CN112141110A - Vehicle lane changing method, device, equipment and storage medium - Google Patents
Vehicle lane changing method, device, equipment and storage medium Download PDFInfo
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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
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
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Abstract
The invention discloses a vehicle lane changing method, a vehicle lane changing device, vehicle lane changing equipment and a storage medium. The method comprises the following steps: acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle; if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle; and controlling the current vehicle to change the lane according to the lane changing instruction. By the technical scheme, the autonomous lane changing function based on the automatic driving navigation guidance can be realized on the premise of automatic driving of the vehicle, the lane changing scene is automatically judged, the automatic driving and the autonomous lane changing function are seamlessly switched, the appeal of frequent lane changing is thoroughly solved from the original intention of the autonomous lane changing design scene, the frequent operation of a driver is reduced, and the driving safety is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle lane changing method, device, equipment and storage medium.
Background
With the continuous iterative promotion of automobile electronization and hard software technologies, the automatic driving of automobiles is more and more intelligent. The frequent traffic accidents caused by insufficient perception of drivers on the surrounding environment during lane changing always become difficult and challenging problems and challenges of automatic driving of vehicles, how to realize automatic lane changing and reduce traffic accidents so as to improve driving safety.
Generally, autonomous vehicles can be classified into six classes, where primary and secondary autonomous systems are intelligently categorized as driving aids, while systems above the third class (L3) can achieve conditional autonomous driving, and the third class autonomous systems need to be activated to perform all dynamic driving tasks within the operating conditions involved. Under the existing L3 automatic driving technology architecture, the automatic driving perception of a single lane is mainly considered, the surrounding environment of the vehicle cannot be accurately perceived, especially the requirements of perception environments on two sides and the rear of the vehicle cannot be considered, and therefore reliable support cannot be provided for the automatic lane changing technology of the vehicle. Meanwhile, the conventional automatic lane changing modes of the vehicle are mainly divided into the following two modes, firstly, based on a lane changing request of a user instruction mode, a driver judges the safety around the system and the lane changing time at any time, and the system is responsible for lane changing execution, so that the mode has low usability for scenes and cannot solve the problem of releasing pain points of hands; and secondly, the lane change is independently realized based on the traffic condition of the lane where the vehicle is located or based on the planned road, and the demand of frequent lane change cannot be thoroughly solved from the original intention of an autonomous lane change design scene.
Disclosure of Invention
The embodiment of the invention provides a vehicle lane changing method, a vehicle lane changing device, vehicle lane changing equipment and a storage medium, which realize an autonomous lane changing function based on automatic driving guiding navigation, automatically judge a lane changing scene and seamlessly switch the automatic driving and autonomous lane changing functions on the premise of automatic driving of a vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle lane changing method, including:
acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;
if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle;
and controlling the current vehicle to change the lane according to the lane changing instruction.
Further, the generating a lane change instruction according to the position of the current vehicle includes:
and if the distance between the position of the current vehicle and the navigation planning road node is less than or equal to a first distance threshold value, and the position of the current vehicle does not belong to a lane connected with the navigation planning road, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
Further, the generating a lane change instruction according to the position of the current vehicle includes:
if the distance between the current vehicle position and the high-precision map data node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position, wherein the high-precision map data node comprises: the turning mark node and the lane merging node.
Further, if the distance between the current vehicle position and the u-turn identification node is less than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position includes:
and if the lane where the current vehicle is located and the lane where the U-turn sign is located are the same lane, generating a lane change instruction.
Further, if the lane where the current vehicle is located and the lane where the u-turn sign is located are the same lane, generating a lane change instruction, including:
if the current vehicle is located in the leftmost lane and the U-turn sign is located in the lane where the current vehicle is located, generating a lane change instruction towards the right lane;
and if the current vehicle is positioned in the rightmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a lane change instruction for the left lane.
Further, if the distance between the current vehicle position and the lane merging node is less than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position includes:
if the current vehicle is located in the leftmost lane and the current vehicle is located in the lane where the lane merging node is located, generating a right lane changing instruction;
and if the current vehicle is positioned in the rightmost lane and the current vehicle is positioned in the lane where the lane merging node is positioned, generating a left lane changing instruction.
Further, the generating a lane change instruction according to the position of the current vehicle includes:
and if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold value, the position of the current vehicle does not belong to a lane connected with the navigation planning road, and the distance between the position of the current vehicle and the high-precision map data node is smaller than or equal to a second distance threshold value, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
In a second aspect, an embodiment of the present invention further provides a lane change device for a vehicle, where the lane change device includes:
the acquisition module is used for acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;
the instruction generation module is used for generating a lane change instruction according to the position of the current vehicle if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold;
and the control module is used for controlling the current vehicle to change lanes according to the lane changing instruction.
Further, the instruction generating module includes:
and the first instruction generation unit is used for generating a lane change instruction according to the position of the current vehicle and the navigation planning road if the distance between the position of the current vehicle and the navigation planning road node is less than or equal to a distance threshold value and the position of the current vehicle does not belong to a lane connected with the navigation planning road.
A second instruction generating unit, configured to generate a lane change instruction according to a current vehicle position if a distance between the current vehicle position and a high-precision map data node is less than or equal to a second distance threshold, where the high-precision map data node includes: the turning mark node and the lane merging node.
Further, the second instruction generating unit is specifically configured to:
if the current vehicle is located in the rightmost lane and the U-turn sign is located in the lane where the current vehicle is located, generating a lane change instruction to the left lane;
and if the current vehicle is positioned in the leftmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a lane change instruction towards the right lane.
Further, the second instruction generating unit is further configured to:
if the current vehicle is located in the leftmost lane and the current vehicle is located in the lane where the lane merging node is located, generating a right lane changing instruction;
and if the current vehicle is positioned in the rightmost lane and the current vehicle is positioned in the lane where the lane merging node is positioned, generating a left lane changing instruction.
Further, the instruction generating module is further configured to:
and if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold value, the position of the current vehicle does not belong to a lane connected with the navigation planning road, and the distance between the position of the current vehicle and the high-precision map data node is smaller than or equal to a second distance threshold value, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the vehicle lane change method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the vehicle lane change method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the lane change instruction is generated according to the current position of the vehicle, so that the autonomous lane change function based on the automatic driving guiding type navigation can be realized on the premise of automatic driving of the vehicle, the lane change scene can be automatically judged, the automatic driving and autonomous lane change functions can be seamlessly switched, the appeal of frequent lane change is thoroughly solved from the original intention of the autonomous lane change design scene, the frequent operation of a driver is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a lane change method for a vehicle according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a lane change method for a vehicle according to a second embodiment of the present invention;
FIG. 2a is an algorithm architecture diagram of a lane change method for a vehicle according to a second embodiment of the present invention;
FIG. 2b is a flowchart of another lane change method for a vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a lane-changing device of a vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a vehicle lane change method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle autonomously changes lanes on a full-navigation road segment, and the method may be executed by a vehicle lane change device according to an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, as shown in fig. 1, and the method specifically includes the following steps:
and S110, acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle.
The driving state of the current vehicle refers to the state that the current vehicle is in an automatic driving state or a non-automatic driving state; the position of the current vehicle refers to the positioning information of the current vehicle; the speed of the current vehicle refers to the actual speed of the current vehicle.
Specifically, the method for acquiring the current driving state of the vehicle may be to acquire the driving state of the vehicle through a CAN bus; the method for acquiring the position of the current vehicle can be to acquire the positioning information of the current vehicle through a map and a vehicle positioning system, and can also be to acquire the positioning information of the current vehicle through a vehicle-mounted GPS positioning device; the method for acquiring the speed of the current vehicle can be that the speed of the current vehicle is acquired by a wheel speed sensor on a driving wheel shaft, and can also be that the speed of the current vehicle is acquired by a vehicle-mounted speed sensor; the embodiments of the present invention are not limited thereto.
And S120, if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle.
The first speed threshold value refers to the lowest speed allowing the current vehicle to change lanes autonomously, and the lane change instruction refers to an instruction generated for guiding the current vehicle to drive from the current position to the lane change connected with the navigation planning road.
Wherein the current vehicle is in an autonomous driving state and the speed of the current vehicle is greater than or equal to a first speed threshold is a precondition for the current vehicle to perform a lane change.
Specifically, if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold, the lane change instruction may be generated by determining, according to the position of the current vehicle, that the current vehicle is not located on a lane connected to a planned navigation plan road, generating, according to the position of the current vehicle, a lane change instruction by determining, according to the position of the current vehicle, that a distance between the current vehicle and a navigation plan road node is greater than a preset distance and that the current vehicle is not located on a lane connected to the navigation plan road, or generating, according to the position of the current vehicle, that a distance between the current vehicle and a high-precision map data node is less than or equal to a second distance threshold, a lane change instruction by generating, according to the position of the current vehicle, where the high-precision map data node may be a node whose road form and road indication characteristic change, the road merging node, the turning around identification node and the left-turning identification node can be included. The lane changing instruction CAN be sent to a CAN bus, the current vehicle is controlled to change lanes through the CAN bus, and the lane changing instruction CAN also be sent to display equipment to prompt a user to change lanes.
And S130, controlling the current vehicle to change the lane according to the lane changing instruction.
The lane change instruction comprises a lane change instruction to the left lane and a lane change instruction to the right lane.
Specifically, if the current vehicle receives the lane change instruction and performs lane change according to the lane change instruction, and the lane change of the current vehicle is successful, the method returns to step S110, and re-acquires the driving state of the current vehicle, the position of the current vehicle, and the speed of the current vehicle, so as to determine whether the current vehicle meets the precondition for performing lane change; if the current vehicle receives the lane change instruction but does not execute the lane change and the lane change of the current vehicle fails, the method also returns to the step S110 to obtain the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle again so as to judge whether the current vehicle meets the precondition for executing the lane change. The reason for the failure of lane change of the current vehicle can be that the current vehicle receives a lane change instruction and conflicts with other instructions received by the current vehicle; the lane change instruction may also be received by the current vehicle, but the current vehicle is not allowed to change lanes under the traffic condition that the current vehicle will enter the lane, or the current vehicle is not allowed to change lanes due to an obstacle existing in the lane that the current vehicle will enter, and the vehicle control system does not perform lane change.
For example, if the current vehicle receives a left lane change instruction, and it is acquired that an obstacle exists in a left lane of a lane where the current vehicle is located, the current vehicle does not perform lane change. And if the current vehicle receives the instruction of changing the lane to the right lane and the instruction of the vehicle in front of the current vehicle in the lane changing state, the current vehicle does not execute lane changing. And if the current vehicle receives the left lane changing instruction and the surrounding environment of the current vehicle allows lane changing, the current vehicle changes the lane to the left lane according to the lane changing instruction.
The technical scheme of this embodiment, position through current vehicle generates the lane change instruction, realizes the autonomic lane change function based on the autopilot navigation guidance formula, and the scene of lane change is judged automatically, seamless handover autopilot and autonomic lane change function, thoroughly solves the appeal of frequently changing the way from the original intention of autonomic lane change design scene, satisfies the autopilot demand based on the navigation route, alleviates driver's frequent operation, improves driving safety.
Example two
Fig. 2 is a flowchart of a vehicle lane change method in a second embodiment of the present invention, which is optimized based on the second embodiment, in the present embodiment, the generating a lane change instruction according to the current position of the vehicle includes: if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold value, and the position of the current vehicle does not belong to a lane connected with the navigation planning road, generating a lane change instruction according to the position of the current vehicle and the navigation planning road; if the distance between the current vehicle position and the high-precision map data node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position, wherein the high-precision map data node comprises: the turning mark node and the lane merging node.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
and S210, acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle.
And S220, if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold, the distance between the position of the current vehicle and the navigation planning road node is less than or equal to a first distance threshold, and the position of the current vehicle does not belong to a lane connected with the navigation planning road, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
The navigation planning road node may be a point where road characteristics such as an intersection, an expressway entrance, and the like to which the current vehicle is about to arrive on the navigation planning road change, and a point where the vehicle may perform a steering operation. The distance threshold is a preset distance between the current vehicle position and a navigation planning road node, and may be a threshold preset by a system, or may be changed according to a user's requirement.
Specifically, if the distance between the position of the current vehicle and the navigation planning road node is less than or equal to the distance threshold, the lane change instruction may be generated for the lane where the current vehicle is located, which is determined according to the position of the current vehicle, and the lane connected to the navigation planning road in a manner of generating the lane change instruction according to the position of the current vehicle and the navigation planning road; the lane change instruction can also be generated for the number of the lane where the current vehicle is located, which is determined according to the position of the current vehicle, and the number of the lane connected with the navigation planning road.
For example, if the distance between the position of the current vehicle and the navigation planned road node is less than or equal to the distance threshold, it is indicated that the distance between the current vehicle and the navigation planned road node is relatively short, and the current vehicle may change the route in the navigation planned road node ahead, so that the current vehicle needs to change the lane to adapt to the navigation planned road. And if the lane where the current vehicle is located is determined not to belong to the lane connected with the navigation planning road according to the position of the current vehicle, sending a lane change instruction. And if the number of the lane where the current vehicle is located, which is determined according to the position of the current vehicle, is different from the number of the lane connected with the navigation planning road, sending a lane change instruction.
Specifically, the number of the lane where the current vehicle is located is determined according to the position where the current vehicle is located, and if the number of the lane where the current vehicle is located is different from the number of the lane connected with the navigation planning road, it is indicated that the position where the current vehicle is located does not belong to the lane connected with the navigation planning road, a lane change instruction is generated, and the lane change instruction guides the current vehicle to travel from the current position to the lane connected with the navigation planning road.
For example, if the number of the lane where the current vehicle is located is determined according to the position of the current vehicle to be number 2, and the number of the lane connected with the navigation planning road is number 3, generating a command for changing the lane of the current vehicle from the number 2 lane to the number 3 lane; if the number of the lane where the current vehicle is located is determined to be number 1 according to the position of the current vehicle, and the number of the lane where the navigation planning road is connected is number 3, generating an instruction that the current vehicle changes the lane from the lane 1 to the lane 2, returning to the step S210 after the vehicle successfully changes the lane value, re-acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle, if the current vehicle meets the precondition for executing lane change, determining the number of the lane where the current vehicle is located to be number 2 according to the position where the current vehicle changes the lane, and generating an instruction that the current vehicle changes the lane from the lane 2 to the lane 3 according to the number of the lane where the navigation planning road is connected; if the number of the lane where the current vehicle is located is determined to be 3 according to the position of the current vehicle, the number of the lane where the navigation planning road is connected is 3, and it is described that the position where the current vehicle is located does not belong to the lane where the navigation planning road is connected, the step S210 is returned, and the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle are obtained again to judge whether the current vehicle meets the precondition for executing lane change.
S230, if the distance between the current vehicle position and the high-precision map data node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position, wherein the high-precision map data node comprises: the turning mark node and the lane merging node.
The u-turn identifier node may be a position where a traffic sign allowing u-turn is located, a position where a traffic light allowing u-turn is located, a ground mark line allowing u-turn or any other position where an identifier indicating that u-turn is allowed is located. The lane merge node may be a location where two lanes merge, a location where a traffic sign of the lane merge is located, a ground marking of the lane merge, or any other location where a sign indicating a lane merge is located. Specifically, if the distance between the current vehicle position and the high-precision map data node is less than or equal to the second distance threshold, it indicates that the distance between the current vehicle position and the high-precision map data node is relatively short, and a road node in front of the lane where the current vehicle is located may change, so that the current vehicle cannot continue to run on the current lane, and a lane change instruction needs to be generated to indicate that the current vehicle changes lanes to the left lane or the right lane.
Specifically, the determining that the distance between the current vehicle position and the high-precision map data node is less than or equal to the second distance threshold may be performed by determining a lane where the current vehicle is located according to the position where the current vehicle is located, determining the position of the high-precision map data node according to the high-precision map data information, determining whether the lane where the high-precision map data node is located and the lane where the current vehicle is located are the same lane, and further determining the distance between the high-precision map data node and the current vehicle if the lane where the high-precision map data node is located and the lane where the current vehicle is located are the same lane.
For example, if the autonomous vehicle is running, the road node ahead of the autonomous vehicle obtained from the high-precision map data has a sign allowing turning, which indicates that the current lane is a turning lane and does not allow straight running, left turning or right turning. Therefore, if the current vehicle position acquired through the high-precision map information is in the U-turn lane and the current vehicle does not need to turn around to drive according to the navigation information, the current vehicle can change lanes to avoid violation caused by driving without a specified lane. If the automatic driving vehicle acquires the lane merging marks of the road nodes in front from the high-precision map data in the driving process, the lane merging marks indicate that the current lane can converge into the adjacent lane in front, and therefore the current lane needs to be changed so as to avoid traffic safety accidents.
And S240, controlling the current vehicle to change lanes according to the lane changing instruction.
Optionally, if the distance between the current vehicle position and the u-turn identification node is less than or equal to a second distance threshold, generating a lane change instruction, including:
if the current vehicle is located in the leftmost lane and the U-turn sign is located in the lane where the current vehicle is located, generating a lane change instruction towards the right lane;
and if the current vehicle is positioned in the rightmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a lane change instruction for the left lane.
Specifically, if the distance between the current vehicle position and the u-turn sign node is smaller than or equal to a second distance threshold value, it indicates that the current vehicle position is close to the intersection allowing u-turn and needs to be changed to other lanes, and then the positions of the current vehicle and the u-turn sign node are further judged. And if the current vehicle is positioned in the leftmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a lane change instruction to the right lane so as to indicate that the current vehicle changes the lane to the right lane. And if the current vehicle is positioned in the rightmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a left lane changing instruction to indicate that the current vehicle changes lanes to the left lane. Similarly, if the current vehicle is located in the leftmost lane and the u-turn sign is located in the lane where the current vehicle is located, a lane change instruction to the right lane is generated to indicate that the current vehicle changes lanes to the right lane. If the lane change of the current vehicle is successful or fails, the step needs to return to the step S210 to obtain the information of the current vehicle for lane change judgment. And if the lane change of the current vehicle is successful, returning to the step S210, and acquiring the information of the current vehicle to perform lane change judgment so as to judge whether the lane of the current vehicle after the change still meets other lane change conditions. And if the current vehicle lane change fails, returning to the step S210, acquiring the current vehicle information to judge the lane change, and generating a lane change instruction again to indicate the current vehicle lane change.
Optionally, if the distance between the current vehicle position and the lane merging node is less than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position, including:
if the current vehicle is located in the leftmost lane and the current vehicle is located in the lane where the lane merging node is located, generating a right lane changing instruction;
and if the current vehicle is positioned in the rightmost lane and the current vehicle is positioned in the lane where the lane merging node is positioned, generating a left lane changing instruction.
Specifically, if the distance between the current vehicle position and the lane merging node is smaller than or equal to the second distance threshold, it indicates that the current vehicle position is close to the lane merging node and needs to be changed to another lane, and then the position of the current vehicle and lane merging node is further determined. And if the current vehicle is in the leftmost lane and the lane merging node is in the lane where the current vehicle is located, generating a lane change instruction to the right lane to indicate that the current vehicle changes the lane to the right lane. And if the current vehicle is positioned in the rightmost lane and the lane merging node is positioned in the lane where the current vehicle is positioned, generating a left lane changing instruction to indicate that the current vehicle changes lanes to the left lane. Similarly, if the current vehicle is located in the leftmost lane and the lane merging node is located in the lane where the current vehicle is located, a lane change instruction to the right lane is generated to indicate that the current vehicle changes lanes to the right lane. If the lane change of the current vehicle is successful or fails, the step needs to return to the step S210 to obtain the information of the current vehicle for lane change judgment. And if the lane change of the current vehicle is successful, returning to the step S210, and acquiring the information of the current vehicle to perform lane change judgment so as to judge whether the lane of the current vehicle after the change still meets other lane change conditions. And if the current vehicle lane change fails, returning to the step S210, acquiring the current vehicle information to judge the lane change, and generating a lane change instruction again to indicate the current vehicle lane change.
If the distance between the current vehicle position and the lane merging node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position, wherein the lane change instruction comprises the following steps:
if the current vehicle is located in the leftmost lane and the current vehicle is located in the lane where the lane merging node is located, generating a right lane changing instruction;
and if the current vehicle is positioned in the rightmost lane and the current vehicle is positioned in the lane where the lane merging node is positioned, generating a left lane changing instruction.
Optionally, generating a lane change instruction according to the position of the current vehicle includes:
and if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold value, the position of the current vehicle does not belong to a lane connected with the navigation planning road, and the distance between the position of the current vehicle and the high-precision map data node is smaller than or equal to a second distance threshold value, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
Specifically, if the position of the current vehicle simultaneously satisfies that the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold, the position of the current vehicle does not belong to a lane connected with the navigation planning road, and the distance between the position of the current vehicle and the high-precision map data node is smaller than or equal to a second distance threshold, lane changing is preferentially performed according to the position of the current vehicle and the navigation planning road, so that the current vehicle is guaranteed to be performed according to the navigation route.
As shown in fig. 2a, the algorithm architecture of the technical solution of the present embodiment is as follows: outputting high-precision map information and navigation initial information through a high-precision map module HD-map and a navigation map module SD-map; positioning information of the current vehicle, namely the position of the current vehicle, output by the positioning module; according to the high-precision map information, the navigation starting information and the positioning information of the vehicle, the positioning information and the navigation state of the current vehicle in the high-precision map are output through a high-precision map reconstruction module; according to the positioning information and the navigation state of the current vehicle in the high-precision map, a decision-making function module is controlled through an autonomous lane-changing system, a driving torsion request is sent to a driving system module, a torque request is sent to a steering system module to control the steering of the current vehicle, a deceleration request is sent to a braking system module to control the braking of the current vehicle, and prompt information is sent to a Human Machine Interface (HMI) display module.
As shown in fig. 2b, the specific steps of the technical solution of this embodiment are: acquiring current vehicle information, wherein the current vehicle information comprises: a driving state of the current vehicle, a position of the current vehicle, and a speed of the current vehicle; judging whether the current vehicle meets the precondition of automatic lane change according to the information of the current vehicle, wherein the precondition is that the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first preset speed; if the current vehicle does not meet the automatic lane changing condition, returning to obtain the current vehicle information again for lane changing judgment; if the current vehicle meets the automatic lane changing condition, judging whether the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a distance threshold value; if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to the distance threshold, generating a lane change instruction according to the position of the current vehicle and the navigation planning road; and if the distance between the current vehicle position and the high-precision map data node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position.
The specific steps of generating the lane change instruction according to the current position of the vehicle and the navigation planning road are as follows: and judging whether the position of the current vehicle belongs to a lane linked with the navigation planning road, if not, generating a lane change instruction for entering the navigation planning road, and controlling the vehicle to change the lane according to the lane change instruction. And if the current vehicle belongs to the lane linked with the navigation planning road, or the current vehicle completes lane change, or the current vehicle fails to change the lane, returning to obtain the current vehicle information again for lane change judgment.
The specific steps of generating the lane change instruction according to the position of the current vehicle are as follows: and if the distance between the current vehicle position and the high-precision map data node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position. The method specifically comprises the following two scenes: the first scenario applies to the case where the current vehicle is in a u-turn lane: if the distance between the current vehicle position of the current vehicle and the U-turn identification node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position comprises: if the current vehicle and the U-turn sign are positioned in the leftmost lane, generating a lane change instruction towards the right lane; if the current vehicle and the U-turn sign are both positioned in the rightmost lane, generating a lane change instruction to the left lane; and controlling the vehicle to change lanes according to the lane change instruction. The second scenario is applicable to the situation where the current vehicle is in a lane to be merged: if the distance between the current vehicle position and the lane merging node is smaller than or equal to the second distance threshold, generating a lane change instruction according to the current vehicle position comprises: if the current vehicle and the lane merging node are positioned in the leftmost lane, generating a lane change instruction towards the right lane; if the current vehicle and the lane merging node are positioned in the rightmost lane, generating a lane changing instruction for the left lane; and controlling the vehicle to change lanes according to the lane change instruction. And if the current vehicle finishes lane changing or the current vehicle fails to lane change, returning to obtain the current vehicle information again for lane changing judgment.
According to the technical scheme of the embodiment, according to the distance between the current vehicle position and the navigation road node, the lane change instruction is generated according to the current vehicle position and the navigation planning road to generate the lane change instruction, so that the current vehicle can change the lane connected with the navigation road, the problem of long-time hands-off automatic driving from the starting point to the terminal point can be solved, frequent operation and pain taking over of a driver are reduced, the lane change scene is automatically judged from the original purpose of lane change, and the automatic driving and autonomous lane change functions are seamlessly switched.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle lane-changing device according to a third embodiment of the present invention. The embodiment may be applicable to the case of vehicle lane change, and the apparatus may be implemented in software and/or hardware, and may be integrated into any device that provides a function of vehicle lane change, as shown in fig. 3, where the apparatus specifically includes: an acquisition module 310, an instruction generation module 320, and a control module 330.
The obtaining module 310 is configured to obtain a driving state of a current vehicle, a position of the current vehicle, and a speed of the current vehicle;
the instruction generating module 320 is configured to generate a lane change instruction according to a position of the current vehicle if the current vehicle is in an automatic driving state and a speed of the current vehicle is greater than or equal to a first speed threshold;
and the control module 330 is configured to control the current vehicle to change lanes according to the lane change instruction.
Further, the instruction generating module includes:
and the first instruction generation unit is used for generating a lane change instruction according to the position of the current vehicle if the distance between the position of the current vehicle and the navigation planning road node is less than or equal to a distance threshold value and the position of the current vehicle does not belong to a lane connected with the navigation planning road.
A second instruction generating unit, configured to generate a lane change instruction according to a current vehicle position if a distance between the current vehicle position and a high-precision map data node is less than or equal to a second distance threshold, where the high-precision map data node includes: the turning mark node and the lane merging node.
Further, the second instruction generating unit is further configured to:
if the current vehicle is located in the rightmost lane and the U-turn sign is located in the lane where the current vehicle is located, generating a lane change instruction to the left lane;
and if the current vehicle is positioned in the leftmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a lane change instruction towards the right lane.
Further, the second instruction generating unit is further configured to:
if the current vehicle is located in the leftmost lane and the current vehicle is located in the lane where the lane merging node is located, generating a right lane changing instruction;
and if the current vehicle is positioned in the rightmost lane and the current vehicle is positioned in the lane where the lane merging node is positioned, generating a left lane changing instruction.
Further, the instruction generating module is further configured to:
and if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold value, the position of the current vehicle does not belong to a lane connected with the navigation planning road, and the distance between the position of the current vehicle and the high-precision map data node is smaller than or equal to a second distance threshold value, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, the lane change instruction is generated according to the position of the current vehicle and the distance between the current vehicle position and the navigation road node. If the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to the distance threshold, a lane change instruction is generated according to the position of the current vehicle, so that the current vehicle can change the lane connected with the navigation road, the problem of long-time hands-off automatic driving from the starting point to the terminal point in the whole route can be solved, and frequent operation and pain taking over of a driver are reduced. The system automatically judges lane change scenes based on destination navigation guidance and seamlessly switches automatic driving and autonomous lane change functions from the original purpose of lane change.
Example four
Fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the lane change method for a vehicle provided by the embodiment of the present invention:
acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;
if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle;
and controlling the current vehicle to change the lane according to the lane changing instruction.
EXAMPLE five
Fifth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a vehicle lane change method according to any of the embodiments of the present invention:
acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;
if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle;
and controlling the current vehicle to change the lane according to the lane changing instruction.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of changing lanes of a vehicle, comprising:
acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;
if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold value, generating a lane changing instruction according to the position of the current vehicle;
and controlling the current vehicle to change the lane according to the lane changing instruction.
2. The method of claim 1, wherein generating lane-change instructions based on the current vehicle location comprises:
and if the distance between the position of the current vehicle and the navigation planning road node is less than or equal to a first distance threshold value, and the position of the current vehicle does not belong to a lane connected with the navigation planning road, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
3. The method of claim 1, wherein generating lane-change instructions based on the current vehicle location comprises:
if the distance between the current vehicle position and the high-precision map data node is smaller than or equal to a second distance threshold, generating a lane change instruction according to the current vehicle position, wherein the high-precision map data node comprises: the turning mark node and the lane merging node.
4. The method according to claim 3, wherein if the distance between the current vehicle position and the u-turn sign node is less than or equal to a second distance threshold, generating a lane change instruction comprises:
if the current vehicle is located in the leftmost lane and the U-turn sign is located in the lane where the current vehicle is located, generating a lane change instruction towards the right lane;
and if the current vehicle is positioned in the rightmost lane and the U-turn sign is positioned in the lane where the current vehicle is positioned, generating a lane change instruction for the left lane.
5. The method of claim 3, wherein generating a lane change instruction according to the current vehicle position if the distance between the current vehicle position and the lane merge node is less than or equal to a second distance threshold comprises:
if the current vehicle is located in the leftmost lane and the current vehicle is located in the lane where the lane merging node is located, generating a right lane changing instruction;
and if the current vehicle is positioned in the rightmost lane and the current vehicle is positioned in the lane where the lane merging node is positioned, generating a left lane changing instruction.
6. The method of claim 1, wherein generating lane-change instructions based on the current vehicle location comprises:
and if the distance between the position of the current vehicle and the navigation planning road node is smaller than or equal to a first distance threshold value, the position of the current vehicle does not belong to a lane connected with the navigation planning road, and the distance between the position of the current vehicle and the high-precision map data node is smaller than or equal to a second distance threshold value, generating a lane change instruction according to the position of the current vehicle and the navigation planning road.
7. A lane-changing device for a vehicle, comprising:
the acquisition module is used for acquiring the driving state of the current vehicle, the position of the current vehicle and the speed of the current vehicle;
the instruction generation module is used for generating a lane change instruction according to the position of the current vehicle if the current vehicle is in an automatic driving state and the speed of the current vehicle is greater than or equal to a first speed threshold;
and the control module is used for controlling the current vehicle to change lanes according to the lane changing instruction.
8. The apparatus of claim 7, wherein the instruction generation module comprises:
the first instruction generation unit is used for generating a lane change instruction according to the position of the current vehicle and the navigation planning road if the distance between the position of the current vehicle and the navigation planning road node is less than or equal to a distance threshold value and the position of the current vehicle does not belong to a lane connected with the navigation planning road;
a second instruction generating unit, configured to generate a lane change instruction according to a current vehicle position if a distance between the current vehicle position and a high-precision map data node is less than or equal to a second distance threshold, where the high-precision map data node includes: the turning mark node and the lane merging node.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-6 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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