Lane change planning method and vehicle-mounted device
A lane change planning method plans a first lane change path based on a lane where a vehicle is currently driving and an adjacent lane and controls the vehicle to drive based on the first lane change path. When the vehicle drives to a first target position, a first target object such as another vehicle is detected. Wherein the first target position is determined by the first lane change path, and a dividing line between the lane where the vehicle is currently driving and the adjacent lane. The vehicle is controlled to drive according to the first lane change path, when the first target object is not detected within a preset distance. The present disclosure also provides a vehicle-mounted device. The present disclosure adds to safer road driving on busy roads.
1. A lane change planning method, the method comprising:
planning a first lane change path based on a lane where a vehicle is currently driving and an adjacent lane;
controlling the vehicle to drive based on the first lane change path, and detecting a first target object when the vehicle drives to a first target position, wherein the first target position is determined by the first lane change path, a dividing line between the lane where the vehicle is currently driving and the adjacent lane, the first target position is any position within a target range, and the target range is a range of a predetermined circle, a center of the predetermined circle is a point of intersection of the first lane change path and the dividing line, and a radius of the predetermined circle is equal to a preset value d; and
controlling the vehicle to drive according to the first lane change path, when the first target object is not detected within a preset distance.
2. The lane change planning method of claim 1 , wherein a formula for calculating the first lane change path is as follows:
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wherein, v i =v y,TAP (T i ), y i =y TAP (T i ), i∈[0,6], Wherein, a y,d represents a lateral acceleration rate when changing lanes, J y,d represents a lateral jerking degree when changing lanes; v i represents a required driving lateral speed during a time period T i ; y i represents a lateral displacement required for the corresponding time period T i ; y d is a lateral displacement required to complete the lane change.
3. The lane change planning method of claim 1 , wherein the first target object is another vehicle driving in the adjacent lane and behind or beside the vehicle.
4. The lane change planning method of claim 1 , further comprising:
controlling the vehicle to drive to a second target position in the lane where the vehicle is currently driving, when the first target object is detected within the preset distance;
detecting the first target object, when the vehicle reaches the second target position; and
when the first target object is not detected within the preset distance from the second target position, planning a second lane change path based on the lane where the vehicle is currently driving and the adjacent lane, and controlling the vehicle to drive according to the second lane change path.
5. The lane change planning method of claim 4 , further comprising:
detecting a second target object, when the first target object is detected within the preset distance from the second target position; and
when the second target object is not detected within the preset distance, planning a third lane change path based on the second target position and a center line of the lane where the vehicle is currently driving, and controlling the vehicle to drive according to the third lane change path.
6. The lane change planning method of claim 5 , wherein the second target position is a position where the vehicle drives in the lane where the vehicle is currently driving for a preset period.
7. The lane change planning method of claim 5 , wherein the second target object is another vehicle driving in the lane where the vehicle is currently driving and behind the vehicle.
8. The lane change planning method of claim 1 , wherein the first lane change path is a function of a time and an acceleration rate, wherein the time is a period when the vehicle performs a lane change, and the acceleration rate is a lateral acceleration rate at which the vehicle performs the lane change.
9. The lane change planning method of claim 1 , wherein the lane where the vehicle is currently driving, the adjacent lane, and the dividing line are obtained through a high-precision map.
10. A vehicle-mounted device comprising a memory and a processor, the memory stores at least one computer-readable instruction, and the processor executes the at least one computer-readable instruction to implement to a lane change planning method, the method comprising:
planning a first lane change path based on a lane where a vehicle is currently driving and an adjacent lane;
controlling the vehicle to drive based on the first lane change path, and detecting a first target object when the vehicle drives to a first target position, wherein the first target position is determined by the first lane change path, a dividing line between the lane where the vehicle is currently driving and the adjacent lane, the first target position is any position within a target range, and the target range is a range of a predetermined circle, a center of the predetermined circle is a point of intersection of the first lane change path and the dividing line, and a radius of the predetermined circle is equal to a preset value d;
controlling the vehicle to drive according to the first lane change path, when the first target object is not detected within a preset distance.
11. The vehicle-mounted device of claim 10 , wherein a formula for calculating the first lane change path is as follows:
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t
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1
6
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1
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wherein, v i =v y,TAP (T i ), y i =y TAP (T i ), i∈[0,6], Wherein, a y,d represents a lateral acceleration rate when changing lanes, J y,d represents a lateral jerking degree when changing lanes; v i represents a required driving lateral speed during a time period T i ; y i represents a lateral displacement required for the corresponding time period T i ; y d is a lateral displacement required to complete the lane change.
12. The vehicle-mounted device of claim 10 , wherein the first target object is another vehicle driving in the adjacent lane and behind or beside the vehicle.
13. The vehicle-mounted device of claim 10 , the method further comprising:
controlling the vehicle to drive to a second target position in the lane where the vehicle is currently driving, when the first target object is detected within the preset distance;
detecting the first target object again, when the vehicle reaches the second target position; and
when the first target object is not detected within the preset distance from the second target position, planning a second lane change path based on the lane where the vehicle is currently driving and the adjacent lane and controlling the vehicle to drive according to the second lane change path.
14. The vehicle-mounted device of claim 13 , the method further comprising:
detecting a second target object, when the first target object is detected within the preset distance from the second target position; and
when the second target object is not detected within the preset distance, planning a third lane change path based on the second target position and a center line of the lane where the vehicle is currently driving and controlling the vehicle to drive according to the third lane change path.
15. The vehicle-mounted device of claim 14 , wherein the second target position is a position where the vehicle drives in the lane where the vehicle is currently driving for a preset period.
16. The vehicle-mounted device of claim 14 , wherein the second target object is another vehicle driving in the lane where the vehicle is currently driving and behind the vehicle.
17. The vehicle-mounted device of claim 10 , wherein the first lane change path is a function of a time and an acceleration rate, wherein the time is a period when the vehicle performs a lane change, and the acceleration rate is a lateral acceleration rate at which the vehicle performs the lane change.
18. The vehicle-mounted device of claim 10 , wherein the lane where the vehicle is currently driving, the adjacent lane, and the dividing line are obtained through a high-precision map.