CN114379555A - Vehicle lane change control method, device, equipment and storage medium - Google Patents
Vehicle lane change control method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN114379555A CN114379555A CN202011136834.7A CN202011136834A CN114379555A CN 114379555 A CN114379555 A CN 114379555A CN 202011136834 A CN202011136834 A CN 202011136834A CN 114379555 A CN114379555 A CN 114379555A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- target area
- change
- state
- 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.)
- Pending
Links
- 230000008859 change Effects 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims abstract description 91
- 230000008569 process Effects 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims description 10
- 206010039203 Road traffic accident Diseases 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 15
- 238000004590 computer program Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Abstract
The embodiment of the disclosure relates to a vehicle lane change control method, a vehicle lane change control device, a vehicle lane change control equipment and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing communication connection with the first vehicle, judging whether the second vehicle changes to a target area in the process that the first vehicle changes to the target area or not according to the driving data of the first vehicle and the driving data of the second vehicle, and controlling the driving state of the first vehicle according to the judgment result. By the method, traffic accidents caused when two vehicles on different lanes travel to the same lane from lane changing can be effectively avoided.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and more particularly, to a vehicle lane change control method, a vehicle lane change control device, a vehicle lane change control apparatus, and a computer-readable storage medium.
Background
With the rapid development of society, the quantity of vehicles kept is increasing day by day, and it has become daily important trip modes of people to take vehicles to travel, such as driving vehicles to travel, taking automatic driving vehicles to travel, and the like.
Currently, during the actual driving of the vehicle, two vehicles traveling side by side in different lanes are usually encountered to select an appropriate driving route for driving, so as to change lanes to travel in the same lane, for example, as shown in fig. 1, three lanes in the same direction, a vehicle traveling in the leftmost lane and a vehicle traveling in the rightmost lane are both supposed to change lanes to travel in the middle lane.
However, if a vehicle traveling in the leftmost lane or a vehicle traveling in the rightmost lane changes to the middle lane, a vehicle traveling in the other lane also changes to the middle lane, which is very likely to cause a traffic accident, it is necessary to provide a vehicle lane change control method in order to effectively avoid the traffic accident caused when two vehicles on different lanes change to the same lane.
Disclosure of Invention
It is an object of the disclosed embodiments to provide a new solution for vehicle lane change control.
According to a first aspect of the present disclosure, there is provided a lane change control method for a vehicle, the method including:
the method comprises the steps of obtaining driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing communication connection with the first vehicle;
judging whether the second vehicle can change the lane to a target area in the process of changing the lane of the first vehicle to the target area according to the running data of the first vehicle and the running data of the second vehicle, and obtaining a judgment result;
and controlling the running state of the first vehicle according to the judgment result.
Optionally, the driving data includes: the vehicle coordinate position and the vehicle driving route state;
according to the running data of the first vehicle and the running data of the second vehicle, judging whether the second vehicle will change to a target area in the process that the first vehicle changes to the target area, and obtaining a judgment result, wherein the judging result comprises the following steps:
determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle;
judging whether the first vehicle and the second target vehicle meet set conditions or not, wherein the set conditions comprise: the relative position meets a preset position condition, and the vehicle running route state of the first vehicle and the vehicle running route state of the target second vehicle are lane change states;
if so, obtaining a judgment result that the second vehicle can change the lane to the target area in the process of changing the lane of the first vehicle to the target area;
if not, the judgment result is obtained that the second vehicle does not change the lane to the target area in the process that the first vehicle changes the lane to the target area.
Optionally, the driving data further comprises: a vehicle travel direction;
the setting conditions further include: the vehicle traveling direction of the first vehicle coincides with the vehicle traveling direction of the target second vehicle.
Alternatively, the step of determining whether the vehicle travel route state of any vehicle is the lane change state includes:
acquiring the steering angle of the wheels of the arbitrary vehicle and the lane line position of the lane where the arbitrary vehicle is located;
determining the forward track of the arbitrary vehicle according to the wheel steering angle of the arbitrary vehicle;
judging whether a crossing point exists between the forward track of any vehicle and the lane line position;
if so, determining that the vehicle driving route state of the any vehicle is a lane changing state;
if not, determining that the vehicle running route state of the any vehicle is in a non-lane changing state;
wherein the arbitrary vehicle is the first vehicle or the second vehicle.
Alternatively, the step of determining whether the vehicle travel route state of any vehicle is the lane change state includes:
acquiring the running position of the arbitrary vehicle on a preset navigation route;
judging whether the driving position is a lane changing position on the navigation route;
if so, determining that the vehicle driving route state of the any vehicle is a lane changing state;
if not, determining that the vehicle running route state of the any vehicle is in a non-lane changing state;
wherein the arbitrary vehicle is the first vehicle or the second vehicle.
Optionally, when the determination result is that the second vehicle will change lanes to the target area in the process that the first vehicle changes lanes to the target area, controlling the driving state of the first vehicle according to the determination result includes:
determining a preceding vehicle according to a preset traffic rule, wherein the preceding vehicle is the first vehicle or the second vehicle;
and controlling the first vehicle to keep running in the current lane and/or controlling the first vehicle to decelerate to a preset safety threshold value under the condition that the second vehicle is a leading vehicle.
Optionally, the method further comprises:
acquiring a vehicle coordinate position of the preceding vehicle and a coordinate position of the target area;
judging whether the preceding vehicle changes into the target area or not according to the vehicle coordinate position of the preceding vehicle and the coordinate position of the target area;
and if so, controlling the first vehicle to change the current lane to the lane where the target area is located.
Optionally, the method further comprises:
obtaining a lane change completion message sent by the preceding vehicle, wherein the lane change completion message represents that the preceding vehicle changes lanes to the target area;
and controlling the first vehicle to change the current lane to the lane where the target area is located.
According to a second aspect of the present disclosure, there is provided a lane change control apparatus for a vehicle, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the running data of a first vehicle and the running data of a second vehicle, and the second vehicle is other vehicles capable of establishing communication connection with the first vehicle;
the judging module is used for judging whether the second vehicle changes the lane to the target area in the process that the first vehicle changes the lane to the target area or not according to the running data of the first vehicle and the running data of the second vehicle, and obtaining a judging result;
and the control module is used for controlling the running state of the first vehicle according to the judgment result.
According to a third aspect of the present disclosure, there is provided an embodiment of a vehicle lane change control apparatus including the vehicle lane change control device according to the third aspect of the present specification, or the apparatus including:
a memory for storing executable commands;
a processor for executing the vehicle lane change control method according to the first aspect of the present specification under the control of the executable command.
According to a fourth aspect of the present disclosure, there is also provided an embodiment of a computer-readable storage medium storing executable instructions that, when executed by a processor, perform the vehicle lane-change control method according to the first aspect of the present specification.
One advantage of the embodiments of the present disclosure is that, in the present embodiment, by determining whether the second vehicle will change the lane to the target area in the process of changing the lane of the first vehicle to the target area according to the driving data of the first vehicle and the driving data of the second vehicle, and controlling the driving state of the first vehicle according to the determination result, it is possible to effectively avoid a traffic accident caused when two vehicles in different lanes drive in the same lane.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a vehicle traveling in three lanes provided by an embodiment of the present disclosure;
fig. 2 is a block diagram of a hardware configuration of a vehicle lane change control apparatus provided by an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for controlling lane change of a vehicle according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a target area provided by an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a vehicle lane change control device provided by an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a vehicle lane change control apparatus provided in an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
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, further discussion thereof is not required in subsequent figures.
< hardware configuration >
Fig. 2 is a block diagram of a hardware configuration of a vehicle lane change control apparatus provided in an embodiment of the present disclosure.
The vehicle lane change control apparatus 2000 may be a virtual machine or a physical machine. The vehicle lane change control apparatus 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and the like. The processor 2100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. Communication device 2400 is capable of wired or wireless communication, for example. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. A user can input/output voice information through the speaker 2700 and the microphone 2800.
As applied to this embodiment, the memory 2200 is used to store a computer program that controls the processor 2100 to operate to perform a data processing method according to any embodiment of the present invention. The computer program instructions may be designed by the skilled person in accordance with the disclosed solution. How the computer program controls the operation of the processor 2100 is well known in the art and will not be described in detail herein.
Although a plurality of devices are shown in fig. 2 for each of the vehicle lane change control apparatuses 2000, the present invention may relate only to some of the devices, for example, the vehicle lane change control apparatus 2000 relates only to the memory 2200 and the processor 2100.
The vehicle lane change control device 2000 may be installed inside a vehicle or outside a vehicle, and the vehicle lane change control device 2000 may acquire, via a mobile network, traveling data of a first vehicle and traveling data of a second vehicle that is another vehicle capable of establishing a communication connection with the first vehicle, determine whether the second vehicle will change lanes to a target area during a lane change of the first vehicle to the target area based on the traveling data of the first vehicle and the traveling data of the second vehicle, obtain a determination result, determine a mode of controlling the vehicle based on the determination result, and transmit the mode of controlling the vehicle to the first vehicle via the mobile network to control a traveling state of the first vehicle.
In the above description, the skilled person will be able to design instructions in accordance with the disclosed solution. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.
< method examples >
The disclosed embodiment provides a vehicle lane change control method, as shown in fig. 3, the method includes the following steps:
s301: the driving data of the first vehicle and the driving data of the second vehicle are acquired.
Since the disclosed embodiment relates to two vehicles in different lanes, in order to be able to distinguish the two vehicles in different lanes, the vehicle in one lane is defined as a first vehicle, and the vehicle in the other lane is defined as a second vehicle, as shown in fig. 1, assuming that the vehicle traveling in the leftmost lane is the first vehicle, the vehicle traveling in the rightmost lane is the second vehicle, and conversely, the vehicle traveling in the rightmost lane is the first vehicle, and the vehicle traveling in the leftmost lane is the second vehicle.
S302: and judging whether the second vehicle can change the lane to the target area in the process of changing the lane of the first vehicle to the target area according to the running data of the first vehicle and the running data of the second vehicle, and obtaining a judgment result.
Since the present invention is intended to avoid a traffic accident caused when two vehicles traveling side by side in different lanes travel to the same lane, in the embodiment of the present disclosure, it is necessary to determine whether the second vehicle will also change to the target area during the course of the first vehicle changing to the target area according to the traveling data of the first vehicle and the traveling data of the second vehicle.
It should be noted that, the process of determining whether the second vehicle will change lanes to the target area in the process of changing lanes to the target area by the first vehicle is a prediction process, and it is predicted whether the second vehicle will change lanes to the target area in the process of changing lanes to the target area by the first vehicle, that is, the determination process is completed before the first vehicle and the second vehicle cross lane lines, and before the determination result is obtained, the first vehicle and the second vehicle actually still normally run in the respective lanes, and the behavior that the vehicles cross the lane lines does not occur.
The target area refers to an area into which the first vehicle and the second vehicle travel together when changing lanes simultaneously, and if it is assumed that the vehicle traveling in the leftmost lane is the first vehicle and the vehicle traveling in the rightmost lane is the second vehicle as shown in fig. 4, the first vehicle and the second vehicle change lanes simultaneously and travel together into an area B, which is the target area.
In practical applications, it is desirable to realize that the second vehicle changes lane to the target area during the process of changing lane of the first vehicle to the target area, and two aspects need to be considered, wherein the first aspect is whether the relative position between the first vehicle and the second vehicle meets a preset position condition, such as whether the first vehicle and the second vehicle are different in longitudinal distance by a specified distance and in transverse distance by a specified distance, and the second aspect is whether both the first vehicle and the second vehicle have the intention of changing lane, so in the embodiment of the present disclosure, whether the second vehicle will change lane to the target area during the process of changing lane of the first vehicle to the target area can be judged based on the two aspects.
In the disclosed embodiment, the relative position between the first vehicle and the second vehicle may be determined by the vehicle position coordinates of the first vehicle and the vehicle position coordinates of the second vehicle, and the intention of the first vehicle and the second vehicle to change lanes may be determined by the vehicle travel route states of the first vehicle and the second vehicle.
It should be noted that the vehicle driving route state can represent the intention of the vehicle to change lane, and specifically includes a lane change state and an unchanged lane change state, where the lane change state refers to the intention of the vehicle to have a lane change, and the unchanged lane change state refers to the intention of the vehicle not to have a lane change.
In addition, the embodiment of the present disclosure provides two methods for determining the vehicle travel route state of any vehicle of the first vehicle and the second vehicle, specifically as follows:
the first embodiment: the method comprises the steps of obtaining the wheel steering angle of any vehicle and the lane line position of a lane, determining the advancing track of any vehicle according to the wheel steering angle of any vehicle, judging whether the advancing track of any vehicle and the lane line position have an intersection point, if so, determining that the vehicle running route state of any vehicle is a lane changing state, and if not, determining that the vehicle running route state of any vehicle is an unchanging state, wherein any vehicle is the first vehicle or the second vehicle.
It should be noted that the wheel steering angle can be detected by a corresponding sensor, such as a steering sensor; the lane line position of the lane can be acquired by map data or a vehicle-mounted camera; the forward track refers to a running track of any vehicle in a certain period of time in the future, and determining the forward track of any vehicle is also a prediction process, and the any vehicle does not run through the determined forward track; this embodiment can be applied to a vehicle having a driver driving, and also to an autonomous vehicle.
The second embodiment: the method comprises the steps of obtaining a running position of any vehicle on a preset navigation route, judging whether the running position is a lane changing position on the navigation route, if so, determining that the vehicle running route state of the any vehicle is a lane changing state, and if not, determining that the vehicle running route state of the any vehicle is an unchanged lane changing state, wherein the any vehicle is the first vehicle or the second vehicle.
It should be noted that the navigation route is a route set by the user in advance according to the origin and the destination, and the position on the navigation route that needs lane changing is the lane changing position; this same embodiment may be applied to vehicles with driver driving, as well as to autonomous vehicles.
In addition, besides the two implementation manners provided by the embodiment of the present disclosure, there are other implementation manners for determining whether the vehicle driving route state of any vehicle is the lane change state, for example, the vehicle driving route state of any vehicle may be determined by determining whether the turn signal of any vehicle is in the on state, and details thereof are not repeated herein.
In summary, the embodiment of the present disclosure provides an implementation that, based on the vehicle coordinate position and the vehicle traveling route state of the first vehicle and the vehicle coordinate position and the vehicle traveling route state of the second vehicle obtained in step S301, determines whether the second vehicle will change lanes to the target area in the process that the first vehicle changes lanes to the target area according to the traveling data of the first vehicle and the traveling data of the second vehicle, and obtains a determination result, specifically as follows:
determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle, judging whether the first vehicle and the second target vehicle meet set conditions, if so, obtaining a judgment result that the second vehicle can change to the target area in the process that the first vehicle changes to the target area, and if not, obtaining a judgment result that the second vehicle cannot change to the target area in the process that the first vehicle changes to the target area.
Here, the setting conditions include: the relative position meets a preset position condition, and the vehicle running route state of the first vehicle and the vehicle running route state of the target second vehicle are lane change states.
It should be further noted that the preset position condition may be that the lateral distance between the first vehicle and the second vehicle is a preset lateral threshold, for example, the preset lateral threshold is 3 meters to 5 meters, and/or the longitudinal distance between the first vehicle and the second vehicle is a preset longitudinal threshold, for example, the preset longitudinal threshold is 0 meters to 3 meters.
In practical applications, the first vehicle and the second vehicle may change lanes to a target area in a traveling direction as shown in fig. 1, or the traveling direction of the first vehicle and the traveling direction of the second vehicle are opposite, or the traveling direction of the first vehicle and the traveling direction of the second vehicle have a specific angle, but the difference between the traveling directions of the first vehicle and the second vehicle affects a preset position condition, so the embodiment of the present disclosure provides another implementation manner for determining whether the second vehicle will change lanes to the target area during the process of changing lanes to the target area by the first vehicle based on the traveling direction of the first vehicle and the traveling direction of the second vehicle obtained in step S301, and obtaining the determination result, specifically as follows:
determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle, and determining whether the first vehicle and the second target vehicle meet a set condition, if so, obtaining a determination result that the second vehicle will also change lanes to the target area in the process that the first vehicle changes lanes to the target area, and if not, obtaining a determination result that the second vehicle will not also change lanes to the target area in the process that the first vehicle changes lanes to the target area, wherein the set condition comprises: the relative position satisfies a preset position condition, the vehicle traveling direction of the first vehicle is consistent with the vehicle traveling direction of the target second vehicle, and the vehicle traveling route state of the first vehicle and the vehicle traveling route state of the target second vehicle are lane change states.
S303: and controlling the running state of the first vehicle according to the judgment result.
In the embodiment of the present disclosure, one of the following two determination results can be obtained through step S301 and step S302:
the first judgment result is that the second vehicle does not change the lane to the target area in the process that the first vehicle changes the lane to the target area, and the second vehicle keeps the current lane to run and does not change the lane or change the lane to other areas in the process that the first vehicle changes the lane to the target area, so that the second vehicle and the first vehicle do not have collision accidents caused by lane change;
the second judgment result is that the second vehicle will change the lane to the target area in the process that the first vehicle changes the lane to the target area, which indicates that the second vehicle will also change the lane to the target area in the process that the first vehicle changes the lane to the target area, so that the first vehicle and the second vehicle will have collision accidents caused by lane change.
For the second determination result, in the case that the determination result is obtained that the second vehicle will change lanes to the target area in the process of changing lanes to the target area by the first vehicle, in order to avoid a collision accident caused by lane changing between the first vehicle and the second vehicle, the embodiments of the present disclosure may determine a leading vehicle according to a preset traffic rule, control the first vehicle to keep running on a current lane in the case that the second vehicle is a leading vehicle, and/or control the first vehicle to decelerate to a preset safety threshold.
It should be noted that the preceding vehicle is the first vehicle or the second vehicle.
It should be further noted that, in the traffic rules, a responsibility division is defined when two vehicles in different lanes have a traffic accident during changing lanes to the same area, for example, if a traffic accident occurs during changing lanes to a middle lane for two vehicles as shown in fig. 1, the vehicle traveling on the leftmost side assumes full responsibility, and therefore, in the embodiment of the present disclosure, it can be determined according to the responsibility division when the traffic accident occurs, which vehicle is allowed to change lanes first when both vehicles need to change lanes to a target area at this time, that is, according to the traffic rules, a leading vehicle, which refers to a vehicle changing lanes first, may be a first vehicle, and may also be a second vehicle.
After the preceding vehicle is determined according to the preset traffic rules, the voice prompt of the driver to change the lane to the target area can be carried out through a vehicle-mounted loudspeaker of the preceding vehicle, the voice prompt of the driver to change the lane to the target area can also be carried out through the characters, icons or animations of a vehicle-mounted display of the preceding vehicle, and the vibration of a steering wheel can prompt the driver to change the lane to the target area; then, a vehicle-mounted loudspeaker of the following vehicle prompts a driver to wait for other vehicles to change lanes to a target area firstly by voice, a vehicle-mounted display of the following vehicle also prompts the driver to wait for other vehicles to change lanes to the target area firstly by characters, icons or animations, and a steering wheel vibrates to prompt the driver to wait for other vehicles to change lanes to the target area firstly, and a steering system is automatically controlled to enable the following vehicle to keep driving on the current lane, and a power assembly system and a braking system are automatically controlled to enable the following vehicle to decelerate to a specified speed value.
Under the condition that the second vehicle is a leading vehicle, the second vehicle can change the lane to the target area in advance, and the first vehicle keeps running on the current lane and decelerates to a preset safety threshold value in the process that the second vehicle changes the lane to the target area; similarly, when the first vehicle is a leading vehicle, the first vehicle can be firstly changed into the target area, and the second vehicle continues to keep running in the current lane and decelerates to the preset safety threshold value in the process of changing the first vehicle into the target area.
Further, since the following vehicle finally needs to change the lane to the lane where the current area is located, in the embodiment of the present disclosure, it is necessary to determine whether the preceding vehicle has completed the lane change process currently, that is, the preceding vehicle has changed the lane into the target area.
To this end, the disclosed embodiments provide two implementations of determining whether the leading vehicle has currently completed the lane change process, specifically as follows:
the first embodiment: acquiring the vehicle coordinate position of the preceding vehicle and the coordinate position of the target area, judging whether the preceding vehicle changes the lane to the target area or not according to the vehicle coordinate position of the preceding vehicle and the coordinate position of the target area, and if so, controlling the first vehicle to change the current lane to the lane where the target area is located.
It should be noted that the coordinate position of the target area includes a coordinate position of each vertex angle of the target area, and when the vehicle coordinate position of the preceding vehicle is located in the coordinate area formed by the coordinate positions of each vertex angle of the target area, it is indicated that the preceding vehicle has already changed the lane into the target area, and the lane changing process is completed.
It should be further noted that, if it is determined that the leading vehicle has not changed its lane into the target area, the first vehicle is controlled to continue waiting for the second vehicle to change its lane into the target area.
The second embodiment: and acquiring a lane change completion message sent by the preceding vehicle, and controlling the first vehicle to change the current lane to the lane where the target area is located.
It should be noted that the lane change completion message indicates that the leading vehicle has changed lanes into the target area. When the preceding vehicle completes the lane change process and has changed the lane into the target area, the lane change completion message can be sent to the following vehicle, i.e. the first vehicle.
It is also noted herein that, upon determining that the leading vehicle has currently completed the lane change process, changed the lane into the target area, the driver can be prompted by the vehicle-mounted loudspeaker of the following vehicle through voice that other vehicles complete the lane changing process, the lane can be changed into the lane where the target area is located, the driver can be prompted by the vehicle-mounted display of the following vehicle through characters, icons or animations that other vehicles complete the lane changing process, the lane can be changed into the lane where the target area is located, the driver can be prompted by the vibration of the steering wheel that other vehicles complete the lane changing process, the lane can be changed into the lane where the target area is located, and automatically controlling a power assembly system and a braking system to accelerate the following vehicle to a specified speed value, and automatically controlling a steering system to change the current lane of the following vehicle to the lane of the target area.
By the method, traffic accidents caused when two vehicles on different lanes travel to the same lane from lane changing can be effectively avoided.
< apparatus embodiment >
As shown in fig. 5, the disclosed embodiment also provides a vehicle lane change control apparatus 50, where the apparatus 50 includes: an acquisition module 501, a judgment module 502 and a control module 503.
The acquiring module 501 is configured to acquire driving data of a first vehicle and driving data of a second vehicle, where the second vehicle is another vehicle that can establish a communication connection with the first vehicle;
the determining module 502 is configured to determine, according to the driving data of the first vehicle and the driving data of the second vehicle, whether the second vehicle will change lanes to a target area in a process that the first vehicle changes lanes to the target area, and obtain a determination result;
the control module 503 is configured to control the driving state of the first vehicle according to the determination result.
In one embodiment, the driving data includes: the vehicle coordinate position and the vehicle driving route state; the determining module 502 may further be configured to: determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle; judging whether the first vehicle and the second target vehicle meet set conditions or not, wherein the set conditions comprise: the relative position meets a preset position condition, and the vehicle running route state of the first vehicle and the vehicle running route state of the target second vehicle are lane change states; if so, obtaining a judgment result that the second vehicle can change the lane to the target area in the process of changing the lane of the first vehicle to the target area; if not, the judgment result is obtained that the second vehicle does not change the lane to the target area in the process that the first vehicle changes the lane to the target area.
In one embodiment, the driving data further comprises: a vehicle travel direction; the setting conditions further include: the vehicle traveling direction of the first vehicle coincides with the vehicle traveling direction of the target second vehicle.
In one embodiment, the apparatus 50 further comprises:
the state determination module is used for acquiring the wheel steering angle of any vehicle and the lane line position of the lane, determining the advancing track of any vehicle according to the wheel steering angle of any vehicle, judging whether the advancing track of any vehicle and the lane line position have an intersection point, if so, determining that the vehicle driving route state of any vehicle is a lane change state, and if not, determining that the vehicle driving route state of any vehicle is an unchanged lane change state, wherein any vehicle is the first vehicle or the second vehicle.
In one embodiment, the status determination module may be further operable to: acquiring the running position of the arbitrary vehicle on a preset navigation route; judging whether the driving position is a lane changing position on the navigation route; if so, determining that the vehicle driving route state of the any vehicle is a lane changing state; if not, determining that the vehicle running route state of the any vehicle is in a non-lane changing state; wherein the arbitrary vehicle is the first vehicle or the second vehicle.
In one embodiment, the control module 503 may be further configured to: determining a preceding vehicle according to a preset traffic rule under the condition that the obtained judgment result is that the second vehicle changes the lane to the target area in the process that the first vehicle changes the lane to the target area, wherein the preceding vehicle is the first vehicle or the second vehicle; and controlling the first vehicle to keep running in the current lane and/or controlling the first vehicle to decelerate to a preset safety threshold value under the condition that the second vehicle is a leading vehicle.
In one embodiment, the apparatus 50 further comprises:
the lane changing module is used for acquiring the vehicle coordinate position of the preceding vehicle and the coordinate position of the target area; judging whether the preceding vehicle changes into the target area or not according to the vehicle coordinate position of the preceding vehicle and the coordinate position of the target area; and if so, controlling the first vehicle to change the current lane to the lane where the target area is located.
In one embodiment, the lane-change module may be further operable to: obtaining a lane change completion message sent by the preceding vehicle, wherein the lane change completion message represents that the preceding vehicle changes lanes to the target area; and controlling the first vehicle to change the current lane to the lane where the target area is located.
< apparatus embodiment >
In the embodiment of the present disclosure, there is also provided a vehicle lane change control apparatus 60 as shown in fig. 6, the vehicle lane change control apparatus 60 including the vehicle lane change control device 50 described in the device embodiment of the present specification.
In further embodiments, the vehicle lane-change control apparatus 60 may also include a memory and a processor. The memory is for storing a computer program. The processor is adapted to perform the method described in any of the method embodiments of the present specification under control of a computer program stored in the memory.
The vehicle lane change control device may be a terminal device. The vehicle lane change control device may also be a server that is communicatively connected to the terminal device. The lane change control device may further include a terminal device and a server connected to the terminal device, which is not limited herein.
< computer-readable storage Medium embodiment >
The present embodiments provide a computer-readable storage medium having stored therein an executable command that, when executed by a processor, performs a method described in any of the method embodiments of the present specification.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: 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), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions 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). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (11)
1. A vehicle lane change control method comprising:
the method comprises the steps of obtaining driving data of a first vehicle and driving data of a second vehicle, wherein the second vehicle is another vehicle capable of establishing communication connection with the first vehicle;
judging whether the second vehicle can change the lane to a target area in the process of changing the lane of the first vehicle to the target area according to the running data of the first vehicle and the running data of the second vehicle, and obtaining a judgment result;
and controlling the running state of the first vehicle according to the judgment result.
2. The method of claim 1, wherein the travel data comprises: the vehicle coordinate position and the vehicle driving route state;
according to the running data of the first vehicle and the running data of the second vehicle, judging whether the second vehicle will change to a target area in the process that the first vehicle changes to the target area, and obtaining a judgment result, wherein the judging result comprises the following steps:
determining a relative position between the first vehicle and the second vehicle according to the vehicle coordinate position of the first vehicle and the vehicle coordinate position of the second vehicle;
judging whether the first vehicle and the second target vehicle meet set conditions or not, wherein the set conditions comprise: the relative position meets a preset position condition, and the vehicle running route state of the first vehicle and the vehicle running route state of the target second vehicle are lane change states;
if so, obtaining a judgment result that the second vehicle can change the lane to the target area in the process of changing the lane of the first vehicle to the target area;
if not, the judgment result is obtained that the second vehicle does not change the lane to the target area in the process that the first vehicle changes the lane to the target area.
3. The method of claim 2, wherein the driving data further comprises: a vehicle travel direction;
the setting conditions further include: the vehicle traveling direction of the first vehicle coincides with the vehicle traveling direction of the target second vehicle.
4. The method according to claim 2, wherein the step of determining whether the vehicle travel route state of any vehicle is a lane change state comprises:
acquiring the steering angle of the wheels of the arbitrary vehicle and the lane line position of the lane where the arbitrary vehicle is located;
determining the forward track of the arbitrary vehicle according to the wheel steering angle of the arbitrary vehicle;
judging whether a crossing point exists between the forward track of any vehicle and the lane line position;
if so, determining that the vehicle driving route state of the any vehicle is a lane changing state;
if not, determining that the vehicle running route state of the any vehicle is in a non-lane changing state;
wherein the arbitrary vehicle is the first vehicle or the second vehicle.
5. The method according to claim 2, wherein the step of determining whether the vehicle travel route state of any vehicle is a lane change state comprises:
acquiring the running position of the arbitrary vehicle on a preset navigation route;
judging whether the driving position is a lane changing position on the navigation route;
if so, determining that the vehicle driving route state of the any vehicle is a lane changing state;
if not, determining that the vehicle running route state of the any vehicle is in a non-lane changing state;
wherein the arbitrary vehicle is the first vehicle or the second vehicle.
6. The method according to claim 2, wherein, in a case where a determination result is obtained that the second vehicle will change lanes to a target area while the first vehicle is changing lanes to the target area, controlling the traveling state of the first vehicle according to the determination result includes:
determining a preceding vehicle according to a preset traffic rule, wherein the preceding vehicle is the first vehicle or the second vehicle;
and controlling the first vehicle to keep running in the current lane and/or controlling the first vehicle to decelerate to a preset safety threshold value under the condition that the second vehicle is a leading vehicle.
7. The method of claim 6, further comprising:
acquiring a vehicle coordinate position of the preceding vehicle and a coordinate position of the target area;
judging whether the preceding vehicle changes into the target area or not according to the vehicle coordinate position of the preceding vehicle and the coordinate position of the target area;
and if so, controlling the first vehicle to change the current lane to the lane where the target area is located.
8. The method of claim 6, further comprising:
obtaining a lane change completion message sent by the preceding vehicle, wherein the lane change completion message represents that the preceding vehicle changes lanes to the target area;
and controlling the first vehicle to change the current lane to the lane where the target area is located.
9. A vehicle lane change control apparatus comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the running data of a first vehicle and the running data of a second vehicle, and the second vehicle is other vehicles capable of establishing communication connection with the first vehicle;
the judging module is used for judging whether the second vehicle changes the lane to the target area in the process that the first vehicle changes the lane to the target area or not according to the running data of the first vehicle and the running data of the second vehicle, and obtaining a judging result;
and the control module is used for controlling the running state of the first vehicle according to the judgment result.
10. A vehicle lane-change control apparatus including the vehicle lane-change control device according to claim 9, or the apparatus comprising:
a memory for storing executable commands;
a processor for executing the vehicle lane-change control method according to any one of claims 1 to 8 under the control of the executable command.
11. A computer-readable storage medium storing executable instructions that, when executed by a processor, perform the vehicle lane-change control method of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011136834.7A CN114379555A (en) | 2020-10-22 | 2020-10-22 | Vehicle lane change control method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011136834.7A CN114379555A (en) | 2020-10-22 | 2020-10-22 | Vehicle lane change control method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114379555A true CN114379555A (en) | 2022-04-22 |
Family
ID=81192742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011136834.7A Pending CN114379555A (en) | 2020-10-22 | 2020-10-22 | Vehicle lane change control method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114379555A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115826512A (en) * | 2022-10-27 | 2023-03-21 | 珠海创智科技有限公司 | Processing method and system of travel route and electronic equipment |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428009A (en) * | 2015-07-31 | 2017-02-22 | 福特全球技术公司 | Vehicle trajectory determination |
| CN107031639A (en) * | 2017-04-28 | 2017-08-11 | 深圳市元征科技股份有限公司 | Vehicle travel control method and device |
| CN107433946A (en) * | 2016-05-27 | 2017-12-05 | 现代自动车株式会社 | Consider the apparatus and method for controlling lane change of priority |
| CN108022450A (en) * | 2017-10-31 | 2018-05-11 | 华为技术有限公司 | A kind of auxiliary driving method and traffic control unit based on cellular network |
| CN108545082A (en) * | 2018-04-28 | 2018-09-18 | 辽宁工业大学 | A kind of automobile lane change method for early warning |
| CN108639048A (en) * | 2018-05-15 | 2018-10-12 | 智车优行科技（北京）有限公司 | Automobile lane change householder method, system and automobile |
| CN109141464A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Navigate lane change reminding method and device |
| CN109859513A (en) * | 2019-03-07 | 2019-06-07 | 宝能汽车有限公司 | Road junction roadway air navigation aid and device |
| CN109903576A (en) * | 2019-04-22 | 2019-06-18 | 爱驰汽车有限公司 | Vehicle lane change based reminding method, system, equipment and storage medium based on navigation |
| CN111114539A (en) * | 2018-10-29 | 2020-05-08 | 长城汽车股份有限公司 | Vehicle and safe driving method and device of vehicle |
| WO2020135740A1 (en) * | 2018-12-29 | 2020-07-02 | 长城汽车股份有限公司 | Lane changing method and system for autonomous vehicles, and vehicle |
-
2020
- 2020-10-22 CN CN202011136834.7A patent/CN114379555A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428009A (en) * | 2015-07-31 | 2017-02-22 | 福特全球技术公司 | Vehicle trajectory determination |
| CN107433946A (en) * | 2016-05-27 | 2017-12-05 | 现代自动车株式会社 | Consider the apparatus and method for controlling lane change of priority |
| CN107031639A (en) * | 2017-04-28 | 2017-08-11 | 深圳市元征科技股份有限公司 | Vehicle travel control method and device |
| CN108022450A (en) * | 2017-10-31 | 2018-05-11 | 华为技术有限公司 | A kind of auxiliary driving method and traffic control unit based on cellular network |
| CN108545082A (en) * | 2018-04-28 | 2018-09-18 | 辽宁工业大学 | A kind of automobile lane change method for early warning |
| CN108639048A (en) * | 2018-05-15 | 2018-10-12 | 智车优行科技（北京）有限公司 | Automobile lane change householder method, system and automobile |
| CN109141464A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Navigate lane change reminding method and device |
| CN111114539A (en) * | 2018-10-29 | 2020-05-08 | 长城汽车股份有限公司 | Vehicle and safe driving method and device of vehicle |
| WO2020135740A1 (en) * | 2018-12-29 | 2020-07-02 | 长城汽车股份有限公司 | Lane changing method and system for autonomous vehicles, and vehicle |
| CN109859513A (en) * | 2019-03-07 | 2019-06-07 | 宝能汽车有限公司 | Road junction roadway air navigation aid and device |
| CN109903576A (en) * | 2019-04-22 | 2019-06-18 | 爱驰汽车有限公司 | Vehicle lane change based reminding method, system, equipment and storage medium based on navigation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115826512A (en) * | 2022-10-27 | 2023-03-21 | 珠海创智科技有限公司 | Processing method and system of travel route and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3359436B1 (en) | Method and system for operating autonomous driving vehicles based on motion plans | |
| EP3342666B1 (en) | Method and system for operating autonomous driving vehicles using graph-based lane change guide | |
| CN110998691B (en) | Driving assistance method and driving assistance device | |
| US11117513B2 (en) | Method and apparatus for vehicle interaction for autonomous vehicle | |
| US10302441B2 (en) | Route modification based on receiving a broadcast emergency vehicle route | |
| EP3968114A2 (en) | Methods for remote control of an autonomous driving vehicle and devices to support the methods | |
| JP2022507995A (en) | Obstacle avoidance methods and equipment for unmanned vehicles | |
| KR20210041544A (en) | Method and apparatus for planning autonomous vehicle, electronic device and storage medium | |
| WO2018042592A1 (en) | Automatic driving level decrease permissibility determination device, and automatic driving level decrease permissibility determination method | |
| US20180090000A1 (en) | Emergency route broadcasting | |
| US20160325779A1 (en) | Hands-off steering wheel governed by pedestrian detection | |
| CN114194217B (en) | Automatic driving method and device for vehicle, electronic equipment and storage medium | |
| Greengard | Automotive systems get smarter | |
| CN116022130B (en) | Vehicle parking method, device, electronic equipment and computer readable medium | |
| CN114379555A (en) | Vehicle lane change control method, device, equipment and storage medium | |
| CN114125695A (en) | Method, device and equipment for warning of vehicle driving on slope road and storage medium | |
| KR102417908B1 (en) | Apparatus and method for controlling autonomous driving of vehicle | |
| CN115402313A (en) | Autonomous vehicle control method, device, equipment and storage medium | |
| CN115372020A (en) | Automatic driving vehicle test method, device, electronic equipment and medium | |
| EP3825196A1 (en) | Method, apparatus, and computer program product for automated lane merging assistance | |
| CN114715151A (en) | Vehicle control method, vehicle control device, electronic device, medium, and autonomous vehicle | |
| CN113808385B (en) | Method and device for selecting motor vehicle driving lane and vehicle | |
| CN109532846B (en) | Vehicle-mounted system, method and equipment for controlling driving speed by voice and storage medium | |
| CN114379587A (en) | Method and device for avoiding pedestrian in automatic driving | |
| CN113409611B (en) | Parking area recommendation method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |