CN115649167A - Vehicle lane change determining method and device, electronic equipment and storage medium - Google Patents
Vehicle lane change determining method and device, electronic equipment and storage medium Download PDFInfo
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- CN115649167A CN115649167A CN202211345370.XA CN202211345370A CN115649167A CN 115649167 A CN115649167 A CN 115649167A CN 202211345370 A CN202211345370 A CN 202211345370A CN 115649167 A CN115649167 A CN 115649167A
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Abstract
The application relates to the technical field of intelligent driving, in particular to a vehicle lane change determining method and device, electronic equipment and a storage medium, which are used for improving the accuracy of vehicle lane change determination of a target vehicle. The method comprises the following steps: receiving a vehicle lane change instruction triggered by a target vehicle; acquiring first motion state information corresponding to a target vehicle and second motion state information corresponding to a reference vehicle; determining a lane change right of the target vehicle and determining a collision risk of the target vehicle based on lane line type information between the second lane and the third lane in combination with the first motion state information and the second motion state information; determining a lane change determination result of the target vehicle based on the lane change right and the collision risk. In this way, the accuracy of determining the lane change determination result of the target vehicle can be improved, thereby improving the accuracy of determining the vehicle lane change of the target vehicle.
Description
Technical Field
The present application relates to the field of intelligent driving technologies, and in particular, to a method and an apparatus for determining a lane change of a vehicle, an electronic device, and a storage medium.
Background
At present, with the development of intelligent driving, vehicles carrying auxiliary driving are more and more, the auxiliary driving is to provide auxiliary support for driving objects in the process of driving the vehicles, so that the driving objects can drive on roads more easily and safely, wherein the autonomous lane changing of the vehicles is an important operation of the auxiliary driving and can assist the driving objects to complete lane changing.
In the related art, when the vehicle to be detected changes lanes to the target lane, it is generally determined whether the vehicle to be detected can change lanes to the target lane based on a movement tendency of the target vehicle traveling on the third lane.
However, since the lane line between the third lane and the target lane may be a solid line, if lane change determination is performed based on only the movement tendency of the target vehicle, an erroneous determination may be caused, for example, when the lane line between the third lane and the target lane is a solid line and the target vehicle has a movement tendency toward the target lane, the vehicle to be detected cannot change the lane to the target lane, so that the erroneous determination of the vehicle lane change determination occurs.
Therefore, the accuracy of such a vehicle lane change determination in the related art is not high.
Disclosure of Invention
The embodiment of the application provides a vehicle lane change determining method and device, electronic equipment and a storage medium, so that the accuracy of vehicle lane change determination is improved.
The embodiment of the application provides the following specific technical scheme:
in a first aspect, a method for determining lane change of a vehicle is provided, including:
receiving a vehicle lane changing instruction triggered by a target vehicle, wherein the vehicle lane changing instruction is used for indicating that the target vehicle is driven to a second lane from a first lane where the target vehicle is located at present;
acquiring first motion state information corresponding to a target vehicle and second motion state information corresponding to a reference vehicle; wherein the reference vehicle is running on a third lane adjacent to the second lane, the motion state information characterizing: the movement trend of the corresponding vehicle on the current lane;
determining a lane change right of the target vehicle and determining a collision risk of the target vehicle based on lane line type information between the second lane and the third lane and by combining the first motion state information and the second motion state information;
determining a lane change determination result of the target vehicle based on the lane change right and the collision risk.
Optionally, determining a lane change right of the target vehicle based on the lane line type information between the second lane and the third lane by combining the first moving state information and the second moving state information, including:
if the lane line type information between the second lane and the third lane is a solid line, the road right of the target vehicle is changed into a priority road right;
and if the lane line type information between the second lane and the third lane is a broken line, determining the lane change right of the target vehicle based on the first motion state information and the second motion state information.
Optionally, the first motion state information at least includes: the first travel speed of the target vehicle and the first travel distance between the target vehicle and the second lane, the second motion state information including at least: a second travel speed of the reference vehicle and a second travel distance between the reference vehicle and the second lane;
determining a lane change right of the target vehicle based on the first motion state information and the second motion state information, including:
determining a first travel time for the target vehicle to reach the second lane based on the first travel speed and the first travel distance;
determining a second travel time for the reference vehicle to reach the second lane based on the second travel speed and the second travel distance;
if the first running time is less than the second running time, the road right of the target vehicle is changed into the priority road right;
and if the first running time is not less than the second running time, the road-changing right of the target vehicle is a non-priority right.
Optionally, the second motion state information further includes: a longitudinal distance of the reference vehicle relative to the target vehicle;
determining a risk of collision of the target vehicle based on the first kinematic state information and the second kinematic state information, including:
determining a time to collision of the target vehicle with the reference vehicle based on the longitudinal distance, the first travel speed, and the second travel speed;
if the collision time is greater than a preset time threshold, the collision risk of the target vehicle is no risk;
if the time to collision is not greater than the preset time threshold, the risk of collision of the target vehicle is at risk.
Optionally, determining a lane change determination result of the target vehicle based on the lane change right and the collision risk includes:
if the lane change right is the priority right and the collision risk is no risk, the lane change judgment result of the target vehicle is automatic lane change;
and if the lane change right is a non-priority right or the collision risk is at risk, the lane change judgment result of the target vehicle is waiting for lane change or canceling lane change.
Optionally, after determining the lane change determination result of the target vehicle based on the lane change right and the collision risk, the method further includes:
if the lane change judgment result is automatic lane change, controlling the target vehicle to drive from the first lane to the second lane;
and if the lane change judgment result is that lane change is waited or cancelled, controlling the target vehicle to return to the first lane.
In a second aspect, there is provided a vehicle lane change determination device including:
the receiving module is used for receiving a vehicle lane changing instruction triggered by a target vehicle, and the vehicle lane changing instruction is used for indicating that the target vehicle is driven to a second lane from a first lane where the target vehicle is located at present;
the acquisition module is used for acquiring first motion state information corresponding to a target vehicle and second motion state information corresponding to a reference vehicle; wherein the reference vehicle is traveling in a third lane adjacent to the second lane, the motion state information characterizing: the movement trend of the corresponding vehicle on the current lane;
the first processing module is used for determining the lane change right of the target vehicle and determining the collision risk of the target vehicle based on the lane line type information between the second lane and the third lane by combining the first motion state information and the second motion state information;
and the determining module is used for determining a lane change judgment result of the target vehicle based on the lane change right and the collision risk.
Optionally, when the road right of the target vehicle is determined based on the lane line type information between the second lane and the third lane and by combining the first moving state information and the second moving state information, the first processing module is further configured to:
if the lane line type information between the second lane and the third lane is a solid line, the road right of the target vehicle is changed into a priority road right;
and if the lane line type information between the second lane and the third lane is a broken line, determining the lane change right of the target vehicle based on the first motion state information and the second motion state information.
Optionally, the first motion state information at least includes: the first travel speed of the target vehicle and the first travel distance between the target vehicle and the second lane, the second motion state information including at least: a second travel speed of the reference vehicle and a second travel distance between the reference vehicle and the second lane;
when determining the lane change right of the target vehicle based on the first motion state information and the second motion state information, the first processing module is further configured to:
determining a first travel time for the target vehicle to reach the second lane based on the first travel speed and the first travel distance;
determining a second travel time for the reference vehicle to reach the second lane based on the second travel speed and the second travel distance;
if the first running time is less than the second running time, the road right of the target vehicle is changed into a priority road right;
and if the first running time is not less than the second running time, the road-changing right of the target vehicle is a non-priority right.
Optionally, the second motion state information further includes: a longitudinal distance of the reference vehicle relative to the target vehicle;
when determining the risk of collision of the target vehicle based on the first motion state information and the second motion state information, the first processing module is further configured to:
determining a collision time of the target vehicle with the reference vehicle based on the longitudinal distance, the first travel speed, and the second travel speed;
if the collision time is greater than a preset time threshold, the collision risk of the target vehicle is no risk;
if the time to collision is not greater than the preset time threshold, the risk of collision of the target vehicle is at risk.
Optionally, when determining the lane change determination result of the target vehicle based on the lane change right and the collision risk, the determining module is further configured to:
if the lane change right is the priority right and the collision risk is no risk, the lane change judgment result of the target vehicle is automatic lane change;
and if the lane change right is a non-priority right or the collision risk is at risk, the lane change judgment result of the target vehicle is waiting for lane change or canceling lane change.
Optionally, after determining the lane change determination result of the target vehicle based on the lane change right and the collision risk, the apparatus further includes a second processing module, where the second processing module is configured to:
if the lane change judgment result is automatic lane change, controlling the target vehicle to change the lane from the first lane to the second lane;
and if the lane change judgment result is that lane change is waited or cancelled, controlling the target vehicle to return to the first lane.
In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the steps of the method according to any one of the first aspect when executing the program.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of any of the first aspect.
In the embodiment of the application, after a vehicle lane change instruction triggered by a target vehicle is received, first motion state information corresponding to the target vehicle is acquired, second motion state information corresponding to a reference vehicle is obtained, a lane change right of the target vehicle is determined based on lane line type information between a second lane and a third lane and the first motion state information and the second motion state information are combined, a collision risk of the target vehicle is determined, and a lane change judgment result of the target vehicle is determined based on the lane change right and the collision risk. In this way, since the lane line between the third lane and the target lane may be a solid line, when determining the lane change determination result of the target vehicle, the determination is performed not only from the dimension of the motion state information corresponding to the corresponding vehicle, but also from the dimension of the lane line type information, and the accuracy of determining the lane change determination result can be improved, thereby ensuring the safety of vehicle lane change.
Drawings
FIG. 1 is a schematic diagram of an application scenario in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a lane change determining method for a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a lane change of a vehicle in an embodiment of the present application;
FIG. 4 is a diagram illustrating first status information and second status information in an embodiment of the present application;
FIG. 5 is a schematic diagram of a first process for determining a lane change right of a target vehicle in an embodiment of the present application;
fig. 6 is a first schematic diagram of lane line type information between a second lane and a third lane in an embodiment of the present application;
fig. 7 is a second schematic diagram of lane line type information between a second lane and a third lane in the embodiment of the present application;
FIG. 8 is a second flowchart illustrating the determination of lane change rights for a target vehicle in an embodiment of the present application;
FIG. 9 is a schematic flow chart illustrating the process of determining the collision risk of a target vehicle in the embodiment of the present application;
FIG. 10 is a schematic illustration of the longitudinal distance in an embodiment of the present application;
fig. 11 is a flowchart illustrating a determination result of lane change of a target vehicle in the embodiment of the present application;
FIG. 12 is a flowchart illustrating a control target vehicle lane change in the embodiment of the present application;
fig. 13 is a first schematic view of a lane change of a control target vehicle in the embodiment of the present application;
fig. 14 is a second schematic view of a lane change of a control target vehicle in the embodiment of the present application;
FIG. 15 is an exemplary diagram of a scenario in an embodiment of the present application;
FIG. 16 is a diagram illustrating an example of a second scenario in an embodiment of the present application;
FIG. 17 is a diagram illustrating a third example of a scenario in an embodiment of the present application;
FIG. 18 is a diagram illustrating a fourth example of a scenario in an embodiment of the present application;
fig. 19 is a schematic structural view of a lane change determining apparatus of a vehicle in the embodiment of the present application;
fig. 20 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
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.
Some concepts related to the embodiments of the present application are described below.
(1) A relief angle radar apparatus: the device is arranged near left and right tail lamps at the rear of the vehicle, can detect a blind spot area at the rear of the vehicle in a medium-short range, and is used for detecting the distance, the speed, the acceleration, the azimuth angle and the like of a target.
(2) Side-looking camera equipment: the device is installed below the rearview mirrors on the left and right sides of the vehicle and is used for detecting vehicles, pedestrians, obstacles and the like on the left and right sides.
(3) High-precision maps: the road information is pre-stored in a vehicle disk, and when the vehicle runs in a corresponding area, the road information is obtained from pre-stored data, and the road information at least comprises the following components: lane line type information, center fence information, and the like.
(4) The main control equipment: is a central control unit for determining a lane change determination result of the target vehicle based on the acquired information, and controlling the execution apparatus to execute the lane change.
(4) An execution device: and the lane changing system is used for executing lane changing of the target vehicle according to the execution instruction sent by the main control equipment.
Preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the embodiment of the present application includes five main components, namely, a rear-angle radar device 101, a side-view camera device 102, a high-precision map 103, a main control device 104, and an execution device 105, where when the main control device 104 receives a vehicle lane change instruction triggered for a target vehicle, the main control device 104 obtains first motion state information and second motion state information through the rear-angle radar device 101 and the side-view camera device 102, and meanwhile, the main control device 104 obtains lane line type information between a second lane and a third lane through the side-view camera device 102 or the high-precision map 103, the main control device 104 determines a lane change determination result of the target vehicle based on the lane line type information between the second lane and the third lane by combining the first motion state information and the second motion state information, and finally, if the lane change determination result is an automatic lane change, the main control device 104 controls the execution device 105 to make the target vehicle change from the first lane to the second lane, and if the lane change determination result is a lane waiting or a lane change is cancelled, the main control execution device 105 makes the target vehicle return to the first lane change.
Based on the foregoing embodiment, referring to fig. 2, a schematic flow chart of a vehicle lane change determining method in the embodiment of the present application is shown, which specifically includes:
step 20: and receiving a vehicle lane change instruction triggered by the target vehicle.
The vehicle lane changing instruction is used for indicating that the target vehicle is driven to a second lane from a first lane where the target vehicle is located at present.
In the embodiment of the application, when a driving object dials a steering lever of a target vehicle, the target vehicle triggers a vehicle lane change instruction, and the main control device receives the vehicle lane change instruction triggered by the target vehicle.
For example: referring to fig. 3, a schematic diagram of a vehicle lane change in the embodiment of the present application is shown, where a vehicle lane change instruction triggered for a target vehicle is received, and the target vehicle runs on a first lane and is instructed to change the lane from the first lane where the target vehicle is currently located to a second lane.
Step 21: and acquiring first motion state information corresponding to the target vehicle and second motion state information corresponding to the reference vehicle.
Wherein the reference vehicle is traveling in a third lane adjacent to the second lane, the motion state information characterizing: the movement trend of the corresponding vehicle on the current lane.
In the embodiment of the application, when receiving the vehicle lane change instruction that triggers to the target vehicle, obtain the first motion state information that the target vehicle corresponds through the sensor, obtain the second motion state information that the reference vehicle corresponds through relief angle radar equipment and look sideways at camera equipment.
Wherein the first motion state information at least comprises: the first traveling speed of the target vehicle, the first traveling distance between the target vehicle and the second lane, the traveling azimuth of the target vehicle, and the traveling acceleration of the target vehicle, and the second motion state information at least includes: the second driving speed of the reference vehicle, the second driving distance between the reference vehicle and the second lane, the driving azimuth of the reference vehicle, and the driving acceleration of the reference vehicle are not limited in the embodiments of the present application.
In addition, it should be noted that each traveling speed includes a lateral speed and a longitudinal speed, and each traveling acceleration includes a lateral acceleration and a longitudinal acceleration.
For example: referring to fig. 4, which is a schematic diagram of first state information and second state information in an embodiment of the present application, a reference vehicle travels on a third lane adjacent to a second lane and has a lane change tendency of changing lanes from the currently located third lane to the second lane, and it is assumed that a first travel distance between a target vehicle and the second lane, which is acquired by a sensor, is 0.3m, a lateral speed of the first travel speed is 1m/s, a longitudinal speed of the first travel speed is 9m/s, a travel azimuth angle of the target vehicle is 22 degrees, a second travel distance between the reference vehicle and the second lane, which is acquired by a rear-angle radar device and a side-view camera device, is 0.4m, a lateral speed of the second travel speed is 0.6m/s, a longitudinal speed of the second travel speed is 8m/s, and a travel azimuth angle of the reference vehicle is 20 degrees.
Step 22: determining a lane change right of the target vehicle and determining a collision risk of the target vehicle based on the lane line type information between the second lane and the third lane in combination with the first moving state information and the second moving state information.
In the embodiment of the application, the lane change right of the target vehicle is determined based on the lane line type information between the second lane and the third lane by combining the first motion state information and the second motion state information, and the collision risk of the target vehicle is determined based on the first motion state information and the second motion state information.
Optionally, in this embodiment of the present application, when step 22 is executed, it is required to determine the road right to change of the target vehicle based on the lane line type information between the second lane and the third lane, and by combining the first moving state information and the second moving state information, referring to fig. 5, which is a first flowchart illustrating a process of determining the road right to change of the target vehicle in this embodiment of the present application, and the process of determining the road right to change of the target vehicle in this embodiment of the present application is described in detail below with reference to fig. 5:
step 220: and judging whether the lane line type information between the second lane and the third lane is a solid line, if so, executing step 221, and otherwise, executing step 222.
Step 221: and determining the road changing right of the target vehicle as a priority right.
In the embodiment of the application, the lane line type information between the second lane and the third lane is acquired through the side-looking camera device or the high-precision map, when the lane line type information between the second lane and the third lane is acquired, whether the lane line type information between the second lane and the third lane is a solid line or not is judged, and if the lane line type information between the second lane and the third lane is determined to be the solid line, the lane change right of the target vehicle is the priority right.
The solid line may be a white solid line or a central isolation fence, which is not limited in the embodiment of the present application.
For example, referring to fig. 6, a first schematic diagram of lane line type information between a second lane and a third lane in the embodiment of the present application is shown, where the lane line type information between the second lane and the third lane is a solid line, and the right to change lane of the target vehicle is a priority right.
Step 222: and determining the lane change right of the target vehicle based on the first motion state information and the second motion state information.
In the embodiment of the application, the lane line type information between the second lane and the third lane is acquired through the side-looking camera device or the high-precision map, when the lane line type information between the second lane and the third lane is acquired, whether the lane line type information between the second lane and the third lane is a solid line or not is judged, and if the lane line type information between the second lane and the third lane is determined to be a dotted line, the lane change right of the target vehicle is determined based on the first motion state information and the second motion state information.
The dotted line may be a white dotted line, which is not limited in the embodiment of the present application.
For example, referring to fig. 7, a second schematic diagram of lane line type information between a second lane and a third lane in the embodiment of the present application is shown, where the lane line type information between the second lane and the third lane is a dotted line, and a lane change right of a target vehicle is determined based on the first motion state information and the second motion state information.
Optionally, in this embodiment of the present application, when step 222 is executed, it is required to determine the road right change right of the target vehicle based on the first motion state information and the second motion state information, referring to fig. 8, which is a second flow chart illustrating the determination of the road right change right of the target vehicle in this embodiment of the present application, and the following describes in detail a process of determining the road right change right of the target vehicle in this embodiment of the present application with reference to fig. 8:
step 2220: based on the first travel speed and the first travel distance, a first travel time for the target vehicle to reach the second lane is determined.
In the embodiment of the application, after the first motion state information is acquired, the first travel time of the target vehicle reaching the second lane is acquired based on the first travel speed of the target vehicle and the first travel distance between the target vehicle and the second lane.
Alternatively, in the embodiment of the present application, when the first travel time is obtained, a ratio between the first travel distance and the lateral speed of the first travel speed may be calculated, so as to obtain the first travel time for the target vehicle to reach the second lane.
Wherein the first travel time may be expressed as: t is t 1 ＝d 1 /v 1 ，t 1 For a first travel time for the target vehicle to reach the second lane, d 1 Is a first distance of travel, v, between the target vehicle and the second lane 1 A lateral speed that is a first travel speed of the target vehicle.
For example, assuming that the first travel distance between the target vehicle and the second lane is 0.3m, and the lateral speed of the first travel speed of the target vehicle is 1m/s, the first travel time is 0.3/1=0.3s.
Step 2221: based on the second travel speed and the second travel distance, a second travel time for the reference vehicle to reach the second lane is determined.
In the embodiment of the application, after the second motion state information is acquired, a second travel time of the reference vehicle to reach the second lane is acquired based on a second travel speed of the reference vehicle and a second travel distance between the reference vehicle and the second lane.
Alternatively, in the embodiment of the present application, when the second travel time is obtained, a ratio between the second travel distance and the lateral speed of the second travel speed may be calculated, thereby obtaining the second travel time for the reference vehicle to reach the second lane.
Wherein the second travel time may be expressed as: t is t 2 ＝d 2 /v 2 ，t 2 For reference to a second travel time of the vehicle to the second lane, d 2 To reference a second driving distance between the vehicle and a second lane, v 2 Is a lateral speed with reference to a second running speed of the vehicle.
For example, assuming that the second travel distance between the reference vehicle and the second lane is 0.4m, and the lateral speed of the second travel speed of the reference vehicle is 0.6m/s, the first travel time is 0.4/0.6=0.667s.
Step 2222: and judging whether the first driving time is less than the second driving time, if so, executing a step 2223, and otherwise, executing a step 2224.
Step 2223: and determining the road changing right of the target vehicle as a priority right.
In the embodiment of the application, after the first running time and the second running time are obtained, whether the first running time is smaller than the second running time is judged, and if the first running time is smaller than the second running time, the road changing right of the target vehicle is determined to be the priority road right.
For example, if the first travel time is 0.3s and the second travel time is 0.667s, the first travel time 0.3s is less than the second travel time 0.667s, and the road right change of the target vehicle is determined as the priority road right.
Step 2224: and determining the road changing right of the target vehicle as a non-priority right.
In the embodiment of the application, after the first running time and the second running time are obtained, whether the first running time is smaller than the second running time is judged, and if the first running time is not smaller than the second running time, the road right of the target vehicle is determined to be a non-priority road right.
For example, if the first travel time is 0.7s and the second travel time is 0.667s, the first travel time 0.7s is not less than the second travel time 0.667s, and the road right change of the target vehicle is determined as the non-priority road right.
Optionally, in this embodiment of the application, the second motion state information further includes: referring to the longitudinal distance of the vehicle relative to the target vehicle, when step 22 is executed, it is required to determine the collision risk of the target vehicle based on the first moving state information and the second moving state information, referring to fig. 9, which is a schematic flow chart illustrating the determination of the collision risk of the target vehicle in the embodiment of the present application, and the following describes in detail the process of determining the collision risk of the target vehicle in the embodiment of the present application with reference to fig. 9:
step 223: based on the longitudinal distance, the first travel speed, and the second travel speed, a time to collision of the target vehicle with the reference vehicle is determined.
In the embodiment of the application, after the first motion state information and the second motion state information are acquired, the collision time of the target vehicle and the reference vehicle is obtained based on the longitudinal distance of the reference vehicle relative to the target vehicle, the first running speed of the target vehicle and the second running speed of the reference vehicle.
Alternatively, in the embodiment of the present application, when obtaining the time to collision, the relative speed between the longitudinal speed of the first running speed and the longitudinal speed of the second running speed may be calculated, and the ratio between the longitudinal distance and the relative speed may be calculated, thereby obtaining the time to collision between the target vehicle and the reference vehicle.
Wherein the collision time may be expressed as: t = d 3 /(v 3 -v 4 ) T is the time of collision between the target vehicle and the reference vehicle, d 3 To refer to the longitudinal distance of the vehicle relative to the target vehicle, v 3 Longitudinal speed, v, being the first travelling speed of the target vehicle 4 Is a longitudinal speed referenced to a second travel speed of the vehicle.
For example, referring to fig. 10, which is a schematic diagram of the longitudinal distance in the embodiment of the present application, assuming that the longitudinal distance of the reference vehicle with respect to the target vehicle is 20m, the longitudinal speed of the first travel speed of the target vehicle is 9m/s, and the longitudinal speed of the second travel speed of the reference vehicle is 8m/s, the collision time of the target vehicle with the reference vehicle is 20/(9-1) =20s.
Step 224: and (5) judging whether the collision time is greater than a preset time threshold, if so, executing step 225, and otherwise, executing step 226.
Step 225: the collision risk of the target vehicle is determined to be risk-free.
In the embodiment of the application, after the collision time is obtained, whether the collision time is greater than a preset time threshold value is judged, and if the collision time is determined to be greater than the preset time threshold value, the collision risk of the target vehicle is determined to be risk-free.
For example, assuming that the collision time is 20s and the preset time threshold is 2.7s, the collision time is greater than the preset time threshold, and the collision risk of the target vehicle is determined to be risk-free.
Step 226: the collision risk of the target vehicle is determined to be at risk.
In the embodiment of the application, after the collision time is obtained, whether the collision time is greater than a preset time threshold value is judged, and if the collision time is not greater than the preset time threshold value, the collision risk of the target vehicle is determined to be risky.
For example, assuming that the collision time is 2s and the preset time threshold is 2.7s, the collision time is not greater than the preset time threshold, and the collision risk of the target vehicle is determined to be at risk.
Step 23: determining a lane change determination result of the target vehicle based on the lane change right and the collision risk.
Optionally, in this embodiment of the present application, when step 23 is executed, it is necessary to determine a lane change determination result of the target vehicle based on the lane change right and the collision risk, refer to fig. 11, which is a schematic flow chart of the lane change determination result of the target vehicle in this embodiment of the present application, and the following describes in detail a process of determining the lane change determination result of the target vehicle in this embodiment of the present application with reference to fig. 11:
step 230: and judging whether the road changing right is a priority road right or not, judging whether the collision risk is no risk or not, if so, executing a step 231, and otherwise, executing a step 232.
Step 231: and determining the lane change judgment result of the target vehicle as the automatic lane change.
In the embodiment of the application, after the lane change right and the collision time are obtained, whether the lane change right is the priority right or not is judged, whether the collision risk is no risk or not is judged, and if the lane change right is the priority right and the collision risk is no risk, the lane change judgment result of the target vehicle is determined to be automatic lane change.
Step 232: the lane change determination result of the target vehicle is determined as waiting for a lane change or canceling a lane change.
In the embodiment of the application, after the lane change right and the collision time are obtained, whether the lane change right is a priority right or not is judged, whether the collision risk is no risk or not is judged, and if the lane change right is a non-priority right or the collision risk is risky, the lane change judgment result of the target vehicle is determined to be waiting for lane change or canceling lane change.
Further, in the embodiment of the present application, after determining the lane change determination result of the target vehicle, the lane change of the target vehicle may be controlled according to the lane change determination result, referring to fig. 12, which is a schematic flow chart of the lane change of the target vehicle in the embodiment of the present application, and the following describes in detail the process of the lane change of the target vehicle in the embodiment of the present application with reference to fig. 12:
step 24: and judging whether the lane change judgment result is automatic lane change, if so, executing the step 25, otherwise, executing the step 26.
Step 25: the control target vehicle changes lane from the first lane to the second lane.
In the embodiment of the application, after the lane change judgment result of the target vehicle is obtained, whether the lane change judgment result is automatic lane change is judged, and if the lane change judgment result is automatic lane change, the target vehicle is controlled to change the lane from the first lane to the second lane.
For example, referring to fig. 13, which is a first schematic diagram of lane change of a control target vehicle in the embodiment of the present application, a lane change determination result of the target vehicle is automatic lane change, the control target vehicle changes lanes from a first lane to a second lane, and the target vehicle completes the lane change.
Step 26: the control target vehicle returns to the first lane.
In the embodiment of the application, after the lane change judgment result is obtained, whether the lane change judgment result is automatic lane change is judged, and if the lane change judgment result is lane change waiting or lane change canceling, the target vehicle is controlled to return to the first lane.
For example, referring to fig. 14, which is a second schematic diagram of lane change of the control target vehicle in the embodiment of the present application, the lane change determination result of the target vehicle is waiting for lane change or canceling lane change, the control target vehicle returns to the first lane, and the lane change of the target vehicle is not completed.
Based on the foregoing embodiments, the following describes in detail a vehicle lane change determining method in the embodiments of the present application by using specific examples, which specifically include:
scene one: fig. 15 is a diagram illustrating an example scenario according to an embodiment of the present application.
Receiving a vehicle lane change instruction triggered by a target vehicle, wherein the target vehicle runs on a first lane and has a lane change trend of changing lanes from the first lane to a second lane, the reference vehicle runs on a third lane adjacent to the second lane and has a lane change trend of changing lanes from the third lane to the second lane, and assuming that lane line type information between the second lane and the third lane is a solid line, a first running distance between the target vehicle and the second lane is 0.1m, a transverse speed of the first running speed is 1m/s, a longitudinal speed of the first running speed is 9m/s, a second running distance between the reference vehicle and the second lane is 0.4m, a transverse speed of the second running speed is 0.6m/s, a longitudinal speed of the second running speed is 8m/s, a longitudinal distance of the reference vehicle relative to the target vehicle is 20m, and a preset time threshold value is 2.7s.
First, since the lane line type information between the second lane and the third lane is a solid line, the change road right of the target vehicle is determined as the priority road right.
Then, based on the longitudinal distance, the first travel speed, and the second travel speed, a collision time of the target vehicle with the reference vehicle is determined to be 20s, and since the collision time is greater than a preset time threshold, the risk of collision of the target vehicle is risk-free.
And finally, determining that the lane change judgment result of the target vehicle is automatic lane change and controlling the target vehicle to drive from the first lane to the second lane because the lane change right of the target vehicle is the priority right and the collision risk of the target vehicle is no risk.
Scene two: fig. 16 is a diagram illustrating a second example of the scenario in the embodiment of the present application.
Receiving a vehicle lane change instruction triggered by a target vehicle, wherein the target vehicle runs on a first lane and has a lane change trend of changing lanes from the first lane to a second lane, a reference vehicle runs on a third lane adjacent to the second lane and has a lane change trend of changing lanes from the third lane to the second lane, and assuming that lane line type information between the second lane and the third lane is a dotted line, a first running distance between the target vehicle and the second lane is 0.1m, a transverse speed of the first running speed is 1m/s, a longitudinal speed of the first running speed is 9m/s, a second running distance between the reference vehicle and the second lane is 0.4m, a transverse speed of the second running speed is 0.6m/s, a longitudinal speed of the second running speed is 8m/s, a longitudinal distance of the reference vehicle relative to the target vehicle is 20m, and a preset time threshold value is 2.7s.
First, the lane line type information between the second lane and the third lane is a broken line, the first travel time is determined to be 0.1s based on the first travel distance and the first travel speed, the second travel time is determined to be 0.667s based on the second travel distance and the second travel speed, and the lane change right of the target vehicle is determined to be the priority right because the first travel time is shorter than the second travel time.
Then, based on the longitudinal distance, the first travel speed, and the second travel speed, a collision time of the target vehicle with the reference vehicle is determined to be 20s, and since the collision time is greater than a preset time threshold, the risk of collision of the target vehicle is risk-free.
And finally, determining that the lane change judgment result of the target vehicle is automatic lane change and controlling the target vehicle to drive from the first lane to the second lane because the lane change right of the target vehicle is the priority right and the collision risk of the target vehicle is no risk.
Scene three: fig. 17 is a diagram illustrating a third example of the scenario in the embodiment of the present application.
Receiving a vehicle lane change instruction triggered by a target vehicle, wherein the target vehicle runs on a first lane and has a lane change trend of changing the lane from the first lane to a second lane, a reference vehicle runs on a third lane adjacent to the second lane and has a lane change trend of changing the lane from the third lane to the second lane, and assuming that lane line type information between the second lane and the third lane is a solid line, a first running distance between the target vehicle and the second lane is 0.1m, a transverse speed of the first running speed is 1m/s, a longitudinal speed of the first running speed is 9m/s, a second running distance between the reference vehicle and the second lane is 0m, a transverse speed of the second running speed is 0.6m/s, a longitudinal speed of the second running speed is 8m/s, a longitudinal distance of the reference vehicle relative to the target vehicle is 2m, and a preset time threshold is 2.7s.
First, since the lane line type information between the second lane and the third lane is a solid line, the change road right of the target vehicle is determined as the priority road right.
Then, based on the longitudinal distance, the first travel speed, and the second travel speed, a collision time of the target vehicle with the reference vehicle is determined to be 2s, and since the collision time is less than a preset time threshold, the risk of collision of the target vehicle is at risk.
And finally, determining the lane change judgment result of the target vehicle as waiting for lane change or canceling lane change because the collision risk of the target vehicle is risky, and controlling the target vehicle to return to the first lane.
Scene four: fig. 18 is a diagram illustrating a scenario four example in the embodiment of the present application.
Receiving a vehicle lane change instruction triggered by a target vehicle, wherein the target vehicle runs on a first lane and has a lane change trend of changing the current first lane into a second lane, a reference vehicle runs on a third lane adjacent to the second lane and has a lane change trend of changing the current third lane into the second lane, and assuming that lane line type information between the second lane and the third lane is a solid line, a first running distance between the target vehicle and the second lane is 0.1m, a transverse speed of the first running speed is 1m/s, a longitudinal speed of the first running speed is 9m/s, a second running distance between the reference vehicle and the second lane is 0m, a transverse speed of the second running speed is 0.6m/s, a longitudinal speed of the second running speed is 8m/s, a longitudinal distance of the reference vehicle relative to the target vehicle is 2m, and a preset time threshold is 2.7s.
First, the lane line type information between the second lane and the third lane is a broken line, the first travel time is determined to be 0.3s based on the first travel distance and the first travel speed, the second travel time is determined to be 0s based on the second travel distance and the second travel speed, and the lane change right of the target vehicle is determined to be a non-priority right since the first travel time is greater than the second travel time.
And finally, determining the lane change judgment result of the target vehicle as waiting for lane change or canceling lane change and controlling the target vehicle to return to the first lane because the lane change right of the target vehicle is a non-priority right.
Based on the same inventive concept, an embodiment of the present application further provides a vehicle lane change determining device, which is shown in fig. 19 as a schematic structural diagram of the vehicle lane change determining device in the embodiment of the present application, and specifically includes:
the receiving module 1901 is configured to receive a vehicle lane change instruction triggered by a target vehicle, where the vehicle lane change instruction is used to instruct the target vehicle to change lanes from a first lane where the target vehicle is currently located to a second lane;
an obtaining module 1902, configured to obtain first motion state information corresponding to a target vehicle and second motion state information corresponding to a reference vehicle; wherein the reference vehicle is traveling in a third lane adjacent to the second lane, the motion state information characterizing: the movement trend of the corresponding vehicle on the current lane;
a first processing module 1903, configured to determine a lane change right of the target vehicle and determine a collision risk of the target vehicle based on lane line type information between the second lane and the third lane in combination with the first moving state information and the second moving state information;
the determination module 1904 determines a lane change determination result of the target vehicle based on the lane change right and the collision risk.
Optionally, when the road right change of the target vehicle is determined based on the lane line type information between the second lane and the third lane by combining the first moving state information and the second moving state information, the first processing module 1903 is further configured to:
if the lane line type information between the second lane and the third lane is a solid line, the road right of the target vehicle is changed into a priority road right;
and if the lane line type information between the second lane and the third lane is a broken line, determining the lane change right of the target vehicle based on the first motion state information and the second motion state information.
Optionally, the first motion state information at least includes: the first travel speed of the target vehicle and the first travel distance between the target vehicle and the second lane, the second motion state information including at least: a second travel speed of the reference vehicle and a second travel distance between the reference vehicle and the second lane;
the first processing module 1903 is further configured to, when determining the road right of change of the target vehicle based on the first motion state information and the second motion state information:
determining a first travel time for the target vehicle to reach the second lane based on the first travel speed and the first travel distance;
determining a second travel time for the reference vehicle to reach the second lane based on the second travel speed and the second travel distance;
if the first running time is less than the second running time, the road right of the target vehicle is changed into the priority road right;
and if the first running time is not less than the second running time, the road right of the target vehicle is changed into a non-priority road right.
Optionally, the second motion state information further includes: a longitudinal distance of the reference vehicle relative to the target vehicle;
then, when determining the risk of collision of the target vehicle based on the first motion state information and the second motion state information, the first processing module 1903 is further configured to:
determining a time to collision of the target vehicle with the reference vehicle based on the longitudinal distance, the first travel speed, and the second travel speed;
if the collision time is greater than a preset time threshold, the collision risk of the target vehicle is no risk;
if the time to collision is not greater than the preset time threshold, the risk of collision of the target vehicle is at risk.
Optionally, when determining the lane change determination result of the target vehicle based on the lane change right and the collision risk, the determining module 1904 is further configured to:
if the lane change right is the priority right and the collision risk is no risk, the lane change judgment result of the target vehicle is automatic lane change;
and if the lane change right is a non-priority right or the collision risk is at risk, the lane change judgment result of the target vehicle is waiting for lane change or canceling lane change.
Optionally, after determining the lane change determination result of the target vehicle based on the lane change right and the collision risk, the apparatus further includes a second processing module 1905, where the second processing module 1905 is configured to:
if the lane change judgment result is automatic lane change, controlling the target vehicle to change the lane from the first lane to the second lane;
and if the lane change judgment result is that lane change is waited or cancelled, controlling the target vehicle to return to the first lane.
Based on the above embodiments, referring to fig. 20, a schematic structural diagram of an electronic device in an embodiment of the present application is shown.
An embodiment of the present application provides an electronic device, which may include a processor 2010 (central Processing Unit, CPU), a memory 2020, an input device 2030, an output device 2040, and the like, where the input device 2030 may include a keyboard, a mouse, a touch screen, and the like, and the output device 2040 may include a Display device, such as a Liquid Crystal Display (LCD), a Cathode Ray Tube (CRT), and the like.
Based on the above embodiments, in the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle lane change determining method in any of the above method embodiments.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, 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 specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (14)
1. A vehicle lane change determination method, comprising:
receiving a vehicle lane change instruction triggered by a target vehicle, wherein the vehicle lane change instruction is used for indicating that the target vehicle is driven to a second lane from a first lane where the target vehicle is located at present;
acquiring first motion state information corresponding to the target vehicle and second motion state information corresponding to a reference vehicle; wherein the reference vehicle is traveling in a third lane adjacent to the second lane, the kinematic state information characterizing: the movement trend of the corresponding vehicle on the current lane;
determining a lane change right of the target vehicle and determining a collision risk of the target vehicle based on lane line type information between the second lane and the third lane in combination with the first moving state information and the second moving state information;
determining a lane change determination result of the target vehicle based on the lane change right and the collision risk.
2. The method of claim 1, wherein the determining the lane-change right of the target vehicle based on lane line type information between the second lane and the third lane in combination with the first moving state information and the second moving state information comprises:
if the lane line type information between the second lane and the third lane is a solid line, the lane-changing right of the target vehicle is a priority right;
and if the lane line type information between the second lane and the third lane is a broken line, determining the lane change right of the target vehicle based on the first motion state information and the second motion state information.
3. The method of claim 2, wherein the first motion state information comprises at least: a first travel speed of the target vehicle and a first travel distance between the target vehicle and a second lane, the second motion state information including at least: a second travel speed of the reference vehicle and a second travel distance between the reference vehicle and a second lane;
determining a lane change right of the target vehicle based on the first motion state information and the second motion state information, including:
determining a first travel time for the target vehicle to reach the second lane based on the first travel speed and a first travel distance;
determining a second travel time for the reference vehicle to reach the second lane based on the second travel speed and a second travel distance;
if the first running time is less than the second running time, the road changing right of the target vehicle is a priority right;
and if the first running time is not less than the second running time, the road-changing right of the target vehicle is a non-priority right.
4. The method of claim 3, wherein the second motion state information further comprises: a longitudinal distance of the reference vehicle relative to the target vehicle;
said determining a risk of collision for the target vehicle based on the first motion state information and the second motion state information comprises:
determining a time to collision of the target vehicle with the reference vehicle based on the longitudinal distance, the first travel speed, and the second travel speed;
if the collision time is greater than a preset time threshold, the collision risk of the target vehicle is no risk;
if the collision time is not greater than a preset time threshold, the risk of collision of the target vehicle is at risk.
5. The method according to any one of claims 1 to 4, wherein the determining a lane change determination result of the target vehicle based on the lane change right and the collision risk includes:
if the lane change right is a priority right and the collision risk is no risk, the lane change judgment result of the target vehicle is automatic lane change;
and if the lane change right is a non-priority right or the collision risk is at risk, the lane change judgment result of the target vehicle is to wait for lane change or cancel lane change.
6. The method according to claim 5, wherein after determining a lane change determination result of the target vehicle based on the lane change right and the collision risk, the method further comprises:
if the lane change judgment result is automatic lane change, controlling the target vehicle to change the lane from the first lane to the second lane;
and if the lane change judgment result is that lane change is waited or cancelled, controlling the target vehicle to return to the first lane.
7. A vehicle lane change determining apparatus, characterized by comprising:
the receiving module is used for receiving a vehicle lane changing instruction triggered by a target vehicle, wherein the vehicle lane changing instruction is used for indicating that the target vehicle is driven to a second lane from a first lane where the target vehicle is located at present;
the acquisition module is used for acquiring first motion state information corresponding to the target vehicle and second motion state information corresponding to a reference vehicle; wherein the reference vehicle is traveling in a third lane adjacent to the second lane, the kinematic state information characterizing: the movement trend of the corresponding vehicle on the current lane;
a first processing module, configured to determine a lane change right of the target vehicle and determine a collision risk of the target vehicle based on lane line type information between the second lane and the third lane in combination with the first moving state information and the second moving state information;
a determination module that determines a lane change determination result of the target vehicle based on the lane change right and the collision risk.
8. The apparatus of claim 7, wherein the first processing module, when determining the lane change right of the target vehicle based on lane line type information between the second lane and the third lane in combination with the first moving state information and the second moving state information, is further to:
if the lane line type information between the second lane and the third lane is a solid line, the lane-changing right of the target vehicle is a priority right;
and if the lane line type information between the second lane and the third lane is a broken line, determining the lane change right of the target vehicle based on the first motion state information and the second motion state information.
9. The apparatus of claim 8, wherein the first motion state information comprises at least: a first travel speed of the target vehicle and a first travel distance between the target vehicle and a second lane, the second motion state information including at least: a second travel speed of the reference vehicle and a second travel distance between the reference vehicle and a second lane;
when determining the lane change right of the target vehicle based on the first motion state information and the second motion state information, the first processing module is further configured to:
determining a first travel time for the target vehicle to reach the second lane based on the first travel speed and a first travel distance;
determining a second travel time for the reference vehicle to reach the second lane based on the second travel speed and a second travel distance;
if the first running time is less than the second running time, the road right of the target vehicle is a priority road right;
and if the first running time is not less than the second running time, the road-changing right of the target vehicle is a non-priority right.
10. The apparatus of claim 9, wherein the second motion state information further comprises: a longitudinal distance of the reference vehicle relative to the target vehicle;
said first processing module, when determining the risk of collision for the target vehicle based on the first kinematic state information and the second kinematic state information, is further configured to:
determining a time to collision of the target vehicle with the reference vehicle based on the longitudinal distance, the first travel speed, and the second travel speed;
if the collision time is greater than a preset time threshold, the collision risk of the target vehicle is no risk;
if the collision time is not greater than a preset time threshold, the risk of collision of the target vehicle is at risk.
11. The apparatus according to any one of claims 7 to 10, wherein when determining the lane change determination result of the target vehicle based on the lane change right and the collision risk, the determination module is further configured to:
if the lane change right is a priority right and the collision risk is no risk, the lane change judgment result of the target vehicle is automatic lane change;
and if the lane change right is a non-priority right or the collision risk is at risk, the lane change judgment result of the target vehicle is to wait for lane change or cancel lane change.
12. The apparatus of claim 11, wherein after determining the lane change determination result for the target vehicle based on the lane change right and the collision risk, the apparatus further comprises a second processing module to:
if the lane change judgment result is automatic lane change, controlling the target vehicle to change the lane from the first lane to the second lane;
and if the lane change judgment result is that lane change is waited or cancelled, controlling the target vehicle to return to the first lane.
13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of claims 1-6 are implemented when the program is executed by the processor.
14. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program when executed by a processor implementing the steps of the method of any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116674557A (en) * | 2023-07-31 | 2023-09-01 | 福思(杭州)智能科技有限公司 | Vehicle autonomous lane change dynamic programming method and device and domain controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116674557A (en) * | 2023-07-31 | 2023-09-01 | 福思(杭州)智能科技有限公司 | Vehicle autonomous lane change dynamic programming method and device and domain controller |
| CN116674557B (en) * | 2023-07-31 | 2023-10-31 | 福思(杭州)智能科技有限公司 | Vehicle autonomous lane change dynamic programming method and device and domain controller |
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