持 本车道中心线
1：左换道 左车道中心线
-1：右换道 右车道中心线
2：本车道内异常 本车道动态偏移线
3：跨车道的异常 跨车道动态偏移线
4：左侧安全偏移 左侧安全偏移线
-4：右侧安全偏移 右侧安全偏移线
根据表1，自动驾驶车辆的决策系统输出的横向状态值为2、3、4、-4时，表明车辆处于异常换道状态，应根据表1定义的规则，选择相应的目标线来控制车辆运动至所选择的目标线，以完成自适应性ALC控制。
步骤S120，根据所述目标线确定所述自动驾驶车辆的期望轨迹。
根据车辆当前所在车道线信息及车辆环境信息，在已知其当前横向状态及目标线的情况下，易于确定车辆的期望轨迹。举例而言，结合表1及图2，在车辆的本车道内有障碍物，而当前横向状态为本车道异常、目标线为本车道动态偏移线的情况下，易于确定车辆从本车道中心线向目标线偏移的期望轨迹。
步骤S130，基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角。
其中，所述目标方向盘转角要求能够使所述自动驾驶车辆的实际行驶轨迹与所述期望轨迹的误差最小。
其中，预瞄跟踪控制是基于预瞄跟随理论进行的，该预瞄跟随理论中，车辆-驾驶员形成闭环系统，驾驶员开车是先看未来再作行动，即通常所说的“预瞄”作用，由此描述了一个根据未来信息进行跟随控制的系统的特性。
图3是本发明实施例中对自动驾驶车辆进行预瞄跟踪控制的流程示意图。如图3所示，步骤S130可进一步包括以下步骤：
步骤S131，确定预瞄点。
驾驶员在开车时，往往会注意汽车行驶方向前边的一段距离，以便掌握车辆行驶的下一个位置，驾驶员选择的从当前位置至下一个位置之间的距离即为预瞄距离，而对应的下一个位置则为预瞄点。本发明实施例中，得到车辆的期望轨迹和纵向速度后，可通过对道路前方 信息的预估，沿着车辆行驶方向进行预瞄，并根据当前的车辆状态，选择一个合理的预瞄距离，并相应确定预瞄点。
步骤S132，计算所述期望轨迹中离预瞄点最近的点与所述预瞄点之间的距离，并将该距离作为预瞄误差。
步骤S133，确定所述预瞄误差与方向盘转角之间的传递函数关系。
优选地，为了使车辆的实际行驶轨迹与期望轨迹误差最小，可根据所述自动驾驶车辆的车辆动力学模型、运动规律、预瞄距离及车速来确定所述预瞄误差与方向盘转角之间的传递函数关系。
具体地，图4为车辆沿着期望轨迹为曲率R的圆弧运动示意图，图中d为预瞄距离，l为预瞄误差，h为预瞄点到曲线中心的距离，R为期望轨迹的曲率半径，w为横摆角速度，u为车辆纵向车速，v为侧向速度。结合图4，本发明实施例采用二自由度车辆动力学模型，忽略转向系统和悬架的作用，假设车辆绕z轴的位移和绕y轴俯仰角和绕x轴的侧倾角均为零，而车辆沿x轴的前进速度视为不变。因此整车包括侧向、横摆两个自由度，其整车动力学微分方程如下：
Figure PCTCN2020079958-appb-000001
Figure PCTCN2020079958-appb-000002
式中，δ为前轮转角，I z为车辆绕z轴的转动惯量，m为车辆质量，a为车辆质心到前轴的距离，b为车辆质心到后轴的距离，K af为前轮侧偏刚度；K ar为后轮侧偏刚度。
假设车辆沿着该期望曲线稳态行驶，跟随误差为零，稳态情况下，
Figure PCTCN2020079958-appb-000003
根据上式微分方程可得到车辆模型方程为：
Figure PCTCN2020079958-appb-000004
根据以上方程，稳态情况下车辆的侧向速度ν可以表示成以横摆角速度w表示的关系式：
ν＝e·w  (4)
其中，e为可根据式(3)求出的矩阵式。
根据稳态圆周运动的规律，可得到下面关系式：
Figure PCTCN2020079958-appb-000005
V＝R·w   (6)
式中，V为车辆圆周运动的速度。因道路工况的复杂性，预瞄距离的选取对预瞄跟随效果影响很大，当车速较低时，若预瞄距离过大会导致前方道路信息无法很好利用；当车速较高时，若预瞄距离过短，则会丢失前方道路信息，综合以上情况，选取预瞄距离为：
Figure PCTCN2020079958-appb-000006
式中，K为预瞄系数，u为车辆纵向车速(单位为km/h)，d 0为固定预瞄距离，根据道路测试经验一般为4m，3.6为相关的换算参数。
另外，结合图4，可获知图中预瞄距离d和预瞄误差l的对应关系，而前轮转角δ、方向盘转角
Figure PCTCN2020079958-appb-000007
以及车辆的转向系统传动比G i之间存在映射关系：
Figure PCTCN2020079958-appb-000008
最终，根据以上方程和运动规律，确定期望的方向盘转角与预瞄误差之间的传递函数可表示为：
Figure PCTCN2020079958-appb-000009
步骤S134，根据所述传递函数关系，计算与当前预瞄误差对应的目标方向盘转角。
举例而言，基于式(9)，在获知当前预瞄误差后，可计算出对应的目标方向盘转角。
在本发明其他实施例中，也可根据车辆的预瞄道路曲率来得到目标方向盘转角，具体包括：
首先，在已知当前预瞄距离d及当前车道线方程y＝c0+c1*x+c2x 2+c3x 3的情况下，可通过下式计算当前预瞄道路曲率ρ：
ρ＝a1*c3*s+a2*c2     (10)
式中，a1及a2为常规参数，例如分别为6和2，(x，y)表示车道线坐标，c0-c3表示待定参数，不同的参数值表示不同类型的道 路，当c2、c3为0时，表示直线路段。其中，c0-c3的值可在车道线拟合中提取得到。
其次，根据阿克曼(Ackerman)转向原理，设L为车轮轴距，在车辆处于低速转向的工况下，车辆的转弯半径R只与前轮转角δ有关，满足阿克曼转原理。为了方便描述将四轮车辆模型简化为两轮模型，即认为车辆转弯时内外轮的转角相等，从而根据L、R和δ三者的几何关系可得到：
Figure PCTCN2020079958-appb-000010
再参考式(8)，前轮转角δ、方向盘转角
Figure PCTCN2020079958-appb-000011
以及车辆的转向系统传动比G i之间存在映射关系，且预瞄道路曲率ρ＝1/R，从而可得到目标方向盘转角σ与预瞄道路曲率ρ之间的映射关系为：
σ＝arctan(L.ρ)*G i  (12)
据此，也可以得到目标方向盘转角。
步骤S140，根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道。
举例而言，可根据目标方向盘转角生成方向盘转角指令，将方向盘转角指令发送至方向盘控制器，方向盘控制器接收该方向盘转角指令，并解析出对应的目标方向盘转角，并据此调整方向盘转动的角度和方向，使得自动驾驶车辆安全稳定地行驶至目标线。
以上建立了基于预瞄误差与方向盘转角的传递函数，从而实现了对方向盘转角的前馈控制，但是在横向控制过程中，由于模型误差和各种外界干扰，只有前馈控制很难保证很好的控制效果和稳定性。因此，本发明实施例的车辆异常换道控制方法还增加了基于航向角偏差的反馈控制。
图5是本发明实施例的航向角偏差示意图，可知航向角是指车辆的当前航向与其所在的车道线的夹角，而航向角偏差θ是当前航向角与目标航向角之间的角度偏差。在路径跟随过程中，车辆的航向角反映了车辆跟踪路径的切线方向，由于车辆行驶过程中总是期望车辆行驶方向和选择的目标线方向是一致的，即目标航向角应为0度。据此，如图6所示，本发明实施例的车辆异常换道控制方法还可以包括以下 步骤：
步骤S151，获取自动驾驶车辆的当前航向角与目标航向角之间的航向角偏差。
已知目标航向角为0度，当前航向角用HeadingAngle表示，则航向角偏差e(t)＝-HeadingAngle。
步骤S152，对所述航向角偏差进行PID运算得到针对方向盘转角的控制增量。
优选地，当横向状态值为表1中的2、3、4和-4时，在紧急状态下对控制提出了更高的需求，为了使设计的控制器达到快速响应的效果，可只对车辆航向角偏差采用P控制。据此，P控制的运算公式可表示为y＝kp*e(t)，y表示控制增量，kp为P控制的比例系数，且kp通过查询PID参数表得到。
其中，PID参数表是通过实车试验标定和修正得到的，其示出了不同车速所对应的最佳kp值。
步骤S153，基于所述控制增量修正所述目标方向盘转角。其中，修正后的目标方向盘转角要求能够使所述航向角偏差为0。
具体地，在步骤S153之前需要判断航向角偏差为e(t)是否为0。若e(t)为0，则执行步骤S153以修正目标方向盘转角，否则返回步骤S152，调节控制增量y直到航向角偏差为0。
举例而言，对预瞄误差进行预瞄跟踪控制，得到初始目标方向盘转角y1，对航向角偏差作P运算得到控制增量y2，则最终的目标控制方向盘转角可表示为y＝y1+y2。
据此，通过对航向角偏差进行P控制，既保证了将航向角偏差控制为0，又能使PID控制器达到快速响应的效果，且通过针对航向角偏差的控制增量来修正目标方向盘转角，有利于减少模型误差和各种外界干扰所带来的对控制效果的影响。
综上所述，自动驾驶车辆在行驶过程中会受到多种复杂工况、不同道路场景的影响，而本发明实施例提供的车辆异常换道控制方法具有自适应性，能使自动驾驶车辆应对出现的多种异常道路工况，与常规的控制算法相比，涵盖的工况更加全面，符合驾驶场景，避免自动 驾驶车辆因无法应对复杂工况无法而导致安全事故。进一步地，本发明实施例的车辆异常换道控制方法针对异常道路工况，依据横向决策状态自适应选择相应的安全偏移线、车道内动态目标线、跨车道动态目标线等，控制车辆按照目标线进行行驶，从而保障了行车安全和乘客的安全。另外，本发明实施例的车辆异常换道控制方法适用范围广，可以适用不同曲率的弯曲道路和直线道路下的自动驾驶系统，满足车辆的操纵稳定性和安全性要求。
图7是本发明另一实施例的一种车辆异常换道控制装置的结构示意图，该车辆异常换道控制装置与上述的车辆异常换道控制方法基于同样的发明思路。如图7所示，所述车辆异常换道控制装置可包括：目标线获取模块100，用于获取自动驾驶车辆的当前横向状态值及该自动驾驶车辆对应于所述当前横向状态值而将要运动至的目标线，其中，每一横向状态值被预配置为对应不同的所述目标线；期望轨迹确定模块200，用于根据所述目标线确定所述自动驾驶车辆的期望轨迹；方向盘转角计算模块300，用于基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角，其中，所述目标方向盘转角要求能够使所述自动驾驶车辆的实际行驶轨迹与所述期望轨迹的误差最小；以及控制模块400，用于根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道。
在优选的实施例中，所述每一横向状态值被预配置为对应不同的所述目标线包括：当所述横向状态值为第一数值时，所述目标线为当前车道中心线；当所述横向状态值为第二数值时，所述目标线为左车道中心线；当所述横向状态值为第三数值时，所述目标线为右车道中心线；当所述横向状态值为第四数值时，所述目标线为当前车道动态偏移线；当所述横向状态值为第五数值时，所述目标线为跨车道动态偏移线；当所述横向状态值为第六数值时，所述目标线为左侧安全偏移线；以及当所述横向状态值为第七数值时，所述目标线为右侧安全偏移线。
在优选的实施例中，所述方向盘转角计算模块300可以包括：第一计算子模块，用于确定预瞄点，并计算所述期望轨迹中离预瞄点最 近的点与所述预瞄点之间的距离，并将该距离作为预瞄误差；以及第二计算子模块，用于确定所述预瞄误差与方向盘转角之间的传递函数关系，并根据所述传递函数关系，计算与当前预瞄误差对应的目标方向盘转角。
更为优选地，所述第二计算子模块根据所述自动驾驶车辆的车辆动力学模型、运动规律、预瞄距离及车速来确定所述预瞄误差与方向盘转角之间的传递函数关系。
在优选的实施例中，所述车辆异常换道控制装置还可以包括：方向盘转角修正模块500，用于获取自动驾驶车辆的当前航向角与目标航向角之间的航向角偏差，并对所述航向角偏差进行PID运算得到针对方向盘转角的控制增量，以及基于所述控制增量修正所述目标方向盘转角。其中，修正后的目标方向盘转角要求能够使所述航向角偏差为0。
本发明实施例的其他实施细节及效果也可参考前述的车辆异常换道控制方法的实施例，在此则不再赘述。
本发明另一实施例还提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述的车辆异常换道控制方法。其中，所述机器可读存储介质包括但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体(Flash Memory)或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备等各种可以存储程序代码的介质。
本发明另一实施例还提供一种处理器，用于运行程序，所述程序被运行时用于执行上述实施例的车辆异常换道控制方法。
图8是本发明另一实施例的一种车辆异常换道控制系统的结构示意图，所述车辆异常换道控制系统包括：采集装置810，用于采集车道线信息及车辆周边信息；上述的机器可读存储介质(图中未示出)；以及处理器820，用于从所述采集装置810获取所述车道线信息及所 述车辆周边信息，并根据所述车道线信息及所述车辆周边信息判断自动驾驶车辆是否处于异常换道状态，并根据判断结果执行所述机器可读存储介质中存储的指令。
其中，采集装置810为车辆在车辆异常换道状态下实时提供车道线信息及车辆周边环境信息的装置，其优选为能够探测提取自动驾驶车辆周围360°范围内出现的物体目标的装置，例如采用全天候传感器探测设备，不仅能满足探测要求，还能避免因雨、雪、雾、光照等引起物体目标误检、漏检等。本发明实施例的采集装置810不局限于当前安装位置也不局限于当前数量，为提高物体探测准确性在车身周围布置若干雷达传感器(激光雷达或毫米波雷达设备等)、视觉传感器，通过设备冗余提高物体目标检测准确、稳定性。需说明的是，该摄像头可包括光学系统及图像处理系统等部分，以实现对车道线信息及车辆周边信息的准确提取，而在获取准确的信息后，即可将其提供给处理器820来实现换道控制。
其中，处理器820可以是车辆的ECU(Electronic Control Unit，电子控制单元)，也可以是独立配置的常规控制器，如CPU、单片机、DSP(Digital Signal Processor，数字信号处理器)、SOC(System On a Chip，片上系统)等，且可以理解，这些独立控制器也可以集成至ECU中。处理器820优选采用运算速度较快且有着丰富的I/O口设备的控制器来进行配置，要求具有能与整车CAN通信的输入输出端口、开关信号的输入输出端口、网线接口等。
在优选的实施例中，所述处理器820可以上述实施例中涉及的用于运行程序的处理器，其中所述程序被运行时用于执行上述实施例的车辆异常换道控制方法。此情况下，所述车辆异常换道控制系统可以不另外包括机器可读存储介质。
在优选的实施例中，该车辆异常换道控制系统还可以包括例如ABS(Antilock Brake System，防抱死制动系统)、EPS(Electric Power Steering，电动助力转向系统)等能够提供车速信息的车速相关系统，以从车辆相关系统中获取车速信息来进行上文所涉及的模糊PID控制器的参数整定。需说明的是，这里的车速相关系统也可不包括在车 辆异常换道控制系统中，而是通过CAN通讯方式来与车辆异常换道控制系统进行通讯以获取车速信息。
本发明另一实施例的一种车辆异常换道控制系统可以包括：采集装置810，用于采集车道线信息及车辆周边信息；以及上述实施例所述的车辆异常换道控制装置。
图9是本发明实施例的车辆异常换道控制系统的通讯示意图，其中车辆异常换道控制系统包括传感器组(对应上述的采集装置810)、ECU(对应上述的处理器820)和车速相关系统三部分。其中，传感器组为自动驾驶车辆实时提供探测区域内所需要的车道线信息和物体目标信息，包含输出的物体目标横、纵向距离、车道线类型、车道线宽度、车道线可信度等有关信息，并通过CAN通讯方式将实时的有关信息输出至ECU进行处理。ECU采用CPU配置，且具有ROM、RAM、Flash Memory等可读存储介质，这些可读存储介质存储在关于上述车辆异常换道方法的算法程序；车速相关系统例如是ABS和EPS，其中ABS可通过AD-CAN通讯方式与ECU通讯，EPS可通过PT-CAN通讯方式与ECU通讯。如此，车辆异常换道控制系统的各部分之间以各种CAN进行通讯交互，根据ECU输出的控制信号以及车速信息实时响应车道线变化，使整个自动驾驶系统形成闭环控制，实时调整车辆姿态，使车辆按照目标线进行行驶。
以上所述仅为本发明的较佳实施方式而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (14)

  1. 一种车辆异常换道控制方法，其特征在于，所述车辆异常换道控制方法包括：
    获取自动驾驶车辆的当前横向状态值及该自动驾驶车辆对应于所述当前横向状态值而将要运动至的目标线，其中，每一横向状态值被预配置为对应不同的所述目标线；
    根据所述目标线确定所述自动驾驶车辆的期望轨迹；
    基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角，其中，所述目标方向盘转角要求能够使所述自动驾驶车辆的实际行驶轨迹与所述期望轨迹的误差最小；以及
    根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道。
  2. 根据权利要求1所述的车辆异常换道控制方法，其特征在于，所述每一横向状态值被预配置为对应不同的所述目标线包括：
    当所述横向状态值为第一数值时，所述目标线为当前车道中心线；
    当所述横向状态值为第二数值时，所述目标线为左车道中心线；
    当所述横向状态值为第三数值时，所述目标线为右车道中心线；
    当所述横向状态值为第四数值时，所述目标线为当前车道动态偏移线；
    当所述横向状态值为第五数值时，所述目标线为跨车道动态偏移线；
    当所述横向状态值为第六数值时，所述目标线为左侧安全偏移线；以及
    当所述横向状态值为第七数值时，所述目标线为右侧安全偏移线。
  3. 根据权利要求1所述的车辆异常换道控制方法，其特征在于，所述基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角包括：
    确定预瞄点；
    计算所述期望轨迹中离预瞄点最近的点与所述预瞄点之间的距离，并将该距离作为预瞄误差；
    确定所述预瞄误差与方向盘转角之间的传递函数关系；以及
    根据所述传递函数关系，计算与当前预瞄误差对应的目标方向盘转角。
  4. 根据权利要求3所述的车辆异常换道控制方法，其特征在于，所述确定所述预瞄误差与方向盘转角之间的传递函数关系包括：
    根据所述自动驾驶车辆的车辆动力学模型、运动规律、预瞄距离及车速来确定所述预瞄误差与方向盘转角之间的传递函数关系。
  5. 根据权利要求1至4中任意一项所述的车辆异常换道控制方法，其特征在于，在所述根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道之前，所述车辆异常换道控制方法还包括：
    获取自动驾驶车辆的当前航向角与目标航向角之间的航向角偏差；
    对所述航向角偏差进行PID运算以得到针对方向盘转角的控制增量；以及
    基于所述控制增量修正所述目标方向盘转角，其中，修正后的目标方向盘转角要求能够使所述航向角偏差为0。
  6. 一种车辆异常换道控制装置，其特征在于，所述车辆异常换道控制装置包括：
    目标线获取模块，用于获取自动驾驶车辆的当前横向状态值及该自动驾驶车辆对应于所述当前横向状态值而将要运动至的目标线，其中，每一横向状态值被预配置为对应不同的所述目标线；
    期望轨迹确定模块，用于根据所述目标线确定所述自动驾驶车辆的期望轨迹；
    方向盘转角计算模块，用于基于所述期望轨迹对所述自动驾驶车辆进行预瞄跟踪控制以得到目标方向盘转角，其中，所述目标方向盘 转角要求能够使所述自动驾驶车辆的实际行驶轨迹与所述期望轨迹的误差最小；以及
    控制模块，用于根据所述目标方向盘转角控制所述自动驾驶车辆进行车辆异常换道。
  7. 根据权利要求6所述的车辆异常换道控制装置，其特征在于，所述每一横向状态值被预配置为对应不同的所述目标线包括：
    当所述横向状态值为第一数值时，所述目标线为当前车道中心线；
    当所述横向状态值为第二数值时，所述目标线为左车道中心线；
    当所述横向状态值为第三数值时，所述目标线为右车道中心线；
    当所述横向状态值为第四数值时，所述目标线为当前车道动态偏移线；
    当所述横向状态值为第五数值时，所述目标线为跨车道动态偏移线；
    当所述横向状态值为第六数值时，所述目标线为左侧安全偏移线；以及
    当所述横向状态值为第七数值时，所述目标线为右侧安全偏移线。
  8. 根据权利要求6所述的车辆异常换道控制装置，其特征在于，所述方向盘转角计算模块包括：
    第一计算子模块，用于确定预瞄点，并计算所述期望轨迹中离预瞄点最近的点与所述预瞄点之间的距离，并将该距离作为预瞄误差；以及
    第二计算子模块，用于确定所述预瞄误差与方向盘转角之间的传递函数关系，并根据所述传递函数关系，计算与当前预瞄误差对应的目标方向盘转角。
  9. 根据权利要求8所述的车辆异常换道控制装置，其特征在于，所述第二计算子模块根据所述自动驾驶车辆的车辆动力学模型、运动规律、预瞄距离及车速来确定所述预瞄误差与方向盘转角之间的传递函数关系。
  10. 根据权利要求6至9中任意一项所述的车辆异常换道控制装置，其特征在于，所述车辆异常换道控制装置还包括：
    方向盘转角修正模块，用于获取自动驾驶车辆的当前航向角与目标航向角之间的航向角偏差，并对所述航向角偏差进行PID运算得到针对方向盘转角的控制增量，以及基于所述控制增量修正所述目标方向盘转角，其中，修正后的目标方向盘转角要求能够使所述航向角偏差为0。
  11. 一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行权利要求1至5中任意一项所述的车辆异常换道控制方法。
  12. 一种处理器，其特征在于，用于运行程序，所述程序被运行时用于执行：如权利要求1至5中任意一项所述的车辆异常换道控制方法。
  13. 一种车辆异常换道控制系统，其特征在于，所述车辆异常换道控制系统包括：
    采集装置，用于采集车道线信息及车辆周边信息；以及
    权利要求6-10中任意一项所述的车辆异常换道控制装置或者处理器；
    其中，所述车辆异常换道控制装置或所述处理器，用于从所述采集装置获取所述车道线信息及所述车辆周边信息，并根据所述车道线信息及所述车辆周边信息判断自动驾驶车辆是否处于异常换道状态，并根据判断结果进行车辆异常换道控制。
  14. 根据权利要求13所述的车辆异常换道控制系统，其特征在于，所述处理器被配置为权利要求12所述的处理器，或者所述处理器被配置为执行权利要求11所述的机器可读存储介质中存储的指令。
PCT/CN2020/079958 2019-03-18 2020-03-18 车辆异常换道控制方法、装置及系统 Ceased WO2020187257A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20773154.8A EP3932761A4 (en) 2019-03-18 2020-03-18 METHOD, DEVICE AND SYSTEM FOR CONTROLLING AN ABNORMAL LANE CHANGING OF A VEHICLE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910204337.7A CN110979305B (zh) 2019-03-18 2019-03-18 车辆异常换道控制方法、装置及系统
CN201910204337.7 2019-03-18

Publications (1)

Publication Number Publication Date
WO2020187257A1 true WO2020187257A1 (zh) 2020-09-24

Family

ID=70081542

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/079958 Ceased WO2020187257A1 (zh) 2019-03-18 2020-03-18 车辆异常换道控制方法、装置及系统

Country Status (3)

Country Link
EP (1) EP3932761A4 (zh)
CN (1) CN110979305B (zh)
WO (1) WO2020187257A1 (zh)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112200044A (zh) * 2020-09-30 2021-01-08 北京四维图新科技股份有限公司 异常行为检测方法、装置及电子设备
CN112373477A (zh) * 2020-11-23 2021-02-19 重庆长安汽车股份有限公司 自动驾驶系统的冗余控制方法、自动驾驶系统、汽车、控制器及计算机可读存储介质
CN112874536A (zh) * 2021-01-19 2021-06-01 英博超算(南京)科技有限公司 一种智能车辆拨杆换道方法
CN113276836A (zh) * 2021-05-31 2021-08-20 爱驰汽车有限公司 车辆横向控制方法、装置、计算机设备和存储介质
CN113324554A (zh) * 2021-05-28 2021-08-31 江铃汽车股份有限公司 自动驾驶路线规划方法、装置、可读存储介质及电子设备
CN113895462A (zh) * 2021-11-19 2022-01-07 天津天瞳威势电子科技有限公司 预测车辆换道的方法、装置、计算设备及存储介质
CN113928336A (zh) * 2021-09-24 2022-01-14 上海时代之光照明电器检测有限公司 一种汽车自动驾驶辅助方法及系统
CN114013430A (zh) * 2021-12-23 2022-02-08 东风悦享科技有限公司 一种行车和泊车统一的自动驾驶车辆控制方法
CN114523978A (zh) * 2020-11-03 2022-05-24 上海汽车集团股份有限公司 一种后方道路模型生成方法及装置
CN114604259A (zh) * 2022-03-31 2022-06-10 重庆长安汽车股份有限公司 一种拟人化车辆轨迹跟踪控制方法
CN114940163A (zh) * 2022-04-25 2022-08-26 北京宾理信息科技有限公司 一种后轮转向车辆的横向运动控制方法、后轮转向车辆及电子系统
CN115320709A (zh) * 2022-08-29 2022-11-11 东风悦享科技有限公司 一种基于四轮转向的自动驾驶混合控制方法
CN115471813A (zh) * 2022-08-25 2022-12-13 广州小马慧行科技有限公司 车辆加塞意图识别方法、装置、计算机设备和存储介质
CN115489602A (zh) * 2021-06-18 2022-12-20 博泰车联网(南京)有限公司 基于方向盘转角的智能驾驶方法、存储介质及电子设备
CN115782916A (zh) * 2022-11-03 2023-03-14 北京京深深向科技有限公司 一种车辆控制方法、装置及系统
CN116985908A (zh) * 2023-09-07 2023-11-03 中汽创智科技有限公司 车辆控制方法、装置、计算机设备和存储介质
CN119705417A (zh) * 2025-01-13 2025-03-28 重庆长安汽车股份有限公司 车辆横向控制方法、装置、电子设备及可读存储介质
CN120580874A (zh) * 2025-05-06 2025-09-02 着陆页(北京)科技有限公司 一种车路协同环境下的自动驾驶算法

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111638712B (zh) * 2020-05-26 2021-11-16 三一专用汽车有限责任公司 自动驾驶车辆横向运动控制方法、装置和自动驾驶车辆
CN111806444A (zh) * 2020-05-29 2020-10-23 北汽福田汽车股份有限公司 车辆横向控制方法和装置、介质、设备、车辆
CN111806445A (zh) * 2020-05-29 2020-10-23 北汽福田汽车股份有限公司 车辆横向控制方法和装置、介质、设备、车辆
CN111703422B (zh) * 2020-06-24 2021-06-29 北京经纬恒润科技股份有限公司 智能驾驶车辆的目标跟踪路径选择方法及装置
CN111824133B (zh) * 2020-07-30 2022-05-27 北京罗克维尔斯科技有限公司 一种自动泊车控制方法、装置
CN114084133B (zh) * 2020-07-31 2024-02-02 上海汽车集团股份有限公司 一种跟车目标的确定方法及相关装置
CN112622921B (zh) * 2020-09-29 2022-09-30 广州宸祺出行科技有限公司 一种检测司机异常驾驶行为的方法、装置及电子设备
CN112394734A (zh) * 2020-11-27 2021-02-23 苏州感测通信息科技有限公司 一种基于线性模型预测控制算法的车辆轨迹跟踪控制方法
CN112918482B (zh) * 2021-03-25 2022-12-27 东风汽车集团股份有限公司 车辆跑偏程度的检测分析方法、系统及存储介质
CN113386792B (zh) * 2021-06-16 2022-10-21 北京汽车研究总院有限公司 基于轨迹跟踪的自动驾驶车辆控制方法、装置、车辆及存储介质
CN113799715B (zh) * 2021-10-25 2023-08-01 北京万集科技股份有限公司 车辆异常原因的确定方法、装置、通信设备及存储介质
CN114013429A (zh) * 2021-12-23 2022-02-08 东风悦享科技有限公司 一种一体式自动驾驶车辆控制系统
CN114347994B (zh) * 2022-03-17 2022-07-15 北京宏景智驾科技有限公司 车道线位置估计方法和装置、电子设备和存储介质
CN115230696B (zh) * 2022-07-01 2024-06-04 一汽解放汽车有限公司 车辆单车道行驶的居中控制方法
CN115402336B (zh) * 2022-09-01 2025-09-09 广州文远知行科技有限公司 方向轮转角计算方法、装置、设备及可读存储介质
CN115760322B (zh) * 2022-11-15 2024-06-21 台州动产质押金融服务有限公司 一种基于车辆的资源获取方法、设备及介质
CN116513187B (zh) * 2023-05-23 2025-08-26 一汽解放汽车有限公司 车辆换道控制方法、装置、电子设备及存储介质
CN117572476B (zh) * 2024-01-15 2024-04-09 智道网联科技(北京)有限公司 一种基于行驶轨迹的自动驾驶车辆定位调整方法及装置
CN117719539A (zh) * 2024-01-19 2024-03-19 北京京东远升科技有限公司 自动驾驶车辆行驶速度的控制方法和装置
CN118651223A (zh) * 2024-06-13 2024-09-17 中国第一汽车股份有限公司 换道轨迹控制方法、装置、设备、存储介质及程序产品

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8078373B2 (en) * 2008-11-21 2011-12-13 GM Global Technology Operations LLC Vehicle dynamics prediction with lane/path information using a preview-correction-prediction approach
CN103085815A (zh) * 2013-01-17 2013-05-08 北京理工大学 一种识别驾驶员换道意图的方法
CN103640622A (zh) * 2013-11-13 2014-03-19 南京航空航天大学 一种基于驾驶员模型的汽车方向智能控制方法及控制系统
CN105329238A (zh) * 2015-12-04 2016-02-17 北京航空航天大学 一种基于单目视觉的自动驾驶汽车换道控制方法
CN106915349A (zh) * 2017-02-28 2017-07-04 北京经纬恒润科技有限公司 一种车辆侧向控制的方法及装置
US20170233001A1 (en) * 2016-02-16 2017-08-17 GM Global Technology Operations LLC Preview lateral control for automated driving
CN107323450A (zh) * 2017-06-08 2017-11-07 广州汽车集团股份有限公司 车辆变道的控制方法及装置、存储介质

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102036050B1 (ko) * 2014-12-30 2019-10-24 주식회사 만도 차선 변경 장치 및 방법
DE102016216135A1 (de) * 2016-08-29 2018-03-01 Bayerische Motoren Werke Aktiengesellschaft Spurwechselassistenzsystem und -verfahren zum automatisierten Durchführen mehrfacher Spurwechsel
JP2018184138A (ja) * 2017-04-27 2018-11-22 トヨタ自動車株式会社 進路変更報知装置
JP6946754B2 (ja) * 2017-06-06 2021-10-06 トヨタ自動車株式会社 車線変更支援装置
CN107215339B (zh) * 2017-06-26 2019-08-23 地壳机器人科技有限公司 自动驾驶车辆的换道控制方法和装置
EP3552902B1 (en) * 2018-04-11 2025-05-28 Hyundai Motor Company Apparatus and method for providing a driving path to a vehicle
CN109348414B (zh) * 2018-11-30 2021-03-12 中国联合网络通信集团有限公司 定位车辆所在车道的方法及设备

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8078373B2 (en) * 2008-11-21 2011-12-13 GM Global Technology Operations LLC Vehicle dynamics prediction with lane/path information using a preview-correction-prediction approach
CN103085815A (zh) * 2013-01-17 2013-05-08 北京理工大学 一种识别驾驶员换道意图的方法
CN103640622A (zh) * 2013-11-13 2014-03-19 南京航空航天大学 一种基于驾驶员模型的汽车方向智能控制方法及控制系统
CN105329238A (zh) * 2015-12-04 2016-02-17 北京航空航天大学 一种基于单目视觉的自动驾驶汽车换道控制方法
US20170233001A1 (en) * 2016-02-16 2017-08-17 GM Global Technology Operations LLC Preview lateral control for automated driving
CN106915349A (zh) * 2017-02-28 2017-07-04 北京经纬恒润科技有限公司 一种车辆侧向控制的方法及装置
CN107323450A (zh) * 2017-06-08 2017-11-07 广州汽车集团股份有限公司 车辆变道的控制方法及装置、存储介质

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3932761A4 *

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112200044A (zh) * 2020-09-30 2021-01-08 北京四维图新科技股份有限公司 异常行为检测方法、装置及电子设备
CN112200044B (zh) * 2020-09-30 2024-04-30 北京四维图新科技股份有限公司 异常行为检测方法、装置及电子设备
CN114523978B (zh) * 2020-11-03 2024-01-16 上海汽车集团股份有限公司 一种后方道路模型生成方法及装置
CN114523978A (zh) * 2020-11-03 2022-05-24 上海汽车集团股份有限公司 一种后方道路模型生成方法及装置
CN112373477A (zh) * 2020-11-23 2021-02-19 重庆长安汽车股份有限公司 自动驾驶系统的冗余控制方法、自动驾驶系统、汽车、控制器及计算机可读存储介质
CN112874536A (zh) * 2021-01-19 2021-06-01 英博超算(南京)科技有限公司 一种智能车辆拨杆换道方法
CN112874536B (zh) * 2021-01-19 2023-09-12 英博超算(南京)科技有限公司 一种智能车辆拨杆换道方法
CN113324554A (zh) * 2021-05-28 2021-08-31 江铃汽车股份有限公司 自动驾驶路线规划方法、装置、可读存储介质及电子设备
CN113324554B (zh) * 2021-05-28 2023-12-29 江铃汽车股份有限公司 自动驾驶路线规划方法、装置、可读存储介质及电子设备
CN113276836A (zh) * 2021-05-31 2021-08-20 爱驰汽车有限公司 车辆横向控制方法、装置、计算机设备和存储介质
CN115489602A (zh) * 2021-06-18 2022-12-20 博泰车联网(南京)有限公司 基于方向盘转角的智能驾驶方法、存储介质及电子设备
CN113928336A (zh) * 2021-09-24 2022-01-14 上海时代之光照明电器检测有限公司 一种汽车自动驾驶辅助方法及系统
CN113928336B (zh) * 2021-09-24 2023-09-01 上海时代之光照明电器检测有限公司 一种汽车自动驾驶辅助方法及系统
CN113895462A (zh) * 2021-11-19 2022-01-07 天津天瞳威势电子科技有限公司 预测车辆换道的方法、装置、计算设备及存储介质
CN114013430B (zh) * 2021-12-23 2023-09-19 东风悦享科技有限公司 一种行车和泊车统一的自动驾驶车辆控制方法
CN114013430A (zh) * 2021-12-23 2022-02-08 东风悦享科技有限公司 一种行车和泊车统一的自动驾驶车辆控制方法
CN114604259A (zh) * 2022-03-31 2022-06-10 重庆长安汽车股份有限公司 一种拟人化车辆轨迹跟踪控制方法
CN114940163A (zh) * 2022-04-25 2022-08-26 北京宾理信息科技有限公司 一种后轮转向车辆的横向运动控制方法、后轮转向车辆及电子系统
CN115471813A (zh) * 2022-08-25 2022-12-13 广州小马慧行科技有限公司 车辆加塞意图识别方法、装置、计算机设备和存储介质
CN115320709B (zh) * 2022-08-29 2023-04-18 东风悦享科技有限公司 一种基于四轮转向的自动驾驶混合控制方法
CN115320709A (zh) * 2022-08-29 2022-11-11 东风悦享科技有限公司 一种基于四轮转向的自动驾驶混合控制方法
CN115782916A (zh) * 2022-11-03 2023-03-14 北京京深深向科技有限公司 一种车辆控制方法、装置及系统
CN116985908A (zh) * 2023-09-07 2023-11-03 中汽创智科技有限公司 车辆控制方法、装置、计算机设备和存储介质
CN119705417A (zh) * 2025-01-13 2025-03-28 重庆长安汽车股份有限公司 车辆横向控制方法、装置、电子设备及可读存储介质
CN119705417B (zh) * 2025-01-13 2025-11-18 重庆长安汽车股份有限公司 车辆横向控制方法、装置、电子设备及可读存储介质
CN120580874A (zh) * 2025-05-06 2025-09-02 着陆页(北京)科技有限公司 一种车路协同环境下的自动驾驶算法

Also Published As

Publication number Publication date
EP3932761A4 (en) 2022-05-18
CN110979305A (zh) 2020-04-10
EP3932761A1 (en) 2022-01-05
CN110979305B (zh) 2021-06-22

Similar Documents

Publication Publication Date Title
WO2020187257A1 (zh) 车辆异常换道控制方法、装置及系统
CN111717204B (zh) 自动驾驶车辆的横向控制方法及系统
CN111717189B (zh) 车道保持控制方法、装置及系统
CN111717192B (zh) 一种自动驾驶车辆的控制方法及系统
US9457807B2 (en) Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver
CN105292116B (zh) 自动驾驶车辆的车道变换路径规划算法
US20230031030A1 (en) Apparatus and method for controlling autonomous vehicle
CN116080754B (zh) 一种车辆自主驾驶横向控制方法
US11958477B2 (en) Driver assistance system for an at least partially automatically driving motor vehicle, motor vehicle and method for controlling a vehicle dynamics
CN110361013A (zh) 一种用于车辆模型的路径规划系统及方法
CN112124295B (zh) 无人驾驶车辆及其终点横向稳态控制方法、电子设备
CN111547049A (zh) 车辆泊车入位的控制方法、装置及车辆
CN114967710A (zh) 基于控制点拟合多项式自动驾驶避障路径规划系统及方法
US12579893B2 (en) Parking route generation device
WO2022024873A1 (ja) 車両制御装置、車両制御方法、及び車両制御システム
CN111717212A (zh) 自动驾驶车辆的跟随控制方法及装置
CN117048593A (zh) 车辆横向控制方法、装置、计算机设备及存储介质
CN119611424B (zh) 自动驾驶车辆突发变道机动综合运动规划方法及系统
CN115384487A (zh) 基于四轮转向的横向控制方法、装置、存储介质及车辆
CN116300970B (zh) 车辆自主编队方法及装置
CN115892208A (zh) 一种车辆终端、车辆转弯控制方法及装置
US20250296627A1 (en) Steering interventions for vehicles
CN115123228B (zh) 平滑自动车道变换(alc)操作的系统和方法
US20250304155A1 (en) Steering interventions for vehicles
CN113671950B (zh) 一种基于位姿收敛算法的车辆轨迹跟踪控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20773154

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020773154

Country of ref document: EP

Effective date: 20210929

WWW Wipo information: withdrawn in national office

Ref document number: 2020773154

Country of ref document: EP