Technical Field
The present invention relates to unmanned technical field, in particular to an unmanned autonomous channel switching strategy.
Background Art
As people to automobile intelligent requirements increase, the unmanned vehicle as an intelligent driving has become the most concerned about the core technology. The vehicle during running of the vehicle lane is a common but complex acts, to a large extent the liquidity on roads, fast and safe channel switching operation to reducing the traffic accident has extremely strong significance of practical application.
However, the actual road scene is very complicated and, therefore, how to achieve the unmanned vehicle not only can high-efficient, safe, and reliable accomplish independent channel switching, also can cover the complicated road scene, is undoubtedly a great challenge.
Content of the invention
The invention is directed to problems in the prior art of the above-mentioned problems, to provide an unmanned autonomous channel switching strategy, capable of dealing with all kinds of real road scene, the unmanned vehicle in various road scene in the efficient, safe, and reliable independent channel switching.
In order to achieve the above-mentioned purpose and some of the other purpose, this invention adopts the following technical scheme:
An unmanned autonomous channel switching strategy, mainly comprises the following steps:
Step A, according to pre-set the formula 1 calculating to obtain the unmanned vehicle traffic lane of smooth degree value A and other lane the smoothness of the degree value B;
Step B, will smooth degree value A and the unobstructed degree value B compare, in order to select the lowest level of traffic lane as a target lane is transmitted to the unmanned vehicle driving system;
Wherein described in 1 lane flow rate model is of the formula:
Z=X × [1/(1 + 0.3 × Y)] formula 1
Wherein Z said smooth degree value; X that each lane of the average speed of the vehicle on the; Y said unmanned vehicle number of the rear of the vehicle.
Preferably, the strategy in the unmanned autonomous lane, the lane model of the flow rate formula is used for calculating the weighted average speed lane, the smooth degree value by the number of vehicles running on the lane of the decision of the average speed.
Preferably, the unmanned autonomous channel switching strategy, step B in the smooth degree value A and the unobstructed degree value B is compared in order to select the target lane of the method according to the candidate lane relative to the unmanned vehicle by the degree of smoothness of the driving lane, the smooth degree through the formula 2 that:
Vf =0.012 V0 × V0 + 0.52 × V0 Formula 2
Wherein Vf that the candidate lane relative to the unmanned vehicle by the degree of smoothness of the running lane; V0 said smooth degree value B.
Preferably, the unmanned autonomous channel switching strategy, step B in the smooth degree value A and the unobstructed degree value B is compared in order to select the target lane method also on the basis of experience database, the database drivers experience on the ground in various driving on the road and finishing to obtain the data collected.
Preferably, the unmanned autonomous channel switching strategy, when the smooth degree value B greater than 19 m/s, smooth degree value A is less than the maximum unobstructed [...] of 0.92 times, and smooth degree value B when greater than Vf, judge the lane [...] driving the vehicle to the target lane.
Preferably, the unmanned autonomous channel switching strategy, when the smooth degree value B less than Vf, smooth degree value B is less than the maximum unobstructed degree value, judging the [...] driving the vehicle running on the original lane.
Preferably, the unmanned autonomous channel switching strategy, step B in the smooth degree value A and the unobstructed degree value B is compared in order to select the target lane method also on the basis of the selection module, the selection module is in the unmanned vehicle to meet channel switching conditions, and the [...] driving vehicle running at the two sides of a lane, control the [...] driving lane to the middle lane of the vehicle.
The invention comprises at least the following advantages:
The invention the unmanned autonomous channel switching strategy by the establishment of a flow rate model lane, so that the [...] driving independent channel switching strategy is based upon lane flow rate model, according to the flow rate of the first lane model to analyze the degree of smoothness of the candidate lane, then the lane the vehicle itself with smooth situation compared to measure, from the chosen in the lowest level of traffic lane, as the optimum target lane, the lane model according to the velocity of the vehicle on the lane of the average vehicle speed, and the unmanned vehicle to judge the number of the rear of the vehicle, so that the obtained value is not affected by the degree of lane smooth vehicle running scene constraints, is suitable for various road scene, and according to the lane on the average speed of the vehicle and the vehicle number of the result of the judgment result of the judgment is matched with the manual, so that the calculation result is more accurate and attaching the actual, so as to whether the unmanned vehicle lane has offered the reliable basis, so that drive the vehicle [...] safe, reliable, and efficient completion of the channel switching.
Other advantages of the present invention, objectives and features will reflect through the lower part of the note, segment will also be through to the study and practice of this invention is in the field of the technical understood.
Description of drawings
Figure 1 is the schematic view of the present invention provides unmanned autonomous channel switching strategy the lane of the velocity model;
Figure 2 is the coordinates of the present invention provides unmanned autonomous channel switching strategy in the smooth degree value A and smooth degree value B is compared in order to select the target lane of the method.
Mode of execution
The Figure below to do a detailed description of this invention, to enable the ordinary skill in the art refer to this specification can be implemented after the basis.
As shown in Figure 1 and Figure 2, an unmanned autonomous channel switching strategy, mainly comprises the following steps:
Step A, according to pre-set the formula 1 calculating to obtain the unmanned vehicle traffic lane of smooth degree value A and other lane the smoothness of the degree value B;
Step B, will smooth degree value A and the unobstructed degree value B compare, in order to select the lowest level of traffic lane as a target lane is transmitted to the unmanned vehicle driving system;
Wherein described in 1 lane flow rate model is of the formula:
Z=X × [1/(1 + 0.3 × Y)] formula 1
Wherein Z said smooth degree value; X that each lane of the average speed of the vehicle on the; Y said unmanned vehicle number of the rear of the vehicle.
In the above-mentioned scheme, lane flow rate model of each bus according to the number of road, and the average speed of the vehicle, in accordance with the judgment of the manual driving habits, realizes the simulation of manual decision-making, such that for a lane decision-making judgement more reliable and safe.
The establishment of the flow rate through the lane model, so that the [...] driving independent lane strategy based on lane flow rate model, according to the flow rate of the first lane model to analyze the degree of smoothness of the candidate lane, then the lane the vehicle itself with smooth situation compared to measure, from the chosen in the lowest level of traffic lane, as the optimum target lane, the lane model according to the velocity of the vehicle on the lane of the average vehicle speed, and the unmanned vehicle to judge the number of the rear of the vehicle, so that the obtained value is not affected by the degree of lane smooth vehicle running scene restrictions, can cope with the complicated and changeable scene, the scene of the situation of the regulating accurate modeling, prepared is a measure of the road, for the choice of the channel switching strategy provides a reliable basis; and according to the lane on the average speed of the vehicle and the vehicle number of the result of the judgment result of the judgment is matched with the manual, so that the calculation result is more accurate and attaching the actual, so as to whether the unmanned vehicle lane has offered the reliable basis, so that drive the vehicle [...] safe, reliable, efficient completion of the channel switching.
Wherein lane flow speed on all lanes in the model, the number of vehicles, each vehicle and [...] drive the vehicle relative to the position of the acquisition of the data such as the unmanned vehicle by is arranged on the laser radar, a millimeter wave radar, camera and GPS positioning module and other device to realize, the availability of data through these sensor detection fused to obtain.
In one preferred embodiment, the lane model of the flow rate formula is used for calculating the weighted average speed lane, the smooth degree value by the number of vehicles running on the lane of the decision of the average speed.
In the above-mentioned scheme, by calculating the weighted average speed lane can accurately judge the unmanned vehicle lane change of the vehicle speed, the timing conditions and the like, smooth degree value by the number of vehicles on the lane of the running average speed determine where infectious diseases caused when driving lane smooth for the judgment, thereby ensuring the reliability of the lane strategy determination of follow-up.
In one preferred embodiment, in step B the smooth degree value A and the unobstructed degree value B is compared in order to select the target lane of the method according to the candidate lane relative to the unmanned vehicle by the degree of smoothness of the driving lane, the smooth degree through the formula 2 that:
Vf =0.012 V0 × V0 + 0.52 × V0 Formula 2
Wherein Vf that the candidate lane relative to the unmanned vehicle by the degree of smoothness of the running lane; V0 said smooth degree value B.
In the above-mentioned scheme in, through the candidate lane relative to the unmanned vehicle by the smoothness of the running lane of the calculation of the degree of convenient for each vehicle track smooth degree of comparison, thereby facilitating the channel switching strategy decision-making.
In one preferred embodiment, in step B the smooth degree value A and the unobstructed degree value B is compared in order to select the target lane method also on the basis of experience database, the database drivers experience on the ground in various driving on the road and finishing to obtain the data collected.
In the above-mentioned scheme in, through the drivers in various driving on the road data collection and finishing the experience database guidance, so that the [...] driving the vehicle in the lane decision-making can be according to artificial when driving experience to judge, thus further improving the reliability of the decision strategy, without a person who drives a vehicle driving safety.
In one preferred embodiment, when the smooth degree value B greater than 19 m/s, smooth degree value A is less than the maximum unobstructed [...] of 0.92 times, and smooth degree value B when greater than Vf, judge the lane [...] driving the vehicle to the target lane.
In the above-mentioned scheme, according to formula 2 and the calculation of the experience database found, the smoothness of the target lane must be greater than 19 m/s when, the lane is less than the maximum unobstructed degree of 0.92 times, and the smoothness of the target lane when the degree value is more than Vf, target lane more smooth, lane can be carried out.
In one preferred embodiment, when the smooth degree value B less than Vf, smooth degree value B is less than the maximum unobstructed degree value, judging the [...] driving the vehicle running on the original lane.
In the above-mentioned scheme, according to formula 2 and the calculation of the experience database found, achieve the above situation, the more smooth the lane, the unmanned vehicle does not need to be changing road.
In one preferred embodiment, in step B the smooth degree value A and the unobstructed degree value B is compared in order to select the target lane method also on the basis of the selection module, the selection module is in the unmanned vehicle to meet channel switching conditions, and the [...] driving vehicle running at the two sides of a lane, control the [...] driving lane to the middle lane of the vehicle.
In the above-mentioned scheme in, by selecting the arrangement of the module, so that the strategy to be completed in the overtaking of decision-making functions, in the actual road scene can be accurate, reliable, and efficient to select the optimal lane, and can cope with the complicated and changeable road scene.
The combination of Figure 2, indicating on an abscissa a candidate target lane of the degree of smooth, indicating on the ordinate a degree of smoothness of the lane, the lane in the invention we use the result of the calculation in the flow model to represent the degree of smoothness of the lane. A region is formed by curves 2, 3, 4 form, in a zone, the smoothness of the target lane must be greater than 19 (minimum of two connecting), the lane is less than the maximum unobstructed degree of 0.92 times (on behalf of the traffic lane velocity to be suppressed, the occurrence of the jamming condition), curve 3 is a measure of the target lane relative to the lane the smoothness of the situation, so when the decision-making is clicked in a zone, the target lane more smooth, can be lane; in the b zone, the vehicle lane is comparatively smooth, does not carry out a channel, keep the lane; in the area c, and the vehicle running on both sides of the lane, the role of the select module, it is necessary to take the middle lane priority selection strategy, in that region, the vehicle will be in the middle of the lane from the two sides of the back lane.
Although the embodiments of the invention have been disclosed above, but not limited to the specification and embodiments set out in the application, it is fully can be suitable for various suitable for the field of this invention, familiar in the case of the field personnel, can be easily achieved in addition changes, therefore without departing from the claims and the equivalent of the scope of the general concept of defined, the invention is not limited to the specific details shown and described here of the legend.
Unmanned automatic lane changing policy
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