CN115556770B

CN115556770B - Intelligent lane changing method based on domain controller and related device

Info

Publication number: CN115556770B
Application number: CN202211324303.XA
Authority: CN
Inventors: 王洁; 陈曦; 刘跃全
Original assignee: Shenzhen Xihua Technology Co Ltd
Current assignee: Shenzhen Xihua Technology Co Ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-04-07
Anticipated expiration: 2042-10-27
Also published as: CN115556770A; CN116331207A

Abstract

The embodiment of the application discloses an intelligent lane changing method based on a domain controller and a related device, wherein the method comprises the following steps: the automatic driving area controller obtains a current first vehicle speed of a target vehicle, first vehicle information corresponding to the first vehicle and second vehicle information corresponding to the second vehicle through a plurality of vehicle information perception sensors, determines first preset lane changing time of the target vehicle changing to an adjacent lane, then determines a distance changing trend between the target vehicle and the first vehicle, further predicts a first target distance of the target vehicle under the condition of continuously driving on the first lane according to the distance changing trend and the first vehicle speed, and controls the target vehicle to continuously drive on the first lane if the first target distance is larger than an upper limit value of a lane changing triggering interval. By adopting the embodiment of the application, unnecessary lane changing of automatic driving can be avoided, and the intelligence of automatic driving lane changing is favorably improved.

Description

Intelligent lane changing method based on domain controller and related device

Technical Field

The application relates to the technical field of automatic driving, in particular to an intelligent lane changing method based on a domain controller and a related device.

Background

Along with the development of the automatic driving automobile, the automatic driving automobile can provide more convenience for people, in order to achieve the purpose of stable and safe driving, each automatic driving function of the automatic driving automobile also needs to be more intelligent and reliable, however, in the lane changing process of the automatic driving automobile, information needing to be collected and processed is often complex, and meanwhile, the driving conditions are also various and changeable, so that the intelligent lane changing of the automatic driving automobile still faces great challenges.

Disclosure of Invention

The embodiment of the application provides an intelligent lane changing method and a related device based on a domain controller, which can avoid unnecessary lane changing of automatic driving and are beneficial to improving the intelligence of automatic driving lane changing.

In a first aspect, an embodiment of the present application provides an intelligent lane change method based on a domain controller, which is applied to an automatic driving domain controller in a domain control system of a target vehicle, where the domain control system includes the automatic driving domain controller and a plurality of vehicle information sensing sensors arranged on a body of the target vehicle, the automatic driving domain controller is connected to the plurality of vehicle information sensing sensors, and the method includes:

when the plurality of vehicle information perception sensors detect that a first vehicle enters a first lane where the target vehicle is located, obtaining a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the plurality of vehicle information perception sensors, wherein the first vehicle information at least comprises one of the following: a first distance between the target vehicle and the first vehicle and a current second vehicle speed of the first vehicle;

when the first distance is in a lane change triggering interval, second vehicle information corresponding to a second vehicle in a lane adjacent to the first lane is acquired through the plurality of vehicle information perception sensors, wherein the second vehicle information comprises at least one of the following: a third vehicle speed corresponding to the second vehicle and a second distance between the target vehicle and the second vehicle, wherein the lane change trigger interval includes an upper limit value and a lower limit value, the lane change trigger interval is used for triggering a lane change instruction, the lane change instruction is used for indicating the target vehicle to change lanes to the adjacent lane, and the adjacent lane is a lane located on the left side or the right side of the first lane;

determining a first preset lane changing time from the lane changing of the target vehicle to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance;

determining a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed and the first distance;

predicting a first prediction result of the target vehicle under the first road running condition continuously according to the distance change trend and the first vehicle speed, wherein the prediction result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane change time;

if the first prediction result indicates that the first target distance is greater than an upper limit value corresponding to the lane change trigger interval, controlling the target vehicle to continuously run in the first lane;

and if the first prediction result indicates that the first target distance is in the lane change trigger interval, controlling the target vehicle to change the lane to the adjacent lane and controlling the target vehicle to run in the adjacent lane.

In a second aspect, an embodiment of the present application provides an intelligent lane-changing device based on a domain controller, which is applied to an automatic driving domain controller in a domain control system of a target vehicle, where the domain control system includes the automatic driving domain controller and a plurality of vehicle information perception sensors arranged on a body of the target vehicle, the automatic driving domain controller is connected to the plurality of vehicle information perception sensors, and the device includes: an acquisition unit, a determination unit, a prediction unit, and a control unit, wherein,

the obtaining unit is configured to obtain, by the multiple vehicle information sensing sensors, a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle when the multiple vehicle information sensing sensors detect that the first vehicle enters a first lane where the target vehicle is located, where the first vehicle information at least includes one of: a first distance between the target vehicle and the first vehicle and a current second vehicle speed of the first vehicle;

the obtaining unit is further configured to obtain, by the vehicle information sensing sensors, second vehicle information corresponding to a second vehicle in a lane adjacent to the first lane when the first distance is in a lane change triggering interval, where the second vehicle information includes at least one of: a third vehicle speed corresponding to the second vehicle and a second distance between the target vehicle and the second vehicle, wherein the lane change trigger interval includes an upper limit value and a lower limit value, the lane change trigger interval is used for triggering a lane change instruction, the lane change instruction is used for indicating the target vehicle to change lanes to the adjacent lane, and the adjacent lane is a lane located on the left side or the right side of the first lane;

the determining unit is used for determining a first preset lane changing time from the lane changing of the target vehicle to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance;

the determining unit is further used for determining a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed and the first distance;

the prediction unit is used for predicting a first prediction result of the target vehicle under the first road running condition continuously according to the distance change trend and the first vehicle speed, wherein the prediction result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane change time;

the control unit is used for controlling the target vehicle to continuously run in the first lane if the first prediction result indicates that the first target distance is greater than an upper limit value corresponding to the lane change trigger interval;

the control unit is further configured to control the target vehicle to change the lane to the adjacent lane and control the target vehicle to travel in the adjacent lane if the first prediction result indicates that the first target distance is less than or equal to a lower limit value corresponding to the lane change trigger interval.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, where the programs include instructions for performing some or all of the steps described in the first aspect of the embodiment of the present application.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program enables a computer to perform some or all of the steps described in the first aspect of the embodiment of the present application.

It can be seen that in the embodiment of the present application, when the multiple vehicle information sensing sensors detect that the first vehicle enters the first lane where the target vehicle is located, the automatic driving range controller obtains a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the multiple vehicle information sensing sensors, when the first distance is in the lane change triggering interval, obtains second vehicle information corresponding to a second vehicle in an adjacent lane of the first lane through the multiple vehicle information sensing sensors, determines a first preset lane change time when the target vehicle changes to the adjacent lane according to the first vehicle speed, a third vehicle speed and a second distance, determines a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the third vehicle speed and the first distance, and finally predicts a first prediction result when the target vehicle continues to run under the first lane change condition according to the distance change trend and the first vehicle speed, wherein the prediction result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane change time, the first prediction result indicates that the first target vehicle continues to run in the first lane change condition, and controls the target vehicle to continue to control the target vehicle if the first target vehicle is in the adjacent lane change triggering interval, and the target vehicle control is triggered if the target vehicle. Therefore, the target vehicle can be controlled to change to the adjacent lane only when the first prediction result indicates that the first target distance is in the lane change triggering interval, instead of changing the lane only when the first distance is in the lane change triggering interval, so that unnecessary lane change is avoided, and the intelligence of automatic driving lane change is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1a is a schematic structural diagram of an intelligent lane-changing system based on a domain controller according to an embodiment of the present application;

FIG. 1b is a schematic diagram of an architecture of another intelligent lane-changing system based on a domain controller according to an embodiment of the present application;

fig. 2a is a schematic flowchart of an intelligent lane change method based on a domain controller according to an embodiment of the present application;

fig. 2b is a schematic view of a vehicle lane change road condition provided in the embodiment of the present application;

FIG. 2c is a schematic view of another road condition of a vehicle according to the embodiment of the present application;

FIG. 2d is a schematic view of another vehicle lane change road condition provided in the embodiment of the present application;

fig. 2e is a schematic view of another road condition of a vehicle according to the embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 4 is a schematic diagram of an intelligent lane-changing device based on a domain controller according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the foregoing drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The electronic device according to the embodiment of the present application may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem, which have wireless communication functions, and various forms of User Equipment (UE), mobile Stations (MS), terminal devices (terminal device), and the like. For convenience of description, the above-mentioned devices are collectively referred to as electronic devices. The in-vehicle device may include a domain controller, for example: an automatic driving domain controller and a vehicle body domain controller.

At present, in an automatic driving scene, a first vehicle overtaking and changing lane to the front of a target vehicle, as long as the front-back distance between the first vehicle and the target vehicle falls into the effective triggering distance range of the lane changing event, an automatic driving domain controller triggers the lane changing operation to be executed, but actually the front first vehicle is driving forwards at a higher speed, and there are cases that the distance between the first vehicle and the target vehicle can still be further increased until the effective triggering distance range is exceeded, and the lane changing is not necessary at all.

In view of the above problems, the present application provides an intelligent lane changing method based on a domain controller and a related apparatus, which are described in detail below.

Referring to fig. 1a, fig. 1a is a schematic diagram of an architecture of an intelligent lane-changing system based on a domain controller according to an embodiment of the present application, where the system architecture may include an automatic driving domain controller 100a and a vehicle information sensing sensor 100b.

The automatic driving area controller 100a is connected to the vehicle information perception sensor 100b, the vehicle information perception sensor 100b is disposed on the body of the target vehicle, and is capable of collecting vehicle information of the vehicle and sending the vehicle information to the automatic driving area controller 100a, the automatic driving area controller 100a is capable of receiving the vehicle information and analyzing the vehicle information to generate a series of instructions, and after analyzing execution conditions for executing the series of instructions, executing instructions meeting the execution conditions in the series of instructions, the automatic driving area controller 100a is further capable of sending related information requirements including the vehicle information to the vehicle information perception sensor 100b, and the vehicle information perception sensor collects the related information and sends the related information to the automatic driving area controller 100a after receiving the related information requirements.

Wherein the series of lane change instructions includes at least one of: the system comprises an overtaking command, a lane changing command, a vehicle starting command, a braking command, a decelerating command, an accelerating command, a turning command and the like.

Wherein the vehicle information perception sensor 100b may include at least one of: cameras, sensors, lidar and millimeter wave radar, for example: binocular cameras and 800 ten thousand pixel cameras, etc.

Wherein, the chip of the autopilot domain controller 100a may be a 32-bit microcontroller.

Wherein the vehicle information includes at least one of: vehicle type, vehicle position, vehicle body information, vehicle width, vehicle height, vehicle length, vehicle speed corresponding to the vehicle, and distance (including longitudinal distance) of the vehicle from the target vehicle. The vehicle information sensing sensor 100b may further collect vehicle speed, target vehicle position, target vehicle length, target vehicle width, target vehicle height, target vehicle body information, traffic light information, obstacle information, warning board information, signboard information, road condition information, animal information, and the like corresponding to the target vehicle.

As shown in fig. 1b, the autonomous driving area controller 100a may establish a connection with a plurality of vehicle information sensing sensors 100b at the same time, the autonomous driving area controller 100a may receive a plurality of pieces of vehicle information sent by the plurality of vehicle information sensing sensors 100b at the same time, the autonomous driving area controller 100a may also send related information requirements including the vehicle information to the plurality of vehicle information sensing sensors 100b at the same time, a plurality of cameras, sensors, lidar and millimeter-wave radars may be disposed on a body of a target vehicle, an information collection range covers all angles of the autonomous driving vehicle, and it is shown in fig. 1b that 3 vehicle information sensing sensors are provided, but the plurality of vehicle information sensing sensors in this embodiment of the present application are not limited to 3, and are not less than 1 vehicle information sensing sensor, may be 2 vehicle information sensing sensors, and may be 4 vehicle information sensing sensors, which is not limited herein.

In one possible example, the automatic driving area controller 100a obtains a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the plurality of vehicle information sensing sensors 100b when the plurality of vehicle information sensing sensors 100b detect that the first vehicle enters a first lane where the target vehicle is located, the automatic driving area controller 100a obtains second vehicle information corresponding to a second vehicle in an adjacent lane of the first lane through the plurality of vehicle information sensing sensors 100b when the first distance is in a lane change triggering interval, the automatic driving area controller 100a determines a first preset lane change time for the target vehicle to change to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance, the automatic driving area controller 100a further determines a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed and the first distance, and finally, the automatic driving area controller 100a predicts a first predicted result for the target vehicle to continue in the first lane travel condition according to the distance change trend and the first vehicle speed, wherein the predicted result indicates that the first vehicle is in the first lane change target vehicle travel condition, and indicates that the target vehicle is in the first lane change time, and the target vehicle information indicates that the target vehicle information corresponding to the target vehicle information is in the target lane change triggering interval, and if the target vehicle information is greater than the first vehicle information, the target vehicle information, the automatic driving area controller 100a, and the target vehicle information indicates that the target vehicle is in the target vehicle control unit. Therefore, the target vehicle can be controlled to change to the adjacent lane only when the first prediction result indicates that the first target distance is in the lane change triggering interval, instead of changing the lane only when the first distance is in the lane change triggering interval, so that unnecessary lane change is avoided, and the intelligence of automatic driving lane change is improved.

It should be noted that, in the present application, a plurality may refer to two or more, and will not be described in detail later.

Referring to fig. 2a, fig. 2a is a schematic flow chart of an intelligent lane change method based on a domain controller according to an embodiment of the present application, and the intelligent lane change method based on a domain controller is applied to an automatic driving domain controller in a domain control system of a target vehicle, where the domain control system includes the automatic driving domain controller and a plurality of vehicle information sensing sensors disposed on a body of the target vehicle, and the automatic driving domain controller is connected to the plurality of vehicle information sensing sensors.

S201, when the plurality of vehicle information perception sensors detect that a first vehicle enters a first lane where the target vehicle is located, obtaining a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the plurality of vehicle information perception sensors, wherein the first vehicle information at least comprises one of the following: a first distance between the target vehicle and the first vehicle and a current second vehicle speed of the first vehicle.

When the multiple vehicle information perception sensors of the target vehicle detect that the first vehicle enters the first lane where the target vehicle is located, the situation is shown in fig. 2b, fig. 2b is a schematic diagram of a vehicle lane changing road condition, the first vehicle changes the lane from an adjacent lane to the first lane where the target vehicle is located, and in front of the target vehicle, the multiple vehicle information perception sensors of the target vehicle can acquire first vehicle information after the first vehicle changes the lane to the first lane, and the adjacent lane shown in fig. 2b is a right lane of the first lane.

The vehicle information sensing sensors of the target vehicle can also acquire vehicle information of the target vehicle and other information, and the target vehicle information comprises a first vehicle speed of the target vehicle.

The first distance is a distance which changes in real time, and is the distance between the head of the target vehicle and the tail of the first vehicle, and the distance information is obtained by the plurality of vehicle information perception sensors in real time, and is sent to the automatic driving area controller.

S202, when the first distance is in a lane change triggering interval, obtaining second vehicle information corresponding to a second vehicle in a lane adjacent to the first lane through the plurality of vehicle information perception sensors, wherein the second vehicle information comprises at least one of the following: the lane change control method comprises a third vehicle speed corresponding to the second vehicle and a second distance between the target vehicle and the second vehicle, wherein the lane change trigger interval comprises an upper limit value and a lower limit value, the lane change trigger interval is used for triggering a lane change instruction, the lane change instruction is used for indicating the target vehicle to change lanes to the adjacent lanes, and the adjacent lanes are lanes located on the left side or the right side of the first lane.

When the distance between the target vehicle and the distance is in the lane change triggering interval, namely the first distance is greater than or equal to the lower limit value of the lane change triggering interval and is less than or equal to the upper limit value of the lane change triggering interval, the automatic driving domain controller can trigger to generate a lane change instruction, the automatic driving domain controller can determine whether to execute the lane change instruction according to road condition information acquired by the vehicle information sensing sensor, and the automatic driving domain controller can control the target vehicle to change the lane to an adjacent lane of the first lane when executing the lane change instruction.

The second vehicle is located in a lane adjacent to the target vehicle, and before the target vehicle changes lane, the vehicle information of the vehicles in the adjacent lane is collected by a plurality of vehicle information sensing sensors, and the vehicle information is analyzed to determine whether the lane change condition is met, and whether the lane change is determined, the second vehicle is in front of the target vehicle, as shown in fig. 2c, fig. 2c is a schematic diagram of a lane change road condition of another vehicle, the second vehicle is in a lane adjacent to the first lane and in front of the target vehicle, the plurality of vehicle information sensing sensors can collect second vehicle information corresponding to the second vehicle in the lane adjacent to the first lane, and the adjacent lane shown in fig. 2c is a right side lane of the first lane, but the adjacent lane in the present application is not limited to the right side of the first lane, and further includes a left side lane of the first lane.

Wherein the plurality of vehicle information sensing sensors may transmit the first vehicle information, the second vehicle information, and the third vehicle information to the autonomous driving domain controller, and the autonomous driving domain controller may receive the first vehicle information, the second vehicle information, and the third vehicle information.

S203, determining a first preset lane changing time from the lane changing of the target vehicle to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance.

The first preset lane changing time is the time for the automatic driving domain controller to predict the lane changing of the target vehicle to the adjacent lane by using an algorithm according to the first vehicle speed, the third vehicle speed and the second distance sent by the plurality of vehicle information perception sensors.

Wherein the second distance is a straight line distance between the head of the target vehicle and the tail of the second train, not a longitudinal distance.

S204, determining a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed and the first distance.

The distance change trend is a trend that the distance between the target vehicle and the first vehicle is gradually increased or gradually increased on the basis of the first distance.

S205, predicting a first prediction result of the target vehicle under the first road running condition continuously according to the distance change trend and the first vehicle speed, wherein the prediction result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane change time.

The automatic driving area controller can predict a first target distance between the target vehicle and the first vehicle after a first preset lane changing time under the condition that the target vehicle continues to run in a first lane without changing the lane, and then determines whether to execute a lane changing instruction by judging whether the first target distance is in a lane changing trigger interval, wherein after the first preset lane changing time, the first target lane changing distance is greater than the upper limit value of the lane changing trigger interval, which indicates that the target vehicle does not need to change the lane and does not need to decelerate to run, and the lane changing instruction is executed after the lane changing instruction is generated instead of only if the first distance is in the lane changing trigger interval, so that unnecessary lane changing can be avoided, and frequent lane changing is avoided.

And S206, if the first prediction result indicates that the first target distance is greater than the upper limit value corresponding to the lane change trigger interval, controlling the target vehicle to continuously run in the first lane.

And S207, if the first prediction result indicates that the first target distance is in the lane change triggering interval, controlling the target vehicle to change the lane to the adjacent lane, and controlling the target vehicle to run in the adjacent lane.

In the embodiment of the application, when the plurality of vehicle information sensing sensors detect that the first vehicle enters the first lane where the target vehicle is located, the automatic driving range controller acquires a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the plurality of vehicle information sensing sensors, when the first distance is in a lane change triggering interval, acquires second vehicle information corresponding to a second vehicle in an adjacent lane of the first lane through the plurality of vehicle information sensing sensors, determines a first preset lane change time for the target vehicle to change to the adjacent lane according to the first vehicle speed, a third vehicle speed and the second distance, determines a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed and the first distance, and finally predicts a first prediction result for the target vehicle to continue under the driving condition of the first lane according to the distance change trend and the first vehicle speed, wherein the prediction result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane change time, the first prediction result indicates that the first vehicle is in the adjacent lane change condition, and controls the target vehicle to continue to control the target vehicle to change, and triggers the target vehicle to control if the target vehicle is in the adjacent lane change triggering interval. Therefore, the target vehicle can be controlled to change to the adjacent lane only when the first prediction result indicates that the first target distance is in the lane change triggering interval, instead of changing the lane only when the first distance is in the lane change triggering interval, so that unnecessary lane change is avoided, and the intelligence of automatic driving lane change is improved.

In one possible example, in predicting a first prediction result that the target vehicle continues to travel on the first lane in accordance with the distance variation tendency and the first vehicle speed, the method may include the steps of: predicting an instantaneous value of the first distance after the first preset lane changing time according to the distance change trend, the first vehicle speed and the first preset lane changing time; and taking the instantaneous value of the first distance as the first target distance to obtain the first prediction result.

When the first vehicle changes lane to the first lane and continues to accelerate or decelerate, the first vehicle always has acceleration, the plurality of vehicle information perception sensors can continuously shoot a plurality of pictures of the first vehicle within a preset time and send the pictures to the automatic driving area controller, the automatic driving area controller can process and analyze image data in the plurality of pictures through an image algorithm to obtain the real-time changing speed of the first vehicle, then the acceleration of the first vehicle is obtained according to the speed and the preset time, the preset time can be set manually or is defaulted by the vehicle information perception sensors, and limitation is not made here.

The preset time is a very short time, and does not influence the automatic driving area controller to obtain the first prediction result in a short time.

Wherein the instantaneous value of the first distance after the first preset lane change time is a predicted instantaneous value and is not an instantaneous distance value at which the first distance actually exists.

Therefore, the automatic driving area controller can predict the instantaneous value of the first distance after the first preset lane changing time according to the distance changing trend determined by the first distance, the first vehicle speed and the second vehicle speed, and the instantaneous value is used as the first target distance in the first prediction result, so that the accuracy of the prediction result is improved.

In one possible example, before the controlling the target vehicle to change lane to the adjacent lane, the method may include: determining a first safety distance between the target vehicle and the second vehicle, wherein the first safety distance is a minimum safety distance between the target vehicle and the second vehicle when the target vehicle changes lanes to the adjacent lane; determining a first lane changing longitudinal distance required by the target vehicle to change lane to the adjacent lane according to the first vehicle speed, the third vehicle speed and the first safety distance; determining a first longitudinal distance between the target vehicle and the second vehicle according to the second distance; if the first longitudinal distance is smaller than the first lane changing longitudinal distance, controlling the target vehicle to continuously run in the first lane; and if the first longitudinal distance is greater than or equal to the first lane changing longitudinal distance, executing the step of controlling the target vehicle to change the lane to the adjacent lane.

The minimum safe distance refers to a distance that the target vehicle does not collide with the second vehicle in an emergency situation after changing lanes to an adjacent lane, the minimum safe distance is associated with a third vehicle speed of the second vehicle, a first speed of the target vehicle and reaction time of the target vehicle and the second vehicle for analyzing the emergency situation and responding, the emergency situation can be that the second vehicle in the front vehicle decelerates to stop running and the target vehicle fails to run away, and meanwhile, the minimum safe distance can also be a minimum following distance, the minimum following distance is associated with factors of the target vehicle such as the first vehicle speed, road conditions and weather conditions, and the automatic driving domain controller can intelligently determine the minimum safe distance according to the factors of the first vehicle speed, the third vehicle speed, the road conditions and the weather conditions, wherein the reaction time corresponding to the target vehicle and the second vehicle can be preset by the automatic driving controller.

The automatic driving area controller can intelligently calculate the minimum longitudinal distance between the target vehicle and the second vehicle before changing the lane to the adjacent lane at the first vehicle speed, namely the first longitudinal lane changing distance, when the distance between the target vehicle and the adjacent lane is equal to the first safety distance according to the first vehicle speed and the third vehicle speed, and if the longitudinal distance between the target vehicle and the second vehicle is smaller than the first longitudinal lane changing distance, the target vehicle cannot realize lane changing or the safety coefficient of the target vehicle after changing the lane to the adjacent lane is reduced, namely the emergency situation cannot be responded.

In the specific implementation, the automatic driving area controller calculates and determines a first safe distance between the target vehicle and the second vehicle according to a first vehicle speed of the target vehicle, a third vehicle speed of the second vehicle and corresponding reaction time of the target vehicle and the second vehicle, calculates and determines a first lane changing longitudinal distance required by the target vehicle to change lanes to adjacent lanes according to the first safe distance, the first vehicle speed and the third vehicle speed, determines a first longitudinal distance between the target vehicle and the second vehicle according to a second distance, determines whether the target vehicle can safely change lanes to the adjacent lanes by comparing the first longitudinal distance with the first lane changing longitudinal distance, controls the target vehicle to continuously run on the first vehicle if the first longitudinal distance is smaller than the first lane changing longitudinal distance, and controls the target vehicle to change lanes to the adjacent lanes if the first longitudinal distance is larger than or equal to the first lane changing longitudinal distance.

It can be seen that, in the present example, the autonomous driving domain controller determines the first lane-changing longitudinal distance in consideration of the first safe distance, and predicts the feasibility of changing the lane of the target vehicle to the adjacent lane according to the relationship between the second distance and the first lane-changing longitudinal distance, which is advantageous to improve the intelligence and safety of autonomous driving.

In one possible example, when there is a third vehicle in the adjacent lane, before the controlling the target vehicle to change the lane to the adjacent lane, the method may further include: obtaining third vehicle information corresponding to the third vehicle through the plurality of vehicle information perception sensors, wherein the third vehicle information comprises at least one of the following: a fourth vehicle speed corresponding to the third vehicle and a second longitudinal distance of the target vehicle and the third vehicle; determining a second safe distance between the target vehicle and the third vehicle, wherein the second safe distance is a minimum safe distance between the target vehicle and the third vehicle when the target vehicle changes lanes to the adjacent lane; determining a second lane changing longitudinal distance required by the target vehicle to change lane to the adjacent lane according to the first vehicle speed, the fourth vehicle speed and the second safety distance; if the first longitudinal distance is smaller than the first lane changing longitudinal distance, or the second longitudinal distance is smaller than the second lane changing longitudinal distance, or the first longitudinal distance is smaller than the first lane changing longitudinal distance, and the second longitudinal distance is smaller than the second lane changing longitudinal distance, controlling the target vehicle to continuously run on the first lane; and if the first longitudinal distance is greater than or equal to the first lane changing longitudinal distance and the second longitudinal distance is greater than or equal to the second lane changing longitudinal distance, executing the step of controlling the target vehicle to change lanes to the adjacent lanes.

As shown in fig. 2d, fig. 2d is another schematic diagram of a vehicle lane changing road condition, where a third vehicle is present in an adjacent lane, the third vehicle is located directly behind the second vehicle and laterally behind the target vehicle, at this time, the target vehicle needs to change to the adjacent lane, that is, directly behind the second vehicle and directly in front of the third vehicle, not only the influence of the second vehicle on the target vehicle lane changing is considered, but also whether the third vehicle influences the target vehicle to change to the adjacent lane is also considered, and the adjacent lane shown in fig. 2d is a right side lane of the first lane, but the adjacent lane in the present application is not limited to the right side lane of the first lane and also includes a left side lane of the first lane.

The automatic driving area controller can intelligently calculate the minimum longitudinal distance between the target vehicle and the third vehicle before changing the lane to the adjacent lane at the first vehicle speed, namely the second longitudinal lane changing distance, when the target vehicle keeps changing the lane to the adjacent lane at the first vehicle speed and the distance between the target vehicle and the third vehicle is equal to the second safety distance according to the first vehicle speed and the fourth vehicle speed.

In a specific implementation, the automatic driving area controller may receive third vehicle information corresponding to a third vehicle sent by a plurality of vehicle information sensing sensors, calculate and determine a second safety distance between the target vehicle and the third vehicle according to the first vehicle speed, the fourth vehicle speed and the reaction time corresponding to the target vehicle and the third vehicle, calculate and determine a second lane changing longitudinal distance required by the target vehicle to change lanes to adjacent lanes according to the first vehicle speed, the fourth vehicle speed and the second safety distance, and finally predict whether the target vehicle can safely change lanes according to a relation between the first longitudinal distance and the first lane changing longitudinal distance and a relation between the second longitudinal distance and the second lane changing longitudinal distance, if the first longitudinal distance is smaller than the first lane changing longitudinal distance or the second longitudinal distance is smaller than the second lane changing longitudinal distance or the first longitudinal distance is smaller than the first lane changing longitudinal distance and the second longitudinal distance is smaller than the second lane changing longitudinal distance, the automatic driving area controller controls the target vehicle to continue to travel on the first lane, if the first longitudinal distance is greater than or equal to the first lane changing longitudinal distance and the second lane changing longitudinal distance is greater than the second lane changing longitudinal distance, and the automatic driving area controller controls the target vehicle to automatically change lane.

Optionally, when the second vehicle does not exist in the adjacent lane, only the third vehicle exists, the third vehicle is located in the adjacent lane of the first lane and is located behind the target vehicle, as shown in fig. 2e, fig. 2e is another schematic diagram of a lane changing road condition of the vehicle, the third vehicle is located in the adjacent lane of the first lane and is located behind the target vehicle, at this time, the target vehicle changes to the adjacent lane only by considering the influence of the third vehicle on the lane changing of the target vehicle, the automatic driving area controller may receive third vehicle information corresponding to the third vehicle and sent by the plurality of vehicle information sensing sensors, and according to the first vehicle speed, the fourth vehicle speed and the reaction time corresponding to the target vehicle and the third vehicle, calculate and determine a second safe distance between the target vehicle and the third vehicle, and then according to the first vehicle speed, the fourth vehicle speed and the second safe distance, calculate and determine that the second lane changing longitudinal distance required for the target vehicle to change to the adjacent lane, and finally, the automatic driving area controller predicts whether the target vehicle can safely change to the adjacent lane according to the relationship between the second longitudinal distance and the second lane, if the second lane changing longitudinal distance is smaller than the first longitudinal distance between the target vehicle, the left side of the adjacent lane, and the target vehicle, if the second lane changing is not limited to the target vehicle, and the target vehicle is displayed in the adjacent lane, and the longitudinal distance between the target vehicle, and the target vehicle is displayed if the target vehicle, and the target vehicle is displayed in the target vehicle.

It can be seen that, in this example, the automatic driving domain controller can analyze the influence of the third vehicle existing in the adjacent lane on the lane change of the target vehicle, which is beneficial to improving the intelligence and safety of automatic driving.

In one possible example, when the third vehicle speed is less than or equal to a preset vehicle speed, the method may further include: acquiring a third distance between the tail of the target vehicle and the head of the second vehicle through the plurality of vehicle information perception sensors; determining a second preset lane changing time according to the third distance, the first lane changing longitudinal distance and the first vehicle speed; predicting a second prediction result of the target vehicle under the first road running condition according to the distance change trend and the first vehicle speed, wherein the second prediction result is used for indicating a second target distance between the target vehicle and the first vehicle after the second preset lane change time; if the second prediction result indicates that the second target distance is greater than the upper limit value corresponding to the lane change trigger interval, controlling the target vehicle to continuously run on the first lane; and if the second prediction result indicates that the second target distance is in the lane change triggering interval, controlling the target vehicle to change the lane to the adjacent lane and controlling the target vehicle to run in the adjacent lane.

The automatic driving area controller can set a preset vehicle speed, the preset vehicle speed is related to the first vehicle speed, the larger the first vehicle speed is, the larger the preset vehicle speed is, the smaller the first vehicle speed is, the smaller the preset vehicle speed is, and the preset vehicle speed is used for judging whether the target vehicle can realize lane change and overtaking when the target vehicle is at the first vehicle speed, namely whether the target vehicle can realize lane change to an adjacent lane and change to the right front of the second vehicle, if the third vehicle speed of the second vehicle is greater than the preset vehicle speed, the target vehicle cannot realize lane change to the right front of the second vehicle, and if the third vehicle speed of the second vehicle is less than or equal to the preset vehicle speed, the target vehicle can realize lane change to the right front of the second vehicle.

Wherein, different from the determination of the first preset lane change time, the determination of the preset second lane change time also takes into account the time when the target vehicle exceeds the second vehicle and the time when the target vehicle travels the longitudinal distance of the first lane change, and the time when the target vehicle exceeds the second vehicle is t ₁ I.e. the time during which the target vehicle has travelled the third distance at the first speed, and the time during which the target vehicle has travelled the first lane change longitudinal distance after exceeding the second vehicle at the first speed is t ₂ The time taken for the target vehicle to change lane to an adjacent lane is t ₃ Second preset lane change time T ₂ ＝t ₁ +t ₂ +t ₃ 。

In specific implementation, the automatic driving area controller obtains the time t when the target vehicle exceeds the second vehicle according to the third distance, the first lane changing longitudinal distance and the first vehicle speed ₁ The time after the second vehicle has traveled the first lane change longitudinal distance is t ₂ And the time taken to change lane to an adjacent lane is t ₃ To t ₁ 、t ₂ And t ₃ Summing to obtain a second preset lane changing time, predicting a second prediction result of the target vehicle under the condition of continuously driving on the first lane according to the distance change trend and the first vehicle speed, if the second prediction result indicates that the second target distance is greater than an upper limit value corresponding to a lane changing trigger interval, controlling the target vehicle to continuously drive on the first lane, and if the second prediction result indicates that the second target distance is in the lane changing trigger interval, controlling the target vehicle to change the lane to the lane changing trigger intervalAnd controlling the target vehicle to run in the adjacent lane.

In this example, the automatic driving range controller may set the preset vehicle speed, predict a second preset lane changing time from lane changing to the position right in front of the second vehicle when the head of the target vehicle exceeds the tail of the second vehicle and the third vehicle speed is less than or equal to the preset vehicle speed, and use the second preset lane changing time as a condition for predicting a second prediction result, which is beneficial to improving the comprehensiveness of the prediction result.

In one possible example, in the determining of the first preset lane change time for the target vehicle to change lane to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance, the method may include the steps of: determining a lane changing track according to the first safe distance, the first vehicle speed and the second distance, wherein the lane changing track is used for indicating a driving track of the target vehicle in the process of changing the lane to the adjacent lane; and determining the first preset lane changing time from the lane changing of the target vehicle to the adjacent lane according to the lane changing track and the first vehicle speed.

The automatic driving area controller can preset a lane changing track from the lane changing of the target vehicle to an adjacent lane according to information such as a first vehicle speed of the target vehicle, a distance between the target vehicle and the first vehicle before lane changing, a first safety distance between the target vehicle and the first vehicle after lane changing, lane width, a tire turning angle of the target vehicle, and the like.

In the specific implementation, the automatic driving area controller presets a lane change track from the target vehicle to an adjacent lane according to information such as a first vehicle speed of the target vehicle, a distance between the target vehicle and the first vehicle before lane change, a first safety distance between the target vehicle and the first vehicle after lane change, lane width, a vehicle body of the target vehicle, a tire rotation angle of the target vehicle and the like, and calculates first preset lane change time for driving the target vehicle to change the lane to the adjacent lane according to the lane change track under the condition that the target vehicle keeps the first vehicle speed.

It can be seen that, in this example, the autopilot domain controller may preset a lane change trajectory of the lane change of the target vehicle according to the related information, and may determine the first preset time according to the first vehicle speed and the lane change trajectory of the target vehicle, which is beneficial to reliability and intelligence of lane change of the autopilot vehicle.

In one possible example, the target vehicle changes lane to the adjacent lane to the left of the first lane is prioritized over changes to lane to the adjacent lane to the right of the first lane.

After the automatic driving area controller analyzes a plurality of pieces of vehicle information corresponding to a left adjacent lane of a first lane and a plurality of pieces of vehicle information of a right adjacent lane of the first lane sent by a plurality of vehicle information perception sensors, if the left adjacent lane and the right adjacent lane of the first lane simultaneously meet a lane changing condition of a target vehicle, the automatic driving area controller controls the target vehicle to select to change the lane to the left adjacent lane of the first lane, the driving efficiency is higher, if only the left adjacent lane of the first lane meets the lane changing condition of the target vehicle, the automatic driving area controller controls the target vehicle to change the lane to the left adjacent lane, and if only the right adjacent lane of the first lane meets the lane changing condition of the target vehicle, the automatic driving area controller controls the target vehicle to change the lane to the right adjacent lane.

Therefore, the automatic driving domain controller can preferentially select lane changing to a lane with higher driving efficiency according to the priority of lane changing, and the automatic driving efficiency and the intelligence are facilitated.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device, which is applied to an automatic driving domain controller in a domain control system of a target vehicle, where the domain control system includes the automatic driving domain controller and a plurality of vehicle information sensing sensors disposed on a body of the target vehicle, and the automatic driving domain controller is connected to the plurality of vehicle information sensing sensors, as shown in the figure, the electronic device includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory, and the one or more programs are configured to be executed by the processor with instructions of the following steps:

predicting a first prediction result of the target vehicle under the first road running condition according to the distance change trend and the first vehicle speed, wherein the prediction result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane change time;

if the first prediction result indicates that the first target distance is greater than an upper limit value corresponding to the lane change trigger interval, controlling the target vehicle to continuously run on the first lane;

and if the first prediction result indicates that the first target distance is in the lane change triggering interval, controlling the target vehicle to change the lane to the adjacent lane and controlling the target vehicle to run in the adjacent lane.

It can be seen that, the electronic device described in the embodiment of the present application may obtain, when the plurality of vehicle information sensing sensors detect that the first vehicle enters the first lane where the target vehicle is located, a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the plurality of vehicle information sensing sensors, obtain, when the first distance is in the lane change triggering interval, second vehicle information corresponding to a second vehicle in an adjacent lane of the first lane through the plurality of vehicle information sensing sensors, determine, according to the first vehicle speed, the third vehicle speed, and the second distance, a first preset lane change time when the target vehicle changes lanes to the adjacent lane, further determine, according to the first vehicle speed, the second vehicle speed, and the first distance, a distance change trend between the target vehicle and the first vehicle, and finally predict, a first prediction result when the target vehicle continues to a running condition on the first lane according to the distance change trend and the first vehicle speed, wherein the prediction result is used to indicate that the target vehicle continues to run on the first lane after the first preset lane change time, and trigger control of the target vehicle to continue to control the target vehicle to change if the target distance is greater than the first target lane change time. Therefore, the target vehicle can be controlled to change the lane to the adjacent lane only when the first prediction result indicates that the first target distance is in the lane change triggering interval, the lane is not changed as long as the first distance is in the lane change triggering interval, unnecessary lane changing is avoided, and the intelligence of automatic driving lane changing is improved.

In one possible example, in the predicting of the first prediction result that the target vehicle continues to run on the first lane in accordance with the distance variation tendency and the first vehicle speed, the above-described program includes instructions for executing:

predicting an instantaneous value of the first distance after the first preset lane changing time according to the distance change trend, the first vehicle speed and the first preset lane changing time;

and taking the instantaneous value of the first distance as the first target distance to obtain the first prediction result.

In one possible example, before the controlling the target vehicle to change lane to the adjacent lane, the above program includes instructions for performing the steps of:

determining a first safety distance between the target vehicle and the second vehicle, wherein the first safety distance is a minimum safety distance between the target vehicle and the second vehicle when the target vehicle changes lanes to the adjacent lane;

determining a first lane changing longitudinal distance required by the target vehicle to change lane to the adjacent lane according to the first vehicle speed, the third vehicle speed and the first safety distance;

determining a first longitudinal distance between the target vehicle and the second vehicle according to the second distance;

if the first longitudinal distance is smaller than the first lane changing longitudinal distance, controlling the target vehicle to continuously run on the first lane;

and if the first longitudinal distance is greater than or equal to the first lane changing longitudinal distance, executing the step of controlling the target vehicle to change lanes to the adjacent lanes.

In one possible example, when a third vehicle is present in the adjacent lane, before the controlling the target vehicle to change the lane to the adjacent lane, the above program includes instructions for:

third vehicle information corresponding to the third vehicle is obtained through the plurality of vehicle information perception sensors, wherein the third vehicle information comprises at least one of the following: a fourth vehicle speed corresponding to the third vehicle and a second longitudinal distance of the target vehicle and the third vehicle;

determining a second safe distance between the target vehicle and the third vehicle, wherein the second safe distance is a minimum safe distance between the target vehicle and the third vehicle when the target vehicle changes lanes to the adjacent lane;

determining a second lane changing longitudinal distance required by the target vehicle to change lane to the adjacent lane according to the first vehicle speed, the fourth vehicle speed and the second safety distance;

if the first longitudinal distance is smaller than the first lane changing longitudinal distance, or the second longitudinal distance is smaller than the second lane changing longitudinal distance, or the first longitudinal distance is smaller than the first lane changing longitudinal distance, and the second longitudinal distance is smaller than the second lane changing longitudinal distance, controlling the target vehicle to continuously run on the first lane;

and if the first longitudinal distance is greater than or equal to the first lane changing longitudinal distance and the second longitudinal distance is greater than or equal to the second lane changing longitudinal distance, executing the step of controlling the target vehicle to change lanes to the adjacent lanes.

In one possible example, when the third vehicle speed is less than or equal to a preset vehicle speed, the program further includes instructions for:

acquiring a third distance between the tail of the target vehicle and the head of the second vehicle through the plurality of vehicle information perception sensors;

determining a second preset lane changing time according to the third distance, the first lane changing longitudinal distance and the first vehicle speed;

predicting a second prediction result of the target vehicle under the first road running condition continuously according to the distance change trend and the first vehicle speed, wherein the second prediction result is used for indicating a second target distance between the target vehicle and the first vehicle after the second preset lane change time;

if the second prediction result indicates that the second target distance is greater than the upper limit value corresponding to the lane change trigger interval, controlling the target vehicle to continuously run on the first lane;

and if the second prediction result indicates that the second target distance is in the lane change triggering interval, controlling the target vehicle to change the lane to the adjacent lane and controlling the target vehicle to run in the adjacent lane.

In one possible example, in the determining a first preset lane-change time for the target vehicle to change lane to the adjacent lane based on the first vehicle speed, the third vehicle speed, and the second distance, the program includes instructions for:

determining a lane changing track according to the first safe distance, the first vehicle speed and the second distance, wherein the lane changing track is used for indicating a driving track of the target vehicle in the process of changing lanes to the adjacent lanes;

and determining the first preset lane changing time from the lane changing of the target vehicle to the adjacent lane according to the lane changing track and the first vehicle speed.

The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It is understood that the electronic device comprises corresponding hardware structures and/or software modules for performing the respective functions in order to realize the functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the various illustrative elements and algorithm steps described in connection with the embodiments provided herein. Whether a function is performed in hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the electronic device may be divided into the functional units according to the method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

In the case of dividing each function module corresponding to each function, fig. 4 is a schematic diagram of an intelligent lane-changing device based on a domain controller, as shown in fig. 4, where the intelligent lane-changing device based on a domain controller is applied to an automatic driving domain controller in a domain control system of a target vehicle, the domain control system includes the automatic driving domain controller and a plurality of vehicle information perception sensors disposed on a body of the target vehicle, the automatic driving domain controller is connected to the plurality of vehicle information perception sensors, and the intelligent lane-changing device 400 based on a domain controller may include: an acquisition unit 401, a determination unit 402, a prediction unit 403, and a control unit 404, wherein,

the obtaining unit 401 is configured to, when the plurality of vehicle information sensing sensors detect that a first vehicle enters a first lane where the target vehicle is located, obtain, by the plurality of vehicle information sensing sensors, a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle, where the first vehicle information at least includes one of: a first distance between the target vehicle and the first vehicle and a current second vehicle speed of the first vehicle;

the obtaining unit 401 is further configured to obtain, by the multiple vehicle information sensing sensors, second vehicle information corresponding to a second vehicle in a lane adjacent to the first lane when the first distance is in a lane change trigger interval, where the second vehicle information includes at least one of: a third vehicle speed corresponding to the second vehicle and a second distance between the target vehicle and the second vehicle, wherein the lane change trigger interval includes an upper limit value and a lower limit value, the lane change trigger interval is used for triggering a lane change instruction, the lane change instruction is used for indicating the target vehicle to change lanes to the adjacent lane, and the adjacent lane is a lane located on the left side or the right side of the first lane;

the determining unit 402 is configured to determine a first preset lane changing time from the lane changing of the target vehicle to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance;

the determining unit 402 is further configured to determine a distance variation trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed, and the first distance;

the predicting unit 403 is configured to predict a first prediction result of the target vehicle continuing in the first lane driving condition according to the distance variation tendency and the first vehicle speed, where the prediction result is used to indicate a first target distance between the target vehicle and the first vehicle after the first preset lane changing time;

the control unit 404 is configured to, if the first prediction result indicates that the first target distance is greater than an upper limit value corresponding to the lane change trigger interval, control the target vehicle to continue to travel in the first lane;

the control unit 404 is further configured to control the target vehicle to change the lane to the adjacent lane and control the target vehicle to travel in the adjacent lane if the first prediction result indicates that the first target distance is less than or equal to a lower limit value corresponding to the lane change trigger interval.

It can be seen that, the intelligent lane-changing device based on a domain controller described in the embodiment of the present application may obtain, when the multiple vehicle information sensing sensors detect that the first vehicle enters the first lane where the target vehicle is located, a current first vehicle speed of the target vehicle and first vehicle information corresponding to the first vehicle through the multiple vehicle information sensing sensors, obtain, when the first distance is in the lane-changing trigger interval, second vehicle information corresponding to a second vehicle in an adjacent lane of the first lane through the multiple vehicle information sensing sensors, determine, according to the first vehicle speed, the third vehicle speed and the second distance, a first preset lane-changing time when the target vehicle changes lane to the adjacent lane, further determine a distance change trend between the target vehicle and the first vehicle according to the first vehicle speed, the second vehicle speed and the first distance, and finally predict, a first predicted result when the target vehicle continues to be in the first lane running condition according to the distance change trend and the first vehicle speed, wherein the predicted result is used for indicating a first target distance between the target vehicle and the first vehicle after the first preset lane-changing time, indicate that the first vehicle continues to be in the first lane, and if the first predicted result indicates that the first vehicle continues to be in the target lane-changing time, and trigger the target vehicle to control the target vehicle to continue to control if the target vehicle is in the adjacent lane. Therefore, the target vehicle can be controlled to change to the adjacent lane only when the first prediction result indicates that the first target distance is in the lane change triggering interval, instead of changing the lane only when the first distance is in the lane change triggering interval, so that unnecessary lane change is avoided, and the intelligence of automatic driving lane change is improved.

In one possible example, in terms of the first prediction result of predicting that the target vehicle continues to run on the first lane according to the distance variation tendency and the first vehicle speed, the determining unit 402 is specifically configured to:

In one possible example, before the controlling the target vehicle to lane change to the adjacent lane, the control unit 404 is specifically configured to:

In one possible example, when there is a third vehicle in the adjacent lane, before the controlling the target vehicle to change lane to the adjacent lane, the control unit 404 is specifically configured to:

obtaining third vehicle information corresponding to the third vehicle through the plurality of vehicle information perception sensors, wherein the third vehicle information comprises at least one of the following: a fourth vehicle speed corresponding to the third vehicle and a second longitudinal distance of the target vehicle and the third vehicle;

if the first longitudinal distance is smaller than the first lane-changing longitudinal distance, or the second longitudinal distance is smaller than the second lane-changing longitudinal distance, or the first longitudinal distance is smaller than the first lane-changing longitudinal distance, and the second longitudinal distance is smaller than the second lane-changing longitudinal distance, controlling the target vehicle to continuously travel in the first lane;

and if the first longitudinal distance is greater than or equal to the first lane changing longitudinal distance and the second longitudinal distance is greater than or equal to the second lane changing longitudinal distance, executing the step of controlling the target vehicle to change lanes to the adjacent lane.

In one possible example, when the third vehicle speed is less than or equal to a preset vehicle speed, the control unit 404 is specifically configured to:

predicting a second prediction result of the target vehicle under the first road running condition according to the distance change trend and the first vehicle speed, wherein the second prediction result is used for indicating a second target distance between the target vehicle and the first vehicle after the second preset lane change time;

In one possible example, in the aspect of determining the first preset lane change time of the target vehicle to the adjacent lane according to the first vehicle speed, the third vehicle speed and the second distance, the determining unit 402 is specifically configured to:

It should be noted that all relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again.

The electronic device provided by this embodiment is configured to execute the intelligent lane change method based on the domain controller, so that the same effect as that of the foregoing implementation method can be achieved.

Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the methods as set out in the above method embodiments. The computer program product may be a software installation package, the computer comprising the control platform.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art will recognize that the embodiments described in this specification are preferred embodiments and that acts or modules referred to are not necessarily required for this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above methods of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash memory disks, read-only memory, random access memory, magnetic or optical disks, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. An intelligent lane-changing method based on a domain controller is characterized in that the intelligent lane-changing method is applied to an automatic driving domain controller in a domain control system of a target vehicle, the domain control system comprises the automatic driving domain controller and a plurality of vehicle information perception sensors arranged on a body of the target vehicle, the automatic driving domain controller is connected with the plurality of vehicle information perception sensors, and the method comprises the following steps:

when the first distance is in a lane change triggering interval, second vehicle information corresponding to a second vehicle in a lane adjacent to the first lane is acquired through the plurality of vehicle information perception sensors, wherein the second vehicle information comprises at least one of the following: a third vehicle speed corresponding to the second vehicle and a second distance between the target vehicle and the second vehicle, wherein the lane change trigger interval includes an upper limit value and a lower limit value, the lane change trigger interval is used for triggering a lane change instruction, the lane change instruction is used for indicating the target vehicle to change to the adjacent lane, and the adjacent lane is a lane located on the left side or the right side of the first lane;

2. The method of claim 1, wherein predicting a first prediction result of the target vehicle to continue in the first lane driving condition based on the distance variation tendency and the first vehicle speed comprises:

3. The method according to claim 1 or 2, wherein before the controlling the target vehicle to change lane to the adjacent lane, the method further comprises:

4. The method according to claim 3, wherein when a third vehicle is present in the adjacent lane, before the controlling the target vehicle to change lane to the adjacent lane, the method further comprises:

5. The method according to claim 1, characterized in that when the third vehicle speed is less than or equal to a preset vehicle speed, the method further comprises:

and if the second prediction result indicates that the second target distance is in the lane change trigger interval, controlling the target vehicle to change the lane to the adjacent lane and controlling the target vehicle to run in the adjacent lane.

6. The method of claim 1, wherein determining a first preset lane change time for the target vehicle to change lane to the adjacent lane based on the first vehicle speed, the third vehicle speed, and the second distance comprises:

determining a lane changing track according to a first safe distance, the first vehicle speed and the second distance, wherein the lane changing track is used for indicating a driving track of the target vehicle in the process of changing the lane to the adjacent lane;

7. The method of claim 1, wherein the target vehicle changes to the adjacent lane to the left of the first lane is of a higher priority than changes to the adjacent lane to the right of the first lane.

8. An intelligent lane-changing device based on a domain controller is characterized in that the intelligent lane-changing device is applied to an automatic driving domain controller in a domain control system of a target vehicle, the domain control system comprises the automatic driving domain controller and a plurality of vehicle information perception sensors arranged on a body of the target vehicle, and the automatic driving domain controller is connected with the plurality of vehicle information perception sensors and comprises: an acquisition unit, a determination unit, a prediction unit, and a control unit, wherein,

9. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7.

10. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-7.